JPH09189767A - Distance measuring equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure the distance easily even in a limited space by transmitting/ receiving a measuring wave at a movable and bendable tip of a transmitting/ receiving line and detecting the propagation delay thereof. SOLUTION: The tips of a transmission line 1 and a receiving line 2 are flexibly bendable and movable in structure. Consequently, a measuring person can enter the lines 1, 2 into a thin curved tube and advance the lines 1, 2 through the tube. A measuring wave transmitted from the forward end of line 1 is reflected on an object located in the transmitting direction and received at the forward end of line 2. A detecting means 3 detects the propagation delay of reflected wave and a distance calculating means 4 calculates the distance to the object based on the propagation delay. Consequently, the distance can be measured easily even in a limited space or a thin curved tube.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distance measuring device for transmitting a measuring wave in a predetermined direction and measuring the distance to a target located in the predetermined direction based on the propagation delay of the returning measuring wave. In particular, the present invention relates to a distance measuring device in which a measuring wave transmitting unit and a measuring wave receiving unit are independent of the device body and are movably arranged.

[0002]

2. Description of the Related Art Generally, there is known a distance measuring device which calculates a distance to a target by measuring a time until a measuring wave is transmitted and a reflected wave thereof is received.

Further, as a distance measuring device used in a moving body such as an automobile, a light transmitting / receiving optical system and a distance measuring device main body are connected by an optical fiber, and the light transmitting / receiving optical system is separated from the main body and separated from the main body. There has been proposed a distance measuring device that is fixed to a place (Japanese Patent Laid-Open No. 5-232227).
For example, when this distance measuring device is placed in a noisy place such as an automobile engine to perform measurement, the light-transmitting / receiving optical system can be fixed to a place away from the noise source such as a bumper of the automobile, so that it is not affected by noise. Can be measured.

[0004]

In recent years, there has been a demand for a sensor for knowing the internal conditions of a narrow place or a dangerous place where humans cannot enter at the site of civil engineering or construction. However, the conventional distance measuring device has a problem that it is very difficult to perform the measurement in a narrow place where a person cannot enter, such as a thin pipe, a narrow ceiling, or a narrow floor.

This is because it is difficult to arrange the device itself, and even if the device can be arranged, it cannot be operated unless a person can enter it. Furthermore, since the measurer cannot directly enter, the inside condition cannot be visually checked, and the measurement target cannot be accurately irradiated with the laser light. In the distance measuring device described in Japanese Patent Laid-Open No. 5-232227, it is impossible to solve these problems because of the structure in which the light transmitting / receiving optical system is fixed at a position apart from the main body.

In order to solve the above-mentioned problems, it is an object of the present invention to provide a distance measuring device capable of easily measuring a distance even in a narrow space. The present invention as set forth in claims 4 and 5 has an object to provide a distance measuring device capable of confirming a situation in a narrow space, in addition to the above objects.

[0007]

FIG. 1 is a block diagram showing the principle of the first aspect of the present invention. The invention according to claim 1 is such that the tip is free to move, and the bendable transmission line 1 transmits the measurement wave from the tip, and the tip is free to move.
A bendable reception line 2 that receives a measurement wave returning from the transmission direction at its tip, a detection unit 3 that detects a propagation delay of the measurement wave received by the reception line 2, and a propagation delay detected by the detection unit 3 And a distance calculating means 4 for calculating the distance to the target located in the transmission direction.

FIG. 2 is a block diagram showing the principle of the invention described in claim 2. The invention according to claim 2 is the distance measuring device according to claim 1, wherein the transmission line 1 emits the measuring light which is a measuring wave, and the rear end of the measuring light emitted by the light emitting means 5. The receiving line 2 is configured to include a light-sending fiber 6 that receives the measurement light, propagates the measurement light received at the rear end to a floating tip, and sends the measurement light to the outside from the tip. The measuring light returning from the receiving end is received by the movable tip and propagated to the rear end, and the light receiving means 8 for receiving the measuring light propagated to the rear end of the light receiving fiber 7 is provided. 3 is characterized by detecting the propagation delay of the measurement light received by the light receiving means 8.

