JPH06258433A - Target locator - Google Patents

Abstract

PURPOSE:To allow highly accurate location of a target by providing a reference light source, and a prism for inverting the light from the reference light source by 180 deg. toward an optical system at an image pick up section. CONSTITUTION:Light from a reference light source 23 passes through a reference optical system 24, a prism 25, an optical system 11, a two-dimensional imaging element 12, and an image processing circuit 13 to a signal converter 15. A reticle video generated from a reticle video generating circuit 14 is added through the signal converter 15 to an image from the reference light source 23 and a superposed image is displayed at an imaging section 17. A fine angle adjusting mechanism 20 is then adjusted such that the image of the reference light source 23 presented on an image display section 16 is caught by the center of the reticle image thus adjusting the orientation of the imaging section. Since the reference optical axis 33 is in parallel with the optical axis of laser distance measuring section, reference optical axis 33 of the reference light source 23 in the laser distance measuring section 10 becomes parallel with the collimation direction of reticle thus allowing highly accurate location of target.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser distance measuring section for measuring the distance to a target with a pulsed laser beam, an image pickup section capable of acquiring a target image by using a two-dimensional image pickup element, and detecting the target. It consists of an angle measuring unit that measures the angle of the collimation direction and a mount, and up to the target where the distance measuring optical axis of the laser distance measuring unit and the collimating optical axis of the imaging unit need to be aligned in the preparatory stage before operation. The present invention relates to a target orientation device that can obtain distance information.

[0002]

