JPH08160137A - Method and device for measuring object with laser - Google Patents
Method and device for measuring object with laserInfo
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- JPH08160137A JPH08160137A JP6319412A JP31941294A JPH08160137A JP H08160137 A JPH08160137 A JP H08160137A JP 6319412 A JP6319412 A JP 6319412A JP 31941294 A JP31941294 A JP 31941294A JP H08160137 A JPH08160137 A JP H08160137A
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- distance
- laser beam
- reflectance
- laser
- display
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明はレーザ光を利用して対象
物の存在を確認し、或いは対象物までの距離を計測する
ための装置に関し、特にヘリコプターに搭載して電線等
の障害物を認識するために用いて好適なレーザ計測方法
及び計測装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for confirming the existence of an object or measuring the distance to the object by using a laser beam, and in particular, it is mounted on a helicopter to detect obstacles such as electric wires. The present invention relates to a laser measuring method and a measuring device suitable for use for recognition.
【０００２】[0002]
【従来の技術】従来、例えば、ヘリコプタ等の航空機で
は、その運航に際して木や送電線等の物体が障害物とな
るために、これらの物体の位置や物体までの距離を正確
に計測することが必要となる。このような計測を行う場
合、従来では、二次元走査した電波を利用して物体に対
する三次元情報を得て、これに基づいて物体までの距離
やその位置を確認することが行われている。例えば、特
開平４−２４８３０７号公報に記載されているレーダ装
置では、電波を物体に向けて発射し、その反射電波を受
信し、これをコンピュータ解析することで物体の位置や
距離の計測を行っている。2. Description of the Related Art Conventionally, for example, in an aircraft such as a helicopter, an object such as a tree or a power transmission line becomes an obstacle during its operation. Therefore, it is possible to accurately measure the position of the object or the distance to the object. Will be needed. In the case of performing such measurement, conventionally, three-dimensional information about an object is obtained by using a two-dimensionally scanned radio wave, and based on this, the distance to the object and its position are confirmed. For example, in the radar device described in Japanese Patent Laid-Open No. 4-248307, a radio wave is emitted toward an object, the reflected radio wave is received, and the position and distance of the object are measured by computer analysis. ing.
【０００３】しかしながら、このレーダ装置では電波を
利用するために、電波の利用ができない場合、或いは強
電界の地域では物体の計測を正確に行うことができない
という問題がある。また、電波の反射から得られたデー
タを全て電気処理して物体を確認するため、その処理の
アルゴリズムが複雑になるとともに、処理量が膨大なも
のとなり、コンピュータの処理能力と関係して航空機の
速度に見合った迅速な計測を行うことが難しいという問
題もある。However, since this radar apparatus uses radio waves, there is a problem in that the radio waves cannot be used or the object cannot be accurately measured in a strong electric field area. In addition, since all the data obtained from the reflection of radio waves are processed electrically to confirm the object, the processing algorithm becomes complicated, and the processing amount becomes enormous. There is also a problem that it is difficult to perform quick measurement corresponding to the speed.
【０００４】このため、近年ではレーザ光を利用して物
体の計測を行うことが考えられている。即ち、レーザ光
を物体に向けて二次元走査し、その反射光を検出するこ
とで三次元情報を得て、物体の位置や物体までの距離を
計測する方法である。Therefore, in recent years, it has been considered to measure an object using laser light. That is, it is a method of two-dimensionally scanning a laser beam toward an object and detecting reflected light to obtain three-dimensional information, and measuring the position of the object and the distance to the object.
【０００５】[0005]
【発明が解決しようとする課題】しかしながら、レーザ
光は微細な径寸法のビームを照射しても、その径寸法の
低減には限りがあるため、レーザビーム径よりも小さな
物体、例えば電線にレーザビームが投射されたときに
は、十分な反射光が得られないために、電線の検出を見
落とすおそれがあり、特にヘリコプタの運航時において
高圧送電線を見落としたときには極めて危険なものとな
る。However, even if a laser beam irradiates a beam with a fine diameter, there is a limit to the reduction of the diameter, so that an object smaller than the laser beam diameter, for example, a laser on an electric wire. When the beam is projected, sufficient reflected light cannot be obtained, and therefore there is a risk of overlooking the detection of the electric wire, which is extremely dangerous particularly when overlooking the high voltage transmission line during helicopter operation.
