JP2016114526A - Substance detection sensor, method for applying measuring beam, and substance detection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently conduct surface irradiation with a laser beam according to the characteristics of a detection area and prevent wrong detection of a measurement target substance.SOLUTION: The substance detection sensor includes: an acquisition unit acquiring information on a predetermined detection region; a first light source unit irradiating the predetermined detection region with a measuring beam with a predetermined first wavelength by surface irradiation using optical scanning; a control unit variably controlling an irradiation angle of the measuring beam directed from at least the first optical source unit to the irradiation position in the detection region; and a substance detecting unit detecting a specific substance in the detection region based on reflecting light of the measuring beam from the first optical light source, the controlling unit relying on information on the predetermined detection region acquired from the acquisition unit to change the irradiation angle of the measuring beam.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a substance detection sensor, a measurement light irradiation method, and a substance detection system that emit measurement light for detecting the presence or absence of a measurement target substance.

  Conventionally, as a method for detecting whether or not an object contains a substance to be measured (for example, moisture), a mechanism for swinging the projection direction (emission direction) of the laser beam vertically and horizontally is provided. For example, the road surface is irradiated on the road surface while the incident angle is variable in the range of α ° in the vertical direction and in the range of β ° in the horizontal direction, and the reflected light of the laser beam by the surface irradiation is received. A road surface monitoring system that remotely monitors the state is known (see, for example, Patent Document 1).

JP 2007-316049 A

  In Patent Document 1, it is possible to irradiate the surface of the measurement light by controlling the emission direction of the laser light by the swing mechanism, and whether or not there is a measurement target substance (for example, moisture) in a certain region (detection area). Can be monitored.

  However, in the configuration of Patent Document 1, since the surface is uniformly irradiated to the detection area without imposing any restrictions (restrictions), substances other than the measurement target substance (for example, road surface or floor surface) (for example, in the detection area) The surrounding wall) will also be irradiated with laser light, and there will be less laser light irradiation on the area that should be irradiated, and more laser light will be irradiated on areas that do not need to be irradiated. However, there is a problem that accurate detection of the measurement target substance becomes difficult and erroneous detection of the measurement target substance is induced.

  In order to solve the above-described conventional problems, the present invention efficiently performs surface irradiation of a laser beam according to the characteristics of a detection area and suppresses erroneous detection of a measurement target substance, and a measurement light irradiation method And a substance detection system.

  The present invention includes an acquisition unit that acquires information about a predetermined detection region, a first light source unit that irradiates the predetermined detection region with measurement light having a predetermined first wavelength by surface irradiation using optical scanning, The detection is based on at least a control unit that variably controls an irradiation angle of the measurement light from the first light source unit toward the irradiation position in the detection region, and reflected light of the measurement light from the first light source unit. A substance detection unit that detects a specific substance in a region, wherein the control unit changes an irradiation angle of the measurement light according to information on the predetermined detection region acquired by the acquisition unit It is a sensor.

  Further, the present invention is a measurement light irradiation method in a substance detection sensor including a first light source, wherein the information regarding a predetermined detection region is acquired, and according to the acquired information regarding the predetermined detection region, The step of changing the irradiation angle from the first light source toward the irradiation position in the detection region of the measurement light having a predetermined first wavelength, and using the changed irradiation angle, the predetermined light from the first light source. A step of irradiating the detection region with the measurement light by surface irradiation using optical scanning; and a measurement light irradiation method.

  Further, the present invention is a substance detection system in which a substance detection sensor and an external connection device are connected, the substance detection sensor including an acquisition unit that acquires information about a predetermined detection area, and the predetermined detection area. A first light source unit that emits measurement light having a predetermined first wavelength by surface irradiation using optical scanning, and an irradiation angle from at least the first light source unit toward the irradiation position in the detection region of the measurement light. A control unit that variably controls, a substance detection unit that detects a specific substance in the detection region based on reflected light of the measurement light from the first light source unit, and the specific substance detected by the substance detection unit An output unit that outputs information related to the external connection device, and the control unit changes the irradiation angle of the measurement light according to the information related to the predetermined detection area acquired by the acquisition unit. , It is a substance detection system.

  ADVANTAGE OF THE INVENTION According to this invention, the surface irradiation of the laser beam according to the characteristic of a detection area can be performed efficiently, and the misdetection of a measuring object substance can be suppressed.

(A), (B) Explanatory drawing regarding an example of the malfunction of the laser beam irradiation of the horizontal direction as a subject used as the premise which derives | leads-out the content of this embodiment Explanatory drawing which shows an example of the operation | movement outline | summary of irradiation of the comparison light and measurement light to the horizontal direction with respect to the floor surface of the detection area of the invisible light sensor of this embodiment (A) Explanatory drawing about an example of the malfunction of the irradiation of the laser beam of the vertical direction as a subject used as the premise which derives | leads-out the content of this embodiment, (B) With respect to the floor surface of the detection area of the invisible light sensor of this embodiment Explanatory drawing which shows an example of operation | movement outline | summary of irradiation of the comparison light and measurement light to a vertical direction Outline explanatory diagram of a detection camera including the invisible light sensor of the present embodiment The block diagram which shows an example of an internal structure of the detection camera containing the invisible light sensor of this embodiment in detail The block diagram which shows an example of an internal structure of the image determination part of the invisible light sensor of this embodiment in detail The flowchart which shows an example of the initial stage operation | movement in the control part of the invisible light sensor of this embodiment. The flowchart explaining an example of the detailed operation | movement procedure of the substance detection in the invisible light sensor of this embodiment (A) Principle of distance detection using comparison light of one type of wavelength of the invisible light sensor of the present embodiment, (B) Substance using comparison light of one type of wavelength of the detection camera of the present embodiment Illustration of detection principle (A) Principle of distance detection using the comparison light of the first wavelength among the two different wavelengths of the invisible light sensor of the present embodiment, (B) Two different types of the invisible light sensor of the present embodiment Of the principle of substance detection using the measurement light of the second wavelength among the wavelengths of Outline explanatory diagram of substance detection in invisible light sensor of this embodiment (A) Explanatory drawing which shows an example of the operation | movement outline | summary regarding irradiation of the comparison light and measurement light of the horizontal direction and the vertical direction with respect to the detection area of the non-visible light sensor of this embodiment, (B) The shape of the detection area irradiated by the surface Explanatory drawing for irradiating the same number of irradiation points as the number of irradiation points (n × m) for an actual rectangular detection area in a trapezoidal shape. The block diagram which shows the 1st structural example of the optical part for projection light source scanning regarding the projection of the comparison light of the invisible light sensor of this embodiment, measurement light, and light reception of reflected light, and an imaging optical part (A) The block diagram which shows the 2nd structural example of the optical part for projection light source scanning regarding the projection of the comparison light of the invisible light sensor of this embodiment, and measurement light, (B) Reflection of the comparison light and measurement light in (A) Block diagram showing a second configuration example of the imaging optical unit related to light reception, (C) an explanatory diagram showing a first example of the side surface and cross section of the rotating polygon mirror, (D) a second example of the side surface and cross section of the rotating polygon mirror Explanatory drawing showing The block diagram which shows the 3rd structural example of the optical part for projection light source scanning regarding the projection of the comparison light of the invisible light sensor of this embodiment, and measurement light The block diagram which shows the 4th structural example of the optical part for projection light source scanning regarding the projection of the comparison light of the invisible light sensor of this embodiment, measurement light, and light reception of reflected light, and an imaging optical part

(Problems that are the prerequisites for deriving the contents of this embodiment)
First, before describing the contents of an embodiment (hereinafter referred to as “this embodiment”) of a substance detection sensor, a measuring light irradiation method, and a substance detection system according to the present invention, it is a premise for deriving the contents of this embodiment. The problem will be described with reference to FIGS. 1A and 1B and FIG. FIGS. 1A and 1B are explanatory diagrams relating to an example of a problem of irradiation with a laser beam in the horizontal direction as a problem that is a prerequisite for deriving the contents of the present embodiment. FIG. 3A is an explanatory diagram relating to an example of a problem of irradiation with a laser beam in the vertical direction as a problem that is a prerequisite for deriving the contents of the present embodiment. In the following description, it is assumed that the sizes of the water pools WT1, WT2, WT3 are all uniform.

  In FIGS. 1A and 1B, a predetermined detection area K (for example, four sides are surrounded by a wall surface WLL that is a detection target of a measurement target substance (specific substance), and three puddles WT1, The laser beam is placed at a predetermined height (corresponding to the distance between the point O and the point S shown in FIG. 3A) from the floor surface FLR of the room in which WT2 and WT3 exist. An invisible light sensor NVSS (see FIG. 5) that irradiates certain measurement light is installed. Moreover, the situation where the measurement light is irradiated in the lateral direction (horizontal direction) when viewed from the front direction Q of the invisible light sensor NVSS is shown.

  In the case of the example shown in FIG. 1A, the difference in irradiation angle when the invisible light sensor NVSS irradiates the measurement light in the lateral direction (that is, two irradiation points adjacent from the installation position of the invisible light sensor NVSS). The angle formed between the measurement lights irradiated on the RPTs (see reference symbol a or reference symbol b shown in FIG. 2) is constant regardless of the distance from the non-visible light sensor NVSS. In this case, as the distance from the non-visible light sensor NVSS increases, the measurement light is irradiated onto the floor surface FLR of the detection area K as compared to the case where the distance from the non-visible light sensor NVSS is shorter. The distance between positions (hereinafter referred to as “irradiation points”) becomes longer. Therefore, the area where the measurement light is irradiated to the puddle becomes narrow. For this reason, for example, the number of the irradiation points RPT is smaller in the water pool WT3 than in the water pool WT1 (see FIG. 1B). Therefore, in FIG. 1 (A) or (B), the measurement light is less likely to be applied to the water pool WT3 as compared to the water pool WT1, and therefore it is difficult to accurately detect the water pool WT3 in the non-visible light sensor NVSS. .

  In FIG. 3A, the measurement is a laser beam at a position of a predetermined height (corresponding to the distance between the points O and S shown in FIG. 3A) from the floor surface FLR of the predetermined detection area K. A non-visible light sensor NVSS that irradiates light (see FIG. 5) is installed, and the vertical direction (depth direction, seeing from the front direction Q (see FIG. 1A or FIG. 1B) of the non-visible light sensor NVSS). FIG. 3A shows a situation in which measurement light, which is laser light, is irradiated in the direction from the left side to the right side in FIG. The point O indicates a position on the floor surface FLR that is vertically downward from the point S indicating the installation position of the invisible light sensor NVSS.

  In the case of the example shown in FIG. 3A, the difference in irradiation angle when the invisible light sensor NVSS irradiates the measurement light in the vertical direction (that is, the position W1 of one end of the puddle WT1 from the point S). And the angle formed between the direction from the point S and the direction from the point S toward the position W2 of the other end of the puddle WT1 (see symbol c) is constant regardless of the distance from the non-visible light sensor NVSS. . In this case, as the distance from the non-visible light sensor NVSS increases, the distance between the irradiation points is similar to that when the measurement light is irradiated in the horizontal direction as compared with the case where the distance from the non-visible light sensor NVSS is shorter. The distance becomes longer. Therefore, the area where the measurement light is irradiated to the puddle becomes narrow. For example, in FIG. 3 (A), the difference in irradiation angle similar to the case of irradiating the measurement light to the puddle WT1 located near the puddle WT3 located far from the installation position of the invisible light sensor NVSS is used. Then, even if the measurement light is irradiated to the positions W3 and W4, the water pool WT3 is not irradiated. For this reason, for example, in the water pool WT3, the number of irradiation points is smaller than that in the water pool WT1 (see FIG. 3A). Accordingly, in FIG. 3A, the measurement light is less likely to be applied to the water reservoir WT3 as compared to the water reservoir WT1, and therefore, the water reservoir WT3 is applied to the non-visible light sensor NVSS in the same manner as in the horizontal irradiation of the measurement light. It becomes difficult to accurately detect.