FIG. 3 is a block diagram showing the principle of the invention described in claim 3. According to a third aspect of the present invention, in the distance measuring device according to the first aspect, the transmission line 1 is disposed at a tip of the transmission cable 9 which is freely movable, and the transmission cable 1 is disposed at the freely movable tip of the transmission cable 9 and the measurement wave And a light transmitting means 10 for transmitting the measuring light to the outside.
A light receiving means 11 for receiving the measuring light returning from the light transmitting direction and converting it into a received signal, and a receiving means in which the light receiving means 11 is arranged at a free end, and the received signal converted by the light receiving means 11 propagates to the rear end. The detecting means 3 detects the propagation delay of the measuring light based on the received signal propagated to the rear end of the receiving cable 12.

FIG. 4 is a block diagram showing the principle of the invention described in claims 4 and 5. The invention described in claim 4 is the first invention.
The distance measuring device according to any one of claims 1 to 3 is configured to include an image capturing unit 13 that captures an image of a target located in the transmission direction and outputs image information. The invention according to claim 5 is the distance measuring device according to claim 4,
It is characterized in that the front end of the transmission line 1, the front end of the reception line 2, and the imaging means 13 are integrally formed.

(Operation) In the distance measuring device according to the first aspect, the transmission line 1 and the reception line 2 have a bendable structure. Further, the tip is not fixed and is in a freely movable state in which it can move freely. Therefore, the measurer can put the transmission line 1 and the reception line 2 in a curved thin tube or the like and push them forward.

A measuring wave is transmitted from the tip of the transmission line 1. The measurement wave is reflected by the target located in the transmission direction, and the reflected wave is received by the tip of the reception line 2. The detecting means 3 detects the propagation delay of the reflected wave, and the distance calculating means 4 calculates the distance to the target based on the propagation delay. Therefore, the distance measuring device according to the first aspect can perform distance measurement even in a narrow space or a curved thin tube.

In the distance measuring device according to the second aspect, the measuring light is emitted from the light emitting means 5. The measurement light is received by the rear end of the light transmitting fiber 6, propagates through the light transmitting fiber 6, and reaches the front end. The measurement light reaching the tip of the light transmitting fiber 6 is transmitted to the outside. On the other hand, the measurement light returning from the light transmitting direction is received by the tip of the light receiving fiber 7. The measurement light received at the tip propagates through the light receiving fiber 7 and reaches the rear end of the light receiving fiber 7. The measurement light reaching the rear end is received by the light receiving means 8.

The detecting means 3 detects the propagation delay of the measuring light received by the light receiving means 8. The light-transmitting fiber 6 and the light-receiving fiber 7 are bendable, and the tip ends thereof are free to move. Therefore, the measurer can measure the distance by inserting the light transmitting fiber 6 and the light receiving fiber 7 into a curved thin tube or the like.

In the distance measuring device according to the third aspect, the light transmitting means 10 is arranged at the tip of the transmission cable 9 and transmits the measurement light to the outside. On the other hand, the light receiving means 11 is the receiving cable 1
It is arranged at the tip of 2 and receives measurement light returning from the outside and converts it into a reception signal. The reception signal converted by the light receiving means 11 propagates through the reception cable 12 and is received by the detection means 3.

The detecting means 3 detects the propagation delay of the measuring light. Since the transmission cable 9 and the reception cable 12 are bendable, the light transmitting means 10 and the light receiving means 11 are in a freely movable state. Therefore, the measurer uses the light transmitting means 1
The distance can be measured by putting 0 and the light receiving means 11 in a bent thin tube or the like.

