JP2013210346A - Portable laser radar apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a portable laser radar apparatus capable of easily confirming setting of a desired area required to be detected by a radar and improving resolution of at least underwater radar detection.SOLUTION: The portable laser radar apparatus includes: a near-infrared camera 110 for acquiring an image of a visible area and/or a near infrared area; a laser device 10 to be a laser radar for irradiating a laser beam having high permeability to water and a wavelength of 400 to 550 nm to a predetermined area around an imaging center of the near infrared camera 110; a GPS device 20 and a posture azimuth meter 30 for detecting a self-position of the laser device 10 and an emission center direction of the laser beam; an input/output part 40 for monitor-displaying an image picked up by the near infrared camera 110; and a monitor and control module M1 for monitor-displaying a detection area of the laser device 10 around the imaging center of the near infrared camera 110 on the input/output part 40.

Description

  The present invention relates to a portable laser radar device capable of easily confirming the setting of a desired area to be detected by radar and at least increasing the resolution of underwater radar detection.

  In underwater communication and radar detection, electromagnetic waves are greatly attenuated in water, so communication and radar detection using sound waves are currently in practical use. In particular, the attenuation of electromagnetic waves increases greatly under the sea due to electrical influences such as ions. On the other hand, since visible light has a small attenuation in water, practical application of an underwater communication system has been studied.

  For example, Patent Document 1 discloses an underwater communication system that performs underwater communication using blue-green laser light.

JP 2009-55408 A

  By the way, since the resolution is low even when using a sound wave when searching for a relatively shallow water depth of about 30 m near the coast due to a tsunami in recent years, it has not been possible to search the seabed with high accuracy.

  On the other hand, although it is conceivable to use a visible light laser radar, it is not easy to confirm the setting of the desired region detected by the radar, and much time and labor are required to obtain the radar detection result.

  The present invention has been made in view of the above, and is capable of easily confirming the setting of a desired region to be detected by radar, and at least improving the resolution of underwater radar detection. The purpose is to provide.

  In order to solve the above-described problems and achieve the object, a portable laser radar device according to the present invention includes an imaging unit that acquires an image in a visible region and / or a near-infrared region, and an imaging center of the imaging unit. A laser radar that irradiates laser light having a wavelength of 400 to 550 nm that is highly permeable to water with respect to a predetermined region in the center, and a position and orientation that detects the self-position of the laser radar and the emission center direction of the laser light A detection unit; an output unit that displays an image captured by the imaging unit on a monitor; and a control unit that monitors and displays the detection area of the laser radar centered on the imaging center of the imaging unit on the output unit. It is characterized by that.

  In the portable laser radar device according to the present invention as set forth in the invention described above, the control unit changes and displays the detection area of the laser radar in accordance with zooming of the imaging unit.

  In the portable laser radar device according to the present invention, the portable laser radar device includes a pressure sensor, the position / orientation detection unit has an inertial measurement function, and the control unit self-positions based on a detection result of the pressure sensor. Is determined to be underwater, the self-position in water is detected using the inertial measurement function of the position and orientation detection unit.

  Further, the portable laser radar device according to the present invention includes the pressure sensor in the above invention, and the control unit determines whether the self-position is in the air based on the detection result of the pressure sensor. A distance to the water surface irradiated with the radar light is obtained based on reflection, and a radar detection target position under the water surface due to refraction on the water surface is corrected.

  In the portable laser radar device according to the present invention as set forth in the invention described above, the control unit monitors and displays the three-dimensional data detected by the laser radar on the output unit.

  The portable laser radar device according to the present invention further includes a far-infrared imaging unit that acquires an image of a far-infrared region in the above-described invention, and the control unit includes the image captured by the imaging unit and the far-infrared imaging unit. An image captured by the infrared imaging unit is superimposed and displayed on a monitor.

  The portable laser radar device according to the present invention further comprises a communication unit having a transmission / reception function in the above invention, wherein the control unit includes at least the self-position of the laser radar and the emission center direction of the laser beam. The detection result of the laser radar is transmitted via the communication unit.

  In the portable laser radar device according to the present invention as set forth in the invention described above, the control unit transmits an image captured by the imaging unit via the communication unit.

  In the portable laser radar device according to the present invention as set forth in the invention described above, the control unit performs voice communication via the communication unit.

  In the portable laser radar device according to the present invention as set forth in the invention described above, the communication unit modulates / demodulates and transmits / receives the radar light of the laser radar.

