WO2020044411A1 - Laser light search system - Google Patents

Laser light search system Download PDF

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Publication number
WO2020044411A1
WO2020044411A1 PCT/JP2018/031620 JP2018031620W WO2020044411A1 WO 2020044411 A1 WO2020044411 A1 WO 2020044411A1 JP 2018031620 W JP2018031620 W JP 2018031620W WO 2020044411 A1 WO2020044411 A1 WO 2020044411A1
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WO
WIPO (PCT)
Prior art keywords
laser light
retroreflective
reflected
tag
identification information
Prior art date
Application number
PCT/JP2018/031620
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French (fr)
Japanese (ja)
Inventor
佳伸 前田
Original Assignee
光トライオード株式会社
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Publication date
Application filed by 光トライオード株式会社 filed Critical 光トライオード株式会社
Priority to PCT/JP2018/031620 priority Critical patent/WO2020044411A1/en
Priority to JP2020539185A priority patent/JPWO2020044411A1/en
Publication of WO2020044411A1 publication Critical patent/WO2020044411A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/74—Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe

Definitions

  • the present invention relates to a laser beam search system for searching for a search target existing on the ground or on the water surface while irradiating a laser beam from the air to the ground or the water surface.
  • a laser generator that generates a laser beam, a beam scanning device that scans the laser beam, and scans the laser beam in a predetermined search pattern, and receives a reflected laser beam reflected from a target object that is a tracked object
  • a laser beam searching system including a beam scanning device that changes the search pattern in response to the reflected laser beam.
  • a laser pointing device for tracking a target described in Patent Literature 1 is such.
  • the laser light search system described in Patent Document 1 includes a receiving device that reduces a search pattern in response to receiving a reflected laser light from an object to be searched, and constantly updates the received pattern based on the received reflected laser light. It is configured to accurately track the target object using the tracking data to be obtained.
  • Patent Document 1 When the laser beam search system disclosed in Patent Document 1 is used for a wide range search, a reflected laser beam reflected from a search target and received by a receiving device with respect to a laser beam scanned in a predetermined search pattern
  • the signal tends to be weak due to the size and shape of the object to be searched and the reception gain is low
  • the search for the object to be searched may not be performed accurately.
  • the reflected laser light does not include information for identifying the object to be searched, it is difficult to identify whether or not the target object to be searched from among a large number of reflected lights, and It was difficult to use it for the purpose of extracting individually.
  • the present invention has been made in view of the above circumstances, and it is an object of the present invention to accurately search for a search target existing on the ground, in the snow, underwater, or the like using laser light from the air. It is an object of the present invention to provide a laser light search system that can perform the search.
  • the present inventor has made various studies on the background described above, and as a result, while using a laser light transmitting device that emits laser light in a predetermined scanning range as search light, the search target receives the laser light.
  • a retroreflector that reflects the reflected laser light toward the laser light transmitting device is attached, and an identification code is provided on the reflection surface of the retroreflector, so that a predetermined irradiation area is irradiated with laser light from the air. It has been found that the object to be searched can be individually and accurately searched based on the identification code included in the reflected laser light obtained when scanning.
  • the present invention has been made based on such knowledge.
  • the gist of the present invention for achieving the object is to reflect laser light output from the laser light transmitting device toward the ground or the water surface to an optical tag attached to the object to be searched, and the optical tag A laser beam search system for searching for the object to be searched by receiving a reflected laser beam reflected by a laser beam receiver installed together with the laser beam transmitter, wherein (a) the optical tag transmits reflected laser beam A retroreflective tag reflecting toward the laser light transmitting device, wherein (b) the retroreflective tag adds predetermined identification information related to the object to be searched to the reflected laser light. And (c) an identification information extracting unit that receives the reflected laser light and extracts the identification information from the received reflected laser light.
  • the laser light output toward the ground or the water surface is reflected by the optical tag attached to the object to be searched, and the reflected laser light reflected by the optical tag is reflected by the laser light.
  • a laser light search system for searching for the object to be searched for which is received by a laser light receiver installed together with a transmitter, wherein (a) the optical tag reflects reflected laser light toward the laser light transmitter. (B) a retroreflective light reflection tag that adds predetermined identification information related to the object to be searched to the reflected laser light, and (c) the reflected laser light. And identification information extracting means for extracting the identification information from the received reflected laser light.
  • the reflected laser light is reflected from the retroreflective tag, the reception gain is relatively high, so that the search target existing on the ground, in the snow, or in the water can be accurately searched.
  • the reflected laser light contains information for identifying the object to be searched, it is possible to identify whether or not the target object to be searched from among a large number of reflected lights, Can be individually extracted.
  • the retroreflective tag is provided on the retroreflective layer that reflects the reflected laser light toward the laser beam transmitting device, and indicates the identification information. Since it has an identification pattern, by extracting the identification pattern included in the reflected laser light from the retroreflective light reflection tag, based on the identification information related to the search target represented by the identification pattern, The search for the search target existing on the ground, in the snow, or in the water can be accurately performed, and the search target can be individually extracted.
  • This identification information includes the name of the person to be searched, which is indicated by characters, symbols, barcodes, etc., the name of the part to be mounted on the object to be searched, the manufacturing information such as model, size, manufacturer, manufacturing time, and the like. It is directly or indirectly related to the search object.
  • the identification pattern provided on the retroreflective tag is a matrix type two-dimensional code.
  • the matrix type two-dimensional code is a so-called QR code (registered trademark) and includes a lot of information. Therefore, it is possible to accurately search for a search target existing on the ground, in the snow, or in the water, and The search objects can be individually extracted.
  • QR code registered trademark
  • the search objects can be individually extracted. For example, in the above matrix type two-dimensional code, if the object to be searched is clothing worn by a missing person, the name and model number of the clothing, the size of the clothing, the manufacturer, time of manufacture or manufacturing of the clothing Information on lots, stores, and the like is included.
  • the retroreflective tag is a retroreflective layer that reflects the reflected laser light toward the laser light transmitting device, and laminated on the retroreflective layer, the identification information And a modulation layer that modulates the reflected laser light reflected by the retroreflective layer.
  • the identification information can be obtained by extracting the modulation signal from the modulated reflected laser light, so that the search for the search target existing on the ground, in snow, or underwater can be accurately performed based on the identification information.
  • the search target can be individually extracted.
  • the modulation layer has a liquid crystal plate laminated on the retroreflective layer and modulating the reflected laser light reflected by the retroreflective layer to represent the identification information.
  • the identification information can be obtained by extracting the modulation signal from the modulated reflected laser light, so that the search for the search target existing on the ground, in snow, or underwater can be accurately performed based on the identification information.
  • the search target can be individually extracted.
  • the liquid crystal display device further comprises a liquid crystal drive circuit for driving the liquid crystal plate on and off using a pulsed drive signal modulated by intensity modulation or phase modulation so as to represent the identification information.
  • the identification information can be obtained by extracting the modulation signal from the reflected laser light that has been pulse-likely modulated on and off, so that the search target existing on the ground, in snow, or in the water can be obtained based on the identification information.
  • the search can be performed accurately, and the objects to be searched can be individually extracted.
  • the laser light transmitting device outputs the laser light having a wavelength selected from a wavelength band from violet to green having a very low absorptivity in water, toward a water surface or a snow surface. It is.
  • the identification information can be obtained from the reflected laser light.
  • the search for the object to be searched for in the water can be performed accurately, and the objects to be searched can be individually extracted.
  • the laser light receiving device receives the reflected laser light reflected from the retroreflective light reflection tag, and captures an identification pattern included in the reflected laser light and indicating the identification information.
  • (Charge-Coupled @ Device) camera and the identification information extracting means extracts identification information indicated by the identification pattern from the identification pattern. From this, the identification pattern can be easily extracted from the reflected laser light by the CCD camera, and the identification pattern exists on the ground, in the snow, or in the water based on the identification information related to the object to be searched represented by the identification pattern.
  • the search for the search target can be accurately performed, and the search target can be individually extracted.
  • the laser light receiving device and the laser light transmitting device are mounted on a monitoring tower, a flying object, or an artificial satellite. Accordingly, the laser light receiving device and the laser light transmitting device are mounted on a monitoring tower, an flying object, or an artificial satellite, which is selected according to the type or property of the object to be searched.
  • the object to be searched can be searched accurately and economically.
  • the flying object is a drone, a helicopter, or an airplane.
  • the laser light receiving device and the laser light transmitting device are mounted on a drone, a helicopter, or an airplane, which is selected according to the type and nature of the object to be searched. The search for the object to be searched can be accurately performed.
  • the retroreflective tag is attached to a person's clothing, a hat, or shoes, a terrestrial organism, an aquatic organism, a flying object, a part, a product, or a package of the part or the product. It is.
  • the object to be searched is a person (human), a terrestrial organism, or an aquatic organism, the search can be accurately performed, and the object to be searched can be individually extracted.
  • a large-scale distribution warehouse can be used to immediately search for a desired part or product from a large number of parts or products and ship it promptly. Become.
  • the laser light receiving device and the laser light transmitting device are mounted on a flying object, and the laser light transmitting device includes an optical deflector that scans the laser light, and the laser light receiving device is A CCD camera for receiving the reflected laser light from the retroreflective tag, and imaging an identification pattern related to the retroreflective tag included in the reflected laser beam;
  • Tag position calculation means for calculating and outputting a ground position of the retroreflective tag provided with the identification pattern.
  • the laser light transmitting device includes an optical deflector that scans the laser light, receives the reflected laser light from the retroreflective tag, and includes the reflected laser light included in the reflected laser light.
  • the laser light receiving device that extracts identification information related to the light reflection tag, and the position and height of the artificial satellite when the identification information is extracted from the reflected laser light from the retroreflective light reflection tag, Tag position calculating means for calculating and outputting a ground position of the retroreflective light reflection tag from which the identification information is extracted, from a transmission direction of the laser light from the laser light transmitting device of the artificial satellite,
  • the laser light receiving device and the laser light transmitting device are mounted on an artificial satellite. As a result, the ground position of the object to be searched is easily determined, and the search for the object to be searched can be performed quickly.
  • FIG. 2 is a diagram illustrating a configuration of a laser light transmitting device, a laser light receiving device, and the like mounted on the drone in the laser light search system of FIG. 1.
  • FIG. 2 is a diagram illustrating a configuration of a receiving device mounted on the drone operation transmitting device in FIG. 1.
  • FIG. 2 is a diagram illustrating a configuration of a retroreflective tag attached to a jacket worn by a person (human) used in the laser light search system of FIG. 1.
  • FIG. 5 is a diagram showing a matrix type two-dimensional code which is an example of an identification pattern provided on a part of a reflection surface of the retroreflective light reflection tag of FIG. 4.
  • FIG. 5 is a diagram showing a one-dimensional barcode as another example of the identification pattern provided on a part of the reflection surface of the retroreflective tag of FIG. 4.
  • FIG. 9 is a diagram illustrating another configuration example of the retroreflective light reflection tag of FIG. 4.
  • FIG. 9 is a diagram illustrating another configuration example of the retroreflective light reflection tag of FIG. 4. It is the schematic explaining the laser beam search system using the artificial satellite which is another Example of this invention.
  • FIG. 5 is a diagram showing a matrix type two-dimensional code which is an example of an identification pattern provided on a part of a reflection surface of the retroreflective light reflection tag of FIG. 4.
  • FIG. 5 is a diagram showing a one-dimensional barcode as another example of the identification pattern provided on a part of the reflection surface of the retroreflect
  • FIG. 10 is a schematic diagram illustrating a configuration example of a laser light transmitting / receiving device used in the laser light search system of FIG. 9, showing a case where the laser light receiving device uses direct detection.
  • FIG. 10 is a schematic diagram illustrating a configuration example of a laser light transmitting / receiving device used in the laser light searching system of FIG. 9, showing a case where the laser light receiving device uses homodyne phase detection.
  • FIG. 10 is a perspective view illustrating a configuration of a tag used in the laser light search system of FIG. 9.
  • FIG. 10 is a diagram illustrating the relationship between the time required for reflected laser light to reach the artificial satellite from the tag and the distance traveled by the artificial satellite in the laser light search system of FIG. 9.
  • FIG. 10 is a schematic diagram illustrating a configuration example of a laser light transmitting / receiving device used in the laser light search system of FIG. 9, showing a case where the laser light receiving device uses direct detection.
  • FIG. 10 is a schematic diagram illustrating a configuration example of
  • FIG. 14 is a time chart for explaining a tag information reception time range of the artificial satellite based on the relationship of FIG. 13. It is a figure explaining other examples of a laser beam search system of the present invention.
  • FIG. 11 is a diagram illustrating still another embodiment of the laser light search system of the present invention.
  • FIG. 17 is a diagram illustrating a laser light transmitting / receiving device, an arithmetic processing device, and a display mounted on the airplane of the embodiment in FIG. 16.
  • FIG. 1 is a schematic diagram showing a main part of a configuration of a laser light search system 10 according to an embodiment of the present invention.
  • FIG. 2 is an example of a laser light transmitting / receiving device 14 mounted on the drone 12
  • FIG. 4 is a diagram showing a laser light transmitting device 26 and a laser light receiving device 28 fixed together.
  • a drone 12 which is a flying object that flies at a predetermined altitude from the ground, is equipped with a laser light transmitting / receiving device 14, and a radio wave representing a signal related to the reflected laser light Lr is transmitted by a transmitter 16 and an antenna.
  • the data is transmitted to the data receiving device 25 on the ground via the communication terminal 18.
  • a receiver 46 having an antenna 20 for receiving a radio wave transmitted from the antenna 18 of the drone 12, an arithmetic processing unit 24 for processing a signal received by the receiver 46, and a signal processed by the arithmetic processing unit 24
  • a data receiving device 25 including a display 50 for outputting information is provided.
  • the data receiving device 25 may be mounted on a vehicle or the like, but is provided in the drone control transmitter 30 shown in FIG. 1 in the present embodiment.
  • FIG. 2 shows the basic configuration of the laser light transmitting device 26 and the laser light receiving device 28.
  • the laser light transmitting device 26 has a wavelength selected from a relatively short wavelength band such as violet, blue, and green having a low absorptivity in water or snow, for example, a wavelength selected from a wavelength band of 355 to 560 nm, or red / infrared.
  • a laser light source 26a that outputs light toward a water surface, a snow surface, and the like; and an optical deflector that deflects the laser light Lo output from the laser light source 26a so that a spot on the ground surface is scanned in a straight line or in a grid.
  • the optical deflector 26b is, for example, of a type that changes the angle of a deflecting mirror at a predetermined frequency by driving by a piezoelectric element, or a laser beam propagating in a semiconductor optical waveguide by an electro-optic effect or an acousto-optic effect for a predetermined period. It is composed of a type that deflects by. When a desired spot diameter is obtained by the configuration of the laser light source 26a, the condenser lens device 26c is not necessarily provided.
  • the laser light receiving device 28 is a telephoto lens device that collects reflected laser light Lr from a retroreflective light reflection tag 40 attached to a clothing to be searched, for example, a person (human) 32, for example, a jacket 34 or a hat 36. 28a, and a CCD camera 28b that captures an image of the retroreflective tag 40 from the reflected laser light Lr that has passed through the telephoto lens device 28a.
  • the drone 12 receives a GPS radio wave and sequentially calculates and outputs the position (the angle of the east longitude and the west longitude) of the drone 12 and a drone based on the atmospheric pressure or the reflection time of sound waves from the ground.
  • An altimeter 44 that sequentially calculates and outputs twelve altitudes (m) is mounted.
  • the optical deflector 26b outputs a signal indicating a laser light output angle indicating the output direction of the laser light Lo with reference to a direction determined by a gyro (not shown).
  • the transmitter 16 transmits a signal regarding the position of the drone 12, the altitude of the drone 12, and the output direction of the laser light Lo to the receiving device 28.
  • FIG. 3 is a diagram illustrating the data receiving device 25 provided in the drone operation transmitter 30.
  • the data receiving device 25 includes a receiver 46 that receives a radio wave from the transmitter 16, and the position of the drone 12, the altitude of the drone 12, and the laser light Lo, which are information received from the transmitter 16 by the receiver 46.
