JP2023104178A - Circumference search device - Google Patents

Abstract

To provide a circumference search device that reduces an inertial load during searching.SOLUTION: In a circumference search device 100 in which a turntable 30 that is continuously rotatable in an azimuthal direction and supported by a turntable rotation axis 20 that is a first axis of rotation in the azimuthal (lateral) direction is mounted to a stationary portion 10 that is a foundation of the entire device, the turntable is equipped with a first gimbal device and a second gimbal device. The first gimbal device is equipped with a first azimuth moving part 50 that is a moving part in the azimuth direction and supported by an azimuth rotation axis 40 that is a second rotation axis in the azimuth direction, a high/low rotation axis 51 is arranged on the first azimuth moving part and a reflecting mirror 52 is mounted on the rotating side of the high/low rotation axis. The second gimbal device is equipped with a second azimuth moving part 70 that is supported on an azimuth rotation axis 60 that is a third axis of rotation in the azimuth direction, a high-low axis of rotation 71 is arranged on the second azimuth moving part, and a reflecting mirror 72 is mounted on the rotating side of the high-low axis of rotation.SELECTED DRAWING: Figure 1

Description

An embodiment of the present invention relates to a perimeter search device.

Surrounding search devices for searching and monitoring surrounding objects using an optical range finder and an imager for measuring the distance to a search object, which is a surrounding mobile or stationary object. When the area of the object to be monitored, that is, the coverage area, is wider than the field of view of the imager, the imager is mounted on the movable part of a gimbal device (gimbal mechanism) having two or more drive axes, and the imager is A method of scanning the coverage area by sequentially moving the direction of the visual axis is often used.

Also, as an optical rangefinder mounted on the movable part of the gimbal device, a laser rangefinder that transmits and receives laser light is often used. However, the spread of the transmitted light, which is laser light, is generally narrower than the field of view of the imager. A two-axis optical axial correction mechanism that can transmit light is required.

Also, when the field of view of the receiver of the optical rangefinder is narrower than the field of view of the imaging device, it is necessary to orient the direction of the receiving optical axis, which is the laser optical axis to be incident on the receiver, in the same direction as the transmitting optical axis. There is

As one of the measures to reduce the size and power consumption of the perimeter search device, all or part of the image pickup device and the optical rangefinder, which have a relatively large inertial load, are replaced with a fixed part that is the base of the perimeter search device. It is conceivable to arrange it on the side (see, for example, Patent Document 1) or on an intermediate moving part.

When the imaging device is arranged on the fixed part side of the gimbal device or on the movable part in the middle, the image obtained by imaging with the imaging device, that is, the image of the object, also rotates with the rotation of the gimbal device. However, by measuring the rotation angle of the gimbal device and performing coordinate transformation using the measured angle, the direction of the object can be detected (see, for example, Patent Document 1).

As another example, for example, in Patent Document 2, in order to reduce the influence of static friction in space stability control that suppresses disturbance from the outside, a movable part with respect to the rotating shaft in the same direction is doubled. , a mechanism that rotates the movable part on one side at a constant angular velocity is shown.

Japanese Patent No. 5010634 Japanese Patent Application Laid-Open No. 2001-290540

In a general gimbal device, when a predetermined search and monitoring area is divided into a plurality of areas and images are captured, it is necessary to repeat an operation of holding still for this imaging and an operation of pointing the imager in a different imaging direction. For this reason, it is necessary to cause the movable part having a relatively large inertial load to perform an operation accompanied by rapid acceleration and deceleration, resulting in a large power consumption of the device.

Also in the mechanism disclosed in Patent Document 2, a device with a relatively large inertial load, such as an image pickup device, is mounted on the movable portion on the distal end side of the mechanism, and in this state, rapid acceleration and deceleration are also possible. Since the operation accompanied by is repeated, the power consumption of the apparatus becomes large.

In the mechanism disclosed in Patent Document 2, if a device with a relatively large inertial load can be mounted on a movable portion that operates at a constant angular velocity, the power consumption can be reduced.

In the examples shown in Patent Documents 1 and 2, the only inertial load is the imager.
However, when the gimbal system is equipped with an optical range finder in addition to the imager, and these are placed on a fixed part or an intermediate movable part of the gimbal system, the number of optical paths to the imager is reduced. Since there are three paths: the received light, the transmitted light from the optical rangefinder, and the received light to the optical rangefinder, it was not easy to incorporate these optical paths into the rotation axis of the gimbal device.

