JPH07181260A - Light wave detector - Google Patents

Abstract

PURPOSE:To obtain a light wave detector which can measure multiples targets quickly, at the same time, is compact and light, consumes less power, is inexpensive, or is reliable by reducing an error rate when extracting a target. CONSTITUTION:A laser range-finding means obtains the distance to a target according to the time difference between the transmission time and the reception time of laser pulses, a target extraction means 20 extracts at least one target image following a specific algorithm from an image which is picked up by an image pick-up means, a target direction calculation means 21 calculates the direction of the target from the position on a photo sensor 2 of the target which is extracted, and a first direction control means 18 and a second direction control means 19 direct the transmission direction of laser pulse of a laser range-finding means and the direction of the visual field of a signal reception optical system 7 to calculated target directions, respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an optical wave detecting device having a laser distance measuring means as an image pickup means and automatically extracting a required target from an image pickup screen to measure a distance to the target. In particular, the present invention relates to an optical wave detection device that measures the distance of one or more extracted targets at high speed.

[0002]

2. Description of the Related Art A conventional device of this type is Clifton.
S. Fox edition, “The Infrared & El
electro-Optical Systems Han
"dbook" (1993) Volume6, Active
e Electro-Optical Systems
Page 81 and has the block structure shown in FIG. In the figure, 1 is an imaging optical system, 2 is an optical sensor, 3 is a video signal generating circuit, 4 is an image display device, 5 is a transmitting optical system, 6 is a laser oscillator, 7 is a receiving optical system, 8 is a receiving circuit, and 9 is a receiving circuit. Is a control circuit, 10 is a distance indicator, 11 is a housing, 12 is a azimuth panel, 13 is an optical axis of an imaging field of view, 14 is an optical axis of a transmission laser pulse, and 15 is an optical axis of a reception field of view.

Next, the operation will be described. The optical axis 13 of the imaging visual field, the optical axis 14 of the laser pulse to be transmitted, and the optical axis 15 of the receiving visual field are aligned in the same direction with high accuracy in advance. The image pickup optical system 1, the optical sensor 2, and the video signal generation circuit 3 constitute an image pickup device, and the image pickup optical system 1 forms an image within the image pickup field on the light receiving surface of the optical sensor 2. The optical sensor 2 uses an image tube or a solid image element to convert a target image into an electric signal. The video signal generation circuit 3 converts the electric signal into a display signal and displays an image in the image pickup field on the image display 4. On the screen of the image display 4, as shown in FIG. 8, the reticle 1 shown by a cross mark in the center of the screen, for example.
6 is set, and the center of the reticle 16 is aligned with the direction of the optical axis 13 of the imaging visual field.

On the other hand, the transmitting optical system 5, the laser oscillator 6, the receiving optical system 7, the receiving circuit 8 and the control circuit 9 constitute a laser distance measuring device, and the laser oscillator 6 receives a laser pulse from a laser emission command from the control circuit 9. And receive optical system 7
Transmits the laser pulse into the air. If the target exists in the optical axis direction 14 of the transmitted laser pulse,
The laser pulse is reflected by the target, and part of it is incident on the receiving optical system 7. The laser pulse incident on the receiving optical system 7 is condensed and detected by the receiving circuit 8. The control circuit 9 obtains the distance to the target from the time difference between the emission time of the laser pulse and the time detected by the reception circuit 8, and displays it on the distance display 10. By the way, in the light wave detection device, the image pickup device and the laser distance measuring device are fixed in the housing 11, and the housing 11 is attached to the orientation board 12.