  According to the present invention, the laser radar has a wavelength 400 to a wavelength that is highly permeable to water with respect to a predetermined region centered on the imaging center of the imaging unit that acquires an image in the visible region and / or the near-infrared region. Since the laser beam is irradiated with 550 nm and the control unit displays the laser radar detection area centered on the imaging center of the imaging unit on the output unit, confirmation of setting of a desired area to be detected by the radar is confirmed. Can be easily performed, and at least the resolution of underwater radar detection can be increased.

FIG. 1 is a block diagram showing a configuration of a portable laser radar apparatus according to an embodiment of the present invention. FIG. 2 is a plan view showing an external configuration of the portable laser radar device shown in FIG. FIG. 3 is a front view showing an external configuration of the portable laser radar device shown in FIG. FIG. 4 is a perspective view showing an external configuration of the portable laser radar device shown in FIG. FIG. 5 is a diagram showing the wavelength dependence of the absorption coefficient and the reach distance in water. FIG. 6 is a diagram illustrating an example of a three-dimensional image that is a radar detection result. FIG. 7 is a diagram showing a display example of changing the radar detection area displayed on the monitor. FIG. 8 is a schematic diagram showing an example of how the portable laser radar device shown in FIG. 1 is used.

  FIG. 1 is a block diagram showing a configuration of a portable laser radar apparatus according to an embodiment of the present invention. FIG. 2 is a plan view showing the external configuration of the portable laser radar device excluding the upper housing. FIG. 3 is a front view showing an external configuration of the portable laser radar device excluding the upper housing. Further, FIG. 4 is a perspective view showing an external configuration of the portable laser radar device excluding the upper housing.

  1 to 4, the portable laser radar device 100 is a portable laser radar device. The portable laser radar device 100 includes a laser device 10, a GPS device 20, an orientation compass 30, a pressure sensor 31, an input / output unit 40, a memory 50, an operation unit 60, a communication unit 70, a battery 80, a near-infrared camera 110, a far-infrared camera 110. An infrared camera 120 and a monitoring control module M1 to which the above-described units are connected are included. The monitoring control module M1 includes a radar control module M2, an imaging control module M3, a communication control module M4, and a control unit C. The battery 80 supplies power to the above-described components.

  The laser device 10 includes a light transmitting unit 11 and a light receiving unit 12, and the optical axes C1 and C2 are parallel to the optical axis C3 of the near-infrared camera 110 and the optical axis C4 of the far-infrared camera 120, respectively. The camera 110 and the far-infrared camera 120 are disposed adjacent to each other. The light transmitting unit 11 includes a semiconductor laser module 11a and a scanning unit 11b. Under the control of the radar control module M2, the light transmitting unit 11 outputs pulsed laser light from the semiconductor laser module 11a, and the scanning unit 11b outputs the pulsed laser light. Are scanned within a predetermined range. The light receiving unit 12 receives reflected light of the pulse laser beam emitted from the light transmitting unit 11. The radar control module M2 measures the distance to the observation object based on the time difference between the pulse laser light emitted from the light transmitting unit 11 and the pulse laser light received by the light receiving unit 12, and this distance and the pulse laser light Based on the emission direction, three-dimensional data to be observed is generated.

  The semiconductor laser module 11a has a semiconductor laser that emits a laser beam of 809 nm. The Nd: YAG crystal having an absorption line of 809 nm is irradiated and excited to output a laser beam of 946 nm. The second harmonic generation element (SHG) is irradiated with the laser beam, and the second harmonic laser beam of 473 nm (blue) is output. The 473 nm laser light is pulsed by external modulation by the laser control module M2. This pulsed laser beam is scanned and output by a scanning unit 11b such as a polygon mirror.

  FIG. 5 is a diagram showing light transmission and reach distance in water. As shown in FIG. 5, the light absorption coefficient α in water rapidly decreases in the visible light region. When the reciprocal of the absorption coefficient α, that is, the distance at which the light intensity is 1 / e (37%) is defined as the reaching distance, the wavelength region where the reaching distance is 30 m or more is 400 nm to 550 nm (purple to blue to green). When moving away from the visible light region, the reach distance is 1 mm or less in the wavelength range of 200 nm to 0.2 nm on the ultraviolet light side, and the reach distance is 1 mm or less in the wavelength range of 1.3 μm to 2 cm on the infrared light side. And substantially does not transmit.

  Here, the laser beam output from the semiconductor laser module 11a is 473 nm (blue), and an reach distance of 30 m or more can be obtained. The semiconductor laser module 11a is not limited to 473 nm, and any semiconductor laser module that can output laser light having a wavelength of 400 to 550 nm may be used. Thereby, the resolution of underwater radar detection can be increased.

