Optical device

Abstract

To provide an optical device capable of identifying the respective beam directions of a plurality of light beams.SOLUTION: The illumination part of the optical device can irradiate an object with a first light beam having a first wavelength spectrum and a second light beam having a second wavelength spectrum. An imaging part includes a pixel capable of receiving light by the irradiation of the object with the first light beam and the irradiation of the object with the second light beam. When a three-dimensional positional relationship among the imaging part, the illumination part, and the surface of the object, the three-dimensional position of an optical element provided in the illumination part, and the three-dimensional position of the pixel in the imaging part have a known value set beforehand, a processing part allows the first light beam to be made incident on the imaging part at a first time and the second light beam to be made incident on the imaging part at a second time and allows the imaging part to receive the first light beam and the second light beam, so as to obtain as a single captured image and estimates the surface shape of the object on the basis of the combination of the respective pixel values of the pixel receiving the first light beam and the pixel receiving the second light beam.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] SUMMARY OF THE DISCLOSURE The present invention relates to an optical device. [Background technology]

[0002] Non-contact shape measurement of an object is used in various industries. In non-contact shape measurement of an object, for example, a light beam is dispersed and illuminated on an object, an image sensor acquires each image of the dispersed light beam, and a processing unit or the like estimates the light direction of each of the light beams. In such a measurement method, it is required to be able to identify the light direction of each of the multiple light beams. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Pat. No. 5,675,407 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide an optical device capable of identifying the respective light beam directions of a plurality of light beams. [Means for solving the problem]

[0005] According to an embodiment, an optical device includes an illumination unit, an imaging unit, and a processing unit. The illumination unit has an optical element that irradiates a first light ray having a first wavelength spectrum and a second light ray having a second wavelength spectrum different from the first wavelength spectrum, and is capable of irradiating the first light ray and the second light ray to an object. The imaging unit includes pixels that can receive light resulting from irradiation of the first light ray to the object and light resulting from irradiation of the second light ray to the object, and identifies the first light ray and the second light ray based on the first wavelength spectrum and the second wavelength spectrum. The processing unit estimates a first light ray direction of the first light ray and a second light ray direction of the second light ray based on a captured image captured by the imaging unit. When the three-dimensional positional relationship between the imaging unit, the illumination unit, and the surface of the object, the three-dimensional position of the optical element provided in the illumination unit, and the three-dimensional position of the pixel in the imaging unit are preset known values, the processing unit controls the illumination unit to cause a first light ray to be incident on the imaging unit at a first time and a second light ray to be incident on the imaging unit at a second time later than the first time, and controls the imaging unit to cause the imaging unit to receive the first light ray and the second light ray so as to obtain a single captured image. The processing unit estimates the surface shape of the object based on a combination of pixel values ​​of the pixels that receive the first light ray and the pixels that receive the second light ray in the single captured image. [Brief description of the drawings]

[0006] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of an optical device according to a first embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing an example of the relationship between the spectrum of light reflected by the surface of an object and discrete hue values ​​in the optical device according to the first embodiment. [Diagram 3] FIG. 3 is a schematic diagram showing an example of captured images acquired over time by the imaging section in the optical device according to the first embodiment. [Figure 4] FIG. 4 is a flowchart showing an example of processing executed by the processing unit in the optical device according to the first embodiment. [Diagram 5] FIG. 5 is a schematic diagram showing an example of an optical device according to a modified example of the first embodiment. [Figure 6] FIG. 6 is a schematic diagram showing an example of captured images acquired over time by an imaging section in the optical device according to the second embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of processing executed by a processing unit in the optical device according to the second embodiment. [Figure 8] FIG. 8 is a schematic diagram showing an example of captured images acquired over time by the imaging section in the optical device according to the third embodiment. [Figure 9] FIG. 9 is a schematic diagram showing an example of an optical device according to a first modified example of the third embodiment. [Figure 10] FIG. 10 is a schematic diagram showing an example of captured images acquired over time by an imaging section in an optical device according to a first modified example of the third embodiment. [Figure 11] FIG. 11 is a schematic diagram showing an example of an optical device according to a second modified example of the third embodiment. [Figure 12] FIG. 12 is a schematic diagram showing an example of captured images acquired over time by an imaging section in an optical device according to a second modified example of the third embodiment. [Figure 13] FIG. 13 is a schematic diagram illustrating an example of an optical device according to the fourth embodiment. [Figure 14] FIG. 14 is a schematic diagram showing an example of an optical device according to a modified example of the fourth embodiment. [Figure 15] FIG. 15 is a schematic diagram showing an example of an optical device according to a modified example of the fourth embodiment, viewed from a different direction than that of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] Hereinafter, the embodiments will be described with reference to the drawings. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the size ratio between parts, etc. are not necessarily the same as the actual ones. Even when the same part is shown, the dimensions and ratios of each part may be different depending on the drawing. Detailed explanations of the contents already mentioned will be omitted as appropriate.

[0008] In the following embodiments, light rays from ambient light other than the illumination unit are offset. That is, when the light intensity of the ambient light cannot be ignored compared to the light intensity of the illumination unit, the imaging unit 2 acquires an image captured by the ambient light in advance. Then, the optical device 1 is set so that the intensity corresponding to the captured image by the ambient light is offset. Alternatively, the threshold value of the discrete hue pixel value is set in consideration of the ambient light. In the following embodiments, the description is given on the premise that the surface 5 of the object reflects light, but is not limited to this. For example, when the object is transparent to light rays, the surface 5 of the object becomes a transparent surface. In this case, the light rays pass through the transparent surface and enter the imaging unit 2.

[0009] (First embodiment) FIG. 1 is a schematic diagram showing an example of an optical device according to a first embodiment. The optical device 1 according to the first embodiment includes an imaging unit 2, an illumination unit 3, and a processing unit 4. In this embodiment, light is defined as electromagnetic waves. The light is, for example, visible light, X-rays, infrared rays, near infrared rays, far infrared rays, and microwaves. The light may be coherent light or incoherent light. An example of the coherent light is light from a laser light source. An example of the coherent light is light from an LED (Light Emitting Device) light source. The light source of the illumination unit 3 may be any light source that emits visible light. Visible light is light with a wavelength of 400 nm or more and 800 nm or less. An example of the light source of the illumination unit 3 is an LED.

[0010] The imaging unit 2 includes a sensor 21, a lens 22, and a shutter 23. The sensor 21 includes a plurality of independent pixels. Each of the plurality of pixels selectively receives at least a first wavelength and a second wavelength by using a wavelength filter. The sensor 21 is, for example, a line sensor or an area sensor. The imaging unit 2 forms an image of the surface of the object on the sensor 21 via the lens 22. The imaging unit 2 can adjust the exposure time by controlling the shutter 23. The shutter 23 may be a mechanical shutter or an electrical shutter. In one example, an electrical shutter is provided in the line sensor or the area sensor.

[0011] The illumination unit 3 irradiates light toward the surface 5 of the object. The surface 5 of the object reflects the light. The illumination unit 3 irradiates a first light ray R1 and a second light ray R2. The first light ray R1 has a first wavelength spectrum having a first wavelength as a main component. The second light ray R2 has a second wavelength spectrum having a second wavelength as a main component. The second wavelength spectrum is different from the first wavelength spectrum. As shown in FIG. 1, the first light ray R1 is irradiated (emitted) from the illumination unit 3 along a first light ray path RP1. The second light ray R2 is irradiated (emitted) from the illumination unit 3 along a second light ray path RP2. Here, the light ray path is a path along a virtual line (virtual line) connecting the light source of the illumination unit 3 and the position of the object on which the light ray is reflected. The time (timing) at which the first light ray R1 is emitted from the illumination unit 3 is shifted from the time (timing) at which the second light ray R2 is emitted from the illumination unit 3. In addition, the difference between the first wavelength and the second wavelength is relatively small. In one example, the first wavelength is 500 nm (blue light) and the second wavelength is 550 nm (green light). That is, the difference between the first wavelength and the second wavelength is 50 nm.

[0012] The processing unit 4 is, for example, a computer. The processing unit 4 includes a processor or integrated circuit (control circuit) including a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), and a storage medium such as a memory. The number of processors or integrated circuits provided in the processing unit 4 may be one or more. The processing unit 4 executes a program or the like stored in a storage medium or the like to perform processing.

[0013] The processing unit 4 controls the imaging unit 2 and the illumination unit 3. The processing unit 4 controls the imaging unit 2 and the illumination unit 3 to synchronize the imaging unit 2 and the illumination unit 3. In one example, the processing unit 4 cooperates with the imaging unit 2 to control the shutter 23 immediately after the illumination unit 3 emits a light beam, and causes the imaging unit 2 to start capturing an image of the object. The processing unit 4 cooperates with the imaging unit 2 to close the shutter 23 of the imaging unit 2 immediately after the light beam reflected by the surface 5 of the object is incident on the imaging unit 2. This stops the imaging unit 2 from capturing an image of the surface 5 of the object.

[0014] As shown in Fig. 1, in this embodiment, the illumination unit 3 emits a first light ray R1. The processing unit 4 cooperates with the imaging unit 2 to open the shutter 23 immediately after the first light ray R1 is emitted, and causes the imaging unit 2 to start capturing an image of the object's surface 5. The first light ray R1 is incident on a first reflection area Q1 of the object's surface 5 and is reflected by the object's surface 5. As a result, the reflected light of the first light ray R1 is incident on the imaging unit 2 at a first time.