In the light wave detecting device, the target distance measurement is executed in the following procedure. In the first stage, one target to be distance-measured is selected from the images captured by the image capturing device and displayed on the image display 4. As a method of this selection, FIG.
When there are a plurality of targets 17 as shown in, the operator automatically selects the target based on a predetermined algorithm such as looking at the screen of the image display 4 or selecting the brightest part of the screen as the target. Or Next, in the second step, the selected target is moved to the center of the reticle 16 of the image display 4. This movement is realized by changing the direction of the housing 11 by the azimuth panel 12, and the azimuth panel 12 is operated by an operator or automatically. When the selected target coincides with the center of the reticle 16 of the image display 4, the optical axis 13 of the imaging field of view, the optical axis 14 of the transmitted laser pulse and the optical axis 1 of the reception field of view.
All 5 will be oriented in the direction of the selected target.
Next, in a third step, the distance to the selected target is measured by the laser distance measuring device.

[0006]

Since the conventional optical wave detecting apparatus is constructed as described above, the optical axis 13 of the imaging field of view, the optical axis 14 of the laser pulse to be transmitted, and the receiving direction in the selected target direction. Compass 1 to point the optical axis 15 of the field of view
2 needs to be controlled. However, the bearing board 12 has 50
Since the housing that houses the imaging device and the laser distance measuring device, which weighs nearly kg, and the antenna that is heavier than usual are fixed, the azimuth board 12 cannot operate at high speed, and the image display In the case where a plurality of targets are present in the image displayed in FIG. 4, the operator must control the azimuth plate 12 and set the reticle 16 to the plurality of targets in order to measure the distances to those targets. Therefore, there is a problem that it takes a time in seconds to measure the distance of one target, and it is impossible to measure the distances of multiple targets in a short time.

Further, since the conventional light wave detecting apparatus is constructed as described above, when a plurality of targets are present in the image displayed on the image display 4, the operator looks at the screen of the image display 4. Therefore, it has been a problem to automatically and accurately extract a plurality of targets from the image displayed on the image display 4, and various algorithms have been considered for the target extraction. There is. However, since these algorithms are based on the brightness distribution on the screen of the image display device 4, if there is a brightness distribution similar to the target in the background, it will be erroneously extracted and has not been put into practical use. There was a problem.

The present invention has been made to solve the above problems, and is capable of measuring the distances of multiple targets in a short time, and is small and lightweight, low in power consumption, low in cost, or It is an object of the present invention to obtain a highly reliable optical wave detection device which reduces the error rate at the time of target extraction.

[0009]

In order to achieve the above-mentioned object, the light wave detecting apparatus according to the first embodiment of the present invention is
An image pickup means using an optical sensor composed of a plurality of light receiving elements arranged in a three-dimensional array; a laser distance measuring device for obtaining a distance to a target; and a target extraction means for extracting one or more target images from the picked-up image. A target direction calculation means for calculating the respective directions of the one or more targets extracted by the target extraction means, and a first direction control means for controlling the transmission direction of the laser pulse and the visual field direction of the reception optical system, respectively. Second
And the direction control means of.

Further, the optical wave detecting apparatus according to the second embodiment of the present invention is arranged such that the position of the field limiting diaphragm of the receiving optical system is the optical axis of the receiving optical system as the second direction control means of the optical wave detecting apparatus of the first embodiment. It is designed to change in a plane perpendicular to.

Further, the light wave detecting apparatus according to the third embodiment of the present invention is such that the control accuracy of the second direction control means of the light wave detecting apparatus of the first embodiment is lower than that of the first direction control means. is there.

Furthermore, the light wave detecting apparatus of the fourth embodiment according to the present invention is a target discriminating means for judging a true target from one or more targets extracted by the target extracting means in the light wave detecting apparatus of the first embodiment. Is provided.

Further, the light wave detecting apparatus of the fifth embodiment according to the present invention is a display device for displaying the image photographed by the image pickup means in the light wave detecting apparatus of the first embodiment and one extracted by the target extracting means. A marker and means for displaying distance information obtained by the laser distance measuring means are provided at respective positions on the screen of the above-mentioned target display device.

Further, in the optical wave detecting apparatus of the sixth embodiment according to the present invention, in the optical wave detecting apparatus of the first embodiment, the field of view of the receiving optical system of the laser range finder is set to be wide enough to include the field of view of the image pickup optical system. The second direction control means is removed.