In the distance measuring device according to the fourth aspect, the imaging means 13 images the target located in the transmission direction of the measurement wave. The image capturing means 13 converts the captured image into image information and outputs the image information. In the distance measuring device according to the fifth aspect, the distal end portion of the transmission line 1, the distal end portion of the reception line 2, and the image pickup means 13 are integrally configured, and are in a freely movable state as one unit.

Therefore, the measurer can measure the distance by putting the tip of the transmission line 1, the tip of the reception line 2 and the image pickup means 13 as a unit into a curved thin tube or the like. .

[0019]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
An embodiment will be described (corresponding to the invention described in claims 1, 2, 4, and 5). FIG. 5 is a configuration diagram of the first embodiment. In FIG. 5, the main body 22 includes a microprocessor 2
3 is arranged, the first output terminal of the microprocessor 23 is connected to the laser diode 25 via the drive circuit 24.
Connected to.

A lens 26a is arranged at a position where the laser light is emitted from the laser diode 25, and a rear end of the light transmitting fiber 27 is arranged at a condensing point of the lens 26a. In addition, the light transmitting lens 28 is provided on the optical axis at the tip of the light transmitting fiber 27.
a is arranged. On the other hand, adjacent to the light transmitting lens 28a,
The light receiving lens 28b is arranged. The tip of the light receiving fiber 29 is arranged at the light collecting point of the light receiving lens 28b. The light receiving element 30 is arranged on the optical axis at the rear end of the light receiving fiber 29 via the lens 26b.

The output terminal of the light receiving element 30 is connected to the comparator 32 via the amplifier 31, and the comparator 32
Is connected to the input terminal of the microprocessor 23. The second output terminal of the microprocessor 23 is connected to the input terminal of the distance display section 33. On the other hand, the main body 22
The input terminal of the image display unit 34 arranged in
The image processing unit 35 is connected to a CCD camera 37 via a camera cable 36. The CCD camera 37 has illumination.

Further, the light transmitting lens 28a and the light receiving lens 28
b and the CCD camera 37 are integrally configured to form a sensor head 38. In addition, the invention according to claim 1,
Regarding the correspondence with the first embodiment, the transmission line 1 includes a laser diode 25, a lens 26a, and a light transmitting fiber 2.
7 and the light transmitting lens 28a, the receiving line 2 corresponds to the light receiving lens 28b, the light receiving fiber 29, the lens 26b and the light receiving element 30, and the detecting means 3 is the comparator 32.
And the microprocessor 23, and the distance calculating means 4 corresponds to the microprocessor 23.

Regarding the correspondence relationship between the invention according to claim 2 and the first embodiment, the detecting means 3 includes a comparator 3
2 and the microprocessor 23, the distance calculating means 4 corresponds to the microprocessor 23, the light emitting means 5 corresponds to the laser diode 25, and the light transmitting fiber 6 corresponds to the lens 26a, the light transmitting fiber 27 and the light transmitting lens 28a. Correspondingly, the light receiving fiber 7 corresponds to the light receiving lens 28b, the light receiving fiber 29 and the lens 26b, and the light receiving means 8 corresponds to the light receiving element 30.

Regarding the correspondence relationship between the invention described in claims 4 and 5 and the first embodiment, the image pickup means 13 together with the correspondence relationship between the invention described in claim 1 and the above-mentioned embodiment.
Corresponds to the CCD camera 37. Next, the operation of the first embodiment will be described. When performing normal distance measurement using the first embodiment, it is used in the state shown in FIG.

When measuring the inside of a thin tube, as shown in FIG. 7, the measurer pulls out the sensor head 38 from the main body 22 and inserts it into the thin tube. The CCD camera 37 photoelectrically converts the internal image information into an image signal and outputs it to the image processing unit 35. The image processing unit 35 amplifies the image signal and performs signal processing such as gamma correction and edge enhancement. The image display unit 34 displays an image inside the tube based on the image signal processed by the image processing unit 35.

