JP2002228750A - Laser radar device and image pickup method using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging method using a laser radar device capable of obtaining the information about peripheral condition of an object in addition to the information about the object. SOLUTION: Pulse laser light S1 is radiated to an imaging object 2, and when an imaging the object 2 on the basis of the reflected light from the object 2, a shutter of a camera alternately is controlled for opening and closing to take the reflected light on the basis of the pulse signal S2 with a short duration, rising with a delay time d0 from the pulse laser light S1 and the pulse signal S3 rising with the delay time d0 with a longer duration including the duration of the pulse signal S2. The image signals thus taken are overlapped with each other for regeneration to float the imaged object 2 from the peripheral images.

Description

Description: BACKGROUND OF THE INVENTION [0001] 1. Field of the Invention [0002] The present invention relates to a laser radar apparatus and an imaging method using the same, and more particularly, to not only an imaging target but also the state of the imaging target (contact with the ground). , Floating on the sea surface, floating in the air, etc.) are also useful if you want to obtain information. 2. Description of the Related Art A laser radar device irradiates a pulsed laser beam toward an object to be imaged, and obtains necessary information on the object by imaging the reflected light from the object with a camera. It is for. The principle of this type of laser radar device will be described with reference to FIG. As shown in the figure, the laser radar device irradiates an extremely short pulse laser beam from a laser device 1 to an imaging target 2 and operates at a high speed. In the following, the reflected light from the imaging target 2 is observed at 3, and the shutter is ON (open) only at the moment when the reflected light from the imaging target 2 reaches the ICCD camera 3. The imaging object 2
With the discovery, the distance to the imaging target 2 can be detected based on the propagation speed (light speed) of the pulsed laser light.
At this time, the state of the imaging target 2 can be visually recognized on the image of the monitor device 4. [0003] Such a laser radar device has an object 2 to be imaged.
Since the shutter is turned on (opened) only at the moment when the reflected light from the camera reaches the ICCD camera 3, reflected light from other than the imaging target 2 can be removed, and clear imaging of the imaging target 2 is possible. Further, it is also possible to obtain distance information to the imaging target 2 by using a delay time from the irradiation time of the pulse laser beam to the shutter operation time. [0004] However, in the laser radar apparatus according to the prior art, since predetermined imaging is performed using only the reflected light from the imaging object 2, the obtained image information is mainly It is only related to the object to be imaged, and at the same time, it is difficult to obtain information about the situation around the object to be imaged. In the application of the laser radar device, for example, as a monitoring device of a marine obstacle, it is also necessary to grasp the state of the imaging target 2 (contacting the ground, floating on the sea surface, floating in the air, etc.). In some cases, however, there is a problem that it is difficult to grasp the state of the imaging target 2 in such an application. By the way,
In the case of a monitoring device for a marine obstacle, there is a problem that it is difficult to determine whether there is no obstacle on the sea and the image is not captured on the monitor device 4 or whether the image is not captured due to some failure on the laser radar device side. SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned prior art, and has as its object to provide a laser radar apparatus capable of obtaining not only information about an object to be imaged but also information about the surroundings of the object and an imaging method using the same. And The structure of the present invention that achieves the above object has the following features. [0007] 1) Laser light irradiation means for irradiating a pulse laser light toward an object to be imaged, and shutter means which operates with a predetermined delay time from the irradiation timing of the pulse laser light, are provided. A laser radar device having an imaging unit that receives reflected light from the imaging target and captures an image of the object, and an image display unit that processes and reproduces an image signal obtained by the imaging unit; A short pulse signal having a short duration rising from the pulse laser light with a predetermined delay time, and a longer pulse including the duration of the short pulse signal rising from the pulse laser light with a predetermined delay time. Open and close alternately with a long pulse signal whose duration is, and open and close control of shutter means by both pulse signals And superimposing the captured image signal and reproducing it by the image display means. [0008] 2) Laser light irradiating means for irradiating a pulsed laser light toward an object to be imaged, and shutter means which operates with a predetermined delay time from the irradiation timing of the pulsed laser light, and are provided through the shutter means A laser radar apparatus having an imaging unit that receives reflected light from the imaging target and captures an image of the reflected light, and an image display unit that processes and reproduces an image signal obtained by the imaging unit; The shutter means of one of the imaging means controls opening / closing with a short pulse signal having a short duration which rises