[0015] Next, the illumination unit 3 emits a second light ray R2. The second light ray R2 is incident on a second reflection area Q2 on the surface 5 of the object and is reflected by the surface 5 of the object. The second reflection area Q2 is a reflection area on the surface 5 of the object that is different from the first reflection area Q1. As a result, the reflected light of the second light ray R2 is incident on the imaging unit 2 at the second time. The imaging unit 2 continues imaging until the second light ray R2 is incident on the imaging unit 2. After the second light ray R2 is incident on the imaging unit 2, the processing unit 4 cooperates with the imaging unit 2 to close the shutter of the imaging unit 2. That is, the imaging unit 2 stops imaging the surface 5 of the object using the second light ray R2. The processing unit 4 synchronizes the imaging unit 2 and the illumination unit 3 as described above, so that the imaging unit 2 images the surface 5 of the object. As a result, the imaging unit 2 acquires an image including both the image by the first light ray R1 and the image by the second light ray R2. In one example, the captured image is a single captured image.

[0016] In the optical device 1 as described above, the illumination unit 3 sequentially emits a first light ray R1 and a second light ray R2 to the surface 5 of the object. The imaging unit 2 receives the reflected light of the first light ray R1 reflected by the first reflection area Q1 of the surface 5 of the object and the reflected light of the second light ray R2 reflected by the second reflection area Q2 of the surface 5 of the object by a plurality of pixels arranged in the sensor 21. In one example, the optical device 1 receives the reflected light of the first light ray R1 at the first pixel PX1 (see FIG. 3) and receives the reflected light of the second light ray R2 at the second pixel PX2 (see FIG. 3). In the measurement by the optical device 1, the three-dimensional positional relationship between the imaging unit 2, the illumination unit 3, and the surface 5 of the object, the three-dimensional position (start position of the light path) of the optical element provided in the illumination unit 3, and the three-dimensional position (arrangement) of the pixel in the sensor 21 of the imaging unit 2 are preset values ​​(known values).

[0017] In this case, the light direction of the first light ray R1 (first light direction) and the light direction of the second light ray R2 (second light direction) can be calculated by distinguishing (identifying) the first light ray R1 and the second light ray R2 from each other. That is, the light direction of the first light ray R1 from the first reflection area Q1 to the first pixel PX1 is calculated based on the light direction of the first light ray R1 and the first reflection area Q1. Also, the light direction of the second light ray R2 from the second reflection area Q2 to the second pixel PX2 is calculated based on the light direction of the second light ray R2 and the second reflection area Q2. Furthermore, the three-dimensional position information of the reflection area of ​​the object surface 5 can be calculated based on the above-mentioned preset values ​​(three-dimensional positional relationship of the imaging unit 2, etc., three-dimensional position of the optical element, and three-dimensional position of the pixel), the light direction of the first light ray R1, and the light direction of the second light ray R2, based on the principle of triangulation.

[0018] For this reason, it is important that the optical device 1 distinguishes between the light direction of the first light ray R1 and the light direction of the second light ray R2. In this embodiment, each of the multiple light rays irradiated from the illumination unit 3, i.e., the first light ray R1 and the second light ray R2, has a wavelength spectrum different from each other. Therefore, as described later, the imaging unit 2 and the processing unit 4 cooperate to obtain a set of discrete hue pixel values ​​of each of the multiple light rays, thereby making it possible to identify the light direction of each of the multiple light rays. Therefore, in the optical device 1 of this embodiment, even if the wavelength spectra of the multiple light rays are close to each other, the shape of the surface 5 of the object can be obtained.

[0019] FIG. 2 is a schematic diagram showing an example of the relationship between the optical spectrum of light reflected by the surface of an object and the discrete hue value in the optical device according to the first embodiment. The left side of FIG. 2 shows a schematic diagram of the relationship between the wavelength and intensity of the optical spectrum (line α) reflected by the surface of the object. The vertical axis indicates the wavelength, and the horizontal axis indicates the intensity. The left side of FIG. 2 also shows the transmission spectra (lines β, γ, and ε) of wavelength filters provided in the sensor of the imaging unit 2. In this embodiment, three wavelength filters are provided in the sensor 21 of the imaging unit 2. The transmission spectrum of the first wavelength filter is shown by line β. The transmission spectrum of the second wavelength filter is shown by γ. The transmission spectrum of the third wavelength filter is shown by line ε.

[0020] The right side of FIG. 2 shows a schematic diagram of the relationship between the discrete hue values ​​and the discrete hue pixel values ​​obtained after the light reflected by the surface of the object passes through the wavelength filter of the imaging unit. The discrete hue values ​​are discrete values ​​(numbers) set for each wavelength identified by the wavelength filter. In this embodiment, the discrete hue value corresponding to the first wavelength filter is 1, the discrete hue value corresponding to the second wavelength filter is 2, and the discrete hue value corresponding to the third wavelength filter is 3. The discrete hue values ​​may be set in correspondence with symbols such as RGB. The number of discrete hue values ​​is referred to as the discrete hue number. In this embodiment, the discrete hue number is 3. By using a discrete hue number of 2 or more, it is easy to distinguish the change in hue. The discrete hue pixel value is a value obtained by converting the intensity of light at a wavelength corresponding to each discrete hue value into a discrete numerical value. Therefore, the discrete hue pixel value corresponding to each discrete hue value differs depending on the wavelength spectrum of the light incident on the imaging unit 2. Among the discrete hue values, the discrete hue value corresponding to the maximum discrete hue pixel value is referred to as the representative discrete hue value. A combination of discrete hue pixel values ​​for a certain light ray is expressed as a set of discrete hue pixel values. In this embodiment, the set of discrete hue pixel values ​​is expressed as a vector. That is, the set of discrete hue pixel values ​​is a discrete hue pixel value in which the column number corresponds to a discrete hue value and each value in the column corresponds to a discrete hue value.

[0021] In one example, the discrete hue pixel values ​​are represented by 8-bit discrete tones. In this case, the upper limit of the discrete hue pixel values ​​is 255 in decimal, and the lower limit of the discrete hue pixel values ​​is 0 in decimal. In the example of FIG. 2, the discrete hue pixel value corresponding to the discrete hue value 1 (first wavelength filter) is 255, the discrete hue pixel value corresponding to the discrete hue value 2 (second wavelength filter) is 10, and the discrete hue pixel value corresponding to the discrete hue value 3 (third wavelength filter) is 0. In this case, the set of discrete hue pixel values ​​is expressed as (255, 10, 0). Note that the discrete hue pixel values ​​are not limited to this, as long as they are represented by discrete tones.

[0022] As shown in an example of FIG. 2, the transmission spectra (wavelength distributions) of the wavelength filters may overlap each other. In this case, a threshold is set for the discrete hue pixel value. If the discrete hue pixel value is equal to or less than the threshold, the discrete hue pixel value is set to 0. Setting a threshold for the discrete hue pixel value prevents two discrete hue values ​​from being set for wavelengths corresponding to overlapping portions of the transmission spectra. Thus, there is a one-to-one correspondence between the wavelength ranges of the wavelength filters and the discrete hue values.

[0023] In this embodiment, since the number of discrete hues is three, as shown on the right side of FIG. 2, three thresholds Ic1 to Ic3 are set to the corresponding discrete hue pixel values. That is, the threshold Ic1 is set to the discrete hue pixel value of the discrete hue value 1. The threshold Ic2 is set to the discrete hue pixel value of the discrete hue value 2. The threshold Ic3 is set to the discrete hue pixel value of the discrete hue value 3. If the discrete hue pixel value of the discrete hue value 1 is equal to or less than the threshold Ic1, the discrete hue pixel value of the discrete hue value 1 is set to 0. If the discrete hue pixel value of the discrete hue value 2 is equal to or less than the threshold Ic2, the discrete hue pixel value of the discrete hue value 2 is set to 0. If the discrete hue pixel value of the discrete hue value 3 is equal to or less than the threshold Ic3, the discrete hue pixel value of the discrete hue value 3 is set to 0. The three thresholds Ic1 to Ic3 are appropriately set for each discrete hue value.

[0024] FIG. 3 is a schematic diagram showing an example of a captured image acquired by the imaging unit 2 in the optical device according to the first embodiment. The captured image Img is an image captured by the imaging unit 2. Here, the captured image (received light image) is a combination of discrete hue pixel values ​​in each of all pixels of the imaging unit 2. The first region P1 is a region of the captured image Img corresponding to the first pixel PX1 of the imaging unit 2. The second region P2 is a region of the captured image Img corresponding to the second pixel PX2 of the imaging unit 2. The first spot S1 is a range indicating the range illuminated when the first light ray enters the first pixel PX1 in the captured image Img. The second spot S2 is a range indicating the range illuminated when the second light ray enters the second pixel PX2 in the captured image Img.

[0025] As described above, the first light ray R1 is reflected by the first reflection area Q1 of the surface 5 of the object and enters the imaging unit 2, and then the second light ray R2 is reflected by the second reflection area Q2 of the surface 5 of the object and enters the imaging unit 2. That is, the imaging unit 2 acquires an image including both the image of the first light ray R1 and the image of the second light ray R2. In the example of FIG. 3, the first light ray R1 is received by the first pixel PX1 of the imaging unit 2, and the second light ray R2 is received by the second pixel PX2 of the imaging unit 2. In the captured image Img, the first region P1 is a region corresponding to the first pixel PX1, and the second region P2 is a region corresponding to the second pixel PX2. Therefore, the first region P1 is an image of the first light ray R1, and the second region P2 is an image of the second light ray R2. In addition, the size of the first spot S1 and the size of the second spot S2 have a lower limit because there is a limit of light diffraction. Therefore, as shown in the example of Fig. 3, the size of the first spot S1 is larger than the size of the first region P1 (the size of the first pixel PX1). The size of the second spot S2 is larger than the size of the second region P2 (the size of the second pixel PX2). In this example, for example, the size of the pixel of the imaging unit 2 is less than 10 µm.

[0026] In one example, the first discrete hue pixel value set is (255, 10, 0), and the second discrete hue pixel value set is (10, 255, 0). That is, in the first light ray R1, the discrete hue pixel value of the discrete hue value 1 is 255, the discrete hue pixel value of the discrete hue value 2 is 10, and the discrete hue pixel value of the discrete hue value 3 is 0. In addition, in the second light ray R2, the discrete hue pixel value of the discrete hue value 1 is 10, the discrete hue pixel value of the discrete hue value 2 is 255, and the discrete hue pixel value of the discrete hue value 3 is 0. The processing unit 4 identifies the light ray direction of the first light ray and the light ray direction of the second light ray based on the difference between the first discrete hue pixel value set and the second discrete hue pixel value set.

