JP2011049789A - Imaging system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent modulated light from interfering with each other among a plurality of imaging apparatus. <P>SOLUTION: While one imaging apparatus Ci picks up an optical modulation image, a controller TC makes other imaging apparatus Ci-1 and Ci+1 arranged adjacently to the imaging apparatus Ci stop imaging of the optical modulation image at least. Consequently, while the one imaging apparatus Ci performs imaging, the light projecting unit 1 of the other imaging apparatus Ci-1 and Ci+1 does not project modulated light, thereby the modulated light can be prevented from interfering with each other between the adjacent imaging apparatus Ci-1 and Ci+1. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an imaging system having a plurality of imaging devices.

  The present applicant irradiates a target area with modulated light obtained by high-speed modulation of infrared light emitted from a light emitting diode, distinguishes the reflected light component of the modulated light received by the image sensor from the reflected light component of ambient light, and modulates the light. An imaging apparatus that generates an image (light modulation image) having only a reflected light component as a pixel value has already been proposed (see Patent Document 1). By using such an imaging apparatus, an image with reduced influence of ambient light can be taken.

JP 2006-121617 A

  By the way, when imaging a plurality of image pickup devices described in Patent Document 1, for example, an automobile that passes through a toll gate of a toll road such as a highway without paying a fee (unauthorized traffic vehicle) is provided for each lane. When imaging is performed with an installed imaging device, the modulated light may interfere with each other between imaging devices that are imaging adjacent lanes, which may reduce the image quality of the light-modulated image. It was.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an imaging system in which modulated light is prevented from interfering with each other between a plurality of imaging devices.

  In order to achieve the above object, the invention according to claim 1 is directed to modulating light irradiating means for irradiating the target region with the modulated light, and receiving the reflected light reflected from the target region and converting the reflected light into the modulated light. A plurality of imaging devices each including a light modulation image generating unit that generates a light modulation image having only a corresponding reflected light component as a pixel value; and a control device that controls the timing at which each imaging device images a light modulation image. The control device is characterized in that at least one other imaging device arranged adjacent to the imaging device pauses the imaging of the light modulation image while the one imaging device is imaging the light modulation image. To do.

  According to the first aspect of the present invention, it is possible to prevent the modulated light from interfering with each other between the plurality of imaging devices.

  In order to achieve the above object, a second aspect of the present invention provides a modulated light irradiating means for irradiating a target region with modulated light, and receiving reflected light reflected from the target region and converting the reflected light into modulated light. A plurality of imaging devices each including a light modulation image generating unit that generates a light modulation image having only a corresponding reflected light component as a pixel value; and a control device that controls the timing at which each imaging device images a light modulation image. The control device is characterized in that when at least a plurality of image pickup devices arranged adjacent to each other picks up a light modulation image, the control device irradiates the modulated light from the modulated light irradiation means of each image pickup device synchronously.

  According to the invention of claim 2, when the modulated light emitted from the modulated light irradiating means of another imaging device and the modulated light emitted from its own modulated light irradiating means are synchronized, Since the influence of the modulated light is reduced, it is possible to prevent the modulated light from interfering with each other between the plurality of imaging devices.

  According to a third aspect of the present invention, in the first or second aspect of the invention, each imaging apparatus includes a speed detection unit that detects a moving speed of the imaging target, and the modulated light irradiation is performed as the speed detected by the speed detection unit increases. The modulated light irradiation period emitted by the means is shortened, or the modulated light irradiation means emits light at the same time as the modulated light irradiation period is shortened.

  According to the invention of claim 3, as the moving speed of the imaging target increases, the modulation light irradiation period is shortened to suppress blurring of the image (subject image) of the imaging target, and the level of the modulated light is further increased. Thus, it is possible to compensate for the decrease in the reflected light component of the modulated light due to the shortening of the irradiation period, and to suppress the image quality deterioration of the light modulated image.