  As shown in FIGS. 1A, 1B, and 3A, when a constant value is used for the irradiation angle (more specifically, the difference in irradiation angle) regardless of the distance from the non-visible light sensor NVSS. Even if the characteristic (for example, shape) of the floor surface FLR of the detection area K is rectangular, when viewed from the non-visible light sensor NVSS, the measurement target substance (for example, the puddle WT1) is located near the non-visible light sensor NVSS. The shape is different (for example, trapezoidal shape) from the measurement target substance (for example, the water pool WT2 or the water pool WT3) located far from the invisible light sensor NVSS. Thereby, the detection accuracy of the measurement target substance at a position far from the non-visible light sensor NVSS is deteriorated, and erroneous detection may be induced.

  Therefore, in the following embodiment, the surface irradiation of the measurement light (laser light) according to the characteristics (for example, the shape) of the floor surface FLR of the detection area K that is the detection target is efficiently performed, and the measurement target substance (specific substance) An example of a substance detection sensor, a measurement light irradiation method, and a substance detection system that suppress false detection of) will be described.

(Description of this embodiment)
Hereinafter, embodiments of a substance detection sensor, a measurement light irradiation method, and a substance detection system according to the present invention (hereinafter referred to as “this embodiment”) will be described with reference to the drawings. A non-visible light sensor NVSS shown in FIG. 4 will be described as an example of the substance detection sensor of the present embodiment. The present invention can also be expressed as a measurement light irradiation method in which a substance detection sensor irradiates measurement light, or a substance detection system including a substance detection sensor.

(Outline of detection camera including invisible light sensor)
FIG. 4 is a schematic explanatory diagram of the detection camera 1 including the invisible light sensor NVSS of the present embodiment. The detection camera 1 shown in FIG. 4 is configured to include a visible light camera VSC and a non-visible light sensor NVSS. The visible light camera VSC uses a reflected light RV0 with respect to visible light having a predetermined wavelength (for example, 0.4 to 0.7 μm) in a predetermined detection area (detection area K), for example, similarly to the existing surveillance camera. An existing person HM or an object (not shown) is imaged. Hereinafter, output image data captured by the visible light camera VSC is referred to as “visible light camera image data”.

  The non-visible light sensor NVSS is invisible light (for example, infrared light) having different predetermined wavelengths (see later) by surface irradiation using optical scanning on the same detection area K as the visible light camera VSC. A certain comparison light LS1 and measurement light LS2 are projected. The comparison light LS1 is used for distance measurement from the invisible light sensor NVSS to a specific substance (for example, water such as water pools WT1, WT2, WT3) as a measurement target substance, and further absorbs the specific substance. Light having a wavelength other than the wavelength band, and is used to provide reference data at the time of comparison in the detection process for the presence or absence of a specific substance. On the other hand, the measurement light LS2 is light having a wavelength in the absorption wavelength band of the specific substance, and is used to provide data indicating detection of the specific substance (Target) at the time of comparison in the detection process for the presence or absence of the specific substance. .

  The invisible light sensor NVSS uses the reflected lights RV1 and RV2 in which the comparison light LS1 and the measurement light LS2 are reflected by an object to be detected (for example, water such as the water pools WT1, WT2, and WT3). The presence or absence of substance detection is determined. The specific substance for determining whether or not the non-visible light sensor NVSS is detected is, for example, a substance that is difficult to distinguish at first glance with the visible light camera image data of the visible light camera VSC. In the following, “puddle WT1, WT2, WT3” is an example. However, the present invention is not limited to these, and for example, gas may be used (see Table 1).

  In addition, the detection camera 1 adds output image data (hereinafter referred to as “substance position image data”) to the visible light camera image data captured by the visible light camera VSC and to the determination result of whether or not the specific substance is detected by the invisible light sensor NVSS. Or display data obtained by synthesizing information on the substance position image data. The output destination of the display data from the detection camera 1 is an external connection device connected to the detection camera 1 via a network (not shown), for example, the camera server CS or the communication terminal MT shown in FIG. The network may be a wired network (for example, an intranet or the Internet) or a wireless network (for example, a wireless local area network (LAN)).

  FIG. 5 is a block diagram showing in detail an example of the internal configuration of the detection camera 1 including the invisible light sensor NVSS of the present embodiment. The detection camera 1 illustrated in FIG. 5 includes a non-visible light sensor NVSS and a visible light camera VSC. The non-visible light sensor NVSS includes a control unit 11, a projection unit PJ, and an image determination unit JG. The projection unit PJ includes a first projection light source 13, a second projection light source 15, and a projection light source scanning optical unit 17. The image determination unit JG includes an imaging optical unit 21, a light receiving unit 23, a signal processing unit 25, a detection processing unit 27, and a display processing unit 29. The visible light camera VSC includes an imaging optical unit 31, a light receiving unit 33, an imaging signal processing unit 35, and a display control unit 37.

  The control unit 11 is configured using, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor), and performs overall operation control of each unit of the visible light camera VSC and the invisible light sensor NVSS. Signal processing for controlling the data, input / output processing of data with other units, data calculation processing, and data storage processing. Moreover, the control part 11 contains the timing control part 11a mentioned later (refer FIG. 6).

  Moreover, if the control part 11 acquires the information of the detection target distance transmitted by the user's input operation of the camera server CS or the communication terminal MT, the non-visible light sensor NVSS of the specific substance which the non-visible light sensor NVSS makes a detection target. The detection target distance range is calculated and information on the acquired detection target distance or the calculated detection target distance range is set in the signal processing unit 25 or the detection processing unit 27. In addition, the control unit 11 sets a detection threshold value M of a specific substance that is a detection target of the invisible light sensor NVSS in the detection processing unit 27. Details of the operation of the control unit 11 will be described later with reference to FIG.

  In addition, the control unit 11 is irradiated with information on the floor surface FLR of the detection area K transmitted by the user's input operation of the camera server CS or the communication terminal MT (for example, the comparison light LS1 and the measurement light LS2 in the detection area K). (Numerical data such as three-dimensional coordinates in the real space indicating the range of the target to be obtained), various parameters relating to the projection of the comparison light LS1 and the measurement light LS2 (for example, irradiation angle, irradiation time interval) are obtained with respect to the floor surface FLR. Variable control. The input operation for designating the detection area K may be performed by a touch operation or a mouse operation.

  Specifically, the control unit 11 includes at least an irradiation angle of the measurement light LS2 from the second projection light source 15 toward the irradiation position (irradiation point RPT) in the detection area K and the measurement light LS2 continuously projected. The irradiation time interval is variably controlled. For example, there are four patterns of changing the irradiation angle and the irradiation time interval in the control unit 11. Note that the control unit 11 may variably control not only the measurement light LS2 but also the irradiation angle and irradiation time interval related to the comparison light LS1. Hereinafter, in order to simplify the description, it is assumed that the target region irradiated with the comparison light LS1 and the measurement light LS2 is the floor surface FLR of the detection area K, and the irradiation angle and the irradiation time interval regarding the measurement light LS2 will be described. .

  For example, in the first pattern, the control unit 11 irradiates the measurement light LS2 every time the measurement light LS2 is irradiated in the lateral direction of the floor surface FLR of the detection area K while keeping the irradiation time interval of the measurement light LS2 constant. Change the angle. Thereby, when the non-visible light sensor NVSS irradiates the measurement light LS2 in the lateral direction of the floor surface FLR of the detection area K, the invisible light sensor NVSS keeps the irradiation time interval of the measurement light LS2 constant, and the floor surface of the detection area K Since the irradiation angle of the measurement light LS2 is changed every time the measurement light LS2 is irradiated in the horizontal direction of the FLR, the position in the floor FLR of the detection area K irradiated with the measurement light LS2 is close to the invisible light sensor NVSS. Even if it is far away, for example, the irradiation angle is increased if it is close, and the irradiation angle is decreased if it is far, so that the number of times of irradiation of the measurement light LS2 in one horizontal scanning can be made the same. In the FLR, the measurement light LS2 can be evenly irradiated without waste, and erroneous detection of a specific substance can be effectively suppressed.

  Next, in the second pattern, the control unit 11 keeps the irradiation time interval of the measurement light LS2 constant, and each time the measurement light LS2 is irradiated in the vertical direction of the floor surface FLR of the detection area K, the control light 11 Change the irradiation angle. Accordingly, when the non-visible light sensor NVSS irradiates the measurement light LS2 in the vertical direction of the floor surface FLR of the detection area K, the non-visible light sensor NVSS moves in the vertical direction of the detection area while keeping the irradiation time interval of the measurement light LS2 constant. Since the irradiation angle of the measurement light LS2 is changed every time the measurement light LS2 is irradiated, if the position in the detection area K irradiated with the measurement light LS2 is near or far from the non-visible light sensor NVSS, for example, if it is close By increasing the irradiation angle and decreasing the irradiation angle if it is far, the number of irradiations of the measurement light LS2 in one vertical scanning can be made the same, so the measurement light LS2 is evenly distributed evenly on the floor surface FLR of the detection area K. And erroneous detection of a specific substance can be effectively suppressed.

  Next, in the third pattern, the control unit 11 irradiates the measurement light LS2 every time the measurement light LS2 is irradiated in the lateral direction of the floor surface FLR of the detection area K while keeping the irradiation angle of the measurement light LS2 constant. Change the time interval. Accordingly, when the invisible light sensor NVSS irradiates the measurement light LS2 in the lateral direction of the floor surface FLR of the detection area K, the non-visible light sensor NVSS holds the irradiation angle of the measurement light LS2 constant, while maintaining the irradiation angle of the floor FLL of the detection area. Since the irradiation time interval of the measurement light LS2 is changed every time the measurement light LS2 is irradiated in the lateral direction, the position in the floor FLR of the detection area K irradiated with the measurement light LS2 is close to the invisible light sensor NVSS. Even if it is far away, for example, the irradiation time interval is lengthened if it is close, and the irradiation time interval is shortened if it is far, so that the number of times the measurement light LS2 is irradiated in one horizontal scanning can be made the same. The measurement light LS2 can be evenly irradiated on the surface FLR without waste, and erroneous detection of a specific substance can be effectively suppressed.

  Next, in the fourth pattern, the control unit 11 irradiates the measurement light LS2 every time the measurement light LS2 is irradiated in the lateral direction of the floor surface FLR of the detection area K while keeping the irradiation angle of the measurement light LS2 constant. Change the time interval. Thereby, when the non-visible light sensor NVSS irradiates the measurement light LS2 in the vertical direction of the floor surface FLR of the detection area K, the floor FLR of the detection area K is maintained while keeping the irradiation angle of the measurement light LS2 constant. Since the irradiation time interval of the measurement light LS2 is changed every time the measurement light LS2 is irradiated in the vertical direction, the position in the floor FLR of the detection area K irradiated with the measurement light LS2 is close to the invisible light sensor NVSS For example, by increasing the irradiation time interval if it is close, or decreasing the irradiation time interval if it is far, the number of times the measurement light LS2 is irradiated in one vertical scanning can be made the same. The measurement light LS2 can be evenly irradiated on the floor surface FLR without waste, and erroneous detection of a specific substance can be effectively suppressed.

  The timing control unit 11a moves to the detection area K of the comparison light LS1 from the first projection light source 13 or the measurement light LS2 from the second projection light source 15 for each projection cycle (frame) indicating surface irradiation on the entire detection area K. Controls the projection timing. When the timing control unit 11a projects the comparison light LS1 from the first projection light source 13 during an odd-numbered projection cycle (frame), the timing control unit 11a supplies the light source scanning timing signal TR illustrated in FIG. Further, when the measurement light LS2 is projected from the second projection light source 15 during the even-numbered projection cycle (frame), the light source scanning timing signal TR is output to the second projection light source 15.

  In addition, the timing controller 11a outputs the light source emission signal RF to the first projection light source 13 at the start of the odd-numbered projection cycle, and outputs the light source emission signal RF to the second projection light source 15 at the start of the even-numbered projection cycle. To do. The light source emission signal RF is also transmitted to the distance detection / substance detection processing unit 27a of the detection processing unit 27 as a signal (reference signal) indicating the start timing at the time of distance measurement from the non-visible light sensor NVSS to the specific substance. Entered.

  The first projection light source 13 as an example of the second light source unit uses optical scanning at every odd number projection period (predetermined value) in accordance with the input of the light source scanning timing signal TR from the timing control unit 11a. By the surface irradiation, the comparison light LS1 that is invisible light (for example, infrared light) having a predetermined first wavelength (for example, 1.1 μm) is passed through the projection light source scanning optical unit 17 to the floor surface of the detection area K. Project (irradiate) the FLR. In the present embodiment, the comparison light LS1 projected from the first projection light source 13 is used for ranging from the non-visible light sensor NVSS to the specific substance.