  The radar control module M2 generates a three-dimensional image as shown in FIG. 6 based on the radar information measured by the laser device 10.

  When the portable laser radar device 100 exists in the air, the GPS device 20 obtains its own position (three-dimensional position) based on information from the satellite.

  Attitude direction meter 30 performs inertial measurement and measures the direction of optical axis C1 of laser device 10 using a three-axis gyro. In particular, when the portable laser radar device 100 is present in water, the self-position is measured by taking over the measurement result of the GPS device 20.

  The pressure sensor 31 detects pressure. The radar control module M2 determines whether or not the portable laser radar device 100 is present in the water based on the pressure detection result. If it does not exist in the water, that is, if it exists in the air, the GPS device 20 causes its own position to be measured.

  The radar control module M2 is an object to be observed based on the radar information measured by the laser device 10, the self-position measured by the GPS device 20 or the attitude azimuth meter 30, and the direction of the optical axis C1 measured by the attitude azimuth meter 30. Generate dimensional data. The radar control module M2 calculates the time difference between the reflected light from the direction of the optical axis C1 and the water surface of the pulsed laser beam when the portable laser radar device 100 is present in the air and the direction of the optical axis C1 is vertical and other than downward. Originally, the water surface position is detected, and the radar information to be observed is corrected in consideration of the refraction of the laser light in the air and in the water.

  The near infrared camera 110 captures an image in the visible region or near infrared region. The far-infrared camera 120 captures an image in the far-infrared region. The near-infrared camera 110 and the far-infrared camera 120 are connected to an imaging control module M3 that controls these imaging operations. The far-infrared camera 120 has a bolometer-type image sensor.

  The near-infrared camera 110 and the far-infrared camera 120 each have an optical zoom function and / or a digital zoom function, and the imaging control module M3 makes the zoom of the near-infrared camera 110 and the far-infrared camera 120 the same, and acquires images respectively. Control is performed so that the viewing angles (viewing angles) of the images are the same. Therefore, the zoom magnification of the near-infrared camera 110 and the far-infrared camera 120 is always the same. In addition, since the optical axis C3 of the near-infrared camera 110 and the optical axis C4 of the far-infrared camera 120 are parallel, and the near-infrared camera 110 and the far-infrared camera 120 are disposed adjacent to each other, the optical axes C3 and C4 are substantially It has the same optical axis. As a result, the near-infrared image acquired by the near-infrared camera 110 and the far-infrared image acquired by the far-infrared camera 120 always acquire images having the same subject area.

  In addition, the imaging control module M3 performs predetermined image processing such as edge processing on the near-infrared image and the far-infrared image by an instruction from the imaging operation unit 61 or preset, and superimposes each of them. Generate a composite image.

  Here, the imaging control module M3 is linked to the laser control module M2 via the control unit C, and displays a near-infrared image or a far-infrared image, or a near-infrared image and a far-infrared displayed on the input / output unit 40. The radar detection area is displayed and output in accordance with the zoom on the composite image with the image.

  For example, as shown in FIG. 7, the monitor display of the radar detection areas E1 to E3 in accordance with the zoom is changed and displayed with respect to the center CT in which the optical axes C1 and C2 are aligned with the optical axes C3 and C4. As a result, it becomes easy to confirm the setting of the desired area to be detected by the radar.

  The input / output unit 40 outputs data such as an image output from the imaging control module M3, a three-dimensional image to be observed, and the self-position of the portable laser radar device 100, and is realized by an electronic viewfinder, for example. The The electronic viewfinder is realized as an output function of the input / output unit 40, and can recognize an image and a three-dimensional image to be observed through the eyepiece 42 and the eyepiece optical system 41. Note that direct display output may be performed by a liquid crystal panel or the like. The input / output unit 40 also has an audio input / output function.

  The communication unit 70 has a function of transmitting and receiving with the outside by wireless radio waves. On the other hand, the communication control module M4 performs communication control using the laser beam of the laser device 10 when the portable laser radar device 100 is present in water. That is, the laser beam emission direction by the scanning unit 11b is fixed so as to coincide with the optical axis C1, and external modulation is performed on the semiconductor laser module 11a, so that the above-described three-dimensional image, captured image, audio data, text Send and receive various data such as data. Of course, even when the portable laser radar device 100 exists in the air, communication using the laser light of the laser device 10 may be performed. Here, when the communication using the laser beam of the laser device 10 is performed and the three-dimensional position of the communication destination is known, the control unit C determines the communication destination based on the detection result of the attitude azimuth meter 30. It is preferable to output and guide to the input / output unit 40 whether or not the laser beam is directed.