after a predetermined delay time from the pulsed laser light, and the shutter of the other imaging means. The means may also rise with a predetermined delay time from the pulsed laser light and include the duration of the short pulse signal. Open / close control is performed by using a long pulse signal whose duration is longer than that of the other, and image signals which are output signals of both image pickup means are alternately fetched. Further, both fetched image signals are superimposed and reproduced by the image display means. What you did. 3) Laser light irradiating means for irradiating a pulse laser light toward an object to be imaged, and shutter means which operates with a predetermined delay time from the irradiation timing of the pulse laser light, and are provided through this shutter means A laser radar device having an imaging unit that receives reflected light from the imaging target and captures an image of the object, and an image display unit that processes and reproduces an image signal obtained by the imaging unit; It has a plurality of short pulse signals having a short duration that rises so that the delay time from the irradiation point of the pulse laser light gradually increases or decreases, and has a longer duration including the duration of all the short pulse signals. Open / close control with a wide pulse signal and superimposition of image signals captured by shutter open / close control with each pulse signal And the image is reproduced by the image display means. 4) In the laser radar device described in 3) above, a plurality of types of colors are individually assigned to an image signal captured by each short pulse signal, and an object to be imaged in a region corresponding to each short pulse signal is unique. The image is displayed on the image display means in color. 5) In an imaging method using a laser radar device that irradiates a pulse laser beam toward an object to be imaged and images the object based on reflected light from the object, a predetermined delay from the pulsed laser light is obtained. A short pulse signal having a short duration rising with a delay by a time, and a long pulse having a duration longer than that including the duration of the short pulse signal and rising from the pulsed laser beam with a delay of a predetermined delay time. The shutter means is alternately opened and closed with a signal to capture the reflected light, and the image signal captured by the opening and closing control of the shutter means by both pulse signals is superimposed and reproduced by the image display means. 6) In the imaging method using the laser radar device described in 5) above, two imaging means are used for imaging the reflected light, and the duration of rising from the pulsed laser light with a predetermined delay time is short. The short pulse signal controls the opening and closing of the shutter means of one of the image pickup means, while the pulse signal rises with a delay of a predetermined delay time from the pulsed laser beam, and has a duration including the duration of the short pulse signal. The shutter means of the other image pickup means is controlled to open and close by the signal, the image signals which are the output signals of both image pickup means are alternately captured, and furthermore, the captured image signals are superimposed and reproduced by the image display means. . 7) In an imaging method using a laser radar device that irradiates a pulsed laser beam toward an object to be imaged and images the object to be imaged based on reflected light from the object to be imaged, the pulsed laser beam is irradiated from the point of irradiation. Controlling the opening and closing of the shutter means with a plurality of short pulse signals having a short duration that rises so that the delay time gradually increases or gradually decreases and a long pulse signal that lasts for a longer period including the duration of all the pulse signals. The reflected light is taken in, and the image signal taken in by opening and closing control of the shutter means by each pulse signal is superimposed and reproduced by the image display means. 8) In the imaging method using a laser radar device described in 7) above, a plurality of types of colors are individually assigned to the image signal captured by each short pulse signal, and an object to be imaged in a region corresponding to each short pulse signal. The reproduction of an object in a unique color on the image display means. Embodiments of the present invention will be described below in detail with reference to the drawings. The principle of the laser radar device itself according to the embodiment of the present invention is not different from the laser radar device shown in FIG. The opening and closing control of the shutter of the laser radar device is devised. Therefore, the same parts as those in FIG. 4 will be described using the same reference numerals. <First Embodiment> As shown in FIG. 1A, in a laser radar apparatus according to the present embodiment, a pulse laser beam S1 is irradiated with an object to be imaged at regular intervals, as in the prior art. Irradiation toward 2. In contrast, ICC
As shown in FIG. 1 (b), the shutter of the D camera 3 rises from the pulse laser beam S1 by a fixed delay time d0 and rises for a relatively short time, and the pulse signal S2 falls. Delay time d0 from light S1
The pulse signal S3 which rises with a delay and rises for a relatively long time (the delay time d of the pulse signal S3)
0 does not necessarily have to be the same as the delay time d0 of the pulse signal S2. ) To control the opening and closing alternately. Here, the duration of the pulse signal S3 (the period from the rising point to the falling point; the same applies hereinafter) is equal to the pulse signal S3.
