JP2016099129A - Water temperature measurement apparatus and water temperature measurement method - Google Patents

Water temperature measurement apparatus and water temperature measurement method Download PDF

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JP2016099129A
JP2016099129A JP2014233694A JP2014233694A JP2016099129A JP 2016099129 A JP2016099129 A JP 2016099129A JP 2014233694 A JP2014233694 A JP 2014233694A JP 2014233694 A JP2014233694 A JP 2014233694A JP 2016099129 A JP2016099129 A JP 2016099129A
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water temperature
temperature
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reflected light
distance
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JP6242325B2 (en
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勝治 今城
Masaharu Imaki
勝治 今城
玉川　恭久
Yukihisa Tamagawa
恭久 玉川
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Mitsubishi Electric Corp
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Abstract

PROBLEM TO BE SOLVED: To provide a water temperature measurement apparatus capable of properly measuring water temperature free from influences by the configuration of the landscape at a measurement point.SOLUTION: The water temperature measurement apparatus includes: a laser distance measurement section 100 that receives a first reflectance 40 and a second reflectance 50 of a first pulse laser beam 20 and a second pulse laser beam 30 each having a different wavelength, which are emitted into the water and reflected at a measurement point, and calculates distance values Dand Deach representing an optical path length of the received first reflectance 40 and second reflectance 50 each having different wavelength; and a temperature calculation section 200 that calculates a water temperature on the optical path of the laser beam on the basis of the ratio between the distance values Dand Dcalculated by the laser distance measurement section 100.SELECTED DRAWING: Figure 1

Description

この発明は、水中の水温を計測する技術に関し、特に海底面が複雑形状の地形を有する水中において水温の計測を行う水温計測装置に関するものである。   The present invention relates to a technique for measuring water temperature in water, and more particularly to a water temperature measurement device that measures water temperature in water having a terrain with a complex sea bottom.

従来、誤差の少ない水温計測技術として、レーザ光を用いた計測方法が知られている。例えば特許文献１に開示された水温測定方法では、トリガとして超音波パルスを水中に発射し、次にプローブとしてレーザ光を同方向に発射し、超音波パルスが水中を伝搬する際に発生する水の粗密部分において反射されるレーザ光を受光し、受光した反射光を周波数解析することにより、超音波の水中速度が導出され、得られた水中における音速と水温との相関によって水温を計測している。   Conventionally, a measurement method using laser light is known as a water temperature measurement technique with few errors. For example, in the water temperature measurement method disclosed in Patent Document 1, an ultrasonic pulse is emitted into water as a trigger, and then laser light is emitted in the same direction as a probe, and water generated when the ultrasonic pulse propagates in water. By receiving the laser light reflected at the coarse and dense parts of the water and analyzing the frequency of the reflected light, the underwater velocity of the ultrasonic wave is derived, and the water temperature is measured by the correlation between the obtained sound speed and the water temperature. Yes.

特開昭６１−１１１４３１号公報Japanese Patent Laid-Open No. 61-111431

しかしながら、上述した特許文献１に記載された技術では、トリガとして用いる超音波パルスは、一定の広がり角度を有して水中を伝搬するため、海底面の地形が複雑形状を有しており、当該海底面での反射により超音波パルスとレーザ光とが互いに干渉し、水温計測に誤差が生じるという課題があった。   However, in the technique described in Patent Document 1 described above, since the ultrasonic pulse used as a trigger propagates in water with a certain spread angle, the topography of the sea floor has a complex shape, There was a problem that an ultrasonic pulse and a laser beam interfere with each other due to reflection on the sea bottom, and an error occurs in water temperature measurement.

この発明は、上記のような課題を解決するためになされたもので、海底面などの測定地点における地形の形状の影響を受けることなく正確な水温計測を実現する水温計測装置を得ることを目的とする。   The present invention was made to solve the above-described problems, and an object of the present invention is to provide a water temperature measurement device that realizes accurate water temperature measurement without being affected by the shape of the topography at a measurement point such as the sea floor. And

この発明に係る水温計測装置は、水中に照射された２波長のレーザ光が測定地点で反射されて得られる反射光を受信し、受信した２波長の反射光の光路長を示す距離値を算出する距離計測部と、距離計測部が算出した２波長の反射光の距離値の比から、レーザ光の光路の水温を算出する温度導出部とを備える。   The water temperature measuring apparatus according to the present invention receives reflected light obtained by reflecting two-wavelength laser light irradiated in water at a measurement point, and calculates a distance value indicating the optical path length of the received two-wavelength reflected light. And a temperature deriving unit that calculates the water temperature of the optical path of the laser light from the ratio of the distance values of the reflected light of the two wavelengths calculated by the distance measuring unit.

この発明によれば、測定地点における地形の形状の影響を受けることなく、水温を正確に計測することができる。   According to the present invention, the water temperature can be accurately measured without being affected by the shape of the topography at the measurement point.

実施の形態１に係る水温計測装置の構成および測定方法を模式的に示した図である。It is the figure which showed typically the structure and measuring method of the water temperature measuring apparatus which concern on Embodiment 1. FIG. 実施の形態１に係る水温計測装置のレーザ距離計測部の構成を示す図である。It is a figure which shows the structure of the laser distance measurement part of the water temperature measuring device which concerns on Embodiment 1. FIG. 実施の形態１に係る水温計測装置の温度導出部の構成を示すブロック図である。FIG. 3 is a block diagram illustrating a configuration of a temperature deriving unit of the water temperature measuring device according to the first embodiment. 実施の形態１に係る水温計測装置の屈折率比と水温との関係を示す図である。It is a figure which shows the relationship between the refractive index ratio of the water temperature measuring device which concerns on Embodiment 1, and water temperature. 実施の形態２に係る水温計測装置の構成および測定方法を模式的に示した図である。It is the figure which showed typically the structure and measuring method of the water temperature measuring device which concern on Embodiment 2. FIG. 実施の形態２に係る水温計測装置の温度導出部および位置算出部の構成を示すブロック図である。It is a block diagram which shows the structure of the temperature derivation | leading-out part of the water temperature measuring device which concerns on Embodiment 2, and a position calculation part. 実施の形態２に係る水温計測装置が計測した距離値の二次元画像の一例を示す図である。It is a figure which shows an example of the two-dimensional image of the distance value which the water temperature measuring apparatus which concerns on Embodiment 2 measured. 実施の形態２に係る水温計測装置の温度比較部における水温または屈折率比と閾値との比較を示す図である。It is a figure which shows the comparison with the water temperature or refractive index ratio, and a threshold value in the temperature comparison part of the water temperature measuring device which concerns on Embodiment 2. FIG. 実施の形態２に係る水温計測装置の温度比較部における屈折率比微分値と閾値との比較を示す図である。It is a figure which shows the comparison with the refractive index ratio differential value and threshold value in the temperature comparison part of the water temperature measuring device which concerns on Embodiment 2. FIG. 実施の形態３に係る水温計測装置の構成および測定方法を模式的に示した図である。It is the figure which showed typically the structure and measuring method of the water temperature measuring device which concern on Embodiment 3. FIG. 実施の形態３に係る水温計測装置の計測結果の一例を示す三次元画像である。It is a three-dimensional image which shows an example of the measurement result of the water temperature measuring apparatus which concerns on Embodiment 3. FIG.

実施の形態１．
実施の形態１に係る水温計測装置の構成を図１から図３を参照しながら説明する。
図１は実施の形態１に係る水温計測装置１０の構成および測定方法を模式的に示した図である。
図１に示すように、水温計測装置１０はレーザ距離計測部１００および温度導出部２００によって構成され、レーザ距離計測部１００からある地点Ａ（測定地点）に向けて異なる２つの波長のパルスレーザ光２０，３０が照射される。地点Ａは例えば海底面などである。照射された２つの波長のパルスレーザ光２０，３０の反射光（不図示）をレーザ距離計測部１００で再度受信し、反射光の光学的距離である光路長を測定する。温度導出部２００は、測定された２つの反射光の光路長の比が伝搬媒質である水の２つの波長における屈折率の比であることから、当該屈折率の比と、伝播媒質が水である場合の屈折率比の温度特性に基づいて、水温計測装置１０から地点Ａまでのパルスレーザ光の伝搬往復経路の平均水温を算出する。 Embodiment 1 FIG.
The configuration of the water temperature measuring apparatus according to the first embodiment will be described with reference to FIGS. 1 to 3.
FIG. 1 is a diagram schematically showing the configuration and measuring method of a water temperature measuring apparatus 10 according to the first embodiment.
As shown in FIG. 1, the water temperature measuring device 10 includes a laser distance measuring unit 100 and a temperature deriving unit 200, and pulse laser beams having two different wavelengths from the laser distance measuring unit 100 toward a certain point A (measurement point). 20 and 30 are irradiated. The point A is, for example, the sea bottom. The reflected light (not shown) of the irradiated pulse laser beams 20 and 30 having two wavelengths is received again by the laser distance measuring unit 100, and the optical path length, which is the optical distance of the reflected light, is measured. Since the ratio of the measured optical path lengths of the two reflected lights is the ratio of the refractive indices at the two wavelengths of water, which is the propagation medium, the temperature deriving unit 200 determines that the ratio of the refractive indices and the propagation medium is water. Based on the temperature characteristic of the refractive index ratio in a certain case, the average water temperature of the propagation reciprocating path of the pulse laser beam from the water temperature measuring device 10 to the point A is calculated.

