JPH0619428B2 - Wide area condition monitoring device - Google Patents

Description

Description: TECHNICAL FIELD The present invention detects light from a detected object to determine the position of the detected object, and uses this position information to determine whether there is an intruder in the monitoring area or whether a fire has occurred. The present invention relates to an optical wide area condition monitoring device used for such determination.

2. Description of the Related Art Conventionally, most optical condition monitoring devices of this type detect whether or not a detected object is present in a monitoring area, and the position of the detected object cannot be determined, so that accurate monitoring is possible. Was difficult. Therefore, a so-called active type optical distance measuring device (for example, a triangulation method, a focus detection method) including a light projecting means is used as a device for measuring the distance of the detected object to obtain the position information of the detected object. , Phase difference detection method, etc.), but in any case, it only detects the object to be detected within the detection area in the front direction of the monitoring device, so it can be detected over a wide area. When detecting the distance and direction to an object, it is necessary to provide a large number of monitoring devices, which causes a problem that the device becomes large and the cost becomes high. Although it is conceivable to rotate the monitoring device, when the monitoring device including the light projecting means is rotated, the rotation drive system becomes large and it is difficult to put it into practical use. On the other hand, as a passive type optical distance measuring method that does not require a light projecting means, for example, Japanese Patent Application Laid-Open No. 57-211
As can be seen in Japanese Patent Application Laid-Open No. 007, an optical system is reciprocally driven in a direction orthogonal to an optical axis, and a plurality of photo-sensing elements are arranged on a focal plane of the optical system in a moving direction of an image to be formed. There is a device that receives light from each photodetector element and detects the position of the detected object based on the output of each photodetector element. Since the reciprocating drive means of is necessary, the monitoring device itself becomes large,
When this is rotated to monitor over a wide area, there is a problem that the configuration of the entire apparatus becomes complicated and the size becomes large, and the cost becomes high.

Therefore, there are the following wide area situation monitoring devices proposed by the inventors as a wide area situation monitoring apparatus that can monitor over a wide area and have a simple overall configuration. That is, FIGS. 4 to 8 show a basic example of the present invention. The rotation sensor 1 that rotates at a constant speed and receives light from the detected object X is a rotating shaft that is rotated at a constant speed by a motor. At the upper end of 10, a central portion of a support body 11 made of a U-shaped bent body is attached, and an optical system 12 made of a convex lens is erected at one end of the support body 11 and a rotary shaft 10 is attached. The detection element array 3 is provided at the other end sandwiched, and an image of the detected object X is formed on the detection element array 3. Further, the detection element array 3 is arranged in the vicinity of the focal point of the optical system 12 and is formed by a plurality of light detection elements 30 and 31 arranged in a row in the rotation direction of the support body 11. Photodetection elements 3 adjacent to each other in the detection element array 3
The 0 and 31 outputs are alternately inverted in polarity and added (for example, the outputs of the odd-numbered photodetection elements 30 are combined into a positive polarity signal, and the even-numbered photodetection elements 31 are combined into a negative polarity signal. (Addition) to obtain a positive signal.
In the figure, the light detecting element 30 whose output is not inverted is shown as "+", and the light detecting element 31 whose output is inverted is shown as "-". The light detecting elements 30 and 31 are the human body or the place where a fire occurs. A pyroelectric element that can detect infrared rays from the object X having a high temperature and does not require cooling is used. Further, the adding means 4 is formed by using a differential amplifier, and by inputting the outputs of the photodetector elements 30 and 31 to both input terminals, both outputs can be inverted and added, and as necessary. An amplifier circuit may be provided in the latter stage. The light detecting element 3
It goes without saying that photodiodes for detecting visible light and near infrared light may be used as 0 and 31. Also,
It goes without saying that a concave mirror, a pinhole or the like can be used as the optical system 12, but in the case of a pinhole, the light collecting ability is inferior, but the configuration is simple and the cost can be reduced, and the rotation mechanism can be reduced in weight. It can be simplified. The adding means 4 is attached to the center of the support 11 of the rotation sensor 1 as a circuit portion 14, and the output of the adding means 4 is the pipe-shaped rotating shaft 1.
0 and the bearing portion 6 provided on the lower end surface of 0.
It is designed to be taken out through a photo-coupler section composed of the light-receiving element 62 provided in No. 1, and the circuit power source for the detection element array 3, the addition means 4, the light-emitting element 60, etc. is formed by a battery, and the circuit section 14 It is built in. Further, the above battery may be a rechargeable secondary battery, and the rechargeable battery may be charged from a solar battery provided at an appropriate position of the rotation sensor 1.