The period is set to include the duration of 2. As a result, the range captured by the shutter operation based on the pulse signal S2 is included in the range captured by the shutter operation based on the pulse signal S3. As described above, at two kinds of timings, the image signals obtained by alternately capturing images by the ICCD camera 3 are superimposed and reproduced on the monitor device 4. Thus, an image in a narrow range including the object 2 is captured by the pulse signal S2, and the pulse signal S3
Thus, a wide range of images including the imaging target 2 can be captured. At this time, since the image signal representing the imaging target 2 exists in the image signal captured by the pulse signal S2 and also in the image signal captured by the pulse signal S3,
By superimposing both signals, the signal of the portion corresponding to the imaging target 2 is emphasized, and a clearer image is reproduced by the monitor device 4. At the same time, although the luminance, that is, the sharpness is relatively inferior, a surrounding image over a predetermined wide range including the imaging target object 2 can be reproduced. That is, it is possible to reproduce the image of the monitor device 4 together with the image representing the surrounding state in a state where the imaging target 2 is raised. FIG. 2 is an explanatory diagram showing an example of an image obtained according to the present embodiment. FIG. 1A is an example of an observation image, and assumes a case in which, for example, a laser radar device I mounted on a ship sailing on the sea captures an image in front of the traveling direction. In the figure, 11 is a jetty, 12 is a work boat, 13 is a small fishing boat, 14 is a barge, and 15 is a buoy which is an object to be imaged in this case. FIG. 2B is an image captured by the pulse signal S2, and information of a narrow range including the buoy 15 is captured in the image. FIG. 2C shows an image captured by the pulse signal S3. The image includes a buoy 15 and a jetty 11 behind the buoy 15.
A wide range of information including the work boat 12, the small fishing boat 13 and the barge 14 is captured. FIG. 2D shows both pulse signals S
2, an image obtained by synthesizing the images captured in S3. In this image, the buoy 15 is raised from the surroundings and is captured together with the surrounding images. As a result, the presence of the buoy 15 that hinders the navigation of the ship is clearly reproduced as an image together with the surrounding situation. In the above embodiment, one ICC
Although the D camera 3 is used and its shutter is alternately opened and closed by the pulse signal S2 and the pulse signal S3,
Two CCD cameras 3 are prepared, and the shutter of one of the ICCD cameras 3 is controlled to open and close by a pulse signal S2, and the shutter of the other ICCD camera 3 is controlled to be opened and closed by a pulse signal S3. By taking in the signals alternately and superimposing the two image signals, a completely similar image can be obtained. Therefore, this configuration may be adopted. <Second Embodiment> As shown in FIG. 3A, in the laser radar device according to the present embodiment, the pulse laser light S1 is different from that of the first embodiment shown in FIG. Similarly, the light is emitted toward the imaging target 2 at regular intervals. In contrast, the shutter of the ICCD camera 3 is shown in FIG.
As shown in (b), pulse signals S4, S5, S6, and S rising from the pulse laser beam S1 with a certain delay.
7, opening and closing are controlled. Here, the pulse signal S
4, the pulse signals S5, S6, and S7 have the same pulse width, but the delay times d1, d2, d3, and d4 for the pulse signal 1 are gradually increased. The pulse signal S8 has a wide width such that the last pulse signal S8 includes the duration of all the pulse signals S4 to S7. Thus, the pulse signal S4 to S8 is set as one set, and the same control is repeatedly performed thereafter. Pulse signal S4
Image signals representing images captured by the shutters controlled to open and close in S8 to S8 are superimposed and input to the monitor device 4. The images captured by the shutters controlled to open and close by the pulse signals S4 to S7 are images in a predetermined narrow range where the distance from the laser radar device gradually increases. The portion is emphasized by being superimposed on the imaging target 2 in the entire image captured by the pulse signal S8. That is, an image is displayed in which the imaging target 2 is emphasized and displayed together with the surrounding situation. The present embodiment is particularly useful when a plurality of imaging targets 2 are dispersed along the traveling direction of the pulsed laser beam S1. That is, for example, the imaging target 2
Is a buoy obstructing the navigation of the ship, the buoy floats in the traveling direction of the ship, emphasizes a plurality of buoys corresponding to a plurality of ranges corresponding to the pulse signals S4 to S7, and monitors the surrounding buoys together with the surrounding conditions. 4 can be reproduced on the image. In this embodiment, each image captured by controlling the opening and closing of the shutter by each of the pulse signals S4 to S7 can be displayed in a unique color. For example, since the delay times d1, d2, d3, and d4 are short, that is, the distance from the laser radar device is short, it can be said that the obstacle has a high risk. Therefore, colors such as red, yellow, and blue are allocated in that order. If displayed, the degree of danger can be notified according to the distance to the obstacle that is the imaging target 2. Further, although the delay times d1, d2, d3, and d4 are gradually increased, they may naturally be gradually decreased. As described above in detail with the embodiments, the invention described in [Claim 1] is characterized in that a laser beam irradiating means for irradiating a pulse laser beam to an object to be imaged,