  The operation unit 60 includes an imaging operation unit 61, a radar operation unit 62, and a communication operation unit 63. The imaging operation unit 61 includes a zooming button, a release button, and the like, and is either a near-infrared image captured by the near-infrared camera 110 or a far-infrared image captured by the far-infrared camera 120. There is also a button for instructing to output only one or both superimposed images or composite images. Of course, it also has a power switch. Further, the radar operation unit 62 has a button for instructing irradiation of the laser beam to the observation target. The communication operation unit 63 uses at least a transmission / reception control button, a voice communication button, or the like based on either the radio wave communication by the communication unit 70 or the laser communication by the communication control module M4 on the information currently displayed on the input / output unit 40. Have.

  The memory 50 is a detachable storage medium that stores various types of information acquired by the radar control module M2, the imaging control module M3, and the like.

  FIG. 8 shows an example of a usage state of the portable laser radar device 100. As shown in FIG. 8, for example, when radar detecting the state of the seabed 201 within a depth of 30 m, for example, boarding the helicopter 300 and irradiating the portable laser radar device 100 vertically downward from the air. By means of this, it is possible to quickly obtain a seabed state with a high resolution. As a result, for example, an object sinking on the seabed 201 can be quickly recovered. Although the laser light is also reflected by the water surface 200, information on this reflected light can be removed and used for measuring the water depth. In addition, the submerged person 301 can operate the portable laser radar device 100 in the water to obtain the seabed state of the seabed 201 in the water. Furthermore, not only the seabed state but also an object 202 floating in water, such as a mine, can be detected with high accuracy.

DESCRIPTION OF SYMBOLS 1 Portable laser radar apparatus 10 Laser apparatus 11 Light transmission part 11a Semiconductor laser module 11b Scan part 12 Light receiving part 20 GPS apparatus 30 Attitude direction meter 31 Pressure sensor 40 Input / output part 41 Eyepiece lens optical system 42 Eyepiece lens 50 Memory 60 Operation part 61 Imaging Operation Unit 62 Radar Operation Unit 63 Communication Operation Unit 70 Communication Unit 80 Battery 110 Near Infrared Camera 120 Far Infrared Camera M1 Monitoring Control Module M2 Radar Control Module M3 Imaging Control Module M4 Communication Control Module
C controller C1 to C4 Optical axis

Claims (10)

An imaging unit that acquires an image in the visible region and / or the near-infrared region;
A laser radar that irradiates laser light having a wavelength of 400 to 550 nm, which is highly permeable to water, with respect to a predetermined region centered on the imaging center of the imaging unit;
A position and orientation detection unit that detects a self-position of the laser radar and an emission center direction of the laser beam;
An output unit for monitoring and displaying an image captured by the imaging unit;
A control unit that monitors and displays the detection area of the laser radar centered on the imaging center of the imaging unit on the output unit;
A portable laser radar device comprising:   The portable laser radar device according to claim 1, wherein the control unit changes and displays the detection area of the laser radar in accordance with zooming of the imaging unit. With a pressure sensor,
The position and orientation detection unit has an inertia measurement function,
The control unit detects an underwater self-position using an inertial measurement function of the position and orientation detection unit when the self-position is determined to be underwater from the detection result of the pressure sensor. 3. The portable laser radar device according to 1 or 2. With a pressure sensor,
When the control unit determines that the self-position is in the air based on the detection result of the pressure sensor, the control unit obtains the distance to the water surface irradiated with the laser light based on the reflection from the water surface, and refracts the water surface. The portable laser radar device according to claim 1 or 2, wherein the position of the radar detection target under the surface of the water is corrected.   The portable laser radar apparatus according to claim 1, wherein the control unit displays on the output unit three-dimensional data detected by the laser radar. A far-infrared imaging unit that acquires images in the far-infrared region,
The said control part superimposes the image imaged by the said image pick-up part, and the image imaged by the said far-infrared image pick-up part, and displays it on a monitor, The possible as described in any one of Claims 1-5 characterized by the above-mentioned. Portable laser radar device. It has a communication unit with a transmission / reception function,
The said control part transmits the detection result of the said laser radar via the said communication part with the self-position of the said laser radar and the emission center direction of the said laser beam at least via the said communication part. The portable laser radar device according to any one of the above.   The portable laser radar device according to claim 7, wherein the control unit transmits an image captured by the imaging unit via the communication unit.   The portable laser radar device according to claim 7, wherein the control unit performs voice communication via the communication unit.   The portable laser radar device according to any one of claims 7 to 9, wherein the communication unit modulates and demodulates radar light of the laser radar and transmits / receives it.

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