JP2018163245A - Boresight adjustment device and method of retracing light path - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a boresight adjustment device which allows for preventing adverse effect of invisible laser light on human body, including retinal damage.SOLUTION: A boresight adjustment device 70 is installed on a light transmitting window through which invisible laser light is emitted. The boresight adjustment device 70 comprises; a light path measurement unit 71 which has an array sensor 71a configured to receive the invisible laser light emitted through the light transmitting window and composed of a plurality of optical sensors arranged in an array, and is configured to derive a light path of the invisible laser light based on an output level of the array sensor 71a; and a light path retracing unit 72 configured to retrace the light path of the invisible laser light derived by the light path measurement unit 71 using visible laser light.SELECTED DRAWING: Figure 18

Description

  The present invention relates to a boresight adjusting device and an optical path reproduction method used in a laser device such as a laser distance measuring device that emits invisible laser light.

  The laser distance measuring device irradiates laser light while aiming at a target, and receives laser light that is reflected light from the target. The distance to the target can be calculated by measuring the time required from the transmission of the laser light to the reception thereof. The laser range finder is provided with a collimation device for aiming at a target. An invisible laser light source that emits invisible laser light is often used as a light source of a laser distance measuring device.

Generally, in a laser range finder, boresight adjustment for collimation calibration is performed.
As an example of boresight adjustment, Patent Document 1 discloses that a laser beam is condensed on a screen using a condensing lens, and a laser beam printing pattern is formed on the screen. Is described.
Patent Document 2 describes another boresight adjustment method. In this boresight adjustment method, the optical axis of the laser light source and the central axis of the collimation device are aligned using a light receiving unit having an indicator plate provided on the light receiving surface. The indicator plate has a characteristic of transmitting laser light, and a reticle for a collimation device is formed at a predetermined position. The boresight adjustment is performed by aligning the center axis of the collimation device with the reticle and aligning the irradiation position of the laser beam with the center of the indicator plate based on the output value of the light receiving unit.

  Patent Document 3 describes yet another boresight adjustment method. In this boresight adjustment method, a visible laser light source that emits visible laser light is attached to an invisible laser light source that emits invisible laser light. In the preparation stage for boresight adjustment, adjustment is made so that the optical axis of the invisible laser light, the optical axis of the visible laser light, and the central axis of the collimation device are parallel to each other. Boresight adjustment by using the collimation calibration plate provided with the first and second reticles, aligning the irradiation position of the visible laser beam with the first reticle, and aligning the reticle of the collimation device with the second reticle I do.

JP 57-164703 A JP 2011-058932 A JP 2010-216679 A

When adjusting the boresight of a laser range finder equipped with an invisible laser light source, the invisible light laser is invisible, so there are concerns about the effects on the human body, such as accidentally entering the eye and damaging the retina. Is done. In particular, since a high-power invisible light laser is used for a laser range finder that measures a long-distance target (1 to 5 km away), the problem of influence on the human body is more serious.
The boresight adjustment described in Patent Document 1 and Patent Document 2 also causes the above problem when an invisible laser light source is used as the laser light source.

  In the boresight adjustment described in Patent Document 3, since the boresight adjustment is performed using visible laser light instead of the invisible laser, there is no problem that the retina is damaged by the invisible laser. However, in this case, it is necessary to adjust the optical axis of the invisible laser beam, the optical axis of the visible laser beam, and the center axis of the collimation device in parallel with each other at the preparation stage of boresight adjustment. During work, an invisible laser can accidentally enter the eye and damage the retina.

  An object of the present invention is to provide a boresight adjusting apparatus and an optical path reproduction method capable of suppressing the influence on the human body such as damage to the retina and the like by an invisible light laser.

In order to achieve the above object, according to one aspect of the present invention, there is provided a boresight adjusting device attached to a light transmission window for emitting invisible laser light, which receives the invisible laser light emitted from the light transmission window. An optical path measuring unit comprising an array sensor composed of a plurality of optical sensors provided in an array, and calculating the optical path of the invisible laser light based on an output value of the array sensor;
There is provided an apparatus for adjusting boresight, comprising: an optical path reproduction unit that reproduces an optical path of the invisible laser light calculated by the optical path measurement unit with visible laser light.

  According to another aspect of the present invention, an invisible laser beam emitted from a light transmission window is received using an array sensor including a plurality of optical sensors provided in an array, and based on an output value of the array sensor. There is provided an optical path reproduction method for calculating an optical path of the invisible laser light and reproducing the calculated optical path with visible laser light.

  ADVANTAGE OF THE INVENTION According to this invention, the influence on a human body which damages a retina etc. with an invisible laser can be suppressed.

