JP5682961B2 - Trait measuring device and trait measuring system - Google Patents

Description

  The present invention relates to a trait measurement device and a trait measurement system that measure underwater traits such as underwater vegetation and materials, swimming underwater, and sinking underwater.

  Conventionally, in order to grasp the underwater situation, a technique for measuring the water depth by radiating laser light from the air into the water and obtaining detailed information on the bottom of the water using ultrasonic waves (for example, see Patent Document 1). ) And a technique for irradiating laser light into water and displaying video information based on reflected light from an object have been proposed (see, for example, Patent Document 2).

JP 7-181255 A JP 2003-294841 A

  However, as in the prior art of Patent Document 1, a method of measuring underwater by emitting laser light from the air into the water or using ultrasonic waves has a limited resolution, so that a rough shape is grasped. However, there was a problem that it was impossible to grasp the traits in water from the obtained information.

  Further, in the method of obtaining image information using laser light as in the prior art of Patent Document 2, the intensity of reflected light from the object is required, and Patent Document 2 shows how to grasp the traits in water. However, there is a problem that a complicated and costly underwater operation of taking a picture in the vicinity of an object by a diver or an underwater vehicle is generated.

  The present invention has been made in view of such problems, and an object thereof is to provide an invention that solves the above problems.

In order to solve the above problems, the present invention has the following configurations.
A trait measurement device according to claim 1 of the present invention is a laser light oscillation means for emitting laser light into water toward a measurement area in water, and the scattered light of the laser light irradiated to the measurement area as reflected light. Reflected light receiving means for detecting, shape data measuring means for measuring shape data of the measurement area based on the reflected light detected by the reflected light receiving means, and area of the measurement area based on the shape data And rugosity calculating means for calculating the relation between the surface area and the surface area as rugosity, and phenotyping means for determining the character of the measurement region based on the rugosity .
In this invention, laser light is emitted into the water toward the measurement area on the bottom of the water by the laser light oscillation means, and the scattered light of the laser light irradiated to the measurement area is detected as reflected light by the reflected light receiving means. The shape data of the measurement region is measured by detecting the reflected light by the shape data measuring means. Further, the relationship between the area of the measurement region and the surface area is calculated as rugosity based on the shape data measured by the rugosity calculating means. The rugosity is calculated by, for example, (surface area) / (area) of the measurement region . Determining the trait of the measurement region by transformation determining means based on the Le Goshiti. For this determination, for example, trait determination data that correlates rugosity with the characteristics of the bottom of the water can be used.
Moreover, the trait measurement device according to claim 2 of the present invention comprises a temporal displacement measuring means for measuring the temporal displacement of the measurement area based on the shape data of the measurement area at different times, and the trait determination means comprises: The trait of the measurement region is determined based on the rugosity and the displacement with time.
In the present invention, the shape data of the measurement area measured at different times is used. The temporal displacement of the measurement region is measured using the shape data of the measurement region at different times by the temporal displacement measuring means. Based on the rugosity calculated by the character determining means and the temporal displacement, the character of the measurement region is determined. For this determination, for example, trait determination data that correlates rugosity, temporal displacement, and water bottom trait can be used.
Moreover, the trait measurement device according to claim 3 of the present invention includes a vertical height difference calculating unit that calculates a vertical height difference of the measurement region based on the shape data, and the trait determination unit includes the rugosity and the rugosity The character of the measurement region is determined based on the vertical height difference.
In the present invention, the vertical height difference of the measurement region is calculated using the shape data by the vertical height difference calculating means. Based on the rugosity calculated by the character determination means and the vertical difference, the character of the measurement region is determined. For this determination, for example, trait determination data that correlates the rugosity and vertical height difference with the trait of the bottom of the water can be used.
In the trait measurement device according to claim 4 of the present invention, the laser beam oscillation means emits a pulsed laser beam, and the shape data measurement means calculates the emission timing of the laser beam and the reflected light. The water depth data of the measurement area is measured as the shape data based on the detection timing.
In the present invention, the laser beam emitted into the water toward the measurement region at the bottom of the water is made pulsed, and the scattered light of the pulsed laser beam irradiated to the measurement region is detected as reflected light. The time required to reciprocate with the water surface of the laser light is known from the laser light emission timing and the reflected light detection timing, and the water depth data in the measurement region is measured. The water depth data of the measurement area is used as shape data.
In the trait measurement device according to claim 5 of the present invention, the laser beam oscillation means emits the laser beam in a point shape toward one point.
In the present invention, laser light is emitted in a point-like manner toward one point toward the measurement region at the bottom of the water.
In addition, the trait measurement device according to claim 6 of the present invention comprises posture measurement means for measuring posture information of the laser light oscillation means and the reflected light reception means, and the shape data measurement means is configured to receive the reflected light. The shape data is measured based on the reflected light detected by the means and the posture information.
In the present invention, the posture of a ship, which is a platform on which a trait measurement device is installed, is measured as posture information. An emission position and an emission direction of the laser beam are calculated based on the measured posture information. Shape data is measured using the calculated emission position and emission direction of the laser beam.
The trait measurement device according to claim 7 of the present invention includes a position measurement unit that measures a current position and a trait map creation unit, and the shape data measurement unit includes the reflected light and the current position. It based the shape data of the measurement region was measured, the transformants map creation means may create a trait map indicating the trait distribution of the measurement region based on the shape data.
In this invention, the current position is measured by the position measuring means, the shape data measuring means measures the shape data of the measurement area based on the reflected light and the current position, and shows the character distribution of the measurement area. Create a map.
Moreover, the trait measurement apparatus according to claim 8 of the present invention is characterized in that the wavelength of the laser beam emitted from the laser beam oscillation means is in the range of 400 nm to 550 nm.
The trait measurement device according to claim 9 of the present invention includes an input unit that receives an input of an underwater distance, and the shape data measurement unit corrects the propagation speed of the laser beam using the underwater distance, The shape data is measured based on the corrected propagation speed of the laser light and the reflected light detected by the reflected light receiving means.
In the present invention, a known underwater distance is received by an input means such as a keyboard, the propagation speed of the laser light is corrected using the underwater distance, and shape data is measured based on the corrected propagation speed of the laser light.
A trait measurement system according to a tenth aspect of the present invention includes a ship equipped with the trait measurement device according to any one of the first to ninth aspects, and includes at least the laser light oscillation means and the reflected light reception. The means is exposed to the water from the ship.
Moreover, the trait measurement system according to claim 11 of the present invention comprises scanning means for scanning the laser light emitted into the water and a spherical observation window facing the water, and the laser light is emitted from the scanning means. The position is arranged at the center of curvature of the spherical observation window.
In the present invention, laser light emitted into the water is scanned by scanning means such as a polygon scanner or a galvano scanner. The emission position of the laser beam is arranged at the center of curvature of the spherical observation window facing underwater.