次に、水温計測装置１０を構成するレーザ距離計測部１００および温度導出部２００の詳細について図２および図３を参照しながら説明を行う。
図２は実施の形態１に係る水温計測装置１０のレーザ距離計測部１００の構成を示す図であり、図３は実施の形態１に係る水温計測装置１０の温度導出部２００の構成を示すブロック図である。 Next, details of the laser distance measuring unit 100 and the temperature deriving unit 200 constituting the water temperature measuring device 10 will be described with reference to FIGS. 2 and 3.
FIG. 2 is a diagram illustrating a configuration of the laser distance measuring unit 100 of the water temperature measuring device 10 according to the first embodiment, and FIG. 3 is a block diagram illustrating a configuration of the temperature deriving unit 200 of the water temperature measuring device 10 according to the first embodiment. FIG.

まず、レーザ距離計測部１００の構成について説明する。図２に示すように、レーザ距離計測部１００は、送信部１００ａ、受信部１００ｂおよび距離計測部１００ｃで構成されている。
送信部１００ａは、第１のパルスレーザ光源１０１、第２のパルスレーザ光源１０２、第１の送信レンズ１０３、第２の送信レンズ１０４、送信側ミラー１０５、送信側ダイクロイックミラー１０６、第１の送信側集光レンズ１０７、第２の送信側集光レンズ１０８、第１のモニタ用受光器１０９および第２のモニタ用受光器１１０で構成されている。 First, the configuration of the laser distance measuring unit 100 will be described. As shown in FIG. 2, the laser distance measurement unit 100 includes a transmission unit 100a, a reception unit 100b, and a distance measurement unit 100c.
The transmission unit 100a includes a first pulse laser light source 101, a second pulse laser light source 102, a first transmission lens 103, a second transmission lens 104, a transmission side mirror 105, a transmission side dichroic mirror 106, and a first transmission. It is composed of a side condensing lens 107, a second transmitting side condensing lens 108, a first monitor light receiver 109, and a second monitor light receiver 110.

第１、第２のパルスレーザ光源１０２は、パルスレーザ光を出射する機能を有し、それぞれ異なる波長のパルスレーザ光を出射する。以下では、第１のパルスレーザ光源１０１から出射されたパルスレーザ光を第１のパルスレーザ光２０、第２のパルスレーザ光源１０２から出射されたパルスレーザ光を第２のパルスレーザ光３０と称する。第１の送信レンズ１０３は出射された第１のパルスレーザ光２０のビームを整形し、第２の送信レンズ１０４は出射された第２のパルスレーザ光３０のビームを整形する。   The first and second pulse laser light sources 102 have a function of emitting pulse laser light, and emit pulse laser lights having different wavelengths. Hereinafter, the pulse laser light emitted from the first pulse laser light source 101 is referred to as a first pulse laser light 20, and the pulse laser light emitted from the second pulse laser light source 102 is referred to as a second pulse laser light 30. . The first transmission lens 103 shapes the beam of the emitted first pulsed laser light 20, and the second transmission lens 104 shapes the beam of the emitted second pulsed laser light 30.

送信側ミラー１０５は、整形された第１のパルスレーザ光２０を反射して地点Ａに照射する。また、地点Ａに照射される第１のパルスレーザ光２０の一部が後述する送信側ダイクロイックミラー１０６によって反射されて再度入力される。送信側ミラー１０５は、当該再度入力された第１のパルスレーザ光２０を反射させて第１の送信側集光レンズ１０７側に出力する。   The transmission-side mirror 105 reflects the shaped first pulse laser beam 20 and irradiates the point A. Further, a part of the first pulse laser beam 20 irradiated to the point A is reflected by a transmission side dichroic mirror 106 described later and is input again. The transmission side mirror 105 reflects the re-input first pulse laser beam 20 and outputs it to the first transmission side condensing lens 107 side.

送信側ダイクロイックミラー１０６は、特定波長のパルスレーザ光を反射し、その他の波長のパルスレーザ光を透過させる機能を有しており、第２の送信レンズ１０４で整形された第２のパルスレーザ光３０の一部を反射して地点Ａへ照射させ、その他の第２のパルスレーザ光３０を第２の送信側集光レンズ１０８側に透過させる。さらに、送信側ダイクロイックミラー１０６は、送信側ミラー１０５で反射されて入力された第１のパルスレーザ光２０の一部を反射させて送信側ミラー１０５へ出力し、その他の第１のパルスレーザ光２０を透過させて地点Ａへ照射させる。   The transmission-side dichroic mirror 106 has a function of reflecting pulse laser light of a specific wavelength and transmitting pulse laser light of other wavelengths, and the second pulse laser light shaped by the second transmission lens 104 A part of 30 is reflected and irradiated to the point A, and the other second pulsed laser light 30 is transmitted to the second transmitting-side condensing lens 108 side. Further, the transmission-side dichroic mirror 106 reflects a part of the first pulse laser beam 20 reflected and input by the transmission-side mirror 105 and outputs it to the transmission-side mirror 105, and the other first pulse laser beams. 20 is transmitted and the point A is irradiated.

第１の送信側集光レンズ１０７は入力された第１のパルスレーザ光２０を第１のモニタ用受光器１０９に集光し、第１のモニタ用受光器１０９は集光された第１のパルスレーザ光２０を用いて第１のパルスレーザ光源１０１における出射タイミングを検出する。第２の送信側集光レンズ１０８は入力された第２のパルスレーザ光３０を第２のモニタ用受光器１１０に集光し、第２のモニタ用受光器１１０は集光された第２のパルスレーザ光３０を用いて第２のパルスレーザ光源１０２における出射タイミングを検出する。第１、第２のモニタ用受光器１０９，１１０は検出した出射タイミングを示す電気信号を距離計測部１００ｃに出力する。   The first transmission-side condensing lens 107 condenses the input first pulse laser beam 20 on the first monitor light receiver 109, and the first monitor light receiver 109 condenses the first The pulse laser beam 20 is used to detect the emission timing in the first pulse laser beam source 101. The second transmitting-side condensing lens 108 condenses the input second pulse laser beam 30 on the second monitor light receiver 110, and the second monitor light receiver 110 condenses the second focused light. The pulse laser beam 30 is used to detect the emission timing in the second pulse laser light source 102. The first and second monitor light receivers 109 and 110 output an electrical signal indicating the detected emission timing to the distance measuring unit 100c.

次に、受信部１００ｂについて説明する。受信部１００ｂは、受信レンズ１１１、受信側ダイクロイックミラー１１２、第１の受信側集光レンズ１１３、第２の受信側集光レンズ１１４、第１の受光器１１５、第２の受光器１１６、第１のアンプ１１７および第２のアンプ１１８で構成されている。   Next, the receiving unit 100b will be described. The receiving unit 100b includes a receiving lens 111, a receiving dichroic mirror 112, a first receiving condensing lens 113, a second receiving condensing lens 114, a first light receiver 115, a second light receiver 116, The first amplifier 117 and the second amplifier 118 are included.

受信レンズ１１１は、地点Ａで反射された第１、第２のパルスレーザ光２０，３０の反射光を受信して集光する。受信側ダイクロイックミラー１１２は、受信レンズ１１１で集光された反射光を波長ごとに弁別する機能を有し、第１のパルスレーザ光源１０１から出力された波長のパルスレーザ光の反射光（以下、第１の反射光４０と称する）と、第２のパルスレーザ光源１０２から出力された波長のパルスレーザ光の反射光（以下、第２の反射光５０と称する）とを弁別する。   The receiving lens 111 receives and collects the reflected light of the first and second pulse laser beams 20 and 30 reflected at the point A. The reception-side dichroic mirror 112 has a function of discriminating the reflected light collected by the reception lens 111 for each wavelength, and the reflected light of the pulse laser light having the wavelength output from the first pulse laser light source 101 (hereinafter, referred to as “reflected light”). The first reflected light 40) is discriminated from the reflected light of the pulse laser light having the wavelength output from the second pulse laser light source 102 (hereinafter referred to as the second reflected light 50).