[0015]

The laser distance measuring means of the optical wave detecting apparatus of the first embodiment configured as described above obtains the distance to the target from the time difference between the transmission time and the reception time of the laser pulse, and the target extracting means captures the image with the imaging means. A target image is extracted from the captured image according to a predetermined algorithm, and the target direction calculation means calculates the target direction from the position of the target on the optical sensor extracted by the target extraction means, and the first direction control means and the first direction control means. The second direction control means directs the laser pulse transmission direction of the laser distance measuring means and the visual field direction of the reception optical system to the target direction calculated by the target direction calculation means.

Further, the second direction control means of the optical wave detecting apparatus of the second embodiment configured as described above has the position of the field limiting diaphragm of the receiving optical system within a plane perpendicular to the optical axis of the receiving optical system. By changing it, the direction of the visual field of the receiving optical system is controlled.

Further, Example 3 configured as described above
The second direction control means of the optical wave detecting device controls the direction of the field of view of the receiving optical system with an angle accuracy lower than the angular accuracy of the target direction obtained by the target direction calculating means and higher than the viewing angle of the receiving optical system. The direction control means controls the laser pulse transmission direction within the field of view of the receiving optical system with an angular accuracy higher than the accuracy obtained by the target direction calculation means.

Further, Embodiment 4 constructed as described above
The target discriminating means of the optical wave detecting device discriminates the target which can be measured by the laser distance measuring means from the one or more targets extracted by the target extracting means, as the true target.

Further, a fifth embodiment configured as described above.
The display device of the optical wave detection device displays the image photographed by the image pickup means, and the display means superimposes the marker signal and the distance signal on the video signal from the video signal generation circuit to obtain the target on the screen of the display device. The marker and distance information are displayed at the position.

Further, Example 6 configured as described above
The receiving optical system of the optical wave detecting device receives reflected light from all the targets within the field of view of the imaging optical system, and the first direction control means sets the emission direction of the laser pulse to the target extracted by the target extracting means. Turn in the direction of.

[0021]

【Example】

Example 1. Embodiment 1 of the present invention will be described below with reference to the drawings. First Embodiment FIG. 1 is a block diagram showing a first embodiment of a light wave detecting device according to the present invention. In the figure, 1 is an imaging optical system, 2 is an optical sensor, 3 is a video signal generating circuit, 4 is an image display device, 5 is a transmitting optical system, 6 is a laser oscillator, 7 is a receiving optical system, 8 is a receiving circuit, and 9 is a receiving circuit. Is a control circuit, 10 is a distance indicator, 11 is a housing, 12 is a azimuth panel, 13 is an optical axis of an imaging visual field, 14 is an optical axis of a laser pulse to be transmitted, 15 is an optical axis of a receiving visual field, and 18 is a first optical axis. 1 direction control means, 19 is a second
Direction control means, 20 is a target extraction means, and 21 is a target direction calculation means.

Next, the operation will be described. The image pickup optical system 1, the optical sensor 2, and the video signal generation circuit 3 constitute an image pickup device, and the image pickup optical system 1 is an optical sensor including a plurality of light receiving elements (pixels) in which images in an image pickup field are arranged in a two-dimensional array. An image is formed on the light receiving surface of 2, and the optical sensor 2 converts the target image into an electric signal. The video signal generating circuit 3 converts the electric signal into a display signal, displays the image in the imaging visual field on the image display 4, and sends the image in the imaging visual field to the target extracting means 20. The target extracting means 20 extracts a desired target from the image in the imaging field of view based on a predetermined algorithm. As the algorithm, for example, when the target is higher in brightness than the background, a part of the image in the imaging field of view having a brightness equal to or higher than a threshold is regarded as the target, or when the target has a characteristic shape, the imaging field of view is It is conceivable to take a correlation between the image inside and the shape of the target and to regard a portion where the cross-correlation coefficient is a predetermined value or more as the target. Target extraction means 2
0 calculates which pixel of the photosensor 2 the extracted target exists, and sends it to the target direction calculation means 21.
The target direction calculation means 21 calculates the direction in which the target exists from the pixel in which the target exists, as will be described later, but when there are multiple targets, the direction is calculated for each target.