  Note that the comparison light LS1 may be used for detection of the specific substance in the same manner as the measurement light LS2 projected from the second projection light source 15 according to the property of the specific substance that is the detection target substance. That is, the non-visible light sensor NVSS measures the distance from the non-visible light sensor NVSS to the specific substance using the comparison light LS1 having one type of wavelength, and further determines whether or not the specific substance is detected. Also good. Thereby, the invisible light sensor NVSS measures the distance from the invisible light sensor NVSS to the specific substance and detects the specific substance by using the first projection light source 13 that projects the comparison light LS1 having one type of wavelength. It can be realized by using. Therefore, it is possible to suppress an increase in manufacturing cost of the invisible light sensor NVSS.

  The presence or absence of the detection of the specific substance may be determined by comparing with a predetermined threshold value. The predetermined threshold value may be a predetermined value or an arbitrarily set value. Further, the predetermined threshold value may be an intensity of each of the reflected lights RV1 and RV2 of the comparison light LS1 and the measurement light LS2 obtained in the absence of the specific substance. It may be a value based on (for example, a value obtained by adding a predetermined margin to the intensity values of the reflected lights RV1 and RV2 of the comparison light LS1 and the measurement light LS2 acquired in the absence of a specific substance). That is, the presence / absence of detection of the specific substance may be determined by comparing the substance position image data acquired in the absence of the specific substance with the acquired substance position image data. As described above, the invisible light sensor is used as a threshold for detecting the presence or absence of the specific substance by acquiring the intensities of the reflected lights RV1 and RV2 of the comparison light LS1 and the measurement light LS2 in the absence of the specific substance. A threshold value suitable for the environment where NVSS is installed can be set.

  The second projection light source 15 as an example of the first light source unit is a surface using optical scanning for each even-numbered projection period (predetermined value) according to the input of the timing signal TR for light source scanning from the timing control unit 11a. The measurement surface LS2 that is invisible light (for example, infrared light) having a predetermined second wavelength (for example, 1.45 μm) is irradiated with the measurement surface LS2 of the detection area K via the projection light source scanning optical unit 17. Project (irradiate). In the present embodiment, the measurement light LS2 projected from the second projection light source 15 is used to determine whether or not a specific substance is detected in the detection area K of the invisible light sensor NVSS. The wavelength 1.45 μm of the measurement light LS2 is a wavelength suitable when the specific substance that is the measurement target substance is water (such as water vapor) such as the water pools WT1, WT2, and WT3.

  Thereby, the non-visible light sensor NVSS measures the distance from the non-visible light sensor NVSS to the specific substance using the comparison light LS1 having the first wavelength and the reflected light RV1, and further detects the specific substance. As the reference data, the reflected light RV1 of the comparison light LS1 having the first wavelength is used. Furthermore, the non-visible light sensor NVSS uses the measurement light LS2 having the second wavelength and the reflected light RV2 and the above-described reference data (that is, the reflected light RV1 of the comparison light LS1) to specify a specific substance in the detection area K. The presence or absence of detection is determined. Therefore, the non-visible light sensor NVSS uses two different wavelengths of projection light and its reflected light for distance measurement from the non-visible light sensor NVSS to the specific substance and detection of the specific substance, thereby detecting the detection area K. The specific substance in can be detected with high accuracy.

  The projection light source scanning optical unit 17 has a horizontal direction (horizontal direction) and a vertical direction of the floor FLR of the detection area K as viewed from the installation position of the invisible light sensor NVSS (see point S shown in FIG. 3B). By scanning the measurement light LS2 projected from the comparison light LS1 projected from the first projection light source 13 or the second projection light source 15 in one dimension with respect to (depth direction), the floor surface FLR is 2 Scan dimensionally. Accordingly, the image determination unit JG can measure the distance from the invisible light sensor NVSS to the specific substance using the reflected light RV1 obtained by reflecting the comparison light LS1 with the specific substance, and further, the measurement light LS2 Using the reflected light RV2 reflected by the specific material and the above-described reflected light RV1 (that is, the reflected light RV1 of the comparison light LS1), the presence / absence of detection of the specific material on the floor surface FLR in the detection area K is determined. Can do.

  Here, the irradiation method with respect to the floor surface FLR of the detection area K of the comparison light LS1 and the measurement light LS2 in the invisible light sensor NVSS of the present embodiment will be described with reference to FIG. 2 and FIG. FIG. 2 is an explanatory diagram illustrating an example of an operation outline of irradiation of the comparison light LS1 and the measurement light LS2 in the lateral direction with respect to the floor surface FLR of the detection area K of the invisible light sensor NVSS of the present embodiment. FIG. 3B is an explanatory diagram illustrating an example of an operation outline of irradiation of the comparison light LS1 and the measurement light LS2 in the vertical direction with respect to the floor surface FLR of the detection area K of the invisible light sensor NVSS of the present embodiment.

  In FIG. 2, a predetermined area is detected from the floor surface FLR of a detection area K (for example, a room where four sides are surrounded by the wall surface WLL and three water pools WT1, WT2, WT3 are present on the floor surface FLR). A non-visible light sensor NVSS that irradiates the floor surface FLR with the comparison light LS1 and the measurement light LS2 at a height (corresponding to the distance between the point O and the point S shown in FIG. 3A) ( FIG. 5) is installed, and a state in which at least the measurement light LS2 is irradiated in the lateral direction (horizontal direction) when viewed from the front direction Q of the invisible light sensor NVSS is shown. Note that the comparison light LS1 may also be emitted from the invisible light sensor NVSS.

  For example, in FIG. 2, the non-visible light sensor NVSS of the present embodiment makes the irradiation time intervals of the comparison light LS1 and the measurement light LS2 constant corresponding to the first pattern of the modification example of the irradiation angle and the irradiation time interval described above. While being held, the irradiation angle of the comparison light LS1 and the measurement light LS2 is changed for each irradiation of the comparison light LS1 and the measurement light LS2 in the lateral direction of the floor surface FLR of the detection area K.

  Therefore, since the irradiation time interval is kept constant, as shown in FIG. 2, in each line irradiated in the horizontal direction (for example, lines L1, Lm) (m: an integer of 2 or more), The distance between the irradiation points RPT is a constant value. Further, since the irradiation angle differs for each irradiation of the measurement light LS2 in the horizontal direction (in other words, for each line in the horizontal direction), each irradiation point RPT of the line L1 whose distance from the installation position of the invisible light sensor NVSS is short. And the irradiation angle corresponding to each irradiation point RPT of the line Lm that is far from the installation position of the invisible light sensor NVSS (see reference symbol b shown in FIG. 2). Is different.

  In other words, the non-visible light sensor NVSS is the same from the position where the non-visible light sensor NVSS is installed, with respect to the position where the distance from the installation position of the non-visible light sensor NVSS is short. Measurement light LS2 with respect to the same horizontal line (for example, line L1) using the angle formed between the directions toward the irradiation point RPT adjacent to each other on the horizontal line of Irradiate evenly.

  Further, the non-visible light sensor NVSS is the same as the difference between the same predetermined irradiation angles (that is, the same from the installation position of the non-visible light sensor NVSS) even at a position far from the installation position of the non-visible light sensor NVSS. Using the angle formed between the directions toward adjacent irradiation points RPT on the line (see reference symbol a), the measurement light LS2 is evenly applied to the same horizontal line (for example, the line Lm). To do. However, in this case, the irradiation angle of the measurement light LS2 with respect to the line Lm is smaller (see reference symbol b) than the irradiation angle of the measurement light LS2 with respect to the line L1 (see reference symbol a).

  In FIG. 3B, a comparison is made with respect to the floor surface FLR at a predetermined height (corresponding to the distance between the point O and the point S shown in FIG. 3B) from the floor surface FLR of the detection area K. The non-visible light sensor NVSS (see FIG. 5) that irradiates the light LS1 and the measurement light LS2 is installed, and the vertical direction (depth direction, paper surface shown in FIG. 3B) when viewed from the front direction Q of the non-visible light sensor NVSS. A situation in which at least the measurement light LS2 is irradiated in the right direction) is shown. Note that the comparison light LS1 may also be emitted from the invisible light sensor NVSS.

  For example, in FIG. 3B, the non-visible light sensor NVSS of the present embodiment corresponds to the second pattern of the above-described modification of the irradiation angle and the irradiation time interval, and the irradiation time interval of the comparison light LS1 and the measurement light LS2. , The irradiation angle of the comparison light LS1 and the measurement light LS2 is changed every time the comparison light LS1 and the measurement light LS2 are irradiated in the vertical direction of the floor FLL of the detection area K.

  Therefore, since the irradiation time interval is kept constant, the distance between the adjacent irradiation points RPT is constant in all lines irradiated in the vertical direction (not shown in FIG. 3B). Further, since the irradiation angle is different for each irradiation of the measurement light LS2 in the vertical direction (in other words, for each line in the vertical direction), the irradiation angle is projected toward the puddle WT1 having a short distance from the installation position of the invisible light sensor NVSS. Difference between the irradiation angles of the measurement light LS2 to be measured (see symbol c shown in FIG. 3B) and the measurement light LS2 projected toward the puddle WT3 far from the installation position of the invisible light sensor NVSS. It is different from the irradiation angle (see symbol d shown in FIG. 3B).

  In other words, the non-visible light sensor NVSS is the same from the position where the non-visible light sensor NVSS is installed, with respect to the position where the distance from the installation position of the non-visible light sensor NVSS is short. The angle formed between the directions toward the irradiation point RPT adjacent to each other on the vertical line (for example, the angle between the direction from the point S to the position W1 and the direction from the point S to the position W2), The measurement light LS2 is evenly applied to the same vertical line using the reference c).

  Further, the non-visible light sensor NVSS is the same as the difference between the same predetermined irradiation angles (that is, the same from the installation position of the non-visible light sensor NVSS) even at a position far from the installation position of the non-visible light sensor NVSS. An angle formed between the directions toward the irradiation point RPT adjacent on the vertical line (for example, an angle between a direction from the point S to the position W5 and a direction from the point S to the position W6, reference sign d) The measurement light LS2 is evenly applied to the same vertical line using the reference angle (refer to reference c) in this case, however, compared to the difference in the irradiation angle of the measurement light LS2 corresponding to the puddle WT1. Thus, the difference in the irradiation angle of the measurement light LS2 corresponding to the water pool WT3 is small (see reference sign d).

  FIG. 6 is a block diagram illustrating in detail an example of the internal configuration of the image determination unit JG of the invisible light sensor NVSS of the present embodiment.

  The imaging optical unit 21 is configured by using, for example, a condensing lens FCLS shown in FIG. 13, and the reflected light reflected by the mirror actuator MRAc and the mirror RLM from the light (for example, the reflected light RV1, RV2) incident on the invisible light sensor NVSS. RV1 and RV2 are condensed, and the reflected lights RV1 and RV2 are imaged on a predetermined imaging surface of the light receiving unit 23 arranged on the substrate SBT.

  The light receiving unit 23 is an image sensor having a peak of spectral sensitivity with respect to both wavelengths of the comparison light LS1 and the measurement light LS2. The light receiving unit 23 converts an optical image of the reflected light RV1 or the reflected light RV2 formed on the imaging surface into an electric signal. The output of the light receiving unit 23 is input to the signal processing unit 25 as an electric signal (current signal). Note that the imaging optical unit 21 and the light receiving unit 23 have a function as an imaging unit in the invisible light sensor NVSS.

  The signal processing unit 25 includes an I / V conversion circuit 25a, an amplification circuit 25b, and a comparator / peak hold processing unit 25c. The I / V conversion circuit 25a converts a current signal that is an output signal (analog signal) of the light receiving unit 23 into a voltage signal. The amplifier circuit 25b amplifies the level of the voltage signal that is the output signal (analog signal) of the I / V conversion circuit 25a to a level that can be processed by the comparator / peak hold processing unit 25c.