Next, the direction detecting means 2 for detecting the visual field direction of the rotation sensor 1 sandwiches the rotary plate 21 and the rotary plate 21 attached to the rotary shaft 10 and having the slit 22 for detecting the reference position of the azimuth angle. A photointerrupter composed of a light emitting element 23 and a light receiving element 24, which are arranged in parallel with each other, and a signal output when the light from the light emitting element 23 is received by the light receiving element 24 through the slit 22 are waveform-shaped and used as a reference. It is composed of a waveform shaper 25 that forms a position pulse, and a counting circuit 27 that counts the reference clock generated by the clock circuit 26 that is reset by the reference position pulse. The output of the counting circuit 27 is a rotation sensor for the reference position. Direction information indicating the rotation angle of 1 is sequentially output. A large number of rotation detecting slits 22a are arranged in a row at equal intervals, and another photointerrupter for projecting and receiving a photodetector is provided on the periphery of the rotary plate 21, and the photodetector is provided with a photodetector through the rotation detecting slit 22a. A pulse signal corresponding to the pulsed light received as a light may be used as the reference clock, and in this case, it is possible to prevent a decrease in direction detection accuracy due to uneven rotation of the rotation sensor 1.

Next, based on the frequency of the output of the adding means 4, the detected object X
The computing means 5 for computing the distance to the inverter 51 for inverting the output of the adding means 4 and the waveform shapers 52a, 52b for shaping the output Va of the adding means 4 and its inverted signal.
And gate circuits 53a and 53b controlled by the waveform shapers 52a and 52b outputs Vb and Vc, and counting circuits 54a and 54b for counting the clock signal Vf output from the clock circuit 55 via the gate circuits 53a and 53b. And the level determination circuit 5
6a, 56b, a zero-cross check circuit 57 for detecting the zero-cross point of the output Va of the adder 4, and a memory 59, and the average frequency of the effective component of the output Va of the adder 4 is measured based on each circuit output (detailed operation). Will be described later), and an arithmetic circuit (microcomputer) 58 for calculating the distance based on the measured frequency. The situation determining means 6 includes position determining means for determining the position of the detected object X based on the direction information detected by the direction detecting means 2 and the distance information output from the calculating means 5, and the position determining means Based on the obtained position of the detected object X, the situation such as the presence / absence of an intruder or the presence / absence of a fire in the monitoring area is determined.

The operation of the basic example will be described below. 9 and 10 are diagrams for explaining the principle of distance measurement. Now, the detected object X is present on the optical axis of the optical system 12 at the position shown by the solid line in FIG. Is rotated about the rotation axis 10 with a radius of rotation a (cm) and an angular velocity ω (rad / sec), the distance from the detected object X to the optical system 12 is R, and the distance from the optical system 12 to the detection element array 3 is If the distance to the image plane Y is r (cm) and the radius of rotation of the sensing element array 3 is b, the optical system 12 rotates Δθ (rad) during Δt (sec) and moves to the position indicated by the imaginary line. In such a case, the displacement angle from the optical axis of the image formation X ″ formed by the light incident on the image formation plane Y by the optical system 12 is Δα (rad), and the moving distance of the image formation points X ′ and X ″ is Δx.
(cm), θ = ωΔt ………… (1), assuming that Δθ and Δα are very small, and using the triangular formula, the following equation is obtained.

RΔα = aΔθ (2) Δx = (R + r) Δα (3) Next, the moving speed of the images X ′ and X ″ of the detected object X on the image plane Y is V Assuming ₁ (cm / sec), using the above formula (3), From the equations (1), (2) and (4), the movement V ₁ of the images X ′ and X ″ is transformed as follows.

Solving the above equation (5) for the distance R gives the following.

By the way, when the optical system 12 is at the position indicated by the solid line, the center position Z of the detecting element array 3 is the image forming position of the image X ′ of the detected object X, but the position indicated by the imaginary line is the position indicated by the optical system 12. If it moves to, the sensing element array 3
The center position of Z moves to Z ′, and this moving distance Δd is given by the following equation since the sensing element array 3 is rotating by Δθ with the turning radius b.

Δd = Δθb (6) Here, assuming that the moving speed of the sensing element array 3 is V ₂ (cm / sec), V ₂ = Δd / Δt = b Δθ / using the equation (1). Δt = bω (7) is obtained. Therefore, the moving speeds V (cm / sec) of the images X ′ and X ″ of the detected object X viewed from the detecting element array 3 are obtained by the following equation.

