JPH10307023A - Light-wave sensor device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain target information including the distance of a distant target by using one slit-equipped imaging device by a method wherein the slit-equipped imaging device is turned up to an angle at which respective images obtained by the first slit and the second slit of the slit-equipped imaging device agree. SOLUTION: A slit-equipped infrared imaging device 10 which is installed on a rotating frame detects the infrared rays of a distant target through a first slit. It is then turned so as to acquire image information 6 on the same target through a second slit. A rotating-frame rotation angle 15 at a point of time when pieces of image information 6 on the same target obtained through the first and second slits agrees is sent to a distance computing device 12. The distance computing device 12 computes the distance of the target. A tracking computing device 3, to which the image information 6 to be output from the slit-equipped infrared imaging device 10 and distance information 7 to be output from the distance computing device 12 are input, computes the position, the direction and the speed of the target as target data 8, and the data are output to a shooting computing device 4. Since the image information 6 and the distance information 7 can be acquired by only the imaging device 10, the concealment property of a light-wave sensor device is excellent.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a light wave sensor device used as an anti-aircraft defense device for detecting information on a target with high confidentiality. The present invention relates to a lightwave sensor device that can be used.

[0002]

2. Description of the Related Art FIG. 10 is a diagram showing the configuration of a conventional lightwave sensor device for detecting and tracking a target. The conventional lightwave sensor device includes an infrared imaging device 1 for acquiring a target image, and a distance between the target and the infrared imaging device. A laser ranging device 2 for acquiring information, and a tracking calculation device 3 for calculating the position, direction and speed of a target
A shooting calculation device 4 that calculates a target future predicted position and determines whether or not the target is within range (in-range determination);
Infrared imaging device 1, laser ranging device 2, shooting calculation device 4
And an image display device 5 for displaying the target information obtained from.

Next, the operation will be described in detail. The infrared imaging device 1 detects infrared light radiated from the distant target itself, amplifies it to a required level, performs signal processing, and outputs the image information 6 to the tracking calculation device 3. The laser distance measuring device 2 irradiates a laser to the target, calculates a distance to the target based on a time difference until a reflected wave returns from the target, and uses the calculated distance as distance information 7 as a tracking calculation device. Output to 3. The tracking calculating device 3 receives the image information 6 from the infrared imaging device 1 and the distance information 7 from the laser distance measuring device 2 as inputs, calculates the target position, azimuth and speed as target specifications 8, and calculates the shooting calculation device 4. Output to The shooting calculation device 4 receives the target specification 8 as input and calculates the target future position and the result of the in-range determination as target prediction information 9. The target prediction information 9 is visualized as target information together with the image information 6 and the distance information 7 and displayed on the image display device 5. For example, when the future position of the target is within the range, a determination for issuing a firing command to the gun is made. Used to provide materials to humans.

[0004]

The conventional lightwave sensor device calculates the distance to the target by irradiating the target with a laser using a laser distance measuring device (active distance measuring method). For this reason, for example, in the case of a helicopter equipped with a laser irradiation warning device, such as a recent military helicopter, it is possible to easily detect that the own machine is irradiated with the laser. Therefore,
When using an active distance measurement method with inferior confidentiality as a target detection / tracking light wave sensor device, there is a major problem that the distance is measured to an enemy or the laser irradiation source is detected.

On the other hand, as described in Japanese Patent Application Laid-Open No. 2-78906, a photodetector having sensitivity to two different wavelength bands is used without using a laser distance measuring device.
There has been a method of measuring a distance to a target with one infrared imaging device by using a difference between an input signal value from one wavelength band and an atmospheric transmittance in two wavelength bands. Since this method requires only one infrared imaging device, the cost is lower than, for example, a triangulation method in which distance measurement is performed using two infrared imaging devices, and the distance and orientation between a plurality of infrared imaging devices are reduced. There is no need for calculation, and there is no need for a complicated control system that performs control so that a plurality of infrared imaging devices are synchronized to capture the same target. However, in this method, in order to calculate the atmospheric transmittance, it is necessary to measure atmospheric data such as the atmospheric temperature and humidity from the photodetector to the target in advance. If it is stable, there is a problem that an error occurs in the acquired atmospheric data, which affects the distance measurement accuracy. Further, there is a disadvantage that it is necessary to know the target temperature information in advance, and it is not possible to cope with an unknown target. Furthermore, since two types of expensive lightwave detecting elements having different wavelength bands are used, there is a problem that the cost increases.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described technical problem, and uses a single imaging device whose purpose is to acquire target image information, and includes a target including a distance of a distant target. An object is to obtain a light wave sensor device for calculating information.