第１の受信側集光レンズ１１３は受信側ダイクロイックミラー１１２で弁別された第１の反射光４０を第１の受光器１１５に集光し、第１の受光器１１５は集光された第１の反射光４０を電気信号に変換し、第１のアンプ１１７は変換された電気信号を増幅して距離計測部１００ｃに出力する。第２の受信側集光レンズ１１４は受信側ダイクロイックミラー１１２で弁別された第２の反射光５０を第２の受光器１１６に集光し、第２の受光器１１６は集光された第２の反射光５０を電気信号に変換し、第２のアンプ１１８は変換された電気信号を増幅して距離計測部１００ｃに出力する。   The first receiving-side condensing lens 113 condenses the first reflected light 40 discriminated by the receiving-side dichroic mirror 112 on the first light receiving device 115, and the first light receiving device 115 collects the first condensed light. The first reflected light 40 is converted into an electric signal, and the first amplifier 117 amplifies the converted electric signal and outputs it to the distance measuring unit 100c. The second receiving-side condensing lens 114 condenses the second reflected light 50 discriminated by the receiving-side dichroic mirror 112 on the second light receiver 116, and the second light receiver 116 collects the second condensed light. The reflected light 50 is converted into an electric signal, and the second amplifier 118 amplifies the converted electric signal and outputs it to the distance measuring unit 100c.

次に、距離計測部１００ｃについて説明する、距離計測部１００ｃは、第１の距離計測回路１１９および第２の距離計測回路１２０で構成されている。
第１の距離計測回路１１９は、第１のモニタ用受光器１０９から入力される第１のパルスレーザ光２０の出射タイミングを示す電気信号と、第１の受光器１１５から入力される第１の反射光４０の受信を示す電気信号との差分に基づいて、第１の反射光４０の光路長を計測し、当該光路長を第１の距離計測値として出力する。第２の距離計測回路１２０は、第２のモニタ用受光器１１０から入力される第２のパルスレーザ光３０の出射タイミングを示す電気信号と、第２の受光器１１６から入力される第２の反射光５０の受信を示す電気信号との差分に基づいて、第２の反射光５０の光路長を計測し、当該光路長を第２の距離計測値として出力する。 Next, the distance measuring unit 100c will be described. The distance measuring unit 100c includes a first distance measuring circuit 119 and a second distance measuring circuit 120.
The first distance measuring circuit 119 includes an electric signal indicating the emission timing of the first pulse laser beam 20 input from the first monitor light receiver 109 and a first signal input from the first light receiver 115. Based on the difference from the electrical signal indicating reception of the reflected light 40, the optical path length of the first reflected light 40 is measured, and the optical path length is output as a first distance measurement value. The second distance measuring circuit 120 includes an electric signal indicating the emission timing of the second pulse laser beam 30 input from the second monitor light receiver 110 and a second signal input from the second light receiver 116. Based on the difference from the electrical signal indicating reception of the reflected light 50, the optical path length of the second reflected light 50 is measured, and the optical path length is output as a second distance measurement value.

次に、温度導出部２００の構成について説明する。図３に示すように、温度導出部２００は屈折率比算出部２０１および温度算出部２０２で構成されている。
屈折率比算出部２０１は、第１の距離計測回路１１９から入力される第１の距離計測値と、第２の距離計測回路１２０から入力される第２の距離計測値との比を算出することにより、第１のパルスレーザ光２０の波長と第２のパルスレーザ光３０の波長とにおける伝搬媒質の屈折率比が算出される。温度算出部２０２は、屈折率比算出部２０１が算出した屈折率比と伝搬媒質の温度特性とに基づいて、水温計測装置１０から地点Ａまでのレーザパルス光の伝搬往復経路の平均水温を算出する。 Next, the configuration of the temperature deriving unit 200 will be described. As shown in FIG. 3, the temperature deriving unit 200 includes a refractive index ratio calculating unit 201 and a temperature calculating unit 202.
The refractive index ratio calculation unit 201 calculates the ratio between the first distance measurement value input from the first distance measurement circuit 119 and the second distance measurement value input from the second distance measurement circuit 120. Thus, the refractive index ratio of the propagation medium between the wavelength of the first pulse laser beam 20 and the wavelength of the second pulse laser beam 30 is calculated. The temperature calculation unit 202 calculates the average water temperature of the propagation reciprocation path of the laser pulse light from the water temperature measurement device 10 to the point A based on the refractive index ratio calculated by the refractive index ratio calculation unit 201 and the temperature characteristics of the propagation medium. To do.

次に、実施の形態１に係る水温計測装置１０の動作を、具体例を挙げながら説明する。
まず、第１、第２のパルスレーザ光源１０１，１０２において第１、第２のパルスレーザ光２０，３０を発生させ、第１、第２の送信レンズ１０３，１０４、送信側ミラー１０５、送信側ダイクロイックミラー１０６を介して地点Ａに照射する。第１、第２のパルスレーザ光２０，３０の出射タイミングを第１、第２のモニタ用受光器１０９，１１０で測定する。出射された第１、第２のパルスレーザ光２０，３０は地点Ａによって反射される。
なお、第１のパルスレーザ光２０と第２のパルスレーザ光３０の波長は、互いに離れた波長であることが望ましく、且つ水中での減衰係数が小さい可視光領域において選定される。例えば、第１のパルスレーザ光２０の波長λ１を４００ｎｍ帯に設定し、第２のパルスレーザ光３０の波長λ２を５００ｎｍ帯に設定する。以下の説明では、波長λ１＝４００ｎｍおよび波長λ２＝５８９ｎｍに設定した場合を例に説明する。 Next, the operation of the water temperature measuring apparatus 10 according to the first embodiment will be described with a specific example.
First, the first and second pulse laser light sources 101 and 102 generate the first and second pulse laser beams 20 and 30, respectively, and the first and second transmission lenses 103 and 104, the transmission side mirror 105, and the transmission side. The point A is irradiated through the dichroic mirror 106. The emission timings of the first and second pulse laser beams 20 and 30 are measured by the first and second monitor light receivers 109 and 110. The emitted first and second pulse laser beams 20 and 30 are reflected by the point A.
Note that the wavelengths of the first pulse laser beam 20 and the second pulse laser beam 30 are preferably separated from each other, and are selected in the visible light region where the attenuation coefficient in water is small. For example, the wavelength lambda 1 of the first pulse laser beam 20 was set to 400nm band, setting a wavelength lambda 2 of the second pulse laser beam 30 to 500nm band. In the following description, a case where the wavelength λ 1 = 400 nm and the wavelength λ 2 = 589 nm will be described as an example.

受信部１００ｂは、受信レンズ１１１において地点Ａで反射された反射光を受信し、受信側ダイクロイックミラー１１２において波長λ１の反射光である第１の反射光４０と波長λ２の反射光である第２の反射光５０とに弁別し、第１、第２の受光器１１５，１１６に入力する。第１の受光器１１５は第１の反射光４０を電気信号に変換し、第１のアンプ１１７が第１の反射光４０の電気信号を増幅する。第２の受光器１１６は第２の反射光５０を電気信号に変換し、第２のアンプ１１８が第２の反射光５０の電気信号を増幅する。 Receiving unit 100b receives the light reflected by the point A in the receiving lens 111, is the receiving side dichroic first reflected light 40 is reflected light of a wavelength lambda 1 in dichroic mirror 112 and the wavelength lambda 2 of the reflected light It discriminate | determines from the 2nd reflected light 50, and inputs into the 1st, 2nd light receiver 115,116. The first light receiver 115 converts the first reflected light 40 into an electric signal, and the first amplifier 117 amplifies the electric signal of the first reflected light 40. The second light receiver 116 converts the second reflected light 50 into an electric signal, and the second amplifier 118 amplifies the electric signal of the second reflected light 50.