The method of calculating the direction in the target direction calculating means 21 is based on the following principle. As shown in FIG. 2, the optical sensor 2 has pixels arranged two-dimensionally, and the pixel surface corresponds to the image forming surface of the image pickup optical system 1. When the target 1 and the target 2 are present in the S _1st pixel and the S _2nd pixel respectively, the target 1 exists in the L ₁ direction and the target 2 exists in the L ₂ direction as shown in the figure. . In the figure, the imaging optical system 1 is represented by a single lens for simplicity. Further, η and ξ are spatial coordinates, and the coordinates (0,0) indicate the centers of the imaging optical system 1 and the optical sensor 2. Here, the target direction calculation means 21
Since the target irradiates the target with the laser pulse, the target direction can be calculated with an accuracy equal to or less than the spread angle of the laser pulse.

When the target direction calculating means 21 determines the direction in which the target exists, the operation of measuring the distance to the target is started. In FIG. 1, a transmission optical system 5, a laser oscillator 6, a reception optical system 7,
The receiving circuit 8, the control circuit 9, the first direction control means 18 and the second direction control means 19 constitute a laser distance measuring device. The first direction control means 18 and the second direction control means 19 receive the direction in which the target exists from the target direction calculation means 21 and the optical axis 1 of the laser pulse respectively transmitted.
4 and the optical axis 15 of the reception field are directed in the direction in which the target exists. Next, the laser pulse emitted from the laser oscillator 6 based on the command of the control circuit 9 is transmitted in the target direction via the transmission optical system 5 and the first direction control means 18. The laser pulse reflected by the target is
The signal is received by the receiving circuit 8 via the direction control means 19 and the receiving optical system 7, and the control circuit 9 obtains the distance to the target in the same manner as in the conventional example and displays it on the distance indicator 10. When there are multiple targets, the first direction control means 18 and the second direction control means 18
The direction control means 19 sequentially receives the directions in which a plurality of targets exist from the target direction calculation means 21 and repeats the distance measuring operation.

By the way, as the first direction control means 18 and the second direction control means 19, for example, the first mirror 22 and the second mirror 23 having different rotation axes Y and X as shown in FIG. Combined beam deflectors are well known. By controlling the rotation angle of each of the first mirror 22 and the second mirror 23, the traveling direction of the passing light can be controlled to an arbitrary direction. Alternatively, the first
It is well known that an ultrasonic deflector is used instead of the mirror 22 and the second mirror 23. These beam deflectors can change the direction of the optical axis 14 of the transmitted laser pulse and the optical axis 15 of the reception field at a high speed of 50 Hz or higher. Incidentally, the first direction control means 1 of the present invention
8 and the second direction control means 19 are not limited to the above beam deflector.

On the other hand, in the above distance measuring operation, the azimuth 12
Does not operate, and the optical axis 1 of the visual field (imaging visual field) of the imaging optical system 1
3 remains fixed, and the azimuth plate 12 operates only when changing the optical axis 13 of the imaging field of view. Therefore, since it is only necessary to operate the first direction control means 18 and the second direction control means 19 to measure the distance of the extracted target, the casing 1 having the superposition by the azimuth plate 12 as in the conventional example.
1 Since it is not necessary to move the whole body, high-speed distance measurement is possible, which has the effect of being able to measure multiple targets in a short time.