2. Description of the Related Art In order to image a target with a two-dimensional image sensor, detect the target, and obtain information on the distance to the target, first, the target is collimated by the reticle of the image pickup unit, and further collimated by the reticle of the image pickup unit. It is necessary to emit pulsed laser light in the direction to obtain information on the distance to the target. Therefore, for highly accurate target orientation, it is very important that the direction collimated by the reticle of the imaging unit and the direction in which the pulse laser beam is emitted are parallel. Further, even if the direction collimated by the reticle of the imaging unit and the direction of emitting the pulsed laser light are set to be parallel by using some means, the laser unit and the imaging unit generated by the change in the environmental temperature during operation Thermal expansion of optical system barrel
Due to the contraction, the parallelism between the direction collimated by the reticle of the imaging unit and the direction in which the pulse laser beam is emitted may deteriorate. In order to measure the distance to the target with high accuracy, it is necessary to check the parallelism at a constant cycle. Conventionally, this type of device has been shown in FIG. In FIG. 10, 1 is a laser oscillator that oscillates a pulse laser beam, 2 is a transmission optical system that reduces the beam divergence angle of the pulse laser beam from the laser oscillator, and irradiates the target with the pulse laser beam,
3 is a receiving optical system that collects the reflected pulsed laser light from the target, 4 is a photodetector that detects the reflected pulsed laser light from the target that is collected by the receiving optical system, and converts it into an electrical signal, and 5 is a laser oscillator 1 Start with the start signal from the photo detector 4
A counter for measuring the time to stop with a stop signal from, 6 is a distance indicator which displays the distance between this device and the target by converting 1/2 of the count value of the counter 5 into the distance traveled by the light, and 7 is the target Collimation optics for collecting visible light from
Is a reticle for deciding the irradiation direction of the pulsed laser beam and aiming the target, 9 is an eyepiece optical system for making the target image formed on the reticle visible with the naked eye, and 10 is a laser oscillator 1 to an eyepiece optical system. Laser range finder consisting of 9 and 11
Is an optical system that collects light from a target direction, and 12 is an optical system 1.
A two-dimensional image pickup device that detects the light condensed by 1 and converts it into a video signal in a target direction, and an image pickup processing circuit 13 that amplifies the video signal from the two-dimensional image pickup device and outputs a video signal whose sensitivity is corrected for each pixel. , 14 is a reticle video generation circuit that determines the optical axis of the image pickup unit 17 and generates a reticle signal for aiming at a target. 15 is a video signal that can be displayed on a display by adding a video signal and a reticle video signal. Signal converter 16 for converting the image into a signal, 16 is a video display for displaying a video with the video signal from the signal converter 15, 17 is an imaging unit including the optical system 11 to the video display 16, and 18 is a laser rangefinder 10. An angle measuring unit that measures the angle in the collimation direction and supports the laser distance measuring unit 10, 19 is a mount that supports the angle measuring unit 18, 2
Reference numeral 0 denotes an angle fine adjustment mechanism that supports the image pickup unit 17 and makes the collimation direction of the image pickup unit 17 coincident with the collimation direction of the laser distance measurement unit 10, 21.
Is an integrated mechanism that mechanically integrates the transmission optical system 2, the reception optical system 3, and the collimation optical system 7. Reference numeral 29 is the angle measurement reference axis of the angle measurement unit 18, and 30 is the laser distance measurement unit 1 determined by the reticle 8.
The collimation optical axis of 0, 31 is the receiving direction of the photodetector, that is, the receiving optical axis of the distance measuring unit 10, 32 is the transmitting direction of the pulsed laser light, that is, the transmitting optical axis of the distance measuring unit 10, and 34 is on the image display 16. The optical axis is determined by the reticle displayed on. The collimating optical axis 30 and the receiving optical axis 31 of the laser distance measuring unit are integrated by the integrated mechanism 21.
And the transmission optical axis 32 become completely parallel. The conventional target locating device is configured as described above, and in order to accurately obtain the distance information from this device to the target, the distance measuring optical axis of the laser distance measuring unit and the optical axis 34 of the imaging unit 17 are parallel to each other. Therefore, it was necessary to make the following adjustments in the preparatory stage before operation. First, visible light from a distant target 22 is aimed by the reticle 8 via the eyepiece optical system 9. At this time, a state in which the target 22 and the reticle 8 are collimated through the eyepiece optical system 9 is shown in FIG. 11, and the distant target 22 displayed on the image display 16 is shown.
The appearance of the reticle image 36 is shown in FIG. Then, the reticle 36 is set on the distant target 22 displayed on the image display 16.
The angle fine adjustment mechanism 20 is adjusted so that the center of the angle is captured. At this time, the state of the distant target 22 and the image reticle displayed on the image display 16 is shown in FIG. As a result, the collimation of the reticle 8 of the laser distance measuring unit 10 and the collimation of the reticle of the image pickup unit 17 coincide with each other. The target 22 is distant, and the distance between the collimation of the reticle 8 of the laser distance measuring unit 10 and the collimation of the reticle of the imaging unit 17 is much smaller than the distance between the targets 22. It can be considered that the collimation optical axis 30, the reception optical axis 31, the transmission optical axis 32, and the optical axis 34 of the imaging unit 17 of the section are parallel to each other without any practical problem.

[0003]

The above-described conventional target orientation device has the following problems. In the preparatory stage before operation, in order to make the distance measurement optical axis of the laser distance measuring unit, the distance measuring optical axis consisting of the receiving optical axis and the transmitting optical axis, and the optical axis of the imaging unit parallel, the eyepiece optical It was necessary to aim at the reticle through the system and then to capture the distant target displayed on the video display 16 at the center of the reticle. That is, at the same time as capturing the target image, it is necessary to visually recognize the target visible light from the eyepiece optical system of the laser distance measuring unit. When used on the sea or the like where there is no clear target, there is a problem that the distance measuring optical axis of the laser distance measuring section and the optical axis of the image pickup section 17 cannot be parallel. The present invention has been made to solve such a problem and, regardless of the presence or absence of a clear target, sets the angle measurement reference axis of the angle measurement unit, the distance measurement optical axis of the laser distance measurement unit, and the optical axis of the imaging unit. The purpose is to obtain a target orientation device that can be parallel.