The problem to be solved by the present invention is to provide a surroundings search device capable of reducing the inertial load when searching the surroundings.

An apparatus for searching surroundings in an embodiment includes an imaging device that images a search target, a target detector that detects a direction to the search target based on the image captured by the imaging device, and detection by the target detector. optical distance measurement for measuring the distance to the search object by using the emitted light directed toward the search object and the received light returned after the emitted light is reflected by the search object. a turntable mounted rotatably in the azimuth direction with respect to a fixed part, on which the imaging device and the optical rangefinder are mounted; a first gimbal device having two or more rotation axes for directing a central axis of transmitted light to a search target and a central axis of received light from the search target to the optical rangefinder; and the turntable. a second gimbal device having two or more rotation shafts for directing the central axis of the received light to the imaging device; and driving the rotation shaft of the turntable and the rotation shaft of the second gimbal device. to orient the image pickup device, and drive the rotation axis of the first gimbal device and the rotation axis of the turntable based on the direction to the search target detected by the target detector. a control unit for controlling and directing the optical rangefinder toward the search object.

According to the present invention, by mounting an image pickup device having a large inertial load and an optical rangefinder on a turntable that is driven at a constant angular velocity, the inertial load of a region that accompanies acceleration and deceleration during searching by a surrounding search device can be reduced. It is possible to reduce power consumption and improve quietness during searching.

The figure which shows an example of the whole structure of the surroundings search apparatus which concerns on embodiment. FIG. 3 is a diagram showing a configuration example of a gimbal device for directing the transmission/reception optical axis of an optical rangefinder; FIG. 4 is a diagram showing a configuration example of a gimbal device for directing the transmission optical axis of an optical rangefinder; FIG. 4 is a diagram showing a configuration example of a gimbal device for directing the receiving optical axis of an optical rangefinder; FIG. 4 is a diagram showing a configuration example of a gimbal device that orients the receiving optical axis of an image pickup device; 1 is a block diagram showing an example of a control function configuration of a surroundings search device according to an embodiment; FIG. The figure which shows an example of control of the rotation angle of the rotating shaft which concerns on a surroundings search apparatus. The figure which shows the modification of the structure of each part of the surroundings search apparatus which concerns on embodiment.

Embodiments will be described below with reference to the drawings.
FIG. 1 is a diagram showing an example of the overall configuration of a surroundings search device according to an embodiment.
In the example shown in FIG. 1 , the surroundings searching apparatus 100 according to the embodiment uses an optical rangefinder and an imager, a turntable, a two-axis gimbal device on the optical rangefinder side (first gimbal device) and a two-axis gimbal device (second gimbal device) on the imaging device side to search for an object (target object). The direction to the object is detected based on the image captured by the imaging device. The distance to the object is measured using the received light that is reflected and returned.

In the surroundings search device 100 according to the embodiment, the fixed portion 10, which is the base of the entire device, is supported by the turntable rotation shaft 20, which is the first rotation shaft in the azimuth direction (side), and is continuous in the azimuth direction. A rotatable turntable (turntable rotating portion) 30 is mounted.

A first gimbal device and a second gimbal device are mounted on the turntable 30 .

The turntable 30 is equipped with an optical rangefinder transmitter 31 , a reflecting mirror 32 , a condenser lens 33 , a reflecting mirror 34 , an optical rangefinder receiver 35 , a reflecting mirror 36 and an imager 37 . be.

The reflecting mirror 32 is arranged in the optical path on the side closest to the azimuth rotation axis 40 on the axis including the extension of the azimuth rotation axis 40 in the turntable 30, and in this optical path, the transmitter 31 of the optical rangefinder The central axis of the optical path of the transmitted light L1 in the azimuth direction (hereinafter sometimes referred to as the rangefinder transmitted light) from the The light is guided in the coaxial direction and in the direction toward the first orientation movable section 50 .

Next, each part of the first gimbal device on the optical rangefinder side will be described.
The first gimbal device is equipped with a first azimuth movable section 50 which is a movable section in the azimuth direction supported by an azimuth rotation shaft 40 which is a second rotation shaft in the azimuth direction. , an elevation rotation shaft 51 that is a first rotation axis in the elevation direction is arranged, and a reflecting mirror 52 is attached to the rotation side of the elevation rotation shaft 51 .

