JP3636343B2 - Two-dimensional axis adjustment method of distance measuring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is a technology for performing position adjustment (axis adjustment) of a detection area in a distance measuring device that is mounted on a vehicle or the like and measures position information of an object to be detected such as a preceding vehicle using a wave such as a laser beam. About.
[0002]
[Prior art]
Conventionally, the development of radar for monitoring obstacles in front of a vehicle and controlling the following travel has been widely promoted. As a method, a radio wave method or a laser method is known. This is a device that transmits a wave such as a radio wave or a laser beam to a detection target in a predetermined area, and obtains a distance to the detection target from a propagation delay time with the reflected signal.
[0003]
For example, in the case of a laser-type distance measuring device (so-called laser radar), a laser beam is irradiated while scanning (scanning) a certain scanning area in one scanning direction (usually the left-right direction), and its reflection In order to determine the propagation delay time with light, a light emission timing is created by the control circuit, a counter is started at that timing, and at the same time, the LD is driven by a laser diode (hereinafter referred to as LD) drive circuit. The laser light is emitted, and the reflected light returned by the laser light reflected on the detection target is received by a photodiode (hereinafter referred to as PD), and reflected at a level higher than the light receiving threshold level set in the light receiving circuit. When light is obtained, the timing is captured by the control circuit, the counter is stopped, and the propagation delay time is measured.
On the other hand, the direction in which the detection target exists is determined from the scan angle at the timing of laser emission or the timing of reception of reflected light.
[0004]
Based on the distance data to the object thus measured, the direction data, the received light amount data, and the vehicle speed data obtained by the vehicle speed sensor, the individual distance data are grouped to obtain past data. , Calculate the relative speed with the object, determine what the object is (car, motorcycle, person, signboard, roadside reflector (reflector, etc.)) and follow The object to be identified and the object to be alarmed are identified.
[0005]
In this type of device, when actually mounted on a vehicle or the like, an ideal detection area in which a detection target such as a preceding vehicle is to be detected (in the case of a vehicle, the vehicle is usually placed at a predetermined height position in front of the traveling direction of the vehicle). If the actual detection area of the device (a certain area where the reflected wave is received and the above measurement is performed) is shifted with respect to the area extending to the left and right objects), the reliability of the measurement result is reduced accordingly. Naturally, the position adjustment (the operation called so-called optical axis adjustment in the case of laser radar) that aligns the center position of the detection area is performed so that the state without such a deviation is maintained. It is also necessary as needed during inspections at repair shops.
[0006]
As a conventional method of position adjustment of the detection area (hereinafter sometimes referred to as axis adjustment), first, with respect to the axis adjustment in the orthogonal direction (generally the vertical direction) orthogonal to the scanning direction, for example, FIG. There is a method shown in a).
For example, a reflector (hereinafter referred to as a reference reflector) serving as a reference is installed at a position near the upper side of an appropriate detection area, for example, on a vehicle (stopped state) on which a distance measuring device is mounted. The distance measuring device is actually operated after setting up an environment free from disturbance factors where objects to be detected other than the reference reflector are not detected as much as possible, and from the state in which the reference reflector is detected, the detection head of the distance measuring device The mounting angle (vertical angle) and mounting position are gradually changed downward by human work, and when the reference reflector is no longer detected, the detection head mounting angle and mounting position are fixed manually. .
Further, the position information of the laser beam output using a detecting means such as a PD or an image sensor is detected, the deviation of the laser beam from the appropriate position is determined based on the detection result, and the deviation is corrected. There is also an adjustment method of changing the mounting angle and mounting position of the detection head.
[0007]
Next, for the axis adjustment in the scanning direction, for example, the method shown in FIG. 8B is usually used.
That is, for example, with respect to a vehicle (stopped state) on which a distance measuring device is mounted, a reference reflector is arranged at the center position of an ideal detection area, and a disturbance factor that prevents detection of objects other than this reference reflector as much as possible. After adjusting the environment without any interference, the distance measuring device is actually operated and the detected position data of the reference reflector coincides with the center position of the detection area of the device. There is a method of physically changing the mounting angle or the like by human work, or automatically changing software parameters inside the control system by processing of the control system.
In a range finder such as a laser radar mounted on a vehicle, as illustrated in FIG. 8B, the angle region (scan area) in the scanning direction in which the laser beam is actually scanned and irradiated is a reflected wave. Is set to be larger than the angle region (detection area in the scanning direction) for measuring the distance data and the like described above, and in the scan area of this detection area (actually within the detection allowable area with a margin) By changing the setting position (software parameter) in data processing, the position of the detection area in the scanning direction can be adjusted to some extent without physically changing the mounting position of the detection head of the apparatus.
[0008]
[Problems to be solved by the invention]
By the way, the conventional shaft adjusting method has the following problems in terms of workability.
(1) That is, since the axis adjustment operation in the scanning direction and the axis adjustment operation in the orthogonal direction orthogonal to the scanning direction must be performed separately, the entire axis adjustment operation takes a long time. In the case of a distance measuring device having a two-dimensional (for example, left and right direction and up and down direction) scanning mechanism, automatic adjustment by changing the parameters described above is possible in both directions, but scanning must be performed in each direction. It still took a relatively long time.