【０００６】また、レーザ光を利用した計測では、計測
された物体を光ドットにより表示器に表示させている
が、電線のように細い物体では光ドットが単に線状に連
続する状態に表示されるのみであるため、目立ち難く、
使用者が電線を見落とすおそれがある。このため、従来
では、例えば特開平３−２５１７８０号公報、特開平１
−６１６８１号公報等において、物体の色を相違させる
ことで、注目する物体を目立ち易くし、その見落としを
防止するものが提案されている。Further, in the measurement using the laser light, the measured object is displayed on the display by optical dots, but in the case of a thin object such as an electric wire, the optical dots are simply displayed in a continuous line. It is difficult to stand out because it is only
The user may overlook the wire. Therefore, in the past, for example, JP-A-3-251780 and JP-A-1
In Japanese Laid-Open Patent Publication No. 616811 and the like, there is proposed an object in which the color of the object is made different to make the object of interest more noticeable and prevent it from being overlooked.
【０００７】しかしながら、この方式では、計測された
物体の三次元情報に基づいてのみ色に変化を付けている
ために、計測された物体のうち注目すべき物体、例えば
電線を抽出してその色を目立つ色に処理するためのアル
ゴリズムが極めて複雑なものとなる上に、その物体が注
目すべき物体であるか否かの判断処理の時間が長くかか
り、前記したようにヘリコプタの速度との関係から迅速
な表示を行うことが難しいという問題がある。However, in this method, since the color is changed only on the basis of the three-dimensional information of the measured object, a noteworthy object, for example, an electric wire, is extracted from the measured objects and its color is extracted. In addition to making the algorithm for processing a noticeable color extremely complex, it takes a long time to determine whether or not the object is an object of interest, and as described above, the relationship with the speed of the helicopter. Therefore, there is a problem that it is difficult to display quickly.
【０００８】[0008]
【発明の目的】本発明の目的は、特に電線等の微細な物
体の位置や距離の計測とその表示を迅速にしかも正確に
行うことを可能にしたレーザ計測方法及び計測装置を提
供することにある。SUMMARY OF THE INVENTION It is an object of the present invention to provide a laser measuring method and a measuring apparatus capable of measuring the position and distance of a fine object such as an electric wire and displaying the information quickly and accurately. is there.
【０００９】[0009]
【課題を解決するための手段】本発明のレーザ計測方法
は、対象となる物体に対してレーザ光を射出し、物体で
反射されたレーザ光を受光し、前記レーザ光の射出時と
受光時との時間差から物体までの距離を算出し、かつ前
記受光レーザ光の強度と前記物体までの距離とから物体
の反射率を算出し、これらの算出結果に基づいて物体を
計測することを特徴とする。そして、計測された物体の
うち、反射率が所定値以下の物体を他の物体よりも目立
つように表示を行う。According to the laser measuring method of the present invention, a laser beam is emitted to a target object, the laser beam reflected by the object is received, and the laser beam is emitted and received. Calculating the distance to the object from the time difference between, and calculating the reflectance of the object from the intensity of the received laser light and the distance to the object, and measuring the object based on these calculation results. To do. Then, among the measured objects, an object whose reflectance is equal to or less than a predetermined value is displayed so as to stand out more than other objects.
【００１０】本発明のレーザ計測装置は、対象となる物
体に対してレーザ光を射出する手段と、物体で反射され
たレーザ光を受光する手段と、前記射出したレーザ光と
受光したレーザ光との時間差から物体までの距離を算出
する手段と、前記受光手段から出力されるレーザ光の強
度と前記物体までの距離算出手段からの距離とに基づい
て物体の反射率を算出する手段と、前記距離と反射率と
に基づいて物体を認識する処理を行う手段とを備える。The laser measuring device of the present invention comprises means for emitting laser light to a target object, means for receiving laser light reflected by the object, the emitted laser light and the received laser light. Means for calculating the distance to the object from the time difference of, the means for calculating the reflectance of the object based on the intensity of the laser beam output from the light receiving means and the distance from the distance calculating means to the object, And means for recognizing the object based on the distance and the reflectance.