The reflecting mirror 52 is rotatable in the elevation direction around the elevation rotation axis 51, and the reflection mirror 52 receives the transmitted light L1 from the optical rangefinder and the external incident light L1 to the optical rangefinder. The light (hereinafter sometimes referred to as rangefinder received light) L2 is directed in the optical axis direction. Also, a prism 53 is provided in the first orientation movable section 50 .

The azimuth rotation axis 40, the elevation rotation axis 51 on the first azimuth movable part 50, and the reflection mirror 52 are two or more axes for directing the optical axis directions of the rangefinder transmission light L1 and the rangefinder reception light L2. A two-axis gimbal device (first gimbal device) on the side of the optical rangefinder is constructed.

The prism 53 is mounted on the first azimuth movable part 50 at a spaced position that is not on the axis including the extension of the azimuth rotation axis 40, and is positioned at the center of the optical path of the light received by the rangefinder from the outside and reflected by the reflecting mirror 52. The axis intersects the axis including the extension line of the azimuth rotation axis 40 in a direction having an intersection point with the extension line of the azimuth rotation axis 40 related to the turntable 30, that is, the axis includes the extension line of the azimuth rotation axis 40. An optical component arranged to bend in a direction oblique to the containing axis.

In the first gimbal device, the light beams to and from a plurality of search objects are reflected at positions separated from each other in the azimuth direction on the reflecting mirror 52, and the optical axes of these plurality of light beams are reflected. The direction is directed synchronously toward a plurality of reflecting mirrors (reflecting mirrors 32 and 34 in this embodiment) installed at separated positions on the extension line of the azimuth rotation axis 40 on the turntable 30. .

Range finder transmission light L1 is incident on the first gimbal device via an optical path coaxial with the azimuth rotation axis 40, and is reflected in the azimuth direction by the reflecting mirror 52 installed on the first azimuth moving part 50. , is emitted as transmitted light for the search object.

The light L2 received by the rangefinder from the object to be searched is reflected by the reflecting mirror 52 of the first azimuth moving part 50 toward the prism 53 in the vertical direction, and the prism 53 reflects the field of view 33a of the condenser lens 33 of the turntable 30. is refracted to pass through the range of The luminous flux of the rangefinder received light L2 rotates around the azimuth rotation axis 40 .
That is, the first gimbal device has two components that direct the central axis of the transmitted light L1 from the optical rangefinder to the side search target and the central axis of the received light L2 from the search target to the optical rangefinder. or more rotating shaft. The central axis of the optical path of the received light L2 to the optical rangefinder originates from a position separated from the azimuth rotation axis 40 on which the first gimbal device is supported and has an intersection with the azimuth rotation axis 40 .

Next, each part of the second gimbal device on the imaging device side will be described.
The second gimbal device is equipped with a second azimuth movable section 70 supported by an azimuth rotation axis 60, which is a third rotation axis in the azimuth direction. 2, and a reflection mirror 72 is attached to the rotation side of the elevation rotation axis 71 . The reflecting mirror 72 is rotatable in the elevation direction around the elevation rotation axis 71 . The imaging device received light L3 incident from the outside is reflected by the reflecting mirror 72 so that the central axis of the optical path becomes coaxial with the azimuth rotation axis 60 (including its extension line).
The azimuth rotation axis 60 and the luminous flux of the image pickup device received light L3 coaxial with this axis are positioned so as not to interfere with the entire trajectory area of the luminous flux of the rangefinder received light L2 rotating about the azimuth rotation axis 40. need to be placed.

The azimuth rotating shaft 60, the elevation rotating shaft 71 on the second azimuth moving part 70, and the reflecting mirror 72 have two or more axes for directing the optical axis direction of the received light L3 of the imaging device. A two-axis gimbal device (second gimbal device) is constructed.
In the second gimbal device, the luminous flux from the object to be searched is reflected on the reflective mirror 72 and the optical axis direction of this luminous flux is directed toward the reflective mirror 36 installed on the turntable 30 . That is, the second gimbal device has two or more rotation axes that direct the central axis of the received light L3 to the image pickup device 37 .

Next, each part on the turntable 30 will be described.
The rangefinder transmission light L1 emitted from the transmitter 31 of the optical rangefinder is reflected by the reflecting mirror 32 so that the central axis of the optical path becomes coaxial with the azimuth rotation axis 40 (including its extension line). be done.