  The comparator / peak hold processing unit 25c binarizes the output signal of the amplification circuit 25b according to the comparison result between the output signal (analog signal) of the amplification circuit 25b and a predetermined threshold value, and the distance detection / substance detection processing unit 27a. Output to. The comparator / peak hold processing unit 25c includes an ADC (Analog Digital Converter), detects and holds the peak of the AD (Analog Digital) conversion result of the output signal (analog signal) of the amplifier circuit 25b, and further, the peak Is output to the distance detection / substance detection processing unit 27a.

  The detection processing unit 27 as an example of the substance detection unit includes a distance detection / substance detection processing unit 27a, a memory 27b, and a detection result filter processing unit 27c. The distance detection / substance detection processing unit 27a is based on the output (binarized signal) from the comparator / peak hold processing unit 25c in the reflected light RV1 of the comparison light LS1 having the first wavelength (eg, 1.1 μm). The distance from the visible light sensor NVSS to the specific substance is measured.

  Specifically, the distance detection / substance detection processing unit 27a is based on the time difference Δt (see FIG. 9A or FIG. 10A) from the time of projection of the comparison light LS1 to the time of reception of the reflected light RV1. The distance from the non-visible light sensor NVSS to the specific substance is measured. FIG. 9A is an explanatory diagram of the principle of distance detection using the comparison light LS1 of one type of wavelength of the invisible light sensor NVSS of the present embodiment. FIG. 10A is a diagram for explaining the principle of distance detection using the comparison light LS1 having the first wavelength among the two different wavelengths of the invisible light sensor NVSS of the present embodiment.

  The distance detection / substance detection processing unit 27a determines that the input of the light source emission signal RF from the timing control unit 11a is at the time of projection of the comparison light LS1, and reflects the input of output from the comparator / peak hold processing unit 25c. It is determined that RV1 is being received. For example, the distance detection / substance detection processing unit 27a calculates the distance as “distance = light velocity × (time difference Δt / 2)”, thereby easily obtaining the distance from the invisible light sensor NVSS to the specific substance. To measure the distance D in the distance detection / substance detection processing unit 27a, the output of the comparator / peak hold processing unit 25c in the reflected light RV1 of the comparison light LS1 having at least one wavelength is required. The distance detection / substance detection processing unit 27a outputs distance information to the detection result filter processing unit 27c.

  Further, the distance detection / substance detection processing unit 27a outputs the output (peak information) of the comparator / peak hold processing unit 25c in the reflected light RV1 of the comparison light LS1 having the first wavelength to the floor surface FLR of the detection area K, Based on the output (peak information) of the comparator / peak hold processing unit 25c in the reflected light RV2 of the measurement light LS2 having the second wavelength of the floor surface FLR of the detection area K, the specific substance on the floor FLR of the detection area K The presence or absence of detection is determined.

  Specifically, the distance detection / substance detection processing unit 27a irradiates the comparison light LS1 and the measurement light LS2 to the position on the same floor surface FLR in the detection area K, for example, the comparison light LS1. The output (peak information) of the comparator / peak hold processing unit 25c in the reflected light RV1 is temporarily stored in the memory 27b, and then the output (peak) of the comparator / peak hold processing unit 25c in the reflected light RV2 of the measurement light LS2. Until the information is obtained. The distance detection / substance detection processing unit 27a obtains the output (peak information) of the comparator / peak hold processing unit 25c in the reflected light RV2 of the measurement light LS2, and then refers to the memory 27b to detect the floor of the detection area K. The output (peak information) of the comparator / peak hold processing unit 25c in the reflected light RV1 of the comparison light LS1 at the same position on the surface FLR and the output of the comparator / peak hold processing unit 25c in the reflected light RV2 of the measurement light LS2 ( Peak information).

  For example, in a place where the water pools WT1, WT2, and WT3 exist on the floor surface FLR of the detection area K, the measurement light LS2 having the second wavelength (eg, 1.45 μm) irradiated to the position is absorbed and reflected. The intensity (amplitude) of the light RV2 is attenuated (see FIG. 9B or FIG. 10B). FIG. 9B is an explanatory diagram of the principle of substance detection using the comparison light LS1 of one type of wavelength of the invisible light sensor NVSS of the present embodiment. FIG. 10B is a diagram for explaining the principle of substance detection using the measurement light LS2 having the second wavelength among the two different wavelengths of the invisible light sensor NVSS of the present embodiment. Accordingly, the distance detection / substance detection processing unit 27a obtains the comparison result (that is, the difference (ΔV) between each intensity or each amplitude of the reflected light RV1 and the reflected light RV2) at the same position on the floor FLR of the detection area K. Based on this, it is possible to determine whether or not a specific substance is detected at a position on the floor FLR in the detection area K.

  Note that the distance detection / substance detection processing unit 27a has an amplitude difference (VA) between the amplitude VA of the reflected light RV1 of the comparison light LS1 having the first wavelength and the amplitude VB of the reflected light RV2 of the measurement light LS2 having the second wavelength. The presence / absence of detection of the specific substance in the detection area may be determined according to the comparison between the ratio R of -VB) and the amplitude VA and the predetermined threshold value M (see FIG. 11). FIG. 11 is a schematic explanatory diagram of substance detection in the invisible light sensor NVSS of the present embodiment. For example, if R> M, the distance detection / substance detection processing unit 27a determines that any one of the puddles WT1, WT2, WT3 has been detected, and if R ≦ M, any of the puddles WT1, WT2, WT3 is determined. Is determined not to be detected. As described above, the distance detection / substance detection processing unit 27a determines the specific substance on the floor surface FLR in the detection area K according to the comparison result between the ratio R between the amplitude difference (VA−VB) and the amplitude VA and the threshold value M. By determining the presence or absence of detection, the influence of noise (for example, disturbance light) can be eliminated, and the presence or absence of detection of a specific substance can be determined with high accuracy.

  The memory 27b is configured using, for example, a RAM (Random Access Memory), and temporarily stores the output (peak information) of the comparator / peak hold processing unit 25c in the reflected light RV1 of the comparison light LS1.

  Based on the output of the distance detection / substance detection processing unit 27a and the information on the predetermined detection target distance or the detection target distance range designated by the control unit 11, the detection result filter processing unit 27c The distance from the visible light sensor NVSS is extracted by filtering information regarding a specific substance contained in the detection target distance or the detection target distance range (for example, the floor surface FLR instead of the wall surface WLL of the detection area K). The detection result filter processing unit 27 c outputs information related to the extraction result in the floor surface FLR of the detection area K to the display processing unit 29. For example, the detection result filter processing unit 27 c outputs information related to the detection result of the specific substance on the floor surface FLR in the detection area K to the display processing unit 29.

  The display processing unit 29 uses the output of the detection result filter processing unit 27c as an example of information regarding a specific substance whose distance from the non-visible light sensor NVSS in the detection area K is within the detection target distance or the detection target distance range. The material position image data indicating the position of the specific material on the floor surface FLR in the detection area K is generated. The display processing unit 29 outputs substance position image data including information on the distance from the non-visible light sensor NVSS to the specific substance to the display control unit 37 of the visible light camera VSC.

  The imaging optical unit 31 is configured using, for example, a condensing lens, collects incident light from the outside (for example, reflected light RV0 that is visible light) including the inside of the detection area K of the visible light camera VSC as an angle of view, The reflected light RV0 is imaged on a predetermined imaging surface of the light receiving unit 33.

  The light receiving unit 33 is an image sensor having a peak of spectral sensitivity with respect to a wavelength of visible light (for example, 0.4 μm to 0.7 μm). The light receiving unit 33 converts an optical image formed on the imaging surface into an electric signal. The output of the light receiving unit 33 is input to the imaging signal processing unit 35 as an electrical signal. The imaging optical unit 31 and the light receiving unit 33 have a function as an imaging unit in the visible light camera VSC.

  The imaging signal processing unit 35 generates visible light image data defined by RGB (Red Green Blue) or YUV (luminance / color difference) that can be recognized by a person using the electrical signal that is the output of the light receiving unit 33. . Thereby, visible light image data imaged by the visible light camera VSC is formed. The imaging signal processing unit 35 outputs visible light image data to the display control unit 37.

  The display control unit 37 uses the visible light image data output from the imaging signal processing unit 35 and the material position image data output from the display processing unit 29, so that the specific substance has a predetermined position ( For example, when it is detected at a position on the floor FLR in the detection area K, display data obtained by synthesizing visible light image data and substance position image data is generated as an example of information on the specific substance.

  In addition, the display control unit 37, when the distance from the non-visible light sensor NVSS to the specific substance is within the detection target distance or the detection target distance range, as an example of information regarding the specific substance, visible light image data and substance position image Display data that is combined with the data is generated. The display control unit 37 transmits display data to, for example, the camera server CS or the communication terminal MT connected via a network to prompt display.

  The control unit 11 may change the detection target distance or the detection target distance range as an example of the set distance information set in the detection processing unit 27. The change of the detection target distance range is, for example, using the distance information obtained by the control unit 11 in the detection processing unit 27 as the detection target of the specific substance on the floor surface FLR of the detection area K (that is, the floor surface FLR). It may be automatically adjusted so that only the comparison light LS1 or both the comparison light LS1 and the measurement light LS2 are irradiated.

  Thereby, the non-visible light sensor NVSS uses the measurement light LS2 and the comparison light LS1 to improve the detection accuracy of the specific substance on the floor surface FLR in the detection area K compared to the case where only the measurement light LS2 is used. Further, based on the reflected light RV1 of the comparison light LS1 reflected at the specific position on the floor surface FLR of the detection area K, the distance from the non-visible light sensor NVSS to the specific position is used to reach the specific position. Therefore, it is possible to irradiate the measurement light LS2 on the floor surface FLR of the detection area K without waste, and to suppress erroneous detection of a specific substance.

  Further, the control unit 11 changes the detection target distance or the detection target distance range as an example of the set distance information set in the detection processing unit 27 at an arbitrary timing by an input operation using the communication terminal MT by the user. May be. Thereby, the control part 11 can set an appropriate detection target distance or a detection target distance range according to the environment where the invisible light sensor NVSS is installed. In other words, the invisible light sensor NVSS uses the information about the floor surface FLR of the detection area K input according to the user's input operation as the information about the detection target region. The presence or absence of a specific substance can be detected at K. The set distance information is, for example, a detection target distance set in advance in the detection result filter processing unit 27c of the detection processing unit 27.

  In addition, when calculating the detection target distance range based on the information on the detection target distance input by the camera server CS or the communication terminal MT, the control unit 11 determines the detection target distance range calculated according to the value of the detection target distance. The value may be changed. When the distance from the non-visible light sensor NVSS to the specific substance is large, the attenuation (intensity) of the reflected light is large compared to the case where the distance from the non-visible light sensor NVSS to the specific substance is small. / The error at the time of distance detection in the substance detection processing unit 27a becomes large. It is preferable that the control unit 11 increases the calculated detection target distance range as the input detection target distance value increases. For example, when the detection target distance output from the control unit 11 is 3 [m], the detection processing unit 27 changes the detection target distance range to 2 to 4 [m]. When the detection target distance output from the control unit 11 is 100 [m], the detection processing unit 27 changes the detection target distance range to 95 to 105 [m]. Thereby, the non-visible light sensor NVSS can set an appropriate detection target distance range according to the distance to the specific substance to be detected. Therefore, the display control unit 37 can generate display data as an example of information on the specific substance in consideration of an error at the time of distance detection in the detection processing unit 27 according to the length of the detection target distance. In addition, the non-visible light sensor NVSS sets the detection target distance range, so that even if the distance from the non-visible light sensor NVSS to the specific substance does not completely match the detection target distance output from the control unit 11, Substances can be detected.

  The camera server CS as an example of the input unit transmits the display data output from the display control unit 37 to the communication terminal MT or one or more external connection devices (not shown), and the communication terminal MT or one or more external devices Prompts display of display data on the display screen of the connected device. Further, the camera server CS is configured to detect the detection target distance of the specific substance or the detection target distance range transmitted by the user's input operation of the communication terminal MT or one or more externally connected devices, or the detection target of the invisible light sensor NVSS. The information (for example, coordinate information) regarding the floor surface FLR of the detection area K to be is transmitted to the invisible light sensor NVSS. Information on the detection target distance or the detection target distance range of the specific substance is input to the control unit 11. As a result, the camera server CS detects the detection target distance or the detection target distance range of the specific substance designated by the user's input operation, or the information on the floor surface FLR of the detection area K that is the detection target of the invisible light sensor NVSS. Can be input to the invisible light sensor NVSS. In addition, the detection target distance range of the specific substance input from the camera server CS to the invisible light sensor NVSS may be a plurality of ranges, and the set number of the plurality of detection target distance ranges may be arbitrarily input. Accordingly, the camera server CS can arbitrarily set the detection target distance range desired for the user or the set number of detection target distance ranges in the invisible light sensor NVSS.