[0027] Fig. 4 shows an example of a process executed by the processing unit 4 of the optical device 1. The process in Fig. 4 is executed by the processing unit 4 every time a measurement operation is performed in the optical device 1. Therefore, the process in Fig. 4 shows at least the process executed in one operation of the optical device 1.

[0028] In the optical device 1, the processing unit 4 causes the illumination unit 3 to emit a first light ray R1 (S101). The processing unit 4 opens the shutter of the imaging unit 2 while the first light ray R1 is being emitted and reaching the imaging unit 2, and causes the imaging unit 2 to start imaging the surface of the object (S102). Here, the operation of opening the shutter of the imaging unit 2 may be performed immediately after the first light ray R1 is emitted or before that. The start of imaging is when the light ray is received by the pixel of the imaging unit 2. After the imaging unit 2 receives the reflected light of the first light ray R1 (S103), the processing unit 4 causes the illumination unit 3 to emit a second light ray R2 (S104). The processing unit 4 maintains the shutter of the imaging unit 2 in an open state (S105). After the imaging unit 2 receives the reflected light of the second light ray R2 (S106), the processing unit 4 closes the shutter of the imaging unit 2. That is, the processing unit 4 ends the imaging by the imaging unit 2 (S107). As a result, the imaging unit 2 acquires a captured image including an image captured by the first light beam R1 and an image captured by the second light beam R2.

[0029] The processing unit 4 acquires a single captured image captured by the imaging unit 2 (S108). The processing unit 4 calculates a set of first discrete hue pixel values ​​as described above based on a portion of the captured image corresponding to the capture of the first light ray R1. The processing unit 4 calculates a set of second discrete hue pixel values ​​as described above based on a portion of the captured image corresponding to the capture of the second light ray R2 (S109). The processing unit 4 calculates the light direction of the first light ray R1 based on the set of first discrete hue pixel values. The processing unit 4 calculates the light direction of the second light ray R2 based on the set of second discrete hue pixel values ​​(S110). Since the light direction of the first light ray R1 and the light direction of the second light ray R2 are calculated as described above, the optical device 1 can identify the light direction of the first light ray R1 and the light direction of the second light ray R2.

[0030] In the optical device 1 of this embodiment, a first pixel PX1 and a second pixel PX2 of the imaging unit 2 receive a first light ray R1 and a second light ray R2 irradiated from the illumination unit 3 onto the surface 5 of the object. The imaging unit 2 captures an image based on the received light, and the processing unit 4 calculates a first light ray direction of the first light ray R1 and a second light ray direction of the second light ray R2 based on the captured image of the imaging unit 2. This allows the optical device 1 of this embodiment to distinguish the first light ray direction of the first light ray R1 and the second light ray direction of the second light ray R2. By distinguishing the light ray directions in this manner, the shape of the surface of the object can be calculated.

[0031] In the optical device 1 of this embodiment, the processing unit 4 calculates a first set of discrete hue pixel values ​​including discrete hue pixel values ​​related to the first light ray R1 based on the first region P1 of the captured image Img corresponding to the first pixel PX1. The processing unit 4 calculates a second set of discrete hue pixel values ​​including discrete hue pixel values ​​related to the second light ray R2 based on the second region P2 of the captured image Img corresponding to the second pixel PX2. The processing unit 4 calculates the first light ray direction and the second light ray direction based on both the first discrete hue pixel value set and the second discrete hue pixel value set. This makes it possible to distinguish the first light ray R1 and the second light ray R2 even if the first light ray R1 and the second light ray R2 cannot be distinguished by the magnitude of the discrete hue pixel values ​​themselves. That is, the ability to distinguish the first light ray R1 and the second light ray R2 is improved. This makes it easier to calculate the shape of the surface 5 of the object.

[0032] In the optical device 1 of this embodiment, the processing unit 4 sets the discrete hue pixel value to 0 when the discrete hue pixel value is smaller than the threshold value. This allows the discrete hue value to be set appropriately even when the transmission spectra of the wavelength filters overlap. This increases the number of types of wavelength filters that can be selected as wavelength filters to be used in the optical device 1. This makes it even easier to calculate the shape of the surface 5 of the object.

[0033] (Modification of the first embodiment) As shown in FIG. 5, in a modification of the first embodiment, the light source of the illumination unit 3 may be a secondary light source. The secondary light source includes a light-emitting element 31. The light-emitting element 31 is a controllable device having the smallest light-emitting area in the secondary light source. Since the light-emitting element 31 is sufficiently small, the light-emitting element 31 can be considered as a point light source. The secondary light source is, for example, a liquid crystal panel illuminated by a light source such as an LED array and an LED. The liquid crystal panel includes, for example, a plurality of pixels, and the light emission of each of the plurality of pixels is controlled. Even if the light-emitting element 31 is not as small as described above, the light-emitting element 31 can be considered as a point light source when the light beams emitted from the light-emitting element 31 can be substantially considered as parallel light.

[0034] The illumination unit 3 may include an imaging optical element 32. The imaging optical element 32 focuses a plurality of light beams (a group of light beams) emitted from a point light source at a position (a conjugate position) that is optically conjugate with the light beam. The imaging optical element 32 is, for example, a lens and a convex mirror. In one example, the light emitting element 31 emits a group of light beams. The light beams emitted from the light emitting element 31 are focused by the imaging optical element 32 at a position (a conjugate position of the light emitting element 31) that is optically conjugate with the position of the light emitting element 31. In this modification, the conjugate position of the light emitting element 31 is the first reflection area Q1 on the surface 5 of the object. That is, the position of the light emitting element 31 and the first reflection area Q1 on the surface 5 of the object are optically conjugate with each other. The first light beam path RP1 is a path along a line (a virtual line) that connects the light emitting element 31 and the first reflection area Q1 on the surface 5 of the object. The light direction is along a line connecting the light emitting element 31 and the first reflection area Q1 of the light beam on the surface 5 of the object.

[0035] In this modification, as described above, the configuration of the illumination unit 3 is different from that of the first embodiment. However, the illumination unit 3 irradiates the first light ray R1 and the second light ray R2 onto the object surface 5 in the same manner as in the first embodiment. Therefore, the processing unit 4 executes the same process as in the first embodiment. That is, the processing unit 4 executes processes S101 to S110 shown in FIG. 4. Therefore, the optical device 1 can distinguish the light direction of the first light ray R1 and the light direction of the second light ray R2 in the same manner as in the first embodiment.

[0036] In this modification, in addition to the same effects and advantages as those of the above-described embodiment, the following effects and advantages are achieved. That is, in this modification, the illumination unit 3 includes the light emitting element 31 and the imaging optical element 32 as described above. Therefore, the illumination unit 3 can apply light rays from various directions toward the first reflection area Q1. In addition, by changing the direction of the light rays, the light rays are reflected from the first reflection area Q1 in various directions. Therefore, the reflected light of the light rays can easily reach the imaging unit 2. For example, even if the surface 5 of the object is a glossy surface such as metal, that is, even if the regular reflection on the surface 5 of the object is strong, the light rays can easily reach the imaging unit 2. Therefore, since the optical device 1 can identify the light ray direction regardless of the surface 5 of the object, it becomes easier to calculate the shape of the surface 5 of the object.

[0037] Second embodiment The optical device 1 according to the second embodiment is similar to the optical device 1 according to the above embodiment, and includes an imaging unit 2, an illumination unit 3, and a processing unit 4. In the optical device 1 according to the present embodiment, the wavelength spectrum of the first light R1 and the wavelength spectrum of the second light R2 emitted from the illumination unit 3 are different from each other, and the main wavelength of the first light R1 and the main wavelength of the second light R2 are close to each other. Here, the main wavelength is a wavelength at which the wavelength spectrum of the light is maximum within the transmission region of the transmission spectrum of the wavelength filter corresponding to the discrete hue value having the maximum discrete hue pixel value when the imaging unit 2 captures the light reflected by the completely white plate. In addition, the completely white plate has the same reflectance spectrum for all wavelengths. In the following, a case will be described in which the first light R1 is incident on the first pixel PX1 and the second light R2 is incident on the second pixel PX2, as in the first embodiment.

[0038] In this embodiment, when the illumination unit 3 emits the first light ray R1, the processing unit 4 opens the shutter 23 immediately after or before the first light ray R1 is emitted, and causes the imaging unit 2 to start imaging the surface 5 of the object. The first light ray R1 is incident on the first reflection area Q1 of the surface 5 of the object and is reflected by the surface 5 of the object. As a result, the reflected light of the first light ray R1 is incident on the first pixel PX1 of the imaging unit 2 at the first time t1. Next, the illumination unit 3 emits the second light ray R2. The second light ray R2 is incident on the second reflection area Q2 of the surface 5 of the object and is reflected by the surface 5 of the object. The second reflection area Q2 is a reflection area on the surface 5 of the object that is different from the first reflection area Q1. As a result, the reflected light of the second light ray R2 is incident on the second pixel PX2 of the imaging unit 2 at the second time t2. The processing unit 4 cooperates with the imaging unit 2 to close the shutter 23 of the imaging unit 2 almost simultaneously or immediately after the second light ray R2 is incident on the second pixel PX2 of the imaging unit 2. That is, the imaging unit 2 stops capturing an image of the object surface 5 with the first light ray R1.