  • the arithmetic processing unit 24 calculates the position of the retroreflective tag 40 by processing the signal related to the output direction of the optical tag 40, and the display 50 displays the position of the retroreflective tag 40.
  • the retroreflective tag 40 of this embodiment is attached to a jacket (clothing) 34 and a hat 36 of a person (human) 32, but may be shoes, or directly attached to terrestrial or aquatic organisms. May be done.
  • the arithmetic processing device 24 is a so-called microcomputer (electronic control device) including a CPU, a ROM, a RAM, an input / output interface, etc., processes input signals in accordance with a program stored in advance, and controls the position of the retroreflective tag 40. Is displayed on the display device 50.
  • the arithmetic processing unit 24 functions as identification information extracting means for extracting identification information included in the reflected laser light Lr.
  • the arithmetic processing unit 24 sets which information to be searched as search information from the identification information represented by the identification pattern included in the reflected laser light Lr from the retroreflective tag 40 according to an external input operation, for example, a key input operation.
  • Search condition setting means 52, identification pattern detection means 54 for detecting whether or not the search information set by search condition setting means 52 is included in reflected laser light Lr, and identification pattern detection means 54 The position of the retroreflective tag 40, that is, the position of the person (human) 32, is calculated based on the position of the drone 12, the altitude of the drone 12, and the output direction of the laser light Lo.
  • a tag position calculating means 56 for displaying the position of 40 is functionally provided.
  • FIG. 4 is a schematic cross-sectional view illustrating a main part of the retroreflective tag 40 in an enlarged manner.
  • the retroreflective tag 40 includes a flexible resin base 60 made of a synthetic resin fiber or a synthetic resin film, an adhesive layer 62 provided on the back surface of the resin base 60, A plurality of small spherical beads 66 made of glass or synthetic resin such as acrylic resin adhered to one surface via a reflective film 64 on the surface, and the reflected laser light is incident at the same angle as the incident angle of the incident laser light Lo.
  • This is an optical tag that emits Lr.
  • the plurality of beads 66 constitute a retroreflective layer and function as a reflective surface.
  • the part 68 of the reflection surface of the retroreflective tag 40 is provided so as to be locally non-reflective so as to represent the identification pattern of the matrix type two-dimensional code shown in FIG.
  • a part 68 of the reflection surface of the retroreflective tag 40 is made non-reflective by, for example, thermally deforming the beads 66.
  • the matrix type two-dimensional code is called, for example, a QR code (registered trademark), and stores data composed of several orders, English characters, and Chinese characters.
  • manufacturing information such as a product name, a model, a size, a manufacturer, and a manufacturing time of the jacket 34 or the hat 36
  • sales information such as a store name and a selling time
  • a person (human) who is a purchaser of the jacket 34 or the hat 36 Is stored in the matrix type two-dimensional code as identification information.
  • a bar code shown in FIG. 6 may be used instead of the matrix type two-dimensional code shown in FIG. May be provided directly.
  • the laser light Lo output toward the ground or the water surface is reflected by the retroreflective light reflection tag 40 attached to the person (search target) 32, and the retroreflective light is reflected.
  • the person (search target) 32 is searched for by receiving the reflected laser light Lr reflected by the reflection tag 40.
  • the retroreflective light reflection tag 40 transmits the reflected laser light Lr to the laser light transmitting / receiving device 14.
  • the retroreflective tag applies predetermined identification information related to the person (search target) 32 to the reflected laser beam Lr.
  • an arithmetic processing unit (identification information extracting means) 24 for receiving the reflected laser light Lr and extracting identification information from the received reflected laser light Lr.
  • the reflected laser light Lr is reflected from the retroreflective light reflection tag and has a relatively high reception gain, so that the search for the person (search target) 32 existing on the ground, in snow, or in water is performed. Can be done accurately.
  • the reflected laser light Lr includes information for identifying the person (the object to be searched) 32, it is determined whether or not the target person (the object to be searched) 32 is among a large number of reflected lights. It is possible to extract the person (search target) 32 individually.
  • the retroreflective tag 40 includes the beads (retroreflective layer) 66 that reflects the reflected laser light Lr toward the laser light transmitting / receiving device 14 and the beads (retroreflective layer).
  • (Retroreflective layer) 66 is provided locally on a part 68 of the retroreflective layer 66 and has an identification pattern indicating identification information. , It is possible to accurately search for the person (search target) 32 existing on the ground, in snow, or in the water based on the identification information related to the person (search target) 32 represented by the identification pattern. It is possible to individually extract the person (search target) 32.
  • the identification pattern locally provided on the retroreflective tag 40 is a matrix type two-dimensional code.
  • This matrix type two-dimensional code is a so-called QR code (registered trademark) and includes a lot of information, so that a person (search target) 32 existing on the ground or in the water can be accurately searched. The person (search target) 32 can be individually extracted.
  • the laser light transmitting device 26 transmits the laser light Lo having a wavelength selected from the violet to green wavelength band having extremely low absorptivity in water to the surface of the water. Or it is output to the snow surface.
  • the retroreflective tag 40 attached to the person (search target) 32 is underwater or in ice or snow, identification information can be obtained from the reflected laser light Lr.
  • the search for the person (search target) 32 existing on the ground or in the water can be performed accurately, and the person (search target) 32 can be individually extracted.
  • the reflected laser light Lr reflected from the retroreflective light reflection tag 40 is received, and the identification pattern included in the reflected laser light Lr and indicating the identification information is imaged.
  • An arithmetic processing unit (identification information extracting means) 24 is provided with a laser light receiving device 28 having a CCD camera 28b, and extracts identification information indicated by the identification pattern from the identification pattern.
  • the identification pattern can be easily extracted from the reflected laser beam Lr by the CCD camera 28b, based on the identification information related to the person (search target) 32 represented by the identification pattern, the ground, in the snow, or the like.
  • the search for the person (search target) 32 existing in the water can be accurately performed, and the person (search target) 32 can be individually extracted.
  • the laser light receiving device 28 and the laser light transmitting device 26 are mounted on a monitoring tower, a flying object, or an artificial satellite. Accordingly, the laser light receiving device 28 and the laser light transmitting device 26 are mounted on a monitoring tower, an flying object, or an artificial satellite that is selected according to the type or property of the object to be searched.
  • the object to be searched can be searched accurately and economically.
  • the flying object is a drone, a helicopter, or an airplane.
  • the laser light receiving device 28 and the laser light transmitting device 26 are mounted on a drone, a helicopter, or an airplane that is selected according to the type and properties of the object to be searched, so that the operation is efficient and economical.
  • the search for the object to be searched can be accurately performed.
  • the retroreflective tag 40 is attached to a person's (human) clothing, hat, or shoes, a terrestrial organism, or an aquatic organism.
  • the search can be accurately performed, and the object to be searched can be individually extracted.
  • the laser light receiving device 28 and the laser light transmitting device 26 are mounted on the drone (flying object) 12, and the laser light transmitting device 26 scans the laser light Lo.
  • the laser light receiving device 28 receives the reflected laser light Lr from the retroreflective tag 40 and converts the identification pattern related to the retroreflective tag 40 included in the reflected laser light Lr.
  • a laser light receiving device 28 is provided when the CCD camera 28b of the laser light receiving device 28 captures an image and detects an identification pattern related to the person (search target) 32 from the reflected laser light Lr by the CCD camera 28b of the laser light receiving device 28.
  • the ground position of the person (search target) 32 can be easily determined, and the search for the person (search target) 32 can be performed quickly.
  • the retroreflective tag 70 shown in FIG. 7 can be used in place of the retroreflective tag 40 of FIG.
  • a plurality of beads 66 forming a reflective surface are formed on a part 68 of the reflective surface of the retroreflective tag 40 so as to represent a matrix type two-dimensional code pattern.
  • a part was made non-reflective by being thermally deformed.
  • a plurality of beads constituting the reflective surface are formed so that a part 68 of the reflective surface of the retroreflective tag 70 represents the pattern of the matrix type two-dimensional code.
  • the part corresponding to a part 68 of the part 66 is removed to be non-reflective.
  • a retroreflective tag 72 shown in FIG. 8 can be used in place of the retroreflective tag 40 of FIG.
  • a plurality of beads 66 forming a reflective surface are formed so that a part 68 of the reflective surface of the retroreflective tag 72 represents a pattern of a matrix type two-dimensional code.
  • the part of the beads 66 corresponding to the part 68 is covered with the return light shielding layer 74 to be non-reflective.
  • the return light shielding layer 74 is formed by, for example, printing a black resin or a transparent resin or the like on the beads 66 corresponding to the part 68 in a flat manner.
  • FIG. 9 is a schematic view showing a main part of a configuration of a laser beam search system 110 according to another embodiment of the present invention.
  • a low-orbit artificial satellite 112 about 300 km above the earth E is equipped with a laser light transmitting / receiving device 114 described later, and a communication device (not shown) for transmitting a radio wave representing a signal related to the reflected laser light Lr. And transmitted to the ground via the antenna 116.
  • an arithmetic processing unit 122 including a ground antenna 120 that receives a radio wave transmitted from the antenna 116 of the artificial satellite 112 is arranged.
  • the arithmetic processing unit 122 based on a signal related to the reflected laser light Lr represented by a radio wave sequentially transmitted from the artificial satellite 112, travels in the ocean W such as a tuna, a whale, and a sea turtle, which are the objects to be searched. Tracking data is sequentially calculated based on the reflected laser light Lr from the retro-reflective tag 130 attached to the living thing 124, and migration data of the marine life is generated.
  • FIG. 10 is an example of a laser light transmitting / receiving device 114 mounted on the artificial satellite 112, which includes a laser light transmitting device 132 and a laser light receiving device 134 fixed to the artificial satellite 112 together.
  • FIG. 11 shows a basic configuration of the laser light transmitting device 132 and the laser light receiving device 134 when the coherent detection method, that is, the self-homodyne detection method is adopted.
  • the laser light transmitting device 132 outputs a pulsed irradiation laser light Lo having a wavelength selected from a wavelength band including violet, blue, and green having a low absorptivity in water, for example, a wavelength band of 355 to 560 nm.
  • 132a which is composed of, for example, a half mirror, passes the irradiation laser light Lo output from the laser light source 132a to the output side, and divides the remaining irradiation laser light Lo into the laser light receiving device 134 as local transmission light.
  • Light deflection that is configured similarly to the beam splitter 132b and the optical deflector 126b, deflects the irradiation laser light Lo that has passed from the beam splitter 132b to the output side, and scans the spot position on the ground surface in a grid pattern.
  • Device 132c and the irradiation laser light Lo deflected by the optical deflector 132c have a predetermined spot diameter on the ground surface.
  • a condensing lens unit 132d for sea urchin condensing it includes.
  • the laser light receiving device 134 includes a telephoto lens device 134a that collects the reflected laser light Lr from the retroreflective tag 130 attached to the marine life 124 such as a migrating tuna that is the object to be searched, and a telephoto lens device.
  • a pre-amplifier 134b that amplifies the reflected laser light Lr that has passed through 134a, and multiplexes (mixes) the reflected laser light Lr amplified by the pre-light amplifier 134b with the local transmission light E LO split by the beam splitter 32b.
  • FIG. 12 is a perspective view illustrating the configuration of the retroreflective tag 130 attached to the marine life 124.
  • the retroreflective tag 130 of this embodiment has a retroreflective function.
  • the retroreflective tag 130 has flexibility as a whole so that it can be attached to a curved surface.
  • the retroreflective tag 130 includes a flexible base sheet 142 having an adhesive layer 40 on the back surface, a retroreflective layer 144 and a liquid crystal plate 146 sequentially laminated on the top surface of the base sheet 142, and an upper surface of the base sheet 142. And a liquid crystal driving device 148 fixed to the device.
  • the retroreflective layer 144 has a property of reflecting the reflected laser light Lr toward the light source of the irradiation laser light Lo, and a prism-type or spherical glass bead using regular tetrahedral particles is encapsulated in a transparent capsule. It is composed of a capsule lens type, an encapsulated lens type in which a spherical glass bead is sealed in a transparent resin, an exposed lens type in which a spherical glass bead is fixed to an exposed surface, and the like.
  • the liquid crystal plate 146 modulates, for example, an on / off signal to the reflected laser light Lr reflected from the retroreflective layer 144 and passing through the liquid crystal plate 146.
  • the liquid crystal plate 146 functions as an optical shutter, and is made of, for example, a nematic liquid crystal.
  • the liquid crystal driving device 148 includes, for example, a ROM, and stores a code memory 150 in which a preset unique code signal of the marine life 124 is written, and reflects a unique code of the marine life 124 stored in the code memory 150.
  • the liquid crystal plate 146 is entirely covered with a pulse-like drive signal having a frequency sufficiently lower than the pulse frequency of the irradiation laser light Lo, that is, a period sufficiently longer than the pulse period of the irradiation laser light Lo, so as to be included in the laser light Lr.
  • a power supply unit 156 for supplying includes.
  • the liquid crystal plate 146 functions as a modulation layer that modulates the reflected laser light Lr.
  • a communication device mounted on the artificial satellite 112 represents a unique identification code (pulse signal) of the marine life 124 included in the reflected laser light Lr output from the laser light transmitting / receiving device 114.
  • the electric signal Sout and a position signal indicating the spot position on the ground of the irradiation laser light Lo when receiving the electric signal Sout are transmitted by radio waves.
  • the arithmetic processing unit 122 provided on the ground receives the radio wave via the ground antenna 120, and also receives the signal representing the unique identification code of the marine life 124 and the reflected laser light Lr from the retroreflective layer 144.
  • the position of the marine life 124 is specified based on the spot position of the irradiation laser light Lo on the ground at the time of the irradiation, and the marine life 124 is tracked. For example, the trajectory of the marine life 124 is displayed in real time on a map showing the ocean W of the earth E.
  • the arithmetic processing unit 122 functions as a tag position calculating unit and an identification information extracting unit.
  • FIG. 13 is a diagram used to explain the operation of the laser light search system 110
  • FIG. 14 is a diagram showing a transmission time chart.
  • the distance of the low-orbit satellite 112 from the surface of the earth is 300 km
  • the irradiation laser light Lo emitted from the satellite 112 is applied to the retroreflective tag 130 attached to the marine life 124 in the ocean W.
  • the moving speed of the artificial satellite 112 is 10 km / sec, the satellite 112 moves 20 m in 2 msec.
  • the spread angle of the reflected laser light Lr reflected from the retroreflective tag 130 attached to the marine life 124 is 3.3 mrad
  • the light is reflected within a range of 1000 m on the orbit of the low-orbit artificial satellite 112.
  • the laser light Lr spreads. Since the time when the artificial satellite 112 passes through this area is 50 msec, a sufficient time can be secured for detecting the reflected laser light La. It is necessary for the artificial satellite 112 to detect information about the retroreflective tag 130 within this 50 msec area.
  • FIG. 14 shows an example of a transmission time chart of information regarding the retroreflective tag 130 in consideration of these conditions.
  • the irradiation start time of the irradiation laser light Lo emitted from the artificial satellite 112 is set to 0.
  • the reception time is set to 50 msec when the artificial satellite 112 exists inside the spot of the reflected laser light Lr, and for example, 10 to 100 bits of information are received within 1 msec within the reception time. That is, this is an example in which a communication speed of 10 to 100 kbit / sec is realized.
  • the irradiation laser light Lo has a wavelength selected from a wavelength band having water permeability
  • the retroreflective tag 130 includes: A retroreflective layer 144 that reflects the reflected laser light Lr toward the laser light transmitting devices 26 and 32, and a reflective laser light Lr that is stacked on the retroreflective layer 144 and that is reflected by the retroreflective layer 144.
  • This is an optical tag having a liquid crystal plate 146.
  • the irradiation laser light Lo having underwater transparency that has reached the retroreflective light reflection tag 30 attached to the marine life (tracked object) 124 existing in the water is reflected by the retroreflection layer 144 by the irradiation laser light Lo.
  • the reflected laser light Lr from the marine life 124 is received by the artificial satellite 112 with a relatively high reception gain by being reflected toward the artificial satellite 112 with the light source.