Since the trait measurement device of the present invention is configured as described above, the shape data of the measurement region can be obtained without using video information. Further, by obtaining rugosity based on the shape data, there is an effect that a trait in water can be easily grasped from the relationship between the area of the measurement region and the surface area.
In addition, by providing the character determination means, it is possible to automatically determine the character of the measurement region.
In addition to rugosity, time-dependent displacement can be used to accurately grasp traits such as vegetation and material of the bottom of the water.
Moreover, by using the vertical height difference in addition to lugocity, it is possible to accurately grasp traits such as vegetation and material of the bottom of the water.
Furthermore, the water depth data in the measurement region can be easily measured by using pulsed laser light, and the measured water depth data can be used as shape data.
Further, by emitting the laser beam in a dot shape toward one point, it is possible to measure to a deeper depth than in the case where the laser beam is emitted in a linear shape or a planar shape, for example.
Furthermore, by creating a trait map showing the trait distribution of the measurement region, the trait map can be output in a state that can be visually recognized by output means such as a liquid crystal display or a printer, and the trait of the measurement region can be easily grasped. It is also possible to connect a plurality of trait maps to visually recognize the shape data of the water area.
Furthermore, by setting the wavelength of the laser light within the range of 400 nm to 550 nm, the reach distance of the laser light in water can be extended, and a deeper depth can be accommodated.
Furthermore, by correcting the propagation speed of laser light using a known underwater distance, accurate shape data of the measurement region can be obtained.
By allowing the laser receiving means to enter the water from the ship, it becomes possible to measure the characteristics of the water more accurately by eliminating reflection and refraction of the water surface.For example, by navigating the ship and measuring the characteristics of the water, Data can be measured comprehensively.
Further, by arranging the emission position of the laser beam at the center of curvature of the spherical observation window, for example, the laser beam is always incident at a right angle on the spherical observation window, and variations in the scanning direction due to reflection and refraction can be avoided. it can.