Rangefinder received light L2 refracted by the prism 53 on the first gimbal device passes through the range of the field of view 33a of the condenser lens 33, is condensed by the condenser lens 33, and is fixed as light in the elevation direction. It is reflected in the azimuth direction by the reflecting mirror 34 on the side of the unit 10 and enters the receiver 35 of the optical rangefinder.

The image pickup device received light L3 in the elevation direction reflected by the reflection mirror 72 on the second gimbal device is incident on the reflection mirror 36 via an optical path coaxial with the azimuth rotation axis 60, and is reflected by the reflection mirror 36 in the azimuth direction. and is incident on the lens of the imaging device 37 .

In this embodiment, an imager 37 having a relatively large inertial load and an optical rangefinder (the transmitter 31 and the receiver 35) are mounted on a turntable 30 that can rotate continuously around a rotation axis in the azimuth direction. installed in the

The direction of the optical axis of the image sensor received light L3 and the direction of the optical axes of the rangefinder transmitted light L1 and the rangefinder received light L2 are independent of each other, and can be operated around the azimuth axis and the elevation axis. It changes depending on the gimbal mechanism.

2 to 4 are diagrams showing configuration examples of a gimbal device for directing the transmission/reception optical axis of an optical rangefinder. FIG. 2 is a schematic diagram of the gimbal mechanism viewed from the front. FIG. 3 is a schematic side view of a cross section passing through the azimuth rotation axis 40 and the rangefinder transmission optical axis L1 coaxial therewith. FIG. 4 is a schematic side view of a cross section passing through the optical axis of the rangefinder received light L2 and the prism 53. As shown in FIG. FIG. 5 is a diagram showing a configuration example of a gimbal device for directing the azimuth rotation axis 60 of the imaging device and the optical axis of the received light L3 of the imaging device coaxial therewith.
The main inertia loads of the first and second gimbal mechanisms are a part of the gimbal mechanism itself, a reflecting mirror, and a part of the additional optical components. .

The azimuth rotation axis 40 of the gimbal mechanism on the optical rangefinder side and the azimuth rotation axis 60 of the gimbal mechanism on the optical axis side of the image pickup device are both hollow shafts positioned parallel to the turntable rotation axis 20 and rotate in the azimuth direction. Inside the shaft 40, there is a structure in which the optical path of the rangefinder transmission light L1 whose central axis is coaxial with the azimuth rotation axis 40 can pass. and the optical path of the received light L3 coaxial with the image pickup device. The azimuth rotation axis 60 of the gimbal mechanism on the optical axis side of the image pickup device is preferably coaxial with the turntable rotation axis 20 .
In this embodiment, the optical axis center of the image pickup device received light L3 passing through the azimuth rotation axis 60 of the gimbal mechanism on the optical axis side of the image pickup device is coaxial with the azimuth rotation axis 60 .

In the examples shown in FIGS. 2 to 4, the number of light paths passing in the same axial direction as the azimuth rotation axis 40 of the gimbal mechanism on the optical rangefinder side is a plurality, here two, but in this example, the turn The extension line on the straight line coaxial with the azimuth rotation axis 40 on the side of the table 30 is divided into the number of optical paths, and the optical parts are arranged one by one at each division on the coaxial straight line. This configuration is disclosed, for example, in Japanese Utility Model Laid-Open No. 58-40709.

The section closest to the first azimuth moving part 50 in a plurality of optical paths sectioned on a straight line coaxial with the azimuth rotation axis 40 is assigned to the optical path of the transmission light L1 from the optical rangefinder. The center of the optical axis of the rangefinder transmission light L1 passing through the first azimuth movable part 50 is coaxial with the azimuth rotation axis 40, and the reflecting mirror 32 is arranged on the optical path of this transmission light L1. In this embodiment, the transmission light L1 from the transmitter 31 of the optical range finder arranged in a direction different from the axial direction of the azimuth rotation axis 40, for example, in a direction perpendicular to it, is incident on the reflection mirror 32, and is reflected by the transmission light L1. The center of the optical axis of the reflected light, which is the emitted light from the mirror 32, is made coaxial with the azimuth rotation axis 40 as described above.

As a result, even if the azimuth rotary shaft 40 rotates, the direction of the central axis of the optical path of the rangefinder transmission light L1 from the turntable 30 side in the first azimuth movable part 50 on the movable part side does not change. In general, laser beams, which are frequently used in optical rangefinders, can be regarded as approximately axially symmetrical. The impact is negligible.