V = V ₁ + V ₂ (8) If the equations (5) and (7) and the relation of r = a + b are used here, When the above equation (9) is solved for the distance R, the following is obtained.

R = raω / (V−rω) (10) The distance R can be obtained by obtaining the moving speed V from the above (10).

Next, a method for obtaining the moving speed V of the images X ', X "of the detected object X by the output of the detection element array 3 will be described with reference to the operation explanatory diagram shown in Fig. 10. Fig. 10 (a). As described above, the photodetecting elements 30 and 31 adjacent to each other in the detecting element array 3 are detecting elements having a so-called polarity in which outputs are inverted and added, and the arrangement pitch thereof is (cm). When the image X ′ of the object X to be detected moves in the direction of the arrow at the moving speed V on the light receiving surfaces of the light detecting elements 30 and 31 of FIG. If the period of this signal is T (sec), then T = 2 / V .... (11), and from the above equation (11), the frequency f (H
z) becomes f = V / 2 ......... (12). From the equations (10) and (12), the relationship between the frequency f and the distance R to the detected object X is given by the following equation.

R = raω / (2f−rω) (13) That is, the distance R to the detected object X can be calculated by obtaining the frequency f of the output Va of the adding means 4.

The specific distance measuring operation will be described below with reference to FIG. FIG. 11 (a) shows the signal waveform of the output Va of the adding means 4, which is near the center by weighting the photo-sensing elements 30 and 31 (making the sensitivity of the central part higher than the sensitivity of both ends). Has the maximum amplitude, and the amplitude decreases toward the left and right ends. Further, the calculating means 5 respectively obtains the period between the zero cross points of the output Va of the adding means 4,
This is a circuit that determines the frequency from the average value. First, the output Va of the adding means 4 is input to the waveform shaper 52a, and only the positive signal waveform is shaped and the positive pulse signal as shown in FIG. Vb is output. On the other hand, the output Va is the inverter 5
The signal is inverted by 1 and is also input to the waveform shaper 52b. Only the negative signal waveform is shaped by the waveform shaper 52b and the negative pulse signal Vc as shown in FIG. 8 (c) is output. It The clock Vf (shown in FIG. 8 (f)) generated by the clock circuit 55 via the gate circuits 53a, 53b controlled by the positive and negative pulse signals Vb, Vc is the zero cross of the output Va of the adding means 4. It is input to the counting circuits 54a and 54b which are reset (described later) at a point, and the time width (for example, "H" level time) of one pulse of the positive and negative pulse signals Vb and Vc is measured by the counting circuits 54a and 54b. (Clock period x number of counts). Next, the zero-cross signal detected by the zero-cross inspection circuit 57 is calculated by the arithmetic circuit 58.
When the zero cross signal is obtained, the counting result of the counting circuits 54a and 54b is read into the arithmetic circuit 58, and the count determined to be valid based on the output of the level determination circuits 56a and 56b described later. After storing the result in the storage means 59, the reset signal of the counting circuits 54a and 54b is output from the arithmetic circuit 58. Next, in the level judgment circuits 56a and 56b, when the level of the output Va of the adding means 4 exceeds the threshold voltages V _T and −V _T , FIG.
As shown in (d) and (e), the determination signals Vd and Ve indicating that they are valid signals are latched and output, and the arithmetic circuit 58 makes this determination when the zero-cross signal is obtained. When the signals Vd and Ve are checked and the determination signals Vd and Ve are "1", the measurement results of the time widths of the positive and negative pulse signals are regarded as valid and stored in the storage means 59 as described above. A pulse number counter that counts valid pulses is counted up. At this time, the reset signal of the determination signals Vd and Ve latched by the level determination circuits 56a and 56b is output from the arithmetic circuit 58, and the level determination result is reset to prepare for the next level determination. On the other hand, it goes without saying that the measured time width is canceled as invalid data when the judgment signals Vd and Ve are "0". In this case, although the counting circuits 54a and 54b need to be reset, the level judgment circuit 56a. , 5
It is not necessary to reset the latch circuit 6b, but it may be reset. In this way, the number of effective pulses and the time width (cycle) between the zero-cross points of each effective pulse
Are sequentially stored in the storage means 59, the average value of the time width is calculated, and the frequency f of the output Va (= 1) is calculated based on the average time width.
/ 2T) is calculated. The frequency f is data corresponding to the distance R to the detected object X, and the frequency data output from the arithmetic circuit 58 is input to the situation determination means 6 as distance information. The output Va of the adding means 4 contains an unnecessary frequency component, and if this unnecessary frequency component is removed by a bandpass filter, high-accuracy frequency measurement can be performed.