[0039] In this case, the second pixel PX2 of the imaging unit 2 hardly receives the reflected light of the second light ray R2. That is, in the imaging unit 2, the light receiving (exposure) time by the reflected light of the second light ray R2 is shorter than the light receiving (exposure) time by the reflected light of the first light ray R1. In this way, the imaging unit 2 acquires the first captured image Img1 mainly by the first light ray R1. Next, the processing unit 4 cooperates with the imaging unit 2 to open the shutter 23 of the imaging unit 2. The illumination unit 3 continues to emit the second light ray R2 even while the shutter 23 of the imaging unit 2 is closed. As a result, the reflected light of the second light ray R2 is incident on the imaging unit 2 at the second time t2. After the second light ray R2 is incident on the imaging unit 2, the processing unit 4 cooperates with the imaging unit 2 to close the shutter of the imaging unit 2. That is, the imaging unit 2 stops capturing the image of the surface 5 of the object by the second light ray. In this manner, the imaging unit 2 obtains the second captured image Img2 by the second light ray R2. In other words, in this embodiment, the imaging unit 2 obtains the first captured image Img1 by the first light ray R1 and the second captured image Img2 by the second light ray.

[0040] FIG. 6 is a schematic diagram showing an example of captured images Img1 and Img2 acquired by the imaging unit 2 in a time series in the optical device according to the second embodiment. The vertical axis indicates the elapsed time of the measurement by the optical device 1. The first captured image Img1 is an image captured based on the first light ray R1 by the imaging unit 2. The second captured image Img2 is an image captured based on the second light ray R2 by the imaging unit 2. In this embodiment, the first captured image Img1 and the second captured image Img2 are acquired as described above. Therefore, the first region P1 corresponding to the imaging of the first pixel PX1 exists in the first captured image Img1, and the second region P2 corresponding to the imaging of the second pixel PX2 exists in the second captured image Img2. The processing unit 4 calculates a set of first discrete hue pixel values ​​of the first region P1 based on the first captured image Img1. The processing unit 4 calculates a second set of discrete hue pixel values ​​of the second region P2 based on the second captured image Img2. As in the above embodiment, the processing unit 4 identifies the light direction of the first light ray and the light direction of the second light ray based on the difference between the first set of discrete hue pixel values ​​and the second set of discrete hue pixel values.

[0041] FIG. 7 shows an example of processing executed by the processing unit 4 of the optical device 1. Processing S201 to S204 are the same as processing S101 to S104 of the first embodiment shown in FIG. 4. In this embodiment, after executing processing S204, the processing unit 4 closes the shutter of the imaging unit 2 almost simultaneously or immediately after the second light ray R2 is incident on the second pixel PX2 of the imaging unit 2. As a result, the processing unit 4 stops imaging by the imaging unit 2 (S205). As a result, a first captured image Img1 based mainly on the first light ray is acquired. The processing unit 4 resumes imaging by the imaging unit 2 (S206). Processing S208 to S211 are the same as processing S107 to S110 of the first embodiment shown in FIG. 4. However, in processing S209 and S210, the processing unit 4 executes processing related to the first light ray R1 based on the first captured image Img1, and executes processing related to the second light ray R2 based on the second captured image Img2. As a result, the light direction of the first light ray R1 and the light direction of the second light ray R2 are calculated, and the optical device 1 can identify the light direction of the first light ray R1 and the light direction of the second light ray R2.

[0042] In addition to the same effects and advantages as those of the above-mentioned embodiment, the present embodiment provides the following effects and advantages. That is, in the present embodiment, the light direction of the first light ray R1 is calculated based on the first captured image Img1, and the light direction of the second light ray R2 is calculated based on the second captured image Img2. Therefore, even if the dominant wavelength of the first wavelength spectrum and the dominant wavelength of the second wavelength spectrum are close to each other, the optical device 1 can distinguish the light direction of the first light ray R1 and the light direction of the second light ray R2. This reduces the error in distinguishing the light direction, and distinguishes the light direction with high accuracy. Therefore, the calculation accuracy of the shape of the surface 5 of the object is further improved.

[0043] In addition, in this embodiment, the dominant wavelength of the light beam emitted from the illumination unit 3 is different between the first light beam R1 and the second light beam R2. Therefore, in the optical device 1, the synchronization state between the imaging unit 2 and the illumination unit 3 can be monitored. Therefore, when the imaging unit 2 and the illumination unit 3 become out of synchronization with each other, the synchronization can be corrected by adjusting the control of the imaging unit 2 and the illumination unit 3. For example, the synchronization between the imaging unit 2 and the illumination unit 3 occurs when the shutter 23 is opened and closed at high speed in the imaging unit 2. In this embodiment, since the synchronization can be corrected, the shutter 23 of the imaging unit 2 can be opened and closed at a higher speed. Therefore, the calculation speed of the shape of the surface of the object becomes even faster.

[0044] Also, within the range of conditions under which the light ray direction can be identified, the emission timing of the first light ray R1 and the emission timing of the second light ray R2 can be made closer. This shortens the lead time for measuring the surface 5 of an object when the optical device 1 measures the object. Furthermore, even when the first light ray R1 and the second light ray R2 are simultaneously exposed to the imaging unit 2, the optical device 1 can identify the light ray direction of the first light ray R1 and the light ray direction of the second light ray R2. This further improves the light ray direction identification performance, and further increases the speed at which the shape of the object's surface is calculated.

[0045] (Modification of the second embodiment) In a modified example, the irradiation unit 3 can irradiate the first light ray R1 and the second light ray R2 to the object in a state where the reception of the first light ray R1 and the reception of the second light ray R2 in the imaging unit 2 are shifted. In one example, even if the second light ray R2 is emitted from the illuminating device 3 after the first light ray R1 is emitted from the illuminating device 3, the imaging unit 2 receives the first light ray R1 after receiving the second light ray R2 due to the shape of the surface 5 of the object. That is, the reception of the first light ray R1 and the reception of the second light ray R2 in the imaging unit 2 are shifted, but the order of irradiation of the light ray from the illuminating unit 3 and the order of reception of the light ray by the imaging unit 2 do not match. In this case, the processing unit 4 can distinguish the first light ray R1 and the second light ray R2 by their corresponding dominant wavelengths. In other words, the processing unit 4 can distinguish the first light ray R1 and the second light ray R2 by their respective hues. For example, in the case of TOF (Time of Flight) in which the distance to an object is measured using the time it takes for a light ray to be reflected by the object and reach the imaging unit 2, the optical device 1 can distinguish the first light ray R1 and the second light ray R2 as described above. Therefore, in the optical device 1 of this modification, the light ray direction distinguishing performance is further improved, and the shape of the object's surface 5 can be estimated with high accuracy and high speed. Also in this modification, the optical device 1 executes the same process as described above, and therefore the same actions and effects as those of the above-mentioned embodiment and the like are achieved.

[0046] In a modified example, the optical device 1 may include a plurality of imaging units 2. The configurations of the plurality of imaging units 2 may be the same or different. However, the plurality of imaging units 2 at least include a configuration capable of receiving light rays emitted from the illumination unit 3. In one example, the optical device 1 includes two imaging units. As a result, in this modified example, the optical device 1 can obtain more information regarding the shape of the object surface 5. In this case, even if the plurality of imaging units 2 are out of synchronization with each other, the processing unit 4 can synchronize the plurality of imaging units 2 by identifying the respective hues of the light rays. Also, in this modified example, the optical device 1 executes the same process as described above, and therefore the same actions and effects as those of the above-described embodiment and the like are achieved.

[0047] (Third embodiment) The optical device 1 according to the third embodiment is similar to the optical device 1 according to the previous embodiment. As with the optical device 1 according to the second embodiment, in the optical device 1 according to this embodiment, the wavelength spectrum of the first light ray R1 and the wavelength spectrum of the second light ray R2 are different from each other, and the dominant wavelength of the first light ray R1 and the dominant wavelength of the second light ray R2 are close to each other. In the following, as with the previous embodiment, a case will be described in which the first light ray R1 is incident on the first pixel PX1 and the second light ray R2 is incident on the second pixel PX2.

[0048] In this embodiment, the second pixel PX2 is located near the first pixel PX1 in the imaging unit 2. In one example, the second pixel PX2 is adjacent to the first pixel PX1. The processing unit 4 controls the imaging unit 2 and the illumination unit 3 in the same manner as in the second embodiment. However, in this embodiment, unlike the second embodiment, the processing unit 4 closes the shutter 23 of the imaging unit 2 immediately after the reflected light of the first light ray R1 is incident on the first pixel PX1 of the imaging unit 2. In other words, the processing unit 4 closes the shutter 23 of the imaging unit 2 immediately before the reflected light of the second light ray R2 is incident on the imaging unit 2. In this way, the imaging unit 2 acquires the first captured image Img1 by the first light ray R1. Therefore, in this embodiment, the reflected light of the second light ray R2 is not captured in the first captured image Img1.

[0049] FIG. 8 is a schematic diagram showing an example of captured images Img1 and Img2 acquired by the imaging unit 2 in a time series in the optical device according to the third embodiment. The vertical axis indicates the elapsed time of the measurement by the optical device 1. In this embodiment, the second pixel PX2 is located near the first pixel PX1 in the imaging unit 2. Therefore, as shown in the example of FIG. 8, in the first captured image Img1 and the second captured image Img2, the second region P2 is located near the first region P1. Due to the above-mentioned light diffraction limit, the size of the first spot S1 and the size of the second spot S2 are larger than the first region P1 and the second region P2. Therefore, a part of the first spot S1 overlaps a part of the second region P2, and a part of the second spot S2 overlaps a part of the first region P1. That is, the first light ray R1 may be received by a part of the second pixel PX2, and the second light ray R2 may be received by a part of the first pixel PX1.

[0050] In this embodiment, as described above, the processing unit 4 closes the shutter 23 of the imaging unit 2 immediately before the reflected light of the second light ray R2 enters the imaging unit 2. Therefore, even if the spots S1 and S2 overlap both of the pixels PX1 and PX2 as described above, the second light ray R2 does not irradiate the first pixel PX1, and the first light ray R1 does not irradiate the second pixel PX2. Then, similar to the second embodiment, the processing unit 4 calculates a set of first discrete hue pixel values ​​and a set of second discrete hue pixel values ​​based on the first captured image Img1 and the second captured image Img2.