In the example shown in FIG. 2, in order to make the directions of the optical axes of the range finder transmission light L1 emitted to the search target and the range finder reception light L2 incident from the search target parallel, elevation rotation is performed. The reflection surface of the reflection mirror 52 that reflects the rangefinder transmission light L1 and the rangefinder reception light L2 about the axis 51 is preferably a coplanar reflection surface.

In this embodiment, in order to separate the optical path of the range finder transmission light L1 and the range finder reception light L2, the center of the optical axis of the range finder transmission light L1 on the reflecting mirror 52 and the range finder reception light L2 and the center of the optical axis.

The optical path of the range finder received light L2 is assigned to the second division of the optical path on the straight line coaxial with the azimuth rotation axis 40 .
After being reflected by the reflecting mirror 52, the center axis of the optical path of the rangefinder received light L2 from the object to be measured is within the second optical path section of the turntable 30 on the other side of the azimuth rotation axis 40. , the direction of the optical axis is obliquely changed so that the light is emitted in a direction intersecting the azimuth rotation axis 40 . In the example shown in FIG. 2, the optical component for changing the direction of the optical axis is the prism 53, but other optical components having equivalent functions, such as a reflecting mirror, may be used.

When the azimuth rotation axis 40 rotates, the center of the optical axis of the rangefinder received light L2 moves on a conical surface whose apex is the intersection of the azimuth rotation axis 40 and the coaxial straight line.
In the example shown in FIG. 2, the condensing lens 33 is arranged at the intersection of the optical path of the rangefinder received light L2 and the straight line coaxial with the azimuth rotation axis 40. In the example shown in FIG. The condensing lens 33 generally has an axially symmetrical structure, but is arranged so that the central axis of the condensed optical path is coaxial with the azimuth rotation axis 40 .

The field of view 33a of the condenser lens 33 directs the luminous flux of the received light beam L2 from the range finder to the far side from the azimuth rotation axis 40 when the center of the optical axis of the range finder light L2 moves within the rotational movement range of the azimuth rotation axis 40. The size includes the range enclosed by (outside). As a result, even when the azimuth rotating shaft 40 rotates, the rangefinder received light L2 from the range-finding object can always be guided to the sensor of the receiver 35 of the optical rangefinder. It should be noted that the azimuth rotating shaft 40 does not have to rotate all around in the azimuth direction. This is because the azimuth rotating shaft 40 and the turntable rotating shaft 20 are parallel and the turntable rotating shaft 20 can rotate all around. As a result, the area occupied by the light flux of the rangefinder received light L2 does not cover the entire circumference around the azimuth rotation axis. A device 31 and a reflecting mirror 32 can be fixed to the turntable 30 .

Since the sensor of the optical system of the receiver 35 of the optical rangefinder can generally be regarded as one sensor corresponding to the pixel of the image pickup device, the light flux of the reflected light forms an image on the light receiving surface of the sensor. The image forming position of the reflected light flux within the light receiving surface does not directly affect the distance measurement performance. Therefore, the condenser lens 33 is arranged so that the reflected light flux is incident on the light receiving surface of the sensor of the optical system of the receiver 35 even if the direction in which the reflected light from the object enters the condenser lens 33 changes. should be configured to

1 and 2, the optical path of the range finder transmission light L1 from the transmitter 31 of the optical range finder and the optical path of the range finder reception light L2 at the receiver 35 In the configuration in which (1) and (2) are exchanged, the transmitted light transmitted through the condenser lens 33 is dispersed over a wide field of view 33a, and the optical path is blocked as the azimuth rotation axis 40 rotates, and the prism 53 receives less light. Such a reversal of optical paths is not suitable, as only a small portion can be reached.

FIG. 6 is a block diagram showing an example of the control function configuration of the surroundings search device according to the embodiment.
In the example shown in FIG. 6, the surroundings searching apparatus 100 includes a controller 101 for overall control, a target detector 102, a drive mechanism 103 for the turntable rotary shaft 20, and a drive mechanism for the rangefinder side azimuth rotary shaft 40. 104, the drive mechanism 105 of the rangefinder-side elevation rotation shaft 51, the drive mechanism 106 of the imaging device-side azimuth rotation shaft 60, the drive mechanism 107 of the imaging device-side elevation rotation shaft 71, the imaging device 37, and the transmission of the optical rangefinder 31 and receiver 35 of an optical rangefinder. The controller 101 and the target detector 102 may be configured by hardware, or may be configured by a combination of hardware and software.