It is a schematic diagram which shows the structure of the apparatus for boresight adjustment by the 1st Embodiment of this invention. It is a schematic diagram which shows typically the external appearance of the optical path measurement reproduction member at the time of seeing from the array sensor side. It is a schematic diagram which shows typically the external appearance of the optical path measurement reproduction member at the time of seeing from the visible light source side. It is a schematic diagram which shows one structural example of a light quantity adjustment part. It is a schematic diagram which shows one structural example of an attitude | position control part. It is a schematic diagram which shows another structural example of an attitude | position control part. It is a schematic diagram for explaining a method of adjusting the rotation θYZ in a state where the optical path measurement reproduction member is viewed from a direction perpendicular to the YZ plane (X-axis direction). It is a schematic diagram for demonstrating the adjustment method of rotation (theta) XY in the state which looked at the optical path measurement reproduction member from the direction (Z-axis direction) perpendicular | vertical to XY plane. It is a schematic diagram which shows the spot diameter of invisible laser light in a state where the invisible laser light source faces the array sensor. It is a schematic diagram which shows the spot diameter of the invisible laser beam in the state where the invisible laser light source is not facing the array sensor. FIG. 6 is a characteristic diagram showing the relationship between the rotation angle θ and the magnification of the spot diameter D ′ when the facing time is 1. It is a flowchart which shows one procedure of optical path measurement reproduction. It is a schematic diagram for demonstrating adjustment of the up-down direction of a visible light source. It is a schematic diagram for demonstrating the positional relationship of the center coordinate of the spot of an invisible laser beam, and the optical axis of a visible laser beam on the light-receiving surface of an array sensor. It is a perspective view for demonstrating the positional relationship of the center coordinate of the spot of an invisible laser beam, and the optical axis of a visible laser beam on the light-receiving surface of an array sensor. It is a schematic diagram which shows the structure of the optical path measurement reproduction member and attitude | position control part which are used for the apparatus for boresight adjustment by the 2nd Embodiment of this invention. It is a flowchart which shows one measurement procedure of rotation angle (theta) 1 and (theta) 2. FIG. It is a figure for demonstrating the determination method of a rotation angle. It is a figure for demonstrating the determination method of a rotation angle. It is a figure for demonstrating the determination method of a rotation angle. It is a block diagram which shows the structure of the apparatus for boresight adjustment by the 3rd Embodiment of this invention. It is a schematic diagram which shows an example of a laser rangefinder. It is a schematic diagram which shows the state which installed the target board in the laser range finder shown in FIG. It is a schematic diagram for demonstrating the visual field of a collimation apparatus and the front view of a target board. It is a schematic diagram which shows the state which attached the apparatus for boresight adjustment of this invention to the laser rangefinder.

Next, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a schematic diagram showing a configuration of a boresight adjusting apparatus according to a first embodiment of the present invention.
Referring to FIG. 1, the boresight adjusting device 1 includes housings 2 a and 2 b, an interface device 5, and a calculation unit 6.

The housing 2 a accommodates the optical path measurement reproduction member 3. The optical path measurement reproduction member 3 includes an array sensor for measuring the optical path of the invisible laser light and a visible light source for reproducing the optical path of the invisible laser light with the visible laser light. FIG. 2 schematically shows the appearance of the optical path measurement reproduction member 3 when viewed from the array sensor side, and FIG. 3 schematically shows the appearance of the optical path measurement reproduction member 3 when viewed from the visible light source side.
Referring to FIGS. 2 and 3, the array sensor 31 is supported on one surface of the support plate 30, and the moving table 33 that moves the visible light source 32 in two dimensions is supported on the other surface of the support plate 30. .

The array sensor 31 has a plurality of optical sensors arranged in an array. Since it is necessary to detect the spot of the invisible laser beam with the array sensor 31, it is desirable to use the array sensor 31 having a large area and a small pixel pitch. For example, the array sensor 31 may be an image sensor having 50 million pixels, a pixel pitch of 4.14 μm, and a sensor light receiving surface size of 35.97 mm × 23.98 mm. As such an image sensor, there is a complementary metal oxide semiconductor (CMOS) image sensor used in a single-lens reflex camera.
The moving table 33 is a stage that can move the visible light source 32 on a two-dimensional plane. Specifically, the moving table 33 includes a moving table 33a that reciprocates the visible light source 32 in the direction of the first axis, and a moving table 33a to which the visible light source 32 is fixed is perpendicular to the first axis. And a moving table 33b that reciprocates in the axial direction. The surface including the first and second axes is parallel to the light receiving surface of the array sensor 31. As the moving bases 33a and 33b, for example, two linear motion cylinders whose moving directions are orthogonal to each other can be used.

The visible light source 32 includes a laser light source that emits visible laser light, for example, a semiconductor laser such as a laser diode. The angle formed by the optical axis of the visible light source 32 and the light receiving surface of the array sensor 31 is 90 °.
Since the visible laser beam needs to reach the target plate, the visible light source 32 has an output that allows the visible laser beam to reach the target plate. In addition, when the distance between the visible light source 32 and the target plate is long, the beam may spread before the visible laser beam reaches the target plate. In this case, a mechanism for suppressing the spread of the beam, for example, an optical system such as a collimator lens may be disposed in the optical path of the visible light source 32.