【００１１】更に、本発明では、反射率が所定値以下の
特定の物体を他の物体よりも目立つように、その物体の
色彩を他の物体と異なる色彩として表示する表示手段を
備える。また、この表示手段は、特定の物体が近接され
たときに、その距離に応じて表示色や表示寸法を変化さ
せ、あるいは特定の記号を付すして表示を行うように機
能される。Further, in the present invention, there is provided a display means for displaying the color of a specific object whose reflectance is equal to or less than a predetermined value as a color different from that of the other object so as to stand out from the other objects. Further, when the specific object is approached, the display means changes the display color and the display size according to the distance, or adds a specific symbol to display.
【００１２】[0012]
【作用】レーザ光のビーム径に対して微小な面積比とな
る物体では、その反射率が低い値として算出されるた
め、電線等のような物体の反射率は山や林等の物体の反
射率よりも低い値として算出され、その位置や距離等が
計測できる。そして、この反射率の算出結果に基づいて
表示部での表示を行い、特定の反射率の物体を目立つよ
うな表示を行えば、例えば反射率の低い物体が目立つよ
うな表示を行えば、電線等を際立って目立つ表示を行う
ことが可能となる。[Function] Since the reflectance of an object having a small area ratio with respect to the beam diameter of the laser light is calculated as a low value, the reflectance of an object such as an electric wire is reflected by an object such as a mountain or a forest. It is calculated as a value lower than the rate, and its position, distance, etc. can be measured. Then, based on the calculation result of the reflectance, the display unit displays, and if an object with a specific reflectance is displayed conspicuously, for example, if an object with a low reflectance is displayed conspicuously, It becomes possible to perform a conspicuous display such as "and the like".
【００１３】[0013]
【実施例】次に、本発明の実施例を図面を参照して説明
する。図１は本発明のレーザ計測装置の全体構成を示す
ブロック図である。レーザ発振器１から射出されたレー
ザ光は送受信光学系２により所定の拡がり角のレーザビ
ームとされた後、光走査装置３により空間に射出され
る。このレーザ光が物体Ａに投射されると、レーザ光は
反射されて光走査装置３を再び経て送受信光学系２に入
射される。送受信光学系２にて集光されたレーザ光は、
光検出器４にて電気信号に変換される。距離算出回路５
は、光検出器４の出力である電気信号の到達時間を検知
し、レーザ光の射出から受光までの時間を算出し、これ
から物体までの時間を算出し、この時間とレーザ光の光
速度とに基づいて物体までの距離を計測する。Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the overall configuration of the laser measuring device of the present invention. The laser light emitted from the laser oscillator 1 is converted into a laser beam having a predetermined divergence angle by the transmission / reception optical system 2, and then emitted into space by the optical scanning device 3. When this laser light is projected on the object A, the laser light is reflected and again enters the transmitting / receiving optical system 2 through the optical scanning device 3. The laser light collected by the transmission / reception optical system 2 is
It is converted into an electric signal by the photodetector 4. Distance calculation circuit 5
Detects the arrival time of the electric signal which is the output of the photodetector 4, calculates the time from the emission of laser light to the reception of light, calculates the time from this to the object, and calculates the time and the speed of light of the laser light. The distance to the object is measured based on.
【００１４】また、前記レーザ計測装置には、反射率算
出回路６が備えられ、光検出器４において検出された電
気信号のレベルと、前記距離算出回路５において算出さ
れた物体までの距離とに基づいて物体における反射光の
強さを算出する。そして、処理回路７においては、前記
距離算出回路５と反射率算出回路６の各出力と、予め記
憶されている距離・反射率情報メモリ８からのメモリ情
報に基づいて物体の種類やその位置等を計測する。そし
て、この計測結果に基づいて表示部９を駆動し、この表
示部９においては計測した物体Ａの種類毎にそれぞれ異
なる色を割り当てて表示を行う。Further, the laser measuring device is provided with a reflectance calculating circuit 6 for calculating the level of the electric signal detected by the photodetector 4 and the distance to the object calculated by the distance calculating circuit 5. Based on this, the intensity of the reflected light on the object is calculated. Then, in the processing circuit 7, based on the outputs of the distance calculation circuit 5 and the reflectance calculation circuit 6 and the memory information from the distance / reflectance information memory 8 stored in advance, the type of the object, its position, etc. To measure. Then, the display unit 9 is driven based on the measurement result, and the display unit 9 performs display by allocating different colors to each type of the measured object A.