  The communication terminal MT as an example of the input unit is a portable communication terminal used by an individual user, for example. The communication terminal MT receives display data transmitted from the display control unit 37 via a network (not shown), and communicates with the communication terminal MT. Display data is displayed on an MT display screen (not shown). In addition, the communication terminal MT receives information on the detection target distance of the specific substance or information on the floor FLR of the detection area K to be detected by the invisible light sensor NVSS (for example, coordinate information) by a user input operation. In this case, information on the detection target distance or the detection target distance range of the specific substance, or information on the floor surface FLR of the detection area K to be detected by the invisible light sensor NVSS (for example, coordinate information) is transmitted via the camera server CS. Or directly to the detection camera 1. Similarly, information on the detection target distance or the detection target distance range of the specific substance, or information on the floor surface FLR of the detection area K that is the detection target of the invisible light sensor NVSS (for example, coordinate information) is input to the control unit 11. The Accordingly, the communication terminal MT can detect information on the detection target distance or the detection target distance range of the specific substance designated by the user's input operation, or information on the floor surface FLR of the detection area K that is a detection target of the invisible light sensor NVSS. (For example, coordinate information) can be input to the detection camera 1 via the camera server CS or directly. In addition, the detection target distance range of the specific substance input from the communication terminal MT to the detection camera 1 may be a plurality of ranges, and further, the set number of the plurality of detection target distance ranges may be arbitrarily input. Thereby, the communication terminal MT can arbitrarily set the detection camera 1 to the detection target distance range desired for the user or the set number of detection target distance ranges.

  Further, when the detection target distance range is input by a user input operation, the control unit 11 may set the input detection target distance range in the detection processing unit 27 without changing the input detection target distance range. Alternatively, the control unit 11, which is an example of a calculation unit, may calculate a detection target distance range to be set in the detection processing unit 27 based on the input detection target distance range, and set the detection target distance range in the detection processing unit 27. For example, when 4 to 7 [m] is input as the detection target range according to the input range of the user, the control unit 11 changes the detection target distance range to 5 to 6 [m], 3 to 8 [m], and the like. May be set in the detection processing unit 27.

(Description of an example of initial operation in the control unit of the invisible light sensor)
Next, an example of an initial operation in the control unit 11 of the invisible light sensor NVSS of the present embodiment will be described with reference to FIG. FIG. 7 is a flowchart illustrating an example of an initial operation in the control unit 11 of the invisible light sensor NVSS of the present embodiment.

  In FIG. 7, information on the detection target distance of the specific substance transmitted by the invisible light sensor NVSS from the camera server CS or the communication terminal MT, or information on the floor surface FLR of the detection area K to be detected by the invisible light sensor NVSS. When (for example, coordinate information) is received (S1, Y), the control unit 11 performs information on the detection target distance of the specific substance, or information on the floor surface FLR of the detection area K to be detected by the invisible light sensor NVSS. (For example, coordinate information) is acquired. The control unit 11 calculates the detection target distance range of the specific substance to be detected by the invisible light sensor NVSS based on the information on the detection target distance of the specific substance, and acquires the detected detection target distance or the calculated detection target. Information on the distance range is set in the signal processing unit 25 or the detection processing unit 27 (S2). In addition, the control unit 11 uses the information (for example, coordinate information) regarding the floor surface FLR of the detection area K to be detected by the invisible light sensor NVSS, and the comparison light LS1 and the measurement light LS2 are within the range of the floor surface FLR. The irradiation range is set to be (S2).

  The information on the detection target distance of the specific substance described above includes, for example, information on the distance or direction from the non-visible light sensor NVSS that is a specific substance existing on the floor FLR in the detection area K and is the detection target, The installation condition information of the invisible light sensor NVSS is included. Information on the distance from the invisible light sensor NVSS may be a predetermined value or may be arbitrarily set by a user using the communication terminal MT or the like. The installation condition information of the invisible light sensor NVSS may be set in advance in the invisible light sensor NVSS, or may be arbitrarily set by a user using the communication terminal MT or the like. The installation condition information is, for example, information on the height of the non-visible light sensor NVSS from the floor surface FLR in the detection area K (for example, the distance between the points O and S shown in FIG. 3B), The irradiation angle of the visible light sensor NVSS (for example, the angle formed by the straight line SO and the straight line SW1 shown in FIG. 3B), the size of the installed room, and the like. In the non-visible light sensor NVSS to which the installation condition information is input, for example, the control unit 11 may calculate the detection target distance or target distance range of the specific substance described above based on the installation condition information. In addition, by setting the installation condition information in this way, a specific substance can be detected according to the installation environment, and erroneous detection can be suppressed.

  Note that the control unit 11 may change the detection target distance range calculated in step S2 according to the information on the height of the invisible light sensor NVSS from a predetermined surface (for example, the floor surface FLR). The change of the detection target distance range may be automatically performed by the control unit 11 or may be performed at an arbitrary timing by the user using the communication terminal MT or the like. Further, the detection target distance range is not calculated based on the detection target distance, but may be directly input by the camera server CS or the communication terminal MT. Alternatively, the invisible light sensor NVSS may be provided with an input unit capable of inputting a detection target distance or a detection target distance range.

  When the distance to the detection target is large, the attenuation (intensity) of the reflected light is larger than when the distance to the detection target is small. Therefore, an error in distance detection in the distance detection / substance detection processing unit 27a. Becomes larger. For this reason, it is preferable that the control part 11 enlarges the detection target distance range to calculate, so that the input height information is large. Thereby, the non-visible light sensor NVSS is detected according to the case where the height information from the predetermined surface of the non-visible light sensor NVSS is small (for example, 3 [m]) or large (for example, 100 [m]). By changing the distance range, it is possible to further improve the detection accuracy of the specific substance in the non-visible light sensor NVSS in consideration of an error when detecting the distance in the non-visible light sensor NVSS. In addition, the display control unit 37 can generate display data as an example of information on a specific substance in consideration of an error at the time of distance detection in the detection processing unit 27 according to the height at which the detection camera 1 is installed.

  Further, the control unit 11 sets the detection threshold M of the specific substance in the detection processing unit 27 of the invisible light sensor NVSS in the distance detection / substance detection processing unit 27a of the detection processing unit 27 (S3). The detection threshold M is preferably provided as appropriate according to the specific substance to be detected.

  After step S3, the control unit 11 outputs a control signal for starting the imaging process to each unit of the visible light camera VSC (S4-1), and further projects the comparison light LS1 to the first projection light source 13, The light source scanning timing signal TR for causing the two projection light sources 15 to start projecting the measurement light LS2 is output to the first projection light source 13 and the second projection light source 15 of the non-visible light sensor NVSS, respectively (S4-2). It should be noted that either the execution timing of the operation of step S4-1 or the operation of step S4-2 may be first.

(Explanation of detailed operation of substance detection of non-visible light sensor)
Next, a detailed operation procedure of substance detection in the invisible light sensor NVSS of the detection camera 1 will be described with reference to FIG. FIG. 8 is a flowchart illustrating a detailed operation procedure of substance detection in the invisible light sensor NVSS of the present embodiment. As a premise for the description of the flowchart shown in FIG. 8, the timing control unit 11 a outputs a light source scanning timing signal TR to the first projection light source 13 and the second projection light source 15.

  In FIG. 8, when the light source emission signal RF in the odd-numbered projection cycle is output from the timing control unit 11a (S11, Y), the first projection light source 13 uses the light source emission signal RF from the timing control unit 11a. Accordingly, for example, the same projection time interval (irradiation time interval) and the same projection time interval (irradiation time interval) for each line are used for the same line in the horizontal direction of the floor FLR of the detection area K. Then, the comparison light LS1 having the first wavelength (for example, 1.1 μm) is projected (S12, see FIG. 12A). FIG. 12A is an explanatory diagram illustrating an example of an operation outline regarding irradiation of the comparison light LS1 and the measurement light LS2 in the horizontal direction and the vertical direction with respect to the detection area K of the invisible light sensor NVSS of the present embodiment.

  That is, for each line in the horizontal direction of the floor surface FLR shown in FIG. 12A, the non-visible light sensor NVSS outputs the comparison light LS1 from the first projection light source 13 at a fixed projection time interval (irradiation time interval). To project at equal time intervals. Furthermore, the non-visible light sensor NVSS is viewed from the horizontal line closest to the non-visible light sensor NVSS on the floor surface FLR from the installation position of the non-visible light sensor NVSS toward the innermost line (that is, the vertical line). In the direction), the comparison light LS1 is projected so that the projection time interval (irradiation time interval) is gradually shortened using a different projection time interval (irradiation time interval) for each horizontal line. In addition, the irradiation method of the measurement light LS2 is not limited to the irradiation method of the comparison light LS1 of the present embodiment.

  The projection light source scanning optical unit 17 uses the same irradiation angle for the comparison light LS1 projected from the first projection light source 13 with respect to the same line in the horizontal direction of the floor surface FLR of the detection area K, for example. Irradiation is performed so as to scan the comparison light LS1 in a dimensional manner. Further, the projection light source scanning optical unit 17 is provided for each horizontal line from the horizontal line closest to the invisible light sensor NVSS on the floor surface FLR toward the innermost line (that is, in the vertical direction). Irradiation is performed such that the comparison light LS1 is scanned so that the irradiation angle gradually decreases using different irradiation angles (S14). Note that details of an operation example of the optical system relating to irradiation of the comparison light LS1 or the measurement light LS2 of the projection light source scanning optical unit 17 will be described later. When the specific material is present at the position of the floor surface FLR in the detection area K, the reflected light RV1 obtained by reflecting the comparison light LS1 with the specific material is received by the light receiving unit 23 via the imaging optical unit 21 (S15). .

  In the signal processing unit 25, the output (electric signal) of the reflected light RV1 in the light receiving unit 23 is converted into a voltage signal, and the level of this voltage signal is amplified to a level that can be processed in the comparator / peak hold processing unit 25c (S16). ). The comparator / peak hold processing unit 25c binarizes the output signal of the amplification circuit 25b according to the comparison result between the output signal of the amplification circuit 25b and a predetermined threshold value, and outputs the binarized signal to the distance detection / substance detection processing unit 27a. The comparator / peak hold processing unit 25c outputs the peak information of the output signal of the amplification circuit 25b to the distance detection / substance detection processing unit 27a.

  The distance detection / substance detection processing unit 27a is based on the output (binarized signal) from the comparator / peak hold processing unit 25c in the reflected light RV1 of the comparison light LS1 having the first wavelength (eg, 1.1 μm). The distance from the visible light sensor NVSS to the specific substance is measured (S17-1).

  The distance detection / substance detection processing unit 27a temporarily stores the output (peak information) of the comparator / peak hold processing unit 25c with respect to the reflected light RV1 of the comparison light LS1 having the first wavelength in the memory 27b (S17-2). ). The distance detection / substance detection processing unit 27a also reflects the reflected light RV1 with respect to the comparison light LS1 having the first wavelength or the measurement light LS2 with the second wavelength in the previous frame (projection cycle) stored in the memory 27b. The output of the comparator / peak hold processing unit 25c regarding the same position (for example, coordinates) in the light RV2 is read from the memory 27b (S17-3). The distance detection / substance detection processing unit 27a outputs the output (peak information) of the comparator / peak hold processing unit 25c in the reflected light RV1 of the comparison light LS1 having the first wavelength at the same position on the floor surface FLR of the detection area K. The floor surface of the detection area K based on the output (peak information) of the comparator / peak hold processing unit 25c in the reflected light RV2 of the measurement light LS2 having the second wavelength and a predetermined detection threshold (for example, the detection threshold M) Whether or not a specific substance is detected in the FLR is determined (S17-4). The detection result filter processing unit 27c generates a floor in the detection area K based on the output of the distance detection / substance detection processing unit 27a and information on a predetermined detection target distance or detection target distance range specified by the control unit 11. Information regarding a specific substance whose surface FLR is within the detection target distance or the detection target distance range is extracted by filtering the distance from the non-visible light sensor NVSS.