Next, the situation determining unit 6 synchronizes the distance information and the direction information output from the direction detecting unit 2 so as to correspond to each other, and accurately determines the position of the detected object X based on the both information. Then, based on the preset monitoring area information and the position information of the detected object X, the situation such as the presence or absence of an intruder in the monitoring area and the presence or absence of a fire are determined, and the intruder or the fire occurrence is detected. In this case, an abnormality detection signal for driving an alarm means or the like is output. The monitoring area can be arbitrarily set within the effective field of view of the rotation sensor 1 and the detection limit distance, and a complicated monitoring area can be easily set. Further, it becomes possible to determine the number of detected objects X within the range of angular resolution determined by the configurations of the rotation sensor 1 and the detection element array 3.

However, in such a basic example, when the detected object X moves in a direction orthogonal to the optical axis (viewing direction) of the optical system 12 of the rotation sensor 1, an image is formed on the detection element array 3. There is a problem that the moving speed of the captured image is affected and a distance measurement error occurs. That is, when the rotation sensor 1 is rotated, the rotation sensor 1 is not moved by the moving detection object X with respect to the image moving speed at which the image of the stationary detection object X moves on the detection element array 3. If the image moving speed during rotation cannot be ignored, a distance measuring error corresponding to the image moving speed due to the movement of the detected object X occurs, and this distance measuring error connects the detected object X and the monitoring device. There is a problem that the larger the velocity component orthogonal to the line (the optical axis of the optical system 12), the larger the velocity component.

[Object of the Invention] The present invention has been made in view of the above points, and an object of the present invention is to detect the position and distance of a detected object by detecting the distance and direction to the detected object over a wide area. It is possible to make a decision, the configuration of the entire device is simple and the cost can be reduced, and even if the detected object is moving in the direction orthogonal to the optical axis of the optical system of the rotation sensor, the distance measurement error It is to provide a wide area situation monitoring device capable of reducing the number of cases.

DISCLOSURE OF THE INVENTION (Structure) According to the present invention, an optical system 12a, 12b for receiving light from a detected object X is provided at one end of a support 11 'that rotates at a constant speed, and the above optical system is provided at the other end. A pair of rotation sensors 1a, 1b provided with detection element arrays 3a, 3b arranged in the vicinity of the focal points of 12a, 12b and having a plurality of light detection elements 30, 31 arranged in a row in the rotation direction of the support 11, A rotation sensor unit 1'arranged so that the rotation directions are the same and opposite to each other, direction detection means 2a, 2b for detecting the visual field direction of each of the rotation sensors 1a, 1b, and each rotation sensor 1a, 1b. Adjacent photodetector elements 30 and 3 of the detector element arrays 3a and 3b
Adder means 4a, 4 for alternately inverting the polarities of one output and adding the outputs
b, an averaging circuit 66 for averaging the frequencies of the outputs of both the adding means 4a, 4b in the same visual field direction, and a distance computing circuit 67 for computing the distance to the detected object X based on the averaging frequency. The position of the detected object X is obtained based on the direction information output from the calculation means 5a and the direction detection means 2a and 2b and the distance information output from the calculation means 5a, and the preset monitoring area information (that is, the target area X) is obtained. Detecting an intruder or a fire occurrence by comparing the position information and the information that associates the position and movement speed of the detected object X with the type of the detected object X) and the position information And a situation determination means 6 that outputs an abnormality detection signal when the above-mentioned situation occurs, so that it is possible to determine the position of the detected object X by detecting the distance and direction to the detected object X over a wide area. , The detected object X is the optical system 1 Even when moving in the direction perpendicular to the optical axis is obtained by allowing less ranging error. The abnormality detection signal output from the situation determination means 6 controls the output device 7 such as a relay to drive an external alarm device.

(Embodiment) FIGS. 1 and 2 show an embodiment of the present invention in which a support 11 'of each of the rotation sensors 1a and 1b constituting a rotation sensor unit 1'rotates around a shaft 10'. It is formed of a free spur gear-shaped disc, and is rotated by motors 15a and 15b in opposite directions at a constant speed via a speed changing means. It should be noted that both supports 11 'may be rotated in opposite directions by the same motor through the inversion drive means.
In addition, the optical system 12 provided at one end of the support 11 '
a and 12b are adapted to receive the light from the detected object X and form an image on the detection element arrays 3a and 3b. In the embodiment, in order to collect far infrared rays emitted from the human body, A germanium lens is used. The detection element arrays 3a and 3b provided on the other end of the support 11 'are arranged in the vicinity of the focal points of the optical systems 12a and 12b, respectively, as in the basic example, and are provided with a plurality of light detection elements 30 and 31 in the moving direction of the image formation. Are lined up.