【００１５】即ち、一般に物体Ａに当たったレーザ光が
反射されて送受信光学系２において検出されたときのレ
ーザ光の強さは、物体までの距離の２乗に反比例し、物
体の反射率に比例したものとなる。したがって、距離算
出回路５において距離は正確に計測されるため、反射率
算出回路６では光検出器４からの信号の強さから物体の
反射率が算出できる。That is, in general, the intensity of laser light when the laser light striking the object A is reflected and detected by the transmission / reception optical system 2, is inversely proportional to the square of the distance to the object, and is proportional to the reflectance of the object. It will be proportional. Therefore, since the distance is accurately measured by the distance calculation circuit 5, the reflectance calculation circuit 6 can calculate the reflectance of the object from the strength of the signal from the photodetector 4.
【００１６】ここで、各種の物質の反射率を考えた場
合、反射率の高いものは数十パーセントであり、逆に低
いものでも数パーセントの反射率を有している。したが
って、鏡面反射等により反射光が特定の方向にのみ反射
される場合を除き、一般に照射されたレーザビームより
大きな物体からの反射は少なくとも１〜２％はあり、極
端に低い値を示すことはない。一方、図２に示すよう
に、レーザビーム１１の面積に比較して僅かな面積しか
有さない線状の物体Ｂでは、仮に反射率が百パーセント
としても反射するレーザ光の割合は面積比分であり、通
常はそれより大幅に小さい値となる。Here, considering the reflectance of various substances, a material having a high reflectance is several tens percent, and conversely, a material having a low reflectance has a reflectance of several percent. Therefore, unless the reflected light is reflected only in a specific direction due to specular reflection or the like, reflection from an object larger than the irradiated laser beam is generally at least 1 to 2%, and an extremely low value is not shown. Absent. On the other hand, as shown in FIG. 2, in the linear object B having a small area compared to the area of the laser beam 11, even if the reflectance is 100%, the ratio of the reflected laser light is the area ratio. Yes, and usually much smaller.
【００１７】仮に、１ｍ径に広がったレーザビームの中
に太さ１ｃｍの電線が横切った場合、横切る位置によっ
て異なるが大凡の面積比は１／１００であり、反射の割
合はそれよりも小さくなる。実際の電線の太さは更に太
いものがあるが、平面的な物体とは異なりレーザビーム
と到来方向に垂直に近い部分の割合が少ないので、実効
反射面積比を考えると、ほぼこの程度の反射割合と考え
てよく、大きな物体からの反射では考えられない１％以
下の反射率として算出される。If an electric wire having a thickness of 1 cm crosses a laser beam spread to a diameter of 1 m, the area ratio is roughly 1/100 depending on the crossing position, but the reflection ratio is smaller than that. . Although the thickness of the actual electric wire is thicker, unlike a flat object, the ratio of the laser beam and the part close to the direction perpendicular to the direction of arrival is small. It may be considered as a ratio, and is calculated as a reflectance of 1% or less, which cannot be considered by reflection from a large object.
【００１８】したがって、ヘリコプタ等において電線等
を計測する場合には、前記したように物体からの反射光
を検知し、物体までの距離を計測した上でこれを利用し
て物体の反射率を求め、この反射率が１％以下の物体を
電線として認識し、これを表示部に表示することで電線
を計測し、安全な航行が可能とされる。Therefore, when measuring an electric wire or the like in a helicopter or the like, the reflected light from the object is detected as described above, the distance to the object is measured, and the reflectance of the object is obtained using this. By recognizing an object whose reflectance is 1% or less as an electric wire and displaying this on the display unit, the electric wire is measured and safe navigation is enabled.
【００１９】そして、この表示においては、危険対象物
である電線を山や林等の背景に対して強調して表示する
ことが好ましく、例えば電線のみを背景に対して顕著な
色彩で表示することにより使用者（操縦者）にとって電
線が容易に識別できるようになる。In this display, it is preferable to display the electric wire which is a dangerous object by emphasizing it against the background such as mountains and forests. For example, only the electric wire is displayed in a remarkable color against the background. This allows the user (operator) to easily identify the electric wire.