  The display processing unit 29 uses the output of the detection result filter processing unit 27c as an example of information regarding a specific substance whose distance from the non-visible light sensor NVSS in the detection area K is within the detection target distance or the detection target distance range. Then, substance position image data indicating the position of the specific substance on the floor surface FLR of the detection area K for each distance from the invisible light sensor NVSS is generated (S18). Steps S14, S15, S16, S17-1 to S17-4, and S18 are performed for each line in the detection area of one frame (projection cycle).

  After step S18, the operations of steps S14, S15, S16, S17-1 to S17-4, and S18 are performed on all the horizontal (or vertical) lines of the floor FLR in the detection area K. If the execution has not been completed (S19, N), the operations of steps S14, S15, S16, S17-1 to S17-4, S18 are performed for all the lines of the floor surface FLR in the detection area K. Each operation of steps S14, S15, S16, S17-1 to S17-4, and S18 is repeated until the execution is completed.

  On the other hand, when execution of each operation of Steps S14, S15, S16, S17-1 to S17-4, S18 is completed for all the lines of the floor surface FLR in the detection area K (S19, Y), When the scanning of the comparison light LS1 and the measurement light LS2 continues (S20, Y), the operation of the invisible light sensor NVSS returns to step S11. When the scanning of the comparison light LS1 and the measurement light LS2 is not continued (S20, N), the operation of the invisible light sensor NVSS ends.

  In FIG. 12 (A), the floor surface of the detection area K (for example, a room in which four sides are surrounded by the wall surface WLL and three water pools WT1, WT2, WT3 exist on the floor surface FLR) as a detection target of the specific substance. Invisible light that irradiates the floor surface FLR with the comparison light LS1 and the measurement light LS2 at a predetermined height (corresponding to the distance between the point O and the point S shown in FIG. 3A) from the FLR. A state in which the sensor NVSS (see FIG. 5) is installed and at least the measurement light LS2 is irradiated in the lateral direction (horizontal direction) when viewed from the front direction Q of the invisible light sensor NVSS is shown. Note that the comparison light LS1 may also be emitted from the invisible light sensor NVSS.

  In the present embodiment, as shown in FIG. 12A, when viewed from the non-visible light sensor NVSS, even if the shape of the actual floor surface FLR is a rectangular shape (for example, a rectangle), from the side close to the non-visible light sensor NVSS itself. The farther away, the trapezoidal shape has different horizontal line lengths. Therefore, when viewed from the invisible light sensor NVSS, the relationship between the widths pt1 and pt2 between the horizontal lines shown in FIG. 12A is pt1> pt2, and the sizes of the water pools WT1, WT2, and WT3 are the same. Even if all are the same, the size of the puddle WT1> the size of the puddle WT2> the size of the puddle WT3.

  Therefore, the non-visible light sensor NVSS has the same irradiation angle (more than the same horizontal line near the installation position of the horizontal line non-visible light sensor NVSS in the floor surface FLR of the detection area K). To be precise, the comparison light LS1 and the measurement light LS2 are scanned one-dimensionally using the difference in irradiation angle corresponding to each irradiation point RPT adjacent from the installation position of the invisible light sensor NVSS. Irradiate. Further, the non-visible light sensor NVSS is provided for each line in the horizontal direction from the horizontal line closest to the non-visible light sensor NVSS on the floor surface FLR to the innermost line in the floor surface FLR of the detection area K. The comparison light LS1 and the measurement light LS2 are irradiated so that the irradiation angle gradually decreases using different irradiation angles.

  To explain in more detail with reference to FIG. 12B, when the floor surface FLR of the detection area K in the real space has a rectangular shape (for example, a rectangle), the comparison light LS1 over one frame (that is, the entire floor surface FLR). , The time required to irradiate the measurement light LS2), the number of irradiation points RPT is n × m. n is the number of irradiation points RPT in the horizontal direction shown in FIG. 12B, and m is the number of horizontal lines L1 to Lm (in other words, the number of irradiation points RPT in the vertical direction) shown in FIG.

  However, in the non-visible light sensor NVSS of this embodiment, the number of irradiation points RPT in one frame is n × m, and the same line L1 is constant from the horizontal line L1 close to the installation position of the non-visible light sensor NVSS. The comparison light LS1 and the measurement light LS2 are irradiated using the same irradiation angle using the irradiation time interval. When the line L1 ends, the next horizontal line farther from the invisible light sensor NVSS than the line L1 is irradiated with the irradiation time interval smaller than the irradiation time interval in the line L1 and the same irradiation angle as the line L1. The comparison light LS1 and the measurement light LS2 are irradiated using the angle. Similarly, when the line (not shown) immediately before the line Lm ends, the irradiation time interval in the immediately preceding line (not shown) with respect to the last horizontal line Lm farther from the non-visible light sensor NVSS than that line. The comparison light LS1 and the measurement light LS2 are irradiated using a smaller irradiation time interval and the same irradiation angle as the irradiation angle in the line L1. Note that the invisible light sensor NVSS of the present embodiment may use any of the first to fourth patterns described above for the irradiation method of the comparison light LS1 and the measurement light LS2.

  Next, an operation example of the optical system related to the irradiation of the comparison light LS1 or the measurement light LS2 of the projection light source scanning optical unit 17 will be described with reference to FIGS. 13, 14A to 14D, 15 and 16. explain.

  FIG. 13 shows a first configuration example of the projection light source scanning optical unit 17 and the imaging optical unit 21 related to the projection of the comparison light LS1 and the measurement light LS2 of the invisible light sensor NVSS of this embodiment and the reception of the reflected lights RV1 and RV2. FIG. The projection light source scanning optical unit 17 shown in FIG. 5 includes, for example, at least a mirror RLM and a mirror actuator MRAc shown in FIG. In order to simplify the following description, the measurement light LS2 is projected from the second projection light source 15 and the reflected light RV2 is received, but the comparison light LS1 is projected from the first projection light source 13. The same applies to the reception of the reflected light RV1.

  In FIG. 13, the measurement light LS2 projected (emitted) from the second projection light source 15 is reflected by the reflecting mirror RLM and then stepped so as to be able to irradiate the corresponding irradiation position on the floor surface FLR of the detection area K. The light enters the mirror actuator MRAc whose scanning is controlled by a motor (not shown) at a predetermined incident angle. Further, the measurement light LS2 is reflected by the mirror actuator MRAc at a reflection angle that is the same as the incident angle, and is irradiated to a desired irradiation position.

  The reflecting mirror RLM reflects the measurement light LS2 from the second projection light source 15 and projects it onto the mirror actuator MRAc, and further reflects the reflected light RV2 of the measurement light LS2 and projects it onto the condenser lens FCLS. It is installed in advance. Further, the mirror actuator MRAc is controlled by a stepping motor (not shown) or the mirror actuator MRAc itself so that the measurement light LS2 can be sequentially projected onto the floor surface FLR of the detection area K, and the reflected light RV2 is further transmitted. It is controlled so as to be reflected and projected onto the mirror RLM.

  In addition to the configuration example shown in FIG. 13, the projection light source scanning optical unit 17 shown in FIG. 5 may have, for example, a two-dimensional actuator configuration using two types of galvanometer mirrors, or a piezoelectric effect. A MEMS mirror that converts a voltage signal into a driving force may be used, or the measuring light LS2 may be scanned two-dimensionally by twisting a rod that supports a reflecting mirror (not shown). .

  FIG. 14A is a block diagram illustrating a second configuration example of the projection light source scanning optical unit 17 related to the projection of the comparison light LS1 and the measurement light LS2 of the invisible light sensor NVSS of the present embodiment. FIG. 14B is a block diagram illustrating a second configuration example of the imaging optical unit 21 related to reception of the reflected lights RV1 and RV2 of the comparison light LS1 and the measurement light LS2 in FIG. FIG. 14C is an explanatory diagram illustrating a first example of a side surface and a cross section of the rotating polygon mirror RPL1. FIG. 14D is an explanatory diagram illustrating a second example of a side surface and a cross section of the rotating polygon mirror RPL1. The projection light source scanning optical unit 17 shown in FIG. 5A includes at least the mirror actuators MRAc1 and MRAc2, the rotating polygon mirror RPL1, and the Fθ lens Fst shown in FIG. 14A, for example.

  In FIG. 14A, the measurement light LS2 projected (emitted) from the second projection light source 15 is incident on the mirror actuator MRAc1 at a predetermined incident angle. The measurement light LS2 reflected by the mirror actuator MRAc1 rotates counterclockwise (or even clockwise in the same manner) around the rotation axis AX while moving in the front direction FR in FIG. Is reflected by the rotating polygon mirror RPL1 and enters the mirror actuator MRAc2 at a predetermined incident angle. The measurement light LS2 reflected by the mirror actuator MRAc2 is irradiated to the corresponding irradiation position on the floor surface FLR of the detection area K.

  Here, the mirror actuators MRAc1 and MRAc2 and the rotating polygon mirror RPL1 are subjected to scanning control by one or more stepping motors (not shown) so as to be able to irradiate the corresponding irradiation position of the floor FLR of the detection area K. Yes. Further, the rotating polygon mirror RPL1 scans (irradiates) the measurement light LS2 along one horizontal line sc1 of the floor surface FLR (for example, the line L1 shown in FIG. 12B) along the length scx of one side. )

  The Fθ lens Fst converts the measurement light LS2 reflected by the rotating polygon mirror RPL1 rotating at an equal angle into a scan related to irradiation of the horizontal line on the floor surface FLR using a fixed projection time interval, and converts the image plane to Flatten (constant speed scanning). In FIG. 14B, similarly to FIG. 13, in the imaging optical unit 21 shown in FIG. 5, the reflected light RV2 of the measurement light LS2 is collected by the condenser lens FCLS and is received on the substrate SBT. A state in which an image is formed in the portion 23 is shown. The description regarding FIG. 14B is the same as the reception of the reflected light RV2 in FIG.

  In FIG. 14C, the rotating polygon mirror RPL1 has a trapezoidal side surface along a length scy corresponding to the height of the trapezoid (that is, from the right side to the left side in FIG. 14C). The measurement light LS2 is scanned (irradiated) in the longitudinal direction of the floor surface FLR. Accordingly, the rotating polygon mirror RPL1 has a side Rx1a, RPL1b, RPL1c, and RPL1d each side scx of the rotating polygon mirror RPL1 that is gradually irradiated from the right side to the left side in FIG. The measurement light LS <b> 2 is scanned (irradiated) as a direction from the side closer to the non-visible light sensor NVSS of the floor surface FLR toward the far side.

  In FIG. 14D, the rotating polygon mirror RPL1 has a shape in which the side surfaces thereof are connected to a plurality of polygonal housings (specifically, hexagonal, octagonal, decagonal, and dodecagonal), The measurement light LS2 is scanned (irradiated) in the vertical direction of the floor surface FLR along the length scy corresponding to the height of the shape (that is, from the right side to the left side in FIG. 14D). Therefore, in the rotating polygon mirror RPL1, with respect to the irradiation of the horizontal line, each side scx of the cross section RPL1, RPL2, RPL3, RPL4 of the rotating polygon mirror RPL1 gradually increases from the right side to the left side in FIG. The measurement light LS <b> 2 is scanned (irradiated) as a direction from the side closer to the non-visible light sensor NVSS of the floor surface FLR toward the far side.

  FIG. 15 is a block diagram illustrating a third configuration example of the projection light source scanning optical unit related to the projection of the comparison light and the measurement light of the invisible light sensor according to the present embodiment. The projection light source scanning optical unit 17 illustrated in FIG. 5A includes at least a collimator lens CLL, a rotating polygon mirror RPL2, a mirror actuator MRAc3, and an Fθ lens Fst illustrated in FIG. Since the operation of the Fθ lens shown in FIG. 15 and the operation of the Fθ lens shown in FIG. 14A are the same, detailed description is omitted. Although not shown in FIG. 15, the light reception of the reflected light RV2 is the same as the light reception of the reflected light RV2 in FIG.