It is a block diagram which shows embodiment and a structure of the character measurement apparatus which concerns on this invention. It is explanatory drawing for demonstrating the measurement operation | movement of the character measuring apparatus shown in FIG. It is explanatory drawing for demonstrating the rugosity calculated by the character measuring apparatus shown in FIG. It is a figure which shows the data example for the 1st character determination used with the character measurement apparatus shown in FIG. It is a figure which shows the 2nd data example for trait determination used with the trait measurement apparatus shown in FIG. It is a figure which shows the 3rd example data for a character determination used with the character measuring apparatus shown in FIG.

Next, embodiments of the present invention will be specifically described with reference to the drawings.
The trait measurement device 10 according to the present embodiment measures the shape of a measurement region in water, and vegetation and materials such as corals, seaweeds, and reefs in the bottom 1, underwater swimming objects such as school of fish and jellyfish, and sinking in the bottom 1. Measure the traits in water such as bottom. Hereinafter, an example will be described in which the bottom 1 such as the seabed, the lake bottom, or the river bottom is used as a measurement region, and the characteristics such as vegetation and material of the bottom 1 that is the measurement region are measured.

  Referring to FIG. 1, the trait measurement device 10 is installed on a ship 2 that is a platform, emits a pulsed laser beam from an underwater observation window 3 provided on the ship bottom toward the water bottom 1, and reflects light from the water bottom 1. (Scattered light at the bottom 1) is received. The water depth D is measured by detecting the time Δt from when the pulse laser beam is emitted until the reflected light is received. The water depth D is the depth of water D = (c · Δt), where c is the speed of light in vacuum and n is the absolute refractive index of water at the measurement point when the pulse laser beam is emitted vertically toward the bottom 1. / (2 · n). The trait measurement device 10 measures the water depth D in the measurement region with high resolution, calculates the surface area / area of the measurement region as Rugosity R, and determines the trait of the bottom 1 based on the Rugosity R.

  In FIG. 1, a computing PC 11 includes data processing means such as a CPU (Central Processing Unit), a ROM (Read Only Memory) storing a program for executing information processing, and a storage area for developing programs and data. It is an information processing apparatus such as a personal computer that includes hardware resources such as RAM (Random Access Memory) and HDD (Hard Disk Drive) to be secured and operates by program control. The calculation PC 11 also has a function of controlling the trait measurement apparatus 10 as a whole. Therefore, the GPS receiver 12, the input / output unit 14, the delay signal generator 20, the high-speed signal digitizer 21, the scanner attitude measurement sensor 22, the adjustment motor 24, and the hull attitude measurement sensor 25 are connected to the calculation PC 11 and controlled. . Further, the computing PC 11 measures the water depth D in the measurement region based on information from each connected part, and executes the calculation operation of the rugosity R and the determination operation of the character of the bottom 1. The character determination operation may be determined by a person by referring to the calculated rugosity R.

  The GPS receiver 12 is position measurement means for measuring the current position, and outputs “current position information” to the computing PC 11. The “current position information” measured by the GPS receiver 12 is used as the emission position information indicating the emission position of the pulse laser beam toward the water bottom 1. The GPS receiver 12 uses the GPS antenna 13 to measure the current position by receiving GPS signals from several satellites in the sky. Moreover, the measurement accuracy of the current position can be improved by using FM broadcast radio waves transmitted by a known reference station. In the example shown in FIG. 1, the GPS antenna 13 is arranged at a position away from the scanner 18, but by arranging the GPS antenna 13 adjacent to the scanner 18, the pulse laser beam directed toward the bottom 1 The injection position can be measured more accurately.

  The input / output unit 14 includes input means such as a keyboard and a mouse, display means such as an LCD, and output means such as a printer. The input unit accepts the input of the absolute refractive index n of water at the measurement point and outputs it to the computing PC 11. Further, the water depth D measured by the computing PC 11, the calculated rugosity R, and the determination result of the trait of the bottom 1 are displayed on the display means or output from the output means.