【００２０】ところで、レーザ光の物体からの反射光を
受光する場合は、通常ビーム径よりも大きな物体の場合
は距離の２乗に逆比例し、物体がビーム径より小さくな
る領域では４乗に逆比例する。また、線状の物体の場
合、線径方向についてはビーム径より遙かに小さくなる
が、線長方向はビーム径よりも長いので３乗に逆比例し
た光量を受光することになる。By the way, when the reflected light of the laser light from the object is received, it is inversely proportional to the square of the distance in the case of the object larger than the beam diameter, and becomes the fourth power in the area where the object is smaller than the beam diameter. Inversely proportional. Further, in the case of a linear object, although it is much smaller than the beam diameter in the direction of the line diameter, it is longer than the beam diameter in the direction of the line length, so that it receives a light amount inversely proportional to the cube.
【００２１】したがって、この例では、物体までの距離
の３乗を基準とし、距離２乗に基づいて算出した反射率
の値が所定値の範囲に入らないが、距離３乗に基づいて
算出した反射率の値が所定の範囲に入るもののみを選別
することにより、複雑な識別手段を用いずに電線等を識
別することができる。当然のことながら物体の反射率に
は差があるが、面積比に対応した差（比）に比べると小
さいので、検出限界レベルにある程度の幅を持たせれ
ば、反射率に差が合っても前記条件を満足する計測を行
うことは可能となる。距離の３乗に対応した算出は、回
路の時定数等を適当に選定することにより容易に実現し
得る。Therefore, in this example, the cube of the distance to the object is used as a reference, and the reflectance value calculated based on the square of the distance is not within the range of the predetermined value, but it is calculated based on the cube of the distance. By selecting only those whose reflectance values fall within a predetermined range, it is possible to identify electric wires and the like without using complicated identifying means. As a matter of course, there is a difference in the reflectance of the object, but it is smaller than the difference (ratio) corresponding to the area ratio, so if the detection limit level has a certain width, even if there is a difference in the reflectance. It is possible to perform the measurement that satisfies the above conditions. The calculation corresponding to the cube of the distance can be easily realized by appropriately selecting the time constant of the circuit.
【００２２】なお、厳密に言うと、レーザ光を発射した
ものが戻ってくるのは物体からの反射だけでなく、大気
の分子やエアロゾル等の散乱光もある。しかし、これは
１ｍ当たり１０-6のレベルであり、物体からの反射光に
比べると極めて弱いので容易に識別し得る。Strictly speaking, what emitted laser light returns not only from the reflection from an object but also scattered light such as atmospheric molecules and aerosols. However, this is at a level of 10 −6 per 1 m, which is extremely weak as compared with the reflected light from the object, so that it can be easily identified.
【００２３】一方、ヘリコプタが電線等に接近するにつ
れてレーザビームの大きさに比して電線等の実効面積が
増大すると反射の割合も増加し距離２乗に基づいて算出
した結果によっても検知してしまい、誤った計測を行う
おそれがある。そのため、距離算出回路で計測された距
離情報を加味した認識を行うことで、誤計測を回避す
る。例えば、図３（ａ）のように、物体Ｃとの距離が近
いものほど目立つ色としたり、ある範囲以内に近づいた
場合は色表示の面積を大きく、即ち線の太さを太くす
る。On the other hand, when the effective area of the electric wire or the like increases as the helicopter approaches the electric wire or the like compared to the size of the laser beam, the proportion of reflection also increases, and the result calculated based on the squared distance is also detected. Therefore, there is a risk that incorrect measurement will be performed. Therefore, erroneous measurement is avoided by performing recognition in consideration of the distance information measured by the distance calculation circuit. For example, as shown in FIG. 3A, the closer the distance to the object C is, the more prominent the color is, or the closer the distance is to within a certain range, the larger the color display area is, that is, the thicker the line is.
【００２４】あるいは、図３（ｂ）のように、距離の３
乗に基づいて算出されたものは、距離に関係なくアスタ
リスクマーク（＊）等で表示する等の工夫をする。使用
者は距離の３乗に基づいて算出された物体をアスタリス
ク表示によって知ることにより、比較的遠方での電線等
が確認できるとともに、近距離に接近した際にはその距
離が危険度に対応する色により判り、また実際の太さよ
り太く表示されたことにより危険度合いが明瞭に判るの
で対応も容易となる。Alternatively, as shown in FIG. 3B, the distance of 3
Those calculated based on the power will be displayed with an asterisk mark (*) or the like regardless of the distance. By knowing the object calculated based on the cube of the distance by the asterisk display, the user can confirm the electric wire at a relatively distant place, and the distance corresponds to the degree of danger when approaching a short distance. It is easy to handle because the color can be recognized and the danger level can be clearly understood by being displayed thicker than the actual thickness.