  • the reflected laser light Lr is modulated by passing through the liquid crystal plate 146, the reflected laser light Lr can include information for identifying the marine life 124. It becomes easy to search for 124. As a result, the marine life 124 can be individually searched for and tracked, and the new ecology of the marine life 24 becomes clear, which can contribute to the sustainability of fishery resources.
  • the 15 shows an example in which the tracking system 110 is applied to the tracking and search of a flying object such as an airplane, a helicopter, an airship, and the like, such as an airplane 180, which have been accidentally landed.
  • the artificial satellite 112 has a laser light transmitting / receiving device 114 mounted thereon, and the airplane 180 has a retroreflective light reflection tag 130 mounted at one or more predetermined positions on the surface of the airplane 180.
  • the retroreflective tag 130 attached to the airplane 180 By detecting or searching for the airplane 180 based on the identification information included in the reflected laser light Lr, the emergency landing position can be specified. As a result, it is possible to promptly start rescue of the life of the accidentally landed airplane 180, which can contribute to the construction of a safe and secure society.
  • the crash landing airplane 180 can float for some time, and passengers may be drifting using lifecraft or liferafts.
  • FIGS. 16 and 17 show a case where the laser beam search system 210 is applied to tracking or searching for a person (human) 82.
  • the laser light transmitting / receiving device 114 is mounted on a flying object such as an airplane, helicopter, airship, etc., for example, a small airplane 184, and the retroreflective tag 130 is mounted on a hat or limbs of a person (human) 82. You.
  • the laser light transmitting / receiving device 114 and the arithmetic processing device 122 are mounted on a small aircraft 184.
  • the laser beam transmitting / receiving device 114 and the arithmetic processing device 122 may be provided on a relatively high ground structure such as a tower or a building at which a person 182 to be searched stays, for example, a beach, can be overlooked.
  • the tracking system 110 of the present embodiment for example, when a person (human) 82 drowns at a beach and goes missing, the retroreflective light attached to the hat or limbs of the person (human) 182.
  • the position of the person 182 can be specified.
  • the rescue of the person (human) 182 who has been lost during bathing can be started at an early stage, so that rescue of human life becomes possible, which can contribute to the construction of a safe and secure society. .
  • the pattern representing the identification code shown in FIG. 5 or FIG. 6 is displayed on the liquid crystal plate 146 of the retroreflective tag 130, and the pattern shown in FIG. 2 may be provided.
  • an identification pattern illustrated in FIG. 5 or FIG. 6 may be provided on a part 68 of the reflective surface of the retroreflective layer 144 of the retroreflective tag 130.
  • the identification information represented by the modulation of the reflected laser Lr reflected from the retroreflective layer 144 by providing both the system configuration shown in the first embodiment and the second embodiment having the CCD camera 28b. And the identification information represented by the identification pattern included in the reflected laser Lr.
  • the retroreflective layers of the retroreflective tags 40, 70, and 72 of the above-described embodiments are composed of the beads 66, but may be composed of a prism layer in which a large number of tetrahedral grains are arranged. .
  • the laser light transmitting / receiving devices 14 and 114 are mounted on the drone 12, the artificial satellite 112, and the airplane 180.
  • the laser light transmitting and receiving devices 14 and 114 are provided on a ground structure having a relatively large height such as a monitoring tower. Is also good.
  • the objects to be searched are not limited to humans (humans), marine life, terrestrial life, and flying objects such as aircraft and helicopters. Any object to which the retroreflective light reflection tags 40, 70, 72, and 130 can be attached may be used, and a large or small aquatic creature that lives in freshwater may be used.
  • the laser light transmitting / receiving devices 14 and 114 shown in FIGS. 2 and 3 and FIGS. 10 and 11 only show the basic configuration. Additional or additional devices may be added.
  • a signal amplifier for amplifying the signal Sout may be provided after the envelope detecting element 128c instead of or in addition to the pre-optical amplifier 128b.
  • the base sheet 142 may not be used. Further, the retroreflective tag 130 does not have to have flexibility as a whole.
  • Laser beam search system 12 Drone (flying object) 24, 122: arithmetic processing unit (identification information extraction means) (tag position calculation means) 26, 126, 132: laser light transmitters 28, 128, 134: laser light receivers 26b, 126b, 132c: light deflector 28b: CCD camera 32: person (search target) 40, 70, 72, 130: Retroreflective light reflection tag (optical tag) 56: tag position calculating means 66: beads (retroreflective layer) 68: Part of reflection surface (identification pattern) 124: Marine life (subject) 144: retroreflective layer 146: liquid crystal plate (modulation layer) 152: ON / OFF drive liquid crystal drive circuit (liquid crystal drive circuit) 180: Airplane (flying object, tracked object) 182: person (tracked body) 184: Small airplane (flying object)

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Abstract

Provided is a laser light search system whereby a search object that is present on land or in water can be accurately searched for using laser light from the air. An optical tag 40 of a laser light search system 10 is a retroreflective light-reflecting tag for reflecting reflected laser light Lr toward a laser light transmission/reception device, and imparts identification information set in advance which relates to a person (search object) 32 to the reflected laser light Lr, and the laser light search system 10 includes a computational processing device for receiving the reflected laser light Lr and extracting the identification information from the received reflected laser light Lr. The reflected laser light Lr is reflected from the abovementioned retroreflective light-reflecting tag, and has a relatively high reception gain, and it is therefore possible to accurately search for a person (search object) 32 present on land or in snow or water. Information for identifying the person (search object) 32 is included in the reflected laser light Lr and can be individually extracted.

Description

レーザ光探索システムLaser light search system
　本発明は、地上或いは水面に存在する被探索体を、レーザ光を空中から地上或いは水面に向かって照射しつつ探索するレーザ光探索システムに関するものである。 The present invention relates to a laser beam search system for searching for a search target existing on the ground or on the water surface while irradiating a laser beam from the air to the ground or the water surface.
　レーザビームを生成するレーザ発生器と、前記レーザビームを走査し、且つレーザビームを所定の探索パターンで走査させるビーム走査装置と、被追尾体である標的物体から反射した反射レーザ光を受信し、その反射レーザ光に応答して上記ビーム走査装置に前記探索パターンを変化させる受信装置とを備えた、レーザ光探索システムが提案されている。たとえば、特許文献１に記載された標的追尾用レーザ指示装置がそれである。 A laser generator that generates a laser beam, a beam scanning device that scans the laser beam, and scans the laser beam in a predetermined search pattern, and receives a reflected laser beam reflected from a target object that is a tracked object, There has been proposed a laser beam searching system including a beam scanning device that changes the search pattern in response to the reflected laser beam. For example, a laser pointing device for tracking a target described in Patent Literature 1 is such.
　この特許文献１に記載されたレーザ光探索システムは、被探索体からの反射レーザ光を受信すると、それに応答して探索パターンを縮小させる受信デバイスを備え、受信した反射レーザ光に基づいて絶えず更新される追尾データを利用して標的物体を正確に追尾するように構成されている。 The laser light search system described in Patent Document 1 includes a receiving device that reduces a search pattern in response to receiving a reflected laser light from an object to be searched, and constantly updates the received pattern based on the received reflected laser light. It is configured to accurately track the target object using the tracking data to be obtained.
特開平１１－１１８９２９号公報JP-A-11-118929
　特許文献１に開示されているレーザ光探索システムを、広範囲の探索に使用した場合、所定の探索パターンで走査したレーザビームに対して被探索体から反射して受信デバイスに受信される反射レーザ光は、被探索体の大きさや形状に起因して微弱な信号となり易く受信ゲインが低いため、被探索体の探索を正確に行なえない場合があった。また、反射レーザ光には、被探索体を識別する情報が含まれていないため、多数の反射光中から目的とする被探索体であるか否かを識別することが難しく、被探索体を個別に抽出する用途に用いることが困難であった。 When the laser beam search system disclosed in Patent Document 1 is used for a wide range search, a reflected laser beam reflected from a search target and received by a receiving device with respect to a laser beam scanned in a predetermined search pattern However, since the signal tends to be weak due to the size and shape of the object to be searched and the reception gain is low, the search for the object to be searched may not be performed accurately. In addition, since the reflected laser light does not include information for identifying the object to be searched, it is difficult to identify whether or not the target object to be searched from among a large number of reflected lights, and It was difficult to use it for the purpose of extracting individually.
　本発明は以上の事情を背景としてなされたものであり、その目的とするところは、地上、雪中或いは水中等に存在する被探索体を、空中からレーザ光を用いて正確に探索することができるレーザ光探索システムを提供することにある。 The present invention has been made in view of the above circumstances, and it is an object of the present invention to accurately search for a search target existing on the ground, in the snow, underwater, or the like using laser light from the air. It is an object of the present invention to provide a laser light search system that can perform the search.
　本発明者は、以上の事情を背景として種々検討を重ねた結果、探索光としてレーザ光を所定の走査範囲で放射するレーザ光送信装置を用いるとともに、被探索体には、前記レーザ光を受けて前記レーザ光送信装置に向かって反射レーザ光を反射する再帰性反射器を装着し、その再帰性反射器の反射面に識別符号を設けると、空中からレーザ光を所定の照射領域に照射しつつ走査したときに得られた反射レーザ光内に含まれる前記識別符号に基づいて、被探索体を個別に正確に探索することができることを見いだした。本発明は斯かる知見に基づいて為されたものである。 The present inventor has made various studies on the background described above, and as a result, while using a laser light transmitting device that emits laser light in a predetermined scanning range as search light, the search target receives the laser light. A retroreflector that reflects the reflected laser light toward the laser light transmitting device is attached, and an identification code is provided on the reflection surface of the retroreflector, so that a predetermined irradiation area is irradiated with laser light from the air. It has been found that the object to be searched can be individually and accurately searched based on the identification code included in the reflected laser light obtained when scanning. The present invention has been made based on such knowledge.
　かかる目的を達成するための本発明の要旨とするところは、レーザ光送信装置から地上または水面に向かって出力されたレーザ光を被探索体に装着された光タグに反射させ、前記光タグにより反射された反射レーザ光を前記レーザ光送信装置と共に設置されたレーザ光受信装置により受けて前記被探索体を探索するレーザ光探索システムであって、（ａ）前記光タグは、反射レーザ光を前記レーザ光送信装置へ向かって反射する再帰性光反射タグであり、（ｂ）再帰性光反射タグは、前記反射レーザ光に前記被探索体に関連する予め定められた識別情報を付与するものであり、（ｃ）前記反射レーザ光を受信し、受信した前記反射レーザ光から前記識別情報を抽出する識別情報抽出手段を、含むことにある。 The gist of the present invention for achieving the object is to reflect laser light output from the laser light transmitting device toward the ground or the water surface to an optical tag attached to the object to be searched, and the optical tag A laser beam search system for searching for the object to be searched by receiving a reflected laser beam reflected by a laser beam receiver installed together with the laser beam transmitter, wherein (a) the optical tag transmits reflected laser beam A retroreflective tag reflecting toward the laser light transmitting device, wherein (b) the retroreflective tag adds predetermined identification information related to the object to be searched to the reflected laser light. And (c) an identification information extracting unit that receives the reflected laser light and extracts the identification information from the received reflected laser light.
　本発明のレーザ光探索システムによれば、地上または水面に向かって出力されたレーザ光を被探索体に装着された光タグに反射させ、前記光タグにより反射された反射レーザ光を前記レーザ光送信装置と共に設置されたレーザ光受信装置により受けて前記被探索体を探索するレーザ光探索システムであって、（ａ）前記光タグは、反射レーザ光を前記レーザ光送信装置へ向かって反射する再帰性光反射タグであり、（ｂ）再帰性光反射タグは、前記反射レーザ光に前記被探索体に関連する予め定められた識別情報を付与するものであり、（ｃ）前記反射レーザ光を受信し、受信した前記反射レーザ光から前記識別情報を抽出する識別情報抽出手段を、含む。これにより、反射レーザ光は、再帰性光反射タグから反射されることから、受信ゲインが比較的高いため、地上、雪中或いは水中に存在する被探索体の探索を正確に行なうことができる。また、反射レーザ光には、被探索体を識別する情報が含まれているため、多数の反射光中から目的とする被探索体であるか否かを識別することが可能となり、被探索体を個別に抽出することが可能となる。 According to the laser light search system of the present invention, the laser light output toward the ground or the water surface is reflected by the optical tag attached to the object to be searched, and the reflected laser light reflected by the optical tag is reflected by the laser light. A laser light search system for searching for the object to be searched for, which is received by a laser light receiver installed together with a transmitter, wherein (a) the optical tag reflects reflected laser light toward the laser light transmitter. (B) a retroreflective light reflection tag that adds predetermined identification information related to the object to be searched to the reflected laser light, and (c) the reflected laser light. And identification information extracting means for extracting the identification information from the received reflected laser light. Thereby, since the reflected laser light is reflected from the retroreflective tag, the reception gain is relatively high, so that the search target existing on the ground, in the snow, or in the water can be accurately searched. In addition, since the reflected laser light contains information for identifying the object to be searched, it is possible to identify whether or not the target object to be searched from among a large number of reflected lights, Can be individually extracted.
　ここで、好適には、前記再帰性光反射タグは、前記反射レーザ光を前記レーザ光送信装置に向かって反射する再帰性反射層と、前記再帰性反射層に設けられ、前記識別情報を示す識別パターンとを有するものであることから、その再帰性光反射タグからの反射レーザ光からそれに含まれる識別パターンを抽出することで、識別パターンが表す被探索体に関連する識別情報に基づいて、地上、雪中或いは水中に存在する被探索体の探索を正確に行なうことができ、被探索体を個別に抽出することが可能となる。この識別情報は、文字、記号、バーコード等により示される被探索者自体の名称、被探索体に装着される部品の名称、型式、サイズ、製造者、製造時期等の製造情報等の、被探索体に直接的或いは間接的に関連するものである。 Here, preferably, the retroreflective tag is provided on the retroreflective layer that reflects the reflected laser light toward the laser beam transmitting device, and indicates the identification information. Since it has an identification pattern, by extracting the identification pattern included in the reflected laser light from the retroreflective light reflection tag, based on the identification information related to the search target represented by the identification pattern, The search for the search target existing on the ground, in the snow, or in the water can be accurately performed, and the search target can be individually extracted. This identification information includes the name of the person to be searched, which is indicated by characters, symbols, barcodes, etc., the name of the part to be mounted on the object to be searched, the manufacturing information such as model, size, manufacturer, manufacturing time, and the like. It is directly or indirectly related to the search object.
　また、好適には、前記再帰性光反射タグに設けられた前記識別パターンは、マトリックス型二次元コードであることにある。このマトリックス型二次元コードは、所謂ＱＲコード（登録商標）であって、多くの情報が含まれるので、地上、雪中或いは水中に存在する被探索体の探索を正確に行なうことができ、被探索体を個別に抽出することが可能となる。たとえば、上記のマトリックス型二次元コードには、被探索体が行方不明者が装着した被服であれば、その被服の名称および型式番号、その被服のサイズ、その被服の製造メーカー、製造時期或いは製造ロット、販売店等の情報が、含まれる。 Preferably, the identification pattern provided on the retroreflective tag is a matrix type two-dimensional code. The matrix type two-dimensional code is a so-called QR code (registered trademark) and includes a lot of information. Therefore, it is possible to accurately search for a search target existing on the ground, in the snow, or in the water, and The search objects can be individually extracted. For example, in the above matrix type two-dimensional code, if the object to be searched is clothing worn by a missing person, the name and model number of the clothing, the size of the clothing, the manufacturer, time of manufacture or manufacturing of the clothing Information on lots, stores, and the like is included.