Reference is again made to FIG.
The housing 2a includes first and second surfaces facing each other with the optical path measurement reproduction member 3 interposed therebetween, and an opening is provided in each of the first and second surfaces. The first surface is located on the array sensor 31 side of the optical path measurement reproduction member 3, and the second surface is located on the visible light source 32 side of the optical path measurement reproduction member 3. A light amount adjustment unit 7 and an attachment unit 8 are provided in the opening portion of the first surface, and an invisible light cut filter 9 is provided in the opening portion of the second surface.
The attachment portion 8 is an interface portion for attaching the boresight adjusting device 1 to a light transmission window of a laser distance meter (not shown). The invisible laser light emitted from the light transmission window is guided into the housing 2 a through the attachment portion 8 and the light amount adjustment portion 7.
The light amount adjusting unit 7 has a function of attenuating the invisible laser light and a function of adjusting the spot diameter of the invisible laser light. FIG. 4 shows an example of the light amount adjustment unit 7.

The light amount adjustment unit 7 illustrated in FIG. 4 includes a holding cylinder 81, an attenuation filter 82, and a diaphragm 83. The holding cylinder 81 has a cylindrical structure with both ends open, and an attenuation filter 82 and a diaphragm 83 are arranged inside. The invisible laser light enters from one opening end of the holding cylinder 81, sequentially passes through the attenuation filter 82 and the diaphragm 83, and is emitted from the other opening end of the holding cylinder 81.
The attenuation filter 82 only needs to be a filter capable of attenuating laser light. For example, an ND filter can be used. The diaphragm 83 has a plate-like structure with a hole (opening) in the center, and is configured so that a part of the light is blocked when the invisible laser light passes through the hole. The size and shape of the diameter of the invisible laser beam that has passed through the stop 83 are determined by the size and shape of the hole (opening) of the stop 83. In other words, the size and shape of the spot diameter of the invisible laser beam formed on the light receiving surface of the array sensor 31 shown in FIG. 2 are determined by the size and shape of the hole (opening) of the diaphragm 83.

Reference is again made to FIG.
The invisible laser light guided into the housing 2a is incident on the array sensor 31 shown in FIG. The light amount adjusting unit 7 and the invisible light cut filter 9 are arranged so as to face each other with the optical path measurement reproduction member 3 interposed therebetween.
The invisible light cut filter 9 is provided to prevent the invisible laser light from leaking out of the housing 2a. The invisible light cut filter 9 has a filter characteristic that absorbs invisible laser light and transmits the visible light laser (or filter characteristic that transmits only the visible light laser). For example, when the wavelength of the invisible laser light is 1.0 μm, an IR cut filter (for 1.0 μm) can be used as the invisible light cut filter 9.

  The housing 2b is provided integrally with the housing 2a and accommodates an attitude control unit 4 that controls the attitude of the optical path measurement reproduction member 3. The attitude control unit 4 supports the optical path measurement reproduction member 3 and can rotate in the biaxial direction with respect to the optical path measurement reproduction member 3, and can maintain the rotation angle, and the rotation angle (relative angle). It has a mechanism that can measure. The attitude control unit 4 can rotate the optical path measurement reproduction member 3 in the direction around the first axis and in the direction around the second axis orthogonal to the first axis.

FIG. 5 shows a configuration example of the attitude control unit 4. Referring to FIG. 5, the attitude control unit 4 rotates the optical path measurement reproduction member 3 in the direction around the first axis and the motor unit 4a for rotating the optical path measurement reproduction member 3 in the direction around the second axis. A motor unit 4b. The motor unit 4b includes a columnar arm that supports the optical path measurement reproduction member 3, and rotates the optical path measurement reproduction member 3 in the direction around the first axis by rotating the arm. The motor unit 4a includes two “U” -shaped arms that support the motor unit 4b so as to sandwich the housing of the motor unit 4b from both sides, and supports the optical path measurement reproduction member 3 by rotating these arms. The motor unit 4b is rotated in the direction around the second axis. The rotation angle in the direction around the first axis is θ1, and the rotation angle in the direction around the second axis is θ2.
The motor units 4a and 4b are composed of a motor having a mechanism capable of holding the rotation angle and measuring the rotation angle (relative angle), for example, a servo motor with a rotary encoder. Since the angle adjustment resolution is related to the optical path reproducibility of the visible light laser described later, the angle adjustment resolution is preferably as small as possible.

  FIG. 6 shows another configuration example of the attitude control unit 4. The posture control unit 4 shown in FIG. 6 is the same as the posture control unit 4 shown in FIG. 5 except that the support structure of the motor unit 4a is different. In the attitude control unit 4 shown in FIG. 6, the motor unit 4 a includes a columnar arm that supports the casing of the motor unit 4 b, and the motor unit 4 b that supports the optical path measurement reproduction member 3 is rotated by rotating this arm. Rotate in the direction around the second axis.

Reference is again made to FIG.
The interface device 5 is electrically connected to the optical path measurement reproduction member 3 via the power / communication cable 10a, and is electrically connected to the motor units 4a and 4b via the power / communication cables 10b and 10c, respectively. It is electrically connected to the calculation unit 6 through 10d.
The power / communication cable 10a supplies power to the visible light source 32, and transmits visible light laser control signals and array sensor data. In the power / communication cable 10b, the rotation angle control signal and rotation angle data of the motor unit 4b are transmitted and the motor drive power is supplied. The power / communication cable 10c transmits a rotation angle control signal and rotation angle data of the motor unit 4a, and supplies motor drive power. The communication cable 10d transmits a visible light laser control signal, array sensor data, a rotation angle control signal, rotation angle data, and the like.