[0004]

A target locating device according to the present invention is provided with a reference light source forming a point light source parallel to a distance measuring optical axis and a reference optical system in a laser distance measuring section, and light from the reference light source is provided. It is provided with a prism which inverts the light beam by 180 degrees and makes it enter the optical system of the image pickup unit. Further, in another embodiment, the angle fine adjustment mechanism is abolished, a reference light source forming a point light source parallel to the distance measuring optical axis and a reference optical system are provided in the laser distance measuring section, and a reference light source position input means is provided in the image pickup section. Provide a reference light source position storage unit,
It is provided with a prism that inverts the light from the reference light source by 180 degrees and makes it incident on the optical system of the image pickup unit. Further, in another embodiment, the angle fine adjustment mechanism is eliminated, a reference light source forming a point light source parallel to the distance measuring optical axis and a reference optical system are provided in the laser distance measuring section, and the reference light source position is measured in the image pickup section. A reference light source position measuring circuit and a reference light source position storage unit are provided, and a prism for inverting the light from the reference light source by 180 degrees and making the light incident on the optical system of the imaging unit is provided. In still another embodiment, the target agreement device is provided with a reference light source position data interface for outputting reference light source position data to the outside of the device.

[0005]

In the present invention, the light from the reference light source is reflected by the prism and enters the optical system as light parallel to the distance measuring optical axis of the laser distance measuring unit. By aligning the center of the reticle of the image pickup unit with the image of the reference light source, the distance measurement optical axis of the laser distance measurement unit and the collimation optical axis of the image pickup unit can be made parallel.

[0006]

【Example】

Example 1. FIG. 1 shows an embodiment of the present invention. In FIG. 1, 1 is a laser oscillator that oscillates pulse laser light, 2 is a transmission optical system that reduces the beam divergence angle of the pulse laser light from the laser oscillator, and irradiates the target with pulse laser light, and 3 is reflection from the target. Receiving optical system that collects pulsed laser light, 4 is a photodetector that detects reflected pulsed laser light from the target that is collected by the receiving optical system, and converts it into an electrical signal, and 5 is started by a start signal from the laser oscillator 1. A counter for measuring the stop time by the stop signal from the photodetector 4, 6 is a distance display for converting the half of the count value of the counter 5 into the distance traveled by the light and displaying the distance between the apparatus and the target. 7 is a collimation optical system for collecting the target visible light, 8 is a reticle for deciding the irradiation direction of the pulsed laser light and aiming the target, and 9 is a naked eye for the target image formed on the reticle. Possible an eyepiece optical system for,
Reference numeral 23 is a reference light source that is built in the laser distance measuring unit and emits a point light source. Reference numeral 24 is a distance measuring light from the reference light source 23, which includes a collimating optical axis 30, a receiving optical axis 31, and a transmitting optical axis 32 of the laser distance measuring section. Reference optical system parallel to the optical axis, 33 is the optical axis of the reference light source,
Reference numeral 25 is a prism for reversing the light from the reference light source by 180 degrees and making it enter the optical system. Reference numeral 10 is a laser distance measuring unit including the laser oscillator 1 to the eyepiece optical system 9 and the reference light source 23 and the reference optical system 24. Reference numeral 11 is a target direction. Optical system that collects light from
Reference numeral 12 is a two-dimensional image sensor that detects the light condensed by the optical system 11 and converts it into a video signal in the target direction. Reference numeral 13 is a video signal that amplifies the video signal from the two-dimensional image sensor and corrects the sensitivity of each pixel. An image pickup processing circuit for controlling the optical axis of the image pickup unit 17 and a reticle video generation circuit for generating a reticle signal for aiming at a target, and 15 for adding a video signal and a reticle video signal for display on a display. Signal converter for converting into a video signal, 16 is an image display for displaying an image with the video signal from the signal converter 15, 17 is an image pickup unit including the optical system 11 to the image display 16, and 18 is a laser distance measuring device. The angle measuring unit for measuring the angle of the collimation direction of the unit 10 and supporting the laser distance measuring unit 10, 19 for the mount for supporting the angle measuring unit 18, 20 for supporting the image capturing unit 17, and for the collimating direction of the image capturing unit 17. Laser ranging 10 collimating direction to the angle fine adjustment mechanism to match only, 21 is integral mechanism for mechanically integrated with the transmission optics 2 and the receiving optical system 3 and the collimating optical system 7. The collimating optical axis 30, the receiving optical axis 31, and the transmitting optical axis 32 of the laser distance measuring section are made completely parallel by the integrated mechanism 21. In order to obtain the distance information from the device to the target, it is necessary that the collimating optical axis of the laser distance measuring unit, the receiving optical axis, the transmitting optical axis, and the optical axis of the imaging unit be parallel. In the target orientation apparatus configured as described above, the light from the reference light source 23 is emitted from the reference optical system 24,
It is input to the signal converter 15 via the prism 25, the optical system 11, the two-dimensional image pickup device 12, and the image pickup processing circuit 13.
Further, the reticle video generated by the reticle video generation circuit 14 is added to the image of the reference light source 23 by the signal converter 15, and the reticle and the reference light source are superimposed and displayed on the imaging unit 17. The states of the reference light source image 35 and the reticle image 36 displayed on the image display 16 at this time are shown in FIG. Then, the angle fine adjustment mechanism 20 is arranged so that the center of the reticle image 36 captures the image 35 of the reference light source displayed on the image display unit 16.
To adjust the orientation of the image pickup unit. At this time, the states of the image 35 of the reference light source and the reticle image 36 displayed on the image display unit 16 are shown in FIG. Since the reference optical axis 33 is parallel to the distance measuring optical axis of the laser distance measuring unit, the reference optical axis 33 of the reference light source 23 of the laser distance measuring unit 10 and the collimating direction of the reticle of the image pickup unit 17 are parallel to each other. Therefore, highly accurate target orientation becomes possible.

Example 2. Further, in the above-described embodiment, the distance measuring optical axis of the laser distance measuring unit and the optical axis 34 of the image pickup unit are aligned using the angle fine adjustment mechanism 20, but instead of the angle fine adjustment mechanism 20, the image pickup unit 17 is provided from outside the device. A reference optical axis position data input unit 26 for inputting the reticle position and a reference optical axis position storage unit 27 for storing the input data may be provided. Example 2. A system configuration diagram of the above is shown in FIG. The image of the reference light source 23 shows the reference optical system 24, the prism 25, the optical systems 11 and 2.
-Dimensional image sensor 12, image processing circuit 13, signal converter 15
The image is displayed on the image display 16 via the, and the reticle created by the reticle video generation circuit is also displayed on the image display 16 in an overlapping manner. This state is shown in FIG. The operator reads the two-dimensional position (x, y) on the image of the reference light source 35 displayed on the image display 16 and inputs the amount from the reference optical axis position data input means 26. The reference optical axis position data (x, y) input from the reference optical axis position data input means 26 is input to the reticle video generation circuit via the reference light source position data storage unit 27. Since the reticle video generation circuit is designed to display the reticle at the position of the reference optical axis position data (x, y) of the reference light source position data storage unit 27, this operation causes the reference light source on the image display 16 to be displayed. The reticle of the image pickup unit 17 can be matched with the image 35 of. The state of the video display 16 at this time is shown in FIG. Since the reference optical axis 33 is parallel to the distance measuring optical axis of the laser distance measuring unit, this operation enables the distance measuring optical axis of the laser distance measuring unit and the optical axis 34 of the imaging unit to be parallel.