The measurer can move the sensor head 38 while observing the inside. Further, the operation when performing distance measurement will be described. A start signal is output from the microprocessor 23 to the drive circuit 24, and laser light is emitted from the laser diode 25.

The laser light emitted from the laser diode 25 is a lens 26a, a light transmitting fiber 27, and a light transmitting lens 2.
It is emitted from the sensor head 38 to the outside via 8a. On the other hand, the laser light returning from the outside is condensed by the light receiving lens 28b of the sensor head 38, and the light receiving fiber 29
The light is received by the light receiving element 30 via the lens 26b.

The light receiving element 30 converts the light receiving signal into an electric signal, and when the electric signal exceeds the threshold, the comparator 32 outputs a stop signal to the microprocessor 23. The microprocessor 23 measures the time from the transmission of the start signal to the reception of the stop signal and calculates the distance.

The microprocessor 23 is the optical fiber 2
The distance of 7 and the distance of the light receiving fiber 29 are subtracted, and the distance display unit 33 displays the distance to the measurement object. As described above, in the distance measuring device according to the first embodiment, the sensor head 38 is independent of the main body 22 and is free to move. Therefore, the measurer can measure the distance by putting the sensor head 38 in a narrow space or a dangerous place.

Further, the light transmitting fiber 27 and the light receiving fiber 2
9. By lengthening the camera cable 36 appropriately,
It is possible to measure a wide range deep inside the pipe. Further, since the optical fiber 27, the light receiving fiber 29, and the camera cable 36 are freely bendable, the sensor head 38 can be moved even in a bent tube or a place with some irregularities.

Further, since the measurer can measure the distance while visually observing the internal image taken by the CCD camera 37 on the image display unit 34, the visual information such as the shape of the object to be measured and the distance information are simultaneously measured. The condition inside the pipe can be grasped more accurately.

Next, a second embodiment of the present invention will be described (corresponding to the invention described in claims 1, 3 to 5). FIG. 8 is a configuration diagram of the second embodiment. In FIG. 8, the main body 2
2, a microprocessor 23 is arranged, and a first output terminal of the microprocessor 23 is connected to the drive circuit 24 via a transmission cable 39.

The output terminal of the drive circuit 24 is connected to the laser diode 25, and the light transmitting lens 28a is arranged at a position where the laser light is emitted from the laser diode 25. A light receiving lens 28b is arranged adjacent to the light transmitting lens 28a. The light receiving element 3 is provided at the light collecting point of the light receiving lens 28b.
0 is arranged, and the output terminal of the light receiving element 30 is connected to the amplifier 31 arranged in the main body 22 via the reception cable 40.

The output terminal of the amplifier 31 is a comparator 32.
Is connected to the input terminal of the microprocessor 23 via. The second output terminal of the microprocessor 23 is connected to the input terminal of the distance display section 33. On the other hand, the input terminal of the image display unit 34 arranged in the main body 22 is the image processing unit 35.
The image processing unit 35 is connected to a CCD camera 37 via a camera cable 36. The CCD camera 37 has illumination.

The drive circuit 24, the laser diode 25, the light transmitting lens 28a, the light receiving lens 28b, the light receiving element 30, and the CCD camera 37 are integrally formed to form a sensor head 38. In addition, the invention according to claim 1,
Regarding the correspondence relationship with the second embodiment, the transmission line 1 corresponds to the transmission cable 39, the laser diode 25 and the light transmitting lens 28a, and the reception line 2 corresponds to the light receiving lens 28b,
Corresponding to the light receiving element 30 and the receiving cable 40, the detecting means 3 includes a comparator 32 and a microprocessor 23.
The distance calculation means 4 corresponds to the microprocessor 23.