[0007]

According to a first aspect of the present invention, there is provided a light wave sensor device comprising: a focus adjusting lens; a light detecting element; and a light detecting element for detecting an image at both ends of the light detecting element surface. An imager with a slit provided with a slit plate having a first slit and a second slit respectively provided between the device and an element, a support member for supporting the imager with a slit, and the support member are coupled. Rotating base having a rotating part disposed in such a manner that a longitudinal direction of the first and second slits and a rotation axis of the rotating part are parallel to each other, and the imager with the slit is driven to rotate on an arc. Driving control of the gantry so as to rotate the imager with a slit to an angle at which an image obtained through the first slit and an image obtained through the second slit coincide with each other. And control means, the rotation angle, the distance and the first and the rotary shaft and the light detection element surface to the image of the first slit and the second slit are identical,
A distance calculating means for calculating a distance to a target from a viewing angle from the second slit.

The light wave sensor device according to a second aspect of the present invention is the light wave sensor device according to the first aspect, wherein a tracking imager for tracking a target to obtain a target image and a direction of the target, and a target distance obtained from the distance calculating means. Calculating means for calculating the target position, azimuth and speed based on the target direction obtained from the tracking imager and calculating the target future position based on the target position, azimuth and speed and determining whether the target is within range. A shooting calculation means for determining whether the shooting is performed, and an image display means for displaying information from the shooting calculation means.

Further, the light wave sensor device according to a third aspect of the present invention is the image sensor with slits according to the first aspect, further comprising tracking means for tracking a target to obtain a target image and a direction of the target.
Calculating means for calculating the position, direction and speed of the target based on the distance of the target and the direction of the target;
The camera includes a shooting calculation means for calculating a target future position based on an azimuth and a speed and determining whether or not the target is within a range, and an image display means for displaying information from the shooting calculation means.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 is a configuration diagram showing Embodiment 1 of the present invention, and includes an infrared imaging device 1, a tracking calculation device 33, a shooting calculation device 4, an image display device 5, an infrared imaging device with a slit 10, which is a tracking imaging device, Rotation drive control device 11
And a distance calculation device 12. The infrared imaging device 1, the tracking calculation device 3, the shooting calculation device 4, and the image display device 5 are the same as those in the related art. The slit-equipped infrared imaging device 10 includes a focus adjustment lens 10a, a photodetector 10b that photoelectrically converts an image formed by the focus adjustment lens 10a, and a photodetector 10b between the focus adjustment lens 10a and the photodetector 10b. And a slit plate 10c provided. The slit plate 10c has, for example, a rectangular hole in the center of a rectangular thin plate, and two slits, a first slit and a second slit, arranged outside the hole so as to be symmetrical with respect to the hole. The light condensed by the focus adjusting lens 10a and passed through the first and second slits of the slit plate 10c is imaged at one of both ends of the photodetector 10b. It is set up to connect. For example, when the photodetector has 500 × 500 pixels, one row of pixels (1 × 500 pixels) at both ends of the photodetector is used.
The width, length, and position of the slit are determined so that light from the first and second slits forms an image on each pixel. Also,
The rotation drive control device 11 controls the rotation drive of a rotation gantry 11b (not shown) on which the infrared imaging device with a slit 10 is installed. The rotary gantry 11b has a rotating part that is driven to rotate, and the infrared imaging device with slit 10 is coupled to the rotary unit via a support member 11c that supports the infrared imaging device with slit 10. At this time, the longitudinal directions of the first and second slits of the infrared imaging device with slits 10 are arranged so as to be parallel to the rotation axis of the rotating part of the rotating gantry 11b. In addition, the distance R between the rotation axis of the rotating unit of the rotating gantry 11b and the infrared imaging apparatus with slit 10 is sufficiently spaced by a predetermined distance. FIG. 2 is a conceptual diagram of the first embodiment.