The interface device 5 includes a power supply function of the visible light source 32, a drive power supply function of the motor units 4a and 4b, a communication function, and a control function (including a pulse control device for driving the motor). The interface device 5 acquires information such as array sensor data, motor rotation output, and rotation angle in accordance with a command from the calculation unit 6, and transmits the acquired information to the calculation unit 6.
The calculation unit 6 is electrically connected to each of the optical path measurement reproduction member 3 and the motor units 4 a and 4 b via the interface device 5. The calculation unit 6 includes an optical path calculation unit 61 and an optical path reproduction processing unit 62.
The optical path calculation unit 61 obtains the optical path of invisible laser light based on the output value of the array sensor 31. Specifically, the optical path calculation unit 61 controls the rotational operation of the motor units 4 a and 4 b to change the incident angle of the invisible laser beam on the light receiving surface of the array sensor 31 in a stepwise manner, and outputs from the array sensor 31. The optical path of the invisible laser beam is obtained based on the value.

  The optical path reproduction processing unit 62 reproduces the optical path of the invisible laser light obtained by the optical path calculation unit 61 with visible laser light emitted from the visible light source 32. Specifically, the optical path reproduction processing unit 62 controls the moving operation of the moving bases 33a and 33b to match the optical axis of the visible light source 32 with the optical axis of the invisible laser light, thereby changing the optical path of the invisible laser light. Reproduced with visible laser light.

Hereinafter, the process of optical path measurement reproduction will be described in detail.
First, the change in the size and shape of the spot diameter of the invisible laser beam on the light receiving surface of the array sensor 31 when the incident angle is changed stepwise will be described.
Here, the X axis, the Y axis, and the Z axis that are orthogonal to each other represent a three-dimensional space, and the Z axis is taken in the vertical direction. 5 and 6, the rotation angle θ1 changes in a plane (YZ plane) including the Y axis and the Z axis. The rotation direction in this case is referred to as “θYZ”. Further, the rotation angle θ2 changes in a plane (XY plane) including the X axis and the Y axis. The rotation direction in this case is referred to as “θXY”.

FIG. 7A schematically shows the rotation θYZ in a state in which the optical path measurement reproduction member 3 is viewed from the direction perpendicular to the YZ plane (X-axis direction).
In the example of FIG. 7A, the invisible laser light emitted from the invisible laser light source 100 is incident on the light receiving surface of the array sensor 31. When the motor unit 4a is driven and the array sensor 31 is swung stepwise in the θYZ direction (+ direction and − direction), the incident angle of the invisible laser beam to the light receiving surface of the array sensor 31 changes stepwise. The size and shape of the spot diameter of the invisible laser light change stepwise according to the change in the incident angle.

FIG. 7B schematically shows the rotation θXY in a state in which the optical path measurement reproduction member 3 is viewed from the direction perpendicular to the XY plane (Z-axis direction).
In the example of FIG. 7B, invisible laser light emitted from the invisible laser light source 100 enters the light receiving surface of the array sensor 31. When the motor unit 4b is driven to swing the array sensor 31 stepwise in the θXY direction (+ direction and − direction), the incident angle of the invisible laser beam to the light receiving surface of the array sensor 31 changes stepwise. The size and shape of the spot diameter of the invisible laser light change stepwise according to the change in the incident angle.

  FIG. 8 schematically shows the spot diameter of the invisible laser light in a state where the invisible laser light source 100 faces the array sensor 31 (a state where the invisible laser light is perpendicularly incident on the light receiving surface of the array sensor 31). The spot diameter of the invisible laser beam is a substantially circular shape, and the size thereof is d × D. Here, d is the size in the X-axis direction, and D is the size in the Y-axis direction. d and D are substantially the same value.

FIG. 9 schematically shows the spot diameter of the invisible laser light when the invisible laser light source 100 is not directly facing the array sensor 31 (a state inclined by θ1 from the directly facing state). The spot diameter of the invisible laser beam is an elliptical shape, and the size thereof is d ′ × D ′. Here, d is the size in the X-axis direction, and D is the size in the Y-axis direction. d '<D' and D <D '.
As shown in FIGS. 8 and 9, the spot diameter of the invisible laser light is minimized when the invisible laser light source 100 faces the array sensor 31. Using this characteristic, the optical path of the invisible laser beam is obtained. Hereinafter, the principle of the optical path measurement will be briefly described.

FIG. 10 shows the relationship between the rotation angle θ (mrad) and the magnification of the spot diameter D ′ when the facing time is 1. The rotation angle θ at the time of facing is set to zero. As shown in FIG. 10, the magnification of the spot diameter D ′ is 1 at the time of facing, and when the rotation angle θ changes from 0 to the minus direction or the plus direction, the spot diameter D ′ depends on the magnitude of the change. The magnification of is also increased. Therefore, when the spot diameter of the invisible light laser is measured while rotating the array sensor 31 stepwise at a constant angle (-30 mrad, -20 mrad, -10 mrad. It changes as shown in FIG. A state where the invisible laser light source 100 faces the array sensor 31 can be obtained by searching for the rotation angle θ at which the spot diameter is minimum.
In the present embodiment, the optical path of the invisible laser light is determined by obtaining the state where the invisible laser light source 100 faces the array sensor 31 and obtaining the position of the center of the spot on the light receiving surface of the array sensor 31.