The target detector 102 detects the direction to the target based on the image captured by the imaging device 37 . The controller 101 controls the drive mechanism 103 of the turntable rotating shaft 20 to rotate the turntable 30 at a constant level when searching and monitoring the surroundings of the surroundings search device 100 using the detection results of the angle sensor and the angular velocity sensor (not shown). Rotate at an angular velocity. When an image is taken by the image pickup device 37, that is, the time when the image pickup device received light L3 from the object to be imaged is incident on the image sensor of the image pickup device 37, here, the image pickup time or the exposure time and the time period in the vicinity thereof. , the image pickup device side azimuth rotation shaft drive mechanism 106 is controlled so that the rotation angular velocity of the image pickup device side azimuth rotation shaft 60 is opposite to and has the same magnitude as the rotation angular velocity of the turntable rotation shaft 20; By controlling the driving mechanism 107 of the imaging device-side elevation rotation shaft 71 as necessary, the rotation of the imaging device-side elevation rotation shaft 71 is controlled.

As a result, the optical path of the image pickup device received light L3 incident on the image pickup device 37 of the surroundings searching apparatus 100 is stopped, the occurrence of camera shake during image pickup by the image pickup device 37 is prevented, and a clear and high-resolution image can be picked up.

FIG. 7 is a diagram showing an example of control of the rotation angle of the rotation shaft related to the surroundings search device.
In the example shown in FIG. 7, the stationary time t1 of the optical axis related to the surroundings searching device 100, the orientation time t2 of the optical axis related to the surroundings searching device 100 following the time t1, and the optical axis following the time t2 The angle of rotation of each axis of rotation is shown over the stationary time t3 of .

7, the rotation angle of the turntable 30 rotating at a constant angular velocity (symbol a in FIG. 7), the rotation angle of the azimuth rotation shaft 60 on the imaging device side (symbol b in FIG. 7), and the rotation angle of the turntable 30 The azimuth angle (mark c in FIG. 7) of the visual axis center of the imaging device 37, which is the sum of the rotation angle and the rotation angle of the azimuth rotation axis 60, is shown.

The azimuth angle of the center of the visual axis of the imaging device 37 is It does not change. Symbols f and g in FIG. 7 indicate directions of the field of view of the imaging device 37 when the optical axis is stationary.

Further, during distance measurement by the optical rangefinder, the controller 101 controls the turntable based on the direction to the object to be searched, which is obtained by the target detector 102 based on the image captured by the imaging device 37 . By controlling the drive mechanism 103 of the rotary shaft 20, the turntable 30 is rotated, and by controlling the drive mechanism 104 of the rangefinder side azimuth rotary shaft 40, the rangefinder side azimuth rotary shaft 40 is rotated. By controlling the driving mechanism 105 of the rangefinder-side elevation rotary shaft 51, the rangefinder-side elevation rotary shaft 51 is rotated, and the optical path of the transmission light L1 and the reception light L2 of the laser rangefinder are directed toward the search target. direct to
That is, the controller 101 controls the drive of the turntable rotating shaft 20 and the rotating shaft of the second gimbal device to orient the optical axis of the light received by the image pickup device 37, and the target detector 102 detects the Based on the direction to the search object, the driving of the rotation axis of the first gimbal device and the turntable rotation axis 20 is controlled, and the optical axis of the transmission and reception light of the optical rangefinder is directed to the direction of the search object. Let

Next, a modified example of this embodiment will be described. FIG. 8 is a diagram showing a modification of the configuration of each part of the surroundings search device according to the embodiment.
The modification shown in FIG. 8 is an example in which one optical path for passing the azimuth rotation axis 40 on the side of the rangefinder is added as compared with the example shown in FIG. A single gimbal system is mounted, and the azimuth moveable part 80 is mounted on the gimbal system.
This azimuth movable section 80 is provided with the elevation rotation shaft 51 which is the first rotation axis in the elevation direction, which was arranged in the first orientation movable section 50 . is attached with a reflecting mirror 52 in the same manner as the first azimuth moving part 50 . This azimuth movable section 80 is provided with a prism 53 in the same manner as the first azimuth movable section 50 .
Further, in the orientation movable section 80, an elevation rotation shaft 71, which is the second rotation axis in the elevation direction, is arranged in the second orientation movable section 70. , the reflecting mirror 72 arranged at the second orientation movable portion 70 is attached.
In this modified example, a similar optical path is added outside the second optical path passing through the azimuth rotation axis 40, and the optical system related to the elevation rotation axis 51 on the rangefinder side and the elevation rotation axis 71 on the imaging device side are added. The configuration is such that the optical systems are provided in the same azimuth movable section 80 . In the example shown in FIG. 8, the second gimbal device provided in the example shown in FIG. is provided with a prism 74 on the turntable 30 side when viewed from the reflecting mirror 72 .