[0051] In this embodiment, the processing unit 4 executes the same processes as the processes S201 to S211 of the second embodiment shown in Fig. 7. However, after executing the process S204, the processing unit 4 closes the shutter 23 of the imaging unit 2 immediately before the second light ray R2 is incident on the second pixel PX2 of the imaging unit 2. This stops imaging by the imaging unit 2 (S205). Since the first light ray direction and the second light ray direction are calculated as described above, the optical device 1 can distinguish between the first light ray direction and the second light ray direction.

[0052] In this embodiment, in addition to the same actions and effects as those of the above-mentioned embodiment, the following actions and effects are achieved. That is, in this embodiment, the processing unit 4 closes the shutter 23 of the imaging unit 2 immediately before the second light ray R2 is incident on the second pixel PX2 of the imaging unit 2, and the imaging unit 2 acquires the first captured image Img1. Therefore, the first captured image Img1 is acquired in a state where it is not exposed to the second light ray R2. Therefore, the error in identifying the light ray direction is further reduced, and the light ray direction is identified with even higher accuracy. Therefore, the calculation accuracy of the shape of the surface of the object is further improved.

[0053] (First modified example of the third embodiment) The optical device 1 according to the first modification of the third embodiment is similar to the optical device 1 according to the above-mentioned embodiment. As shown in FIG. 9, in this modification, the illumination unit 3 emits a third light ray R3 and a fourth light ray R4 in addition to the first light ray R1 and the second light ray R2, which is different from the above-mentioned embodiment. Each of the third light ray R3 and the fourth light ray R4 has a third wavelength spectrum mainly composed of the third wavelength and a fourth wavelength spectrum mainly composed of the fourth wavelength. The first wavelength spectrum to the fourth wavelength spectrum are different from each other. In addition, the difference between the first wavelength and the fourth wavelength is almost zero or relatively small, and the difference between the third wavelength and the second wavelength is relatively large. In one example, the first wavelength is 450 nm (blue light), and the second wavelength is 650 nm (red light). In addition, the third wavelength is 450 nm (blue light), and the fourth wavelength is 550 nm (green light). That is, the third wavelength is the same as the first wavelength. It should be noted that the first to fourth wavelengths are not limited to these.

[0054] As shown in FIG. 9, the first light ray R1 and the third light ray R3 are emitted from the illumination unit 3 along the first light ray path RP1. The fourth light ray R4 and the second light ray R2 are emitted from the illumination unit 3 along the second light ray path RP2. That is, the light direction of the third light ray R3 coincides or substantially coincides with the light direction of the first light ray R1 (first light ray direction). The light direction of the fourth light ray R4 coincides or substantially coincides with the light direction of the second light ray R2 (second light ray direction). The time when the first light ray R1 is emitted from the illumination unit 3 is almost the same as the time when the fourth light ray R4 is emitted from the illumination unit 3. Also, the time when the third light ray R3 is emitted from the illumination unit 3 is almost the same as the time when the second light ray R2 is emitted from the illumination unit 3. That is, the first light ray R1 is emitted from the illumination unit 3 at substantially the same time as the fourth light ray R4, and the third light ray R3 is emitted from the illumination unit 3 at substantially the same time as the second light ray R2. Note that the emission times from the illumination unit 3 being substantially the same (substantially simultaneous) means that the processing unit 4 (imaging unit 2) recognizes that at least two types of light rays reach the imaging unit 2 at the same time. In other words, whether or not they are simultaneous is defined based on the time resolution of the processing unit 4.

[0055] In this modification, when the illumination unit 3 emits the first light ray R1 and the fourth light ray R4, the processing unit 4 opens the shutter 23 immediately after the first light ray R1 and the fourth light ray R4 are emitted, and causes the imaging unit 2 to start imaging the surface 5 of the object. The first light ray R1 is reflected by the first reflection area Q1, and the fourth light ray R4 is reflected by the second reflection area Q2. As a result, the reflected light of the first light ray R1 is incident on the first pixel PX1 of the imaging unit 2, and the reflected light of the fourth light ray R4 is incident on the second pixel PX2 of the imaging unit 2. The processing unit 4 closes the shutter 23 of the imaging unit 2 immediately after the reflected light of the first light ray R1 (the reflected light of the fourth light ray R4) is incident on the first pixel PX1 (the second pixel PX2). In this way, the imaging unit 2 acquires the first captured image Img1 by the first light ray R1 and the fourth light ray R4.

[0056] Next, the illumination unit 3 emits the third light ray R3 and the second light ray R2. The third light ray R3 is reflected by the first reflection area Q1, and the second light ray R2 is reflected by the second reflection area Q2. The processing unit 4 opens the shutter 23 of the imaging unit 2 before the reflected light of the third light ray R3 and the reflected light of the second light ray R2 enter the imaging unit 2. As a result, the reflected light of the first light ray R1 enters the first pixel PX1 of the imaging unit 2, and the reflected light of the second light ray R2 enters the second pixel PX2 of the imaging unit 2. After that, the processing unit 4 closes the shutter 23 of the imaging unit 2. That is, the imaging unit 2 stops capturing the image of the surface 5 of the object by the third light ray R3 and the second light ray R2. In this way, the imaging unit 2 acquires the second captured image Img2 by the third light ray R3 and the second light ray R2.

[0057] FIG. 10 is a schematic diagram showing an example of captured images acquired by the imaging unit 2 in the optical device of this modification along a time series. The vertical axis indicates the elapsed time of measurement by the optical device 1. In this modification, the second pixel PX2 is located near the first pixel PX1 in the imaging unit 2. Therefore, as shown in the example of FIG. 10, the first light ray R1 and the third light ray R3 may be received by a part of the second pixel PX2, and the fourth light ray R4 and the second light ray R2 may be received by a part of the first pixel PX1. In this modification, the first light ray R1 and the fourth light ray R4 are incident on the imaging unit 2 substantially at the same time, and the third light ray R3 and the second light ray R2 are incident on the imaging unit 2 substantially at the same time.

[0058] In the first captured image Img1, the first pixel PX1 mainly receives the first light ray R1 and also receives the fourth light ray R4 substantially simultaneously with the first light ray R1. The second pixel PX2 mainly receives the fourth light ray R4 and also receives the first light ray R1 substantially simultaneously with the fourth light ray R4. The processing unit 4 calculates a set of first discrete hue pixel values ​​corresponding to the first pixel PX1 and a set of second discrete hue pixel values ​​corresponding to the second pixel PX2 in the first captured image Img1. Specifically, the discrete hue pixel value in the first pixel PX1 and the discrete hue pixel value in the second pixel PX2 are a value obtained by adding the discrete hue pixel value corresponding to the first light ray R1 and the discrete hue pixel value corresponding to the fourth light ray R4. In this case, since the difference between the first wavelength and the fourth wavelength is small as described above, depending on the combination of the first light ray R1 and the fourth light ray R4, the first set of discrete hue pixel values ​​and the second set of discrete hue pixel values ​​may be the same or almost the same as each other. That is, there is almost no difference between the first set of discrete hue pixel values ​​and the second set of discrete hue pixel values. Therefore, it is difficult for the processing unit 4 to distinguish the first light ray direction and the second light ray direction based on the first captured image Img1.

[0059] In the second captured image Img2, the first pixel PX1 mainly receives the third light ray R3 and receives the second light ray R2 substantially simultaneously with the third light ray R3. The second pixel PX2 mainly receives the second light ray R2 and receives the third light ray R3 substantially simultaneously with the second light ray R2. The processing unit 4 calculates a set of first discrete hue pixel values ​​and a set of second discrete hue pixel values ​​based on the second captured image Img2 in the same manner as in the case of the first captured image Img1. In this case, since the difference between the third wavelength and the second wavelength is relatively large as described above, the set of first discrete hue pixel values ​​and the set of second discrete hue pixel values ​​are relatively greatly different. Therefore, the processing unit 4 can identify the first light ray direction and the second light ray direction based on the second captured image Img2.

[0060] In one example, in the first captured image Img1, the first pixel PX1 receives a first light ray R1 with a set of discrete hue pixel values ​​of (240, 60, 0), and the first pixel PX1 receives a fourth light ray R4 with a set of discrete hue pixel values ​​of (50, 200, 50). The second pixel PX2 receives a first light ray R1 with a set of discrete hue pixel values ​​of (200, 50, 0), and the second pixel PX2 receives a fourth light ray R4 with a set of discrete hue pixel values ​​of (60, 240, 60). In the second captured image Img2, the set of discrete hue pixel values ​​of the third light ray R3 received by the first pixel PX1 is (240, 60, 0), and the set of discrete hue pixel values ​​of the second light ray R2 received by the first pixel PX1 is (0, 50, 200). In addition, the set of discrete hue pixel values ​​of the third light ray R3 received by the second pixel PX2 is (200, 50, 0), and the set of discrete hue pixel values ​​of the second light ray R2 received by the second pixel PX2 is (0, 60, 200).

[0061] In this example, the upper limit of the discrete hue pixel values ​​is 255 in decimal. Therefore, when the set of discrete hue pixel values ​​is calculated as described above, in the first captured image Img1, the set of the first discrete hue pixel values ​​in the first pixel PX1 is (255, 255, 50), and the set of the second discrete hue pixel values ​​in the second pixel PX2 is (255, 255, 60). Therefore, the difference between the set of the first discrete hue pixel values ​​and the set of the second discrete hue pixel values ​​is small. In this case, it is difficult for the processing unit 4 to distinguish the light direction of the first light ray R1 and the light direction of the fourth light ray R4 based on the first captured image Img1. On the other hand, in the second captured image Img2, the first pixel PX1 has a first discrete hue pixel value set of (240, 110, 200), and the second pixel PX2 has a second discrete hue pixel value set of (200, 110, 240). Therefore, the difference between the first discrete hue pixel value set and the second discrete hue pixel value set is relatively large. Therefore, in this case, the processing unit 4 can identify the light direction of the third light ray R3 and the light direction of the second light ray R2 based on the second captured image Img2.