　また、好適には、前記再帰性光反射タグは、前記反射レーザ光を前記レーザ光送信装置に向かって反射する再帰性反射層と、前記再帰性反射層の上に積層され、前記識別情報を表すように前記再帰性反射層により反射された反射レーザ光を変調する変調層とを有する。これにより、変調された反射レーザ光から変調信号を抽出することで前記識別情報を得ることができるので、その識別情報に基づいて地上、雪中或いは水中に存在する被探索体の探索を正確に行なうことができ、被探索体を個別に抽出することが可能となる。 Also, preferably, the retroreflective tag is a retroreflective layer that reflects the reflected laser light toward the laser light transmitting device, and laminated on the retroreflective layer, the identification information And a modulation layer that modulates the reflected laser light reflected by the retroreflective layer. Thus, the identification information can be obtained by extracting the modulation signal from the modulated reflected laser light, so that the search for the search target existing on the ground, in snow, or underwater can be accurately performed based on the identification information. The search target can be individually extracted.
　また、好適には、前記変調層は、前記再帰性反射層の上に積層され、前記識別情報を表すように前記再帰性反射層により反射された反射レーザ光を変調する液晶板を有するものであることにある。これにより、変調された反射レーザ光から変調信号を抽出することで前記識別情報を得ることができるので、その識別情報に基づいて地上、雪中或いは水中に存在する被探索体の探索を正確に行なうことができ、被探索体を個別に抽出することが可能となる。 Preferably, the modulation layer has a liquid crystal plate laminated on the retroreflective layer and modulating the reflected laser light reflected by the retroreflective layer to represent the identification information. There is to be. Thus, the identification information can be obtained by extracting the modulation signal from the modulated reflected laser light, so that the search for the search target existing on the ground, in snow, or underwater can be accurately performed based on the identification information. The search target can be individually extracted.
　また、好適には、前記識別情報を表すように強度変調或いは位相変調により変調されたパルス状駆動信号を用いて前記液晶板をオンオフ駆動する液晶駆動回路を有するものである。これにより、パルス状にオンオフ変調された反射レーザ光から変調信号を抽出することで前記識別情報を得ることができるので、その識別情報に基づいて地上、雪中或いは水中に存在する被探索体の探索を正確に行なうことができ、被探索体を個別に抽出することが可能となる。 Preferably, the liquid crystal display device further comprises a liquid crystal drive circuit for driving the liquid crystal plate on and off using a pulsed drive signal modulated by intensity modulation or phase modulation so as to represent the identification information. Thus, the identification information can be obtained by extracting the modulation signal from the reflected laser light that has been pulse-likely modulated on and off, so that the search target existing on the ground, in snow, or in the water can be obtained based on the identification information. The search can be performed accurately, and the objects to be searched can be individually extracted.
　また、好適には、前記レーザ光送信装置は、水中での吸収率がきわめて低い紫色から緑色までの波長帯から選択された波長を有する前記レーザ光を、水面または雪面に向かって出力するものである。これにより、被探索体に装着された再帰性光反射タグが水中或いは氷雪中にあっても、反射レーザ光から前記識別情報を得ることができるので、その識別情報に基づいて地上、雪中或いは水中に存在する被探索体の探索を正確に行なうことができ、被探索体を個別に抽出することが可能となる。 Preferably, the laser light transmitting device outputs the laser light having a wavelength selected from a wavelength band from violet to green having a very low absorptivity in water, toward a water surface or a snow surface. It is. Thereby, even if the retroreflective tag attached to the object to be searched is in water or in ice or snow, the identification information can be obtained from the reflected laser light. The search for the object to be searched for in the water can be performed accurately, and the objects to be searched can be individually extracted.
　また、好適には、前記レーザ光受信装置は、前記再帰性光反射タグから反射された反射レーザ光を受信し、前記反射レーザ光に含まれる、前記識別情報を示す識別パターンを撮像するＣＣＤ（Ｃｈａｒｇｅ－Ｃｏｕｐｌｅｄ　Ｄｅｖｉｃｅ）カメラを有し、前記識別情報抽出手段は、前記識別パターンから前記識別パターンにより示された識別情報を抽出するものである。このことから、ＣＣＤカメラにより前記反射レーザ光から識別パターンを容易に抽出することができるので、その識別パターンが表す被探索体に関連する識別情報に基づいて、地上、雪中或いは水中に存在する被探索体の探索を正確に行なうことができ、被探索体を個別に抽出することが可能となる。 Preferably, the laser light receiving device receives the reflected laser light reflected from the retroreflective light reflection tag, and captures an identification pattern included in the reflected laser light and indicating the identification information. (Charge-Coupled @ Device) camera, and the identification information extracting means extracts identification information indicated by the identification pattern from the identification pattern. From this, the identification pattern can be easily extracted from the reflected laser light by the CCD camera, and the identification pattern exists on the ground, in the snow, or in the water based on the identification information related to the object to be searched represented by the identification pattern. The search for the search target can be accurately performed, and the search target can be individually extracted.
　また、好適には、前記レーザ光受信装置および前記レーザ光送信装置は、監視塔、飛翔体、または人工衛星に搭載されるものである。これにより、前記レーザ光受信装置および前記レーザ光送信装置は、監視塔、飛翔体、または人工衛星のうちから、被探索体の種類や性質に応じて選択されたものに搭載されるので、効率的且つ経済的に被探索体の探索を正確に行なうことができる。 Preferably, the laser light receiving device and the laser light transmitting device are mounted on a monitoring tower, a flying object, or an artificial satellite. Accordingly, the laser light receiving device and the laser light transmitting device are mounted on a monitoring tower, an flying object, or an artificial satellite, which is selected according to the type or property of the object to be searched. The object to be searched can be searched accurately and economically.
　また、好適には、前記飛翔体は、ドローン、ヘリコプター、または飛行機である。これにより、前記レーザ光受信装置および前記レーザ光送信装置は、ドローン、ヘリコプター、または飛行機のうちから、被探索体の種類や性質に応じて選択されたものに搭載されるので、効率的且つ経済的に被探索体の探索を正確に行なうことができる。 Preferably, the flying object is a drone, a helicopter, or an airplane. Accordingly, the laser light receiving device and the laser light transmitting device are mounted on a drone, a helicopter, or an airplane, which is selected according to the type and nature of the object to be searched. The search for the object to be searched can be accurately performed.
　また、好適には、前記再帰性光反射タグは、人の被服、帽子、或いは靴、陸上生物、水棲生物、飛翔体、部品、製品、または、前記部品或いは前記製品の梱包に装着されるものである。これにより、被探索体が人（ヒト）、陸上生物、または水棲生物であっても、その探索を正確に行なうことができ、被探索体を個別に抽出することが可能となる。また、被探索体が部品または製品或いはその梱包である場合には、大規模な物流倉庫内において多量の部品或いは製品から所望の部品或いは製品を直ちに探索し、速やかに出荷することができるようになる。 Preferably, the retroreflective tag is attached to a person's clothing, a hat, or shoes, a terrestrial organism, an aquatic organism, a flying object, a part, a product, or a package of the part or the product. It is. Thus, even if the object to be searched is a person (human), a terrestrial organism, or an aquatic organism, the search can be accurately performed, and the object to be searched can be individually extracted. Further, when the object to be searched is a part or a product or its packaging, a large-scale distribution warehouse can be used to immediately search for a desired part or product from a large number of parts or products and ship it promptly. Become.
　また、好適には、前記レーザ光受信装置および前記レーザ光送信装置は、飛翔体に搭載され、前記レーザ光送信装置は、前記レーザ光を走査する光偏向器を備え、前記レーザ光受信装置は、前記再帰性光反射タグからの反射レーザ光を受けて、前記反射レーザ光に含まれる前記再帰性光反射タグに関連する識別パターンを撮像するＣＣＤカメラを備え、前記レーザ光受信装置のＣＣＤカメラにより前記反射レーザ光から前記識別パターンが撮像されたときの、前記レーザ光受信装置および前記レーザ光送信装置の位置および地上高と、前記レーザ光送信装置からのレーザ光の送信方向とから、前記識別パターンが設けられた前記再帰性光反射タグの地上位置を算出して出力するタグ位置算出手段とが、備えられる。これにより、被探索体の地上位置が容易に決定されるので、被探索体の捜索が速やかに行なわれ得る。 Preferably, the laser light receiving device and the laser light transmitting device are mounted on a flying object, and the laser light transmitting device includes an optical deflector that scans the laser light, and the laser light receiving device is A CCD camera for receiving the reflected laser light from the retroreflective tag, and imaging an identification pattern related to the retroreflective tag included in the reflected laser beam; When the identification pattern is imaged from the reflected laser light, the position and the ground height of the laser light receiving device and the laser light transmitting device, and the transmission direction of the laser light from the laser light transmitting device, Tag position calculation means for calculating and outputting a ground position of the retroreflective tag provided with the identification pattern. As a result, the ground position of the object to be searched is easily determined, and the search for the object to be searched can be performed quickly.
　また、好適には、前記レーザ光送信装置は、前記レーザ光を走査する光偏向器を備え、前記再帰性光反射タグからの反射レーザ光を受けて、前記反射レーザ光に含まれる前記再帰性光反射タグに関連する識別情報を抽出する前記レーザ光受信装置と、前記再帰性光反射タグからの前記反射レーザ光から前記識別情報が抽出されたときの前記人工衛星の位置および地上高と、前記人工衛星の前記レーザ光送信装置からのレーザ光の送信方向とから、前記識別情報が抽出された前記再帰性光反射タグの地上位置を算出して出力するタグ位置算出手段とを、備え、前記レーザ光受信装置および前記レーザ光送信装置は、人工衛星に搭載される。これにより、被探索体の地上位置が容易に決定されるので、被探索体の捜索が速やかに行なわれ得る。 Also preferably, the laser light transmitting device includes an optical deflector that scans the laser light, receives the reflected laser light from the retroreflective tag, and includes the reflected laser light included in the reflected laser light. The laser light receiving device that extracts identification information related to the light reflection tag, and the position and height of the artificial satellite when the identification information is extracted from the reflected laser light from the retroreflective light reflection tag, Tag position calculating means for calculating and outputting a ground position of the retroreflective light reflection tag from which the identification information is extracted, from a transmission direction of the laser light from the laser light transmitting device of the artificial satellite, The laser light receiving device and the laser light transmitting device are mounted on an artificial satellite. As a result, the ground position of the object to be searched is easily determined, and the search for the object to be searched can be performed quickly.
本発明の一実施例である、飛翔体としてドローンを用いたレーザ光探索システムを説明する概略図である。BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic explaining the laser beam search system which used the drone as a flying object which is one Example of this invention. 図１のレーザ光探索システムにおいて、ドローンに搭載されたレーザ光送信装置およびレーザ光受信装置等の構成を説明する図である。FIG. 2 is a diagram illustrating a configuration of a laser light transmitting device, a laser light receiving device, and the like mounted on the drone in the laser light search system of FIG. 1. 図１のドローン操縦用送信装置に搭載された受信装置の構成を説明する図である。FIG. 2 is a diagram illustrating a configuration of a receiving device mounted on the drone operation transmitting device in FIG. 1. 図１のレーザ光探索システムに用いられる、人（ヒト）が着たジャケットに装着された再帰性光反射タグの構成を説明する図である。FIG. 2 is a diagram illustrating a configuration of a retroreflective tag attached to a jacket worn by a person (human) used in the laser light search system of FIG. 1. 図４の再帰性光反射タグの反射面の一部に設けられた識別パターンの一例であるマトリックス型二次元コードを示す図である。FIG. 5 is a diagram showing a matrix type two-dimensional code which is an example of an identification pattern provided on a part of a reflection surface of the retroreflective light reflection tag of FIG. 4. 図４の再帰性光反射タグの反射面の一部に設けられた識別パターンの他の例である一次元型のバーコードを示す図である。FIG. 5 is a diagram showing a one-dimensional barcode as another example of the identification pattern provided on a part of the reflection surface of the retroreflective tag of FIG. 4. 図４の再帰性光反射タグの他の構成例を説明する図である。FIG. 9 is a diagram illustrating another configuration example of the retroreflective light reflection tag of FIG. 4. 図４の再帰性光反射タグの他の構成例を説明する図である。FIG. 9 is a diagram illustrating another configuration example of the retroreflective light reflection tag of FIG. 4. 本発明の他の実施例である、人工衛星を用いたレーザ光探索システムを説明する概略図である。It is the schematic explaining the laser beam search system using the artificial satellite which is another Example of this invention. 図９のレーザ光探索システムに用いられるレーザ光送受信装置の構成例を説明する概略図であって、レーザ光受信装置が直接検波を用いる場合を示している。FIG. 10 is a schematic diagram illustrating a configuration example of a laser light transmitting / receiving device used in the laser light search system of FIG. 9, showing a case where the laser light receiving device uses direct detection. 図９のレーザ光探索システムに用いられるレーザ光送受信装置の構成例を説明する概略図であって、レーザ光受信装置がホモダイン位相検波を用いる場合を示している。FIG. 10 is a schematic diagram illustrating a configuration example of a laser light transmitting / receiving device used in the laser light searching system of FIG. 9, showing a case where the laser light receiving device uses homodyne phase detection. 図９のレーザ光探索システムに用いられるタグの構成を説明する斜視図である。FIG. 10 is a perspective view illustrating a configuration of a tag used in the laser light search system of FIG. 9. 図９のレーザ光探索システムにおいて、反射レーザ光がタグから人工衛星へ到達するまでの時間と人工衛星の移動距離との関係を説明する図である。FIG. 10 is a diagram illustrating the relationship between the time required for reflected laser light to reach the artificial satellite from the tag and the distance traveled by the artificial satellite in the laser light search system of FIG. 9. 図１３の関係を前提とした人工衛星のタグ情報受信時間範囲を説明するタイムチャートである。FIG. 14 is a time chart for explaining a tag information reception time range of the artificial satellite based on the relationship of FIG. 13. 本発明のレーザ光探索システムの他の実施例を説明する図である。It is a figure explaining other examples of a laser beam search system of the present invention. 本発明のレーザ光探索システムのさらに他の実施例を説明する図である。FIG. 11 is a diagram illustrating still another embodiment of the laser light search system of the present invention. 図１６の実施例の飛行機に搭載されたレーザ光送受信装置、演算処理装置、および、表示器を示す図である。FIG. 17 is a diagram illustrating a laser light transmitting / receiving device, an arithmetic processing device, and a display mounted on the airplane of the embodiment in FIG. 16.
　以下、本発明の一実施例を図面を参照して説明する。尚、以下の説明に用いる図面において各部の寸法比等は必ずしも正確に描かれていない。 Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings used in the following description, the dimensional ratios and the like of the respective parts are not necessarily drawn accurately.
　図１は、本発明の一実施例のレーザ光探索システム１０の構成の要部を示す略図であり、図２は、ドローン１２に搭載されるレーザ光送受信装置１４の一例であって、ドローン１２に共に固定されたレーザ光送信装置２６およびレーザ光受信装置２８を示す図である。図１において、たとえば地上から所定の高度を飛翔する飛翔体であるドローン１２には、レーザ光送受信装置１４が搭載されており、反射レーザ光Ｌｒに関連する信号を表す電波が送信器１６およびアンテナ１８を介して地上のデータ受信装置２５へ送信されるようになっている。地上には、ドローン１２のアンテナ１８から送信された電波を受けるアンテナ２０を備える受信器４６と、受信機４６で受信された信号を処理する演算処理装置２４と、演算処理装置２４で処理された情報を出力する表示器５０とを備えるデータ受信装置２５が、配設されている。データ受信装置２５は車両等に搭載されてもよいが、本実施例では図１に示すドローン操縦用送信機３０に設けられている。 FIG. 1 is a schematic diagram showing a main part of a configuration of a laser light search system 10 according to an embodiment of the present invention. FIG. 2 is an example of a laser light transmitting / receiving device 14 mounted on the drone 12, FIG. 4 is a diagram showing a laser light transmitting device 26 and a laser light receiving device 28 fixed together. In FIG. 1, for example, a drone 12, which is a flying object that flies at a predetermined altitude from the ground, is equipped with a laser light transmitting / receiving device 14, and a radio wave representing a signal related to the reflected laser light Lr is transmitted by a transmitter 16 and an antenna. The data is transmitted to the data receiving device 25 on the ground via the communication terminal 18. On the ground, a receiver 46 having an antenna 20 for receiving a radio wave transmitted from the antenna 18 of the drone 12, an arithmetic processing unit 24 for processing a signal received by the receiver 46, and a signal processed by the arithmetic processing unit 24 A data receiving device 25 including a display 50 for outputting information is provided. The data receiving device 25 may be mounted on a vehicle or the like, but is provided in the drone control transmitter 30 shown in FIG. 1 in the present embodiment.