Embodiment 3. In addition, in Example 2. Then, the distance measurement optical axis of the laser distance measuring unit and the collimation optical axis of the image pickup unit are aligned by using the reference optical axis position data input unit 26. Reference light source position measuring circuit 2 capable of measuring the two-dimensional position of the reference light source on the image
8 may be provided. The image of the reference light source 23 shows the reference optical system 24, the prism 25, the optical system 11, and the two-dimensional image pickup device 1.
2. Input to the reference light source measurement circuit 28 via the image pickup processing circuit 13. The reference light source measuring circuit 28 measures two-dimensional position data (x, y) on the image of the reference light source 23. The reference light source position data (x, y) read by the reference light source position measuring circuit 28 is input to the reticle video generation circuit via the reference light source position data storage unit 27. The reticle video generation circuit uses the data (x,
Since the signal for displaying the reticle at the position y) is output early, this processing allows the reticle of the image pickup unit 17 to match the image of the reference light source 23 on the image display 16. Since the reference optical axis 33 is parallel to the distance measuring optical axis of the laser distance measuring unit, this processing can make the distance measuring optical axis of the laser distance measuring unit and the optical axis 34 of the imaging unit parallel. Example 3. A system configuration diagram of the above is shown in FIG. An example of the reference light source position measuring circuit 28 is shown in FIG. In FIG. 8, 38 is a video processing circuit interface, 39 is a pre-processing unit for binarizing the video from the video processing circuit interface 38, and 40 is a reference light source image extracted from the pre-processing video from the pre-processing unit 39. Reference light source image extraction unit, 41 is a reference light source position data storage unit interface that outputs reference light source position data, 42 is a microcomputer that controls the preprocessing unit 39, the reference light source image extraction unit 40, and the reference light source position data storage unit interface 41, 43 is a microcomputer bus. Since the reference light source position measuring circuit 28 is configured in this way, the reference light source position can be automatically measured. After the above optical axis adjustment is completed, switch 44 to signal converter 1
Switch to 5 side and operate.

Example 4. FIG. 9 shows the third embodiment. The reference light source position data interface 45 for outputting the position data of the reference light source 23 measured by the target orientation device to the outside. This reference light source position data interface 45
This makes it possible to utilize the reference light source position data outside the target orientation device.

[0010]

As described above, according to the present invention, the distance measuring optical axis of the laser distance measuring unit and the optical axis of the image pickup unit are made parallel to each other regardless of whether or not there is a clear target, and highly accurate target orientation is achieved. Can be done.

[Brief description of drawings]

FIG. 1 is a first embodiment of the present invention. It is a system configuration diagram showing.

FIG. 2 is a first embodiment of the present invention. It is a figure which shows the example of a display of the video display before optical axis alignment of FIG.

FIG. 3 is a first embodiment of the present invention. It is a figure which shows the example of a display of the video display after the optical axis alignment of.

FIG. 4 is a second embodiment of the present invention. It is a system configuration diagram showing.

FIG. 5 is a second embodiment of the present invention. It is a figure which shows the example of a display of the video display before optical axis alignment of FIG.

FIG. 6 is a second embodiment of the present invention. It is a figure which shows the example of a display of the video display after the optical axis alignment of.

FIG. 7 is a third embodiment of the present invention. It is a system configuration diagram showing.

FIG. 8 is a third embodiment of the present invention. 2 is a system configuration diagram of a reference light source position measuring circuit used in FIG.

FIG. 9 is a fourth embodiment of the present invention. It is a system configuration diagram showing.

FIG. 10 is a system configuration diagram of a conventional target orientation device.

FIG. 11 is a diagram showing an example of a collimation field of view of a laser distance measuring unit of a conventional target orientation device.

FIG. 12 is a diagram showing a display example of an image display device before optical axis alignment of a conventional target orientation device.

FIG. 13 is a diagram showing a display example of an image display after optical axis alignment of a conventional target orientation device.