  The laser oscillator 15 is a laser beam oscillation unit that oscillates by controlling the laser beam in a pulse shape. Hereinafter, laser light emitted in a pulse form from the laser oscillator 15 is referred to as pulse laser light. Further, the laser oscillator 15 emits a pulsed laser beam in a dot shape toward one point using the directivity of the laser beam. The pulse laser beam emitted from the laser oscillator 15 is reflected by the mirror 16, the half mirror 17, and the scanner 18, and is irradiated on the bottom 1 through the underwater observation window 3. In addition, since the pulsed laser light emitted from the laser oscillator 15 is emitted in a point shape toward one point, the laser intensity is used in a concentrated manner, so that it is possible to observe far. The wavelength of the pulsed laser light emitted by the laser oscillator 15 is set to purple to green (wavelength 400 to 550 nm). By setting the wavelength of the pulse laser light to purple to green (wavelength 400 to 550 nm), it becomes possible to minimize the scattering and absorption of the pulse laser light due to seawater, suspension, bubbles, and the like. As the laser oscillator 15, a solid-state laser excited by a flash lamp and driven by a Q switch can be used. The Q switch makes it possible to emit high-intensity pulsed laser light. In the conventional method of measuring underwater using ultrasonic waves, the resolution is limited, and it is impossible to measure the rugosity R of the vegetation or material of the bottom 1, but this apparatus uses a laser. The resolution is increased to enable measurement of Lugocity R. In addition, accurate measurement up to a deep depth is realized by emitting dots, using a wavelength of 400 to 550 nm, using a pulse laser beam, and the like.

The scanner 18 is laser light scanning means for scanning the pulsed laser light emitted from the laser oscillator 15 in a one-dimensional direction. As the scanner 18, a polygon scanner using a polygon mirror having a large number of mirror surfaces provided parallel or inclined to the rotation axis, or a galvano scanner for controlling a mirror with a magnet with an external magnetic field can be used.
The underwater observation window 3 has a spherical shape at least in the scanning direction of the scanner 18, and the emission position of the pulse laser beam in the scanner 18 is arranged at the center of curvature of the underwater observation window 3. Accordingly, the pulsed laser light from the scanner 18 is always incident on the underwater observation window 3 at a right angle, and variations in the scanning direction due to reflection, refraction and the like on the underwater observation window 3 and the sea surface are avoided. The

  The optical sensor 19 is reflected light receiving means for detecting the scattered light of the pulse laser light irradiated on the water bottom 1 as reflected light with high sensitivity and high time resolution. As the optical sensor 19, a photomultiplier tube capable of detecting weak light in photon units can be used. In addition, by providing a filter that selectively transmits the wavelength of the pulsed laser light emitted from the laser oscillator 15, the scattered light of the pulsed laser light irradiated on the water bottom 1 can be selectively detected.

  The delay signal generator 20 controls the “emission timing” of the pulsed laser light from the laser oscillator 15 under the control of the calculation PC 11, and detects the reflected light by the optical sensor 19 in synchronization with the “emission timing”. Control gate timing. By optimizing the gate timing for detecting the reflected light by the optical sensor 19 in synchronization with the “emission timing” of the pulse laser light, the detection of the laser scattered light in the water is suppressed, and the laser scattered light on the bottom 1 is reduced. It can be selectively detected and the S / N ratio of the detection signal can be improved.

  The high-speed signal digitizer 21 is a signal processing unit that converts a digital signal obtained by sampling an input signal so that the computing PC 11 can easily understand and process the signal. The high-speed signal digitizer 21 is connected to the laser oscillator 15, the optical sensor 19, and the scanner 18. The pulse laser light “emission timing” in the laser oscillator 15, the “detection timing” of reflected light in the optical sensor 19, and the scanner 18 “Scanning angle” is used as an input signal, and “injection timing”, “detection timing”, and “scanning angle” are output to the calculation PC 11.

  The scanner attitude measurement sensor 22 is a detection unit that detects the angle of the scanner installation base 23 on which the scanner 18 is installed, using an inclination sensor, a gyroscope, an optical fiber gyroscope (FOG), or the like. The adjustment motor 24 is a driving means for adjusting the scanner installation base 23 to be horizontal based on the detection signal of the scanner attitude measurement sensor 22. The angle information of the scanner installation table 23 detected by the scanner attitude measurement sensor 22 is input to the calculation PC 11, and the adjustment motor 24 is driven by the control of the calculation PC 11 to control the scanner installation table 23 to be horizontal. . Therefore, the scanner attitude measurement sensor 22 and the adjustment motor 24 function as a horizontal stabilization means for stabilizing the scanner installation base 23 even when the ship 2 is shaken by waves. As the shaking of the ship 2, there are six directions of shaking including pitching, rolling (rolling), bow shaking (yawing), left-right shaking (swaying), vertical shaking (heaving), and longitudinal shaking (surging). To do. Of the six swings, pitch (pitching) and roll (rolling) have the greatest effect on measurement using pulsed laser light. By stabilizing the scanner installation base 23 horizontally, pitching (pitching) is achieved. And it is possible to cancel rolling. It should be noted that a mechanical means such as a gimbal may be used to stabilize the scanner installation base 23 horizontally.

  The hull attitude measurement sensor 25 is a detection means for detecting the attitude of the ship 2 as a platform using an inclination sensor, a gyroscope, an optical fiber gyroscope (FOG), and the like, and uses the detected “hull attitude information” for calculation. Output to PC11. The “hull attitude information” detected by the hull attitude measurement sensor 25 is used as attitude information of the scanner 18 and the optical sensor 19. Further, by using the “hull attitude information” and the “current position information” measured by the GPS receiver 12, among the six directions of swing, the bow swing (yawing), left / right swing (swaying), and vertical swing (heaving) ) And back and forth (surging) can be canceled out. It should be noted that it is possible to cancel all of the six directions of shaking using the “hull attitude information” detected by the hull attitude measurement sensor 25 and the “current position information” measured by the GPS receiver 12.

Next, the measurement operation of the trait measurement device 10 will be described in detail with reference to FIGS.
The measurement operation is performed while navigating the ship 2 in the direction indicated by the arrow A in FIG. Therefore, the range in which the pulse laser beam is irradiated by one scan by the scanner 18 is the measurement region width W, and the distance that the ship 2 is navigated is the measurement region length L.

  When a measurement start instruction is received by the input / output unit 14, the entire trait measurement device 10 is controlled to start a measurement operation for oscillating and scanning pulsed laser light. During the measurement operation, the calculation PC 11 receives the “emission timing” of the pulse laser beam from the high-speed signal digitizer 21 to the laser oscillator 15, the “detection timing” of the reflected light from the optical sensor 19, and the “scanning angle” in the scanner 18. , “Current position information” is input from the GPS receiver 12, and “hull attitude information” is input from the hull attitude measurement sensor 25. The calculation PC 11 synchronizes with the “injection timing” input, “detection timing”, “scanning angle”, “current position information”, “hull attitude information”, and “time” as “measurement data”. To the recording means. If the measurement area width W is 40 m, the measurement area length L is 100 m, and the measurement resolution is 1 cm, about 40 million sets of “measurement data” are recorded.

  When the measurement end instruction is received by the input / output unit 14, the calculation PC 11 analyzes the “measurement data” recorded in the recording unit. In the analysis of the “measurement data”, first, the water depth D at the point of the bottom 1 irradiated with the pulse laser beam is calculated. Based on “Ejection timing”, “Detection timing”, “Scanning angle”, “Current position information”, and “Hull attitude information”, the injection position where the pulse laser beam was emitted can be calculated, and “Scanning angle” and “Hull attitude” The emission angle θ of the pulse laser beam can be calculated based on the “information”, and the time Δt from the emission of the pulse laser beam to the reception of the reflected light can be calculated based on the “emission timing” and the “detection timing”. Thereby, when the light speed c in vacuum is known and the absolute refractive index of water at the measurement point is known, the round trip distance D1 of the pulse laser beam is calculated by D1 = (c · Δt) / n, By correcting the reciprocating distance D1 of the pulsed laser beam with the emission position and the emission angle θ at which the pulsed laser beam is emitted, the water depth D at the point of the bottom 1 where the pulsed laser beam is irradiated is accurately calculated. The absolute refractive index n of water may be set in advance, or the input of the absolute refractive index n obtained by sampling the sample at the measurement point may be received by the input / output unit 14. In addition, when the known water depth D exists, the known water depth D is received by the input / output unit 14, and the water depth D calculated based on the temporary absolute refractive index n is compared with the known water depth D. The absolute refractive index n may be corrected.

  The calculation of the water depth D is performed for each point of the water bottom 1 irradiated with the pulse laser beam, and the water depth D of the measurement region is calculated as the water depth data of the measurement region with the set resolution. The calculated water depth data of the measurement region can be used as shape data representing the unevenness of the measurement region on the bottom 1. Further, the computing PC 11 may generate a 3D image of the bottom 1 as a trait map indicating the trait distribution of the measurement region based on the calculated water depth data of the measurement region, and output it from the output unit 14. It is also possible to comprehensively measure the shape data of the water area by navigating the ship 2 and moving the bottom 1 to perform trait measurement. In this case, a plurality of trait maps obtained for each measurement region are connected to obtain shape data of the entire water area.

  Next, the computing PC 11 calculates the relationship between the area and surface area of the measurement region as rugosity R based on the calculated shape data (water depth data) of the measurement region, and based on the calculated rugosity R, the characteristics of the bottom 1 Determine. In the present embodiment, (the surface area of the measurement region) / (the area of the measurement region) is defined as the rugosity R.

  As shown in FIG. 3 (a), when the bottom 1 of the measurement region is sandy land 4, the bottom 1 has a substantially flat shape, and there is no significant difference between the area and surface area of the measurement region. Becomes a value of about 1.1 to 1.4 close to 1. Moreover, as shown in FIG.3 (b), when the water bottom 1 of a measurement area | region is the rocky place 5, the water bottom 1 becomes uneven shape, and rugosity R is larger than the case where the water bottom 1 of a measurement area | region is the sandy land 4. FIG. The value is about 1.3 to 1.8. Further, as shown in FIG. 3C, when the seaweed 6 is growing on the bottom 1 of the measurement region, the bottom 1 is recognized as a finer uneven shape than when the seaweed 6 is growing. , Lugocity R has a value of about 1.8 to 2.7. Furthermore, as shown in FIG. 3D, when the coral 7 is growing on the bottom 1 of the measurement region, the bottom 1 is recognized as a finer uneven shape than when the seaweed 6 is growing. Thus, the Lugocity R becomes a value of about 2.4 to 3.3.

  As shown in FIG. 4, the calculation PC 11 records in the recording means the first character determination data that correlates the rugosity R with the vegetation of the bottom 1, the material, etc., and the calculated rugosity R and the first The character of the corresponding bottom 1 is determined on the basis of the character determination data. In the present embodiment, the water bottom 1 is configured to determine four types of sandy ground 4, rocky place 5, seaweed 6, and coral 7, but other characteristics may be determined.

  Referring to FIG. 4, there is a region X <b> 1 where the rugosity R overlaps when the trait of the bottom 1 is seaweed 6 and when it is coral 7. Therefore, for example, when the lugocity R is calculated to be 2.6, it cannot be determined whether the character of the bottom 1 is the seaweed 6 or the coral 7. Therefore, it is preferable to measure the temporal displacement of the measurement region based on the shape data (water depth data) of the measurement region at different times and determine the trait of the bottom 1 based on the measured temporal displacement and rugosity R.

  By executing the measurement operation at different times, the “measurement data” at time t1 and the “measurement data” at time t2 are recorded in the recording means of the computing PC 11 respectively. Next, the calculation PC 11 performs analysis of the “measurement data” at time t1 and the “measurement data” at time t2 recorded in the recording unit, respectively, to thereby obtain the shape data (water depth data) at time t1 in the measurement region. The shape data (water depth data) at time t2 is calculated, and the rugosity R is calculated based on the calculated “shape data (water depth data)” at time t1 or time t2. Further, the calculation PC 11 calculates the displacement amount between the shape data (water depth data) at time t1 and the shape data (water depth data) at time t2 as a time-dependent displacement.

  As shown in FIG. 5, the calculation PC 11 records, in the recording means, the rugosity R and second trait determination data that correlates the temporal displacement and the vegetation and material characteristics of the bottom 1, and the calculated rugosity R And the character of the corresponding bottom 1 is determined based on the time-dependent displacement and the second character determination data. As shown in FIG. 5, when the water bottom 1 is sandy ground 4, a rocky place 5, and a coral 7, the temporal displacement is almost 0 cm, and when the water bottom 1 is the seaweed 6, the temporal displacement is about 4 to 20 cm. Become. Therefore, even if it cannot be determined based on the lugocity R, it can be determined whether the trait of the bottom 1 is the seaweed 6 or the coral 7 by the temporal displacement.

  Referring to FIG. 4, there is a region X <b> 2 where the rugosity R overlaps when the character of the bottom 1 is sand 4 and when it is a rock 5. Therefore, for example, when the lugocity R is calculated as 1.5, it cannot be determined whether the character of the bottom 1 is the sand 4 or the rock 5. Therefore, the vertical height difference is measured by subtracting the minimum water depth D from the maximum water depth D based on the shape data (water depth data) of the measurement region, and the trait of the bottom 1 is determined based on the measured vertical height difference and rugosity R. Good.

  As shown in FIG. 6, the calculation PC 11 records, in the recording means, third characteristic determination data that correlates the rugosity R and vertical height difference with the characteristics of the vegetation, material, etc. of the bottom 1, and calculates the calculated rugosity. The trait of the corresponding bottom 1 is determined based on R and the time-dependent displacement and the third character determination data. As shown in FIG. 6, the vertical difference in height tends to be larger in the rocky area 5 in the bottom 1 than in the sand 4, and even if it cannot be determined based on the Lugocity R, the trait of the bottom 1 is in the sand. 4 or rocky place 5 can be determined.

  In the present embodiment, the platform on which the trait measurement device 10 is installed is moved by navigating the ship 2, and measurement in a direction perpendicular to the measurement region width W (measurement region length L) is performed. Although configured, the scanner 18 may scan the direction perpendicular to the measurement area width W (measurement area length L).

  Further, instead of the laser oscillator 15 that emits the point-like pulse laser beam, the water bottom 1 is irradiated using a laser oscillator of a type that linearly diffuses the pulse laser beam using a cylindrical lens or the like and a one-dimensional optical sensor. The reflected light (scattered light) of the laser line segment may be detected. In this case, it becomes possible to simultaneously measure the water depth D of the laser line irradiated to the bottom 1. However, since the pulse laser beam is diffused, the water depth D is deep or the transparency is low. Is unsuitable. The measurement in the direction (measurement region length L) perpendicular to the laser line segment (measurement region width W) irradiated to the water bottom 1 is performed by scanning a linear pulse laser beam with a scanner, There is a method of moving the platform on which the trait measurement device 10 is installed by navigating the ship 2 in the same manner as the embodiment.

  In addition, the reflected light (scattered light) of the laser surface irradiated on the bottom 1 is detected using a laser oscillator that diffuses the laser light into a planar shape with a spherical lens and the like, and a two-dimensional optical sensor (image sensor). You may make it do. In this case, it becomes possible to simultaneously measure the water depth D of the laser surface irradiated to the seabed. However, since the pulse laser beam is further diffused, when the water depth D is deep or the transparency is low. , Unsuitable.

  In the present embodiment, the trait measurement device 10 is installed on the ship 2 and configured to emit pulsed laser light toward the bottom 1 from the underwater observation window 3 provided on the bottom of the ship. The trait measurement device 10 may be housed in the formed container and used by being attached to the side surface of the ship 2 or the like. Moreover, only the container which accommodated the trait measurement apparatus 10 may be used floating, and it is possible to attach the trait measurement apparatus 10 to various mobile bodies other than the ship 2. FIG. For example, an aircraft or a human (diver) can be used as the moving body.

As described above, in the present embodiment, the example has been described in which the bottom 1 is the measurement region, and the characters such as the vegetation and the material of the bottom 1 that is the measurement region are measured. However, the measurement region is limited to the bottom 1. Instead, the measurement area may be set to an underwater swimming object (fish school, jellyfish, etc.). That is, the measurement region can be arbitrarily set as long as it is within the region irradiated with the pulsed laser light emitted from the trait measurement device 10, and by setting the measurement region as an underwater swimming object, Traits can be measured. For example, when a fish school is set as an underwater swimming product, the “shape data” corresponds to the shape of the fish school, the “area of the measurement area” corresponds to the fish school area, and the “surface area” corresponds to the unevenness and size of the fish. Therefore, by calculating the rugosity R using the “measurement area (fish area)” and “surface area (fish irregularities, size)”, it is possible to perform precise fish detection including fish type and body length. It becomes possible.
The underwater swimming object may be an artificial underwater vehicle such as a submarine.