Next, the operation of the first embodiment will be described.
The infrared imaging device 1 detects only infrared rays radiated from the distant target itself, amplifies it to a required level, performs signal processing, and then sends image information 6 for target detection and tracking to the tracking calculation device 3. Output. As shown in the conceptual diagram of FIG. 2, the infrared imaging apparatus 10 with a slit installed on the rotary base at a predetermined distance from the rotation axis detects infrared light of a distant target through the first slit. In addition, the slit-equipped infrared imaging device 10 is
1 rotates on the basis of the rotary gantry drive signal 13 output from
To get. The rotation drive control device 11 rotates the rotation angle of the rotating gantry when the same target image information 6 obtained through the first and second slits provided at a distance from the center of the image coincides with each other. It is measured by an angle detector provided on the gantry and sent to the distance calculator 12. The distance calculation device 12 calculates a target distance using “Equation 1” based on the rotation angle 15 of the rotating gantry and the image information 6.

[0012]

(Equation 1)

Conventionally, in the passive ranging method, a target position in an image is obtained by using two image pickup devices. Therefore, when the target appears to be about one pixel in size from the characteristics of the detection element, the target is detected. Since the same target cannot be determined by the two imagers unless the pixel is moved by one pixel, the distance measurement error increases. However, even if a target having the same size of one pixel is detected by using the angle difference information with respect to the target, the distance of the target can be calculated by using the rotation angle of the rotating gantry using one imager. , The error can be reduced. Further, by increasing the rotation accuracy of the gantry, highly accurate image information can be obtained. On the other hand, the tracking calculation device 3 receives the image information 6 output from the infrared imaging device 1 and the distance information 7 output from the distance calculation device 12 and calculates a target position, a direction, and a speed as target specifications 8, Output to the shooting calculator 4. The shooting calculation device 4 receives the target specification 8 and calculates the target future position and the result of the in-range determination as the target prediction information 9. A symbol visualized based on the target prediction information 9 and the target image information 6 are displayed on the image display device 5. In the present embodiment, the case where the infrared imaging device 1 is used as the imaging device is shown, but the imaging device is not limited to this, and for example, a device that can obtain a target image like a visible imaging device Should be fine. The slit may have a longitudinal direction parallel to the rotation axis, and may have slits on the left and right if the rotation axis is upright, and may have slits on the top and bottom if the rotation axis is horizontal.

Embodiment 2 FIG. FIG. 4 is a block diagram showing a second embodiment of the present invention, in which a tracking calculation device 3, a shooting calculation device 4, an image display device 5, an infrared imaging device with a slit 10, a rotation drive control device 11, and a distance calculation device 12 It is composed of FIG. 5 shows a conceptual diagram of the second embodiment.

Next, the operation of the second embodiment will be described.
As shown in the conceptual diagram of FIG. 5, one infrared imaging device acquires image information for calculating target image information and distance information. First, in order to obtain image information for calculating the target distance, the infrared imaging apparatus 10 with a slit that is installed on a rotating base and away from the rotation axis is distant through the first slit as in the first embodiment. Detect the target infrared. In addition, the slit-equipped infrared imaging device 10
As in the first embodiment, rotation is performed based on the rotation gantry drive signal 13 output from the rotation drive control device 11, and then image information 6 is obtained for the same target through the second slit. The rotation gantry rotation angle 15 at the time when the same target image information 6 obtained through the first and second slits provided at a distance from the image center coincides with each other is calculated by the distance calculation device 1.
Send to 2. The distance calculation device 12 calculates a target distance using “Equation 1” based on the rotation angle 15 and the image information 6. Second, in order to obtain image information 6 over a wide field of view for detection and tracking of the target, the image of the target is obtained through images other than the image obtained from the first and second slits and the image shielded by the slit plate. The information 6 is obtained and output to the tracking calculation device 3. On the other hand, the tracking calculation device 3 receives the image information 6 output from the slit infrared imaging device 10 and the distance information 7 output from the distance calculation device 12 and calculates a target position, a direction, and a speed as target specifications 8. And outputs it to the shooting calculation device 4. The shooting calculation device 4 receives the target specification 8 and calculates the target future position and the result of the in-range determination as the target prediction information 9. A symbol visualized based on the target prediction information 9 and the target image information 6 are displayed on the image display device 5.