[Explanation of symbols]

 10 Laser Distance Measuring Section 11 Optical System 12 Two-Dimensional Imaging Device 13 Imaging Processing Circuit 14 Reticle Video Generation Circuit 15 Television Signal Converter 16 Video Display 17 Imaging Section 20 Angle Fine Adjustment Mechanism 23 Reference Light Source 24 Reference Optical System 25 Prism 26 Reference Light Source Position data input means 27 Reference light source position data storage unit 28 Reference light source position measuring circuit 45 Reference light source position data interface

Claims (4)

[Claims] 1. A laser distance measuring unit for aiming a target and measuring a distance to the target, a reference light source incorporated in the laser distance measuring unit to emit a point light source, and an optical axis of the reference light source for the laser distance measuring unit. Reference optical system that is parallel to the distance measuring optical axis, an optical system that collects light from a target direction, a two-dimensional image sensor that detects light and converts it into a video signal, and an image from the two-dimensional image sensor An image pickup processing circuit that outputs a video signal that amplifies the signal and corrects the sensitivity of each pixel, a reticle video generation circuit that generates a reticle signal for aiming at the target, and a video signal and reticle video signal A signal converter for converting a displayable video signal, an image display for displaying an image with the video signal from the signal converter, the optical system, the two-dimensional image pickup device, the image pickup processing circuit, and the reticle video generation. Circuit, above Signal converter and the image display unit, an angle fine adjustment mechanism for making the collimation direction of the image pickup unit coincident with the collimation direction of the laser distance measuring unit, and inverting the light of the reference light source by 180 degrees. A target orientation device, comprising: a prism which is incident on the optical system. 2. A laser range finder for aiming a target and measuring a distance to the target, a reference light source built in the laser range finder for emitting a point light source, and an optical axis of the reference light source for the laser range finder. Reference optical system that is parallel to the distance measuring optical axis, an optical system that collects light from a target direction, a two-dimensional image sensor that detects light and converts it into a video signal, and an image from the two-dimensional image sensor An imaging processing circuit that outputs a video signal that amplifies the signal and corrects the sensitivity for each pixel, a reference light source position data storage unit that stores the input data, and a reticle that generates a reticle signal for aiming the target. A video generation circuit, a signal converter that adds a video signal and a reticle video signal and converts the video signal into a video signal that can be displayed on a display, a video display that displays a video with the video signal from the signal converter, and the video described above. Displayed on the display Reference light source position data input means for inputting position data of the reference light source, the optical system, the two-dimensional image pickup device, the image pickup processing circuit, the reference light source position data input means, the reference light source position data storage section, the reticle video. A target locating device comprising: an image pickup unit including a generation circuit, the signal converter, and the image display, and a prism that inverts light of the reference light source by 180 degrees and makes the light incident on the optical system. 3. A laser range finder for aiming a target and measuring a distance to the target, a reference light source built in the laser range finder and emitting a point light source, and an optical axis of the reference light source for the laser range finder. Reference optical system that is parallel to the distance measurement optical axis, an optical system that collects light from a target direction, a two-dimensional image sensor that detects light and converts it into a video signal, and a video signal from the two-dimensional image sensor And a reference light source position measuring circuit for measuring the position of the reference light source from the reference light source image from the imaging processing circuit, and the reference light source position measurement The reference light source position storage unit that stores the reference light source position data from the circuit, the reticle video generation circuit that generates the reticle signal for aiming the target, and the video signal and reticle video signal can be added and displayed on the display Great video A signal converter for converting into a signal, an image display for displaying an image with a video signal from the signal converter, the optical system, the two-dimensional image pickup device, the image pickup processing circuit, the reference light source position measuring circuit, the above An image pickup unit including a reference light source position data storage unit, the reticle video generation circuit, the signal converter, and the image display, and a prism that inverts the light of the reference light source by 180 degrees and makes the light incident on the optical system. A target orientation device characterized by the above. 4. The target locating device according to claim 3, further comprising a reference light source position data interface for outputting the reference light source position data to the outside of the device.