The direction detecting means 2a, 2b for detecting the visual field direction of each of the rotation sensors 1a, 1b detects the rotation angle of the support plate 11 'or the motors 15a, 15b by the rotation angle detection mechanism similar to the basic example. It has become. Further, the addition means 4a, 4b for alternately inverting the polarities of the outputs of the adjacent photodetecting elements 30, 31 of the detecting element arrays 3a, 3b of the rotation sensors 1a, 1b and adding them are exactly the same as in the basic example. For example, the addition means 4a, 4b outputs Va, Va 'may be taken out via a brush mechanism provided with a conductive ring on the support 11' and a brush provided in sliding contact with the conductive ring. The support 1
Even if a light emitting element is provided on the upper surface or the lower surface of 1 ', and a relatively large area light receiving element (for example, a solar cell) capable of always receiving the light of the light emitting element is taken out through a photocoupler mechanism arranged oppositely. good. The outputs Va, Va 'of both adding means 4a, 4b thus taken out are respectively the calculating means 5
It is input to the frequency measurement circuits 65a and 65b of a, and the frequency is measured based on the average value of the time width between the zero cross points as in the basic example. On the other hand, the averaging circuit 66 to which the frequencies measured by the frequency measuring circuits 65a and 65b and the outputs of the direction detecting means 2a and 2b are input is adapted to average frequencies in the same visual field direction. That is, the frequency data output from each of the frequency measuring circuits 65a and 65b and the rotation angle data output from each of the direction detecting means 2a and 2b are stored in the memory circuit as a pair of data, and the average value of the frequency data in the same visual field direction is stored. Is designed to calculate
The averaging frequency is output every time the rotation sensors 1a and 1b rotate once. Next, the distance calculation circuit 67 to which the output of the averaging circuit 66 is input is calculated by the same calculation as in the basic example, and the distance R to the detected object X is calculated based on the averaging frequency.
Is calculated. In addition, the situation determination means 6
Is obtained by obtaining the position of the detected object X based on the direction information detected by the direction detecting means 2a and 2b and the distance information output from the calculating means 5a, as described in the background art section. The position information and preset monitoring area information are collated to determine the situation such as the presence of an intruder or fire, and the detection signal generated corresponding to the determination result is output to the output device 7 such as a relay. It is given to control an external device such as an alarm device.

The operating principle of the present invention will be described below. First, when the detected object X is moving with a velocity vector U ₀ orthogonal to the optical axes of the rotation sensors 1a and 1b, the moving speed of the image of the detected object X on the detection element arrays 3a and 3b is U = (R / R) U ₀ …………… (15).

Next, with the detected object X stationary, the rotation sensors 1a, 1a
When the moving speed V of the image when b is rotated at the angular speed ω is obtained, V = rω (1 + a / R) ... (16) and both moving speeds U and V are combined in consideration of the moving direction. ) When the moving direction of the detected object X and the rotating direction of the rotation sensors 1a and 1b are the same direction, V ₁ = V−U = r {ω (1 + a / R) −U ₀ / R} (17) b) the moving direction of the detected object X rotation sensor 1a, when the rotational direction of the 1b are opposite directions, and _{V 2 = V + U = r} {ω (1 + a / R) + U 0 / R} ... (18) . The frequency of each adding means 4a, 4b outputs Va, Va ', when the the arrangement pitch of the light sensing elements 30 and 31 of the sensing element _{array, f 1 = V 1/2} = (r / 2) {ω (1 + a / R) -U 0 / R} ... (19) f 2 = V 2/2 = (r / 2) {ω (1 + a / R) + U 0 / R} ... (20) , and the When the average of both frequencies f ₁ and f ₂ is calculated, f ₀ = (f ₁ + f ₂ ) / 2 = (rω / 2) (1 + a / R) ... (21) Therefore, the distance R to the detected object X can be measured regardless of the moving speed of the detected object X. As is clear from the equations (19) and (20), the moving speed U ₀ of the detected object X in the direction orthogonal to the optical axis is easily obtained by finding the difference between the frequencies f ₁ and f _2. It will be possible.