　図２では、レーザ光送信装置２６およびレーザ光受信装置２８の原理的な構成が示されている。レーザ光送信装置２６は、たとえば水中や雪中での吸収率が低い紫色、青色、緑色などの比較的短い波長帯、たとえば３５５～５６０ｎｍの波長帯内から選択された波長、或いは赤色・赤外（７００ｎｍ～２６００ｎｍ）の波長帯から選択された波長、好適にはアイセーフと称される目にやさしい波長（１４００ｎｍ～２６００ｎｍ）の波長帯から選択された波長中のパルス状のレーザ光Ｌｏを地上、水面、雪面等へ向かって出力するレーザ光源２６ａと、レーザ光源２６ａから出力されたレーザ光Ｌｏを偏向して地表面でのスポットが直線状或いは格子状に走査されるようにする光偏向器２６ｂと、光偏向器２６ｂにより偏向されたレーザ光Ｌｏを地表上で所定の大きさのスポット径となるように集光する集光レンズ装置２６ｃとを、備えている。 FIG. 2 shows the basic configuration of the laser light transmitting device 26 and the laser light receiving device 28. The laser light transmitting device 26 has a wavelength selected from a relatively short wavelength band such as violet, blue, and green having a low absorptivity in water or snow, for example, a wavelength selected from a wavelength band of 355 to 560 nm, or red / infrared. (700 nm to 2600 nm), preferably a pulse-shaped laser light Lo in a wavelength selected from the wavelength range of an eye-friendly wavelength (1400 nm to 2600 nm) called an eye-safe, A laser light source 26a that outputs light toward a water surface, a snow surface, and the like; and an optical deflector that deflects the laser light Lo output from the laser light source 26a so that a spot on the ground surface is scanned in a straight line or in a grid. 26b, and a condenser lens device 26c for condensing the laser light Lo deflected by the optical deflector 26b so as to have a spot diameter of a predetermined size on the ground. There.
　光偏向器２６ｂは、たとえば、圧電素子による駆動によって偏向ミラーの角度を所定の周波数で変化させる形式のものや、電気光学効果或いは音響光学効果により半導体光導波路内を伝播するレーザ光を所定の周期で偏向させる形式のものから構成される。なお、レーザ光源２６ａの構成によって所望のスポット径が得られる場合には、集光レンズ装置２６ｃは必ずしも設けられていなくてもよい。 The optical deflector 26b is, for example, of a type that changes the angle of a deflecting mirror at a predetermined frequency by driving by a piezoelectric element, or a laser beam propagating in a semiconductor optical waveguide by an electro-optic effect or an acousto-optic effect for a predetermined period. It is composed of a type that deflects by. When a desired spot diameter is obtained by the configuration of the laser light source 26a, the condenser lens device 26c is not necessarily provided.
　レーザ光受信装置２８は、被探索体たとえば人（ヒト）３２に装着される被服たとえばジャケット３４や帽子３６に装着された再帰性光反射タグ４０からの反射レーザ光Ｌｒを集光する望遠レンズ装置２８ａと、望遠レンズ装置２８ａを通過した反射レーザ光Ｌｒから再帰性光反射タグ４０を撮像するＣＣＤカメラ２８ｂとを、備えている。 The laser light receiving device 28 is a telephoto lens device that collects reflected laser light Lr from a retroreflective light reflection tag 40 attached to a clothing to be searched, for example, a person (human) 32, for example, a jacket 34 or a hat 36. 28a, and a CCD camera 28b that captures an image of the retroreflective tag 40 from the reflected laser light Lr that has passed through the telephoto lens device 28a.
　また、ドローン１２には、ＧＰＳ電波を受信してドローン１２の位置（東経および西経の角度）を逐次算出し出力するＧＰＳ位置検出器４２と、気圧或いは地上からの音波の反射時間に基づいてドローン１２の高度（ｍ）を逐次算出して出力する高度計４４とが搭載されている。また、光偏向器２６ｂは、図示しないジャイロで定められる方角を基準としたレーザ光Ｌｏの出力方向を示すレーザ光出力度角を示す信号を出力する。送信器１６は、ドローン１２の位置、ドローン１２の高度、およびレーザ光Ｌｏの出力方向に関する信号を、受信装置２８へ送信する。 Further, the drone 12 receives a GPS radio wave and sequentially calculates and outputs the position (the angle of the east longitude and the west longitude) of the drone 12 and a drone based on the atmospheric pressure or the reflection time of sound waves from the ground. An altimeter 44 that sequentially calculates and outputs twelve altitudes (m) is mounted. The optical deflector 26b outputs a signal indicating a laser light output angle indicating the output direction of the laser light Lo with reference to a direction determined by a gyro (not shown). The transmitter 16 transmits a signal regarding the position of the drone 12, the altitude of the drone 12, and the output direction of the laser light Lo to the receiving device 28.
　図３は、ドローン操縦用送信機３０に設けられたデータ受信装置２５を説明する図である。データ受信装置２５は、送信器１６からの電波を受信する受信器４６と、受信器４６に受けられた送信器１６からの情報である、ドローン１２の位置、ドローン１２の高度、およびレーザ光Ｌｏの出力方向に関する信号を処理して再帰性光反射タグ４０の位置を算出する演算処理装置２４と、再帰性光反射タグ４０の位置を表示する表示器５０とを備えている。本実施例の再帰性光反射タグ４０は、人（ヒト）３２のジャケット（被服）３４および帽子３６に装着されているが、靴であってもよいし、陸上生物、または水棲生物に直接装着されてもよい。 FIG. 3 is a diagram illustrating the data receiving device 25 provided in the drone operation transmitter 30. The data receiving device 25 includes a receiver 46 that receives a radio wave from the transmitter 16, and the position of the drone 12, the altitude of the drone 12, and the laser light Lo, which are information received from the transmitter 16 by the receiver 46. The arithmetic processing unit 24 calculates the position of the retroreflective tag 40 by processing the signal related to the output direction of the optical tag 40, and the display 50 displays the position of the retroreflective tag 40. The retroreflective tag 40 of this embodiment is attached to a jacket (clothing) 34 and a hat 36 of a person (human) 32, but may be shoes, or directly attached to terrestrial or aquatic organisms. May be done.
　演算処理装置２４は、ＣＰＵ、ＲＯＭ、ＲＡＭ、入出力インターフェースなどを含む所謂マイクロコンピュータ（電子制御装置）であって、予め記憶されたプログラムに従って入力信号を処理し、再帰性光反射タグ４０の位置を示す情報を表示器５０に表示させる。演算処理装置２４は、反射レーザ光Ｌｒに含まれる識別情報を抽出する識別情報抽出手段として機能するものである。 The arithmetic processing device 24 is a so-called microcomputer (electronic control device) including a CPU, a ROM, a RAM, an input / output interface, etc., processes input signals in accordance with a program stored in advance, and controls the position of the retroreflective tag 40. Is displayed on the display device 50. The arithmetic processing unit 24 functions as identification information extracting means for extracting identification information included in the reflected laser light Lr.
　演算処理装置２４は、再帰性光反射タグ４０からの反射レーザ光Ｌｒに含まれる識別パターンが表す識別情報の中からどの情報を探索情報として探索するかを外部入力操作たとえばキー入力操作に従って設定する探索条件設定手段５２と、探索条件設定手段５２により設定された探索情報が反射レーザ光Ｌｒに含まれるか否かを検出する識別パターン検出手段５４と、識別パターン検出手段５４により識別されたときの、ドローン１２の位置、ドローン１２の高度、およびレーザ光Ｌｏの出力方向に基づいて再帰性光反射タグ４０の位置すなわち人（ヒト）３２の位置を算出し、表示器５０に再帰性光反射タグ４０の位置を表示させるタグ位置算出手段５６とを、機能的に備えている。 The arithmetic processing unit 24 sets which information to be searched as search information from the identification information represented by the identification pattern included in the reflected laser light Lr from the retroreflective tag 40 according to an external input operation, for example, a key input operation. Search condition setting means 52, identification pattern detection means 54 for detecting whether or not the search information set by search condition setting means 52 is included in reflected laser light Lr, and identification pattern detection means 54 , The position of the retroreflective tag 40, that is, the position of the person (human) 32, is calculated based on the position of the drone 12, the altitude of the drone 12, and the output direction of the laser light Lo. A tag position calculating means 56 for displaying the position of 40 is functionally provided.
　図４は、再帰性光反射タグ４０の要部を拡大して説明する模式的な断面図である。再帰性光反射タグ４０は、合成樹脂繊維或いは合成樹脂フィルムなどから構成された可撓性の樹脂基材６０と、樹脂基材６０の裏面に設けられた接着層６２と、樹脂基材６０の表面に反射膜６４を介して一面に接着されたガラス製或いはアクリル樹脂等の合成樹脂製の小球状の複数のビーズ６６とを備え、入射したレーザ光Ｌｏの入射角と同じ角度で反射レーザ光Ｌｒを射出する光タグである。複数のビーズ６６は再帰性反射層を構成し、反射面として機能している。 FIG. 4 is a schematic cross-sectional view illustrating a main part of the retroreflective tag 40 in an enlarged manner. The retroreflective tag 40 includes a flexible resin base 60 made of a synthetic resin fiber or a synthetic resin film, an adhesive layer 62 provided on the back surface of the resin base 60, A plurality of small spherical beads 66 made of glass or synthetic resin such as acrylic resin adhered to one surface via a reflective film 64 on the surface, and the reflected laser light is incident at the same angle as the incident angle of the incident laser light Lo. This is an optical tag that emits Lr. The plurality of beads 66 constitute a retroreflective layer and function as a reflective surface.
　上記再帰性光反射タグ４０の反射面のうちの一部６８には、たとえば図５に示すマトリックス型二次元コードの識別パターンを表すように局所的に非反射となるように設けられている。再帰性光反射タグ４０の反射面の一部６８は、ビーズ６６がたとえば熱変形させられることで、非反射とされている。このマトリックス型二次元コードは、たとえばＱＲコード（登録商標）と称されるものであって、数次、英字、漢字からなるデータが格納されている。 (5) The part 68 of the reflection surface of the retroreflective tag 40 is provided so as to be locally non-reflective so as to represent the identification pattern of the matrix type two-dimensional code shown in FIG. A part 68 of the reflection surface of the retroreflective tag 40 is made non-reflective by, for example, thermally deforming the beads 66. The matrix type two-dimensional code is called, for example, a QR code (registered trademark), and stores data composed of several orders, English characters, and Chinese characters.
　たとえば、ジャケット３４或いは帽子３６の商品名称、型式、サイズ、製造者、製造時期等の製造情報や、販売店名、販売時期などの販売情報、ジャケット３４或いは帽子３６の購入者である人（ヒト）の氏名、生年月日などの個人情報に関するデータが、識別情報として、マトリックス型二次元コードに格納される。なお、再帰性光反射タグ４０の反射面の一部６８には、図５に示すマトリックス型二次元コードに替えて、たとえば図６に示すバーコードが用いられてもよいし、文字を示すパターンが直接設けられてもよい。 For example, manufacturing information such as a product name, a model, a size, a manufacturer, and a manufacturing time of the jacket 34 or the hat 36, sales information such as a store name and a selling time, and a person (human) who is a purchaser of the jacket 34 or the hat 36 Is stored in the matrix type two-dimensional code as identification information. For the part 68 of the reflective surface of the retroreflective tag 40, for example, a bar code shown in FIG. 6 may be used instead of the matrix type two-dimensional code shown in FIG. May be provided directly.
　本実施例のレーザ光探索システム１０によれば、地上或いは水面に向かって出力されたレーザ光Ｌｏを人（被探索体）３２に装着された再帰性光反射タグ４０に反射させ、再帰性光反射タグ４０により反射された反射レーザ光Ｌｒを受けて人（被探索体）３２を探索するものであって、（ａ）再帰性光反射タグ４０は、反射レーザ光Ｌｒをレーザ光送受信装置１４へ向かって反射する再帰性光反射タグであり、（ｂ）その再帰性光反射タグは、反射レーザ光Ｌｒに人（被探索体）３２に関連する予め定められた識別情報を付与するものであり、（ｃ）反射レーザ光Ｌｒを受信し、受信した反射レーザ光Ｌｒから識別情報を抽出する演算処理装置（識別情報抽出手段）２４を、含む。 According to the laser light search system 10 of the present embodiment, the laser light Lo output toward the ground or the water surface is reflected by the retroreflective light reflection tag 40 attached to the person (search target) 32, and the retroreflective light is reflected. The person (search target) 32 is searched for by receiving the reflected laser light Lr reflected by the reflection tag 40. (A) The retroreflective light reflection tag 40 transmits the reflected laser light Lr to the laser light transmitting / receiving device 14. (B) The retroreflective tag applies predetermined identification information related to the person (search target) 32 to the reflected laser beam Lr. And (c) an arithmetic processing unit (identification information extracting means) 24 for receiving the reflected laser light Lr and extracting identification information from the received reflected laser light Lr.
　これにより、反射レーザ光Ｌｒは、上記再帰性光反射タグから反射されたものであって受信ゲインが比較的高いため、地上、雪中或いは水中に存在する人（被探索体）３２の探索を正確に行なうことができる。また、反射レーザ光Ｌｒには、人（被探索体）３２を識別する情報が含まれているため、多数の反射光中から目的とする人（被探索体）３２であるか否かを識別することが可能となり、人（被探索体）３２を個別に抽出することが可能となる。 As a result, the reflected laser light Lr is reflected from the retroreflective light reflection tag and has a relatively high reception gain, so that the search for the person (search target) 32 existing on the ground, in snow, or in water is performed. Can be done accurately. In addition, since the reflected laser light Lr includes information for identifying the person (the object to be searched) 32, it is determined whether or not the target person (the object to be searched) 32 is among a large number of reflected lights. It is possible to extract the person (search target) 32 individually.
　また、本実施例のレーザ光探索システム１０によれば、再帰性光反射タグ４０は、反射レーザ光Ｌｒをレーザ光送受信装置１４に向かって反射するビーズ（再帰性反射層）６６と、ビーズ（再帰性反射層）６６の一部６８に局所的に設けられ、識別情報を示す識別パターンとを有するものであることから、再帰性光反射タグ４０からの反射レーザ光Ｌｒからそれに含まれる識別パターンを抽出することで、識別パターンが表す人（被探索体）３２に関連する識別情報に基づいて、地上、雪中或いは水中に存在する人（被探索体）３２の探索を正確に行なうことができ、人（被探索体）３２を個別に抽出することが可能となる。 According to the laser light search system 10 of the present embodiment, the retroreflective tag 40 includes the beads (retroreflective layer) 66 that reflects the reflected laser light Lr toward the laser light transmitting / receiving device 14 and the beads (retroreflective layer). (Retroreflective layer) 66 is provided locally on a part 68 of the retroreflective layer 66 and has an identification pattern indicating identification information. , It is possible to accurately search for the person (search target) 32 existing on the ground, in snow, or in the water based on the identification information related to the person (search target) 32 represented by the identification pattern. It is possible to individually extract the person (search target) 32.
　また、本実施例のレーザ光探索システム１０によれば、再帰性光反射タグ４０に局所的に設けられた前記識別パターンは、マトリックス型二次元コードである。このマトリックス型二次元コードは、所謂ＱＲコード（登録商標）であって、多くの情報が含まれるので、地上或いは水中に存在する人（被探索体）３２の探索を正確に行なうことができ、人（被探索体）３２を個別に抽出することが可能となる。 According to the laser light search system 10 of the present embodiment, the identification pattern locally provided on the retroreflective tag 40 is a matrix type two-dimensional code. This matrix type two-dimensional code is a so-called QR code (registered trademark) and includes a lot of information, so that a person (search target) 32 existing on the ground or in the water can be accurately searched. The person (search target) 32 can be individually extracted.