Example 2. The lightwave detecting apparatus according to the second embodiment of the present invention is the same as the lightwave detecting apparatus described in the first embodiment.
The direction control means 19 is to change the position of the field limiting diaphragm of the receiving optical system 7 within a plane perpendicular to the optical axis of the receiving optical system 7. Since the receiving optical system 7 limits the width of the receiving field of view, a field limiting diaphragm is installed near the condensing point when parallel light is incident on the aperture of the receiving optical system 7, and only the light passing through this field limiting diaphragm is collected. It is received by the receiving circuit 8. As shown in FIG. 4, the optical axis of the receiving optical system 7 represented by a single lens is the Z axis for simplification, and when the field limiting diaphragm 24 exists on the Z axis, the optical axis 15 of the receiving field coincides with the Z axis. .
Now, if the field limiting diaphragm 24 is moved in the Y direction in a plane perpendicular to the Z axis, the optical axis 15 of the receiving field changes to the Z'axis. In this way, the field limiting diaphragm 2 is arranged in the plane perpendicular to the Z axis.
By moving 4 it is possible to easily change the optical axis 15 of the reception field in any direction.

By the way, the light wave detecting device is several kilometers to several tens of kilometers.
Since it is necessary to measure a target at a distance of m, the power of the laser pulse reflected by the target and arriving at the light wave detection device becomes extremely small due to attenuation in the atmosphere and divergence of the laser pulse. For this reason, the receiving optical system 7 must collect the incoming laser pulses as much as possible and has a large aperture. The conventional first mirror 22 and second mirror 2 shown in FIG.
Optical axis 1 of the field of view by the beam deflector combining 3
When changing 5, the beam deflector is installed on the target side of the aperture of the receiving optical system 7, but the first mirror 22 and the second mirror 23 sufficiently cover the aperture of the receiving optical system 7. A large mirror with a wide reflective surface is required. Therefore,
The beam deflector is large and consumes a large amount of power to operate the beam deflector. In the present invention, since it is only necessary to minutely change the position of the field limiting diaphragm 24 by a small motor or the like, there is an advantage that the second direction control means 19 that is small and consumes less power can be configured.

Example 3. The light wave detecting apparatus according to the third embodiment of the present invention is the light wave detecting apparatus described in the first embodiment, in which the control accuracy of the second direction control means 19 is lower than the control accuracy of the first direction control means 18. . In order to irradiate the target with the laser pulse, the first direction control means 18 needs to control the transmission direction of the laser pulse with a higher accuracy than the accuracy obtained by the target direction calculation means 21. However, since the reception viewing angle is usually twice or more larger than the divergence angle of the laser pulse, the second direction control means 19 determines the direction of the reception viewing field by the target direction calculation means 21 in order to capture the target in the reception viewing field. Control may be performed with accuracy lower than the angle accuracy of the direction and higher than the reception viewing angle. Therefore, there is an advantage that the second direction control means 19 can be inexpensive and have lower control accuracy than the first direction control means 18.

Example 4. The lightwave detecting apparatus according to the fourth embodiment of the present invention is the lightwave detecting apparatus described in the first embodiment to which a target discriminating unit 25 is added. Target discriminating means 2
Reference numeral 5 receives the distance measurement result for each of the one or more targets extracted by the target extracting means 20 from the control circuit 9, and when the result is that distance measurement is impossible, it is determined that the extracted target is incorrect. . Here, the state in which distance measurement is impossible is
This is the case when the laser pulse could not be received. If the extracted target is due to the noise of the optical sensor 2, there is no target and distance measurement becomes impossible. If a cloud or the like is mistakenly extracted, the reflection of the laser pulse from the cloud is small. Distance measurement is impossible. Therefore, there is an advantage that the target discriminating unit 25 can remove the target erroneously extracted by the target extracting unit 20 and improve the target extraction accuracy.