Regarding the correspondence relationship between the invention according to claim 3 and the second embodiment, the detecting means 3 includes a comparator 3
2 and the microprocessor 23, the distance calculating means 4 corresponds to the microprocessor 23, the transmitting cable 9 corresponds to the transmitting cable 39, the light transmitting means 10 corresponds to the laser diode 25 and the light transmitting lens 28a, and the light receiving The means 11 corresponds to the light receiving lens 28b and the light receiving element 30, and the receiving cable 12 corresponds to the receiving cable 40.

Regarding the correspondence relationship between the invention described in claims 4 and 5 and the second embodiment, the image pickup means 13 together with the correspondence relationship between the invention described in claim 1 and the above-mentioned embodiment.
Corresponds to the CCD camera 37. Next, the operation of the second embodiment will be described. When performing normal distance measurement using the second embodiment, it is used in the state shown in FIG. 6 as in the first embodiment.

When measuring the inside of a thin tube,
As shown in FIG. 7, as in the first embodiment, the measurer pulls out the sensor head 38 from the main body 22 and puts it in a thin tube. The CCD camera 37 photoelectrically converts the internal image information into an image signal and outputs it to the image processing unit 35. Image processing unit 3
Reference numeral 5 amplifies the image signal, performs signal processing such as gamma correction and edge enhancement, and the image display section 34 displays an image inside the tube based on the image signal processed by the image processing section 35.

The measurer can move the sensor head 38 while observing the inside. Further, the operation when performing distance measurement will be described. A start signal is output from the microprocessor 23 to the drive circuit 24 via the transmission cable 39, and laser light is emitted from the laser diode 25. The laser light emitted from the laser diode 25 is emitted to the outside via the light transmitting lens 28a.

On the other hand, the laser light returning from the outside is condensed by the light receiving lens 28b of the sensor head 38 and received by the light receiving element 30. The light receiving element 30 converts the received light signal into an electric signal, and the electric signal is received by the receiving cable 40 and the amplifier 3.
It is output to the comparator 32 via 1. The comparator 32 outputs a stop signal to the microprocessor 23 when the electric signal exceeds the threshold.

The microprocessor 23 measures the time from the transmission of the start signal to the reception of the stop signal and calculates the distance. The microprocessor 23 subtracts the distance between the transmission cable 39 and the reception cable 40 and causes the distance display unit 33 to display the distance to the measurement object. As described above, in the distance measuring device according to the second embodiment, the sensor head 38 is independent of the main body 22 and is free to move. Therefore, the measurer can measure the distance by putting the sensor head 38 in a narrow space or a dangerous place.

Further, the transmitting cable 39 and the receiving cable 4
0, by appropriately lengthening the camera cable 36,
It is possible to measure a wide range deep inside the pipe. Furthermore, since the transmission cable 39, the reception cable 40, and the camera cable 36 are freely bendable, the sensor head 38 can be moved even in a bent pipe or a place with some irregularities.

Further, since the measurer can measure the distance while visually observing the internal image taken by the CCD camera 37 on the image display section 34, the visual information such as the shape of the object to be measured and the distance information are simultaneously measured. The condition inside the pipe can be grasped more accurately. Note that the first,
In the second embodiment, based on the delay time of laser light,
Although the distance is calculated, the distance may be calculated based on the phase difference between the transmitted wave and the received wave.

Further, in the above-described first and second embodiments, the image processing section 35 and the image display section 34 are provided in the main body 22, but the present invention is not limited to this. For example, image information may be output to an external device, and the external device may perform image processing and image display. Further, the CCD camera 37 is provided with illumination, but the configuration is not limited to this, and the measurement light may be used instead of illumination. In this case, the configuration can be simplified, and the influence of illumination during measurement, that is, the adverse effect of the light receiving element receiving the illumination light as noise light can be avoided.