  In FIG. 15, the measurement light LS2 projected (emitted) from the second projection light source 15 is converted into measurement light LS2 parallel to a predetermined direction in the collimator lens CLL, and rotated while moving in the front direction FR of FIG. The light is reflected by the rotating polygon mirror RPL2 that rotates counterclockwise or clockwise at an equal angle around the axis AX, and enters the mirror actuator MRAc3 at a predetermined incident angle. The measurement light LS2 reflected by the mirror actuator MRAc3 is irradiated to a corresponding irradiation position on the floor surface FLR of the detection area K.

  Here, the rotating polygon mirror RPL2 and the mirror actuator MRAc3 are controlled by one or more stepping motors (not shown) so as to be able to irradiate the corresponding irradiation position on the floor surface FLR of the detection area K. Further, the rotating polygon mirror RPL2 scans (irradiates) the measurement light LS2 along one horizontal line sc1 of the floor surface FLR (for example, the line L1 shown in FIG. 12B) along the length scx of one side. ) The side surface (not shown) of the rotating polygon mirror RPL2 has a rectangular shape (for example, a rectangular shape), and the side farthest from the closest side of the invisible light sensor NVSS on the floor surface FLR according to the rotation angle of the mirror actuator MRAc3. The scanning of the measurement light LS2 in the vertical direction is controlled. The mirror actuator MRAc3 may have a rectangular parallelepiped shape or a cubic shape, for example, or may have a triangular prism shape.

  For example, as shown in FIG. 15, when the measurement light LS2 is irradiated on the floor FLR near the non-visible light sensor NVSS, the measurement light LS2 reflected by the rotating polygon mirror RPL2 is incident on the mirror actuator MRAc3. Without being incident on the Fθ lens Fst. When the measurement light LS2 is irradiated on the far side of the invisible light sensor NVSS on the floor surface FLR, the measurement light LS2 reflected by the rotating polygon mirror RPL2 is reflected by the mirror actuator MRAc3 and then enters the Fθ lens Fst. To do.

  More specifically, as shown in FIG. 15, the measurement light LS2 (refer to the solid line) projected from the second projection light source 15 is reflected by the rotating polygon mirror RPL2 and is not reflected by the mirror actuator MRAc3. , The light is projected (irradiated) through the Fθ lens Fst. For this reason, the measurement light LS2 (see the solid line) shown in FIG. 15 is irradiated to the positions F1, F2, and F3 of the floor surface FLR, respectively. In this case, the measurement light LS2 is irradiated on the side of the floor surface FLR near the non-visible light sensor NVSS.

  Further, the measurement light LS2 (see the broken line) projected from the second projection light source 15 is reflected by the rotating polygon mirror RPL2, and then reflected by the mirror actuator MRAc3 (that is, the measurement light LS2 is folded back), so that the Fθ lens. Projected (irradiated) through Fst. For this reason, the measurement light LS2 (see the broken line) shown in FIG. 15 is irradiated to the positions B1, B2, and B3 of the floor surface FLR, respectively. In this case, the measurement light LS2 is irradiated to the far side of the invisible light sensor NVSS on the floor surface FLR.

  FIG. 16 illustrates a fourth configuration example of the projection light source scanning optical unit 17 and the imaging optical unit 21 related to the projection of the comparison light LS1 and the measurement light LS2 of the invisible light sensor NVSS of this embodiment and the reception of the reflected light RV1 and RV2. FIG. The projection light source scanning optical unit 17 illustrated in FIG. 5 includes, for example, at least a hologram element HLG illustrated in FIG. 16, a λ / 4 plate RM (for example, polymer liquid crystal), and a mirror actuator MRAc4.

  In FIG. 16, the measurement light LS2 projected (emitted) from the second projection light source 15 passes through the hologram element HLG, is given a first predetermined amount of phase in the λ / 4 plate RM, and is applied to the floor surface FLR of the detection area K. The light beam is incident at a predetermined incident angle on the mirror actuator MRAc4 whose scanning is controlled by a stepping motor (not shown) so that the corresponding irradiation position can be irradiated. The measurement light LS2 is reflected by the mirror actuator MRAc4 at a reflection angle that is the same as the incident angle, and is irradiated to a desired irradiation position on the floor surface FLR.

  The hologram element HLG passes the measurement light LS2 from the second projection light source 15 and projects it onto the λ / 4 plate RM, and further reflects the measurement light LS2 with a phase different from the phase by λ / 4 (that is, π / 2). It is installed in advance so as to reflect RV2 and project it onto the condenser lens FCLS. The λ / 4 plate RM imparts a first predetermined amount of phase to the measurement light LS2 that has passed through the hologram element HLG, and further applies a second predetermined amount of phase to the reflected light RV2 of the measurement light LS2 reflected by the mirror actuator MRAc4. Give. Note that the sum of the first phase amount and the second phase amount applied in the λ / 4 plate RM is λ / 4 (λ is the wavelength of the measurement light LS2), that is, π / 2 (= 90 degrees).

  The mirror actuator MRAc4 is scanned and controlled by a stepping motor (not shown) or the mirror actuator MRAc4 itself so that the measurement light LS2 can be sequentially projected onto the floor surface FLR of the detection area K, and further reflects the reflected light RV2. And controlled to project onto the λ / 4 plate RM.

  As described above, the non-visible light sensor NVSS of the present embodiment is information regarding the floor surface FLR of the predetermined detection area K (for example, coordinate information regarding the floor surface FLR input by the communication terminal MT or a distance from the non-visible light sensor NVSS). Information), the floor FLL of the predetermined detection area K is irradiated with measurement light LS2 having a predetermined first wavelength by surface irradiation using optical scanning, and the measurement light LS2 of the measurement light LS2 is irradiated from the second projection light source 15. The irradiation angle toward the irradiation position on the floor surface FLR in the detection area K is variably controlled, and a specific substance on the floor surface FLR in the detection area K is detected based on the reflected light RV2 of the measurement light LS2. Further, the non-visible light sensor NVSS appropriately changes the irradiation angle and the irradiation time interval of the measurement light LS according to information on the floor surface FLR of the predetermined detection area K.

  Thereby, the invisible light sensor NVSS variably changes the irradiation angle of the measurement light LS2, which is a laser beam, in accordance with information characteristics (for example, the shape of the floor surface FLR) regarding the floor surface FLR in the predetermined detection area K. Therefore, depending on the installation position of the non-visible light sensor NVSS, the shape of the floor surface FLR of the detection area K irradiated with the measurement light LS2 may be different from that when the floor surface FLR of the detection area K is viewed from the zenith. When the installation position of the visible light sensor NVSS is used as a reference, the surface irradiation of the measurement light LS2 can be efficiently performed on the floor surface FLR of the detection area K without waste, and an error of a specific substance that is a measurement target substance can be achieved. Detection can be suppressed.

  Moreover, in this embodiment mentioned above, although water | moisture content like the puddle WT1, WT2, WT3 was illustrated and demonstrated as a specific substance, the specific substance which the invisible light sensor NVSS can detect is not limited to a water | moisture content, The one shown in Table 1 may be used. In Table 1, the specific substance that can be detected by the invisible light sensor NVSS and the wavelength used for the comparison light LS1 or the measurement light LS2 used in the first projection light source 13 or the second projection light source 15 to detect the specific substance are listed. It is shown. Thereby, the non-visible light sensor NVSS is not limited to moisture, and can detect many kinds of specific substances according to the wavelength used for the comparison light LS1 or the measurement light LS2, and the substance position image indicating that the specific substances have been detected. Data can be generated.

  Note that the above-described detection target distance range is not limited to one range, and a plurality of ranges may be set. For example, the detection target distance range includes 2 to 3 [m] as the first range and 6 to 8 [m] as the second range. Similarly, the detection target distance described above may be set to a plurality of values instead of a single value. When a plurality of detection target distances are input, the control unit 11 may calculate and set a detection target distance range corresponding to each detection target distance. Thus, by making it possible to set a plurality of detection target distances or detection target distance ranges, detection conditions for the invisible light sensor NVSS can be set according to the environment in which the invisible light sensor NVSS is installed.

  Further, the number of detection target distances or detection target distance ranges to be set may be arbitrarily increased or decreased. Thereby, the environment where the non-visible light sensor NVSS is installed can set the detection condition of the non-visible light sensor NVSS according to the complexity. For example, when the environment is complex, a large number of detection target distances or detection target distance ranges are set, and when the environment is simple, a small number of detection target distances or detection target distance ranges are set.

  Such a plurality of detection target distances or detection target distance ranges may be set in advance, or may be arbitrarily set by the user using the camera server CS or the communication terminal MT. Or you may provide the input part which can set these in non-visible light sensor NVSS. Note that the detection target distance range does not need to set both the upper limit and the lower limit as in the specific example described above, and at least one of them may be set. For example, a detection target distance range such as 100 [m] or more or 5 [m] or less may be set.

  In the present embodiment, the first projection light source 13 is projected in the odd-numbered projection cycle, and the second projection light source 15 is projected in the even-numbered projection cycle. However, the first projection light source 13 and the second projection light source are projected. The light source 15 does not have to be projected alternately every projection cycle. For example, the 1st projection light source 13 and the 2nd projection light source 15 may switch the timing which projects with a different projection period or a random projection period. In addition, when there are a plurality of (for example, two) imaging optical units 21 and light receiving units 23 in the invisible light sensor NVSS, the comparison light LS1 from the first projection light source 13 and the measurement light LS2 from the second projection light source 15 May be projected simultaneously.

  In addition, although this embodiment demonstrated the non-visible light sensor NVSS which integrally comprised the projection part PJ and the image determination part JG, the projection part PJ and the image determination part JG may be provided separately, respectively. In the detection camera 1, the non-visible light sensor NVSS and the visible light camera VSC may be configured separately. For example, the projection unit PJ and the image determination unit JG may be held in different housings. Similarly, the projection unit PJ and the visible light camera VSC may be held in different cases. The first projection light source 13 and the second projection light source 15 may also be provided separately.

  However, it is preferable that the image determination unit JG and the visible light camera VSC are provided in the same housing as in the present embodiment. More specifically, the imaging optical unit 21 used for forming the substance position image data and the imaging optical unit 31 used for forming the visible light image data are preferably provided in the same casing. By providing the imaging optical units 21 and 31 in the same housing, the light receiving positions of the two light receiving units can be brought close to each other. That is, the detection positions of the substance position image data and the visible light image data can be brought close to each other. Thereby, the shift | offset | difference of substance position image data and visible light image data can be made small, and the load of the synthetic | combination process of visible light image data and substance position image data by the display control part 37 can be reduced.

  The received signal may be processed outside the non-visible light sensor NVSS (for example, the camera server CS or the communication terminal MT). This signal processing corresponds to, for example, the processing of the signal processing unit 25, the detection processing unit 27, the display processing unit 29, the imaging signal processing unit 35, the display control unit 37, and the control unit 11 described above. By providing a function related to signal processing outside the invisible light sensor NVSS, the invisible light sensor NVSS can be reduced in size.

  Hereinafter, the configuration, operation, and effects of the above-described substance detection sensor, measurement light irradiation method, and substance detection system according to the present invention will be described.

  In one embodiment of the present invention, an acquisition unit that acquires information about a predetermined detection region, and a first light that irradiates the predetermined detection region with measurement light having a predetermined first wavelength by surface irradiation using optical scanning. Based on a light source unit, a control unit that variably controls an irradiation angle from at least the first light source unit toward the irradiation position of the measurement light in the detection region, and a reflected light of the measurement light from the first light source unit A substance detection unit that detects a specific substance in the detection region, and the control unit changes an irradiation angle of the measurement light according to information about the predetermined detection region acquired by the acquisition unit This is a substance detection sensor.

  In this configuration, the substance detection sensor obtains information on the predetermined detection region, irradiates the predetermined detection region with measurement light having a predetermined first wavelength by surface irradiation using optical scanning, and emits light from the first light source. The irradiation angle toward the irradiation position in the detection region of the measurement light is variably controlled, and the specific substance in the detection region is detected based on the reflected light of the measurement light. In addition, the substance detection sensor changes the irradiation angle of the measurement light according to information on a predetermined detection region.

  As a result, the substance detection sensor variably changes the irradiation angle of the measurement light, which is a laser beam, according to the information characteristics (for example, the shape of the detection area) related to the predetermined detection area (detection area). The corresponding surface irradiation can be performed. In other words, the substance detection sensor can efficiently irradiate the surface of the measurement light with respect to the detection area efficiently with reference to the installation position of the substance detection sensor. Detection can be suppressed.

  In one embodiment of the present invention, the control unit holds the measurement light irradiation time interval constant, and each time the measurement light is irradiated in the lateral direction of the detection region, the measurement light irradiation angle It is a substance detection sensor which changes.

  According to this configuration, the substance detection sensor irradiates the measurement light in the lateral direction of the detection region while maintaining the irradiation time interval of the measurement light constant while irradiating the measurement light in the lateral direction of the detection region. In addition, since the irradiation angle of the measurement light is changed, the irradiation angle is increased if the position in the detection region where the measurement light is irradiated is close or far from the substance detection sensor, for example, if it is close, and if the position is far, the irradiation angle is decreased. By doing so, the number of times the measurement light is irradiated in one horizontal scanning can be made the same. Therefore, the substance detection sensor can irradiate the measurement light uniformly in the detection region without waste, and can effectively suppress erroneous detection of the specific substance.

  In one embodiment of the present invention, the control unit holds the measurement light irradiation time interval constant, and the irradiation angle of the measurement light for each irradiation of the measurement light in the vertical direction of the detection region. It is a substance detection sensor which changes.

  According to this configuration, when irradiating the measurement light in the vertical direction of the detection region, the substance detection sensor keeps the measurement light irradiation time interval constant, while irradiating the measurement light in the vertical direction of the detection region. In addition, since the irradiation angle of the measurement light is changed, the irradiation angle is increased if the position in the detection region where the measurement light is irradiated is close or far from the substance detection sensor, for example, if it is close, and if the position is far, the irradiation angle is decreased. By doing so, the number of times the measurement light is irradiated in one vertical scanning can be made the same. Therefore, the substance detection sensor can irradiate the measurement light uniformly in the detection region without waste, and can effectively suppress erroneous detection of the specific substance.

  In one embodiment of the present invention, the control unit is a substance detection sensor that maintains a constant irradiation angle of the measurement light and changes an irradiation time interval of the measurement light in a lateral direction of the detection region. is there.

  According to this configuration, when the measurement light is irradiated in the lateral direction of the detection region, the substance detection sensor keeps the measurement light irradiation angle constant, and each time the measurement light is irradiated in the lateral direction of the detection region. Since the irradiation time interval of the measurement light is changed, the irradiation time interval is increased if the position in the detection region where the measurement light is irradiated is close or far from the substance detection sensor, for example, if it is close, and if it is far By shortening, the number of times the measurement light is irradiated in one horizontal scanning can be made the same. Therefore, the substance detection sensor can irradiate the measurement light uniformly in the detection region without waste, and can effectively suppress erroneous detection of the specific substance.

  Moreover, one embodiment of the present invention is a substance detection sensor that keeps an irradiation angle of the measurement light constant and changes an irradiation time interval of the measurement light in a vertical direction of the detection region.

  According to this configuration, when the substance detection sensor irradiates the measurement light in the vertical direction of the detection region, the substance detection sensor keeps the irradiation angle of the measurement light constant, and each time the measurement light is irradiated in the vertical direction of the detection region. Since the irradiation time interval of the measurement light is changed, the irradiation time interval is increased if the position in the detection region where the measurement light is irradiated is close or far from the substance detection sensor, for example, if it is close, and if the position is far By reducing the value, the number of measurement light irradiations in one vertical scanning can be made the same. Therefore, the substance detection sensor can irradiate the measurement light uniformly in the detection region without waste, and can effectively suppress erroneous detection of the specific substance.

  In one embodiment of the present invention, a second light source unit that irradiates the predetermined detection region with a comparison light having a predetermined second wavelength different from the first wavelength by surface irradiation using optical scanning, A distance detection unit that measures a distance from the second light source unit to the specific position based on reflected light reflected at a specific position of the predetermined detection region of the comparison light from the second light source unit; The control unit is a substance detection sensor that determines whether or not the measurement light can be irradiated to the specific position based on the distance detected by the distance detection unit.

  In this configuration, the substance detection sensor irradiates a predetermined detection region with a comparison light having a predetermined second wavelength different from the first wavelength by surface irradiation using optical scanning, and reflects the light at a specific position in the predetermined detection region. Based on the reflected light of the comparison light, the distance from the substance detection sensor to the specific position is measured. Then, the substance detection sensor uses this distance to determine whether measurement light can be irradiated up to a specific position.

  Thereby, the substance detection sensor can improve the detection accuracy of the specific substance in the predetermined detection region by using the measurement light and the comparison light as compared with the case where only the measurement light is used. Based on the reflected light of the comparison light reflected at the specific position in the detection area, the measurement light in the detection area is determined based on the distance from the substance detection sensor to the specific position. Can be irradiated without waste, and erroneous detection of a specific substance can be suppressed.

  Moreover, one Embodiment of this invention is a substance detection sensor by which the information regarding the said detection area | region is input according to predetermined | prescribed input operation.

  According to this configuration, since the substance detection sensor uses information regarding the detection area input in response to a predetermined input operation, for example, the presence or absence of the specific substance can be detected in the detection area that matches the user's own desire. .

  Moreover, one embodiment of the present invention is a measurement light irradiation method in a substance detection sensor including a first light source, the step of acquiring information related to a predetermined detection region, and the acquired information related to the predetermined detection region. Accordingly, the step of changing the irradiation angle of the measurement light having the predetermined first wavelength from the first light source toward the irradiation position in the detection region, and using the changed irradiation angle, the first light source And irradiating the predetermined detection region with the measurement light by surface irradiation using optical scanning, and a measurement light irradiation method.

  In this method, the substance detection sensor acquires information on a predetermined detection region, irradiates the predetermined detection region with measurement light having a predetermined first wavelength by surface irradiation using optical scanning, and emits light from the first light source. The irradiation angle toward the irradiation position in the detection region of the measurement light is variably controlled, and the specific substance in the detection region is detected based on the reflected light of the measurement light. In addition, the substance detection sensor changes the irradiation angle of the measurement light according to information on a predetermined detection region.

  As a result, the substance detection sensor variably changes the irradiation angle of the measurement light, which is a laser beam, according to the information characteristics (for example, the shape of the detection area) related to the predetermined detection area (detection area). The corresponding surface irradiation can be performed. In other words, the substance detection sensor can efficiently irradiate the surface of the measurement light with respect to the detection area efficiently with reference to the installation position of the substance detection sensor. Detection can be suppressed.

  One embodiment of the present invention is a substance detection system in which a substance detection sensor and an externally connected device are connected, the substance detection sensor including an acquisition unit that acquires information about a predetermined detection region, and the predetermined A first light source unit that irradiates the detection region with measurement light having a predetermined first wavelength by surface irradiation using optical scanning, and at least an irradiation position within the detection region of the measurement light from the first light source unit Based on the reflected light of the measurement light from the first light source unit, the control unit that variably controls the irradiation angle toward the substance, the substance detection unit that detects a specific substance in the detection region, and the substance detection unit An output unit that outputs information on the specific substance to the external connection device, and the control unit irradiates the measurement light according to the information on the predetermined detection area acquired by the acquisition unit. Changing the degree, a substance detection system.

  In this configuration, the substance detection sensor obtains information on the predetermined detection region, irradiates the predetermined detection region with measurement light having a predetermined first wavelength by surface irradiation using optical scanning, and emits light from the first light source. Variablely controls the irradiation angle of the measurement light toward the irradiation position in the detection area, detects the specific substance in the detection area based on the reflected light of the measurement light, and outputs information about the detected specific substance to the external device To do. In addition, the substance detection sensor changes the irradiation angle of the measurement light according to information on a predetermined detection region.

  As a result, in the substance detection system, the substance detection sensor variably changes the irradiation angle of the measurement light, which is a laser beam, according to information characteristics (for example, the shape of the detection area) regarding a predetermined detection area (detection area). Therefore, surface irradiation according to the detection area can be performed. In other words, the substance detection system can efficiently irradiate the surface of the measurement light to the detection area without waste when the installation position of the substance detection sensor is used as a reference. Detection can be suppressed. In the substance detection system, the substance detection sensor can output information on the specific substance as a detection result to the external connection device.

  While various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Understood.

  INDUSTRIAL APPLICABILITY The present invention is useful as a substance detection sensor, a measurement light irradiation method, and a substance detection system that efficiently perform surface irradiation of laser light according to the characteristics of a detection area and suppress erroneous detection of a measurement target substance.

DESCRIPTION OF SYMBOLS 1 Detection camera 11 Control part 11a Timing control part 13 1st projection light source 15 2nd projection light source 17 Projection light source scanning optical part 21, 31 Imaging optical part 23, 33 Light reception part 25 Signal processing part 25a I / V conversion circuit 25b Amplification Circuit 25c Comparator / peak hold processing unit 27 Detection processing unit 27a Distance detection / substance detection processing unit 27b Memory 27c Detection result filter processing unit 29 Display processing unit 35 Imaging signal processing unit 37 Display control unit CS Camera server JG Image determination unit LS1 Comparison Optical LS2 Measuring light MT Communication terminal NVSS Invisible light sensor PJ Projector TR Light source scanning timing signal RF Light source emission signal RPT Irradiation point RV0, RV1, RV2 Reflected light VSC Visible light camera WT1, WT2, WT3 Puddle

Claims (9)

An acquisition unit for acquiring information on a predetermined detection area;
A first light source unit that irradiates the predetermined detection region with measurement light having a predetermined first wavelength by surface irradiation using optical scanning;
A control unit that variably controls an irradiation angle from at least the first light source unit toward the irradiation position in the detection region of the measurement light;
A substance detection unit that detects a specific substance in the detection region based on reflected light of the measurement light from the first light source unit,
The control unit changes an irradiation angle of the measurement light according to information on the predetermined detection area acquired by the acquisition unit.
Substance detection sensor. The substance detection sensor according to claim 1,
The control unit maintains a constant irradiation time interval of the measurement light, and changes the irradiation angle of the measurement light for each irradiation of the measurement light in the lateral direction of the detection region.
Substance detection sensor. The substance detection sensor according to claim 1,
The control unit maintains a constant irradiation time interval of the measurement light, and changes the irradiation angle of the measurement light every time the measurement light is irradiated in the vertical direction of the detection region.
Substance detection sensor. The substance detection sensor according to claim 1,
The control unit holds the measurement light irradiation angle constant, and changes the measurement light irradiation time interval in the lateral direction of the detection region.
Substance detection sensor. The substance detection sensor according to claim 1,
The control unit holds the measurement light irradiation angle constant and changes the irradiation time interval of the measurement light in the vertical direction of the detection region.
Substance detection sensor. The substance detection sensor according to claim 1,
A second light source unit that irradiates the predetermined detection region with a comparison light having a predetermined second wavelength different from the first wavelength by surface irradiation using optical scanning;
A distance detection unit that measures a distance from the second light source unit to the specific position based on reflected light reflected at a specific position of the predetermined detection region of the comparison light from the second light source unit; In addition,
The control unit determines whether or not to irradiate the measurement light up to the specific position based on the distance detected by the distance detection unit.
Substance detection sensor. The substance detection sensor according to claim 1,
Information on the detection area is input according to a predetermined input operation.
Substance detection sensor. A measurement light irradiation method in a substance detection sensor including a first light source,
Obtaining information about a predetermined detection area;
Changing an irradiation angle from the first light source toward the irradiation position in the detection region of the measurement light having a predetermined first wavelength according to the acquired information on the predetermined detection region;
Irradiating the measurement light from the first light source to the predetermined detection area by surface irradiation using optical scanning using the changed irradiation angle;
Measurement light irradiation method. A substance detection system in which a substance detection sensor and an external connection device are connected,
The substance detection sensor is
An acquisition unit for acquiring information on a predetermined detection area;
A first light source unit that irradiates the predetermined detection region with measurement light having a predetermined first wavelength by surface irradiation using optical scanning;
A control unit that variably controls an irradiation angle from at least the first light source unit toward the irradiation position in the detection region of the measurement light;
A substance detection unit for detecting a specific substance in the detection region based on reflected light of the measurement light from the first light source unit;
An output unit that outputs information on the specific substance detected by the substance detection unit to the externally connected device,
The control unit changes an irradiation angle of the measurement light according to information on the predetermined detection area acquired by the acquisition unit.
Substance detection system.

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