[0062] In this modification, the processing unit 4 executes the same processes as the processes S201 to S211 of the second embodiment shown in FIG. 7. However, in S201, the processing unit 4 emits a fourth light ray R4 in addition to the first light ray R1. In S203, the imaging unit 2 receives the first light ray R1 and the fourth light ray R4. In S204, the processing unit 4 emits a third light ray R3 in addition to the second light ray R2. After executing the process S204, the processing unit 4 closes the shutter of the imaging unit 2 immediately before the second light ray R2 and the third light ray R3 are incident on the second pixel PX2 of the imaging unit 2. This stops the imaging by the imaging unit 2 (S205). In S207, the imaging unit 2 receives the second light ray R2 and the third light ray R3. As a result, the light direction of the third light ray R3 and the light direction of the second light ray R2 are calculated, so that the optical device 1 can distinguish the light direction of the third light ray R3 and the light direction of the second light ray R2.

[0063] In this modification, in addition to the same actions and effects as those of the above-mentioned embodiment, the following actions and effects are achieved. That is, in this modification, the illumination unit 3 irradiates the object surface 5 with the third light ray R3 and the fourth light ray R4 in addition to the first light ray R1 and the second light ray R2 as described above. If the shape and color distribution of the object surface 5 are unknown at the time of measurement, it is difficult to set an optimal combination of the wavelengths of the light rays before measurement. Even in such a case, in the optical device 1 of this modification, the first light ray R1 to the fourth light ray R4 are set as described above, and the first captured image Img1 and the second captured image Img2 are used to identify the direction of the light rays. Therefore, the shape of the object surface 5 is calculated more reliably.

[0064] (Second modified example of the third embodiment) The optical device 1 according to the second modification of the third embodiment is similar to the optical device 1 according to the above-mentioned embodiment. As shown in FIG. 11, in this modification, the illumination unit 3 emits a fifth light ray R5 and a sixth light ray R6 in addition to the first light ray R1 to the fourth light ray R4, which is different from the above-mentioned embodiment. Each of the first light ray R1 to the sixth light ray R6 is emitted from the illumination unit 3 along a first light ray path RP1 to a sixth light ray path RP6. Each of the first light ray R1 to the sixth light ray R6 is reflected by the first reflection area Q1 to the sixth reflection area Q6. Each of the fifth light ray R5 and the sixth light ray R6 has a fifth wavelength spectrum mainly composed of a fifth wavelength and a sixth wavelength spectrum mainly composed of a sixth wavelength. The first wavelength spectrum to the sixth wavelength spectrum are different from each other. In one example, the first wavelength is 450 nm (blue light) and the second wavelength is 650 nm (red light). In addition, the third wavelength is 450 nm (blue light), and the fourth wavelength is 550 nm (green light). The fifth wavelength is 650 nm (red light), and the sixth wavelength is 550 nm (green light). That is, the third wavelength is the same as the first wavelength, the fifth wavelength is the same as the second wavelength, and the sixth wavelength is the same as the fourth wavelength. However, the first wavelength to the sixth wavelength are not limited to these.

[0065] As shown in FIG. 11, the first light ray R1 to the sixth light ray R6 are irradiated from the illumination unit 3 along the first light ray path RP1 to the sixth light ray path RP6, respectively. The first light ray R1, the fourth light ray R4, and the fifth light ray R5 are emitted from the illumination unit 3 at almost the same time. The second light ray R2, the third light ray R3, and the sixth light ray R6 are emitted from the illumination unit 3 at almost the same time. That is, the fifth light ray R5 is emitted from the illumination unit 3 at substantially the same time as the first light ray R1 and the fourth light ray R4. The sixth light ray R6 is emitted from the illumination unit 3 at substantially the same time as the second light ray R2 and the third light ray R3.

[0066] In this modification, the imaging unit 2 and the illumination unit 3 are controlled in the same manner as in the first modification described above. However, in this modification, unlike the first modification described above, the first light ray R1, the fourth light ray R4, and the fifth light ray R5 are emitted from the illumination unit 3 at substantially the same time, and are reflected by the first reflection area Q1, the fourth reflection area Q4, and the fifth reflection area Q5. As a result, the reflected light of the first light ray R1, the reflected light of the fourth light ray R4, and the reflected light of the fifth light ray R5 are incident on the first pixel PX1, the second pixel PX2, and the third pixel PX3, respectively. The imaging unit 2 acquires a first captured image Img1 by the first light ray R1, the fourth light ray R4, and the fifth light ray R5. Further, the second light ray R2, the third light ray R3, and the sixth light ray R6 are emitted from the illumination unit 3 at substantially the same time and are reflected by the second reflection area Q2, the third reflection area Q3, and the sixth reflection area Q6. As a result, the reflected light of the third light ray R3, the reflected light of the second light ray R2, and the sixth light ray R6 are incident on the fourth pixel PX4, the fifth pixel PX5, and the sixth pixel PX6, respectively. The imaging unit 2 acquires a second captured image Img2 by the second light ray R2, the third light ray R3, and the sixth light ray R6.

[0067] FIG. 12 is a schematic diagram showing an example of captured images Img1 and Img2 acquired by the imaging unit 2 in the optical device of this modified example along a time series. The vertical axis indicates the elapsed time of measurement by the optical device 1. In this modified example, the first light ray R1, the fourth light ray R4, and the fifth light ray R5 are incident on the imaging unit 2 substantially simultaneously, and the third light ray R3, the second light ray R2, and the sixth light ray R6 are incident on the imaging unit 2 substantially simultaneously. In the example of FIG. 12, the first light ray R1, the fourth light ray R4, and the fifth light ray R5 are received by the first pixel PX1, the second pixel PX2, and the third pixel PX3, respectively. In the first captured image Img1, the first region P1, the second region P2, and the third region P3 correspond to the first pixel PX1, the second pixel PX2, and the third pixel PX3, respectively. The third light ray R3, the second light ray R2, and the sixth light ray R6 are received by the fourth pixel PX4, the fifth pixel PX5, and the sixth pixel PX6, respectively. In the second captured image Img2, the fourth region P4, the fifth pixel P5, and the sixth pixel P6 correspond to the fourth pixel PX4, the fifth pixel PX5, and the sixth pixel PX6, respectively.

[0068] In this modification, the representative discrete hue value described above is used for each of the plurality of pixels. The representative discrete hue value is a discrete hue value corresponding to the largest discrete hue pixel value among the discrete hue values ​​for each of the plurality of pixels. In the first captured image Img1, the processing unit 4 calculates the first discrete hue pixel value to the third discrete hue pixel value corresponding to the first pixel PX1 to the third pixel PX3 as described above. In this modification, since the number of discrete hues is three, the representative discrete hue value corresponding to each of the first pixel PX1 to the third pixel PX3 is one of values ​​1, 2, and 3. In addition, in the second captured image Img2, the processing unit 4 calculates the fourth discrete hue pixel value to the sixth discrete hue pixel value corresponding to the fourth pixel PX4 to the sixth pixel PX6 as described above. Similarly to the first captured image Img1, the representative discrete hue value corresponding to each of the fourth pixel PX4 to the sixth pixel PX6 is one of the values ​​1, 2, and 3.

[0069] In one example, the first wavelength and the third wavelength are 450 nm (blue light), the second wavelength and the fifth wavelength are 650 nm (red light), and the fourth wavelength and the sixth wavelength are 550 nm (green light). In RGB, the discrete hue value 1 corresponds to the symbol B, the discrete hue value 2 corresponds to the symbol G, and the discrete hue value 3 corresponds to the symbol R. Then, the first light ray R1 to the sixth light ray R6 are received by the first pixel PX1 to the sixth pixel PX6 as described above. In this case, the first pixel receives the first light ray R1, so the first representative discrete hue value is 1. The second pixel receives the fourth light ray R4, so the second representative discrete hue value is 2. The third pixel receives the fifth light ray R5, so the third representative discrete hue value is 3. The fourth pixel receives the third light ray R3, so the fourth representative discrete hue value is 1. The fifth pixel receives the second light ray R2, so the fifth representative discrete hue value is 3. The sixth pixel receives the sixth light ray R6, so the sixth representative discrete hue value is 2.

[0070] In this case, the representative discrete hue values ​​of the first pixel PX1 to the third pixel PX3 are clearer and more robust than the discrete hue pixel values ​​of the first pixel PX1 to the third pixel PX3. This is because the discrete hue pixel values ​​may vary significantly depending on the surface 5 of the object, while the change in the main wavelength of the light is smaller than the change in the intensity of the light due to the surface 5 of the object. The processing unit 4 can identify the light direction of the first light ray R1, the light direction of the fourth light ray R4, and the light direction of the fifth light ray R5 based on the first captured image Img1 by using the representative discrete hue values. Also, the processing unit 4 can identify the light direction of the second light ray R2, the light direction of the third light ray R3, and the light direction of the sixth light ray R6 based on the second captured image Img2.

[0071] In this modification, the processing unit 4 executes the same processes as the processes S201 to S211 of the second embodiment shown in FIG. 7. However, in S201, the processing unit 4 emits a fourth light ray R4 and a fifth light ray R5 in addition to the first light ray R1. In S203, the imaging unit 2 receives the first light ray R1, the fourth light ray R4, and the fifth light ray R5. In S204, the processing unit 4 emits a third light ray R3 and a sixth light ray R6 in addition to the second light ray R2. After executing the process S204, the processing unit 4 closes the shutter of the imaging unit 2 immediately before the second light ray R2, the third light ray R3, and the sixth light ray R6 are incident on the second pixel PX2 of the imaging unit 2. This stops the imaging by the imaging unit 2 (S205). In S207, the imaging unit 2 receives the second light ray R2, the third light ray R3, and the sixth light ray R6. Furthermore, the processing unit 4 calculates the representative discrete hue value in addition to the set of discrete hue pixel values ​​in S210. As described above, the light directions of the first light ray R1 to the sixth light ray R6 are calculated, so that the optical device 1 can identify the light directions of the first light ray R1 to the sixth light ray R6.

[0072] In addition to the same effects and advantages as those of the above-mentioned embodiment, the present modification provides the following effects and advantages. That is, in the present modification, as described above, the light ray direction of the first light ray R1 to the light ray direction of the sixth light ray R6 can be identified based on the first captured image Img1 and the second captured image Img2. Therefore, in the present modification, a number of light ray directions greater than the number of discrete hues can be identified. Also, the processing unit 4 identifies the light ray direction of the first light ray R1 to the light ray direction of the sixth light ray R6 based on the representative discrete hue value of the first light ray R1 to the representative discrete hue value of the sixth light ray R6. Therefore, the optical device 1 can identify the light ray direction without being affected by minute measurement errors of the discrete hue pixel values. Therefore, the shape of the object surface 5 can be calculated more reliably.

[0073] (Fourth embodiment) As shown in FIG. 13, the optical device 1 according to the fourth embodiment is similar to the optical device 1 according to the above-mentioned embodiment. In the optical device 1 according to this embodiment, the illumination unit 3 includes an initial light source 41, an initial lens 42, a wavelength-variable filter 43, a diffractive optical element 44, and an imaging lens 45. The initial light source 41 can emit white light including at least a first wavelength and a second wavelength. The initial light source 41 is, for example, a white LED. In one example, the first wavelength is 450 nm, and the second wavelength is 650 nm. The initial lens 42 converts the light beam emitted from the initial light source 41 into a parallel light. The wavelength-variable filter 43 selects a specific wavelength spectrum from the light beam incident on the wavelength-variable filter 43.

[0074] In this embodiment, the tunable filter 43 selects a light beam having a specific wavelength spectrum from the light beam emitted from the initial light source 41 and converted into a parallel beam by the initial lens 42. The tunable filter 43 can change the wavelength to be selected over time by electrical action. That is, the tunable filter 43 is not a filter that changes the wavelength over time by mechanical drive (e.g., a galvanometer mirror). In one example, the tunable filter 43 is a liquid crystal tunable filter. An example of the liquid crystal tunable filter is Kurios-VBI manufactured by Thorlabs. However, the tunable filter 43 is not limited to this.

[0075] The diffractive optical element 44 diffracts light rays and changes the traveling direction of the light rays. The diffractive optical element 44 may be of a transmissive type or a reflective type. In this embodiment, the diffractive optical element 44 is of a transmissive type and has a periodic grating structure with a pitch Λ. In the illumination unit 3, the imaging lens 45 is disposed in a state in which the optical axis of the imaging lens 45 coincides or approximately coincides with the normal direction of the diffractive optical element 44. However, this is not limited to this.

[0076] In this embodiment, as described above, the light beams emitted from the initial light source 41 are converted into parallel light by the initial lens 42, and then converted into parallel light mainly composed of a specific wavelength by the wavelength-variable filter 43. Here, the specific wavelength is assumed to be λ. This parallel light is diffracted by the diffractive optical element 44, passes through the imaging lens 45, and reaches the object surface 5. The diffraction angle θ of the diffractive optical element 44 is the angle between the optical axis of the imaging lens 45, i.e., the normal direction of the diffractive optical element 44, and the light beam direction. In this case, the diffraction angle θ and the wavelength λ satisfy the following relationship.

[0077] sinθ=±mλ / Λ (1) Here, m is an integer.

[0078] In one example, when Λ is 10 μm and m is 1, based on formula (1), in the wavelength range of 1 μm or less, the longer the wavelength, the larger the diffraction angle. In this embodiment, as described above, the second wavelength is longer than the first wavelength. Therefore, the diffraction angle θ2 of the second light beam R2 having the second wavelength is larger than the diffraction angle θ1 of the first light beam R1 having the first wavelength. Also, as described above, the selected wavelength of the wavelength-variable filter 43 is switched over time, so that the light beam passing through the wavelength-variable filter 43 changes over time. Therefore, for example, as the selected wavelength of the wavelength-variable filter 43 is increased over time, the wavelength of the light beam passing through the wavelength-variable filter 43 increases over time. This causes the diffraction angle θ to increase over time.

[0079] In the optical device 1 of this embodiment, the processing unit 4 sets a first wavelength as the selection wavelength of the wavelength-variable filter 43. The white light beam emitted from the initial light source 41 is converted by the wavelength-variable filter 43 into a first light beam R1, which is a parallel light beam mainly composed of a first wavelength. The first light beam R1 is emitted along a first light beam path RP1 by the diffractive optical element 44. As in the above-mentioned embodiment, the first light beam R1 is reflected at a first reflection area Q1 of the surface 5 of the object. As in the above-mentioned embodiment, the processing unit 4 opens and closes the shutter 23 of the imaging unit 2 to cause the imaging unit 2 to receive the first light beam R1. The processing unit 4 sets a selection wavelength of the wavelength-variable filter 43 to a second wavelength. The white light beam emitted from the initial light source is converted by the wavelength-variable filter 43 into a second light beam R2, which is a parallel light beam mainly composed of a second wavelength. The second light beam R2 is emitted along a second light beam path RP2 by the diffractive optical element 44. As in the above-described embodiment, the second light ray R2 is reflected at the second reflection area Q2 of the object surface 5. As in the above-described embodiment, the processing unit 4 opens and closes the shutter 23 of the imaging unit 2 to cause the imaging unit 2 to receive the second light ray R2.

[0080] In this embodiment, the control of the shutter of the imaging unit 2 by the processing unit 4 may be any of the controls described in the above-mentioned embodiments. That is, the processing unit 4 may open the shutter 23 before the first light ray R1 is incident on the imaging unit 2, and close the shutter 23 after the second light ray R2 is incident on the imaging unit 2. The processing unit 4 may also open the shutter 23 before the first light ray R1 is incident on the imaging unit 2, open and close the shutter 23 of the imaging unit 2 immediately after the first light ray R1 is incident on the imaging unit 2 and immediately after the second light ray R2 is incident on the imaging unit 2, and close the shutter 23 after the second light ray R2 is incident on the imaging unit 2. The processing unit 4 may also open the shutter before the first light ray R1 is incident on the imaging unit 2, open and close the shutter 23 of the imaging unit 2 immediately after the first light ray R1 is incident on the imaging unit 2 and immediately before the second light ray R2 is incident on the imaging unit 2, and close the shutter 23 after the second light ray R2 is incident on the imaging unit 2. The control of the imaging unit 2 by the processing unit 4 is appropriately set according to a combination of the first light beam R1 and the second light beam R2, etc.

[0081] In this manner, the imaging unit 2 acquires a captured image based on the first light ray R1 and / or the second light ray R2. The processing unit 4 calculates a set of first discrete hue pixel values ​​and a set of second discrete hue pixel values ​​based on the captured image. The processing unit 4 identifies the light direction of the first light ray R1 and the light direction of the second light ray R2 based on a difference between the set of first discrete hue pixel values ​​and the set of second discrete hue pixel values. The processing unit 4 may also calculate a first representative discrete hue value from the set of first discrete hue pixel values ​​and calculate a second representative discrete hue value from the set of second discrete hue pixel values. In this case, the processing unit 4 identifies the light direction of the first light ray R1 and the light direction of the second light ray R2 based on the first representative discrete hue value and the second representative discrete hue value.

[0082] In addition to the same effects and advantages as those of the above-mentioned embodiments, the present embodiment provides the following effects and advantages. That is, in the present embodiment, the illumination unit 3 includes a tunable filter 43 and a diffractive optical element 44. In the illumination unit 3, white light emitted from the initial light source 41 passes through the tunable filter 43, so that light rays having a specific wavelength spectrum are selectively transmitted. The tunable filter 43 changes the selected wavelength over time, thereby changing the diffraction angle θ of the light rays by the diffractive optical element 44. As a result, the optical device 1 of the present embodiment can irradiate a light beam to a measurement location on the surface 5 of the object.

[0083] In addition, in this embodiment, the wavelength-variable filter 43 changes the selected wavelength over time by electrical action. Therefore, the light direction is switched at high speed. As a result, light rays having different wavelength spectra are quickly irradiated onto the object surface 5, so that the optical device 1 can identify the light direction more quickly. Therefore, the calculation of the shape of the object surface 5 can be performed more quickly. In addition, since the wavelength-variable filter 43 changes the selected wavelength by electrical action, the optical device 1 can stably measure the object surface 5 even if the optical device 1 vibrates. Note that in this embodiment, the number of discrete hues may be 1. In this case, the imaging unit 2 may be, for example, a monochrome camera.

[0084] (Modification of the fourth embodiment) As shown in FIG. 14, in this modification, an initial lens 42, a diffractive optical element 44, a wavelength-variable filter 43, and an imaging lens 45 are arranged in this order along an optical axis O. An initial light source 41 is arranged at the focal point of the initial lens 42. The optical axis O passes through the center of each of the multiple optical elements. As shown in FIG. 14 and FIG. 15, in this modification, the initial lens 42 is a light guide. The light guide is made of, for example, acrylic, polycarbonate, glass, quartz, or the like. The light guide is, for example, a compound parabolic concentrator (CPC). The initial lens 42 has a light exit surface 42T on the side where the diffractive optical element 44 is located. The initial lens 42 has a reflecting surface 42S on the side opposite to the side where the diffractive optical element 44 is located. In this modification, the reflecting surface 42S is a parabolic surface. Moreover, a pair of side surfaces extending along the optical axis O of the initial lens 42 are formed in a state in which light rays passing through the interior of the initial lens 42 are totally reflected. That is, the pair of side surfaces of the initial lens 42 are formed in a state in which they are totally internally reflected. In one example, the pair of side surfaces of the initial lens 42 are mirror-polished.