  According to a fourth aspect of the present invention, in the first or second aspect of the present invention, each imaging apparatus includes an ambient light level detection unit that detects a level of ambient light other than the modulated light in the target region, and is detected by the ambient light level detection unit. As the ambient light level increases, the level of the modulated light emitted by the modulated light irradiation means is increased, or the modulation light irradiation period emitted by the modulated light irradiation means is shortened and at the same time the level of the modulated light is increased. It is characterized by.

  According to the invention of claim 4, since the image quality deteriorates when the ambient light level increases and the level difference between the ambient light and the modulated light increases, the ambient light level detected by the ambient light level detection means increases. Deteriorating the image quality of the light-modulated image by increasing the level of the modulated light emitted by the modulated light irradiating means or shortening the irradiation period of the modulated light emitted by the modulated light irradiating means and simultaneously increasing the level of the modulated light The power consumption can be reduced when the irradiation period of the modulated light irradiated by the modulated light irradiation means is shortened.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects of the present invention, each imaging device includes a vibration detection unit that detects the magnitude of vibration applied from the outside, and the vibration detected by the vibration detection unit. The length of the modulated light irradiated by the modulated light irradiating means is shortened or the level of the modulated light irradiated by the modulated light irradiating means is increased at the same time as the modulated light irradiating period is shortened as the size increases. .

  According to the invention of claim 5, the larger the vibration detected by the vibration detecting means, the shorter the irradiation period of the modulated light emitted by the modulated light irradiating means, thereby suppressing blurring of the image (subject image) to be imaged. Further, by increasing the level of the modulated light emitted by the modulated light irradiation means, it is possible to compensate for the decrease in the reflected light component of the modulated light due to the shortening of the irradiation period and to suppress the deterioration of the image quality of the light modulated image.

  The invention of claim 6 is the invention according to any one of claims 1 to 5, wherein the control device and the plurality of imaging devices are connected via a signal line, and transmitted from the control device via the signal line. The timing of each imaging device is controlled by a control signal.

  According to a seventh aspect of the present invention, in the sixth aspect of the present invention, the signal line is sent and wired to each imaging device, and the control signal received by one imaging device receives another imaging from the imaging device via the signal line. It is transmitted to a device.

  According to the invention of claim 7, the wiring can be reduced as compared with the case where the control device and the plurality of imaging devices are individually connected by the signal line.

  The invention of claim 8 is characterized in that, in the invention of claim 7, unique addresses are assigned to the plurality of imaging devices, and the control device designates the addresses and transmits a control signal to each imaging device. .

  A ninth aspect of the invention is characterized in that, in the invention according to any one of the sixth to eighth aspects, a control signal is transmitted from the control device to each imaging device simultaneously or at different timings.

  According to the present invention, it is possible to prevent modulated light from interfering with each other between a plurality of imaging devices.

It is a block diagram which shows Embodiment 1 of this invention. It is a time chart for operation | movement description same as the above. It is a flowchart for operation | movement description same as the above. It is a block diagram which shows Embodiment 2 of this invention. (A), (b) is a time chart for operation | movement description same as the above. It is a block diagram which shows Embodiment 3 of this invention. It is a time chart for operation | movement description same as the above. It is a block diagram of the imaging device in Embodiment 4 of this invention. It is a block diagram of the imaging device in Embodiment 5 of the present invention.

  Hereinafter, an embodiment of an imaging system according to the present invention will be described in detail with reference to the drawings. In the embodiment described below, each of a plurality of tollgates and gates arranged side by side is used to image a car passing through a toll gate on a highway or an entrance gate or exit gate of a toll parking lot. Although an imaging device is separately installed, the present invention is not limited to this.

(Embodiment 1)
The imaging system of the present embodiment includes a plurality of imaging devices C1, C2,..., Cn that individually image a vehicle (vehicle) passing through a plurality of toll gates and a lane leading to a gate. A control device TC that controls the timing at which the device Ci (i = 1, 2,..., N) captures the light modulation image; an image recording device M that records the light modulation image captured by each imaging device Ci; And a vehicle detection device Bi (i = 1, 2,..., N) for detecting the presence of the vehicle in each lane.