An image pickup unit that includes a shutter unit that operates with a predetermined delay time from the irradiation timing of the pulsed laser light, receives reflected light from the object through the shutter unit, and takes an image of the reflected light; An image display means for processing and reproducing an image signal obtained by the means, wherein the shutter means comprises a short pulse signal having a short duration of rising from the pulse laser light by a predetermined delay time. Open / close control is performed alternately with a long pulse signal that rises after a predetermined delay time from the pulse laser light and has a longer duration including the duration of the short pulse signal, and shutter means using both pulse signals Since the image signal captured by the opening / closing control is superimposed and reproduced by the image display means, Captured image is reproduced by a wide range image signal obtained by superimposing an image signal containing a narrow range image signal and the imaged object, including the imaged object. As a result, it is possible to obtain the image information of the imaging target together with the surrounding image information, and it is possible to easily understand the state of the imaging target. Moreover, at this time, the object to be imaged is clearly displayed in a state of being raised from the surrounding image, so that it can be more easily recognized. According to a second aspect of the present invention, there is provided a laser beam irradiating unit for irradiating a pulse laser beam toward an object to be imaged, and a shutter unit which operates with a predetermined delay time from the pulse laser beam irradiation timing. A laser comprising: an imaging unit that receives reflected light from the imaging object via the shutter unit and captures an image thereof; and an image display unit that processes and reproduces an image signal obtained by the imaging unit. In the radar device, the imaging means is composed of two imaging means, and the shutter means of one of the imaging means is controlled to be opened and closed by a short pulse signal having a short duration of rising from the pulse laser light with a predetermined delay time. On the other hand, the shutter means of the other imaging means rises with a predetermined delay time from the pulse laser light, Open / close control with a long pulse signal whose duration is longer than that including the duration of the source signal, alternately captures the image signals that are the output signals of both imaging means, and further superimposes the captured image signals to perform the above-described processing. Since the image is reproduced by the image display means, using two image pickup means,
The same operation and effect as those of [Claim 1] are obtained. According to a third aspect of the present invention, there is provided a laser beam irradiating unit for irradiating a pulsed laser beam to an object to be imaged, and a shutter unit operating with a predetermined delay time from the irradiation timing of the pulsed laser beam. A laser comprising: an imaging unit that receives reflected light from the imaging object via the shutter unit and captures an image thereof; and an image display unit that processes and reproduces an image signal obtained by the imaging unit. In the radar device, the shutter means includes:
It has a plurality of short pulse signals having a short duration that rises so that the delay time from the irradiation point of the pulse laser light gradually increases or decreases, and has a longer duration including the duration of all the short pulse signals. Open / close control is performed using a wide pulse signal, and an image signal captured by opening / closing control of a shutter based on each pulse signal is superimposed and reproduced by the image display means. Are obtained, and the entire image signal corresponding to the wide pulse signal is obtained, and these can be superimposed. As a result, if the imaging target exists in the range corresponding to any of the short pulse signals, not only can this be reproduced together with the surrounding images, but also
Even when a plurality of imaging targets are dispersed in each range corresponding to a plurality of short pulse signals, all of them can be reproduced together with the surrounding images. Also in this case, the imaging target is clearly displayed in a state of being raised from the surrounding image. Therefore, it becomes useful especially as a monitoring device when a plurality of obstacles are dispersed in the traveling direction of the pulse laser light. According to a fourth aspect of the present invention, in the laser radar device according to the third aspect, a plurality of types of colors are individually assigned to an image signal captured by each pulse signal, and each of the plurality of colors is assigned to each pulse signal. Since the object to be imaged in the region to be reproduced is reproduced on the image display means in a unique color, the object to be imaged can be displayed in a color-coded form according to the distance from the laser radar device. Therefore, in the case where a plurality of obstacles are dispersed in the traveling direction of the pulsed laser light, the objects can be displayed in different colors in descending order of the risk, as the obstacles are closer to each other. It will be more useful as an object monitoring device. According to a fifth aspect of the present invention, there is provided an imaging method using a laser radar apparatus which irradiates a pulsed laser beam toward an object to be imaged