距離計測部１００ｃは、送信部１００ａから第１、第２のパルスレーザ光２０，３０の出射タイミングを示す２つの電気信号を受信し、受信部１００ｂから第１、第２の反射光４０，５０の受信を示す２つの電気信号を受信する。第１の距離計測回路１１９は、波長λ１の第１のパルスレーザ光２０の出射タイミングと波長λ１の第１の反射光４０の受信タイミングとの時間差と、パルスレーザ光の光速（あるいはパルスレーザ光の真空における光速）とから、第１の反射光４０の光路長に相当する距離値Ｄ１を計測し、第１の距離計測値として出力する。第２の距離計測回路１２０は、波長λ２の第２のパルスレーザ光３０の出射タイミングと波長λ２の第２の反射光５０の受信タイミングとの時間差から、第２の反射光５０の光路長に相当する距離値Ｄ２を計測し、第２の距離計測値として出力する。 The distance measuring unit 100c receives two electrical signals indicating the emission timings of the first and second pulse laser beams 20 and 30 from the transmitting unit 100a, and the first and second reflected lights 40 and 50 from the receiving unit 100b. Two electrical signals indicating the reception of are received. First distance measuring circuit 119, a time difference between the reception timing of the first reflected light 40 of the emission timing and the wavelength lambda 1 of the first pulse laser beam 20 with a wavelength lambda 1, the speed of light pulse laser light (or pulse since the speed of light) and the vacuum of the laser beam, the distance value D 1 corresponding to the optical path length of the first reflected light 40 is measured and output as the first distance measurement. The second distance measuring circuit 120, the time difference between the reception timing of the second reflected light 50 of the emission timing and wavelength lambda 2 of the second pulse laser beam 30 with a wavelength lambda 2, the optical path of the second reflected light 50 the distance value D 2 corresponding to the length is measured and output as the second distance measurement value.

波長λ１および波長λ２について計測された距離値Ｄ１，Ｄ２は、距離の真値である経路長、すなわち水温計測装置１０から地点までの距離をＤとすると、以下の式（１）で示される。
Ｄ１＝Ｄｎ１、Ｄ２＝Ｄｎ２ （１）
式（１）においてｎ１，ｎ２はそれぞれ波長λ１，λ２における伝搬物質の屈折率であり、温度に依存して変化する。
例えば、水温が２０℃である場合、伝搬物質の屈折率は波長λ０１＝４００ｎｍでｎ０１＝１．３４３３、波長λ０２＝５８９ｎｍでｎ０２＝１．３３３０であることが知られている。 The distance values D 1 and D 2 measured for the wavelength λ 1 and the wavelength λ 2 are path lengths that are true values of the distance, that is, when the distance from the water temperature measuring device 10 to the point is D, the following equation (1) Indicated by
D 1 = Dn 1 , D 2 = Dn 2 (1)
In Equation (1), n 1 and n 2 are the refractive indices of the propagation materials at wavelengths λ 1 and λ 2 , respectively, and change depending on the temperature.
For example, when the water temperature is 20 ° C., it is known that the refractive index of the propagation material is n 01 = 1.3433 at a wavelength λ 01 = 400 nm, and n 02 = 1.3330 at a wavelength λ 02 = 589 nm.

温度導出部２００の屈折率比算出部２０１は、上述した式（１）に基づいて、第１の距離計測値である距離値Ｄ１および第２の距離計測値である距離値Ｄ２を用いて、距離値の比Ｄ２／Ｄ１を算出する。さらに屈折率比算出部２０１は、算出した距離値の比Ｄ２／Ｄ１と以下の式（２）に基づいて屈折率比Δｎを算出する。

Figure 2016099129
屈折率ｎ２／ｎ１の比で表される屈折率比Δｎは、例えば図４で示すような温度特性を有しており、水温が高いほど屈折率比Δｎが大きくなる特性を有している。 Refractive index ratio calculating unit 201 of the temperature derivation unit 200, based on equation (1) described above, using the distance value D 2 is the distance value D 1 and the second distance measurement value is a first distance measurement The distance value ratio D 2 / D 1 is calculated. Furthermore, the refractive index ratio calculation unit 201 calculates the refractive index ratio Δn based on the calculated distance value ratio D 2 / D 1 and the following equation (2).
Figure 2016099129
The refractive index ratio Δn represented by the ratio of the refractive index n 2 / n 1 has a temperature characteristic as shown in FIG. 4, for example, and has a characteristic that the refractive index ratio Δn increases as the water temperature increases. Yes.

温度算出部２０２は、屈折率比算出部２０１が算出した屈折率比Δｎと、以下の式（３）で示す波長λ１と波長λ２に対する屈折率比Δｎの温度特性に基づいて、水温計測装置１０から地点Ａまでのレーザパルス光の伝搬往復経路の平均水温を算出する。
Ｔ＝ａΔｎ＋ｂ （３）
式（３）において、係数ａは水温に対する屈折率特性の傾き、ｂはオフセットに相当する。 The temperature calculation unit 202 measures the water temperature based on the refractive index ratio Δn calculated by the refractive index ratio calculation unit 201 and the temperature characteristics of the refractive index ratio Δn with respect to the wavelength λ 1 and the wavelength λ 2 expressed by the following equation (3). The average water temperature of the propagation reciprocation path of the laser pulse light from the device 10 to the point A is calculated.
T = aΔn + b (3)
In equation (3), the coefficient a corresponds to the gradient of the refractive index characteristic with respect to the water temperature, and b corresponds to the offset.

以上のように、実施の形態１によれば、２つの波長のパルスレーザ光を地点Ａに照射すると共に、当該パルスレーザ光の出射タイミングを検出する送信部１００ａと、地点Ａで反射された反射光を受信して２つの波長の反射光に弁別して各波長の受信信号を得る受信部１００ｂと、送信部１００ａが検出したパルスレーザ光の出射タイミングと、受信部１００ｂが得た各波長の反射光の受信信号とに基づいて、各波長における反射光の光路長を取得する距離計測部１００ｃとを有するレーザ距離計測部１００と、各波長の光路長の比から伝播媒質の屈折率比を算出し、算出した屈折率比に対応した水温を取得することにより水温計測装置１０から地点Ａまでのパルスレーザ光の伝搬往復経路の平均水温を算出する温度導出部２００とを備えるように構成したので、地点Ａとなる海底面の地形が複雑形状で凹凸があった場合であっても高い空間分解能で温度を測定することができる。   As described above, according to the first embodiment, the point A is irradiated with the pulse laser light of two wavelengths, and the transmission unit 100a that detects the emission timing of the pulse laser light, and the reflection reflected at the point A A receiving unit 100b that receives light and discriminates it into reflected light of two wavelengths to obtain a received signal of each wavelength; an emission timing of the pulsed laser light detected by the transmitting unit 100a; and a reflection of each wavelength obtained by the receiving unit 100b The refractive index ratio of the propagation medium is calculated from the laser distance measuring unit 100 having the distance measuring unit 100c that acquires the optical path length of the reflected light at each wavelength based on the received light signal and the ratio of the optical path lengths of the respective wavelengths. And a temperature deriving unit 200 that calculates the average water temperature of the propagation reciprocating path of the pulse laser light from the water temperature measuring device 10 to the point A by acquiring the water temperature corresponding to the calculated refractive index ratio. Having urchin configuration can the underwater terrain surface as a point A to measure the temperature with high spatial resolution even when there is unevenness in the complicated shape.

なお、上述した実施の形態１において、第１のパルスレーザ光源１０１および第２のパルスレーザ光源１０２が同時にそれぞれの波長のパルスレーザ光を出射して距離計測を実施してもよいし、交互にそれぞれの波長のパルスレーザ光を出射して距離計測を実施してもよい。   In the first embodiment described above, the first pulse laser light source 101 and the second pulse laser light source 102 may emit pulse laser beams of the respective wavelengths at the same time to perform distance measurement, or alternately. Distance measurement may be performed by emitting pulsed laser light of each wavelength.

また、上述した実施の形態１では、第１、第２の送信レンズ１０３，１０４はそれぞれパルスレーザ光のビームを整形する構成を示したが、当該整形において一定のビーム径と拡がりを有するビームに整形してもよい。これにより、水中における浮遊物（マリンスノー）が存在する場合であっても、当該浮遊物によりパルスレーザ光が遮蔽されることがなく、地点Ａにパルスレーザ光を照射することができる。   In Embodiment 1 described above, the first and second transmission lenses 103 and 104 are configured to shape the beam of the pulsed laser beam. However, in the shaping, the beam has a constant beam diameter and spread. You may shape it. Thereby, even if there is a suspended matter (marine snow) in water, the pulse laser beam is not shielded by the suspended matter, and the point A can be irradiated with the pulsed laser beam.