Next, the operation of the embodiment will be specifically described. FIG. 3 shows the output V of the detection element arrays 3a and 3b of the rotation sensors 1a and 1b.
The signal waveforms of a and Va 'are shown, and the positions of the zero cross points are deviated in the opposite directions by the image moving speed due to the movement of the detected object X. Therefore, this output Va, V
The frequencies measured by the frequency measurement circuit based on a'are different values, and the frequency of the output Va of the detection element array 3a of the rotation sensor 1a rotating in the same direction as the moving direction of the detected object X is: The frequency of the detection element array 3b output Va 'of the rotation sensor 1b that is lower than the frequency when the detected object X is stationary and is rotating in the direction opposite to the moving direction of the detected object X is the detected object. It is higher than the frequency when X is stationary. Therefore, the averaging frequency obtained by averaging the frequencies output from the frequency measuring circuits 65a and 65b becomes a frequency from which the influence of the movement of the detected object X in the direction orthogonal to the optical axis is removed, and based on this averaging frequency By calculating the distance R to the detected object X in the distance calculation circuit 67, the accurate position of the detected object X can be determined.

[Advantages of the Invention] As described above, the present invention provides an optical system for receiving light from an object to be detected at one end of a support having a central portion attached to a rotation shaft that rotates at a constant speed, and the other end. A rotation sensor provided with a detection element array in which a plurality of light detection elements are arranged in a row in the rotation direction of the support, which is disposed near the focal point of the optical system,
Direction detecting means for detecting the visual field direction of the rotation sensor,
From the direction detecting means, the adding means for alternately inverting the polarities of the outputs of the adjacent photo-sensing elements of the sensing element array and adding them, the computing means for computing the distance to the detected object based on the frequency of the output of the adding means, and the direction detecting means. The position sensor includes a position determination unit that obtains a position specified by the direction and distance of the detected object based on the output direction information and the distance information output from the calculation unit. The rotation sensor moves the effective visual field. At the same time, since the image of the detected object formed on the detection element array arranged near the focus of the optical system of the rotation sensor is moved to detect the distance and direction to the detected object, a wide area is detected. The position of the detected object can be determined by
The movement of the effective field of view of the optical system and the movement of the image on the detection element array are performed by the same rotation mechanism, so the configuration is simple and the cost can be reduced, and a pair of lenses that are rotated in opposite directions can be used. Since the distance is calculated by averaging the frequency of the output of the rotation sensor in the same field of view, the distance measurement error is detected even when the detected object is moving in the direction orthogonal to the optical axis of the rotation sensor optical system. There is an effect that can reduce.

[Brief description of drawings]

FIG. 1 is a perspective view of an essential part of an embodiment of the present invention, FIG. 2 is a block circuit diagram of the same as above, FIG. 3 is an operation explanatory diagram of the same as above, and FIG. 4 is a block diagram showing a schematic configuration of a basic example of the present invention. 5 and FIG. 5 are perspective views showing the structure of the main part of the above, FIG. 6 is a schematic block diagram of the main part of the same, FIG. 7 is a block circuit diagram of the main part of the same, and FIG.
The figure is a cross-sectional view of an essential part of the above, and FIGS. 9 to 11 are operation explanatory diagrams of the same. 1'is a rotation sensor section, 1a and 1b are rotation sensors, 2a and 2b are direction detecting means, 3a and 3b are detecting element arrays, 4a and 4b are adding means, 5a is calculating means, 6 is situation determining means, and 11 '. Is a support, 12a and 12b are optical systems, and 30 and 31 are light detecting elements.

Claims (1)

[Claims] 1. An optical system for receiving light from an object to be detected is provided at one end of a support which rotates at a constant speed, and a plurality of optical systems are provided at the other end in the vicinity of the focal point of the optical system in the rotation direction of the support. A pair of rotation sensors provided with a detection element array in which the light detection elements are arranged in a row have a rotation sensor unit in which the centers of rotation coincide with each other and rotation directions are opposite to each other. Direction detecting means for detecting, adder means for alternately inverting the polarities of the adjacent photodetecting element outputs of the detecting element array of each rotation sensor, and adding, and averaging the frequencies of both adding means outputs in the same visual field direction. The calculating means formed by the distance calculating circuit for calculating the distance to the object to be detected based on the averaging circuit and the averaging frequency, the direction information output from the direction detecting means and the distance information output from the calculating means. Basis Wide status monitoring device comprising more the position determining means for determining the position specified by the direction and distance of the detected object.