and images the object based on the reflected light from the object. In the above, a short pulse signal having a short duration that rises from the pulse laser light with a delay of a predetermined delay time, and a short pulse signal that rises with a delay of a predetermined delay time from the pulse laser light and includes the duration of the short pulse signal The shutter means is alternately opened and closed with a long pulse signal having a long duration, and the reflected light is taken in, and the image signal taken in by the opening and closing control of the shutter means by both pulse signals is superimposed to display the image display means. , The image information of the imaging target can be obtained together with the surrounding image information, and the situation of the imaging target can be easily determined. An effect that it is possible to grip. Moreover, at this time, the object to be imaged is clearly displayed in a state of being raised from the surrounding image, so that it can be more easily recognized. According to a sixth aspect of the present invention, in the imaging method using the laser radar device according to the fifth aspect, two imaging means are used for imaging the reflected light, and a predetermined amount is obtained from the pulsed laser light. While controlling the opening and closing of the shutter means of one of the image pickup means with a short pulse signal having a short duration which rises with a delay of the delay time, the pulse signal also rises with a predetermined delay time from the pulse laser beam, The shutter means of the other imaging means is controlled to open and close by a long pulse signal having a duration including the period, and alternately captures image signals which are output signals of both imaging means, and further superimposes the captured image signals. Since the image is reproduced by the image display means, the same operation and effect as in claim 5 can be obtained by the two image pickup means. According to a seventh aspect of the present invention, there is provided an imaging method using a laser radar apparatus which irradiates a pulsed laser beam toward an object to be imaged and images the object based on reflected light from the object. In, a plurality of short pulse signals having a short duration that rises so as to gradually increase or decrease the delay time from the irradiation point of the pulse laser light, and a long pulse that lasts for a longer period including the duration of all the pulse signals The shutter means is controlled to open and close with a signal to capture the reflected light, and the captured image signal is controlled by opening and closing control of the shutter means by each pulse signal to be superimposed and reproduced by the image display means. If the object to be imaged exists in a range corresponding to the short pulse signal, it can be reproduced together with the surrounding image, and a plurality of short pulses can be reproduced. Even when a plurality of the imaged object in each range corresponding to a signal is present in a dispersed, it is possible to reproduce all of these together with the surrounding image. Again,
The imaging target is clearly displayed in a state of being raised from the surrounding image. Therefore, it is particularly useful as a monitoring device when a plurality of obstacles are dispersed in the traveling direction of the pulse laser light. According to an eighth aspect of the present invention, in the imaging method using the laser radar device according to the seventh aspect, a plurality of types of colors are individually assigned to an image signal captured by each pulse signal. Since the object to be imaged in the area corresponding to the pulse signal is reproduced on the image display means in a unique color, it is more closely located, such as when a plurality of obstacles are dispersed in the traveling direction of the pulse laser light. Obstacles can be displayed in different colors in descending order of danger, which is more useful as a monitoring device for an imaging target.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a waveform diagram showing a pulse used in a first embodiment of the present invention, where (a) shows a pulse laser beam S1, and (b) shows pulse signals S2 and S3, respectively. . FIG. 2 is an explanatory diagram showing an example of an image obtained according to the first embodiment shown in FIG. 3A and 3B are waveform diagrams showing pulses used in a second embodiment of the present invention, wherein FIG. 3A shows a pulse laser beam S1, and FIG. 3B shows pulse signals S2 to S8, respectively. FIG. 4 is an explanatory diagram showing the principle of a laser radar device. [Description of Signs] I Laser radar device 1 Laser device 2 Object to be imaged 3 ICCD camera 4 Monitor device S1 Pulse laser light S2 to S8 Pulse signal

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Yukinori Komori             No. 1-1 Akunouramachi, Nagasaki City, Nagasaki Prefecture Mitsubishi Heavy Industries             In Nagasaki Shipyard Co., Ltd. F term (reference) 5C022 AB15 AC51 AC52 CA02                 5J084 AA14 AB02 AD05 BA03 BA32                       BB35 CA03 CA65 EA04

Claims (1)

Claims 1. A laser light irradiating means for irradiating a pulse laser light toward an object to be imaged, and a shutter means operating with a predetermined delay time from the irradiation timing of the pulse laser light. A laser radar device having an imaging unit for receiving reflected light from the imaging target object via the shutter unit and imaging the image, and an image display unit for processing and reproducing an image signal obtained by the imaging unit. The shutter means includes a short pulse signal having a short duration which rises after a delay of a predetermined delay time from the pulse laser light, and a short pulse signal which rises after a delay of a predetermined delay time from the pulse laser light. Open / close control is performed alternately with a long pulse signal whose duration is longer than that including the A laser radar apparatus wherein an image signal taken in by opening / closing control of data means is superimposed and reproduced by the image display means. 2. A laser light irradiation means for irradiating a pulse laser light toward an object to be imaged, and a shutter means which operates with a predetermined delay time from the irradiation timing of the pulse laser light, and are provided through the shutter means. A laser radar apparatus comprising: an imaging unit that receives reflected light from the imaging target and captures an image of the reflected light; and an image display unit that processes and reproduces an image signal obtained by the imaging unit. The shutter means of one of the imaging means controls opening / closing with a short pulse signal having a short duration which rises from the pulsed laser light by a predetermined delay time, and the shutter of the other imaging means. The means may also rise from the pulsed laser light with a delay of a predetermined delay time and include the duration of the short pulse signal. Open / close control is performed with a long pulse signal having a long duration, and image signals which are output signals of both imaging means are alternately captured. Further, the captured image signals are superimposed and reproduced by the image display means. A laser radar device characterized in that: 3. A laser light irradiating means for irradiating a pulse laser light toward an object to be imaged, and a shutter means operating with a predetermined delay time from the irradiation timing of the pulse laser light, and through this shutter means. A laser radar apparatus comprising: an imaging unit that receives reflected light from the imaging target and captures an image of the reflected light; and an image display unit that processes and reproduces an image signal obtained by the imaging unit. It has a plurality of short pulse signals having a short duration that rises so that the delay time from the irradiation point of the pulse laser light gradually increases or decreases, and has a longer duration including the duration of all the short pulse signals. Open / close control is performed using a wide pulse signal, and image signals captured by shutter open / close control using each pulse signal are superimposed. The laser radar apparatus is characterized in that so as to play the image display unit. 4. A laser radar device according to claim 3, wherein a plurality of types of colors are individually assigned to the image signal captured by each short pulse signal, and an imaging object in an area corresponding to each short pulse signal is assigned. A laser radar device wherein the image is reproduced on an image display means in a unique color. 5. An imaging method using a laser radar device for irradiating a pulsed laser beam toward an object to be imaged and imaging the object to be imaged based on reflected light from the object to be imaged, comprising the steps of: A short pulse signal having a short duration rising with a delay by a time, and a long pulse having a duration longer than that including the duration of the short pulse signal and rising from the pulsed laser beam with a delay of a predetermined delay time. The shutter means is alternately opened and closed with a signal to capture the reflected light, and the image signal captured by the opening and closing control of the shutter means by both pulse signals is superimposed and reproduced by the image display means. An imaging method using a laser radar device. 6. An imaging method using a laser radar apparatus according to claim 5, wherein two imaging means are used for imaging the reflected light, and the duration of rising from the pulse laser light is delayed by a predetermined delay time. Controls the opening and closing of the shutter means of one of the image pickup means with a short short pulse signal, and also rises with a predetermined delay time from the pulse laser light, and the duration including the duration of the short pulse signal is the duration. A long pulse signal is used to open and close the shutter means of the other imaging means to alternately capture image signals as output signals of both imaging means, and further superimpose the captured image signals to reproduce the image signals on the image display means. An imaging method using a laser radar device. 7. An imaging method using a laser radar device for irradiating a pulse laser beam toward an object to be imaged and imaging the object to be imaged based on reflected light from the object to be imaged, comprising the steps of: Controlling the opening and closing of the shutter means with a plurality of short pulse signals having a short duration that rises so that the delay time gradually increases or gradually decreases and a long pulse signal that lasts for a longer period including the duration of all the pulse signals. An imaging method using a laser radar device, wherein the reflected light is captured by the controller, and the image signal captured by the opening / closing control of the shutter means by each pulse signal is superimposed and reproduced by the image display means. 8. An imaging method using a laser radar device according to claim 7, wherein a plurality of types of colors are individually assigned to an image signal captured by each short pulse signal, and an area corresponding to each short pulse signal is assigned. An imaging method using a laser radar device, wherein an object to be imaged is reproduced on an image display means in a unique color.