By passing through the prism 74, the direction of the optical axis of the image pickup device received light L3 reflected by the reflecting mirror 72 as described above intersects the direction of intersection with the azimuth rotation axis 40, that is, the azimuth rotation axis 40. Moreover, it is bent in a direction oblique to the axial direction of the azimuth rotation shaft 40 .

In this modification, the turntable 30 is provided with a reflecting mirror 36 on an extension line (coaxial) of the azimuth rotation axis 40, and the reflecting mirror 36 and the reflecting mirror 34 associated with the receiver of the optical rangefinder are arranged. at the intersection of the optical path of the imager received light L3 that has passed through the prism 74 and the straight line on the extension (coaxial) of the azimuth rotation axis 40 on the optical rangefinder side, in the optical path of the rangefinder received light L2. A condenser lens 38 having a function similar to that of the condenser lens 33 placed at the bottom is newly provided. For the above reason, the optical system associated with the added optical path is the receiving optical system.

In this modification, the light L3 received by the imaging device is reflected by the reflecting mirror 72 in the vertical direction toward the prism 74, and the prism 74 covers the range of the field of view 38a of the condenser lens 38 arranged on the turntable 30. It is refracted so as to pass through, is condensed by the condensing lens 38, and is directed to the fixed part 10 as an optical path in the elevation direction coaxial with the azimuth rotation axis 40 on the side of the optical rangefinder by the reflecting mirror 36 ahead. The light is reflected in the azimuth direction and enters the imaging device 37 .
That is, in this modification, the central axis of the optical path of the received light to the image pickup device 37 is positioned outside the central axis of the optical path of the received light to the optical rangefinder from the azimuth rotation axis 40 on which the gimbal device is supported. It is emitted from a distant position and has an intersection point with the azimuth rotation axis 40 on the fixed part 10 side of the intersection point of the optical path of the received light to the optical rangefinder and the azimuth rotation axis 40 .

In the embodiments described above, the imager and the optical rangefinder, which have a relatively large inertial load, are mounted on a turntable driven at a constant angular velocity. As a result, the inertia load of the movable part that accompanies acceleration and deceleration is reduced, so power consumption during the search operation of the object to be searched by the perimeter search device can be reduced, and quietness is also improved.

In addition, in the present embodiment, since the inertial load of the parts that accompany acceleration and deceleration in the surrounding search device is relatively small, it becomes easy to increase the angular acceleration and the maximum angular velocity during acceleration and deceleration. That is, it can be searched in a short time.

Furthermore, in order to keep the optical path stationary from the object to be imaged when the imaging device is imaging, the movable part related to the imaging device mounted on the turntable is stationary in space in the azimuth direction, but two rotations on the turntable Since the axes move together, the same effect as described in Patent Document 2, that is, the effect of avoiding deterioration of the pointing accuracy of the optical axis due to static friction can be expected.

In addition, in the modified example of the present embodiment, the number of optical paths through which the transmission light L1 from the rangefinder passes through the azimuth rotation axis 40 can be set to three or more.

Embodiments of the invention are provided by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims.

DESCRIPTION OF SYMBOLS 100... Surrounding search device 10... Fixed part 20... Turntable rotating shaft 30... Turntable 31... Transmitter of optical rangefinder 32, 34, 36, 52, 72... Reflecting mirror, 33, 38 Condensing lens 35 Optical rangefinder receiver 37 Imaging device 40, 60 Azimuth rotating shaft 50 First azimuth moving part 51, 71 Elevation rotating shaft 53, 74 Prism , 70 second azimuth moving part 80 azimuth moving part 101 controller 102 target detector 103 turntable rotary shaft drive mechanism 104 rangefinder side azimuth rotary shaft drive mechanism 105 measurement rangefinder side elevation rotation axis drive mechanism 106 image pickup device side azimuth rotation axis drive mechanism 107 image pickup device side elevation rotation axis drive mechanism;