FIG. 11 shows a procedure for reproducing the optical path measurement.
As shown in FIG. 11, first, the optical path calculation unit 61 drives the motor unit 4a to rotate the array sensor 31 step by step at a constant angle (rotation θYZ). The spot diameter is measured based on the sensor data. Then, the optical path calculation unit 61 obtains the rotation angle θ1 that minimizes the spot diameter based on the measurement result at each stage, and holds the angle of the motor unit 4a at the rotation angle θ1 (step S10).

Next, the optical path calculation unit 61 drives the motor unit 4b to rotate the array sensor 31 stepwise by a fixed angle (rotation θXY), and based on the output (array sensor data) of the array sensor 31 for each step. Measure the spot diameter. Then, the optical path calculation unit 61 obtains the rotation angle θ2 that minimizes the spot diameter based on the measurement result at each stage, and holds the angle of the motor unit 4a at the rotation angle θ2 (step S11). At this time, the light receiving surface of the array sensor 31 and the optical axis of the invisible laser light are orthogonal (facing state).
Next, the optical path calculation unit 61 calculates the center coordinates of the spot on the light receiving surface of the array sensor 31 held in a face-to-face state (step S12). Specifically, the optical path calculation unit 61 calculates the center position of the spot of the invisible laser beam shown in FIG. 8, that is, the coordinates of the center of the pixel at D / 2 and d / 2.

Next, the optical path reproduction processing unit 62 moves the moving bases 33a and 33b shown in FIG. 3 so that the center coordinates of the invisible laser light calculated in step S12 coincide with the coordinates of the optical axis center of the visible light source 32. The visible light source 32 is moved by driving (step S13). For example, by driving the moving table 33b, the visible light source 32 is moved in the vertical direction as shown in FIG. Thereby, about the upper limit direction, the optical axis of an invisible laser beam and the optical axis of the visible light source 32 can be made to correspond. Similarly, in the left-right direction, the optical axis of the invisible laser beam and the optical axis of the visible light source 32 can be matched by driving the movable table 33a.
Finally, the optical path reproduction processing unit 62 emits a visible light laser from the visible light source 32 while maintaining the position of the visible light source 32 set in step S13 (step S14).

In the processing described above, the processing in steps S10 to S12 is an optical path measurement processing for invisible laser light, and the processing in steps S13 to S14 is an optical path reproduction processing for reproducing the optical path of invisible laser light with visible laser light.
Here, a method for calculating the center coordinates of the spot of the invisible laser beam will be described in detail.
13 and 14 schematically show the positional relationship between the center coordinates of the spot of the invisible laser beam and the optical axis of the visible laser beam on the light receiving surface of the array sensor 31. FIG. 13 is a view of the light receiving surface of the array sensor 31 as viewed from the front, and FIG. 14 is a view of the light receiving surface of the array sensor 31 as viewed from an oblique direction.

  The support surface of the support plate 30 is represented by a two-dimensional coordinate system, and a coordinate value (0, 0) serving as the origin is set at the upper left corner of the support surface. The position on the support surface at the center of the optical axis of the visible light source 32 is set as an initial coordinate value (P0, Q0), and the initial coordinate value (P0, Q0) is stored in the calculation unit 6 in advance.

と表される。ここで、ｒは、アレイセンサ３１の上端（具体的には、パッケージ部の上端）からアレイセンサ３１の有効画素領域の上端までの距離を示す。ｓは、アレイセンサ３１の有効画素領域の上端から不可視光レーザのスポットの中心ｏまでの距離を示す。すなわち、ｓ＝［有効画素領域の上端からスポットの中心ｏまでの画素数］×［［画素ピッチ］＋［画素間隔］］で与えられる。ここで、画素間隔は、隣接する画素の間隔である。 If the coordinates of the center o of the spot of the invisible laser beam are (p, q),

It is expressed. Here, r represents the distance from the upper end of the array sensor 31 (specifically, the upper end of the package portion) to the upper end of the effective pixel region of the array sensor 31. s indicates the distance from the upper end of the effective pixel area of the array sensor 31 to the center o of the spot of the invisible light laser. That is, s = [number of pixels from the upper end of the effective pixel area to the center o of the spot] × [[pixel pitch] + [pixel interval]]. Here, the pixel interval is an interval between adjacent pixels.

u represents the distance from the left end of the array sensor 31 (specifically, the left end of the package portion) to the left end of the effective pixel region of the array sensor 31. v represents the distance from the left end of the effective pixel area of the array sensor 31 to the center o of the spot of the invisible laser beam. That is, u = [number of pixels from the left end of the effective pixel region to the center o of the spot] × [[pixel pitch] + [pixel interval]].
t indicates the distance from the left end of the support plate 30 to the left end of the array sensor 31 (the left end of the package portion). w represents the distance from the upper end of the support plate 30 to the upper end of the array sensor 31 (the upper end of the package portion).