Example 5. The lightwave detecting apparatus according to the fifth embodiment of the present invention is the same as the lightwave detecting apparatus described in the first embodiment, except that the display signal generator 26 and the signal combining circuit 27 shown in FIG.
Is added. The display signal generating circuit 26 receives the position information of the target on the image display 4 from the target extracting means 20, and also receives the distance measurement result of the target extracted by the target extracting means 20 from the control circuit 9. Then, the display signal generating device 26 superimposes the marker signal and the distance signal on the video signal from the video signal generating circuit 3 through the signal synthesizing circuit 27, thereby making the marker and the marker signal at the target position on the screen of the image display 4. Display distance information. On this display screen, for example, as shown in FIG. 6, a marker 28 is displayed above the target 17 and numerical values indicating distance information are displayed below the marker 28. The observer on the display screen can confirm the target extracted by the target extracting means 20 by the marker 28 and can know the distance to the target. Therefore, it is possible to visually determine whether there is an error and correct it. It is possible to improve the reliability of the light wave detection device.

Example 6. In the light wave detecting apparatus according to the sixth embodiment of the present invention, in the light wave detecting apparatus described in the first embodiment, the field of view of the receiving optical system 7 (reception field of view) is set to include the field of view of the imaging optical system 1 (imaging field of view). The second direction control means 19 is removed. In this case, since the receiving optical system 7 can receive the reflected laser pulses from all the targets existing in the imaging visual field, it is necessary to direct the optical axis 15 of the receiving visual field to the target direction by the second direction control means 19. Disappears. Therefore, there is an advantage that the power consumption and the size of the device can be reduced as compared with the light wave detection device described in the first embodiment.

[0033]

As described above, according to the present invention according to the first embodiment, the target extracting means is selected from the images picked up by the image pickup means using the optical sensor composed of a plurality of light receiving elements arranged in a two-dimensional array. The target is extracted, the target direction calculating means is used to obtain the direction of the target obtained by the target extracting means, and the first and second direction control means are used to obtain the direction of the target obtained by the target direction calculating means. Since the transmission direction of the laser pulse and the direction of the field of view of the receiving optical system are oriented, it is not necessary to move the imaging optical system, the receiving optical system and the transmitting optical system to measure the target unlike the conventional example. High-speed distance measurement is possible, which has the effect of measuring multiple targets in a short time.

Further, according to the second embodiment, the second direction control means of the laser distance measuring means changes the position of the field limiting diaphragm of the receiving optical system within a plane perpendicular to the optical axis of the receiving optical system. Since it is realized, there is an effect that the second direction control means can be downsized and the power consumption can be reduced as compared with the invention of the first embodiment.

Further, according to the third embodiment, the control accuracy of the second direction control means is set lower than that of the first direction control means, so that the second direction control means is controlled as compared with the invention of the first embodiment. There is an effect that it can be inexpensive and inexpensive.

Further, according to the fourth embodiment, the target discriminating means can remove the target erroneously extracted by the target extracting means, and the target extracting accuracy can be improved.

Further, according to the fifth embodiment, the image taken by the image pickup means on the display and the marker and the laser at the respective positions on the image of one or more targets extracted by the target extraction means. Since the distance information obtained by the distance measuring means is displayed, the observer can confirm the target extracted by the target extracting means by the marker from the display screen and know the distance to the target.
There is an effect that the erroneous extraction of the target and the erroneous distance measurement can be visually judged and corrected, and the reliability of the optical wave detection device can be improved.

Further, according to the sixth embodiment, the field of view of the receiving optical system of the laser distance measuring means is set to a range including the field of view of the imaging optical system, and only the transmitting direction of the laser pulse is controlled. The second directional control means, which is larger than the directional control means of FIG. 1 and requires a large amount of power, is not required, and thus the first embodiment
Compared with the invention of 1), there is an effect that the direction control means can be significantly downsized and the power consumption can be reduced.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment of a light wave detecting device according to the present invention.

FIG. 2 is an explanatory diagram for explaining a principle of obtaining a target direction.

FIG. 3 is a diagram showing an example of first direction control means and second direction control means.

FIG. 4 is a diagram showing a second direction control means of a second embodiment of the optical wave detection device of the present invention.

FIG. 5 is a block configuration diagram of a display-related portion of a fifth embodiment of the light wave detecting device of the present invention.