Claims (5)

an imaging device that images a search target;
a target detector that detects a direction to the search object based on the image captured by the imager;
The distance to the object to be searched is determined using the emitted light directed toward the object to be searched detected by the target detector and the received light returned after the emitted light is reflected by the object to be searched. a measuring optical rangefinder;
a turntable mounted rotatably in the azimuth direction with respect to a fixed part, and on which the imaging device and the optical rangefinder are mounted;
Two or more mounted on the turntable that direct the central axis of transmitted light from the optical rangefinder to the search object and the central axis of received light from the search object to the optical rangefinder a first gimbal device having a rotation axis of
a second gimbal device mounted on the turntable and having two or more rotation axes for directing the central axis of the received light to the imaging device;
Controlling the drive of the rotation axis of the turntable and the rotation axis of the second gimbal device to orient the imaging device, and based on the direction toward the search target detected by the target detector, a control unit for controlling the driving of the rotation axis of the first gimbal device and the rotation axis of the turntable and directing the optical rangefinder toward the search target;
Surrounding search device with. The first gimbal device is mounted on the turntable supported by an azimuth rotation shaft that rotates in an azimuth direction,
the central axis of the optical path of the transmitted light from the optical rangefinder is coaxial with the azimuth rotation axis on which the first gimbal device is supported;
a center axis of an optical path of received light to the optical rangefinder originates from a position spaced apart from the azimuth rotation axis on which the first gimbal device is supported and has an intersection with the azimuth rotation axis;
The perimeter search device according to claim 1. The direction of the central axis of the optical path of the received light to the optical rangefinder is changed by an optical component to a direction that intersects the azimuth rotation axis,
The received light that has passed through the optical component is condensed by a condensing lens arranged coaxially with the azimuth rotation axis on which the first gimbal device is supported, and is incident on the optical rangefinder. Ru
A perimeter search device according to claim 2. an imaging device that images a search target;
a target detector that detects a direction to the search object based on the image captured by the imager;
The distance to the object to be searched is determined using the emitted light directed toward the object to be searched detected by the target detector and the received light returned after the emitted light is reflected by the object to be searched. a measuring optical rangefinder;
a turntable mounted rotatably in the azimuth direction with respect to a fixed part, and on which the imaging device and the optical rangefinder are mounted;
Two or more mounted on the turntable that direct the central axis of transmitted light from the optical rangefinder to the search object and the central axis of received light from the search object to the optical rangefinder a gimbal device having a rotation axis of and directing the center axis of the received light to the image pickup device;
Controlling the driving of the rotation axis of the turntable and the rotation axis of the gimbal device to orient the imaging device, and based on the direction toward the search object detected by the target detector, the gimbal device a control unit for controlling the drive of the rotating shaft and the rotating shaft of the turntable and directing the optical rangefinder toward the search object;
with
The gimbal device is mounted on the turntable supported by an azimuth rotation shaft that rotates in an azimuth direction,
the central axis of the optical path of the transmitted light from the optical rangefinder is coaxial with the azimuth rotation axis on which the gimbal device is supported;
a central axis of an optical path of received light to the optical rangefinder originates from a position spaced apart from the azimuth rotation axis on which the gimbal device is supported and has an intersection with the azimuth rotation axis;
The central axis of the optical path of the received light to the image pickup device originates from a position spaced outward from the azimuth rotation axis on which the gimbal device is supported, relative to the central axis of the optical path of the received light to the optical rangefinder. , the optical path of the received light to the optical rangefinder and the intersection of the azimuth rotation axis on which the gimbal device is supported are on the fixed part side of the intersection with the azimuth rotation axis;
Surrounding device. the direction of the central axis of the optical path of the received light to the optical rangefinder is changed to a direction that intersects the azimuth rotation axis on which the gimbal device is supported by the first optical component;
The received light to the optical rangefinder, which has passed through the first optical component, is collected by a first condenser lens coaxial with the azimuth axis of rotation on which the gimbal assembly is supported. illuminated and incident on the optical rangefinder;
changing the direction of the central axis of the optical path of the received light to the imaging device to a direction that intersects the azimuth rotation axis on which the gimbal device is supported by a second optical component;
The received light that has passed through the second optical component is positioned on the fixed part side of the position coaxial with the azimuth rotation axis where the gimbal device is supported, rather than the position where the first condenser lens is arranged. Condensed by the arranged second condensing lens and incident on the imaging device,
A perimeter search device according to claim 4.