Based on the above formulas (1) and (2), the coordinates (p, q) of the spot center o of the invisible laser beam are calculated. Then, the difference between the calculated coordinates (p, q) and the initial coordinates (P0, Q0) is calculated, and the coordinates of the optical axis center of the visible light source 32 match the coordinates (p, q) based on the difference. The visible light source 32 is moved as described above.
With the above processing, the optical axis of the invisible laser light coincides with the optical axis of the visible light source 32, so that the optical path of the invisible laser light can be reproduced with the visible laser light from the visible light source 32.

本実施形態のボアサイト調整用装置によれば、取付け部８をレーザ測遠器の送光窓に取り付け、送光窓から射出した不可視レーザ光を筐体２ａ内に誘導する。筐体２ａ内に誘導した不可視レーザ光は、アレイセンサ３１に照射される。不可視レーザ光は筺体２ａ外に漏れることはない。よって、不可視光レーザで網膜等を損傷するといった人体への影響を抑制することができる。 The spot diameter change resolution detectable by the array sensor 31 is determined by the pixel pitch (= P) of the array sensor 31. The minimum resolution θmin is given by the following equation (3).

According to the boresight adjusting apparatus of the present embodiment, the attachment portion 8 is attached to the light transmission window of the laser range finder, and the invisible laser light emitted from the light transmission window is guided into the housing 2a. The invisible laser beam guided into the housing 2a is irradiated to the array sensor 31. Invisible laser light does not leak out of the housing 2a. Therefore, it is possible to suppress the influence on the human body such as damage to the retina and the like by the invisible light laser.

Further, the optical path calculation unit 61 can accurately detect the state (facing state) in which the invisible laser light is perpendicularly incident on the light receiving surface of the array sensor 31 by using the array sensor 31. The optical path can be measured with high accuracy.
Further, the optical axis of the visible light source 32 is such that the invisible laser light is perpendicular to the light receiving surface of the array sensor 31, and the optical path reproduction processing unit 62 accurately aligns the optical axis of the visible light source 32 with the center position of the spot of the invisible laser light. be able to. Therefore, the optical path of the invisible laser beam can be reproduced with high accuracy by the visible laser beam.

In addition, by performing boresight adjustment using visible laser light instead of invisible laser light, the user can visually recognize the visible laser light, so that he / she mistakenly looks into the light transmission window of the laser range finder. Can be suppressed.
In the boresight adjustment apparatus according to the present embodiment, a portion including the optical path calculation unit 61, the attitude control unit 4, and the array sensor 31 can be referred to as an optical path measurement unit. A portion composed of the optical path reproduction processing unit 62, the visible light source 32, and the moving base 33 can be referred to as an optical path reproduction unit.

(Second Embodiment)
The boresight adjusting apparatus according to the second embodiment of the present invention is different from the boresight according to the first embodiment except that the configuration of the optical path measurement reproduction member and the attitude control unit is different, and the measurement methods of the rotation angles θ1 and θ2 are different. The configuration is the same as that of the site adjustment device.

FIG. 15 shows the configuration of the optical path measurement reproduction member 3 ′ and the attitude control unit 4 ′ used in the boresight adjusting apparatus according to the second embodiment of the present invention.
The optical path measurement reproduction member 3 ′ has the same structure as the optical path measurement reproduction member 3 described in the first embodiment except that the optical path measurement reproduction member 3 includes the biaxial angle detection sensor 34. The biaxial angle detection sensor 34 is composed of, for example, a biaxial acceleration sensor.

  The attitude control unit 4 ′ has the same structure as the attitude control unit 4 described in the first embodiment except that it includes a rack and pinion mechanism 40 with an encoder instead of the motor unit 4 a. The rack and pinion mechanism 40 includes a pinion portion 41 that is a small-diameter circular gear and a rack portion 42 that is linearly cut, and the rack portion 42 reciprocates linearly. The pinion part 41 rotates because the rack part 42 moves linearly. The pinion unit 41 supports the housing of the motor unit 4b that supports the optical path measurement reproduction member 3 'so as to be rotatable in the rotation angle θ1 direction. By rotating the pinion part 41, the optical path measurement reproduction member 3 'can be rotated in the direction of the rotation angle θ1.

  When the invisible light laser is inclined at the rotation angle of θ1, D = D ′ when θYZ = θ1. In the range of −60 ° <θYZ + θ1 <60 °, and when the entire spot of the invisible laser beam fits on the light receiving surface of the array sensor 31, the spot diameter is centered on the value of θYZ = θ1, and both on the plus side and the minus side Shows the same change. That is, the spot diameter shows a symmetrical change around the value θYZ = θ1. The same can be said for θXY. In the present embodiment, a method for measuring the rotation angles θ1 and θ2 is performed using this characteristic.

Hereinafter, a method for measuring the rotation angles θ1 and θ2 will be specifically described.
FIG. 16 is a flowchart showing one measurement procedure of the rotation angles θ1 and θ2.
Referring to FIG. 16, the optical path calculation unit 61 measures the spot diameter when θYZ (1) = 20 mrad and θYZ (2) = − 20 mrad, assuming θ1 = 0 mrad (step S20). Here, θYZ (1) and θYZ (2) are arbitrary values, and are symmetrical values with θYZ = 0 as the center.