　また、本実施例のレーザ光探索システム１０によれば、レーザ光送信装置２６は、水中での吸収率がきわめて低い紫色から緑色までの波長帯から選択された波長を有するレーザ光Ｌｏを、水面または雪面に向かって出力するものである。これにより、人（被探索体）３２に装着された再帰性光反射タグ４０が水中或いは氷雪中にあっても、反射レーザ光Ｌｒから識別情報を得ることができるので、その識別情報に基づいて地上或いは水中に存在する人（被探索体）３２の探索を正確に行なうことができ、人（被探索体）３２を個別に抽出することが可能となる。 Further, according to the laser light search system 10 of the present embodiment, the laser light transmitting device 26 transmits the laser light Lo having a wavelength selected from the violet to green wavelength band having extremely low absorptivity in water to the surface of the water. Or it is output to the snow surface. Thus, even if the retroreflective tag 40 attached to the person (search target) 32 is underwater or in ice or snow, identification information can be obtained from the reflected laser light Lr. The search for the person (search target) 32 existing on the ground or in the water can be performed accurately, and the person (search target) 32 can be individually extracted.
　また、本実施例のレーザ光探索システム１０によれば、再帰性光反射タグ４０から反射された反射レーザ光Ｌｒを受信し、反射レーザ光Ｌｒに含まれる、識別情報を示す識別パターンを撮像するＣＣＤカメラ２８ｂを有するレーザ光受信装置２８を備え、演算処理装置（識別情報抽出手段）２４は、識別パターンから識別パターンにより示された識別情報を抽出するものである。このように、ＣＣＤカメラ２８ｂにより反射レーザ光Ｌｒから識別パターンを容易に抽出することができるので、その識別パターンが表す人（被探索体）３２に関連する識別情報に基づいて、地上、雪中或いは水中に存在する人（被探索体）３２の探索を正確に行なうことができ、人（被探索体）３２を個別に抽出することが可能となる。 In addition, according to the laser light search system 10 of the present embodiment, the reflected laser light Lr reflected from the retroreflective light reflection tag 40 is received, and the identification pattern included in the reflected laser light Lr and indicating the identification information is imaged. An arithmetic processing unit (identification information extracting means) 24 is provided with a laser light receiving device 28 having a CCD camera 28b, and extracts identification information indicated by the identification pattern from the identification pattern. As described above, since the identification pattern can be easily extracted from the reflected laser beam Lr by the CCD camera 28b, based on the identification information related to the person (search target) 32 represented by the identification pattern, the ground, in the snow, or the like. Alternatively, the search for the person (search target) 32 existing in the water can be accurately performed, and the person (search target) 32 can be individually extracted.
　また、本実施例のレーザ光探索システム１０によれば、レーザ光受信装置２８およびレーザ光送信装置２６は、監視塔、飛翔体、または人工衛星に搭載されるものである。これにより、レーザ光受信装置２８およびレーザ光送信装置２６は、監視塔、飛翔体、または人工衛星のうちから、被探索体の種類や性質に応じて選択されたものに搭載されるので、効率的且つ経済的に被探索体の探索を正確に行なうことができる。 According to the laser light search system 10 of the present embodiment, the laser light receiving device 28 and the laser light transmitting device 26 are mounted on a monitoring tower, a flying object, or an artificial satellite. Accordingly, the laser light receiving device 28 and the laser light transmitting device 26 are mounted on a monitoring tower, an flying object, or an artificial satellite that is selected according to the type or property of the object to be searched. The object to be searched can be searched accurately and economically.
　また、本実施例のレーザ光探索システム１０によれば、前記飛翔体は、ドローン、ヘリコプター、または飛行機である。これにより、レーザ光受信装置２８およびレーザ光送信装置２６は、ドローン、ヘリコプター、または飛行機のうちから、被探索体の種類や性質に応じて選択されたものに搭載されるので、効率的且つ経済的に被探索体の探索を正確に行なうことができる。 According to the laser light search system 10 of the present embodiment, the flying object is a drone, a helicopter, or an airplane. Accordingly, the laser light receiving device 28 and the laser light transmitting device 26 are mounted on a drone, a helicopter, or an airplane that is selected according to the type and properties of the object to be searched, so that the operation is efficient and economical. The search for the object to be searched can be accurately performed.
　また、本実施例のレーザ光探索システム１０によれば、再帰性光反射タグ４０は、人（ヒト）の被服、帽子、或いは靴、陸上生物、または水棲生物に装着されるものである。これにより、被探索体が人（ヒト）、陸上生物、または水棲生物であっても、その探索を正確に行なうことができ、被探索体を個別に抽出することが可能となる。 According to the laser beam search system 10 of the present embodiment, the retroreflective tag 40 is attached to a person's (human) clothing, hat, or shoes, a terrestrial organism, or an aquatic organism. Thus, even if the object to be searched is a person (human), a terrestrial organism, or an aquatic organism, the search can be accurately performed, and the object to be searched can be individually extracted.
　また、本実施例のレーザ光探索システム１０によれば、レーザ光受信装置２８およびレーザ光送信装置２６は、ドローン（飛翔体）１２に搭載され、レーザ光送信装置２６は、レーザ光Ｌｏを走査する光偏向器２６ｂを備え、レーザ光受信装置２８は、再帰性光反射タグ４０からの反射レーザ光Ｌｒを受けて、反射レーザ光Ｌｒに含まれる再帰性光反射タグ４０に関連する識別パターンを撮像するＣＣＤカメラ２８ｂを備え、レーザ光受信装置２８のＣＣＤカメラ２８ｂにより反射レーザ光Ｌｒから人（被探索体）３２に関連する識別パターンが撮像されて検知されたときの、レーザ光受信装置２８およびレーザ光送信装置２６の位置および地上高すなわちドローン１２の位置および高度と、レーザ光送信装置２６からのレーザ光Ｌｏの出力方向とから、人（被探索体）３２に関連する識別パターンが設けられた再帰性光反射タグ４０の地上位置を算出して出力する演算処理装置（タグ位置算出手段）２４とが、備えられる。これにより、人（被探索体）３２の地上位置が容易に決定されるので、人（被探索体）３２の捜索が速やかに行なわれ得る。 Further, according to the laser light search system 10 of the present embodiment, the laser light receiving device 28 and the laser light transmitting device 26 are mounted on the drone (flying object) 12, and the laser light transmitting device 26 scans the laser light Lo. The laser light receiving device 28 receives the reflected laser light Lr from the retroreflective tag 40 and converts the identification pattern related to the retroreflective tag 40 included in the reflected laser light Lr. A laser light receiving device 28 is provided when the CCD camera 28b of the laser light receiving device 28 captures an image and detects an identification pattern related to the person (search target) 32 from the reflected laser light Lr by the CCD camera 28b of the laser light receiving device 28. And the position and altitude of the laser light transmitting device 26, that is, the position and altitude of the drone 12, and the output of the laser light Lo from the laser light transmitting device 26. An arithmetic processing unit (tag position calculating means) 24 for calculating and outputting the ground position of the retroreflective tag 40 provided with the identification pattern related to the person (search target) 32 from the direction. . As a result, the ground position of the person (search target) 32 can be easily determined, and the search for the person (search target) 32 can be performed quickly.
　なお、図４の再帰性光反射タグ４０に替えて、図７に示す再帰性光反射タグ７０を用いることができる。図４の再帰性光反射タグ４０では、上記再帰性光反射タグ４０の反射面のうちの一部６８にマトリックス型二次元コードのパターンを表すように、反射面を構成する複数のビーズ６６の一部がたとえば熱変形させられることで、非反射とされていた。しかし、本実施例の再帰性光反射タグ７０では、再帰性光反射タグ７０の反射面のうちの一部６８にマトリックス型二次元コードのパターンを表すように、反射面を構成する複数のビーズ６６のうちの一部６８に対応する部分除去されることで、非反射とされている。 Note that the retroreflective tag 70 shown in FIG. 7 can be used in place of the retroreflective tag 40 of FIG. In the retroreflective tag 40 shown in FIG. 4, a plurality of beads 66 forming a reflective surface are formed on a part 68 of the reflective surface of the retroreflective tag 40 so as to represent a matrix type two-dimensional code pattern. For example, a part was made non-reflective by being thermally deformed. However, in the retroreflective tag 70 of the present embodiment, a plurality of beads constituting the reflective surface are formed so that a part 68 of the reflective surface of the retroreflective tag 70 represents the pattern of the matrix type two-dimensional code. The part corresponding to a part 68 of the part 66 is removed to be non-reflective.
　また、図４の再帰性光反射タグ４０に替えて、図８に示す再帰性光反射タグ７２を用いることができる。本実施例の再帰性光反射タグ７２では、再帰性光反射タグ７２の反射面のうちの一部６８にマトリックス型二次元コードのパターンを表すように、反射面を構成する複数のビーズ６６のうちの一部６８に対応する部分のビーズ６６に回帰光遮蔽層７４で覆われることで、非反射とされている。この回帰光遮蔽層７４は、たとえば黒色樹脂或いは透明樹脂等が一部６８に対応する部分のビーズ６６上に平坦に印刷されることで、構成される。 Further, a retroreflective tag 72 shown in FIG. 8 can be used in place of the retroreflective tag 40 of FIG. In the retroreflective tag 72 according to the present embodiment, a plurality of beads 66 forming a reflective surface are formed so that a part 68 of the reflective surface of the retroreflective tag 72 represents a pattern of a matrix type two-dimensional code. The part of the beads 66 corresponding to the part 68 is covered with the return light shielding layer 74 to be non-reflective. The return light shielding layer 74 is formed by, for example, printing a black resin or a transparent resin or the like on the beads 66 corresponding to the part 68 in a flat manner.
　図９は、本発明の他の実施例のレーザ光探索システム１１０の構成の要部を示す略図である。図９において、たとえば地球Ｅの上空３００ｋｍ程度の低軌道の人工衛星１１２には、後述のレーザ光送受信装置１１４が搭載されており、反射レーザ光Ｌｒに関連する信号を表す電波が図示しない通信装置およびアンテナ１１６を介して地上へ送信されるようになっている。地上には、人工衛星１１２のアンテナ１１６から送信された電波を受ける地上アンテナ１２０を備える演算処理装置１２２が配置されている。 FIG. 9 is a schematic view showing a main part of a configuration of a laser beam search system 110 according to another embodiment of the present invention. In FIG. 9, for example, a low-orbit artificial satellite 112 about 300 km above the earth E is equipped with a laser light transmitting / receiving device 114 described later, and a communication device (not shown) for transmitting a radio wave representing a signal related to the reflected laser light Lr. And transmitted to the ground via the antenna 116. On the ground, an arithmetic processing unit 122 including a ground antenna 120 that receives a radio wave transmitted from the antenna 116 of the artificial satellite 112 is arranged.
　演算処理装置１２２は、人工衛星１１２から逐次送信される電波により表される反射レーザ光Ｌｒに関連する信号に基づいて、被探索体であるマグロ、鯨、海亀などの海洋Ｗを回遊する海洋生物１２４に装着された再帰性光反射タグ１３０からの反射レーザ光Ｌｒに基づいて追尾データを逐次算出して、その海洋生物の回遊軌跡データを生成する。 The arithmetic processing unit 122, based on a signal related to the reflected laser light Lr represented by a radio wave sequentially transmitted from the artificial satellite 112, travels in the ocean W such as a tuna, a whale, and a sea turtle, which are the objects to be searched. Tracking data is sequentially calculated based on the reflected laser light Lr from the retro-reflective tag 130 attached to the living thing 124, and migration data of the marine life is generated.
　図１０は、人工衛星１１２に搭載されるレーザ光送受信装置１１４の一例であって、人工衛星１１２に共に固定されたレーザ光送信装置１３２およびレーザ光受信装置１３４を備えている。図１１では、コヒーレント検波方式すなわち自己ホモダイン検波方式を採用した場合のレーザ光送信装置１３２およびレーザ光受信装置１３４の原理的な構成が示されている。 FIG. 10 is an example of a laser light transmitting / receiving device 114 mounted on the artificial satellite 112, which includes a laser light transmitting device 132 and a laser light receiving device 134 fixed to the artificial satellite 112 together. FIG. 11 shows a basic configuration of the laser light transmitting device 132 and the laser light receiving device 134 when the coherent detection method, that is, the self-homodyne detection method is adopted.
　レーザ光送信装置１３２は、水中での吸収率が小さい紫色、青色、緑色を含む波長帯、たとえば３５５～５６０ｎｍの波長帯内から選択された波長のパルス状の照射レーザ光Ｌｏを出力するレーザ光源１３２ａと、たとえばハーフミラーから構成され、レーザ光源１３２ａから出力された照射レーザ光Ｌｏを出力側へ通過させるとともに残り一部の照射レーザ光Ｌｏを局部発信光としてレーザ光受信装置１３４側へ分割するビームスプリッタ１３２ｂと、光偏向器１２６ｂと同様に構成され、ビームスプリッタ１３２ｂから出力側へ通過した照射レーザ光Ｌｏを偏向して地表面でのスポット位置が格子状に走査されるようにする光偏向器１３２ｃと、光偏向器１３２ｃにより偏向された照射レーザ光Ｌｏを地表上で所定のスポット径となるように集光する集光レンズ装置１３２ｄとを、備えている。 The laser light transmitting device 132 outputs a pulsed irradiation laser light Lo having a wavelength selected from a wavelength band including violet, blue, and green having a low absorptivity in water, for example, a wavelength band of 355 to 560 nm. 132a, which is composed of, for example, a half mirror, passes the irradiation laser light Lo output from the laser light source 132a to the output side, and divides the remaining irradiation laser light Lo into the laser light receiving device 134 as local transmission light. Light deflection that is configured similarly to the beam splitter 132b and the optical deflector 126b, deflects the irradiation laser light Lo that has passed from the beam splitter 132b to the output side, and scans the spot position on the ground surface in a grid pattern. Device 132c and the irradiation laser light Lo deflected by the optical deflector 132c have a predetermined spot diameter on the ground surface. A condensing lens unit 132d for sea urchin condensing it includes.
　レーザ光受信装置１３４は、被探索体である回遊中のマグロなどの海洋生物１２４に装着された再帰性光反射タグ１３０からの反射レーザ光Ｌｒを集光する望遠レンズ装置１３４ａと、望遠レンズ装置１３４ａを通過した反射レーザ光Ｌｒを増幅する前置光増幅器１３４ｂと、前置光増幅器１３４ｂにより増幅された反射レーザ光Ｌｒとビームスプリッタ３２ｂにより分割された局部発信光ＥＬＯとを合波（混合）して一対の混合光Ｅ１およびＥ２を生成する混合器１３４ｃと、それら一対の混合光Ｅ１およびＥ２をそれぞれ自乗して一対の乗算光｜Ｅ１｜２および｜Ｅ２｜２をそれぞれ出力する一対の乗算器１３４ｄ、１３４ｅと、一対の乗算器１３４ｄ、１３４ｅから出力された一対の乗算光｜Ｅ１｜２および｜Ｅ２｜２の一方に図示しない遅延素子により位相差（たとえばπ／２）を与えた後でそれら一対の乗算光｜Ｅ１｜２および｜Ｅ２｜２の差分を算出することで、反射レーザ光Ｌｒに含まれる再帰性光反射タグ１３０に関する情報すなわち反射レーザ光Ｌｒに含まれる識別コード（パルス信号）ｉを電気信号Ｓｏｕｔに変換して出力する自己ホモダイン検波素子３４ｆとを、備えている。 The laser light receiving device 134 includes a telephoto lens device 134a that collects the reflected laser light Lr from the retroreflective tag 130 attached to the marine life 124 such as a migrating tuna that is the object to be searched, and a telephoto lens device. A pre-amplifier 134b that amplifies the reflected laser light Lr that has passed through 134a, and multiplexes (mixes) the reflected laser light Lr amplified by the pre-light amplifier 134b with the local transmission light E LO split by the beam splitter 32b. ) was a mixer 134c to generate a pair of mixed light E 1 and E 2, the pair of multipliers light squares thereof a pair of mixed light E 1 and E 2, respectively | E 1 | 2 and | E 2 | 2 a pair of multipliers 134d for outputting respectively, and 134e, a pair multiplier 134d, a pair of multipliers light output from 134e | of 2 | E 1 | 2 and | E 2 Write phase difference by the delay elements (not shown) (for example [pi / 2) thereof a pair of multipliers light after giving | E 1 | 2 and | E 2 | By calculating the difference between the 2, contained in the reflected laser beam Lr And a self-homodyne detection element 34f that converts an identification code (pulse signal) i included in the reflected laser light Lr into an electric signal Sout and outputs the electric signal Sout.