【００２５】その際、距離と色の関係は固定せず、航空
機等の速度に応じて変化させ、危険度と色の関係を一定
にすることも可能である。At this time, the relationship between the distance and the color may not be fixed, but may be changed according to the speed of the aircraft or the like to make the relationship between the risk and the color constant.
【００２６】この装置の反射率算出機能の応用として、
地質等の差異を反射率の差として表示すれば、地質調査
や資源探査への応用も可能である。この場合は、電線等
の検知とは異なり、レーザビーム全体が反射されるの
で、反射率は反射面積比ではなく、文字通り物体の反射
率であり、地質その他が異なれば差異を生じる。同じ地
質でも水を含むか否かによっても反射率が大きく変化す
るので、水を多く含み過ぎて崩壊しそうな地点を事前に
予測するのには、距離計測機能との併用により大きな威
力を発揮する。As an application of the reflectance calculation function of this device,
If the difference in geology is displayed as the difference in reflectance, it can be applied to geological surveys and resource exploration. In this case, unlike detection of an electric wire or the like, since the entire laser beam is reflected, the reflectance is not the reflection area ratio but the reflectance of an object literally, and the difference is caused if the geology or the like is different. The reflectance changes greatly depending on whether the same geology contains water or not.Therefore, it is very effective in combination with the distance measurement function to predict in advance a point that is likely to collapse due to too much water. .
【００２７】また、可視光での反射率の差異はカメラ等
でも識別できる場合もあるが、光線の状態で変化した
り、陰影を生じたりする場合もあり、絶対値測定はでき
ない。また、レーザ光の波長は可視光と異なる場合もあ
り、これにより異なる波長領域での反射率の差異を知る
ことも可能となる。In some cases, the difference in reflectance with visible light can be identified by a camera or the like, but it may change depending on the state of light rays or cause a shadow, and absolute value cannot be measured. Further, the wavelength of the laser light may be different from that of visible light, which makes it possible to know the difference in reflectance in different wavelength regions.
【００２８】また、操縦者に対しては、背景となるもの
が距離に応じた色または反射率に応じた色で表示された
画面は必ずしも見易いものではない。したがって、本発
明の装置で検知して強調すべきものと判断して特殊な記
号や明るい色で表示すべきとした物体以外は、別に設け
た撮像装置からの画像を表示し、それに強調すべき記号
や太く表示した明るい色を重畳する等の手段を用いる場
合もある。Further, it is not always easy for the operator to see the screen in which the background is displayed in the color according to the distance or the color according to the reflectance. Therefore, except for a special symbol or an object that should be displayed in a bright color when it is detected by the device of the present invention and is to be emphasized, an image from a separately provided imaging device is displayed and the symbol to be emphasized is displayed. In some cases, a means such as superimposing a bright color displayed in bold is used.
【００２９】[0029]
【発明の効果】以上説明したように本発明の計測方法
は、物体に対して投射したレーザ光の射出時と受光時と
の時間差から物体までの距離を算出し、かつ受光レーザ
光の強度と物体までの距離とから物体の反射率を算出
し、これらの算出結果に基づいて物体を計測しているの
で、電線等の線状物体をも正確に計測することが可能と
なる。また、計測された物体のうち、反射率が所定値以
下の物体を他の物体よりも目立つように表示を行うこと
で、電線等の線状物体を他の物体に対して極めて目立つ
表示を行うことができる。As described above, the measuring method of the present invention calculates the distance to the object from the time difference between the time when the laser beam projected onto the object is emitted and the time when the laser beam is received, and calculates the intensity of the received laser beam. Since the reflectance of the object is calculated from the distance to the object and the object is measured based on these calculation results, it is possible to accurately measure even a linear object such as an electric wire. Further, among the measured objects, by displaying an object whose reflectance is equal to or less than a predetermined value so as to stand out more than other objects, a linear object such as an electric wire is displayed very conspicuously against other objects. be able to.