Next, the optical path calculation unit 61 determines whether θYZ (1) = | θYZ (2) | (step S21). When the determination result of step S21 is “Yes”, the optical path calculation unit 61 sets θ1 = 0 mrad (step S22). For example, as shown in FIG. 17A, θ1 = 0 mrad is set when θYZ (1) = 20 mrad and θYZ (2) = − 20 mrad.
If the determination result of step S21 is “No”, the optical path calculation unit 61 determines whether θYZ (1) <| θYZ (2) | When the determination result of step S23 is “Yes”, the optical path calculation unit 61 approaches the rotation angle of θYZ (2) to 0 rmad (−20, −10...) As shown in FIG. A rotation angle θYZ (2) ′ satisfying θYZ (2) ′ = θYZ (1) is searched (step S24). Then, the optical path calculation unit 61 sets θ1 = θYZ (1) − (θYZ (1) + | θYZ (2) ′ |) / 2 (step S25).

  When the determination result in step S23 is “No”, the optical path calculation unit 61 approaches the rotation angle of θYZ (2) to 0 rmad (20, 10...) And θYZ ( 1) Search for a rotation angle θYZ (1) ′ where “= θYZ (2)” (step S26). Then, the optical path calculation unit 61 sets θ1 = θYZ (1) ′ − (θYZ (1) ′ + | θYZ (2) |) / 2 (step S27).

Through the processes in steps S20 to S27 described above, the angle θ1 when facing the rotation angle θYZ can be calculated. With the same processing, the angle θ2 at the time of facing the rotation angle θXY can be calculated. If the angle θ1 at the time of direct facing cannot be found under the conditions of θYZ (1) = 20 mrad and θYZ (2) = − 20 mrad, the range of θYZ (1) and θYZ (2) is further expanded. A search for θ1 is performed (the same applies to the rotation angle θXY).
Except for the determination of the angles θ1 and θ2 at the time of facing, processing similar to the optical path measurement reproduction processing (FIG. 11) described in the first embodiment is performed.
The boresight adjusting device of the present embodiment also has the same operational effects as the first embodiment.

(Third embodiment)
FIG. 18 is a block diagram showing the configuration of the boresight adjusting apparatus according to the third embodiment of the present invention.
Referring to FIG. 18, the boresight adjusting device 70 is attached to a light transmission window that emits invisible laser light. The boresight adjusting device 70 includes an optical path measurement unit 71 and an optical path reproduction unit 72.

The optical path measurement unit 71 includes an array sensor 71a including a plurality of optical sensors arranged in an array that receives the invisible laser light emitted from the light transmission window. Based on the output value of the array sensor 71a, the optical path measurement unit 71 Calculate the optical path.
The optical path reproduction unit 72 reproduces the optical path of the invisible laser light calculated by the optical path measurement unit 71 with visible laser light.
The boresight adjusting device of this embodiment also has the same operational effects as those of the first and second embodiments described above.

In the present embodiment, the optical path reproduction unit 72 may include a visible light source provided integrally with the array sensor 71a. The visible light source is configured to be two-dimensionally movable in the in-plane direction of the light receiving surface of the array sensor 71a, and the optical axis of the visible light source is perpendicular to the light receiving surface.
The optical path measurement unit 71 may include a support plate, first and second rotating units, and an optical path calculation unit. The support plate includes a first surface and a second surface that is opposite to the first surface, the array sensor 71a is provided on the first surface, and the visible light source is disposed on the second surface. Provided. The first rotating unit rotates the support plate around the first axis. The second rotating unit rotates the support plate around a second axis orthogonal to the first axis. The optical path calculation unit controls the rotation operation of the first and second rotation units, and calculates the spot diameter of the invisible laser beam on the light receiving surface based on the output value of the array sensor 71a.

In the above case, the optical path calculation unit changes the rotation angle of the first rotation unit step by step, measures the spot diameter for each step, and acquires the first rotation angle with the smallest measured value. Further, the optical path calculation unit changes the rotation angle of the second rotation unit step by step, measures the spot diameter for each step, and acquires the second rotation angle having the smallest measured value. Then, the optical path calculation unit sets the first and second rotation units at the first and second rotation angles.
Further, the optical path reproduction unit 72 may include first and moving units provided on the second surface and an optical path reproduction processing unit. The first moving unit reciprocates the visible light source in the first direction. The second moving unit reciprocates the visible light source in a second direction orthogonal to the first direction. The optical path reproduction processing unit acquires the center position of the spot diameter based on the output value of the array sensor 71a in a state where the first and second rotation units are set to the first and second rotation angles, The first and second moving units are controlled so that the center position matches the optical axis of the visible light source.

  In the boresight adjusting apparatus of the present embodiment, an attenuation filter that attenuates the amount of light may be provided on the optical path of the invisible laser beam. A stop may be provided on the optical path of the invisible laser beam. Further, a cut filter that cuts invisible laser light may be provided in a window that emits visible laser light.