また、上述した実施の形態１では、送信部１００ａにおいて第１、第２のパルスレーザ光源１０１，１０２がパルスレーザ光を出射した直後に送信側ミラー１０５および送信側ダイクロイックミラー１０６で分岐させて第１、第２のモニタ用受光器１０９，１１０で受光する構成を示したが、送信側ミラー１０５および送信側ダイクロイックミラー１０６で分岐させることなく送信部１００ａを伝搬する際の内部反射光を用いて第１、第２のモニタ用受光器１０９，１１０が出射タイミングを検出するように構成してもよい。
さらに、第１、第２のパルスレーザ光源１０１，１０２が出射したパルスレーザ光を、レーザ距離計測部１００外に設けたミラーなどを用いて受信レンズ１１１に折り返して受信させ、第１、第２の受光器１１５，１１６を用いて出射タイミングを検出するように構成してもよい。この場合、距離計測部１００ｃにおいて、パルスレーザ光の出射タイミングを示す電気信号、すなわち第１、第２の受光器１１５，１１６で一番初めに検出された電気信号と、それ以降に検出された電気信号との差分に基づいて各反射光の光路長を計測する。 Further, in the first embodiment described above, the first and second pulse laser light sources 101 and 102 in the transmission unit 100a diverge at the transmission side mirror 105 and the transmission side dichroic mirror 106 immediately after emitting the pulse laser light. The first and second monitor light receivers 109 and 110 receive the light, but the internal reflection light when propagating through the transmission unit 100a without being branched by the transmission side mirror 105 and the transmission side dichroic mirror 106 is used. The first and second monitor light receivers 109 and 110 may be configured to detect the emission timing.
Further, the pulse laser beams emitted from the first and second pulse laser light sources 101 and 102 are returned to the reception lens 111 by using a mirror or the like provided outside the laser distance measuring unit 100, and received by the first and second pulses. The light receiving timings 115 and 116 may be used to detect the emission timing. In this case, in the distance measuring unit 100c, an electrical signal indicating the emission timing of the pulsed laser beam, that is, an electrical signal detected first by the first and second light receivers 115 and 116, and detected thereafter. The optical path length of each reflected light is measured based on the difference from the electrical signal.

また、上述した実施の形態１では、パルスレーザ光を出射する第１、第２のパルスレーザ光源１０１，１０２を備え、送信部１００ａと受信部１００ｂにおけるパルスレーザ光の受信の時間差に基づいて各反射光の光路長を計測する構成を示したが、第１、第２のパルスレーザ光源１０１，１０２に替えて第１、第２の強度変調光源を設けてレーザ光送受信間における位相差に基づいて各反射光の光路長を計測する構成としてもよい。   Further, the first embodiment described above includes the first and second pulse laser light sources 101 and 102 that emit pulsed laser light, and each of them is based on the time difference between the reception of the pulsed laser light in the transmitting unit 100a and the receiving unit 100b. Although the configuration for measuring the optical path length of the reflected light has been shown, the first and second intensity-modulated light sources are provided in place of the first and second pulse laser light sources 101 and 102 and based on the phase difference between the laser light transmission and reception. The optical path length of each reflected light may be measured.

また、上述した実施の形態１で示した送信部１００ａを水温計測装置１０の外部構成とし、出射したパルスレーザ光の出射タイミングを示す電気信号を距離計測部１００ｃに入力するように構成してもよい。   Further, the transmission unit 100a shown in the first embodiment described above may be configured as an external configuration of the water temperature measurement device 10, and an electric signal indicating the emission timing of the emitted pulsed laser light may be input to the distance measurement unit 100c. Good.

実施の形態２．
この実施の形態２では、水中の高温部分を特定する水温計測装置１０ａの構成を示す。実施の形態２に係る水温計測装置１０ａの構成を図５および図６を参照しながら説明する。
図５は、実施の形態２に係る水温計測装置１０ａの構成および測定方法を模式的に示した図である。実施の形態２の水温計測装置１０ａは、例えば無人潜水艦、潜水艇（ＵＵＶ：Unmanned Underwater Vehicle）などに搭載して機能させ、水中の高温部分を検出することにより熱水鉱床の存在および熱水鉱床の位置などを推定する。
図５に示すように海底面に熱水鉱床Ｂが存在し、当該熱水鉱床Ｂから熱水が噴出している場合に高温部分Ｃが存在する。熱水鉱床Ｂ付近にレーザパルス光を照射した場合に、熱水鉱床Ｂ周辺の高温部分Ｃにより計測される水温が、高温部分Ｃ以外の地点で計測された水温よりも高い値を示す。そこで、あらかじめ設定された温度閾値と、計測された水温とを比較することにより、熱水鉱床Ｂの存在を推定することができる。 Embodiment 2. FIG.
In this Embodiment 2, the structure of the water temperature measuring device 10a which specifies the high temperature part in water is shown. The configuration of the water temperature measuring device 10a according to the second embodiment will be described with reference to FIGS.
FIG. 5 is a diagram schematically showing the configuration and measurement method of the water temperature measuring apparatus 10a according to the second embodiment. The water temperature measuring device 10a according to the second embodiment is mounted on an unmanned submarine, a submarine craft (UUV: Unmanned Underwater Vehicle), etc., and functions to detect presence of a hot water deposit and a hydrothermal deposit. Estimate the position of.
As shown in FIG. 5, when the hydrothermal deposit B exists on the sea bottom surface and hot water is ejected from the hydrothermal deposit B, the high temperature portion C exists. When laser pulse light is irradiated near the hydrothermal deposit B, the water temperature measured by the high temperature portion C around the hot water deposit B shows a higher value than the water temperature measured at a point other than the high temperature portion C. Therefore, the presence of the hydrothermal deposit B can be estimated by comparing a preset temperature threshold with the measured water temperature.

図５に示すように、水温計測装置１０ａは、レーザ距離計測部１００、温度導出部２００および位置算出部３００によって構成されている。レーザ距離計測部１００および温度導出部２００の構成は実施の形態１と同一であるため、説明を省略する。
位置算出部３００は、温度導出部２００が算出した温度に基づいて高温部分を検出し、レーザ距離計測部１００が計測した第１、第２の距離計測値に基づいて高温部分の位置を特定する。 As shown in FIG. 5, the water temperature measuring device 10 a includes a laser distance measuring unit 100, a temperature deriving unit 200, and a position calculating unit 300. Since the configuration of the laser distance measuring unit 100 and the temperature deriving unit 200 is the same as that of the first embodiment, the description thereof is omitted.
The position calculation unit 300 detects the high temperature part based on the temperature calculated by the temperature deriving unit 200 and specifies the position of the high temperature part based on the first and second distance measurement values measured by the laser distance measurement unit 100. .

図６は、実施の形態２に係る水温計測装置１０ａの温度導出部２００および位置算出部３００の構成を示すブロック図である。
位置算出部３００は、温度比較部３０１および位置特定部３０２で構成されている。
温度比較部３０１は、温度導出部２００の温度算出部２０２が算出した温度を入力として、当該入力された温度とあらかじめ設定された温度閾値とを比較し、比較結果を出力する。位置特定部３０２は、温度比較部３０１の比較結果を参照し、算出された温度が温度閾値よりも高い領域が存在する場合に、レーザ距離計測部１００から入力される第１、第２の距離計測値に基づいて温度閾値よりも高い温度を示す地点の位置を特定する。位置特定部３０２は、高温部分が存在することを知らせるアラームなどの報知信号、および特定した高温部分の位置情報を出力する。 FIG. 6 is a block diagram illustrating configurations of the temperature deriving unit 200 and the position calculating unit 300 of the water temperature measuring apparatus 10a according to the second embodiment.
The position calculation unit 300 includes a temperature comparison unit 301 and a position specifying unit 302.
The temperature comparison unit 301 receives the temperature calculated by the temperature calculation unit 202 of the temperature derivation unit 200, compares the input temperature with a preset temperature threshold value, and outputs a comparison result. The position specifying unit 302 refers to the comparison result of the temperature comparison unit 301, and the first and second distances input from the laser distance measurement unit 100 when there is a region where the calculated temperature is higher than the temperature threshold. Based on the measured value, the position of a point showing a temperature higher than the temperature threshold is specified. The position specifying unit 302 outputs a notification signal such as an alarm notifying that a high temperature part exists, and position information of the specified high temperature part.

次に、実施の形態２に係る水温計測装置１０ａの動作を、具体例を挙げながら説明する。なお、以下では実施の形態１に係る水温計測装置１０と同一の動作については説明を省略または簡略化する。
レーザ距離計測部１００の送信部１００ａは、実施の形態１と同様に異なる波長の第１のパルスレーザ光２０と第２のパルスレーザ光３０を出射し、当該パルスレーザ光の出射タイミングを第１、第２のモニタ用受光器１０９，１１０で測定し、第１、第２のパルスレーザ光２０，３０の出射タイミングを示す電気信号を得る。なお、出射する２つのパルスレーザ光の波長を、実施の形態１と同様に波長λ１＝４００ｎｍおよび波長λ２＝５８９ｎｍに設定した場合を例に説明する。 Next, the operation of the water temperature measuring device 10a according to the second embodiment will be described with a specific example. In addition, below, description is abbreviate | omitted or simplified about the operation | movement same as the water temperature measuring apparatus 10 which concerns on Embodiment 1. FIG.
The transmitting unit 100a of the laser distance measuring unit 100 emits the first pulsed laser beam 20 and the second pulsed laser beam 30 having different wavelengths as in the first embodiment, and the emission timing of the pulsed laser beam is set to the first timing. Measured by the second monitor light receivers 109 and 110, an electric signal indicating the emission timing of the first and second pulse laser beams 20 and 30 is obtained. The case where the wavelengths of the two pulse laser beams to be emitted are set to the wavelength λ 1 = 400 nm and the wavelength λ 2 = 589 nm as in the first embodiment will be described as an example.