In the first and second embodiments described above, the sensor head 38 has a structure in which the laser light transmitter, the light receiver, and the CCD camera 37 are integrated, but the present invention is not limited thereto. May have an independent configuration.
In this case, the light receiving section needs to be able to receive the laser beam from any direction, and therefore, for example, a plurality of light receiving sections are used. The CCD camera 37 is also configured to be capable of capturing an image in a wide range by using a plurality of cameras or attaching a wide-angle lens, for example.

With such a structure, the light-transmitting section and the light-receiving section can be separately arranged for distance measurement. For example, the length of the U-shaped tube can be measured by arranging the light transmitting section on one side of the U-shaped tube and the light receiving section on the other side. Further, although the CCD camera 37 is used as the image pickup means 13, the invention is not limited to this. For example, you may look directly at using a fiberscope.

Further, the distance measuring device of the first embodiment may be provided with a winding mechanism for winding the light transmitting fiber 27, the light receiving fiber 29 and the camera cable 36.
With such a configuration, the length of the fiber can be smoothly adjusted, and the storage space for the fiber can be reduced. Further, it does not damage the stored fiber.

Further, in the first embodiment, the light transmitting fiber 27 is used for transmitting and the light receiving fiber 29 is used for receiving light, but the present invention is not limited to this. For example, as shown in FIG. 9, a half mirror 41 may be obliquely arranged at a position where laser light is emitted from the laser diode 25, and light may be transmitted and received by one optical fiber 42.

With such a structure, the structure can be simplified. Moreover, the storage space of the fiber can be reduced. Furthermore, it is possible to easily take in and out the fiber. In the distance measuring device of the second embodiment, the transmission cable 39 and the reception cable 40 are
It uses a book cable, but is not so limited.

For example, by transmitting the transmission signal and the reception signal in a time-division manner, it is possible to form a single cable. Further, in the above-described second embodiment, if the generation of the laser light and the measurement start of the microprocessor 23 are synchronized, the transmission cable 39 can be omitted. In this case, the configuration can be simplified and the storage space for the cable can be reduced. Further, the cable can be easily put in and taken out.

Furthermore, in the distance measuring device of the second embodiment, laser light is used as the measuring wave, but the present invention is not limited to this. For example, a propagating wave having a reflective property such as a sound wave or an electromagnetic wave can be used.

[0052]

According to the first aspect of the invention, the tip of the transmission line that transmits the measurement wave and the tip of the reception line that receives the measurement wave are in a freely movable state.

The conventional distance measuring device cannot measure in a place where humans cannot enter. However,
According to the first aspect of the invention, the distance can be measured by inserting the transmission line and the reception line even in a narrow place where a person cannot enter or a dangerous place. Further, in the invention according to the first aspect, the measurer can measure the distance over a wide range by appropriately lengthening the line.

Further, since the bendable line is used, distance measurement can be performed even in a bent thin tube or in a place with some irregularities. According to the second aspect of the invention, the tip of the light transmitting fiber for transmitting the measurement light and the tip of the light receiving fiber for receiving the measurement light are in a freely movable state. Therefore, according to the second aspect of the present invention, the distance can be measured only by inserting the light transmitting fiber and the light receiving fiber even in a narrow place where a person cannot enter or a dangerous place.

According to the second aspect of the invention, the measurer can measure the distance over a wide range by appropriately lengthening the fiber. Furthermore, since a bendable fiber is used, distance measurement can be performed even in a bent thin tube or in a place with some irregularities. According to the third aspect of the invention, the light transmitting means is movably arranged at the tip of the transmission cable, and the light receiving means is movably arranged at the tip of the reception cable.

Therefore, in the invention described in claim 3,
Distance can be measured by inserting the light transmitting means and the light receiving means even in a narrow place where a person cannot enter or a dangerous place. Further, in the invention according to claim 3, the measurer can measure the distance over a wide range by appropriately lengthening the cable.

Furthermore, since a bendable cable is used, distance measurement can be performed even in a bent thin tube. In the invention described in claim 4, the image pickup means outputs the image information. Therefore, even if the distance measurement is performed in a narrow place where a person cannot enter, the measurer can visually confirm the inside of the distance measurement based on the image information.