【００３０】また、本発明の計測装置は、対象となる物
体に対して射出したレーザ光と受光したレーザ光との時
間差から物体までの距離を算出する手段と、受光したレ
ーザ光の強度と物体までの距離距離とに基づいて物体の
反射率を算出する手段と、距離と反射率とに基づいて物
体を認識する処理を行う手段とを備えているので、電線
等の反射率の値が小さく算出される物体を正確に計測す
ることができる。Further, the measuring device of the present invention comprises means for calculating the distance to the object from the time difference between the laser beam emitted to the object and the laser beam received, and the intensity of the received laser beam and the object. Since a means for calculating the reflectance of the object based on the distance to the distance and a means for recognizing the object based on the distance and the reflectance are provided, the value of the reflectance of the electric wire is small. The calculated object can be accurately measured.
【００３１】更に、本発明では、反射率が所定値以下の
特定の物体を他の物体よりも目立つように、その物体の
色彩を他の物体と異なる色彩として表示する表示手段を
備えることで、電線等を山や林等の他の物体に対して極
めて目立つ状態で表示することができ、ヘリコプタ等の
操縦者が直ちに危険物である電線等を確認することがで
きる。Further, in the present invention, by providing a display means for displaying the color of a specific object whose reflectance is equal to or less than a predetermined value as a color different from that of the other object so as to stand out from the other objects, The electric wires and the like can be displayed in a state of being extremely conspicuous with respect to other objects such as mountains and forests, and the operator such as the helicopter can immediately confirm the electric wires and the like that are dangerous goods.
【００３２】また、表示手段は、特定の物体が近接され
たときに、その距離に応じて表示色や表示寸法を変化さ
せ、あるいは特定の記号を付すして表示を行うように機
能されることで、更に危険物を際立って目立たせること
ができる。Further, the display means should function so that, when a specific object is brought close to it, the display color or display size is changed according to the distance, or a specific symbol is added to perform display. With it, dangerous goods can be made to stand out more.
【図１】本発明のレーザ計測装置の一実施例のブロック
構成図である。FIG. 1 is a block configuration diagram of an embodiment of a laser measuring device of the present invention.
【図２】線状物体にレーザビームが投射された状態を示
す図である。FIG. 2 is a diagram showing a state in which a laser beam is projected on a linear object.
【図３】電線を目立つように表示した例を示す模式図で
ある。FIG. 3 is a schematic diagram showing an example in which electric wires are displayed conspicuously.
１ レーザ発振器 ２ 送受信光学系 ３ 光走査装置 ４ 光検出器 ５ 距離算出回路 ６ 反射率算出回路 ７ 処理回路 ８ 距離・反射率情報メモリ ９ 表示部 1 Laser Oscillator 2 Transmitting / Receiving Optical System 3 Optical Scanning Device 4 Photo Detector 5 Distance Calculation Circuit 6 Reflectance Calculation Circuit 7 Processing Circuit 8 Distance / Reflectance Information Memory 9 Display Section
Claims (5)
し、物体で反射されたレーザ光を受光し、前途射出した
レーザ光と受光したレーザ光とに基づいて物体の計測を
行うレーザ計測方法において、前記レーザ光の射出時と
受光時との時間差から物体までの距離を算出し、かつ前
記受光レーザ光の強度と前記物体までの距離とから物体
の反射率を算出し、これらの算出結果に基づいて物体を
計測することを特徴とするレーザ計測方法。1. Laser measurement for emitting a laser beam to a target object, receiving the laser beam reflected by the object, and measuring the object based on the laser beam emitted before and the received laser beam. In the method, the distance to the object is calculated from the time difference between the time of emitting the laser light and the time of receiving the light, and the reflectance of the object is calculated from the intensity of the received laser light and the distance to the object, and these are calculated. A laser measuring method characterized by measuring an object based on a result.
以下の物体を他の物体よりも目立つように表示する請求
項１のレーザ計測方法。2. The laser measuring method according to claim 1, wherein among the measured objects, an object having a reflectance of not more than a predetermined value is displayed so as to stand out more than other objects.