レーザ距離計測部１００の受信部１００ｂは、地点Ａで反射された反射光を受信し、波長λ１および波長λ２の反射光の受信を示す電気信号を得る。レーザ距離計測部１００の距離計測部１００ｃは、第１、第２のパルスレーザ光２０，３０の出射タイミングを示す電気信号と、波長λ１および波長λ２の反射光の受信を示す電気信号とから、各波長の反射光の光路長に相当する距離値Ｄ１、Ｄ２を計測する。距離値Ｄ１は第１の距離計測値であり、距離値Ｄ２は第２の距離計測値である。 Receiving portion 100b of the laser distance measuring unit 100 receives the reflected light reflected at the point A, to obtain an electric signal indicating the reception of the wavelength lambda 1 and wavelength lambda 2 of the reflected light. Distance measuring portion 100c of the laser distance measuring unit 100 includes a first electrical signal indicative of the electrical signal indicating the emission timing of the second pulse laser beam 20 and 30, the wavelength lambda 1 and wavelength lambda 2 of the reception of the reflected light Then, distance values D 1 and D 2 corresponding to the optical path length of the reflected light of each wavelength are measured. Distance value D 1 is the first distance measurement, the distance value D 2 is a second distance measurement value.

温度導出部２００の屈折率比算出部２０１は、上述した式（１）に基づいて、第１の距離計測値である距離値Ｄ１および第２の距離計測値である距離値Ｄ２を用いて、距離値の比Ｄ２／Ｄ１を算出する。さらに屈折率比算出部２０１は、算出した距離値の比Ｄ２／Ｄ１と以下の式（２）に基づいて屈折率比Δｎを算出する。温度導出部２００の温度算出部２０２は、算出された屈折率比Δｎおよび温度特性に基づいて、上述した式（３）から温度を算出する。 Refractive index ratio calculating unit 201 of the temperature derivation unit 200, based on equation (1) described above, using the distance value D 2 is the distance value D 1 and the second distance measurement value is a first distance measurement The distance value ratio D 2 / D 1 is calculated. Furthermore, the refractive index ratio calculation unit 201 calculates the refractive index ratio Δn based on the calculated distance value ratio D 2 / D 1 and the following equation (2). The temperature calculation unit 202 of the temperature deriving unit 200 calculates the temperature from the above-described equation (3) based on the calculated refractive index ratio Δn and the temperature characteristics.

位置算出部３００の温度比較部３０１は、温度導出部２００の温度算出部２０２が算出した温度と、あらかじめ設定された温度閾値とを比較し、比較結果を位置特定部３０２に出力する。位置特定部３０２は、温度比較部３０１の比較結果を参照し、温度閾値よりも高い温度を示す領域が存在する場合に、レーザ距離計測部１００が算出した第１の距離計測値あるいは第２の距離計測値と、温度算出部２０２が算出した温度における波長λ１および波長λ２における屈折率を取得し、上述した式（１）に基づいて水温計測装置１０ａから反射地点までの経路長Ｄを算出して高温部分が存在する位置を特定する。位置特定部３０２は、高温部分が存在することを知らせるアラームなどの報知信号を出力すると共に、特定した高温部分の位置情報を出力する。 The temperature comparison unit 301 of the position calculation unit 300 compares the temperature calculated by the temperature calculation unit 202 of the temperature deriving unit 200 with a preset temperature threshold value, and outputs the comparison result to the position specifying unit 302. The position specifying unit 302 refers to the comparison result of the temperature comparison unit 301, and when there is a region showing a temperature higher than the temperature threshold, the first distance measurement value calculated by the laser distance measurement unit 100 or the second distance measurement value. The distance measurement value and the refractive index at the wavelength λ 1 and the wavelength λ 2 at the temperature calculated by the temperature calculation unit 202 are acquired, and the path length D from the water temperature measurement device 10 a to the reflection point is calculated based on the above-described equation (1). Calculate and specify the position where the high temperature part exists. The position specifying unit 302 outputs a notification signal such as an alarm notifying that a high temperature part exists, and outputs position information of the specified high temperature part.

図５で示したように海底面の熱水鉱床Ｂが存在する場合、熱水鉱床Ｂ周辺の温度は著しく高く、高温部分Ｃが存在することから、レーザ距離計測部１００の距離計測部１００ｃが計測した距離値Ｄ１、Ｄ２は例えば図７に示すような値を取る。図７は、実施の形態２に係る水温計測装置１０ａが計測した距離値の二次元画像の一例を示す図であり、水温計測装置１０ａを所定方向に進行させた場合に取得される二次元画像を示している。図７の領域０は熱水鉱床Ｂの周囲を測定した際の距離値Ｄ１、Ｄ２を示し、その他の領域の距離値Ｄ１、Ｄ２に対して２波長間での距離値Ｄ１、Ｄ２の差が大きい。このように距離値Ｄ１、Ｄ２の差が大きくなると、屈折率比Δｎも大きくなる。また、屈折率比Δｎと水温の関係は図４に示した通りであることから、水温も高くなる。水温または屈折率比Δｎの進行方向における変化を図８に示す。熱水鉱床Ｂ周辺の測定結果を示す領域Ｐにおいて、その他の領域よりも屈折率比Δｎおよび水温が高くなる。当該領域Ｐにおいてあらかじめ設定された温度閾値Ｑを超えることから、熱水鉱床Ｂの存在を推定することができる。さらに、距離値Ｄ１、Ｄ２に基づいて熱水鉱床Ｂの位置を特定することができる。 As shown in FIG. 5, when the hydrothermal deposit B on the sea floor exists, the temperature around the hydrothermal deposit B is remarkably high and the high temperature portion C exists, so that the distance measuring unit 100 c of the laser distance measuring unit 100 is The measured distance values D 1 and D 2 take values as shown in FIG. 7, for example. FIG. 7 is a diagram illustrating an example of a two-dimensional image of a distance value measured by the water temperature measurement device 10a according to the second embodiment, and is a two-dimensional image acquired when the water temperature measurement device 10a is advanced in a predetermined direction. Is shown. Region of FIG. 7 0 represents the distance value D 1, D 2 when measured around the hot water deposits B, a distance value D 1 of the relative distance value D 1, D 2 of the other area between the two wavelengths , D 2 is large. Thus, when the difference between the distance values D 1 and D 2 increases, the refractive index ratio Δn also increases. Further, since the relationship between the refractive index ratio Δn and the water temperature is as shown in FIG. 4, the water temperature is also increased. FIG. 8 shows changes in the traveling direction of the water temperature or the refractive index ratio Δn. In the region P showing the measurement results around the hydrothermal deposit B, the refractive index ratio Δn and the water temperature are higher than those in the other regions. Since the preset temperature threshold value Q is exceeded in the region P, the presence of the hydrothermal deposit B can be estimated. Furthermore, the position of the hydrothermal deposit B can be specified based on the distance values D 1 and D 2 .

以上のように、この実施の形態２によれば、温度比較部３０１が２波長のパルスレーザ光により測定した距離値の比から算出した温度と、あらかじめ設定した温度閾値とを比較し、位置特定部３０２が比較結果を参照して温度閾値よりも高い温度を示す領域が存在する場合に距離値から高温部分の位置を特定し、高温部分が存在することを報知すると共に、特定した高温部分の位置情報を出力する位置算出部３００を備えるように構成したので、海底面の地形が複雑形状で凹凸があった場合であっても、高い空間分解能で水温を測定することができ、熱水鉱床など高温部分の位置を特定することができる。   As described above, according to the second embodiment, the temperature comparison unit 301 compares the temperature calculated from the ratio of the distance values measured by the two-wavelength pulsed laser light with the preset temperature threshold value, and specifies the position. When the region 302 has a region showing a temperature higher than the temperature threshold by referring to the comparison result, the position of the high temperature part is specified from the distance value, and the fact that the high temperature part exists is notified. Since it is configured to include the position calculation unit 300 that outputs position information, the water temperature can be measured with high spatial resolution even when the topography of the sea floor is complex and uneven, and the hydrothermal deposit The position of the high temperature part can be specified.