In the invention described in claim 5, the tip of the transmission line, the tip of the reception line, and the image pickup means are integrally formed. Therefore, even if the distance measurement is performed in a narrow place where a person cannot enter, the measurer can visually check the inside of the distance measurement. Furthermore, the measurer can always confirm the measurement target, and can accurately transmit the measurement wave to the measurement target.

Further, the measurer can obtain the image information such as the shape of the object to be measured and the distance information at the same time, and can more accurately grasp the internal state of the distance measurement. Furthermore, it is possible to easily take in and out the railroad track, and the operability is remarkably improved. As described above, the distance measuring device to which the present invention is applied can measure the distance even in a narrow space.

[Brief description of the drawings]

FIG. 1 is a principle block diagram of the invention according to claim 1;

FIG. 2 is a principle block diagram of the invention according to claim 2;

FIG. 3 is a principle block diagram of the invention according to claim 3;

FIG. 4 is a principle block diagram of the invention described in claims 4 and 5.

FIG. 5 is a configuration diagram of the first embodiment.

FIG. 6 is an external view of the first embodiment.

FIG. 7 is a diagram showing a measurement according to the first embodiment.

FIG. 8 is a configuration diagram of a second embodiment.

FIG. 9 is a diagram showing another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 transmission line 2 reception line 3 detection means 4 distance calculation means 5 light emission means 6, 27 light transmission fiber 7, 29 light reception fiber 8, 11 light reception means 9, 39 transmission cable 10 light transmission means 12, 40 reception cable 13 imaging means 22 Main body 23 Microprocessor 24 Drive circuit 25 Laser diode 26a, 26b Lens 28a Light transmitting lens 28b Light receiving lens 30 Light receiving element 31 Amplifier 32 Comparator 33 Distance display section 34 Image display section 35 Image processing section 36 Camera cable 37 CCD camera 38 Sensor head 41 Half mirror 42 optical fiber

Claims (5)

[Claims] 1. A bendable transmission line whose tip is movable and which transmits a measurement wave from its tip, and a bendable transmission line whose tip is movable and which receives the measurement wave returned from the transmission direction at its tip. A reception line, a detection unit that detects a propagation delay of the measurement wave received by the reception line, and a distance to a target located in the transmission direction based on the propagation delay detected by the detection unit. A distance measuring device comprising: 2. The distance measuring device according to claim 1, wherein the transmission line receives at a rear end the light emitting unit that emits the measurement light that is the measurement wave, and the measurement light that is emitted by the light emitting unit. A light transmitting fiber for propagating the measurement light received at the rear end to a floating front end and transmitting the measurement light to the outside from the front end, and the reception line from the light transmission direction. The detecting means is configured to include a light receiving fiber that receives the measuring light returning at the free end and propagates to the rear end, and a light receiving unit that receives the measuring light propagated to the rear end of the light receiving fiber. Is a distance measuring device characterized by detecting a propagation delay of measurement light received by the light receiving means. 3. The distance measuring device according to claim 1, wherein the transmission line has a transmission cable having a free end, and a measuring light which is arranged at the free end of the transmission cable and which is the measurement wave. And a light-receiving means for receiving the measurement light returning from the light-transmitting direction and converting it into a reception signal, and a free end of the light-receiving means. And a reception cable that propagates the reception signal converted by the light receiving means to the rear end, and the detection means is based on the reception signal propagated to the rear end of the reception cable. A distance measuring device, which detects a propagation delay of the measuring light. 4. The distance measuring device according to claim 1, further comprising an image pickup means for picking up an image of a target located in the transmission direction and outputting image information. And distance measuring device. 5. The distance measuring device according to claim 4, wherein the distal end portion of the transmission line, the distal end portion of the reception line, and the imaging means are integrally configured. apparatus.