  All of the imaging devices Ci have the same configuration, a light projecting unit 1 that irradiates (projects) modulated light onto a target region, an image capturing unit 2 that includes a two-dimensional CCD image sensor, and light reception by the image sensor. An optical system 3 including a lens for condensing light on the surface and a diaphragm for adjusting the amount of received light, a signal processing unit 4 having a CPU as a main component, and a light projecting unit 1 controlled by the signal processing unit 4 And a timing gate (TG) 5 that synchronizes the operation of the imaging unit 2, a memory 6 that stores information such as a program executed by the CPU and an identification code to be described later, and an imaging reference signal received from the control device TC The unit 1 includes a light projection timing determination processing unit 7 that determines the timing of projecting modulated light, and a power supply unit 8 that supplies power to the units 1 to 7.

  The light projecting unit 1 includes, for example, a large number of infrared light emitting diodes (not shown) arranged vertically and horizontally, and a light emitting circuit (not shown) that supplies current to the infrared light emitting diodes to emit light. The light emitting circuit emits the infrared light emitting diode in synchronization with the pulse signal received from the timing gate 5, thereby projecting the modulated light onto the target region. In the present embodiment, the light projecting unit 1 is built in the imaging device Ci, but the light projecting unit 1 and the imaging device Ci may be configured separately.

  Based on the pulse signal received from the timing gate 5, the imaging unit 2 captures the first image when the modulated light is projected from the light projecting unit 1, and the modulated light is projected from the light projecting unit 1. When not, the second image is captured, and the first and second images are separately output to the signal processing unit 4.

  The signal processing unit 4 is a light modulation image generation process for generating a difference image (light modulation image) between the first image and the second image received from the imaging unit 2, the determination result of the light projection timing determination processing unit 7, and the vehicle The timing gate 5 performs a timing adjustment process for adjusting the timing at which the pulse signal is output to the light projecting unit 1 and the imaging unit 2 and the output period of the pulse signal according to the detection result of the detection device Bi. The light modulation image (image data) generated by the light modulation image generation processing is recorded in the image recording apparatus M.

  The vehicle detection device Bi detects, for example, the presence of the vehicle by receiving an ultrasonic wave or a reflected wave of a radio wave transmitted to the target region (lane), and outputs a vehicle detection signal to the corresponding imaging device Ci. . However, since such a vehicle detection device Bi is conventionally well-known, illustration and description of a detailed configuration are omitted.

  The control device TC is connected to each imaging device Ci via a signal line Ls, and transmits a control signal (imaging reference signal) to the light projection timing determination processing unit 7 of each imaging device Ci via the signal line Ls. In the present embodiment, the control device TC and the plurality of imaging devices Ci are bus-connected (multi-drop connection) by the signal line Ls, and the imaging reference signal transmitted from the control device TC to the signal line Ls is all the imaging devices. The light is received by the light projection timing determination processing unit 7 of Ci almost simultaneously. However, if a unique identification code assigned to each imaging device Ci is specified, a signal can be transmitted from the control device TC to only one of the imaging devices Ci.

  The light projection timing determination processing unit 7 of the imaging device Ci receives the imaging reference signal transmitted from the control device TC, and determines the time when a predetermined time elapses from the rising point of the imaging reference signal as the light projection timing. For example, when the imaging system of the present embodiment includes eight imaging devices Ci (i = 1, 2,..., 8), different times ti are allocated to these eight imaging devices Ci (t1). <T2 <t3 <t4 <t5 <t6 <t7 <t8, where t8 is shorter than the period of the imaging reference signal (= frame period). Then, the light projection timing determination processing unit 7 of each imaging device Ci outputs a determination result (light projection timing signal) to the signal processing unit 4 when a predetermined time ti assigned to the imaging device Ci elapses (FIG. 2). (See (b)).

  Next, the operation of this embodiment will be described with reference to the time chart of FIG. 2 and the flowchart of FIG. However, FIG. 2 illustrates the case where eight imaging devices Ci are provided as described above.

  The control device TC sends a square-wave imaging reference signal to the signal line Ls at a constant cycle (frame cycle) (see FIG. 2A). For example, when the imaging device Ci captures an image of 60 frames (light modulated image) per second, the period is 1/60 (≈16.7 milliseconds).