また、この実施の形態２によれば、水温計測装置１０ａを所定方向に進行させることにより、二次元画像を取得することができ、高温部分が存在する位置を特定することができる。   Moreover, according to this Embodiment 2, a two-dimensional image can be acquired by advancing the water temperature measuring device 10a in a predetermined direction, and the position where the high temperature portion exists can be specified.

なお、上述した実施の形態２では、温度比較部３０１において温度算出部２０２が算出した温度とあらかじめ設定した温度閾値とを比較する構成を示したが、温度算出部２０２が算出した温度を位置算出部３００の記憶領域（不図示）に記録しておき、過去の１つより以前に計測した温度と、温度算出部２０２が今回算出した温度とを比較して高温部分を特定する構成としてもよい。さらに、過去に温度算出部２０２が算出した温度については、数点の計測結果を平均化した値を用いてもよい。   In the second embodiment described above, the temperature comparison unit 301 compares the temperature calculated by the temperature calculation unit 202 with a preset temperature threshold. However, the temperature calculated by the temperature calculation unit 202 is calculated as a position. The temperature may be recorded in a storage area (not shown) of the unit 300 and the temperature measured before the previous one may be compared with the temperature calculated this time by the temperature calculation unit 202 to identify the high temperature part. . Furthermore, for the temperature calculated by the temperature calculation unit 202 in the past, a value obtained by averaging several measurement results may be used.

また、温度比較部３０１は、図８で示したように屈折率比Δｎに対する閾値をあらかじめ設定しておき、屈折率比Δｎと閾値とを比較して高温部分を特定するように構成してもよい。また、図９に示すように、屈折率比Δｎの変動の時間微分値である屈折率比微分値を取り、当該屈折率比微分値に対する上限閾値Ｓおよび下限閾値Ｔをあらかじめ設定しておき、屈折率比微分値と上限閾値Ｓまたは下限閾値Ｔとを比較するように構成してもよい。   Further, as shown in FIG. 8, the temperature comparison unit 301 may be configured to set a threshold value for the refractive index ratio Δn in advance and compare the refractive index ratio Δn with the threshold value to identify the high temperature portion. Good. Further, as shown in FIG. 9, taking a refractive index ratio differential value that is a time differential value of a change in the refractive index ratio Δn, an upper limit threshold S and a lower limit threshold T for the refractive index ratio differential value are set in advance, You may comprise so that a refractive index ratio differential value and the upper limit threshold value S or the lower limit threshold value T may be compared.

また、上述した実施の形態２で示した送信部１００ａを水温計測装置１０の外部構成とし、パルスレーザ光の出射タイミングを示す電気信号を距離計測部１００ｃに入力するように構成してもよい。   Further, the transmission unit 100a described in the second embodiment may be configured as an external configuration of the water temperature measurement device 10, and an electric signal indicating the emission timing of the pulse laser beam may be input to the distance measurement unit 100c.

実施の形態３．
上述した実施の形態１および実施の形態２では、パルスレーザ光をあらかじめ設定したタイミングで出射する構成を示したが、この実施の形態３では出射されたパルスレーザ光を測定面上で一次元走査させる、あるいは二次元走査させて多地点で水温を計測する構成を示す。
図１０は、実施の形態３に係る水温計測装置１０ｂの構成および測定方法を模式的に示した図である。図１０に示すように実施の形態３では、図５で示した実施の形態２の水温計測装置１０ａにスキャナ４００を追加して設けて構成している。なお、レーザ距離計測部１００、温度導出部２００および位置算出部３００の詳細な構成は実施の形態１または実施の形態２と同一であるため、説明を省略する。 Embodiment 3 FIG.
In the first embodiment and the second embodiment described above, the configuration in which the pulse laser beam is emitted at a preset timing is shown. In the third embodiment, the emitted pulse laser beam is one-dimensionally scanned on the measurement surface. Or a configuration in which the water temperature is measured at multiple points by two-dimensional scanning.
FIG. 10 is a diagram schematically illustrating a configuration and a measurement method of the water temperature measurement device 10b according to the third embodiment. As shown in FIG. 10, in the third embodiment, a scanner 400 is additionally provided in the water temperature measuring device 10a of the second embodiment shown in FIG. Note that the detailed configuration of the laser distance measuring unit 100, the temperature deriving unit 200, and the position calculating unit 300 is the same as that in the first embodiment or the second embodiment, and thus description thereof is omitted.

スキャナ４００は、レーザ距離計測部１００の第１、第２のパルスレーザ光源１０１，１０２が出射するパルスレーザ光を測定面上で一次元走査させる、あるいは二次元走査させる。これにより、レーザ距離計測部１００の受信部１００ｂは多地点で反射された反射光を受信し、レーザ距離計測部１００の距離計測部１００ｃは多地点における第１、第２の距離計測値を計測し、温度導出部２００は水温計測装置１０と多地点間の伝搬往復経路の平均水温の算出、位置算出部３００は多地点における高温部分の特定を行うことができる。   The scanner 400 causes the pulse laser light emitted from the first and second pulse laser light sources 101 and 102 of the laser distance measuring unit 100 to scan one-dimensionally or two-dimensionally on the measurement surface. Thereby, the receiving unit 100b of the laser distance measuring unit 100 receives the reflected light reflected at multiple points, and the distance measuring unit 100c of the laser distance measuring unit 100 measures the first and second distance measured values at the multiple points. The temperature deriving unit 200 can calculate the average water temperature of the propagation reciprocating path between the water temperature measuring device 10 and the multipoint, and the position calculating unit 300 can specify the high temperature portion at the multipoint.

図１１は、実施の形態３に係る水温計測装置１０ｂの計測結果の一例を示す三次元画像である。
スキャナ４００を用いてパルスレーザ光を測定面上で一次元走査あるいは二次元走査させて多地点で水温を計測した結果を示している。スキャナ４００が一次元走査の場合には、Ｙ軸方向にパルスレーザ光を走査し、水温計測装置１０ｂがＸ軸方向に進行することにより三次元データを取得し、スキャナ４００が二次元走査の場合にはビーム走査方向をＸＹ平面上で変化させることにより三次元データを取得する。温度導出部２００の温度算出部２０２は、取得された三次元データに基づいて測定面上での水温を示す三次元画像を生成し、位置算出部３００の位置特定部３０２は、取得した三次元画像に基づいて、高温部分が存在する位置に加えて、高温部分の大きさを特定することができる。 FIG. 11 is a three-dimensional image showing an example of a measurement result of the water temperature measurement device 10b according to the third embodiment.
The result of measuring the water temperature at multiple points by using a scanner 400 to scan the laser beam one-dimensionally or two-dimensionally on the measurement surface is shown. When the scanner 400 is one-dimensionally scanned, the pulse laser beam is scanned in the Y-axis direction, and the water temperature measuring device 10b travels in the X-axis direction to acquire three-dimensional data. The scanner 400 is two-dimensionally scanned. First, three-dimensional data is acquired by changing the beam scanning direction on the XY plane. The temperature calculation unit 202 of the temperature deriving unit 200 generates a three-dimensional image indicating the water temperature on the measurement surface based on the acquired three-dimensional data, and the position specifying unit 302 of the position calculation unit 300 acquires the acquired three-dimensional data. Based on the image, the size of the high temperature portion can be specified in addition to the position where the high temperature portion exists.

以上のように、この実施の形態３によれば、パルスレーザ光を測定面上で一次元走査させる、あるいは二次元走査させるスキャナ４００を備えるように構成したので、多地点において水温の計測を行うことができ、水温を示す三次元画像を生成することができる。これにより、水中に存在する熱水鉱床など高温部分の位置に加えて大きさも特定することができる。   As described above, according to the third embodiment, the scanner 400 is configured to perform one-dimensional scanning or two-dimensional scanning of the pulse laser beam on the measurement surface, so that the water temperature is measured at multiple points. And a three-dimensional image showing the water temperature can be generated. Thereby, in addition to the position of a high temperature part such as a hydrothermal deposit existing in water, the size can be specified.

また、上述した実施の形態３で示した送信部１００ａおよびスキャナ４００を水温計測装置１０の外部構成とし、パルスレーザ光の出射タイミングを示す電気信号を距離計測部１００ｃに入力させ、測定面上で一次元走査あるいは二次元走査されたパルスレーザ光を受信部１００ｂが受信するように構成してもよい。   Further, the transmitter 100a and the scanner 400 shown in the third embodiment described above are configured as the external configuration of the water temperature measuring device 10, and an electric signal indicating the emission timing of the pulsed laser light is input to the distance measuring unit 100c so that the measurement is performed on the measurement surface. You may comprise so that the receiving part 100b may receive the pulse laser beam by which the one-dimensional scan or the two-dimensional scan was carried out.