　図１２は、海洋生物１２４に装着された再帰性光反射タグ１３０の構成を説明する斜視図である。本実施例の再帰性光反射タグ１３０は、再帰性光反射機能を備えている。再帰性光反射タグ１３０には、曲面に貼着可能となるように、全体として可撓性をもたせてある。再帰性光反射タグ１３０は、裏面に接着層４０を有する可撓性のベースシート１４２と、ベースシート１４２の上面に順次積層された再帰性反射層１４４および液晶板１４６と、ベースシート１４２の上面に固着された液晶駆動装置１４８を、備えている。 FIG. 12 is a perspective view illustrating the configuration of the retroreflective tag 130 attached to the marine life 124. The retroreflective tag 130 of this embodiment has a retroreflective function. The retroreflective tag 130 has flexibility as a whole so that it can be attached to a curved surface. The retroreflective tag 130 includes a flexible base sheet 142 having an adhesive layer 40 on the back surface, a retroreflective layer 144 and a liquid crystal plate 146 sequentially laminated on the top surface of the base sheet 142, and an upper surface of the base sheet 142. And a liquid crystal driving device 148 fixed to the device.
　再帰性反射層１４４は、反射レーザ光Ｌｒを照射レーザ光Ｌｏの光源へ向かって反射する性質を有するものであり、正四面体粒を利用したプリズム型、球形ガラスビースを透明カプセル内に封入したカプセルレンズ型、球形ガラスビースを透明樹脂内に封入した封入レンズ型、球形ガラスビースを露出面に固着した露出レンズ型などから構成される。液晶板１４６は、再帰性反射層１４４から反射されて液晶板１４６を通過する反射レーザ光Ｌｒにたとえばオンオフ信号の変調を加えるものである。液晶板１４６は、光シャッタとして機能するものであり、たとえばネマチック型液晶から構成されている。 The retroreflective layer 144 has a property of reflecting the reflected laser light Lr toward the light source of the irradiation laser light Lo, and a prism-type or spherical glass bead using regular tetrahedral particles is encapsulated in a transparent capsule. It is composed of a capsule lens type, an encapsulated lens type in which a spherical glass bead is sealed in a transparent resin, an exposed lens type in which a spherical glass bead is fixed to an exposed surface, and the like. The liquid crystal plate 146 modulates, for example, an on / off signal to the reflected laser light Lr reflected from the retroreflective layer 144 and passing through the liquid crystal plate 146. The liquid crystal plate 146 functions as an optical shutter, and is made of, for example, a nematic liquid crystal.
　液晶駆動装置１４８は、たとえばＲＯＭから構成され、海洋生物１２４の予め設定された固有のコード信号が書き込まれたコードメモリ１５０と、そのコードメモリ１５０に記憶された海洋生物１２４の固有のコードが反射レーザ光Ｌｒに含まれるように、照射レーザ光Ｌｏのパルス周波数よりも十分に低い周波数すなわち照射レーザ光Ｌｏのパルス周期よりも十分に永い周期を有するパルス状駆動信号を用いて液晶板１４６を全面的にオンオフ駆動液晶駆動回路１５２と、ＣＰＵ、ＲＯＭ、ＲＡＭ、および入出力インターフェースを含み予め設定されたプログラムに従って液晶駆動回路１５２を制御する演算制御素子１５４と、好適にはソーラセルを含み、コードメモリ１５０、液晶駆動回路１５２、および演算制御素子１５４に電源を供給する電源装置１５６とを、備えている。上記の液晶板１４６は、反射レーザ光Ｌｒを変調する変調層として機能している。 The liquid crystal driving device 148 includes, for example, a ROM, and stores a code memory 150 in which a preset unique code signal of the marine life 124 is written, and reflects a unique code of the marine life 124 stored in the code memory 150. The liquid crystal plate 146 is entirely covered with a pulse-like drive signal having a frequency sufficiently lower than the pulse frequency of the irradiation laser light Lo, that is, a period sufficiently longer than the pulse period of the irradiation laser light Lo, so as to be included in the laser light Lr. An on / off drive liquid crystal drive circuit 152, an arithmetic and control element 154 including a CPU, a ROM, a RAM, and an input / output interface and controlling the liquid crystal drive circuit 152 according to a preset program; 150, the liquid crystal drive circuit 152, and the arithmetic control element 154. And a power supply unit 156 for supplying includes. The liquid crystal plate 146 functions as a modulation layer that modulates the reflected laser light Lr.
　図９に戻って、人工衛星１１２に搭載された図示しない通信装置は、レーザ光送受信装置１１４から出力された、反射レーザ光Ｌｒに含まれる海洋生物１２４の固有の識別コード（パルス信号）を表す電気信号Ｓｏｕｔと、その電気信号Ｓｏｕｔを受けたときの照射レーザ光Ｌｏの地上でのスポット位置を表す位置信号とを、電波により送信する。地上に設けられている演算処理装置１２２は、地上アンテナ１２０を介してその電波を受けるとともに、海洋生物１２４の固有の識別コードを表す信号と、再帰性反射層１４４からの反射レーザ光Ｌｒを受けたときの照射レーザ光Ｌｏの地上でのスポット位置とに基づいて海洋生物１２４の位置を特定し、その海洋生物１２４を追尾する。たとえば、地球Ｅの海洋Ｗを示す地図上にその海洋生物１２４の移動軌跡をリアルタイムで表示する。演算処理装置１２２は、タグ位置算出手段および識別情報抽出手段として機能している。 Returning to FIG. 9, a communication device (not shown) mounted on the artificial satellite 112 represents a unique identification code (pulse signal) of the marine life 124 included in the reflected laser light Lr output from the laser light transmitting / receiving device 114. The electric signal Sout and a position signal indicating the spot position on the ground of the irradiation laser light Lo when receiving the electric signal Sout are transmitted by radio waves. The arithmetic processing unit 122 provided on the ground receives the radio wave via the ground antenna 120, and also receives the signal representing the unique identification code of the marine life 124 and the reflected laser light Lr from the retroreflective layer 144. The position of the marine life 124 is specified based on the spot position of the irradiation laser light Lo on the ground at the time of the irradiation, and the marine life 124 is tracked. For example, the trajectory of the marine life 124 is displayed in real time on a map showing the ocean W of the earth E. The arithmetic processing unit 122 functions as a tag position calculating unit and an identification information extracting unit.
　図１３は、レーザ光探索システム１１０の動作の説明に用いる図であり、図１４は伝送タイムチャートを示す図である。図１３において、低軌道の人工衛星１１２の地表からの距離を３００ｋｍとすると、人工衛星１１２から照射された照射レーザ光Ｌｏが海洋Ｗ中の海洋生物１２４に貼着された再帰性光反射タグ１３０から反射して再び当該人工衛星１１２に到着するまでには、２ｍｓｅｃの遅延時間が発生する。一方、人工衛星１１２の移動速度が１０ｋｍ／ｓｅｃであるとすると、２ｍｓｅｃの間に２０ｍ移動する。 FIG. 13 is a diagram used to explain the operation of the laser light search system 110, and FIG. 14 is a diagram showing a transmission time chart. In FIG. 13, assuming that the distance of the low-orbit satellite 112 from the surface of the earth is 300 km, the irradiation laser light Lo emitted from the satellite 112 is applied to the retroreflective tag 130 attached to the marine life 124 in the ocean W. There is a delay of 2 msec before the light is reflected from the satellite and reaches the artificial satellite 112 again. On the other hand, if the moving speed of the artificial satellite 112 is 10 km / sec, the satellite 112 moves 20 m in 2 msec.
　仮に、海洋生物１２４に貼着された再帰性光反射タグ１３０から反射した反射レーザ光Ｌｒの光のひろがり角を３．３ｍｒａｄとすると、低軌道の人工衛星１１２の軌道上では１０００ｍの範囲で反射レーザ光Ｌｒが広がる。この領域を人工衛星１１２が通過する時間は５０ｍｓｅｃであるので、反射レーザ光Ｌａの検知には十分な時間を確保できる。この５０ｍｓｅｃの領域内に再帰性光反射タグ１３０に関する情報を人工衛星１１２が検出する必要がある。 Assuming that the spread angle of the reflected laser light Lr reflected from the retroreflective tag 130 attached to the marine life 124 is 3.3 mrad, the light is reflected within a range of 1000 m on the orbit of the low-orbit artificial satellite 112. The laser light Lr spreads. Since the time when the artificial satellite 112 passes through this area is 50 msec, a sufficient time can be secured for detecting the reflected laser light La. It is necessary for the artificial satellite 112 to detect information about the retroreflective tag 130 within this 50 msec area.
　図１４は、これらの条件を勘案した再帰性光反射タグ１３０に関する情報の伝送タイムチャートの一例を示している。この図１４では、人工衛星１１２から照射される照射レーザ光Ｌｏの照射開示時刻を０としている。反射レーザ光Ｌｒのスポット内部に人工衛星１１２が存在する５０ｍｓｅｃを受信可能時間として、この受信可能時間内でたとえば１０～１００ビットの情報を１ｍｓｅｃで受信する。つまり、１０～１００ｋｂｉｔ／ｓｅｃの通信速度を実現している例である。 FIG. 14 shows an example of a transmission time chart of information regarding the retroreflective tag 130 in consideration of these conditions. In FIG. 14, the irradiation start time of the irradiation laser light Lo emitted from the artificial satellite 112 is set to 0. The reception time is set to 50 msec when the artificial satellite 112 exists inside the spot of the reflected laser light Lr, and for example, 10 to 100 bits of information are received within 1 msec within the reception time. That is, this is an example in which a communication speed of 10 to 100 kbit / sec is realized.
　上述のように、本実施例のレーザ光探索システム１１０によれば、照射レーザ光Ｌｏは、水中透過性を有する波長帯から選択された波長を有するものであり、再帰性光反射タグ１３０は、反射レーザ光Ｌｒをレーザ光送信装置２６、３２に向かって反射する再帰性反射層１４４と、再帰性反射層１４４の上に積層され、再帰性反射層１４４により反射された反射レーザ光Ｌｒを変調する液晶板１４６とを有する光タグである。 As described above, according to the laser light search system 110 of the present embodiment, the irradiation laser light Lo has a wavelength selected from a wavelength band having water permeability, and the retroreflective tag 130 includes: A retroreflective layer 144 that reflects the reflected laser light Lr toward the laser light transmitting devices 26 and 32, and a reflective laser light Lr that is stacked on the retroreflective layer 144 and that is reflected by the retroreflective layer 144. This is an optical tag having a liquid crystal plate 146.
　このため、水中に存在する海洋生物（被追尾体）１２４に装着された再帰性光反射タグ３０に到達した水中透過性を有する照射レーザ光Ｌｏは再帰性反射層１４４によってその照射レーザ光Ｌｏの光源がある人工衛星１１２に向かって反射されることにより、海洋生物１２４からの反射レーザ光Ｌｒは比較的高い受信ゲインにて人工衛星１１２により受信される。 For this reason, the irradiation laser light Lo having underwater transparency that has reached the retroreflective light reflection tag 30 attached to the marine life (tracked object) 124 existing in the water is reflected by the retroreflection layer 144 by the irradiation laser light Lo. The reflected laser light Lr from the marine life 124 is received by the artificial satellite 112 with a relatively high reception gain by being reflected toward the artificial satellite 112 with the light source.
　また、反射された反射レーザ光Ｌｒは液晶板１４６を通過したことにより変調されることから、反射レーザ光Ｌｒには海洋生物１２４を識別する情報を含ませることができるので、目的とする海洋生物１２４であるか否かの探索が容易となる。これにより、海洋生物１２４を個別に探索し追尾することが可能となって海洋生物２４の新たな生態が明らかとなるので、漁業資源を持続可能とすることに寄与することができる。 Since the reflected laser light Lr is modulated by passing through the liquid crystal plate 146, the reflected laser light Lr can include information for identifying the marine life 124. It becomes easy to search for 124. As a result, the marine life 124 can be individually searched for and tracked, and the new ecology of the marine life 24 becomes clear, which can contribute to the sustainability of fishery resources.
　図１５の実施例では、追尾システム１１０が、不時着した飛行機、ヘリコプター、飛行船などの飛翔体たとえば飛行機１８０の追尾や探索に適用された例を示している。人工衛星１１２には、レーザ光送受信装置１１４が搭載されており、飛行機１８０には、再帰性光反射タグ１３０が、飛行機１８０の表面の所定の１または複数位置に装着されている。 15 shows an example in which the tracking system 110 is applied to the tracking and search of a flying object such as an airplane, a helicopter, an airship, and the like, such as an airplane 180, which have been accidentally landed. The artificial satellite 112 has a laser light transmitting / receiving device 114 mounted thereon, and the airplane 180 has a retroreflective light reflection tag 130 mounted at one or more predetermined positions on the surface of the airplane 180.
　本実施例の追尾システム１１０によれば、たとえがハイジャックなどに起因して電波による通信不能な飛行機１８０が海洋Ｗに不時着した場合には、その飛行機１８０に装着した再帰性光反射タグ１３０からの反射レーザ光Ｌｒを受けて反射レーザ光Ｌｒに含まれる識別情報から飛行機１８０を追尾或いは探索することで、その不時着位置を特定できる。これにより、不時着した飛行機１８０についてその人命救助を速やかに開始することが可能となって、安全、安心な社会の構築に寄与することができる。不時着した飛行機１８０はしばらく浮くことができるし、乗客はライフクラフト或いはライフラフトを用いて漂流している可能性がある。 According to the tracking system 110 of the present embodiment, even if the airplane 180 that cannot communicate by radio waves due to a hijack or the like accidentally arrives at the ocean W, the retroreflective tag 130 attached to the airplane 180 By detecting or searching for the airplane 180 based on the identification information included in the reflected laser light Lr, the emergency landing position can be specified. As a result, it is possible to promptly start rescue of the life of the accidentally landed airplane 180, which can contribute to the construction of a safe and secure society. The crash landing airplane 180 can float for some time, and passengers may be drifting using lifecraft or liferafts.
　図１６および図１７は、レーザ光探索システム２１０が、人（ヒト）８２の追尾或いは探索に適用された場合を示している。図１６の実施例では、レーザ光送受信装置１１４が飛行機、ヘリコプター、飛行船などの飛翔体たとえば小型飛行機１８４に搭載され、再帰性光反射タグ１３０は、人（ヒト）８２の帽子或いは手足に装着される。レーザ光送受信装置１１４および演算処理装置１２２が、小型飛行機１８４に搭載されている。これらレーザ光送受信装置１１４および演算処理装置１２２は、探索される人１８２が滞在する領域たとえば海水浴場を俯瞰可能な比較的高い地上構築物たとえば塔や建築物の頂部に設けられていてもよい。 FIGS. 16 and 17 show a case where the laser beam search system 210 is applied to tracking or searching for a person (human) 82. FIG. In the embodiment of FIG. 16, the laser light transmitting / receiving device 114 is mounted on a flying object such as an airplane, helicopter, airship, etc., for example, a small airplane 184, and the retroreflective tag 130 is mounted on a hat or limbs of a person (human) 82. You. The laser light transmitting / receiving device 114 and the arithmetic processing device 122 are mounted on a small aircraft 184. The laser beam transmitting / receiving device 114 and the arithmetic processing device 122 may be provided on a relatively high ground structure such as a tower or a building at which a person 182 to be searched stays, for example, a beach, can be overlooked.