  In the imaging device Ci, the light projection timing determination processing unit 7 waits for reception of the imaging reference signal from the control device TC (step S1), and starts counting the timer simultaneously with receiving the imaging reference signal (step S2). Further, the light projection timing determination processing unit 7 determines the light projection timing based on whether or not the elapsed time counted by the timer reaches a predetermined time ti allocated to itself, and when the predetermined time ti is reached, the signal processing unit A light projection timing signal is output to 4 (step S3).

  The signal processing unit 4 that has received the light projection timing signal determines whether or not the vehicle detection device Bi detects the vehicle, that is, determines whether or not a vehicle detection signal is output from the vehicle detection device Bi. (Step S4). When the vehicle detection signal is output, that is, when the vehicle is present in the target area lane (step S5), the signal processing unit 4 performs the imaging process, specifically, the timing gate 5 to the light projecting unit 1 and the imaging unit. 2, a pulse signal is output only during a predetermined imaging period, and an imaging process for causing the imaging unit 2 to capture the first and second images is executed (step S 6), and the first and second images captured by the imaging unit 2 are also executed. A process of generating a difference image (light modulation image) from the second image and outputting the generated light modulation image to the image recording apparatus M (image generation output process) is executed (step S7). On the other hand, when the vehicle detection signal is not output, that is, when there is no vehicle in the target area lane (step S5), the signal processing unit 4 performs the imaging process (step S6) and the image generation output process (step S7). Do not execute. When the elapsed time counted by the timer reaches the frame period (step S8), the light projection timing determination processing unit 7 resets the timer and returns to step S1 to enter the imaging reference signal reception waiting state.

  As described above, according to the present embodiment, while the one imaging device Ci captures a light modulation image, the control device TC at least another imaging device Ci− disposed adjacent to the imaging device Ci−. Since the imaging of the light modulation image is suspended at 1, Ci + 1, it is possible to prevent the modulated light from interfering with each other between the plurality of imaging devices Ci-1, Ci, Ci + 1. In the present embodiment, the control device TC and the plurality of imaging devices Ci are connected by a single signal line Ls, and control signals (imaging reference signals) transmitted from the control device TC to the signal lines Ls are all transmitted. Since it is received equally by the imaging device Ci, there is an advantage that the transmission processing of the imaging reference signal in the control device TC can be simplified. Furthermore, in the present embodiment, only when the vehicle is present in the lane, the modulated light is projected from the light projecting unit 1 to capture a light modulation image, and when the vehicle is not present in the lane, the light projecting unit 1 is used. Therefore, there is an advantage that energy saving and long life of the light projecting unit 1 can be achieved by not projecting useless modulated light from the light projecting unit 1.

(Embodiment 2)
In the imaging system of the present embodiment, as shown in FIG. 4, the control device TC and the plurality of imaging devices Ci are connected to each other via different signal lines Lsi (i = 1, 2,..., N). There are features. However, since the imaging device Ci, the control device TC, and the image storage device M are the same as those in the first embodiment, the same components are denoted by the same reference numerals, and illustration and description thereof are omitted as appropriate (in FIG. 4, the vehicle). The illustration of the detection device Bi is omitted).

  As shown in FIG. 5A, the control device TC sends a square-wave imaging reference signal to each signal line Lsi at a constant cycle (frame cycle), and sends the imaging reference signal to each signal line Lsi. The timing is delayed by a certain time. That is, in the plurality of imaging devices Ci, the timing at which the light projection timing determination processing unit 7 receives the imaging reference signal is shifted (delayed) by the predetermined time.

  In each of the imaging devices Ci, the light projection timing determination processing unit 7 that has received the imaging reference signal transmitted from the control device TC determines that the predetermined time td has elapsed from the rising time of the imaging reference signal as the light projection timing. The determination result (light projection timing signal) is output to the signal processing unit 4. The predetermined time td is common (same) in all the imaging devices Ci. Then, the signal processing unit 4 that has received the light projection timing signal determines whether or not the vehicle detection signal is output from the vehicle detection device Bi. If the vehicle detection signal is output, the signal processing unit 4 modulates from the light projection unit 1. Light is projected to cause the imaging unit 2 to capture the first and second images, a difference image (light modulation image) is generated from the first and second images, and the generated light modulation image is used as the image recording device M. Output to. On the other hand, if the vehicle detection signal is not output, the signal processing unit 4 does not operate the light projecting unit 1 and the imaging unit 2.

  Thus, according to the present embodiment, since the control signal (imaging reference signal) can be individually transmitted from the control device TC to each imaging device Ci, the timing at which the imaging reference signal is transmitted is adjusted and each imaging device Ci is adjusted. However, it is possible to easily change the timing of capturing the light modulation image.

  By the way, when the modulated light projected from the light projecting unit 1 of the adjacent imaging devices Ci and Ci-1 is synchronized, the modulated light projected from the light projecting unit 1 of one imaging device Ci-1 Even if the reflected light is received by the imaging unit 2 of the other imaging device Ci, the reflected light of the modulated light projected from the light projecting unit 1 of the other imaging device Ci generally has a larger amount of light. Because it is possible, the impact should be reduced.

  Therefore, as shown in FIG. 5B, a control signal (imaging reference signal) is simultaneously transmitted from the control device TC to all the imaging devices Ci, and all the imaging devices Ci are synchronously modulated from the light projecting unit 1. If light is projected and the first and second images are picked up by the image pickup unit 2, the modulated light is prevented from interfering with each other between the plurality of image pickup devices Ci-1, Ci, Ci + 1. It can be done.

(Embodiment 3)
In the imaging system of this embodiment, as shown in FIG. 6, each imaging device Ci includes a control signal output unit 9, and the control device TC and the light projection timing determination processing unit 7 of the imaging device C1 are connected via a signal line Ls1. The control signal output unit 9 of the imaging device Ck and the light projection timing determination processing unit 7 of the imaging device Ck + 1 are connected via a signal line Lsk + 1 (k = 1, 2,..., N). -1). However, since the imaging device Ci, the control device TC, and the image storage device M are the same as those in the first embodiment, the same components are denoted by the same reference numerals, and illustration and description are omitted as appropriate (in FIG. 6, the vehicle). The illustration of the detection device Bi is omitted).

  In the present embodiment, as shown in FIG. 7, a control signal (imaging reference signal) sent from the control device TC to the signal line Ls1 at a constant cycle (frame cycle) is transmitted by the light projection timing determination processing unit 7 of the imaging device C1. When received, a light projection timing signal is output from the light projection timing determination processing unit 7 to the signal processing unit 4 when a predetermined time td has elapsed since the rise of the imaging reference signal. Then, the signal processing unit 4 that has received the light projection timing signal determines whether or not the vehicle detection signal is output from the vehicle detection device Bi. If the vehicle detection signal is output, the signal processing unit 4 modulates from the light projection unit 1. Light is projected to cause the imaging unit 2 to capture the first and second images, and a difference image (light modulation image) is generated from the first and second images, and the generated light modulation image is used as the image recording device M. Output to. On the other hand, if the vehicle detection signal is not output, the signal processing unit 4 does not operate the light projecting unit 1 and the imaging unit 2. Further, the signal processing unit 4 outputs the generated light modulation image to the image recording apparatus M, and then sends a control signal (imaging reference signal) from the control signal output unit 9 to the signal line Ls2.

  The imaging reference signal sent from the control signal output unit 9 of the imaging device C1 to the signal line Ls2 is received by the light projection timing determination processing unit 7 of the adjacent imaging device C2. In the imaging device C2, the projection timing signal is output from the projection timing determination processing unit 7 to the signal processing unit 4 when a certain time td has elapsed from the rise of the imaging reference signal, and the projection timing signal is received. After the signal processing unit 4 executes the imaging process and the light modulation image generation process and outputs the generated light modulation image to the image recording apparatus M, a control signal (imaging reference signal) is sent from the control signal output unit 9 to the signal line Ls3. Send it out.

  Similarly, the imaging reference signal sent from the control signal output unit 9 of the imaging device Ck to the signal line Lsk + 1 is received by the light projection timing determination processing unit 7 of the adjacent imaging device Ck + 1. In the imaging device Ck + 1, the projection timing signal is output from the projection timing determination processing unit 7 to the signal processing unit 4 when the fixed time td has elapsed from the rise of the imaging reference signal, and the projection timing signal is received. After the signal processing unit 4 executes the imaging process and the light modulation image generation process and outputs the generated light modulation image to the image recording apparatus M, a control signal (imaging reference signal) is sent from the control signal output unit 9 to the signal line Lsk + 2. Send it out.

  Thus, in the present embodiment, since the control signal (imaging reference signal) transmitted from the control device TC at a constant period is relayed by each imaging device Ci and transmitted in forward order, the control device TC as in the second embodiment. Therefore, it is not necessary to transmit a control signal (imaging reference signal) to each of the imaging devices Ci from each other, thereby reducing wiring. Further, as compared with the first embodiment, there is an advantage that the time td from when the projection timing determination processing unit 7 outputs the projection timing signal until the projection reference signal is output can be shared by all the imaging devices Ci. Moreover, since each imaging device Ci transmits (relays) the imaging reference signal after completing the imaging of the light modulation image, even if there is an error in the timer included in the light projection timing determination processing unit 7 of each imaging device Ci. There is an advantage that it is possible to reliably prevent the modulated light from interfering with each other between the plurality of imaging devices Ci-1, Ci, Ci + 1.

(Embodiment 4)
This embodiment is characterized in that the imaging device Ci includes a vehicle speed detection unit 10 as shown in FIG. 8, and the other configuration is common to any one of the first to third embodiments. Therefore, about the structure which is common in any of Embodiment 1-3, the same code | symbol is attached | subjected and illustration and description are abbreviate | omitted suitably.

  For example, the vehicle speed detection unit 10 arranges a pair of sensors that detect the vehicle on the same principle as the vehicle detection device Bi along the lane, and the speed of the vehicle based on a time difference at which the pair of sensors detect the vehicle. Or a vibration sensor that detects vibration generated as the vehicle passes through is arranged along the lane, and the speed of the vehicle is calculated based on the time difference at which the pair of vibration sensors detect vibration. The calculated vehicle speed information is output to the signal processing unit 4.

  That is, when the level of the modulated light and the irradiation period are constant, the blur of the vehicle image (subject image) in the light modulation image increases as the vehicle speed increases. If the irradiation period of the modulated light projected from the light projecting unit 1 when the light modulation image is captured is shortened, the time (exposure time) during which the reflected light component of the modulated light is received by the imaging unit 2 is also shortened. Further, it is possible to suppress blurring of the vehicle image (subject image). Furthermore, if the modulated light irradiation period is shortened and the level of the modulated light is increased at the same time, it is possible to compensate for the decrease in the reflected light component of the modulated light due to the shortened irradiation period and to suppress the image quality deterioration of the light modulated image.

  By the way, since the image quality of the light-modulated image deteriorates when the ambient light level increases and the level difference between the ambient light and the modulated light increases, the signal processing unit is based on the second image captured by the imaging unit 2. 4 detects the level of ambient light other than the modulated light in the target region, and increases the level of the modulated light projected from the light projecting unit 1 as the ambient light level increases, or sets the irradiation period of the modulated light. If the level of the modulated light is increased at the same time as shortening, the image quality degradation of the light modulated image can be suppressed, and further, the power consumption can be reduced when the irradiation period of the modulated light projected by the light projecting unit 1 is shortened. .

(Embodiment 5)
The present embodiment is characterized in that the imaging device Ci includes a vibration detection unit 11 as shown in FIG. 9, and the other configuration is common to any one of the first to third embodiments. Therefore, about the structure which is common in any of Embodiment 1-3, the same code | symbol is attached | subjected and illustration and description are abbreviate | omitted suitably.

  The vibration detection unit 11 detects, for example, vibration (acceleration) applied to the imaging device Ci using a capacitance type or piezoresistive type semiconductor acceleration sensor, and performs signal processing on the information (magnitude) of the detected vibration. This is output to the unit 4.

  In other words, when the vibration applied to the imaging device Ci increases, the images (first and second images) captured by the imaging unit 2 are blurred, and the first and second images are blurred. When the light modulation image is generated by obtaining the difference between the images, the ambient light is not sufficiently canceled out and the image quality of the light modulation image may be deteriorated. However, as the vibration detected by the vibration detection unit 11 increases. If the irradiation period of the modulated light projected from the light projecting unit 1 is shortened when the signal processing unit 4 captures one frame of the light modulated image, deterioration in image quality due to vibration can be suppressed. Furthermore, if the modulated light irradiation period is shortened and the level of the modulated light is increased at the same time, the decrease in the reflected light component of the modulated light due to the shortened irradiation period can be compensated for, and the image quality deterioration of the light modulated image can be further suppressed.

Ci imaging device TC control device 1 Projection unit (modulated light irradiation means)
2 Imaging unit (light modulation image generating means)
4 Signal processor (light modulation image generating means)
7. Projection timing judgment processing section

Claims (9)

A modulated light irradiating means for irradiating the target area with modulated light; and a light modulation image that receives reflected light that is reflected back from the target area and uses only the reflected light component corresponding to the modulated light among the reflected light as a pixel value. A plurality of imaging devices including light modulation image generation means to generate, and a control device that controls the timing at which each imaging device captures a light modulation image,
The control apparatus causes at least another imaging apparatus arranged adjacent to the imaging apparatus to stop imaging the optical modulation image while the one imaging apparatus is imaging the optical modulation image. . A modulated light irradiating means for irradiating the target area with modulated light; and a light modulation image that receives reflected light that is reflected back from the target area and uses only the reflected light component corresponding to the modulated light among the reflected light as a pixel value. A plurality of imaging devices including light modulation image generation means to generate, and a control device for controlling the timing at which each imaging device captures a light modulation image,
The control apparatus irradiates modulated light synchronously from modulated light irradiation means of each image pickup apparatus when a plurality of image pickup apparatuses arranged adjacent to each other pick up a light modulation image.   Each imaging device includes speed detection means for detecting the moving speed of the imaging target, and shortens the modulation light irradiation period emitted by the modulated light irradiation means or increases the modulation speed as the speed detection means detects the speed. The imaging system according to claim 1 or 2, wherein the level of modulated light emitted by the modulated light irradiation means is increased simultaneously with shortening the light irradiation period.   Each imaging apparatus includes ambient light level detection means for detecting the level of ambient light other than modulated light in the target region, and the modulated light irradiation means irradiates as the ambient light level detected by the ambient light level detection means increases. 3. The imaging system according to claim 1, wherein the level of the modulated light is increased or the level of the modulated light is increased simultaneously with shortening the irradiation period of the modulated light irradiated by the modulated light irradiation means.   Each imaging device includes vibration detection means for detecting the magnitude of vibration applied from the outside, and as the vibration detected by the vibration detection means increases, the irradiation period of the modulated light emitted by the modulated light irradiation means is shortened, The imaging system according to any one of claims 1 to 4, wherein the modulation light irradiation means increases the level of the modulation light irradiated simultaneously with shortening the irradiation period of the modulation light.   The control device and a plurality of imaging devices are connected via a signal line, and the timing of each imaging device is controlled by a control signal transmitted from the control device via the signal line. The imaging system according to any one of 1 to 5.   The signal line is sent and wired to each imaging device, and the control signal received by one imaging device is transmitted from the imaging device to another imaging device via the signal line. Imaging system.   8. The imaging system according to claim 7, wherein a unique address is assigned to the plurality of imaging devices, and the control device designates the addresses and transmits a control signal to each imaging device.   The imaging system according to any one of claims 6 to 8, wherein a control signal is transmitted from the control device to each imaging device simultaneously or at different timings.

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