する手段と、物体で反射されたレーザ光を受光する手段
と、前記射出したレーザ光と受光したレーザ光との時間
差から物体までの距離を算出する手段と、前記受光手段
から出力されるレーザ光の強度と前記物体までの距離算
出手段からの距離とに基づいて物体の反射率を算出する
手段と、前記距離と反射率とに基づいて物体を認識する
処理を行う手段とを備えるレーザ計測装置。3. A means for emitting a laser beam to a target object, a means for receiving a laser beam reflected by the object, and a time difference between the emitted laser beam and the received laser beam to the object. A means for calculating a distance, a means for calculating the reflectance of the object based on the intensity of the laser beam output from the light receiving means and the distance from the distance calculating means to the object; and the distance and the reflectance. And a means for recognizing an object based on the laser measuring apparatus.
物体よりも目立つように、その物体の色彩を他の物体と
異なる色彩として表示する表示手段を備える請求項３の
レーザ計測装置。4. The laser measuring device according to claim 3, further comprising display means for displaying the color of the specific object whose reflectance is less than or equal to a predetermined value as a color different from that of the other object so that the specific object is more noticeable than the other objects. .
離に応じて特定の物体の表示色や表示寸法を変化させ、
あるいは特定の記号を付して表示を行う請求項４のレー
ザ計測装置。5. When a specific object is brought into proximity, the display color and the display size of the specific object are changed according to the distance,
Alternatively, the laser measuring device according to claim 4, wherein a display is given with a specific symbol.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6319412A JP2874574B2 (en) | 1994-11-30 | 1994-11-30 | Laser measuring method and measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6319412A JP2874574B2 (en) | 1994-11-30 | 1994-11-30 | Laser measuring method and measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08160137A true JPH08160137A (en) | 1996-06-21 |
| JP2874574B2 JP2874574B2 (en) | 1999-03-24 |
Family
ID=18109911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6319412A Expired - Lifetime JP2874574B2 (en) | 1994-11-30 | 1994-11-30 | Laser measuring method and measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2874574B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009080489A (en) * | 2008-10-27 | 2009-04-16 | Fujifilm Corp | Camera and image input method |
| JP2010160114A (en) * | 2009-01-09 | 2010-07-22 | Sharp Corp | Optical device, and method of detecting object and electronic equipment using the optical device |
| JP2016105226A (en) * | 2014-12-01 | 2016-06-09 | 株式会社キーエンス | Area monitoring sensor |
| JP2017502291A (en) * | 2013-12-25 | 2017-01-19 | パナソニックＩｐマネジメント株式会社 | Image output apparatus, image output method, and image output system |
| JP2022506428A (en) * | 2018-11-02 | 2022-01-17 | ウェイモ エルエルシー | Its application to the calculation of the angle of incidence of a laser beam and the estimation of reflectance |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0420892A (en) * | 1990-05-15 | 1992-01-24 | Fujitsu Ltd | Measuring of distance with laser |
| JPH04152285A (en) * | 1990-10-16 | 1992-05-26 | Furuno Electric Co Ltd | Radar device |
-
1994
- 1994-11-30 JP JP6319412A patent/JP2874574B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0420892A (en) * | 1990-05-15 | 1992-01-24 | Fujitsu Ltd | Measuring of distance with laser |
| JPH04152285A (en) * | 1990-10-16 | 1992-05-26 | Furuno Electric Co Ltd | Radar device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009080489A (en) * | 2008-10-27 | 2009-04-16 | Fujifilm Corp | Camera and image input method |
| JP4611412B2 (en) * | 2008-10-27 | 2011-01-12 | 富士フイルム株式会社 | Camera and image input method |
| JP2010160114A (en) * | 2009-01-09 | 2010-07-22 | Sharp Corp | Optical device, and method of detecting object and electronic equipment using the optical device |
| JP2017502291A (en) * | 2013-12-25 | 2017-01-19 | パナソニックＩｐマネジメント株式会社 | Image output apparatus, image output method, and image output system |
| JP2016105226A (en) * | 2014-12-01 | 2016-06-09 | 株式会社キーエンス | Area monitoring sensor |
| JP2022506428A (en) * | 2018-11-02 | 2022-01-17 | ウェイモ エルエルシー | Its application to the calculation of the angle of incidence of a laser beam and the estimation of reflectance |
| US11592524B2 (en) | 2018-11-02 | 2023-02-28 | Waymo Llc | Computation of the angle of incidence of laser beam and its application on reflectivity estimation |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2874574B2 (en) | 1999-03-24 |
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