JP2012098121A - Mobile object direction detection apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile object direction detection apparatus for further accurately and two-dimensionally detecting a direction of a mobile object.SOLUTION: The mobile object direction detection apparatus includes: a mask to be reciprocally driven in a vertical direction to a linear slit for applying a plurality of pulse laser beams having respectively different frequencies to a mobile object at a predetermined time interval and receiving reflected light from the mobile object and the background of the mobile object; a two-dimensional sensor composed of a plurality of optical sensor elements arrayed two-dimensionally for diffracting light beams passed through the mask and receiving the diffracted light beams; and units for finding out a total intensity value of light beams of respective wavelengths in a row direction of the slit and detecting the reflected light of a pulse laser beam identified from light from the background, finding out a column having the maximum intensity of wavelengths of pulse laser beams by the total value of light receiving intensity of columns of the optical sensor elements in the two-dimensional sensor in a direction rectangular to the reciprocal driving direction of the mask, and detecting the direction of the mobile object based on the found maximum intensity column, the reciprocal driving position of the mask on which the total value of the maximum intensity of detected reflected light is obtained, and the position of the two-dimensional sensor vertical to the reciprocal driving direction.

Description

  Embodiments described herein relate generally to a moving body direction detection device that detects the direction of a moving object <moving body).

  As a device for measuring the position of an object that moves in space, such as a flying object, for example, a moving object position measuring device described in Patent Document 1 is known.

  This apparatus irradiates an object with two pulsed laser beams generated at a predetermined interval, receives the reflected light by a multi-channel light detection unit having a two-dimensional light receiving unit, and determines the direction of the object and the distance to it. It is something to detect.

JP 2009-244192 A

  The problem to be solved by the present invention is to provide a moving body direction detecting device that more accurately two-dimensionally detects the direction of the moving body as described above.

  In order to solve the above-described problems, a moving body direction detection device according to an embodiment includes a laser generator that generates a plurality of pulse laser beams having different frequencies at predetermined time intervals, and a laser beam generated by the laser generator. A laser beam irradiating unit that irradiates the movable body, a linear slit that receives reflected light from the movable body and its background, and a mask that is driven to reciprocate in a direction perpendicular to the slit; A spectroscope that splits light that has passed through the mask, a two-dimensional sensor that includes a plurality of two-dimensionally arranged photosensor elements, and that receives light split by the spectroscope, and each wavelength in the row direction of the slits An identification reflected light detector for detecting the reflected light of the pulsed laser light that can be identified from the light from the background, and the 2 in the direction perpendicular to the reciprocating drive direction of the mask. A maximum intensity column detector for obtaining a maximum column of the intensity of the wavelength of the pulse laser beam based on a cumulative value of received light intensity of the column of the photosensor elements in the original sensor, and a maximum intensity column determined by the maximum intensity column detector And the reciprocating position of the mask from which the accumulated value with the highest intensity of the reflected light detected by the identification reflected light detection unit is obtained and the position of the two-dimensional sensor perpendicular to the reciprocating direction of the moving body. A moving body direction detecting device including a direction detecting unit for detecting a direction is provided.

It is a figure which shows the structural example of the mobile body direction detection apparatus which concerns on one Embodiment of this invention. It is a figure which shows the structural example of the electric signal process part in the moving body direction detection apparatus shown in FIG. 1, and a distance detection part. It is a figure which shows the structural example of the direction detection part of the mobile body direction detection apparatus shown in FIG. It is a figure which shows the flowchart for demonstrating operation | movement of the moving body direction detection apparatus shown in FIG. It is a figure for demonstrating the structure of the two-dimensional sensor in the moving body direction detection apparatus shown in FIG. It is a figure for demonstrating operation | movement of the identification reflected light detection part in the moving body direction detection apparatus shown in FIG. It is a figure for demonstrating operation | movement of the light reception time series data extraction part in the moving body direction detection apparatus shown in FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a configuration example of this embodiment. Although the present invention detects the direction of the moving body, it is also possible to specify the position of the moving body by calculating the distance to the moving body in addition to the direction, and the embodiment shown in FIG. It is a moving body direction detection apparatus which detects a moving body position.

  This moving body direction detection device 10 changes the optical path of a laser pulse generated by the radar generator 11 that generates two pulsed laser beams at predetermined intervals and the radar pulse generated by the radar generator 11, before the target background 12. Reflecting mirrors 14a and 14b that irradiate laser light in the direction of the moving body 13 existing in the light source, a mask 16 having a horizontal slit 15 that allows the reflected laser light from the background 12 and the moving body 13 to pass through, and the horizontal direction of the mask 16 A lens L that collects the light that has passed through the slit 15, a spectroscope 17 that splits the light collected by the lens L, a two-dimensional sensor 18 that receives the dispersed light, and a light that is received by the two-dimensional sensor 18. An electric signal processing unit 21 that processes an electric signal obtained by photoelectrically converting the light, a distance detection unit 22 that detects a distance from the reflected signal, and a direction of the moving body 13 from the reflected signal. Direction detecting unit 23, and a moving body specifying unit that specifies the position of the moving body from the direction of the moving body 13 detected by the direction detecting unit 23 and the distance to the moving body 13 detected by the distance detecting unit 22. 24, a mask drive unit 25 for reciprocating the mask 16 up and down, a lens 26 for condensing the laser light irradiated to the background 12 and the moving body 13 and the light from the background 12 and the moving body 13, And an overall control unit 27 that controls these units.

  The laser generator 11 generates, for example, two pulsed laser beams having wavelengths λa and λb. The laser light emitted from the laser generator 11 is irradiated in the direction of the moving body 13 through the lens 26 via the reflecting mirrors 14a and 14b forming the laser light irradiation unit. The light received by the moving body direction detection device 10 is strongly reflected from the moving body 13, but includes light of other wavelengths from the background 12 that is different from the laser light.

  As shown in FIG. 5, the two-dimensional sensor 18 has a structure in which a plurality of optical sensor elements are two-dimensionally arranged in the x direction and the y direction. A signal is output. For example, assume that 100 optical sensors are provided in the x-axis direction (column) and 100 optical sensors in the y-axis direction (row). Each optical sensor is made up of optical sensor elements S (1,1) to S (100,1), S (1, i) to S (100, i), S (100,1) to S (100,100). Let's represent. And the value of the electric signal with respect to the light reception value of these photosensor elements is P (1,1) to P (100,1), P (1, i) to P (100, i), P (100,1). ~ P (100, 100). When the positions of these optical sensor elements and electrical signals are not specified, these optical sensor elements are simply expressed as S and the electrical signals are also expressed as P.

  The electrical signal output from each photosensor element S of the two-dimensional sensor 18 is input to the electrical signal processing unit 21. FIG. 2 shows the configuration of the electric signal processing unit 21 and the distance detection unit 22. The electric signal processing unit 21 detects the magnitude of the electric signal corresponding to the intensity of the light received by each optical sensor element S, and the row accumulation for creating the graph by calculating the accumulated value of each row. From the graph obtained by the value graph creation unit 32, the graph obtained by the row cumulative value graph creation unit 32, the identification reflected light detection unit 33 that detects the reflected light that can be identified without being buried in the background, and the column of each optical sensor element S And a column sensor cumulative value calculation unit 34 for calculating the cumulative value of.

  The configuration of the direction detection unit 23 in FIG. 1 is shown in FIG. The direction detecting unit 23 obtains a column having the maximum accumulated value from the output of the column sensor accumulated value calculating unit 34 of the electric signal processing unit 21 and sends a signal notifying the detected column to the moving body specifying unit 24. The column detection unit 37 and the mask vertical position detection unit 38 that detects the vertical position of the mask 16 driven by the mask drive unit 25 and sends a position signal that informs the position to the moving body specifying unit 24.

  The column sensor cumulative value calculation unit 34 obtains the cumulative value of the intensity of the optical sensor elements S (i, j) for each column (i), that is, ΣP (i, j) from j = 1 to 100.

  The distance detection unit 22 receives the time-series data acquisition unit 35 that extracts the time-series data centered on the intensity of the light of the frequency of the reflected light detected by the identification reflected light detection unit 33 of the electrical signal processing unit 21, and the acquisition. A distance calculation unit 36 for calculating the distance to the moving body 13 from the time-series data.

  Next, according to the flowchart shown in FIG. 4, operation | movement of the moving body direction detection apparatus of this embodiment is demonstrated.

  In step S401, the mask 16 is moved to the next position in the vertical direction. In step S <b> 402, laser pulses having two wavelengths λa and λb are irradiated from the moving body direction detection device 10 toward the moving body 13 through the lens 26. The reflected wave of the two-wavelength laser pulse from the moving body 13 and the light from the background 12 enter the spectroscope 17 via the lens 26 and the horizontal slit 15 of the mask 16 and are received by the two-dimensional sensor 18. The light received by the two-dimensional sensor 18 is photoelectrically converted and processed by the electric signal processing unit 21. That is, each sensor intensity detection unit 31 of the electric signal processing unit 21 detects the intensity of each optical sensor element and converts it into an electric signal, and enters the row cumulative value graph creation unit 32. Here, the cumulative value of each row for each wavelength in step S403 is calculated.

  When the mask 16 is moved up and down with respect to the two-dimensional sensor 18, the light in the horizontal direction that passes through the horizontal slit 15 and enters the spectroscope 18 moves up and down. The horizontal light is split by the spectroscope 18 and divided into wavelengths λ1 to λ100 and enters the two-dimensional sensor 19.

  The light incident on the two-dimensional sensor 19 is added to each row, that is, the electric signal value corresponding to the reception of the electric signals P (1, i) to P (100, i) for each row. ) Is expressed as shown in FIG. 3, for example, and this changes with the movement of the horizontal slit 15, that is, as a function of time t.

  Note that light entering from the background 12 is in a wide wavelength range, and reflected light from the moving body 13 is reflected light of wavelengths λa and λb irradiated as laser light. Therefore, as shown in FIG. 6, the light at each time received by the two-dimensional sensor 18 is light having a wide wavelength from the background 12, while the reflected light from the moving body 13 is indicated by 41a and 41b. Thus, the signals have specific wavelengths λa and λb. Note that the wavelength of the reflected light corresponding to the reflected signals 41a and 41b may slightly change depending on the Doppler effect associated with the moving direction and speed of the moving body.

  In step S404, it is detected whether one movement of the mask 16 is completed. If not completed, the process returns to step S401 and the above operation is repeated. When one mask movement is completed, the movement of the mask 16 is repeated up to a predetermined number of times in step S405.

  The row cumulative value graph creation unit 32 obtains the cumulative value of the received light intensity P (j, i) of each photosensor element S (j, i) in, for example, j rows (j = 1 to 100) and creates the graph. To do. In FIG. 6, the horizontal axis represents the wavelength λ (λ1 to λ100) of each row, and the vertical axis represents the cumulative value of the intensity of the row.

  The received light accumulated values 61 and 62 at the wavelengths λa and λb are reflected from the moving body 13 after the light of the wavelengths λa and λb generated by the laser generator 11 is irradiated from the moving body direction detecting device 10, and the moving body direction is detected. The reflected light received by the apparatus 10 is shown and shows a considerably high value. On the other hand, in FIG. 6, light receiving portions 63 and 64 represent cumulative values of each row of light received by the moving body direction detection device 10 among light generated by reflection from the background 12.

  In the row of the wavelength λa shown in FIG. 6, the accumulated light reception value 61 cannot be identified because the light reception portion 63 has a small value. However, in the row of the wavelength λb, since the accumulated value of the reflected light is larger than that of the light receiving portion 64, the reflected light of this wavelength can be identified. A graph as shown in FIG. 6 is created every predetermined time. The identification reflected light detection unit 33 detects reflected light that can be identified as described above. This process is performed in step S406.

  In the next step S407, the wavelength of the corresponding reflected light, in this example, the wavelength λb is detected.

  In step S408, by detecting the maximum value of the row accumulated value of the corresponding reflected light, it is detected which direction the moving body 13 is in the vertical direction (elevation direction) and in which direction the visual axis is directed. can do.

  In the next step S409, a graph over time for the wavelength is created. That is, the light reception time series data extraction unit 36 extracts time series data at the wavelength λb of the reflected light from the above-described identification reflected light and creates a graph thereof. An example is shown in FIG.

  In this graph, the horizontal axis represents the time from the time of laser light irradiation, and the vertical axis represents the light intensity at the elapsed time. Thereby, the time when the reflected light is detected can be detected (step S410). Accordingly, the time T when the reflected light of the reflected light λb is received is divided by 2 to calculate the one-way time, and the distance to the moving body 13 can be calculated by dividing by the speed of light. In this way, in step S410, the time (elapsed time) at which the reflected light is detected is detected, and in step S411, the distance calculation unit 36 calculates the distance to the moving body 13.

  On the other hand, in step S412, the position of the moving body 13 in the azimuth direction can be detected from the corresponding reflected light. In step S413, the direction of the moving body 13 can be detected based on the vertical direction detected in step S408 and the azimuth direction detected in step S413.

  As described above, the azimuth direction (azimuth direction) of the moving body 13 is detected based on the output of the maximum intensity row detection unit 37, and the elevation direction (vertical direction) of the moving body 13 is detected based on the output of the mask vertical position detection unit 38. . Furthermore, since the distance to the moving body 13 is obtained by the distance calculating section 36 of the distance detecting section 22, the distance to the moving body 13 can also be obtained by the moving body specifying section 24 shown in FIG. In this way, the moving body specifying unit 24 can specify the position of the moving body 13 from the direction and distance.

  In this embodiment, the reflected light is obtained by irradiating laser light having two wavelengths toward the moving body. However, the irradiation light is not limited to two-wavelength laser light, and may be three or more. The more laser beams having different wavelengths, the greater the possibility of obtaining reflected light that is not buried in the background and can be identified.

  In this embodiment, a mask having a horizontal slit is driven in the vertical (vertical) direction. However, in the present invention, a mask having a vertical slit may be driven in the (horizontal) direction as long as it can be driven in a direction perpendicular to the direction of the slit.

  According to this embodiment, it is possible to determine not only the direction of the moving body but also the distance from the device to the moving body and specify the position. In the present invention, it is only necessary to detect the direction of the moving body, and it is not always necessary to detect the distance to the moving body.

  ADVANTAGE OF THE INVENTION According to this invention, the moving body direction detection apparatus which can detect the direction of a moving body correctly is obtained.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

10... Moving body direction detection device,
12 ... Background,
13 .... Moving object,
14a, 14b ... Reflector,
15 ... Horizontal slit,
16 .... Mask,
17 .. Spectroscope,
18 ... 2D sensor,
21... Electrical signal processing unit,
22 ··· Distance detector,
23... Direction detection unit,
24... Moving body specifying part,
25... Mask driving unit,
26 ... Lens,
27... Overall control unit,
31... Each sensor strength detection unit,
32... Line cumulative value graph creation unit,
33... Identification reflected light detection unit,
34... Column sensor cumulative value calculation unit,
35... Received light time series data acquisition unit,
36... Distance calculation unit,
37... Maximum intensity row detector,
38... Mask up / down position detector.

Claims (4)

A laser generator that generates a plurality of pulsed laser beams having different frequencies at predetermined time intervals;
A laser beam irradiation unit for irradiating the moving body with the laser beam generated by the laser generator;
A mask having a linear slit for receiving reflected light from the moving body and its background, and a reciprocating mask in a direction perpendicular to the slit;
A spectroscope that splits the light that has passed through the mask;
A two-dimensional sensor comprising a plurality of photosensor elements arranged two-dimensionally and receiving the light dispersed by the spectrometer;
A cumulative reflected value of each wavelength in the row direction of the slits is obtained, and an identification reflected light detection unit that detects reflected light of the pulsed laser light that can be identified from the light from the background,
A maximum intensity sequence detector for obtaining a maximum sequence of the intensity of the wavelength of the pulsed laser beam based on a cumulative value of received light intensity of the sequence of the photosensor elements in the two-dimensional sensor in a direction perpendicular to the reciprocal drive direction of the mask; ,
With respect to the reciprocating position of the mask and the reciprocating direction of the mask at which the maximum intensity sequence obtained by the maximum intensity array detecting unit and the accumulated value with the highest intensity of the reflected light detected by the identification reflected light detecting unit are obtained. A direction detection unit that detects the direction of the moving body based on the position of the vertical two-dimensional sensor;
A moving body direction detection device comprising:   2. The moving body direction detecting device according to claim 1, wherein the laser beam generator generates pulsed laser beams having two wavelengths having different frequencies at predetermined time intervals.   The distance calculation part which calculates the distance to the said mobile body from the time-dependent change of the light intensity in the wavelength of the said reflected light obtained by the said identification reflected light detection part is further provided. Mobile body direction detection device.   4. The moving body detection apparatus according to claim 3, wherein the mask has a horizontal slit and is driven in the vertical direction.

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