[0085] In this modified example, the group of rays emitted from the initial light source 41 is reflected by the reflecting surface 42S of the initial lens 42. When the group of rays emitted from the initial light source 41 is diverging light, the reflected light reflected by the reflecting surface 42S is converted into parallel light in the direction along the optical axis O. However, the reflected light is not converted into parallel light in the direction intersecting the optical axis O. The reflected light is guided through the initial lens 42 in the above-described state and reaches the exit surface 42T. By being emitted from the exit surface 42T, the reflected light is also converted into parallel light in the direction intersecting the optical axis O. As a result, the group of rays emitted from the initial light source 41 is converted into parallel light.

[0086] In addition to the same actions and effects as those of the above-described embodiment, this modified example provides the following actions and effects. That is, since this modified example has the above-described configuration, substantially all of the light from initial light source 41 is incident on initial lens 42. Then, initial lens 42 converts the light from initial light source 41 into parallel light. Therefore, the efficiency of converting the light from initial light source 41 into parallel light is improved.

[0087] The techniques according to the above-mentioned embodiments and modifications may be combined as appropriate. In one example, the technique according to the fourth embodiment may be combined with the techniques according to the first to third embodiments. In another example, the technique according to the modification of the fourth embodiment may be combined with the techniques according to the first to third embodiments.

[0088] In the optical device 1 of at least one of these embodiments, a first pixel and a second pixel of the imaging unit receive a first light ray and a second light ray irradiated from the illumination unit to an object. The imaging unit captures an image based on the received light, and the processing unit calculates a first light ray direction of the first light ray and a second light ray direction of the second light ray based on the captured image of the imaging unit. This allows the optical device 1 to identify the light ray direction of each of the multiple light rays.

[0089] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. The following are the claims as of the original patent application. [Appendix 1] an illumination unit capable of irradiating an object with a first light beam having a first wavelength and a second light beam having a second wavelength different from the first wavelength; an imaging unit including a first pixel capable of receiving light resulting from irradiation of the first light beam onto the object and a second pixel capable of receiving light resulting from irradiation of the second light beam onto the object, and capable of capturing an image based on reception of the first light beam by the first pixel and reception of the second light beam by the second pixel; a processing unit that calculates a first light ray direction of the first light ray and a second light ray direction of the second light ray based on the captured image captured by the imaging unit; An optical device comprising: [Appendix 2] The processing unit includes: causing the imaging unit to capture a first captured image based on the first light ray being received by the first pixel; causing the imaging unit to capture a second captured image based on the second light ray being received by the second pixel; 2. The optical device according to claim 1. [Appendix 3] The processing unit includes: calculating a first set of discrete hue pixel values ​​including discrete hue pixel values ​​relating to the first light ray based on a first region in the captured image corresponding to the first pixel; calculating a second set of discrete hue pixel values ​​including discrete hue pixel values ​​relating to the second light ray based on a second region in the captured image corresponding to the second pixel; calculating the first light ray direction and the second light ray direction based on both the first set of discrete hue pixel values ​​and the second set of discrete hue pixel values. 3. The optical device according to claim 1 or 2. [Appendix 4] When the discrete hue pixel value is smaller than the discrete hue pixel value threshold value, the processing unit sets the discrete hue pixel value to 0. 4. The optical device according to claim 3. [Appendix 5] The processing unit includes: calculating a first representative discrete hue value that is a discrete hue value corresponding to the largest discrete hue pixel value in the set of first discrete hue pixel values; calculating a second representative discrete hue value that is a discrete hue value corresponding to the largest discrete hue pixel value in the set of second discrete hue pixel values; calculating the first light ray direction and the second light ray direction based on both the first representative discrete hue value and the second representative discrete hue value; 5. The optical device according to claim 3 or 4. [Appendix 6] the illumination unit is capable of irradiating the object with the first light beam and the second light beam in a state in which reception of the first light beam and reception of the second light beam in the imaging unit are shifted from each other. 6. The optical device according to claim 1, [Appendix 7] The illumination unit is capable of emitting a third light beam having a third wavelength different from the first wavelength in a direction of the second light beam substantially simultaneously with the first light beam. 7. The optical device according to claim 1. [Appendix 8] the illumination unit further includes a wavelength tunable filter capable of changing a selected wavelength by an electrical action, and a diffractive optical element capable of diffracting the first light beam and the second light beam emitted from the illumination unit, The illumination unit includes: The first light beam having the first wavelength set as the selected wavelength is diffracted by the diffractive optical element to be emitted in a direction of the first light beam; The second light beam having the second wavelength set as the selected wavelength is diffracted by the diffractive optical element, so that the second light beam is emitted in a second light beam direction. 8. The optical device according to claim 1, [Appendix 9] The illumination unit includes: A light source that emits white light; a light guide having a reflecting surface that reflects the white light beam emitted from the light source and that emits the incident white light beam as parallel light; 9. The optical device according to any one of claims 1 to 8, comprising: [Explanation of symbols]

[0090] 1...optical device, 2...imaging section, 3...illumination section, 4...processing section, 42...initial lens, 42S...reflective surface, 43...wavelength-variable filter, 44...diffractive optical element, Ic1 to Ic3...thresholds, Img...captured image, PX1...first pixel, PX2...second pixel, R1...first light ray, R2...second light ray.

Claims

1. an illumination unit that has an optical element that irradiates a first light beam having a first wavelength spectrum and irradiates a second light beam having a second wavelength spectrum different from the first wavelength spectrum, and that can irradiate the first light beam and the second light beam onto an object; an imaging unit including pixels capable of receiving light resulting from irradiation of the first light beam onto the object and light resulting from irradiation of the second light beam onto the object, and which identifies the first light beam and the second light beam based on the first wavelength spectrum and the second wavelength spectrum; a processing unit that estimates a first light ray direction of the first light ray and a second light ray direction of the second light ray based on a captured image captured by the imaging unit; Equipped with When a three-dimensional positional relationship between the imaging unit, the illumination unit, and the surface of the object, a three-dimensional position of the optical element provided in the illumination unit, and a three-dimensional position of the pixel in the imaging unit are all known values ​​set in advance, The processing unit includes: controlling the illumination unit to cause the first light beam to be incident on the imaging unit at a first time and the second light beam to be incident on the imaging unit at a second time that is later than the first time; and controlling the imaging unit to cause the imaging unit to receive the first light beam and the second light beam so as to obtain a single captured image; estimating a surface shape of the object based on a combination of pixel values ​​of the pixel that receives the first light ray and the pixel that receives the second light ray in the single captured image; optical equipment.

2. an illumination unit that has an optical element that irradiates a first light beam having a first wavelength spectrum and irradiates a second light beam having a second wavelength spectrum different from the first wavelength spectrum, and that can irradiate the first light beam and the second light beam onto an object; an imaging unit including pixels capable of receiving light resulting from irradiation of the first light beam onto the object and light resulting from irradiation of the second light beam onto the object, and which identifies the first light beam and the second light beam based on the first wavelength spectrum and the second wavelength spectrum; a processing unit that estimates a first light ray direction of the first light ray and a second light ray direction of the second light ray based on a captured image captured by the imaging unit; Equipped with When a three-dimensional positional relationship between the imaging unit, the illumination unit, and the surface of the object, a three-dimensional position of the optical element provided in the illumination unit, and a three-dimensional position of the pixel in the imaging unit are all known values ​​set in advance, The processing unit includes: causing the imaging unit to capture a first captured image based on the first light ray being received by the pixel at a first time; causing the imaging unit to capture a second captured image based on the second light ray being received by the pixel at a second time different from the first time; optical equipment.

3. The processing unit includes: calculating a first set of discrete hue pixel values ​​including discrete hue pixel values ​​relating to the first light ray based on a first region in the captured image corresponding to the pixel that has received the first light ray; calculating a set of second discrete hue pixel values ​​including discrete hue pixel values ​​relating to the second light ray based on a second region in the captured image corresponding to the pixel receiving the second light ray; calculating the first light ray direction and the second light ray direction based on both the first set of discrete hue pixel values ​​and the second set of discrete hue pixel values.

3. An optical device according to claim 1 or 2.

4. When the discrete hue pixel value is smaller than the discrete hue pixel value threshold value, the processing unit sets the discrete hue pixel value to 0.

4. The optical device according to claim 3.

5. The processing unit includes: calculating a first representative discrete hue value which is a discrete hue value corresponding to the largest discrete hue pixel value in the set of first discrete hue pixel values; calculating a second representative discrete hue value which is a discrete hue value corresponding to the largest discrete hue pixel value in the set of second discrete hue pixel values; calculating the first light ray direction and the second light ray direction based on both the first representative discrete hue value and the second representative discrete hue value; 5. An optical device according to claim 3 or 4.

6. the illumination unit is capable of irradiating the object with the first light beam and the second light beam in a state in which reception of the first light beam and reception of the second light beam in the imaging unit are shifted from each other. The optical device according to any one of claims 1 to 5.

7. The illumination unit is capable of emitting a third light beam having a third wavelength spectrum different from the first wavelength spectrum in a direction of the second light beam substantially simultaneously with the first light beam. The optical device according to any one of claims 1 to 6.

8. the illumination unit further includes a wavelength-variable filter capable of changing a selected wavelength over time by an electrical action, and a diffractive optical element capable of diffracting the first light beam and the second light beam emitted from the illumination unit and having a diffraction angle that is larger as the wavelength is longer; The illumination unit includes: The first light beam having the first wavelength spectrum set as the selected wavelength is diffracted by the diffractive optical element to be emitted in a direction of the first light beam; The second light beam having the second wavelength spectrum set as the selected wavelength is diffracted by the diffractive optical element, so that the second light beam is emitted in the second light beam direction. The optical device according to any one of claims 1 to 7.

9. The illumination unit includes: A light source that emits white light; a light guide having a reflecting surface that reflects the white light beam emitted from the light source and that emits the incident white light beam as parallel light; The optical device according to any one of claims 1 to 8, comprising:

Images