FIG. 6 is a diagram showing an example of a screen of an image display device in a fifth embodiment of the light wave detecting device according to the present invention.

FIG. 7 is a block configuration diagram showing a conventional example of a light wave detection device.

FIG. 8 is a diagram showing an example of a screen of a display of a conventional example of a light wave detection device.

[Explanation of symbols]

 1 Imaging Optical System 2 Optical Sensor 3 Video Signal Generation Circuit 4 Image Display 5 Transmission Optical System 6 Laser Oscillator 7 Reception Optical System 8 Reception Circuit 9 Control Circuit 10 Distance Display 11 Mount 12 Orientation Board 13 Optical Field of Imaging Field 14 Transmission Optical axis of laser pulse 15 Optical axis of reception field 16 Reticle 17 Target 18 First direction control means 19 Second direction control means 20 Target extraction means 21 Target direction calculation means 22 First mirror 23 Second mirror 24 Field of view Limiting diaphragm 25 Target discriminating means 26 Display signal generating circuit 27 Signal synthesizing circuit 28 Marker

Claims (6)

[Claims] 1. An optical sensor comprising a plurality of light receiving elements arranged in a two-dimensional array, an imaging optical system for forming a target image on the optical sensor, and a video signal generation for driving the optical sensor to generate a video signal. From an image pickup means including a circuit, a laser oscillator that generates a laser pulse, a transmission optical system that transmits the laser pulse toward a target, a reception optical system that receives the laser pulse reflected by the target, and the reception optical system In the light wave detecting device, which comprises a receiving circuit for receiving the laser pulse and converting it into an electric signal, and a laser distance measuring means for obtaining a distance to a target from a time difference between the transmission time and the reception time of the laser pulse, the video signal Target extraction means for extracting a target from the video signal from the generation circuit,
Target direction calculation means for calculating the direction of the target extracted by the target extraction means, and first direction control means for directing the direction of the laser pulse emitted from the transmission optical system to the direction of the target extracted by the target extraction means. And a second direction control means for directing the direction of the visual field of the receiving optical system to the target direction extracted by the target extracting means. 2. The second direction control means is characterized in that the position of the field limiting diaphragm of the receiving optical system is changed within a plane perpendicular to the optical axis of the receiving optical system. Item 1. The light wave detection device according to item 1. 3. The first direction control means controls the second direction control means with angular accuracy lower than the angular accuracy of the target direction obtained by the target direction calculation means and higher than the viewing angle of the receiving optical system. 2. The optical wave detecting device according to claim 1, wherein the control is performed with an angle accuracy of the target direction obtained by the target direction calculating means or more. 4. A target discriminating means for discriminating a target which can be measured by the laser distance measuring means among the targets extracted by the target extracting means from a true target. Item 1. The light wave detection device according to item 1. 5. A means for displaying an image taken by an image pickup means on a display by a signal from the video signal generating circuit, and a marker at the position of the target extracted by the target extracting means on the screen of the display. And a means for displaying the distance information obtained by the laser distance measuring means. 6. An optical sensor composed of a plurality of light receiving elements arranged in a two-dimensional array, an imaging optical system for forming a target image on the optical sensor, and a video signal generation for driving the optical sensor to generate a video signal. From an image pickup means including a circuit, a laser oscillator that generates a laser pulse, a transmission optical system that transmits the laser pulse toward a target, a reception optical system that receives the laser pulse reflected by the target, and the reception optical system In the light wave detecting device, which comprises a receiving circuit for receiving the laser pulse and converting it into an electric pulse, and a laser distance measuring means for obtaining a distance to a target from a time difference between the transmission time of the laser pulse and the reception time, A target extracting means for extracting a target from the video signal from the video signal generating circuit, the field of view of the system having a width including the field of view of the imaging optical system, Target direction calculation means for calculating the direction of the target extracted by the target extraction means, and first direction control means for directing the direction of the laser pulse emitted from the transmission optical system to the direction of the target extracted by the target extraction means. An optical wave detection device comprising: