WO2015068395A1 - Sensing device and sensing method - Google Patents

Abstract

　Provided is a remote sensing device for enabling high-speed observation of an observation object. A sensing device (100) for detecting electromagnetic waves from an observation object moving in relative fashion and observing the observation object is provided with a mirror surface (12D), the reflection direction of which can be changed, a mirror surface (12F), the reflection direction of which can be changed, a sensor (13A) for detecting electromagnetic waves from the observation object which are reflected by the mirror surface (12D), and a sensor (13B) for detecting electromagnetic waves from the observation object which are reflected by the mirror surface (12F). The sensor (13A) and the sensor (13B) each detect electromagnetic waves from a different portion of the observation object. The angle range of a mirror surface of a polygon mirror (12) for reflecting the electromagnetic waves detected by the sensor (13A) and the angle range of a mirror surface of a polygon mirror for reflecting the electromagnetic waves detected by the sensor (13B) are mutually different, and the field of view in which the sensor (13A) detects electromagnetic waves and the field of view in which the sensor (13B) detects electromagnetic waves are mutually different. The sensor (13B) or the sensor (13A) also measures white calibration data or a dark current in a period that is at least a portion of the period during which the sensor (13A) or the sensor (13B) is detecting electromagnetic waves from the observation object.

Description

Sensing device and sensing method Related applications

This application claims the benefits of Patent Application No. 2013-231849 filed in Japan on November 8, 2013 and Patent Application No. 2014-026733 filed in Japan on February 14, 2014, The contents of this application are incorporated herein by reference.

This technology relates to a sensing device and a sensing method that use electromagnetic waves to observe an observation target without touching it directly from a remote location.

Conventionally, sensing devices that use electromagnetic waves (visible light, ultraviolet rays, near infrared rays, etc.) to observe an observation target without touching them directly from a remote position are known. Such a sensing device is mounted on a platform such as a radio-controlled airplane (unmanned aerial vehicle) or a helicopter, and is applied to remote sensing for observing observation targets such as the ground surface, the ocean, and the atmosphere.

In a conventional sensing device, for example, a push-broom type remote sensing device, a large number of light receiving elements corresponding to each point on the distant observation target line are arranged on the imaging plane line, and reflected light for each wavelength. A configuration for obtaining an intensity distribution has been used. Such a conventional remote sensing device requires a large number of light receiving elements with uniform characteristics, and the price of the device is expensive. In addition, due to secular change, there has been a problem that the sensitivity characteristics between elements vary, or a data string of missing teeth occurs.

On the other hand, a sensing device that reduces the failure rate of the entire system by realizing a sensor with a small number of elements is known. For example, by adopting a configuration in which an observation target is scanned by a rotating mirror mechanism such as a polygon mirror and an electromagnetic wave from the observation target is guided to one light receiving element, the number of light receiving elements can be reduced to one on a line. There is no need to use a plurality of light receiving elements.

However, when the rotating mirror mechanism is used, the rotational speed of the rotating mirror is constant, whereas when the observation target has a planar shape such as the ground surface, the moving speed of the observation point on the observation target Since (scanning speed) changes nonlinearly with respect to the rotational speed of the rotating mirror mechanism, so-called observation distortion occurs. If only the portion with a small observation distortion is adopted, the duty cycle (duty cycle) will be significantly limited, and it will be difficult to observe the observation target at high speed.

Also, if a rotating mirror is used, it will be difficult to reduce the size and weight, and its application range will be limited.

Technical overview

Therefore, an object of the present technology is to provide a sensing device that enables high-speed observation of an observation target while avoiding an increase in the number of light receiving elements by using a plurality of light receiving elements arranged on a line.

Another purpose of this technology is to reduce the size or weight of the sensing device.

A sensing device according to an aspect of the present technology is a sensing device that detects an electromagnetic wave from a relatively moving observation target and observes the observation target, and includes a first mirror that can change a reflection direction, and a reflection direction. A second mirror that can be changed, a first sensor that detects an electromagnetic wave from the observation target reflected by the first mirror, and a second sensor that detects an electromagnetic wave from the observation target reflected by the second mirror; The first sensor and the second sensor have a configuration for detecting electromagnetic waves from different portions to be observed.

A sensing device according to another aspect of the present technology is a sensing device that observes an observation target by detecting electromagnetic waves from a relatively moving observation target, and a mirror that can change a reflection direction, and an observation reflected by the mirror A sensor that detects an electromagnetic wave from an object, and a multi-core fiber in which a plurality of input ends and an output end are arranged in a predetermined direction for transmitting the electromagnetic wave from an observation object to the mirror, By changing the reflection direction along a predetermined direction, a plurality of electromagnetic waves output from a plurality of output ends of the multi-core fiber are sequentially incident on the sensor.

A sensing method according to an aspect of the present technology is a sensing method for observing an observation target by detecting an electromagnetic wave from a relatively moving observation target, and is reflected by the first mirror by rotating the first mirror. The electromagnetic wave from the observed object is detected by the first sensor, the second mirror is rotated, the electromagnetic wave from the observed object reflected by the second mirror is detected by the second sensor, and the first sensor The second sensor has a configuration for detecting electromagnetic waves from different parts to be observed.

According to the present technology, since the first and second sensors sense different portions to be observed, the cutting width can be increased.

The figure which shows the structure of the sensing apparatus of 1st Embodiment of this technique. The figure which shows the observation optical axis according to the rotation angle ((theta) = 0-11.25 degree / t = 0-T / 32) of the polygon mirror 12 of 1st Embodiment of this technique. The figure which shows the observation optical axis according to the rotation angle ((theta) = 11.25-22.5 degree / t = T / 32-2T / 32) of the polygon mirror 12 of 1st Embodiment of this technique. The figure which shows the observation optical axis according to the rotation angle ((theta) = 22.5-33.75 degree / t = 2T / 32-3T / 32) of the polygon mirror 12 of 1st Embodiment of this technique. The figure which shows the observation optical axis according to the rotation angle ((theta) = 33.75-45 degree / t = 3T / 32-4T / 32) of the polygon mirror 12 of embodiment of this technique. Timing chart showing sensing timing according to the first embodiment of the present technology The figure which shows the cutting width and observation viewing angle of 1st Embodiment of this technique The block diagram which shows the structure of the sensing apparatus of 1st Embodiment of this technique. The block diagram which shows the structure of the timing generation circuit of 1st Embodiment of this technique. The figure which shows the structure of the sensing apparatus of 2nd Embodiment of this technique. The figure which shows the structure of the optical fiber of 2nd Embodiment of this technique. The figure explaining the scanning by the mirror surface of the polygon mirror of 2nd Embodiment of this technique The figure explaining the scanning by the mirror surface of the polygon mirror of 2nd Embodiment of this technique The figure for demonstrating the positional relationship of the mirror surface of the 2nd Embodiment of this technique, a convex lens, and a multi-core fiber end surface. The figure which shows the structure of the multi-core fiber end surface of the other example of 2nd Embodiment of this technique. The figure which shows the structure of the sensing apparatus of 3rd Embodiment of this technique. The figure which shows the structure of the sensing apparatus of the other example of 3rd Embodiment of this technique. The figure which shows the structure of the remote sensing apparatus designed so that the cutting width of the two sensors of the modification 1 of embodiment of this technique may not overlap. The figure which shows the cutting width and observation viewing angle of the modification 1 of embodiment of this technique The figure explaining the reason which inclines the rotation axis of a polygon mirror from a flight direction in the horizontal surface in the modification 11 of embodiment of this technique. The figure which shows the relationship between a flight direction and a scanning direction in the modification 11 of embodiment of this technique.

Embodiment

Hereinafter, embodiments of the present technology will be described. The embodiment described below shows an example when the present technology is implemented, and the present technology is not limited to the specific configuration described below. In implementing the present technology, a specific configuration according to the embodiment may be appropriately adopted.

A sensing device according to a first aspect of the present technology is a sensing device that observes an observation target by detecting electromagnetic waves from a relatively moving observation target, the first mirror capable of changing the reflection direction, A second mirror whose direction can be changed, a first sensor for detecting electromagnetic waves from the observation object reflected by the first mirror, and a second sensor for detecting electromagnetic waves from the observation object reflected by the second mirror The first sensor and the second sensor have a configuration for detecting electromagnetic waves from different portions to be observed.

This configuration allows the first and second sensors to sense different parts to be observed, so that the cutting width can be increased.

The sensing device according to the second aspect of the present technology is the sensing device according to the first aspect, wherein the first sensor detects the electromagnetic wave from the observation target, and the second sensor detects the electromagnetic wave from the observation target. The period is continuous or at least partially overlaps.

With this configuration, the first and second sensors sense different portions to be observed continuously or at least simultaneously in a certain period, so that the two sensors can sense at high speed.

A sensing device according to a third aspect of the present technology is the sensing device according to the first or second aspect, further including a housing that houses the first and second mirrors and the first and second sensors. Comprises a first window for passing an electromagnetic wave from the observation target incident on the first sensor, and a second window for allowing the electromagnetic wave from the observation target incident on the second sensor to pass through, The first window and the second window have a configuration provided side by side.

With this configuration, the observation target can be sensed in one direction from the housing using the first and second sensors.

A sensing device according to a fourth aspect of the present technology is the sensing device according to any one of the first to third aspects, includes a rotating mirror having a plurality of mirror surfaces including a first mirror and a second mirror, and rotates. It has the structure which changes the reflective direction of the 1st and 2nd mirror by rotating a mirror.

With this configuration, the observation target can be scanned with a simple configuration in which a rotating mirror having a plurality of mirror surfaces is rotated.

A sensing device according to a fifth aspect of the present technology is the sensing device according to the fourth aspect, in which the mirror surface of the rotating mirror that reflects the electromagnetic wave to the first sensor as the first mirror and the second mirror as the second mirror. The mirror surface of the rotating mirror that reflects the electromagnetic wave to the sensor has a configuration adjacent to one or more mirror surfaces.

With this configuration, the first and second sensors can be arranged on both sides of the rotating mirror, and the distance between the field of view (observation range) of the first sensor and the field of view (observation range) of the second sensor can be suitably set.

A sensing device according to a sixth aspect of the present technology is the sensing device according to the fourth or fifth aspect, in which the rotating mirror rotates at a substantially constant rotational speed, and the first and second sensors are electromagnetic waves from an observation target. In this case, an electromagnetic wave from the observation target is detected with a range excluding both side portions of the maximum viewing angle capable of detecting the image as an observation viewing angle.

Here, the maximum viewing angle at which the electromagnetic wave from the observation target can be detected is an angle at which the electromagnetic wave from the observation target enters the first and second sensors, and the observation viewing angle is actually the first and second observation angles. This is the angle at which the two sensors perform sensing of the observation target. When the rotating mirror rotates at a constant rotation speed, if the observation target is a flat surface, distortion is large at a portion where the angle from the observation target portion that detects electromagnetic waves to the sensing device is shallow with respect to the flat surface. However, according to the above configuration, since the cutting width is increased by using two sensors, it is not necessary to forcibly increase the cutting width of each sensor, and a portion with a large distortion is not observed. Sensing accuracy can be improved by not performing sensing.

A sensing device according to a seventh aspect of the present technology is the sensing device according to the third aspect, having black providing means or white providing means between the first window and the second window. The sensor 2 has a configuration in which dark current is measured by detecting electromagnetic waves from the black color providing means, or white calibration data is measured by detecting electromagnetic waves from the white color providing means.

With this configuration, dark current or white calibration data can be measured using the timing at which distortion increases in the first sensor or the second sensor.

The sensing device according to the eighth aspect of the present technology is the sensing device according to the third aspect, wherein the first window is opposite to the second window and the second window is opposite to the first window. The first and second sensors measure the dark current by detecting the electromagnetic wave from the black providing means, or detect the electromagnetic wave from the white providing means. It has a configuration for measuring white calibration data.

With this configuration, dark current or white calibration data can be measured using the timing at which distortion increases in the first sensor or the second sensor.

A sensing device according to a ninth aspect of the present technology is the sensing device according to the fourth aspect, in which the second sensor is in at least a part of a period during which the first sensor detects an electromagnetic wave from the observation target. It has a configuration for measuring white calibration data.

With this configuration, for example, the white sensor data can be measured by the second sensor by using the timing at which the observed distortion in the first sensor is reduced and the observed distortion in the second sensor is increased.

A sensing device according to a tenth aspect of the present technology is the sensing device according to the fourth aspect, in which the first sensor is in at least a part of a period during which the second sensor detects an electromagnetic wave from the observation target. It has a configuration for measuring dark current.

With this configuration, for example, the dark current can be measured by the first sensor using the timing at which the observed distortion in the second sensor is reduced and the observed distortion in the first sensor is increased.

A sensing device according to an eleventh aspect of the present technology is the sensing device according to any one of the first to third aspects, in which the first and second mirrors are micromirrors, and the first is achieved by swinging the micromirrors. And it has the structure which changes the reflective direction of a 2nd mirror.

This configuration makes it possible to reduce the weight of the sensing device because a relatively lightweight mirror called a micromirror is used as the mirror that changes the reflection direction in order to scan the observation target. Further, since the first mirror and the second mirror are not integrated, the respective swing centers can be made different, and the movement of the reflection surface when changing the reflection direction can be reduced.

A sensing device according to a twelfth aspect of the present technology is the sensing device according to the eleventh aspect, in which the micromirror rotates around an axis parallel to the scanning direction in accordance with rotation of the sensing device around an axis parallel to the scanning direction. It has the composition to do.

This configuration can cancel the displacement of the scanning position due to the pitching of the platform on which the sensing device is mounted.

A sensing device according to a thirteenth aspect of the present technology is the sensing device according to the eleventh or twelfth aspect, wherein the micromirror is in response to rotation of the sensing device about an axis perpendicular to the scanning direction and parallel to the mirror surface of the micromirror. Thus, the peristaltic center is changed.

This configuration can cancel the displacement of the scanning position due to rolling of the platform on which the sensing device is mounted.

A sensing device according to a fourteenth aspect of the present technology is the sensing device according to any one of the first to fourth and eleventh to thirteenth aspects, for transmitting the electromagnetic wave in the first field of view to the first mirror. A first multi-core fiber in which a plurality of input ends and output ends are arranged in a first direction; and a second field electromagnetic wave different from the first field to transmit to the second mirror, A second multi-core fiber in which a plurality of input ends and output ends are arranged in the second direction, and a first connection for imaging an electromagnetic wave in the first field of view on the input end of the first multi-core fiber. An image optical system and a second imaging optical system that forms an electromagnetic wave of a second field of view on the input end of the second multi-core fiber, and the first mirror reflects along the first direction A plurality of electromagnetic waves output from a plurality of output ends of the first multi-core fiber by changing the direction The light is incident on the first sensor in order, and the second mirror sequentially changes the reflection direction along the second direction, thereby sequentially causing the plurality of electromagnetic waves output from the plurality of output ends of the second multicore fiber. It has the structure made to inject into a 2nd sensor.

With this configuration, electromagnetic waves from the observation target are transmitted through the fiber and incident on the mirror that scans the observation target by changing the reflection direction. Can be downsized.

A sensing device according to a fifteenth aspect of the present technology is the sensing device according to the fourteenth aspect, wherein the first multicore fiber has a plurality of input ends and output ends in a third direction perpendicular to the first direction. The second multi-core fiber is also arranged in a fourth direction in which a plurality of input ends and output ends are perpendicular to the second direction, and the first sensor A plurality of electromagnetic waves arranged in the direction are simultaneously detected, and the second sensor has a configuration for simultaneously detecting the plurality of electromagnetic waves arranged in the fourth direction.

With this configuration, the first and second mirrors can change the reflection direction, so that scanning of a plurality of lines can be performed simultaneously, and high-speed sensing or high-precision sensing of an observation target is possible.

A sensing device according to a sixteenth aspect of the present technology is the sensing device according to the fourteenth or fifteenth aspect, wherein the electromagnetic wave reflected by the first mirror is input from the input end and output from the output end. And a second sensor fiber for transmitting the electromagnetic wave reflected by the second mirror to the second sensor by inputting from the input end and outputting from the output end. The input end of the first sensor fiber is inserted into the array of the plurality of output ends of one multi-core fiber arranged side by side in the first direction, and the input of the second sensor fiber The end has a configuration inserted into an array of a plurality of output ends of two multi-core fibers arranged side by side in the second direction.

With this configuration, the input end of the sensor fiber is aligned with a plurality of output ends of the electromagnetic wave before mirror reflection, so that the incident angle and the reflection angle of the electromagnetic wave reflected by the mirror can be made relatively small, and the reflection by the mirror Loss can be suppressed.

A sensing device according to a seventeenth aspect of the present technology is the sensing device according to any one of the fourteenth to sixteenth aspects, wherein a white providing means is provided at an end of the array of the plurality of output ends of the first multicore fiber. The first mirror causes the electromagnetic wave from the white color providing means to enter the first sensor, and the first sensor has a configuration for measuring white calibration data by detecting the electromagnetic wave from the white color providing means. Yes.

With this configuration, since the white color providing means is provided at the end of the array of the plurality of output ends of the multicore fiber, the white calibration data can be measured using the position where the distortion is relatively large. Similar to the first sensor side, the white sensor data may be measured by providing the same white color providing means on the second sensor side.

A sensing device according to an eighteenth aspect of the present technology is the sensing device according to the fourteenth or fifteenth aspect, having black providing means at an end of an array of a plurality of output ends of the first multicore fiber, The mirror has a configuration in which the electromagnetic wave from the black color providing means is incident on the first sensor, and the first sensor measures the dark current by detecting the electromagnetic wave from the black color providing means.

With this configuration, since the black color providing means is provided at the end of the array of the plurality of output ends of the multi-core fiber, the dark current can be measured using the position where the distortion is relatively large. In addition, when providing white provision means at the end of the arrangement of the plurality of output ends of the first multicore fiber simultaneously with this configuration, white provision means is provided at one end of the arrangement of the plurality of output ends of the first multicore fiber. And the black providing means can be provided at the other end of the array of the plurality of output ends of the first multicore fiber. Further, similar to the first sensor side, a similar black providing means may be provided on the second sensor side to measure dark current.

A sensing device according to a nineteenth aspect of the present technology is the sensing device according to the first aspect, wherein an angle range in which the reflection direction of the first mirror is changed and an angle range in which the reflection direction of the second mirror is changed. The sensing device according to claim 1, wherein the sensing devices are different.

With this configuration, the first sensor and the second sensor detect electromagnetic waves in the angular range, so that the cutting width can be widened.

In the sensing device according to the twentieth aspect of the present technology, in the sensing device according to the fourteenth or fifteenth aspect, the visual field in which the first sensor detects electromagnetic waves and the visual field in which the second sensor detects electromagnetic waves are mutually It has the structure which has shifted | deviated.

This configuration makes it possible to widen the cutting width by adding the cutting width of the first sensor and the cutting width of the second sensor which are shifted from each other.

In the sensing device according to the twenty-first aspect of the present technology, in the sensing device according to the first aspect, the wavelength range of the electromagnetic wave detected by the first sensor is different from the wavelength range of the electromagnetic wave detected by the second sensor. The sensing device according to claim 1, characterized in that:

This configuration allows simultaneous detection of electromagnetic waves in multiple wavelength regions.

A sensing device according to a twenty-second aspect of the present technology is the sensing device according to the first aspect, in which the sensing device is mounted on a flying platform, and the observation target is the ground surface or the water surface.

This structure allows the surface of the earth to be surveyed from above.

A sensing device according to a twenty-third aspect of the present technology is the sensing device according to the twenty-second aspect, in which the rotation axes of the first and second mirrors exist in a plane parallel to the vertical direction and the flight direction. ing.

With this configuration, the main scanning is performed in the direction perpendicular to the flight direction by the rotation of the polygon mirror, and the sub-scan is performed in the direction perpendicular to the scanning direction by the rotation of the polygon mirror by the flight. Observable.

A sensing device according to a twenty-fourth aspect of the present technology is the sensing device according to the sixteenth aspect, in which the rotation axes of the first and second mirrors are flying during observation with respect to the flight direction within a plane parallel to the observation target. It has a configuration in which the observation target is observed while scanning on a line that is perpendicular to the flight direction within a plane parallel to the observation target and that is deviated by a certain angle depending on the speed.

This configuration makes it possible to perform main scanning on a line perpendicular to the flight direction.

A sensing device according to a twenty-fifth aspect of the present technology is a sensing device that detects an electromagnetic wave from an observation object that moves relatively, and observes the observation object, and a mirror that can change a reflection direction, and is reflected by the mirror A sensor that detects electromagnetic waves from an observation target, and a multi-core fiber in which a plurality of input ends and output ends are arranged in a predetermined direction for transmitting the electromagnetic waves from the observation target to the mirror, By changing the reflection direction along a predetermined direction, a plurality of electromagnetic waves output from a plurality of output ends of the multicore fiber are sequentially incident on the sensor.

With this configuration, electromagnetic waves from the observation target are transmitted through the fiber and incident on the mirror that scans the observation target by changing the reflection direction. Can be downsized.

A sensing method according to a twenty-sixth aspect of the present technology is a sensing method for observing an observation target by detecting an electromagnetic wave from the relatively moving observation target, and rotating the first mirror to detect the first mirror. The electromagnetic wave from the observation object reflected by the first sensor is detected by the first sensor, the second mirror is rotated, the electromagnetic wave from the observation object reflected by the second mirror is detected by the second sensor, and the first sensor The sensor and the second sensor have a configuration for detecting electromagnetic waves from different portions to be observed.

This configuration allows the first and second sensors to sense different parts of the object, so that the cutting width can be increased.

(First embodiment)
FIG. 1 is a diagram illustrating a configuration of a sensing device according to the first embodiment of the present technology. The sensing device 100 according to the present embodiment is a remote sensing device that performs observation of an observation target from above, with the ground surface and sea level as an observation target. The remote sensing device 100 includes a housing 11 having a rectangular parallelepiped shape in which a front surface and a back surface are substantially square, and two side surfaces, an upper surface, and a bottom surface are rectangular. The remote sensing device 100 is mounted and used on a platform such as a radio controlled airplane such that the bottom surface 11C faces downward and the front surface is in the traveling direction. 1 is the front surface, the back surface of the paper surface is the back surface, the lower surface of the paper surface is the bottom surface 11C, the left side of the paper surface is the right side surface 11A (when facing the traveling direction), The right side is the left side surface 11B (when facing the traveling direction).

Inside the housing 11, a polygon mirror 12 that is a rotating mirror is installed at the center in the left-right direction and below in the up-down direction. The polygon mirror 12 has a rotation axis perpendicular to the back surface and the front surface. The polygon mirror 12 has a regular octagonal prism shape and has eight planar mirror surfaces 12A to 12H. A motor that rotates the polygon mirror 12 at a substantially constant rotational speed is provided on the back side of the polygon mirror 12.

Sensors 13A and 13B are respectively provided diagonally below the left and right sides of the polygon mirror 12. The sensors 13A and 13B are provided with small spectroscopes 131A and 131B for decomposing incident electromagnetic waves for each wavelength. Each of the small spectrographs 131A and 131B of the present embodiment decomposes electromagnetic waves corresponding to the wavelength range of visible light.

Sensor optical systems 132A and 132B are provided between the small spectrometers 131A and 131B and the polygon mirror 12 on the optical axis of the small spectrometers 131A and 131B. The sensor optical systems 132A and 132B are respectively provided with condenser lenses 1321A and 1321B, relay lenses 1322A and 1322B, and objective lenses 1323A and 1323B from the small spectroscope side. The optical axes of the sensor optical systems 132A and 132B are inclined 11.25 degrees upward with respect to the direction horizontal to the bottom surface 11C. That is, the optical axis of the sensor 13A and the optical axis of the sensor 13B are inclined by 22.5 degrees.

The bottom surface 11C of the casing 11 is provided with windows 111A and 111B that transmit electromagnetic waves from the observation target at a certain distance from the center in the left-right direction. With this configuration, an electromagnetic wave (hereinafter simply referred to as “light”) from the observation target passes through the windows 111A and 111B, is reflected by the mirror surface of the polygon mirror 12, passes through the sensor optical systems 132A and 132B, and is compact. The light enters the spectroscopes 131A and 131B. Between the windows 111A and 111B on the bottom surface 11C of the housing 11, a black plate 112 is provided as black providing means. Note that the windows 111 </ b> A and 111 </ b> B may be arranged non-parallel on the curved surface, or may be arranged in steps on a stepped surface. Further, the window 111A and the window 111B may be arranged with other members interposed therebetween, may be arranged in a shifted manner in the front-rear direction, and may have different sizes and shapes.

Also, milky white transparent plates 113A and 113B as white providing means are provided outside the windows 111A and 111B. The tips of the optical fibers 14A and 14B face the outside of the milky white transparent plates 113A and 113B. The optical fibers 14 </ b> A and 14 </ b> B propagate the ambient light collected by the light collection window 17, take in light obtained from a scattering window (not shown) on the side surface, and guide it to the tip. As a result, the milky white transparent plates 113A and 113B are irradiated with light according to the intensity of the ambient light from the tips of the optical fibers 14A and 14B. In addition, a partition is provided between the black plate 112 and the windows 111A and 111B, between the milky white transparent plate 113A and the window 111A, and between the milky white transparent plate 113B and the window 111B, and each measurement value is influenced by stray light. Is prevented from receiving.

A multifunction microcomputer 15 and a large-capacity flash memory 16 are provided above the inside of the housing 11. The multi-function microcomputer 15 controls the sensors 13A and 13B, receives sensor output values (sensing data) from the sensors 13A and 13B, and stores them in the large-capacity flash memory 16. Other functions of the multi-function microcomputer 15 will be described later. The large-capacity flash memory 16 may be replaced with a removable flash memory that can be attached to and detached from the remote sensing device 100.

Next, first, a sensing operation by the remote sensing device 100 will be described with reference to FIGS. 2 to 6, and then a configuration for realizing such an operation will be described. 2 to 5 are diagrams showing observation optical axes (light paths of light incident on the sensors 13A and 13B) corresponding to the rotation angle of the polygon mirror 12. FIG. That is, FIGS. 2 to 5 show the observation targets of the sensors 13A and 13B. 2 to 5, the polygon mirror 12, the black plate 112, and the milky white transparent plates 113A and 113B are shown, and the other components are not shown. 2 to 5, the polygon mirror 12 rotates counterclockwise at a period T (time required for one rotation T).

FIG. 6 is a timing chart showing the sensing timing of the sensors 13A and 13B. In FIG. 6, the sensing by the sensor 13A is channel A (Ch-A), the sensing by the sensor 13B is channel B (Ch-B), and the timing for starting sensing of the observation target by the channel A is the reference time (t = 0). ) And the rotation angle of the rotating mirror with time.

In the state of FIG. 2, light that has passed through the window 111 </ b> A from the observation target and reflected by the mirror surface 12 </ b> A of the polygon mirror 12 is incident on the sensor 13 </ b> A, and light from the black plate 112 is reflected by the mirror surface 12 </ b> C of the polygon mirror 12. Incident on the sensor 13B. That is, at the same time when the sensor 13A detects the light from the observation target, the sensor 13B detects the light from the black plate 112 and measures the dark current. This state corresponds to any time from t = 0 to T / 32 in the timing chart of FIG.

When the polygon mirror 12 rotates and enters the state shown in FIG. 3, the light from the observation target passes through the window 111A, is reflected by the mirror surface 12A of the polygon mirror 12, enters the sensor 13A, and is also observed by the sensor 13B. Light from the object passes through the window 111B, is reflected by the mirror surface 12C of the polygon mirror 12, and enters. That is, in the state of FIG. 3, the sensor 13A and the sensor 13B simultaneously detect light from the observation target. However, light from different parts of the observation target is incident on the sensor 13A and the sensor 13B. This state corresponds to any time from t = T / 32 to 2T / 32 in the timing chart of FIG.

When the polygon mirror 12 further rotates and enters the state of FIG. 4, the light from the black plate 112 is reflected by the mirror surface 12A of the polygon mirror 12 and enters the sensor 13A. Light passes through the window 111B, is reflected by the mirror surface 12C of the polygon mirror 12, and enters. That is, in the state of FIG. 4, the sensor 13A senses light from the black plate 112 and measures the dark current, and at the same time, the sensor 13B senses light from the observation target. This state corresponds to any time from t = 2T / 32 to 3T / 32 in the timing chart of FIG.

When the polygon mirror 12 further rotates and enters the state of FIG. 5, the light reflected by the mirror surface 12H of the polygon mirror 12 enters the sensor 13A, and the light reflected by the mirror surface 12C of the polygon mirror 12 enters the sensor 13B. Is incident. Specifically, the light from the milky white plate 113A is reflected by the mirror surface 12H and enters the sensor 13A, and the light from the milky white plate 113B is reflected by the mirror surface 12C and enters the sensor 13B. This state corresponds to any time from t = 3T / 32 to 4T / 32 in the timing chart of FIG.

As the polygon mirror 12 rotates, the light incident on the sensors 13A and 13B changes in the cycle shown in FIGS. The cycle period T ′ is T ′ = T / (number of mirror surfaces), where T is the rotation period of the polygon mirror 12, and T ′ = T / 8 in the present embodiment. This period T ′ corresponds to a rotation angle of the polygon mirror 12 of 45 degrees (= 360 degrees / number of mirror surfaces).

Referring to FIG. 6, after the sensing (Ch-A) of the observation target is started in channel A at time t = 0, the dark current measurement (D) is performed in channel B until time t = T / 32. I do. The state of FIG. 2 shows a state between time t = 0 and T / 32. Next, at time t = T / 32 to 2T / 32, the dark current measurement (D) is finished in channel B, and sensing of the observation target (Ch-B) is performed. At this time, sensing of the observation target (Ch-A) is continuously performed in channel A. FIG. 3 shows the state during this time.

Next, at time t = 2T / 32 to 3T / 32, the dark current measurement (D) is performed on channel A, and the sensing target (Ch-B) is continuously performed on channel B. FIG. 4 shows the state during this period. At time t = 3T / 32 to 4T / 32, white plate calibration (W) is performed for both channel A and channel B. Then, when time t = 4T / 32 (that is, t = T / 8 = T ′), the next cycle starts. That is, the rotation angle range (θ = ˜22.5 degrees) of the mirror that performs sensing (Ch-A) of the observation target in channel A and the rotation of the mirror that performs sensing of the observation target (Ch-B) in channel B It is out of the angular range (θ = 11.25 to 33.75 degrees).

In this way, in channel A, the measurement of the observation target (Ch-A), the dark current measurement (D), and the white plate calibration (W) are repeated in this order, and in channel B, the dark current measurement (D ), Measurement of the observation target (Ch-B), and white plate calibration (W) are repeated in this order, and channel A and channel B perform these cycles in parallel. In the present embodiment, the sensors 13A and 13B correspond to the first and second sensors of the present technology, respectively, and the mirror surface of the polygon mirror 12 that reflects light from the observation target and enters the sensor 13A is The mirror surface of the polygon mirror 12 that corresponds to the first mirror of the technique and reflects the light from the observation target and enters the sensor 13B corresponds to the second mirror.

Next, the observable range by the sensing operation as described above will be described. FIG. 7 is a diagram showing the observation range of the present embodiment. FIG. 7 is a view of the polygon mirror 12 as viewed in the direction of the rotation axis. In general, when the observation optical axis is scanned by a rotating rotating mirror that rotates in a vertical plane installed at the ground height h, the light from the observation target on the ground is guided to a sensor installed in the horizontal plane. Depending on the value of the angle θ that the optical axis makes with the vertical direction, the ground-equivalent scanning speed changes nonlinearly, which causes observation distortion. Note that the width of the observation target when the light from the observation target is detected by the sensor is referred to as a cutting width, and the angular width of the observation optical axis at that time is referred to as a viewing angle (FOV: Field Of View).

Now, assuming that the point directly below the ground surface is the origin, the horizontal position of the observation object on the ground is x, and the altitude of the sensor is h, the following equation (1) is established.
x = h tan (θ) (1)
When the equation (1) is differentiated with respect to the angle θ with respect to the vertical direction of the observation optical axis, the dependence of the ground equivalent spatial resolution on θ is expressed by the following equation (2).
dx / dθ = h / cos ² (θ) (2)
This value is minimum at θ = 0 degrees.

This corresponds to the condition that when the sensor is installed so that its optical axis is in the horizontal direction, the angle between the mirror surface and the horizontal plane is 45 degrees, and becomes infinite as the angle of the mirror surface approaches vertical or horizontal. Means to diverge. For this reason, it is advisable to use a mirror near a mirror angle of 45 degrees under this installation condition. However, if a large cutting width is to be realized in low altitude flight (with a small h), a large FOV is required. Therefore, it is difficult to satisfy both conditions with a single mirror.

Therefore, as shown in FIG. 7, in the present embodiment, by assigning different observation ranges to a plurality of mirror surfaces that are operated synchronously as polygon mirrors, the FOV assigned to one mirror surface is substantially reduced. Thus, a large cutting width and a large FOV are realized as a whole while maintaining the spatial resolution of ground conversion. In the present embodiment, as shown in FIG. 7, the cutting width Wa handled by the sensor 13A and the cutting width Wb handled by the sensor 13B are shifted from each other, and a range in which the cutting width Wa and the cutting width Wb are combined is obtained. This is the cutting width of the remote sensing device 100. Strictly speaking, the center of the viewing angle of the sensor 13A (reflection point on the mirror surface of the polygon mirror 12) and the center of the viewing angle of the sensor 13B (reflection point on the mirror surface of the polygon mirror 12) do not match, Although there is a deviation, since this deviation is sufficiently small with respect to the height h, in FIG.

As described above, since the optical axes of the sensors 13A and 13B are inclined by 11.25 degrees from the horizontal, the observation optical axes that minimize the dependence of the spatial resolution on the ground on θ are 22.5 degrees from the vertical. It's off. When the angle of the mirror that reflects the light incident on the sensors 13A and 13B changes, the viewing angle changes by twice that size. As shown in FIG. 6, the rotation angle range of the polygon mirror for sensing the observation target by the sensors 13A and 13B is 22.5 degrees. Therefore, the observation viewing angle that the sensors 13A and 13B are in charge of (the field of view for observing the observation target). Angle) FOVa and FOVb are each 45 degrees, and the deviation between the observation viewing angle FOVa of the sensor 13A and the observation viewing angle FOVb of the sensor 13B is 22.5 degrees. Therefore, the total observation viewing angle FOV, which is the sum of the observation viewing angle FOVa of the sensor 13A and the observation viewing angle FOVb of the sensor 13B, is 67.5 degrees. When the height of the sensor is h, the cutting widths Wa and Wb of the sensor 13A and the sensor 13B are about 0.87h, and the overlapping range is about 0.40h, so the total cutting width is about 1.336h. It becomes. Therefore, when the remote sensing device 100 is 50 m above and observes the ground surface, the cutting width is about 67 m.

As described above, for each sensor 13A, 13B, the viewing angle of 90 degrees at the maximum is limited to 45 degrees, and observation is performed at an angle where the observation distortion is relatively large (first 22.5 degrees and last 22.5 degrees). The observation viewing angle is expanded to 67.5 degrees as a whole by not using the observation of the object but using two sensors with such limited viewing viewing angles. The sensors 13A and 13B detect light from the black plate 112 or the milky white transparent plates 113A and 113B at an angle where the observation distortion is relatively large, and measure dark current or white plate calibration data. The measurement of dark current and white plate calibration will be described later.

Next, the configuration of the remote sensing device 100 for realizing the above observation will be described. FIG. 8 is a block diagram illustrating a configuration of the remote sensing device 100. 8, elements corresponding to those in FIG. 1 are denoted by the same reference numerals as in FIG. The remote sensing device 100 includes a polygon mirror 12, left and right lens groups 132A and 132B, left and right small spectroscopes 131A and 131B, and a control device 20. The remote sensing device 100 further includes a three-dimensional acceleration sensor 31, a gyro sensor 32, a GPS unit 33, and a thermometer / barometric altimeter 34 connected to the control device 20.

The control device 20 includes a timing circuit, an A / D conversion circuit, a processing circuit 21 including a signal processing circuit, a delay circuit 22, a multi-function microcomputer 15, a large-capacity flash memory 16, a position and orientation detection circuit 23, a GPS control circuit 24, and A thermometer / barometric altimeter control circuit 25 is provided.

The light from the observation target existing outside the remote sensing device 100 is incident on the polygon mirror 12, and the light from the black plate 112 and the milky white transparent plates 113A and 113B is incident as a normalization image. The light reflected by the polygon mirror 12 is reflected by one of the mirror surfaces 12A to 12H of the polygon mirror 12 and enters the small spectroscope 131A via the lens group 132A, or the small spectroscope via the lens group 132B. Incident on 131B.

Small spectroscopes 131A and 131B measure the spectrum of incident light. The timing circuit of the processing circuit 21 generates timing pulses for sensing the small spectrometers 131A and 131B, and acquires data from the small spectrometers 131A and 131B at the sensing timing.

FIG. 9 is a block diagram showing the configuration of the timing generation circuit in the timing circuit. The timing generation circuit 210 receives the T / 2 timing pulse obtained from the rotation of the polygon mirror 12 from the delay circuit 22 (see FIG. 8), and based on the T / 2 timing pulse, the phase discriminator 211, the voltage controlled oscillator A clock signal necessary for realizing the timing chart of FIG. 6 is obtained by using a phase locked loop (PLL) that includes (VCO: Voltage-Controlled Oscillator) 212 and 1/64 frequency divider 213. That is, the timing generation circuit 210 decomposes the T / 2 pulse obtained from the rotation of the polygon mirror 12 one round before and predicts the current rotation angle of the polygon mirror 12.

Based on the output of the voltage controlled oscillator 212, the timing generator L0 outputs a reading pulse to be observed on channel A, the timing generator L1 outputs a black reading pulse on channel B, and the timing generator L2 outputs on the channel B. The timing generator L3 outputs a black reading pulse for channel A, and the timing generator L4 outputs a white reading pulse for channel A and channel B.

The timing circuit operates the simulator based on the T / 2 timing pulse obtained from the rotation of the polygon mirror 12 instead of using the timing generation circuit 210 of FIG. 9, and the timing pulse of each mirror surface generated from this simulator. And timing pulses may be generated by applying a certain delay to them.

The A / D converter of the processing circuit 21 reads the sensor output value from the small spectroscope 131A and / or the small spectroscope 131B according to the pulse output from the timing circuit, performs A / D conversion, and outputs it to the signal processing circuit. To do. The signal processing circuit performs signal processing as follows.

Sensor output values of the sensors 13A and 13B when the light from the observation target is observed (output values after the sensors 13A and 13B sense during the periods of “Ch-A” and “Ch-B” in FIG. 6), respectively. IA and IB respectively, and the sensor output values of the sensors 13A and 13B when the light from the black plate 112 is observed (the output values after the sensors 13A and 13B sense during the period “D” in FIG. 6), respectively. Sensor output values of the sensors 13A and 13B when the light from the milky white transparent plates 113A and 113B is observed as DA and DB (output values after the sensors 13A and 13B sense during the period “W” in FIG. 6) Are WA and WB, respectively, the signal processing circuit calculates the observed values SA and SB of the sensors 13A and 13B by the following equations (3) and (4).
SA = k (IA-DA) / (WA-DA) (3)
SB = k (IB-DB) / (WB-DB) (4)

That is, the observed values SA and SB are expressed as a result of correcting illumination intensity and dark current on IA and IB. Here, k is a coefficient for converting the intensity of the white transparent surface into the scattered light intensity of the ground white plate, and is obtained experimentally.

As described above, in the remote sensing device 100, the dark current and white calibration data are measured for each scanning of the observation target, and the sensor output value of the observation target is corrected to obtain the observation value of the observation target. . Conventionally, white calibration is performed by placing a white plate on the ground and observing it, and dark current measurement is performed immediately after the observation of the observation target is completed and a small airplane equipped with a remote sensing device is landed. It was. However, when the observation target is the sea surface, it is difficult to prepare such a white plate. Further, since the small airplane is flying at a high speed, the normalized image (white) for white calibration changes every moment, and the dark current also changes every moment especially due to the influence of temperature. According to the present embodiment, since the dark current and white color for white calibration (white calibration data) are measured for each scanning line and used for correcting the sensor output value of the scanning. Accurate observations can be calculated.

The position / orientation detection circuit 23 acquires the measurement value of the acceleration in the three-dimensional direction from the three-dimensional acceleration sensor 31, acquires the measurement value of the attitude information from the gyro sensor 32, and obtains the position and attitude information of the remote sensing device 100. Output to the multi-function microcomputer 15. The GPS control circuit 24 acquires GPS position information from the GPS unit 33 and outputs the position information to the multi-function microcomputer 15. The thermometer / barometric altimeter control circuit 25 acquires a temperature measurement value, a barometric pressure measurement value, and an altitude value from the thermometer / barometric altimeter 34, and outputs temperature, barometric pressure, and altitude information to the multi-function microcomputer. The thermometer / barometric altimeter 34 obtains the altitude from the measured value of the atmospheric pressure.

The multi-function microcomputer 15 acquires the observation values SA and SB from the processing circuit 21, the position and orientation information acquired from the position and orientation detection circuit 23, the position information acquired from the GPS control circuit 24, and thermometer / barometric altimeter control The temperature, atmospheric pressure, and altitude information acquired from the circuit 25 is recorded in the large-capacity flash memory 16. At this time, the multi-function microcomputer 15 also acquires the sensor output values IA, IB, WA, WA, DA, DB together with the observation values SA, SB or instead of the observation values SA, SB, and these are also large. It may be recorded in the capacity flash memory 16.

The remote sensing device 100 is connected to the host PC 500 after landing after observation. The multi-function microcomputer 15 reads information recorded from the large-capacity flash memory 16 in accordance with a request from the host PC 500, and outputs (transmits) the information to the host PC 500. The remote sensing device 100 may have a wireless communication function, and data obtained by observation may be wirelessly transmitted to the host PC 500 from above.

As described above, according to the remote sensing device 100 of the present embodiment, the two sensors 13A and 13B are provided, the scanning ranges of the sensors 13A and 13B are shifted from each other, and each sensor has a different observation target. Since the light from the part is detected, a wide cutting width can be realized without increasing the cutting width of each sensor. In addition, by adopting the rotating mirror 12 that rotates, the two sensors perform observations using different mirror surfaces, so that these two sensors simultaneously observe the observation target. Observable.

As described above, according to the first embodiment of the present technology and the modification thereof, not only can the duty cycle of the polygon mirror be greatly improved, but also the dark current required for observation of the reflectance spectrum can be reduced. Measurement and white plate calibration can also be realized continuously without interrupting the operation of the observation equipment, so high-speed observation can be performed continuously even in an environment where the light source condition changes from moment to moment, and for use in unmanned aircraft Can be realized at low cost.

(Second Embodiment)
Next, a second embodiment of the present technology will be described. FIG. 10 is a diagram illustrating a configuration of a sensing device according to the second embodiment of the present technology. Similarly to the sensing device of the first embodiment, the sensing device 200 of the present embodiment is also a remote sensing device that observes the observation target from the sky with the ground surface and the sea surface as the observation target. In the remote sensing device 200 of FIG. 10, the same components as those in the remote sensing device 100 of the first embodiment are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

The remote sensing device 200 includes a polygon mirror 12 inside a rectangular parallelepiped housing 11. Convex lenses 134A and 134B are provided on the left and right sides of the polygon mirror 12, respectively. The convex lenses 134 </ b> A and 134 </ b> B are arranged so that their optical axes pass through the rotation center of the polygon mirror 12. Multi-core fiber end faces 53A and 53B are provided on the opposite sides of the convex lenses 134A and 134B from the polygon mirror 12.

The multi-fiber end faces 53A and 53B have optical fibers for introducing external light for white calibration (hereinafter referred to as “white calibration fibers”) 14A and 14B, and eight optical fibers for introducing observation light. (Hereinafter referred to as “observation light introducing fiber”) 52A and 52B for multi-core optical fiber (hereinafter simply referred to as “multi-core fiber”) 52A and 52B, and for introducing reflected light into small spectrographs 131A and 131B Optical fibers (hereinafter referred to as “sensor input fibers”) 133A and 133B are included, and these end faces are arranged on the same plane. And the plane comprised from the end surface of these some optical fibers and a black board is arrange | positioned so that it may become perpendicular | vertical to the optical axis of convex lens 134A, 134B. The multi-core fiber 52A composed of a plurality of observation light introducing fibers corresponds to a first multi-core fiber of the present technology, and the multi-core fiber 52B composed of a plurality of observation light introducing fibers is a second multi-core of the present technology. Corresponds to fiber.

The other ends, that is, the input ends of the multi-core fibers 52A and 52B made up of a plurality of observation light introducing fibers are arranged on the image side of the telephoto lenses 51A and 51B as the imaging optical system provided on the bottom surface 11C of the housing 11. ing. The input ends of the plurality of observation light introducing fibers are arranged on the same plane so as to coincide with the imaging surfaces of the telephoto lenses 51A and 51B. Output ends of the sensor input fibers 133A and 133B are connected to the small spectroscopes 131A and 131B. Light incident from the input ends of the sensor input fibers 133A and 133B propagates through the sensor input fibers 133A and 133B, is output from the output end, and enters the small spectroscopes 131A and 131B. The input ends of the white calibration fibers 14A and 14B are connected to the light collection window 17. The ambient light collected by the collection window 17 propagates through the white calibration fibers 14A and 14B and is output from the output end. In the present embodiment, sensors 13A and 13B (not shown) are configured by small spectroscopes 131A and 131B and sensor input fibers 133A and 133B.

The telephoto lenses 51A and 51B are installed such that their optical axes are shifted from each other in the scanning direction. Specifically, the optical axis of the telephoto lens 51A is inclined 11.25 degrees outward from the vertical direction (left side in FIG. 10), and the optical axis of the telephoto lens 51B is also outward from the vertical direction (right side in FIG. 10). The optical axis of the telephoto lens 51A and the optical axis of the telephoto lens 51B are inclined by 22.5 degrees. Accordingly, the distance from the remote sensing device 200 to the observation target is sufficiently larger than the distance between the telephoto lens 51A and the telephoto lens 51B, and the distance between the telephoto lens 51A and the telephoto lens 51B can be ignored. However, the fields of view are shifted from each other in the scanning direction, and as a result, a shift of the scanning range or the field of view as shown in FIG. 7 occurs, and the cutting width can be enlarged. Since the configuration of the remote sensing device 200 is bilaterally symmetrical, the configuration of the channel A (left side in FIG. 10) will be described as a representative.

FIG. 11 is a diagram showing a configuration of the optical fiber according to the present embodiment. As shown in FIG. 11, the end faces of the plurality of optical fibers are arranged in a straight line with the adjoining neighbors. In the multicore fiber end surface 53A, the end surface 14A2 of the white calibration fiber 14A, the end surfaces 521A2 to 524A2 of the four observation light introduction fibers, the end surface 133A1 of the sensor input fiber 133A, the end surfaces 525A2 to 528A2 of the four observation light introduction fibers, and The black plates 114A are arranged in this order. That is, the end face 14A2 of the white calibration fiber 14A and the black plate 114A are arranged at both ends of the multicore fiber end faces 53A and 53B, and the end face 133A1 of the sensor input fiber 133A is an array of end faces 521A2 to 528A2 of a plurality of observation light introducing fibers. And is arranged at the center of the array of the end faces 521A2 to 528A2 of the plurality of observation light introducing fibers. The arrangement direction (scanning direction) of the multicore fiber end face 53A corresponds to the first direction. The arrangement direction (scanning direction) of the multicore fiber end face 53B corresponds to the second direction.

Further, the input ends 521A1 to 528A1 of the multicore fiber 52A are arranged in a straight line so that the adjacent ends are in close contact with each other. The direction of this arrangement coincides with the scanning direction of the observation target. Further, the plurality of input ends 521A1 to 528A1 of the multicore fiber 52A are arranged in the same order as the arrangement of the output ends 521A2 to 528A2. That is, in the multi-core fiber 52A, the arrangement order of the input ends 521A1 to 528A1 and the output ends 521A2 to 528A2 is the same. As a result, optical images (images) formed at the input ends 521A1 to 528A1 of the multicore fiber 52A are propagated to the output ends 521A2 to 528A2.

The operation of the sensing device 200 configured as described above will be described. FIGS. 12 and 13 are diagrams for explaining scanning by a mirror surface (the mirror surface 12A is shown in FIGS. 12 and 13) with the polygon mirror 12. FIG. The configuration on the right side of the polygon mirror 12 is the same as the configuration shown in FIGS. The mirror surface 12A changes the reflection direction along the arrangement direction of the multicore fiber end surface 53A, so that light output from each of the end surfaces 521A2 to 528A2 of the plurality of observation optical fibers is sequentially transmitted to the end surface of the sensor input fiber 133A ( The light is incident on the input end 133A1.

When the mirror surface 12A is rotated by an angle θ, the reflected light is rotated by an angle 2θ. Since the images appearing on the end faces 521A2 to 528A2 of the observation light introducing fiber sequentially enter the end faces 133A1 of the sensor input fibers 133A arranged at the center of the array of the end faces 521A2 to 528A2 of the multicore fibers, scanning of the images is performed. Realized. At this time, since the end surface 133A1 of the sensor input fiber 133A is located at the center of the end surfaces 521A2 to 528A2 of the plurality of observation light introducing fibers arranged, the mirror surface 12A of the light incident on the end surface 133A1 of the sensor input fiber 133A The incident angle and the reflection angle can be reduced, and light loss can be suppressed.

Further, the light emitted from the end surface 14A2 of the white calibration fiber 14A and the light reflected by the black plate 114A are also reflected by the mirror surface 12A having a predetermined angle, and are incident on the end surface 133A1 of the sensor input fiber 133A. Become. Since the end face 14A2 of the white calibration fiber 14A and the black plate 114A are at both ends of the end face array on the multicore fiber end face 53A, the incident angle on the mirror face 12A when the reflected light enters the end face 133A1 of the sensor input fiber 133A. The reflection angle is larger than that of the end faces 521A2 to 528A2 of the observation light introducing fiber, but since these are not directly related to the formation of the image to be observed, the influence on the image to be observed can be suppressed.

FIG. 14 is a diagram for explaining the positional relationship among the mirror surface, the convex lens, and the multi-core fiber end surface. Here, in order to explain these positional relationships, a virtual image by the mirror surface 12A is considered as a light source. Assuming that the distance between the mirror surface 12A and the convex lens 134A is δ / 2, the light reflected by the mirror surface 12A passes through the double convex lens 134A at the time of incidence and at the time of reflection. The effect of the two convex lenses arranged at is received. Now, the focal length of the convex lens is f, the distance from the multicore fiber end face 53A to the convex lens 134A is L, the imaging position without the mirror 12A is 53A ', and the distance from the convex lens 134A to the imaging position 53A' is L. _{Assuming 2} , the following formula holds from the lens formula.
L ₂ = fL / (L−f) (5)
When the mirror 12A is inserted, an imaginary light source is formed at the imaging position 53A ′ and the mirror symmetrical position 53A ″. The distance between the position 53A ″ of the virtual light source and the convex lens 134A is a, and the distance between the real image 53A ″ ″ formed by the light beam traveling toward the virtual light source passing through the convex lens 134A and the convex lens 134A is b. When the lens formula is applied while paying attention to the sign of the imaginary light source, the following relationship is established.
b = af / (a + f) (6)
It becomes.

A condition is obtained in which the real image position 53A ″ ″ matches the distance L between the multicore fiber end surface 53A and the convex lens 134A. Image symmetry by mirror: a + δ / 2 = L ₂ −δ / 2 is used to erase a from equation (6), and further, equation (5) is used to erase L _{2 so} that b = L. When the condition is obtained, the following relationship is obtained.
L = {fL− (Lf) δ} f / {fL− (f−δ) (Lf)} (7)
When formula (7) is rearranged, L = f (8) regardless of the distance δ / 2 between the mirror surface 12A and the convex lens 134A.
Is the imaging condition. The convex lens 134A and the multicore fiber end surface 53A are arranged at a position satisfying the expression (8). Note that the imaging position 53A ′ when there is no mirror set is an infinite position on the right side of FIG. 14, and the convex lens 134A has a function of transmitting the light source of the multi-core fiber end face 53A as parallel rays for each point light source. Will be fulfilled.

As described above, according to the remote sensing device 200 of the present embodiment, the light from the observation target is transmitted through the multi-core fiber, is incident on the mirror surface, and the mirror surface changes the reflection direction, thereby observing. Since the object is scanned, the degree of freedom of arrangement of the mirror with respect to the observation object is increased, and the remote sensing device can be miniaturized.

In the above embodiment, in the multi-core fiber end surface 53A, the end surface 14A2 of the white calibration fiber 14A, the end surfaces 521A2 to 528A2 of the eight observation light introducing fibers, the end surface 133A1 of the sensor input fiber 133A, and the black plate 114A Although arranged in a straight line, a plurality of such linear arrangements of end faces may be provided. FIG. 15 is a diagram illustrating a configuration of a multicore fiber end surface according to another example of the second embodiment.

The multi-core fiber end face 530A is configured by arranging the multi-core fiber end faces 53A described above in a plurality of stages in a direction perpendicular to the arrangement direction (scanning direction). That is, the end face 14A2 of the white calibration fiber 14A arranged in the scanning direction on the multicore fiber end face 53A, the end faces 521A2 to 528A2 of the eight observation light introduction fibers, the end face 133A1 of the sensor input fiber 133A, and the black plate 114A are scanned. They are aligned in a direction perpendicular to the direction. When the scanning direction is “row” and the direction perpendicular to the scanning direction is “column”, the end faces 14A2 of the plurality of rows of white calibration fibers 14A are arranged in the same row to constitute the end face row 140A2. Further, the end surfaces 133A1 of the plurality of rows of sensor input fibers 133A are arranged in the same column to form an end surface column 1330A1. Further, the black plate 1140 extends in the column direction. The end faces (output ends) of the multicore fiber are two-dimensionally arranged to constitute the end face 520A.

Each row of such a two-dimensional array of multi-core fiber end faces 530A constitutes one channel. Therefore, by using the two-dimensional array of multi-core fibers 530A, it is possible to observe the observation target with a plurality of channels. The input ends of the multicore fibers are two-dimensionally arranged in the same arrangement order as the output ends. A plurality of sensors 13A are provided corresponding to the number of channels.

According to this configuration, the strip-shaped light emitted from a row of the multicore fibers 520A is simultaneously incident on the end face row 1330A1 of the sensor input fiber. Row) can be performed simultaneously. The plurality of channels correspond to a direction (sub-scanning direction) orthogonal to the scanning direction in the observation target. Therefore, according to the configuration of a plurality of channels, the observation target can be scanned with a plurality of scanning lines. More precise sensing of the observation target is possible, or higher speed sensing of the observation target is possible. That is, in the case of a plurality of channels, the observation resolution can be improved under the same sub-scanning speed as compared with the case of one channel, and the observation speed can be improved under the same observation resolution.

In the example of FIG. 15, the end face 14A2 of the white calibration fiber 14A is provided in each channel, and the black plate 1140A has a long shape extending over each channel, but the end face 14A2 of the white calibration fiber 14A and the black plate 114A are also provided. May be provided in only one channel.

In the case of one channel shown in FIG. 11, one end face 133A1 of one sensor input fiber 133A corresponding to one small spectroscope 131A is provided on one scanning line, and the two-dimensional array (multiple channels) shown in FIG. In each case, each channel (scanning line) is provided with the end surface 133A1 of one sensor input fiber 133A corresponding to one small spectroscope 131A. However, a plurality of small spectrographs 131A are provided for each channel (scanning line). The end surfaces 133A1 of the plurality of sensor input fibers 133A corresponding thereto may be provided on one scanning line. The wavelength ranges that can be sensed in the plurality of small spectrographs 131A may be different. For example, one small spectroscope 131A may detect ultraviolet and visible light, and the other one may detect infrared and visible light.

(Third embodiment)
FIG. 16 is a diagram illustrating a configuration of a sensing device 300 according to the third embodiment. In FIG. 16, about the same structure as the sensing apparatus 100 or the sensing apparatus 200, the same code | symbol is attached | subjected and description is abbreviate | omitted. Compared to the first and second embodiments, this embodiment differs from those embodiments in that a plurality of micromirrors 121A and 121B are employed without using the polygon mirror 12.

Multi-fiber end faces 53A and 53B, convex lenses 134A and 134B, and micromirrors 121A and 121B are arranged in this order. The multicore fiber end faces 53A and 53B are perpendicular to the optical axes of the convex lenses 134A and 134B. The micromirrors 121A and 121B can change their reflection directions by swinging in the scanning direction around a posture in which their mirror surfaces are perpendicular to the optical axes of the convex lenses 134A and 134B. Specifically, the micromirrors 121A and 121B change their reflection direction by rotating within a predetermined angle range around a rotation axis perpendicular to the scanning direction.

The micromirrors 121A and 121B each have one mirror surface and perform a peristaltic operation according to a drive signal from the multi-function microcomputer 15. The multi-function microcomputer 15 drives the micromirrors 121A and 121B with a sine wave of several tens Hz to several kHz, for example. When the polygon mirror 12 is used, the direction of the mirror surface always changes in only one direction. However, in the present embodiment using the micro mirrors 121A and 121B, the micro mirrors 121A and 121B Since the reciprocating motion is performed within the angular range, the reciprocating scanning is also performed as the scanning.

When the polygon mirror 12 is employed, the reflection direction of each of the channel A mirror and the channel B mirror is changed by the rotation of the polygon mirror 12, whereas in the sensing device 300 of the present embodiment, As shown in FIG. 16, a micromirror 121A that is a channel A mirror and a micromirror 121B that is a channel B mirror are driven independently. Therefore, the positional relationship between the micromirror 121A and the micromirror 121B is not constrained to each other. The sensing device 300 is not only reduced in size and weight due to the fact that the polygon mirror 12 is not required, but also the sensing device 300 can be reduced in size depending on the degree of freedom in arranging the micromirrors 121A and 121B as described above. Can be realized.

When the polygon mirror 12 is used, the mirror surface that reflects the light from the observation object rotates around the rotation center of the polygon mirror 12, so that the mirror in the optical path direction (incident direction or reflection direction) In contrast to the relatively large fluctuation of the surface position, the micromirrors 121A and 121B can set the center of rotation to be close to the mirror surface or overlap the mirror surface. Position fluctuations can be reduced. As a result, as shown in FIG. 16, especially when multi-core fibers 52A and 52B and convex lenses 134A and 134B are used, it is possible to reduce the focus shift due to scanning.

In the above description, as the third embodiment, the example using the telephoto lenses 51A and 51B and the multicore fibers 52A and 52B is shown as in the second embodiment. The polygon mirror 12 of the sensing device 100 of the form may be replaced with the two micromirrors 121A and 121B described in the present embodiment. Also in this case, the sensing device can be reduced in size and weight by not using the polygon mirror 12.

In the third embodiment, the micromirrors 121A and 121B are configured to swing only in the scanning direction. At the same time, however, the micromirrors 121A and 121B can swing within a predetermined angular range around an axis parallel to the scanning direction. There may be. With this configuration, it is possible to correct the shift of the scanning position with respect to the pitching and rolling of the platform. This will be specifically described below.

FIG. 17 is a diagram showing a related configuration in the remote sensing device 300 ′ in which the micromirrors 121A and 121B can rotate around two axes parallel to the mirror surfaces. The remote sensing device 300 ′ includes the 3D acceleration sensor 18. In the example of FIG. 17, the end faces of the fibers are two-dimensionally arranged on the multicore fiber end face 53A. The micromirror 121A is not only movable within a predetermined angle range by a roll rotation mechanism 1213A around an axis 1211A perpendicular to the scanning direction and parallel to the mirror surface of the micromirror 121A, but also an axis 1212A parallel to the scanning direction. It can also be moved around within a predetermined angle range by the pitch rotation mechanism 1214A. In FIG. 17, for convenience of explanation, physical axes 1211A and 1212A are illustrated, the roll rotation mechanism 1213A and the pitch rotation mechanism 1214A are illustrated as mechanisms for rotating the respective axes, and the micromirror 121A includes the axes 1211A and 1212A. Although it can be swung around, the actual configuration in which the micromirror 121A is swung in two directions is not limited to this. For example, a support pillar is fixed to the center of the back surface of the micromirror 121A, and the micromirror 121A may be swung in two directions by tilting the support pillar, or by a mechanism for lifting the four sides of the micromirror 121A. The micromirror 121A may be swung in two directions.

The 3D acceleration sensor 18 is fixed to a platform (for example, a small airplane) on which the remote sensing device 300 ′ is installed, and the platform roll angle (tilt angle by rotation around an axis parallel to the traveling direction) and pitch angle (remote sensing). The inclination angle in the vertical direction when the bottom surface 11 </ b> C of the apparatus 300 ′ is directed downward is detected, and the detected values are output to the multi-function microcomputer 15. The multi-function microcomputer 15 has a pitch correction calculation unit 151 as a function for correcting the shift of the scanning position due to the platform pitch, and a roll correction calculation unit as a function for correcting the shift of the scanning position due to the platform roll. 152. A pitch angle detection value detected by the 3D acceleration sensor 18 is input to the pitch correction calculation unit 151, and a roll angle detection value detected by the 3D acceleration sensor 18 is input to the roll correction calculation unit 152. .

The correction for the roll will be described. Now, when the altitude from the observation target (for example, the ground surface) of the platform is h, and the light from the observation target is projected onto the input ends (mapping planes) of the multicore fibers 52A and 52B via the telephoto lenses 51A and 51B. And the amount of positional deviation in the scanning direction on the mapping plane (positional deviation due to rolls) is Δw, and the positional deviation at the observation object corresponding to the positional deviation Δw on the mapping plane is ΔWg. With respect to the reflected light incident on the input end 133A1 of the sensor input fiber 133, a deflection angle twice as large as the rotation angle of the micromirror 121A is obtained, so the distance between the mirror surface of the micromirror 121A and the multicore fiber end surface 53A. If L ′ is L ′, the relationship between L ′ and the correction angle θc of the micromirror 121A necessary for correcting the positional deviation due to rolling is expressed by the following equation (9).
Δw / L ′ = tan (2θc) (9)

Here, in a range that can be regarded as tan θc≈θc, the correction angle θc of the micromirror 121A with respect to the roll is given by the following expression (10).
tan θc = −Δw / 2L ′ = − mΔWg / 2L ′ = − (mh / 2L ′) tan θ (10)
From this equation (10), the following equation (11) is obtained.
θc = − (mh / 2L ′) θ (11)

The roll correction calculation unit 152 calculates the correction angle θc with respect to the roll angle θ by the equation (11). After the amount of scanning position designated from the large-capacity flash memory 16 is added to the calculated correction angle θc, the output is given to the roll rotation mechanism 1213A, and the micromirror 121A for scanning in the roll rotation mechanism 1213A The center of the angle range (rotation center) for rotating is shifted by the correction angle θc. As a result, when there is no rolling, the light from the output end (any one of the output ends 521A2 to 528A2) of the observation light introducing fiber in a column is input to the input end 133A1 of the sensor input fiber 133A at another row. The light from the output end of the observation light introducing fiber is input to the input end 133A1 of the sensor input 133A.

The correction angle with respect to the pitch can also be obtained in the same manner as in equation (11). The pitch correction calculation unit 151 obtains a correction angle θc ′ with respect to the pitch, and outputs this to the pitch rotation mechanism 1214A. The pitch rotation mechanism 1214A has a posture rotated about the axis 1212A from the reference by the correction angle θc ′ with reference to a posture in which the multi-fiber end face 53A and the mirror surface of the micromirror 121A are parallel. As described above, when scanning is performed by rotation around the axis 1211A with the correction angle θc ′ rotated, the light output from the output end of the observation light introducing fiber in a certain row is transmitted to the multicore fiber end face 53A. In order to cancel the pitching, the signal is input to the input end of the sensor input fiber in another row.

As described above, according to the configuration shown in FIG. 17, it is possible to correct displacement due to rolling or pitching of the platform by controlling the peristaltic movement of the micromirror 121A. Note that, for example, by adjusting the angles of the telephoto lens 51A and the input end (mapping plane) of the multi-core fiber 52A based on the detection value of the 3D acceleration sensor 18, the displacement due to rolling or pitching of the platform can be canceled. However, in the case of the above example, it is possible to correct the rolling and pitching of the platform by driving the micromirror 121A that is originally provided with a driving mechanism, and the size and complexity of the apparatus can be avoided.

Note that the remote sensing device 300 ′ may include only a configuration for canceling rolling or only a configuration for canceling pitching. Further, even when the polygon mirror 12 of the remote sensing device 100 of the first embodiment is replaced with two micromirrors, that is, when a multi-core fiber is not used, the same configuration as described above can be used for rolling and pitching. It is good also as a structure which cancels the position shift by.

Hereinafter, various modifications to the first to third embodiments will be described.
(Modification 1)
In the first to third embodiments, the optical axes of the sensors 13A and 13B are inclined by 11.25 degrees with respect to the horizontal direction, and both optical axes are shifted by 22.5 degrees. , 13B observation range (field of view) was shifted from each other by 22.5 degrees. As a result, the cutting width Wa of the sensor 13A and the cutting width Wb of the sensor 13B partially overlapped. In order to eliminate this overlapping portion and further increase the overall cutting width, the inclination between the optical axis of the sensor 13A and the optical axis of the sensor 13B may be increased.

FIG. 18 is a diagram showing a configuration of a remote sensing device designed so that the cutting width (observation range) of the sensor 13A and the cutting width (observation range) of the sensor 13B do not overlap. The optical axes of the sensor 13A and the sensor 13B are inclined by 22.5 degrees with respect to the horizontal direction. As a result, the cutting width of the sensor 13A and the cutting width of the sensor 13B are continuous without overlapping.

FIG. 19 is a diagram showing the cutting width and observation viewing angle of each sensor 13A, 13B. As shown in FIG. 19, also in this modification, the observation viewing angles FOVa and FOVb of the sensors 13A and 13B are 45 degrees, respectively, but they are continuous without overlapping, so that the observation viewing angles as a whole The FOV is 90 degrees. As shown in FIG. 18, also in this modification, the sensors 13A and 13B sense light from the milky white transparent plates 113A and 113B and the black plate 112 outside the observation range to detect white calibration and dark current. Measure.

(Modification 2)
In the first embodiment, a black plate 112 serving as a black providing means is disposed at the center of the bottom surface 11C in the left-right direction, and windows 111A and 111B for allowing light from the observation target to pass are provided on both sides thereof. The milky white transparent plates 113A and 113B as the white color providing means are arranged on the outside, but the arrangement of the black color providing means and the white color providing means may be reversed. In this case, when the polygon mirror 12 rotates counterclockwise as in the above embodiment, the sensor 13A performs sensing in the order of black, observation object, and white, and the sensor 13B includes white, observation object. Sensing is performed in the order of black. Also in the second and third embodiments, the arrangement of the end face 14A2 of the white calibration fiber 14A and the black plate 114A may be opposite to that shown in FIGS.

(Modification 3)
In the first embodiment, a black plate is disposed on the left side between the two windows 111A and 111B, a milky white transparent plate is disposed on the right side, and a black plate is disposed on the right side of the window 111B. Also good. In this case, when the polygon mirror 12 rotates counterclockwise as in the above embodiment, the sensor 13A performs sensing in the order of white, observation object, and black, and the sensor 13B also performs white, observation object. Sensing is performed in the order of black.

(Modification 4)
In the first to third embodiments, the black plates 112, 114A, 114B are used as the black color providing means. However, in addition to or instead of this, the mirror surfaces of the polygon mirror 12 and the micro mirrors 121A, 121B are used. The position corresponding to the black provision timing outside the observation timing of the observation target may be colored black to provide black provision means. In other words, a portion of the polygon mirror 12 on the upstream side in the rotational direction of the mirror surfaces 12A to 12H may be colored black to provide black providing means, and a portion of the micromirrors 121A and 121B may be colored black. And it is good also as a black provision means. Further, one of the plurality of mirror surfaces of the polygon mirror 12 may be colored black and the dark current may be measured using the mirror surface.

(Modification 5)
In the first embodiment, the milky white transparent plates 113A and 113B that are irradiated by the optical fiber 14 that transmits the ambient light are used as the white color providing means. Instead, the light leaking from the tip of the optical fiber 14 is directly used. You may observe it. Further, the intensity of ambient light may be measured by directly exposing the white transparent plates 113A and 113B to the surrounding environment without adopting the light collecting and propagation means such as the light collecting window 17 and the optical fiber 14.

(Modification 6)
In the first to third embodiments, each of the sensors 13A and 13B senses the black plate 112 and the milky white transparent plates 113A and 113B, and acquires data for dark current measurement and white calibration. Only one of the sensors 13A and 13B may acquire the dark current measurement data and / or the white calibration data.

(Modification 7)
In the first and second embodiments, the half period of the sensing period T ′ (= the rotation period T of the polygon mirror / the number of mirror surfaces) is set as the observation period for observing the observation target, that is, the maximum Although the observation range (observation viewing angle) is an angle range that is half (50%) of the viewing angle (= 360 degrees / number of mirror surfaces), the observation period may be longer or smaller. For example, about 60 to 70% of the maximum viewing angle may be set as the observation period or the observation range.

(Modification 8)
In the first to third embodiments, the cutting width is widened using two sensors, but the cutting width may be further widened using three or more sensors. For example, when three sensors are used in the first and second embodiments, the inclination of the optical axes of the sensors 13A and 13B with respect to the horizontal direction is set to about 45 degrees, and the black plate 112 of the above embodiment is used. The third sensor can be arranged at the position. In 3rd Embodiment, since the freedom degree of arrangement | positioning is high as mentioned above, it is advantageous to extend a cutting width using a some sensor.

(Modification 9)
In the first to third embodiments, the observation target is observed by sensing the visible light reflected by the observation target by the two sensors 13A and 13B, but the two sensors have different wavelength ranges that can be sensed. It may be a thing. For example, the sensor 13A may be an ultraviolet / visible light sensor, and the sensor 13B may be an infrared / visible light sensor, whereby ultraviolet and infrared may be sensed simultaneously. Further, the window 111A is provided with a polarizing plate that allows passage of only an electric field parallel to the ground scanning direction, and the window 111B is provided with a polarizing plate that allows passage of only an electric field perpendicular to the scanning direction. Polarization information necessary for measurement and correction can be acquired.

When the observation ranges of the sensors 13A and 13B partially overlap as in the first to third embodiments, detailed observation from the ultraviolet to the infrared becomes possible in the overlapped range. It is possible to observe only visible light in a non-existing range. For human eyes, this corresponds to obtaining detailed information only in the fovea and obtaining an image having a low information density in the peripheral part. In general, a semiconductor sensor is designed so that the wavelength range having good sensitivity characteristics is limited to the ultraviolet side or the infrared side. Therefore, by combining the above polygon mirror and two sensors, an ultraviolet ray can be obtained. Good observation from the infrared to the infrared becomes possible.

(Modification 10)
In the remote sensing devices 100 and 200 according to the first and second embodiments, the rotation axis of the polygon mirror 12 is oriented in the flight direction, but the rotation axis of the polygon mirror 12 is substantially the same as the vertical direction and the flight direction. It may have a certain inclination from the horizontal direction in the parallel plane. Accordingly, even when the observation target is the sea surface or the like, specular reflection on the water surface enters the sensor as light from the observation target when the observation optical axis is perpendicular to the bottom surface 11C of the remote sensing devices 100 and 200. You can avoid that.

(Modification 11)
In the remote sensing device 100 of the first and second embodiments, the rotation axis of the polygon mirror 12 is oriented in the flight direction. However, the rotation axis of the polygon mirror 12 is a polygon in the horizontal plane from the flight direction. The mirror 12 may have a certain inclination depending on the angular velocity of rotation of the mirror 12, the flight altitude, and the flight speed.

FIG. 20 is a diagram for explaining the reason why the rotation axis of the polygon mirror 12 is tilted in this way. Now, assuming that the angular velocity of rotation of the polygon mirror 12 in the remote sensing devices 100 and 200 is ω (rad / s), and the flight altitude of the airplane equipped with the remote sensing devices 100 and 200 is h (m), 1 The cutting width x per second is hω (m / s). However, when the airplane is flying at a speed v (m / s) in a certain direction, the polygon mirror 12 moves in the flying direction while scanning one scanning line. As shown, the actual scanning direction is inclined by an angle φ with respect to the direction perpendicular to the flight direction.

Therefore, the rotation axis of the polygon mirror 12 may be inclined by an angle φ from the flight direction in the horizontal plane so as to cancel out the inclination φ. By doing so, distortion caused by the distance flew between the start of scanning and the end of scanning in one scan line can be canceled, and sensing of the observation target can be performed on a line perpendicular to the flight direction.

In addition, when the flight altitude and the flight speed at the time of observation are determined in advance, the remote sensing devices 100 and 200 may be installed on the airplane while being inclined by the angle φ. In the case where the flight speed and the flight altitude are variable, a drive device that can vary the installation angle of the remote sensing devices 100 and 200 with respect to the airplane may be separately prepared so as to be an appropriate angle based on them.

(Modification 12)
In the third embodiment, instead of using the convex lenses 134A and 134B, a method may be used in which the micromirrors 121A and 121B are concave mirrors and imaged on the cross section of 53A. In the third embodiment, instead of using the convex lenses 134A and 134B, a method of forming an image using a Frennel lens may be used. Furthermore, in the third embodiment, instead of using the fixed convex lenses 134A and 134B, a method of forming an image using a Frennel lens fixed to the reflection surface of the micromirrors 121A and 121B may be used. In this case, the approximation accuracy of δ = 0 in equation (5) can be increased, and integral processing with the micromirror can be performed.

(Modification 13)
In the remote sensing device 100 of the first and second embodiments, the polygon mirror 12 is adopted as the rotating mirror having a plurality of mirror surfaces. However, the rotating mirror having a plurality of mirror surfaces is limited to the polygon mirror. I can't. As a rotating mirror having a plurality of mirror surfaces, the positional relationship between the mirror surfaces is fixed, and the positional relationship is also fixed with respect to the rotation axis, and the plurality of mirror surfaces are around the rotation axis. A rotating mirror other than a polygon mirror having a structure that can be rotated to the right may be employed in the remote sensing device 100 of the first or second embodiment. The rotating mirror having a plurality of mirror surfaces may be, for example, a plate-like double-sided mirror that rotates about the center of both front and back surfaces as a rotation axis. Further, the mirror surface is not limited to a flat surface, and part or all of the mirror surface may be a curved surface.

(Modification 14)
In the first embodiment, the sensing period (t = 0 to 2T / 32) by the sensor 13A and the sensing period (t = T / 32 to 3T / 32) by the sensor 13B partially overlap each other. However, these sensing periods may be continuous.

In the above-described embodiments and modifications thereof, an example has been described in which the sensing device is a remote sensing device that observes the observation target from the sky with the ground surface or sea surface as the observation target. The device is not limited to such a sensing device, and the observation target is not limited to the ground surface or the sea surface, and is not limited to one that performs observation from above.

Although the presently preferred embodiments of the present technology have been described above, various modifications can be made to the present embodiments, and such modifications are within the true spirit and scope of the present technology. It is intended that the appended claims include all modifications.

As described above, according to the present technology, since a plurality of sensors sense different parts of the observation target, the cutting width can be widened, and the electromagnetic wave is used for observation without directly touching the hand. It is useful as a sensing device and a sensing method for observing an object.

100, 200, 300 Remote sensing device 11 Housing 11A Right side 11B Left side 11C Bottom 111A, 111B Window 112 Black plate 113A, 113B Milky white transparent plate 12 Polygon mirror 12A-12H Mirror surface 121A, 121B Micro mirror 13A, 13B Sensor 131A , 131B Small spectroscope 132A, 132B Lens group 133A, 133B Sensor input fiber 133A1 Input end 134A, 134B Convex lens 14A, 14B Optical fiber 14A2 Output end 15 Multi-function microcomputer 16 Large-capacity flash memory 17 Condensing window 18 3D acceleration sensor 20 Control Device 21 Processing circuit 22 Delay circuit 23 Position and orientation detection circuit 24 GPS control circuit 25 Thermometer / barometric altimeter control circuit 31 Three-dimensional acceleration sensor 32 gyrosensor 33 GPS unit 34 thermometer / barometric altimeter 51A, 51B telephoto lens 52A, 52B multicore fiber 521A1 ~ 528A1 input 521A2 ~ 528A2 output end 53A, 53B multicore fiber end face 500 Host PC

Claims (26)

A sensing device that detects electromagnetic waves from a relatively moving observation object and observes the observation object,
A first mirror capable of changing the reflection direction;
A second mirror capable of changing the reflection direction;
A first sensor for detecting an electromagnetic wave from the observation object reflected by the first mirror;
A second sensor for detecting an electromagnetic wave from the observation object reflected by the second mirror;
With
The sensing device, wherein the first sensor and the second sensor detect electromagnetic waves from different parts of the observation target. The period in which the first sensor detects electromagnetic waves from the observation target and the period in which the second sensor detects electromagnetic waves from the observation target are continuous or at least partially overlap. The sensing device according to claim 1. A housing for accommodating the first and second mirrors and the first and second sensors;
The housing has a first window for allowing electromagnetic waves from the observation target incident on the first sensor to pass, and a first window for allowing electromagnetic waves from the observation target incident on the second sensor to pass. With two windows,
The sensing device according to claim 1, wherein the first window and the second window are provided side by side. A rotating mirror having a plurality of mirror surfaces including the first mirror and the second mirror is provided, and the reflecting direction of the first and second mirrors is changed by rotating the rotating mirror. The sensing device according to any one of claims 1 to 3. The mirror surface of the rotating mirror that reflects electromagnetic waves to the first sensor as the first mirror and the mirror surface of the rotating mirror that reflects electromagnetic waves to the second sensor as the second mirror are 1 The sensing device according to claim 4, wherein one or more mirror surfaces are adjacent to each other. The rotating mirror rotates at a substantially constant rotation speed,
The first and second sensors detect an electromagnetic wave from the observation object with an observation visual angle as a range excluding both sides of a maximum viewing angle at which the electromagnetic wave from the observation object can be detected. Item 6. The sensing device according to Item 4 or 5. Between the first window and the second window, black providing means or white providing means is provided,
The first and second sensors measure dark current by detecting electromagnetic waves from the black color providing means, or measure white calibration data by detecting electromagnetic waves from the white color providing means. The sensing device according to claim 3, wherein A black color providing means or a white color providing means on the outside of the first window and the outside of the second window;
The first and second sensors measure dark current by detecting electromagnetic waves from the black color providing means, or measure white calibration data by detecting electromagnetic waves from the white color providing means. The sensing device according to claim 3, wherein 5. The white sensor measures white calibration data in at least a part of a period during which the first sensor detects an electromagnetic wave from the observation target. Sensing device. 5. The sensing device according to claim 4, wherein the first sensor measures a dark current during at least a part of a period during which the second sensor detects an electromagnetic wave from the observation target. . The first and second mirrors are micromirrors, and the reflection directions of the first and second mirrors are changed by swinging the micromirrors. The sensing device according to one item. The sensing device according to claim 11, wherein the micromirror rotates around an axis parallel to the scanning direction in response to rotation of the sensing device around an axis parallel to the scanning direction. The sensing according to claim 11 or 12, wherein the micromirror changes a swing center according to rotation of the sensing device about an axis perpendicular to a scanning direction and parallel to a mirror surface of the micromirror. apparatus. A first multi-core fiber having a plurality of input ends and an output end arranged in a first direction for transmitting electromagnetic waves of a first field of view to the first mirror;
A second multi-core fiber in which a plurality of input ends and output ends are arranged side by side in a second direction for transmitting electromagnetic waves of a second field of view different from the first field of view to the second mirror When,
A first imaging optical system that forms an image of the electromagnetic wave in the first field of view on the input end of the first multi-core fiber;
A second imaging optical system that forms an image of the electromagnetic wave of the second visual field on the input end of the second multi-core fiber;
With
The first mirror sequentially changes a plurality of electromagnetic waves output from the plurality of output ends of the first multi-core fiber by changing a reflection direction along the first direction. Incident on
The second mirror sequentially changes a plurality of electromagnetic waves output from the plurality of output ends of the second multi-core fiber by changing a reflection direction along the second direction. The sensing device according to claim 1, wherein the sensing device is incident on the sensor. In the first multi-core fiber, the plurality of input ends and output ends are also arranged in a third direction perpendicular to the first direction,
In the second multi-core fiber, the plurality of input ends and output ends are also arranged in a fourth direction perpendicular to the second direction,
The first sensor simultaneously detects a plurality of electromagnetic waves arranged in the second direction,
The sensing device according to claim 14, wherein the second sensor simultaneously detects a plurality of electromagnetic waves arranged in the fourth direction. A first sensor fiber that transmits the electromagnetic wave reflected by the first mirror from the input end and outputs from the output end to the first sensor;
A second sensor fiber for transmitting the electromagnetic wave reflected by the second mirror from the input end and outputting it from the output end to the second sensor;
Further comprising
The input end of the first sensor fiber is inserted into an array of a plurality of output ends of the first multi-core fiber arranged side by side in the first direction,
The input end of the second sensor fiber is inserted into an array of a plurality of output ends of the second multi-core fiber arranged side by side in the second direction. 14. The sensing device according to 14 or 15. The first multi-core fiber has a white color providing means at an end of the array of output ends of the first multi-core fiber, and the first mirror causes the electromagnetic wave from the white color providing means to be incident on the first sensor, and 17. The sensing device according to claim 14, wherein the first sensor measures white calibration data by detecting an electromagnetic wave from the white color providing unit. The first multi-core fiber has black providing means at an end of the array of output ends of the first multi-core fiber, and the first mirror causes the electromagnetic wave from the black providing means to enter the first sensor, and 18. The sensing device according to claim 14, wherein the first sensor measures dark current by detecting electromagnetic waves from the black color providing means. The sensing device according to claim 1, wherein an angle range in which a reflection direction of the first mirror is changed is different from an angle range in which the reflection direction of the second mirror is changed. 2. The sensing device according to claim 1, wherein a visual field in which the first sensor detects electromagnetic waves and a visual field in which the second sensor detects electromagnetic waves are shifted from each other. The sensing device according to claim 1, wherein the wavelength range of the electromagnetic wave detected by the first sensor is different from the wavelength range of the electromagnetic wave detected by the second sensor. The sensing device is mounted on a flying platform,
The sensing device according to any one of claims 1 to 21, wherein the observation target is a ground surface or a water surface. 23. The sensing device according to claim 22, wherein the rotation axes of the first and second mirrors lie in a plane substantially parallel to the vertical direction and the flight direction. The rotation axes of the first and second mirrors are deviated from the flight direction by a certain angle depending on the flight speed in the plane parallel to the observation target, and in the plane parallel to the observation target. 17. The sensing device according to claim 16, wherein the observation target is observed while scanning on a line that intersects substantially perpendicularly to the flight direction. A sensing device that detects electromagnetic waves from a relatively moving observation object and observes the observation object,
A mirror that can change the reflection direction,
A sensor for detecting electromagnetic waves from the observation object reflected by the mirror;
A multi-core fiber in which a plurality of input ends and output ends are arranged in a predetermined direction for transmitting electromagnetic waves from an observation target to the mirror;
With
The mirror causes a plurality of electromagnetic waves output from the plurality of output ends of the multi-core fiber to sequentially enter the sensor by changing a reflection direction along the predetermined direction. . A sensing method for detecting an electromagnetic wave from a relatively moving observation object and observing the observation object,
Rotating the first mirror, the electromagnetic wave from the observation object reflected by the first mirror is detected by the first sensor,
Rotating the second mirror, the second sensor detects the electromagnetic wave from the observation object reflected by the second mirror,
The sensing method, wherein the first sensor and the second sensor detect electromagnetic waves from different parts of the observation target.

Images