Embodiment 3 FIG. 6 is a block diagram showing a third embodiment of the present invention. The tracking calculation device 3, the shooting calculation device 4, the image display device 5, the infrared imaging device with slit 10, the distance calculation device 12, and the repetitive drive control device 14 It is composed of FIG. 7 is a conceptual diagram.

Next, the operation of the third embodiment will be described.
As shown in the conceptual diagram of FIG. 7, one infrared imaging device acquires image information for calculating target image information and distance information. First, in order to obtain image information for calculating a target distance, the infrared imaging apparatus 10 with a slit which is installed on a rotating frame and away from the rotation axis is used to add a distance from the center of the image to the image of the conventional infrared imaging apparatus. Infrared light of a distant target is detected through a first slit provided at a distance. In addition, in order to cope with a moving target whose position changes, the infrared imaging device 10 with a slit is installed away from the rotation axis of the rotary gantry, and the distance of the target at each time when the rotary gantry is moved and the field of view of the infrared imaging device 10 with the slit. The rotation angle 15 of the rotating gantry output from the repetitive drive control device 14 according to the angle
, And the same target is alternately acquired through the second slit and the first slit to acquire image information.
By repeatedly driving, the image information 6 of the same target obtained through the first and second slits provided at a distance from the image center and the image information 6 from the first and second slits can be obtained. The rotation angle 15 of the rotating gantry at the point of time is sent to the distance calculator 12. The distance calculation device 12 calculates a target distance by using “Equation 1” based on the data of the rotation frame rotation angle 15 and the image information 6 accumulated by the repetitive driving. Second, in order to obtain image information over a wide field of view for detection and tracking of the target, the target image information 6 is obtained through an image other than the slit as in the second embodiment, and is output to the tracking calculation device 3. The processing is performed by the shooting calculation device 4 and the image display device 5 as in the third embodiment.

Embodiment 4 FIG. 8 is a block diagram showing a fourth embodiment of the present invention, in which a tracking calculation device 3, a shooting calculation device 4, an image display device 5, an infrared imaging device with a slit 10, a distance calculation device 12, and a repetitive drive control device 14. And a minimum target range display device 16. The configuration other than the minimum target range display device 16 is the same as that of the third embodiment.

Next, the operation of the fourth embodiment will be described.
In the third embodiment, the target pixel on the screen increases as the moving target approaches, and when the target extends over several pixels, the image information obtained from the first and second slits is converted to the same one-pixel portion of the target. Is detected, and it is not known whether or not an image is displayed. Therefore, several pixels may appear as a distance measurement error. For this reason, in this embodiment, in order to improve the reliability by minimizing the error of the image information, the minimum target range display device 16 uses the image information 6 from the slit infrared imaging device 10 to set the target. A specific one pixel portion of the target is detected by the edge detection and the center-of-gravity point detection signal processing, and output to the infrared imaging apparatus with slit 10 as the minimum target display data 17.

Embodiment 5 FIG. 9 is a block diagram showing a fifth embodiment of the present invention. The tracking calculation device 3, the shooting calculation device 4, the image display device 5, the infrared imaging device with slit 10, the distance calculation device 12, the repetitive drive control device 14 , A minimum target range display device 16 and an image shake correction device 18. The components other than the image shake correction device 18 are the same as those in the fourth embodiment.