(Bore sight adjustment)
Next, boresight adjustment using the boresight adjustment apparatus of the present invention will be described.
FIG. 19 shows an example of a laser range finder. As shown in FIG. 19, the laser range finder 200 includes a housing that houses an invisible laser light source 201, and includes a light transmission window 203 and a light receiving window 204 on a side surface of the housing, and a collimation device 202 at the top of the housing. Is provided. The housing is provided with an adjustment mechanism that can be adjusted in three axial directions.

The invisible laser light source 201 outputs invisible laser light, and the invisible laser light is emitted from the light transmission window 203 toward the measurement target 205. Invisible laser light that is reflected light from the measurement object 205 is received through the light receiving unit 204.
When boresight adjustment is performed, a target plate 206 is disposed instead of the measurement target 205 as shown in FIG. FIG. 21 schematically shows the field of view of the collimation device 202 and the front view of the target plate 206.

As shown in FIG. 21, the target plate 206 is provided with a cross mark 207 for invisible light laser alignment and a cross mark 208 for boresight adjustment. Boresight adjustment is performed by aligning the irradiation position of the invisible laser beam with the cross mark 207 and aligning the cross mark of the visual field 205 with the cross mark 208 using the adjustment mechanism.
FIG. 22 shows a state in which the boresight adjusting device of the present invention is attached to a laser range finder. As shown in FIG. 22, the boresight adjusting device 300 is attached to the light transmission window 203 of the laser range finder 200. The boresight adjusting apparatus 300 is the boresight adjusting apparatus according to any one of the first to third embodiments described above.

  In the boresight adjusting apparatus 300, the optical path of the invisible laser light emitted from the light transmission window 203 is reproduced with visible laser light. Visible laser light is emitted from the boresight adjusting apparatus 300. Boresight adjustment is performed by aligning the irradiation position of the visible laser beam with the cross mark 207 and aligning the cross mark of the visual field 205 with the cross mark 208 using the adjustment mechanism.

  Each of the boresight adjusting apparatuses of each embodiment described above is an example of the present invention, and changes or improvements that can be understood by those skilled in the art are applied to the configuration and operation without departing from the spirit of the invention. can do.

  The present invention can be used not only for laser rangefinders such as laser rangefinders, but also for all devices that use invisible laser light. For example, the present invention can be used for a laser communication device, a laser processing device, and the like.

70 Boresight adjustment device 71 Optical path measurement unit 71a Array sensor 72 Optical path reproduction unit

Claims (8)

A boresight adjustment device attached to a light transmission window for emitting invisible laser light,
An optical path comprising an array sensor composed of a plurality of optical sensors arranged in an array for receiving invisible laser light emitted from the light transmission window, and calculating an optical path of the invisible laser light based on an output value of the array sensor A measuring section;
An apparatus for boresight adjustment, comprising: an optical path reproduction unit that reproduces an optical path of the invisible laser light calculated by the optical path measurement unit with visible laser light.   The optical path reproduction unit includes a visible light source that emits the visible laser light, which is provided integrally with the array sensor, and the visible light source moves two-dimensionally in an in-plane direction of the light receiving surface of the array sensor. The boresight adjusting device according to claim 1, wherein the device is configured so that the optical axis of the visible light source is perpendicular to the light receiving surface. The optical path measuring unit is
A first surface and a second surface opposite to the first surface, wherein the array sensor is provided on the first surface, and the visible light source is provided on the second surface. A supported plate,
A first rotating part that rotates the support plate around a first axis;
A second rotating part that rotates the support plate around a second axis orthogonal to the first axis;
An optical path calculation unit that controls a rotation operation of the first and second rotation units, and calculates a spot diameter of the invisible laser light on the light receiving surface based on an output value of the array sensor;
The optical path calculation unit is
Change the rotation angle of the first rotation unit step by step, measure the spot diameter for each step, obtain the first rotation angle with the smallest measured value,
Change the rotation angle of the second rotation unit step by step, measure the spot diameter for each step, obtain the second rotation angle with the smallest measured value,
The boresight adjusting device according to claim 2, wherein the first and second rotating parts are set at the first and second rotation angles, respectively. The optical path reproduction unit is
A first moving part provided on the second surface and reciprocatingly moving the visible light source in a first direction;
A second moving part provided on the second surface and reciprocatingly moving the visible light source in a second direction orthogonal to the first direction;
The center position of the spot is acquired based on the output value of the array sensor in a state where the first and second rotation parts are set at the first and second rotation angles, and the center position and the visible position are obtained. The boresight adjustment apparatus according to claim 3, further comprising: an optical path reproduction processing unit that controls the first and second moving units so that an optical axis of a light source coincides.   The boresight adjusting device according to any one of claims 1 to 4, further comprising an attenuation filter that is provided on an optical path of the invisible laser light and attenuates the amount of light.   The boresight adjusting device according to any one of claims 1 to 5, further comprising a diaphragm provided on an optical path of the invisible laser beam.   The boresight adjusting device according to any one of claims 1 to 6, further comprising a window that emits the visible laser light, and a cut filter that cuts the invisible laser light in the window.   Using an array sensor composed of a plurality of optical sensors provided in an array, it receives invisible laser light emitted from a light transmission window, calculates the optical path of the invisible laser light based on the output value of the array sensor, An optical path reproduction method for reproducing the calculated optical path with visible laser light.

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