なお、図１０では、実施の形態２で示した水温計測装置１０ａにスキャナ４００を適用する例を示したが、実施の形態１で示した水温計測装置１０にスキャナ４００を適用することも可能である。   10 shows an example in which the scanner 400 is applied to the water temperature measuring device 10a shown in the second embodiment, but the scanner 400 can also be applied to the water temperature measuring device 10 shown in the first embodiment. is there.

上記以外にも、本発明はその発明の範囲内において、各実施の形態の自由な組み合わせ、あるいは各実施の形態の任意の構成要素の変形、もしくは各実施の形態において任意の構成要素の省略が可能である。   In addition to the above, within the scope of the present invention, the present invention can be freely combined with each embodiment, modified any component of each embodiment, or omitted any component in each embodiment. Is possible.

１０，１０ａ，１０ｂ 水温計測装置、１００ レーザ距離計測部、１００ａ 送信部、１００ｂ 受信部、１００ｃ 距離計測部、１０１ 第１のパルスレーザ光源、１０２ 第２のパルスレーザ光源、１０３ 第１の送信レンズ、１０４ 第２の送信レンズ、１０５ 送信側ミラー、１０６ 送信側ダイクロイックミラー、１０７ 第１の送信側集光レンズ、１０８ 第２の送信側集光レンズ、１０９ 第１のモニタ用受光器、１１０ 第２のモニタ用受光器、１１１ 受信レンズ、１１２ 受信側ダイクロイックミラー、１１３ 第１の受信側集光レンズ、１１４ 第２の受信側集光レンズ、１１５ 第１の受光器、１１６ 第２の受光器、１１７ 第１のアンプ、１１８ 第２のアンプ、１１９ 第１の距離計測回路、１２０ 第２の距離計測回路、２００ 温度導出部、２０１ 屈折率比算出部、２０２ 温度算出部、３００ 位置算出部、３０１ 温度比較部、３０２ 位置特定部、４００ スキャナ。   10, 10a, 10b Water temperature measuring device, 100 laser distance measuring unit, 100a transmitting unit, 100b receiving unit, 100c distance measuring unit, 101 first pulse laser light source, 102 second pulse laser light source, 103 first transmitting lens , 104 Second transmission lens, 105 Transmission side mirror, 106 Transmission side dichroic mirror, 107 First transmission side condensing lens, 108 Second transmission side condensing lens, 109 First monitor light receiver, 110 2 monitor light receivers, 111 reception lens, 112 reception side dichroic mirror, 113 first reception side condensing lens, 114 second reception side condensing lens, 115 first light receiver, 116 second light receiver 117 first amplifier, 118 second amplifier, 119 first distance measurement circuit, 120 second distance measurement circuit, 00 temperature derivation unit, 201 refractive index ratio calculating unit, 202 temperature calculation section, 300 position calculation unit, 301 temperature comparing section, 302-position specifying part 400 scanner.

Claims (7)

水温を計測する水温計測装置において、
水中に照射された２波長のレーザ光が測定地点で反射されて得られる反射光を受信し、受信した２波長の反射光の光路長を示す距離値を算出する距離計測部と、
前記距離計測部が算出した２波長の反射光の距離値の比から、前記レーザ光の光路の水温を算出する温度導出部とを備えたことを特徴とする水温測定装置。 In the water temperature measuring device that measures the water temperature,
A distance measuring unit that receives reflected light obtained by reflecting two-wavelength laser light irradiated in water at a measurement point, and calculates a distance value indicating an optical path length of the received reflected light of two wavelengths;
A water temperature measuring apparatus comprising: a temperature deriving unit that calculates a water temperature of an optical path of the laser beam from a ratio of distance values of reflected light of two wavelengths calculated by the distance measuring unit. 前記温度導出部は、
前記距離計測部が算出した２波長の反射光の距離値の比から、前記２波長の反射光の屈折率比を算出する屈折率比算出部と、
前記屈折率比算出部が算出した屈折率比と水温との関係に基づいて、前記レーザ光の光路の水温を算出する温度算出部とを備えたことを特徴とする請求項１記載の水温測定装置。 The temperature deriving unit
A refractive index ratio calculating unit that calculates a refractive index ratio of the reflected light of the two wavelengths from a ratio of distance values of the reflected light of the two wavelengths calculated by the distance measuring unit;
2. The water temperature measurement according to claim 1, further comprising: a temperature calculation unit that calculates a water temperature of the optical path of the laser beam based on a relationship between the refractive index ratio calculated by the refractive index ratio calculation unit and the water temperature. apparatus. 前記温度導出部が算出した前記水温が温度閾値を超えた場合に、前記距離計測部が算出した２波長の反射光の距離値と、前記温度導出部が算出した前記温度における前記２波長のレーザ光の屈折率とから、前記温度閾値を超えた水温を示す前記測定地点の位置を特定する位置算出部を備えたことを特徴とする請求項１または請求項２記載の水温測定装置。   When the water temperature calculated by the temperature deriving unit exceeds a temperature threshold, the distance value of the reflected light of two wavelengths calculated by the distance measuring unit and the two-wavelength laser at the temperature calculated by the temperature deriving unit The water temperature measuring device according to claim 1, further comprising a position calculating unit that specifies a position of the measurement point indicating a water temperature exceeding the temperature threshold from a refractive index of light. 前記位置算出部は、前記温度導出部が算出した前記水温が前記温度閾値を超えた場合に、当該温度閾値を超えた旨を報知する報知信号と、前記温度閾値を超えた水温を示す前記測定地点の位置を示す位置情報とを出力することを特徴とする請求項３記載の水温測定装置。   The position calculating unit, when the water temperature calculated by the temperature deriving unit exceeds the temperature threshold, a notification signal for notifying that the temperature threshold has been exceeded, and the measurement indicating the water temperature exceeding the temperature threshold 4. The water temperature measuring apparatus according to claim 3, wherein position information indicating the position of the point is output. 前記距離計測部は、前記水温計測装置が前記測定地点を含んで設定された測定平面上の一方向に移動し、且つ前記照射された２波長のレーザ光が前記水温計測装置の移動方向に対して前記測定平面上で直交する方向に一次元走査されて得られる前記反射光を受信し、受信した２波長の反射光の光路長を示す距離値を算出し、
前記温度算出部は、前記測定平面上に前記算出された水温を示した三次元画像を生成することを特徴とする請求項１から請求項４のうちのいずれか１項記載の水温測定装置。 The distance measuring unit moves the water temperature measuring device in one direction on a measurement plane set including the measurement point, and the irradiated two-wavelength laser light is in a moving direction of the water temperature measuring device. Receiving the reflected light obtained by one-dimensional scanning in a direction orthogonal to the measurement plane, and calculating a distance value indicating the optical path length of the received reflected light of two wavelengths,
The water temperature measuring device according to any one of claims 1 to 4, wherein the temperature calculating unit generates a three-dimensional image showing the calculated water temperature on the measurement plane. 前記距離計測部は、前記照射された２波長のレーザ光が前記測定地点を含んで設定された測定平面上を二次元走査されて反射して得られる前記反射光を受信し、受信した２波長の反射光の光路長を示す距離値を算出し、
前記温度導出部は、前記測定平面上に前記算出された水温を示した三次元画像を生成することを特徴とする請求項１から請求項４のうちのいずれか１項記載の水温測定装置。 The distance measuring unit receives the reflected light obtained by two-dimensionally scanning the irradiated two-wavelength laser light on a measurement plane set including the measurement point, and receiving the received two wavelengths. The distance value indicating the optical path length of the reflected light of
The water temperature measuring device according to any one of claims 1 to 4, wherein the temperature deriving unit generates a three-dimensional image indicating the calculated water temperature on the measurement plane. 水温を計測する水温計測方法において、
距離計測部が、水中に照射された２波長のレーザ光が測定地点で反射されて得られる反射光を受信し、受信した２波長の反射光の光路長を示す距離値を算出するステップと、
温度導出部が、前記２波長の反射光の距離値の比から、前記レーザ光の光路の水温を算出するステップとを備えたことを特徴とする水温測定方法。 In the water temperature measurement method for measuring the water temperature,
A distance measuring unit receiving reflected light obtained by reflecting two-wavelength laser light irradiated in water at a measurement point, and calculating a distance value indicating an optical path length of the received reflected light of two wavelengths;
A temperature deriving unit comprising: calculating a water temperature of an optical path of the laser beam from a ratio of distance values of the reflected light of the two wavelengths.
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