Next, the operation of the fifth embodiment will be described.
Infrared imaging device 1 with slit for coping with moving target
Since 0 is repeatedly driven, the infrared imaging apparatus with slit 10 outputs the image information 6 of the target in a swinging state. Therefore, in the present embodiment, the image shake correction device 18 is used.
Is provided, and the rotation angle 15 of the rotating base output from the repetitive drive control device 14 is input, and the image signal is inversely corrected in the same cycle as the repetitive drive cycle, whereby the image shake correction device 18 19 is calculated and output to the image display device 5. The image display device 5 receives the image swing correction data 19 and displays the output of the shooting calculation device 4 and the target image 6 in a state where the image has been corrected.

[0022]

According to the first and second aspects of the present invention, image information and distance information can be obtained only by an image pickup device.
We are confidential.

Further, according to the third aspect of the present invention, it is possible to calculate the target distance and track the distance target with one image pickup device having a slit.

[Brief description of the drawings]

FIG. 1 is a diagram showing Embodiment 1 of a lightwave sensor device according to the present invention.

FIG. 2 is a conceptual diagram relating to distance information calculation based on the first embodiment of the light wave sensor device according to the present invention.

FIG. 3 is a diagram showing a configuration of an infrared imaging device with a slit according to the present invention.

FIG. 4 is a diagram showing Embodiment 2 of the lightwave sensor device according to the present invention.

FIG. 5 is a conceptual diagram relating to distance information calculation based on Embodiment 2 of the lightwave sensor device according to the present invention.

FIG. 6 is a diagram showing Embodiment 3 of the lightwave sensor device according to the present invention.

FIG. 7 is a conceptual diagram relating to distance information calculation based on Embodiment 3 of the lightwave sensor device according to the present invention.

FIG. 8 is a view showing a fourth embodiment of the lightwave sensor device according to the present invention.

FIG. 9 is a diagram showing a fifth embodiment of the light wave sensor device according to the present invention.

FIG. 10 is a diagram showing a conventional light wave sensor device.

[Explanation of symbols]

Reference Signs List 1 infrared imaging device, 2 laser ranging device, 3 tracking calculation device, 4 shooting calculation device, 5 image display device, 6 image information, 7 distance information, 8 target specifications, 9 target prediction information, 10 infrared imaging device with slit Reference numeral 10a Focus adjusting lens 10b Photodetector 10c Slit plate 11 Rotation drive controller 12 Distance calculator 1
3 gantry rotation drive signal, 14 swing drive control device, 15
Rotation angle, 16 minimum target range display device, 17 minimum target display data, 18 image shake correction device, 19 image shake correction data.

Claims (3)

[Claims] A first slit provided between the focus adjusting lens and the light detecting element so that images are obtained at both ends of the light detecting element; An imager with a slit provided with a slit plate having a second slit, a support member for supporting the imager with a slit, and a rotating unit to which the support member is coupled; A rotating frame that is arranged so that the longitudinal direction of the slit and the rotation axis of the rotating unit are parallel to each other, and that drives the imager with the slit to rotate on a circular arc, and is obtained through the first slit. Control means for controlling the driving of the gantry so as to rotate the imager with a slit to an angle at which the image coincides with the image obtained through the second slit; the first slit and the second slit Painting Distance calculating means for calculating a distance to a target from a rotation angle until an image coincides, a distance between the rotation axis and the light detection element surface, and a viewing angle from the first and second slits. Lightwave sensor device. 2. A tracking imager for tracking a target to obtain a target image and a direction of the target, and a position of the target based on a target distance obtained from the distance calculating means and a direction of the target obtained from the tracking imager. Calculation means for calculating the azimuth and speed; shooting calculation means for calculating a target future position based on the target position, azimuth and speed, and determining whether or not the target is within range; and 2. An image display means for displaying information.
The light wave sensor device as described in the above. 3. The imaging device with a slit has tracking means for tracking a target to obtain a target image and a direction of the target, and determines a position, an azimuth, and a speed of the target by the distance of the target and the direction of the target. Calculating means for calculating, calculating the target future position based on the position, azimuth and speed of the target and determining whether or not the target is within range, and an image displaying information from the firing calculating means The lightwave sensor device according to claim 1, further comprising a display unit.