　本実施例の追尾システム１１０によれば、たとえば海水浴場において人（ヒト）８２が溺れて行方が不明となった場合において、その人（ヒト）１８２の帽子或いは手足に装着されている再帰性光反射タグ１３０からの反射レーザ光Ｌｒを受けて反射レーザ光Ｌｒに含まれる識別情報から人（ヒト）１８２を追尾或いは探索することで、その位置を特定できる。これにより、水浴中に行方不明となった人（ヒト）１８２についてその早期の救助開始を可能とするので、人命の救助が可能となって、安全、安心な社会の構築に寄与することができる。 According to the tracking system 110 of the present embodiment, for example, when a person (human) 82 drowns at a beach and goes missing, the retroreflective light attached to the hat or limbs of the person (human) 182. Receiving the reflected laser light Lr from the reflection tag 130 and tracking or searching for the person (human) 182 from the identification information included in the reflected laser light Lr, the position of the person 182 can be specified. As a result, the rescue of the person (human) 182 who has been lost during bathing can be started at an early stage, so that rescue of human life becomes possible, which can contribute to the construction of a safe and secure society. .
　以上、本発明の一実施例を図面に基づいて説明したが、本発明はその他の態様においても適用される。 Although one embodiment of the present invention has been described with reference to the drawings, the present invention is applicable to other embodiments.
　たとえば、前述の図９から図１７の実施例において、再帰性光反射タグ１３０の液晶板１４６には、図５或いは図６に示す識別コードを表すパターンが表示され、人工衛星１１２には、図２に示すレーザ光送受信装置１４が備えられてもよい。また、再帰性光反射タグ１３０の再帰性反射層１４４の反射面の一部６８にたとえば図５または図６に例示する識別パターンが設けられていてもよい。この場合には、ＣＣＤカメラ２８ｂを有する実施例１および実施例２に示された両方のシステム構成を備えることによって、再帰性反射層１４４から反射された反射レーザＬｒの変調により表された識別情報と、反射レーザＬｒに含まれる識別パターンにより表された識別情報との両方が得られる。 For example, in the embodiments of FIGS. 9 to 17 described above, the pattern representing the identification code shown in FIG. 5 or FIG. 6 is displayed on the liquid crystal plate 146 of the retroreflective tag 130, and the pattern shown in FIG. 2 may be provided. In addition, for example, an identification pattern illustrated in FIG. 5 or FIG. 6 may be provided on a part 68 of the reflective surface of the retroreflective layer 144 of the retroreflective tag 130. In this case, the identification information represented by the modulation of the reflected laser Lr reflected from the retroreflective layer 144 by providing both the system configuration shown in the first embodiment and the second embodiment having the CCD camera 28b. And the identification information represented by the identification pattern included in the reflected laser Lr.
　また、前述の実施例の再帰性光反射タグ４０、７０、７２の再帰性反射層は、ビーズ６６で構成されていたが、正四面体粒を多数配置したプリズム層から構成されていてもよい。 The retroreflective layers of the retroreflective tags 40, 70, and 72 of the above-described embodiments are composed of the beads 66, but may be composed of a prism layer in which a large number of tetrahedral grains are arranged. .
　また、前述の実施例では、レーザ光送受信装置１４、１１４がドローン１２、人工衛星１１２、飛行機１８０に搭載されていたが、たとえば監視塔などの比較的おおきな高さを有する地上構築物に設けられてもよい。 Further, in the above-described embodiment, the laser light transmitting / receiving devices 14 and 114 are mounted on the drone 12, the artificial satellite 112, and the airplane 180. However, the laser light transmitting and receiving devices 14 and 114 are provided on a ground structure having a relatively large height such as a monitoring tower. Is also good.
　また、被探索体は、人（ヒト）、海洋生物、陸上生物や、航空機、ヘリコプターなどの飛翔体に限らない。再帰性光反射タグ４０、７０、７２、１３０を装着可能な物体であればよく、淡水中に棲む大型もしくは小型の水棲生物などであってもよい。 被 The objects to be searched are not limited to humans (humans), marine life, terrestrial life, and flying objects such as aircraft and helicopters. Any object to which the retroreflective light reflection tags 40, 70, 72, and 130 can be attached may be used, and a large or small aquatic creature that lives in freshwater may be used.
　また、図２および図３、図１０および図１１に示されているレーザ光送受信装置１４、１１４は、基本構成が示されているだけであるので、性能を高めるための、光学系装置や電気的装置の追加や変更がされてもよい。たとえば、レーザ光受信装置１２８において、前置光増幅器１２８ｂに替えて或いは加えて、信号Ｓｏｕｔを増幅する信号増幅器を包絡線検波素子１２８ｃの後段に設けてもよい。 Further, the laser light transmitting / receiving devices 14 and 114 shown in FIGS. 2 and 3 and FIGS. 10 and 11 only show the basic configuration. Additional or additional devices may be added. For example, in the laser light receiving device 128, a signal amplifier for amplifying the signal Sout may be provided after the envelope detecting element 128c instead of or in addition to the pre-optical amplifier 128b.
　また、前述の実施例の再帰性光反射タグ１３０において、たとえばベースシート１４２が用いられていなくてもよい。また、再帰性光反射タグ１３０は、全体として可撓性を持っていなくてもよい。 In addition, in the retroreflective tag 130 of the above-described embodiment, for example, the base sheet 142 may not be used. Further, the retroreflective tag 130 does not have to have flexibility as a whole.
　その他一々例示はしないが、本発明は当業者の知識に基づいて種々の変更、改良を加えた態様で実施することができる。 Although not specifically exemplified, the present invention can be implemented in various modified and improved aspects based on the knowledge of those skilled in the art.
１０、１１０、２１０：レーザ光探索システム
１２：ドローン（飛翔体）
２４、１２２：演算処理装置（識別情報抽出手段）（タグ位置算出手段）
２６、１２６、１３２：レーザ光送信装置
２８、１２８、１３４：レーザ光受信装置
２６ｂ、１２６ｂ、１３２ｃ：光偏向器
２８ｂ：ＣＣＤカメラ
３２：人（被探索体）
４０、７０、７２、１３０：再帰性光反射タグ（光タグ）
５６：タグ位置算出手段
６６：ビーズ（再帰性反射層）
６８：反射面の一部（識別パターン）
１２４：海洋生物（被探索体）
１４４：再帰性反射層
１４６：液晶板（変調層）
１５２：オンオフ駆動液晶駆動回路（液晶駆動回路）
１８０：飛行機（飛翔体、被追尾体）
１８２：人（被追尾体）
１８４：小型飛行機（飛翔体） 10, 110, 210: Laser beam search system 12: Drone (flying object)
24, 122: arithmetic processing unit (identification information extraction means) (tag position calculation means)
26, 126, 132: laser light transmitters 28, 128, 134: laser light receivers 26b, 126b, 132c: light deflector 28b: CCD camera 32: person (search target)
40, 70, 72, 130: Retroreflective light reflection tag (optical tag)
56: tag position calculating means 66: beads (retroreflective layer)
68: Part of reflection surface (identification pattern)
124: Marine life (subject)
144: retroreflective layer 146: liquid crystal plate (modulation layer)
152: ON / OFF drive liquid crystal drive circuit (liquid crystal drive circuit)
180: Airplane (flying object, tracked object)
182: person (tracked body)
184: Small airplane (flying object)

Claims (13)

  1. 　レーザ光送信装置から地上または水面に向かって出力されたレーザ光を被探索体に装着された光タグに反射させ、前記光タグにより反射された反射レーザ光を前記レーザ光送信装置と共に設置されたレーザ光受信装置により受けて前記被探索体を探索するレーザ光探索システムであって、
    　前記光タグは、前記反射レーザ光を前記レーザ光送信装置へ向かって反射する再帰性光反射タグであり、
    　前記再帰性光反射タグは、前記反射レーザ光に前記被探索体に関連する予め定められた識別情報を付与するものであり、
    　前記反射レーザ光を受信し、受信した前記反射レーザ光から前記識別情報を抽出する識別情報抽出手段を、含む
    　ことを特徴とするレーザ光探索システム。     The laser light output from the laser light transmitting device toward the ground or the water surface was reflected on an optical tag attached to the object to be searched, and the reflected laser light reflected by the optical tag was installed together with the laser light transmitting device. A laser light search system for searching for the object to be searched for, which is received by a laser light receiving device,
    The optical tag is a retroreflective tag reflecting the reflected laser light toward the laser light transmitting device,
    The retroreflective light reflection tag is to give predetermined identification information related to the object to be searched to the reflected laser light,
    A laser light search system, comprising: identification information extracting means for receiving the reflected laser light and extracting the identification information from the received reflected laser light.
  2. 　前記再帰性光反射タグは、前記反射レーザ光を前記レーザ光送信装置に向かって反射する再帰性反射層と、前記再帰性反射層に設けられ、前記識別情報を示す識別パターンとを有するものである
    　ことを特徴とする請求項１のレーザ光探索システム。     The retroreflective tag has a retroreflective layer that reflects the reflected laser light toward the laser light transmitting device, and an identification pattern provided on the retroreflective layer and indicating the identification information. The laser beam search system according to claim 1, wherein:
  3. 　前記再帰性光反射タグに設けられた前記識別パターンは、マトリックス型二次元コードである
    　ことを特徴とする請求項２のレーザ光探索システム。     The laser light search system according to claim 2, wherein the identification pattern provided on the retroreflective tag is a matrix type two-dimensional code.
  4. 　前記再帰性光反射タグは、前記反射レーザ光を前記レーザ光送信装置に向かって反射する再帰性反射層と、前記再帰性反射層の上に積層され、前記識別情報を表すように前記再帰性反射層により反射された前記反射レーザ光を変調する変調層とを有するものである
    　ことを特徴とする請求項１のレーザ光探索システム。     The retroreflective tag is a retroreflective layer that reflects the reflected laser light toward the laser light transmitting device, and the retroreflective layer is stacked on the retroreflective layer, and the retroreflective layer represents the identification information. The laser light search system according to claim 1, further comprising: a modulation layer that modulates the reflected laser light reflected by the reflection layer.
  5. 　前記変調層は、前記再帰性反射層の上に積層され、前記識別情報を表すように前記再帰性反射層により反射された前記反射レーザ光を変調する液晶板を有するものである
    　ことを特徴とする請求項４のレーザ光探索システム。     The modulation layer is laminated on the retroreflective layer, and has a liquid crystal plate that modulates the reflected laser light reflected by the retroreflective layer so as to represent the identification information. 5. The laser light search system according to claim 4, wherein:
  6. 　前記識別情報を表すように強度変調或いは位相変調により変調されたパルス状駆動信号を用いて前記液晶板をオンオフ駆動する液晶駆動回路を有するものである
    　ことを特徴とする請求項５のレーザ光探索システム。     6. A laser beam search according to claim 5, further comprising a liquid crystal drive circuit for driving said liquid crystal plate on and off using a pulsed drive signal modulated by intensity modulation or phase modulation so as to represent said identification information. system.
  7. 　前記レーザ光送信装置は、水中での吸収率がきわめて低い紫色から緑色までの波長帯から選択された波長を有する前記レーザ光を、水面または雪面に向かって出力するものである
    　ことを特徴とする請求項１から請求項６のいずれか１のレーザ光探索システム。     The laser light transmitting device outputs the laser light having a wavelength selected from a wavelength band from violet to green having an extremely low absorption rate in water, toward a water surface or a snow surface. The laser beam search system according to claim 1, wherein
  8. 　前記レーザ光受信装置は、前記再帰性光反射タグから反射された前記反射レーザ光を受信し、前記反射レーザ光に含まれる、前記識別情報を示す識別パターンを撮像するＣＣＤカメラを有し、
    　前記識別情報抽出手段は、前記識別パターンから前記識別パターンにより示された識別情報を抽出するものである
    　ことを特徴とする請求項２または請求項３のレーザ光探索システム。     The laser light receiving device receives the reflected laser light reflected from the retroreflective tag, included in the reflected laser light, has a CCD camera for imaging an identification pattern indicating the identification information,
    The laser beam search system according to claim 2, wherein the identification information extracting unit is configured to extract identification information indicated by the identification pattern from the identification pattern.
  9. 　前記レーザ光受信装置および前記レーザ光送信装置は、構築物、飛翔体、または人工衛星に搭載されるものである
    　ことを特徴とする請求項１から請求項８のいずれか１のレーザ光探索システム。     The laser light search system according to any one of claims 1 to 8, wherein the laser light receiving device and the laser light transmitting device are mounted on a building, a flying object, or an artificial satellite.
  10. 　前記飛翔体は、ドローン、ヘリコプター、または飛行機である
    　ことを特徴とする請求項９のレーザ光探索システム。     The laser beam search system according to claim 9, wherein the flying object is a drone, a helicopter, or an airplane.
  11. 　前記再帰性光反射タグは、人の被服、帽子、或いは靴、陸上生物、水棲生物、飛翔体、部品、製品、または、前記部品或いは前記製品の梱包に装着されるものである
    　ことを特徴とする請求項１から請求項１０のいずれか１のレーザ光探索システム。     The retroreflective tag is attached to a person's clothing, a hat, or shoes, a terrestrial organism, an aquatic organism, a flying object, a part, a product, or a package of the part or the product. The laser beam search system according to any one of claims 1 to 10, wherein
  12. 　前記レーザ光受信装置および前記レーザ光送信装置は、飛翔体に搭載され、
    　前記レーザ光送信装置は、前記レーザ光を走査する光偏向器を備え、
    前記レーザ光受信装置は、前記再帰性光反射タグからの反射レーザ光を受けて、前記反射レーザ光に含まれる前記再帰性光反射タグに関連する識別パターンを撮像するＣＣＤカメラを備え、
    　前記ＣＣＤカメラにより前記反射レーザ光から前記識別パターンが撮像されたときの、前記レーザ光受信装置および前記レーザ光送信装置の位置および地上高と、前記レーザ光送信装置からのレーザ光の送信方向とから、前記識別パターンが設けられた前記再帰性光反射タグの地上位置を算出して出力するタグ位置算出手段を、備える
    　ことを特徴とする請求項８のレーザ光探索システム。     The laser light receiving device and the laser light transmitting device are mounted on a flying object,
    The laser light transmitting device includes an optical deflector that scans the laser light,
    The laser light receiving device includes a CCD camera that receives a reflected laser beam from the retroreflective tag, and captures an identification pattern associated with the retroreflective tag included in the reflected laser beam,
    When the identification pattern is imaged from the reflected laser light by the CCD camera, the position and ground height of the laser light receiving device and the laser light transmitting device, and the transmission direction of the laser light from the laser light transmitting device. 10. The laser beam search system according to claim 8, further comprising: a tag position calculating unit that calculates and outputs a ground position of the retroreflective tag provided with the identification pattern.
  13. 　前記レーザ光送信装置は、前記レーザ光を走査する光偏向器を備え、
    　前記再帰性光反射タグからの反射レーザ光を受けて、前記反射レーザ光に含まれる前記再帰性光反射タグに関連する識別情報を抽出する前記レーザ光受信装置と、
    　前記再帰性光反射タグからの前記反射レーザ光から前記識別情報が抽出されたときの前記人工衛星の位置および地上高と、前記人工衛星の前記レーザ光送信装置からのレーザ光の送信方向とから、前記識別情報が抽出された前記再帰性光反射タグの地上位置を算出して出力するタグ位置算出手段とを、備え、
    　前記レーザ光受信装置および前記レーザ光送信装置は、人工衛星に搭載される
    　ことを特徴とする請求項６のレーザ光探索システム。     The laser light transmitting device includes an optical deflector that scans the laser light,
    Receiving the reflected laser light from the retroreflective tag, the laser light receiving device to extract the identification information related to the retroreflective tag included in the reflected laser light,
    The position and height of the artificial satellite when the identification information is extracted from the reflected laser light from the retroreflective light reflection tag, and the transmission direction of the laser light from the laser light transmitting device of the artificial satellite A tag position calculating means for calculating and outputting a ground position of the retroreflective light reflection tag from which the identification information is extracted,
    The laser light search system according to claim 6, wherein the laser light receiving device and the laser light transmitting device are mounted on an artificial satellite.
PCT/JP2018/031620 2018-08-27 2018-08-27 Laser light search system WO2020044411A1 (en)

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