  As described above, the trait measurement device can efficiently measure traits in water. Therefore, as shown in FIG. 2, it is possible to grasp the shape of the sediment 8 such as a sunk sinking in the bottom 1, and to search for sediments such as artificial objects sinking in the bottom 1 or artificial underwater navigation. It can also be used for searching. It can also be used for environmental measurements.

1 Water bottom 2 Ship 3 Underwater observation window (spherical observation window)
4 Sandy place 5 Rocky place 6 Seaweed 7 Coral 8 Sedimentation 10 Trait measuring device 11 PC for calculation (shape data measuring means, rugosity calculating means, trait judging means, temporal displacement measuring means, vertical height difference calculating means)
12 GPS receiver 13 GPS antenna
14 Input / output unit 15 Laser oscillator (reflected light receiving means)
16 mirror 17 half mirror 18 scanner (scanning means)
19 Optical sensor (reflected light receiving means)
20 Delay Signal Generator 21 High-Speed Signal Digitizer 22 Scanner Attitude Measurement Sensor 23 Scanner Installation Table 24 Adjustment Motor 25 Hull Attitude Measurement Sensor

Claims (11)

Laser light oscillation means for emitting laser light into water toward a measurement area in water;
Reflected light receiving means for detecting the scattered light of the laser light irradiated to the measurement region as reflected light;
Shape data measuring means for measuring shape data of the measurement region based on the reflected light detected by the reflected light receiving means;
Based on the shape data, rugosity calculating means for calculating the relationship between the area of the measurement region and the surface area as rugosity ;
A trait determination device comprising trait determination means for determining a trait of the measurement region based on the rugosity . Comprising temporal displacement measuring means for measuring the temporal displacement of the measurement region based on the shape data of the measurement region at different times;
Said trait determination means trait measuring apparatus according to claim 1, wherein determining the trait of the measurement region on the basis of said time displacement and the rugosity. Comprising a vertical height difference calculating means for calculating a vertical height difference of the measurement region based on the shape data;
The trait measurement apparatus according to claim 2 , wherein the trait determination means determines the trait of the measurement region based on the rugosity and the vertical height difference. The laser beam oscillation means emits a pulsed laser beam,
Said shape data measuring means, any one of claims 1 to 3, characterized in that to measure the water depth data of the measurement region as the shape data based on the detection timing of the reflected light and the exit timing of the laser beam The trait measurement apparatus described in 1. The laser beam oscillation means is trait measuring apparatus according to any one of claims 1 to 4, characterized in that to emit the laser beam to the point shape toward the one point. Comprising posture measuring means for measuring posture information of the laser light oscillation means and the reflected light receiving means;
Said shape data measuring unit, transformed according to any one of claims 1 to 5, characterized in that measuring the shape data on the basis the said reflected light detected by the reflected light receiving means and the orientation information Measuring device. Position measuring means for measuring the current position ;
A trait map creation means ,
Said shape data measuring means, said shape data of the measurement region is measured on the basis of said current position and said reflected light,
The trait measurement device according to any one of claims 1 to 6 , wherein the trait map creation means creates a trait map indicating the trait distribution of the measurement region based on the shape data . Wavelength of the laser light emitted from said laser beam oscillation means is trait measuring apparatus according to any one of claims 1 to 7, characterized in that in the range of 400 nm to 550 nm. Comprising an input means for receiving an underwater distance input;
The shape data measuring means corrects the propagation speed of the laser light using the underwater distance, and the shape data measurement means is based on the corrected propagation speed of the laser light and the reflected light detected by the reflected light receiving means. trait measuring device according to any one of claims 1 to 8, characterized in that measuring data. A ship equipped with the trait measurement device according to any one of claims 1 to 9 , wherein at least the laser light oscillation means and the reflected light receiving means are exposed to the water from the ship. Trait measurement system. Scanning means for scanning the laser light emitted into the water;
A spherical observation window facing the water,
The trait measurement system according to claim 10, wherein an emission position of the laser beam in the scanning unit is arranged at a center of curvature of the spherical observation window.

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