(2) Further, in the above-described orthogonal axis adjustment using the reference reflector, the reference reflector is installed at a position, for example, just above the appropriate detection area, and measurement is performed while checking the detection status of the reference reflector. Since the delicate and difficult work of physically changing the mounting angle of the detection head of the distance device manually is necessary, time, labor, and skill are required for the axis adjustment work, and a vehicle equipped with a laser radar It becomes a big obstacle to productivity improvement when mass-producing such products. In addition, since there are many elements that depend on human skills, there is a high possibility that considerable adjustment errors and adjustment errors will occur.
(3) In addition, axis adjustment using an image sensor or the like requires a special expensive device such as an image sensor, which increases costs.
[0009]
Therefore, the present invention does not use an expensive device such as an image sensor, and the two-dimensional axis adjustment of the distance measuring apparatus can perform the axis adjustment operation in the scanning direction and the direction orthogonal thereto in a relatively short time by scanning in one direction. The main purpose is to provide a method.
It is a second object of the present invention to provide a two-dimensional axis adjustment method for a distance measuring apparatus that can perform axis adjustment operations in the above two directions without depending on human work.
[0010]
[Means for Solving the Problems]
To achieve the above objective, This application The two-dimensional axis adjustment method of the distance measuring apparatus irradiates a predetermined detection area while scanning the wave, and based on the reflected wave of the wave, the position information in the scanning direction of the detected object in the detection area and In a distance measuring apparatus that generates and outputs detection data including at least length information and reflection intensity from the object to be detected, the center position of the detection area is determined to be appropriate in one scanning direction and an orthogonal direction orthogonal thereto. A two-dimensional axis adjustment method for adjusting to a position,
Arrangement work for arranging an axis adjustment target having at least a plurality of reflecting portions having different positions in the orthogonal direction around the appropriate position on the front surface of the distance measuring device, and then operating the distance measuring device to A deviation detection process that scans in one scanning direction and detects the presence and direction of at least the deviation of the center position from the appropriate position based on detection data obtained at this time;
An adjustment operation for adjusting the attachment position or the attachment angle of the distance measuring device so as to correct the deviation in the direction detected by the deviation detection processing, or changing a parameter for setting the detection area;
It is characterized by comprising.
[0011]
Claims 1 In the two-dimensional axis adjustment method of the described distance measuring apparatus, the reflection part is arranged on a central reflection part arranged on the center line in the scanning direction center of the axis adjustment target, and arranged on both sides in the scanning direction of the central reflection part. Two end-side reflection parts,
The orthogonal direction of the end-side reflecting portion is detected so that only one of the end-side reflecting portions is detected when the center position of the detection area is shifted in the orthogonal direction beyond an allowable range beyond an appropriate position. While arranging each position in the different,
Even if the center position of the detection area deviates in the orthogonal direction beyond the allowable range from the appropriate position, at least the center reflection portion of the center reflection portion can be detected separately from the end reflection portion. The size in the orthogonal direction is set larger than that of the end-side reflecting portion.
[0012]
Claim 2 In the two-dimensional axis adjustment method of the described distance measuring apparatus, the reflection part is arranged on a central reflection part arranged on the center line in the scanning direction center of the axis adjustment target, and arranged on both sides in the scanning direction of the central reflection part. Two end-side reflection parts,
The orthogonal direction of the end-side reflecting portion is detected so that only one of the end-side reflecting portions is detected when the center position of the detection area is shifted in the orthogonal direction beyond an allowable range beyond an appropriate position. While arranging each position in the different,
Even if the center position of the detection area is deviated in the orthogonal direction beyond an allowable range from an appropriate position, the orthogonal part of the central reflection part is detected so that the central reflection part can be detected separately from the end-side reflection part. The direction arrangement position is set with the central position in the orthogonal direction in the axis adjustment target as the center, and the reflection intensity of the central reflection portion or the size in the scanning direction is different from that of the end reflection portion. Features.
[0013]
Claim 3 In the two-dimensional axis adjustment method of the distance measuring apparatus described above, two reflection parts having different sizes or reflection intensities in the scanning direction are arranged as the reflection parts on the center line in the center of the axis adjustment target in the scanning direction. ,
Each position in the orthogonal direction of the reflection part is detected so that only one of the reflection parts is detected when the center position of the detection area is shifted in the orthogonal direction beyond an allowable range beyond an appropriate position. It is characterized by being arranged differently.
[0014]
Claim 4 The two-dimensional axis adjustment method of the described distance measuring device automatically performs the shift detection process using a control unit that controls the distance measuring device,
The adjusting operation is automatically performed using an adjusting device that automatically adjusts the mounting position or mounting angle of the distance measuring device or a processing unit that automatically changes the parameter.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First example)
First, a first example will be described. FIG. 1 is a diagram for explaining an equipment configuration including a distance measuring device 1 that implements the two-dimensional axis adjustment method of this example, and FIG. 1 (a) is a diagram showing an overall configuration of the equipment. b) is a block diagram showing a configuration of the distance measuring apparatus 1.
What is indicated by reference numeral 1 in FIG. 1A is a distance measuring device. As shown in FIG. 1A, the distance measuring device 1 is attached to a vehicle body or the like by an adjusting device 2 that automatically adjusts the attachment position or the attachment angle of the distance measuring device 1. Moreover, what is shown with the code | symbol 3 in Fig.1 (a) is a target for axis adjustment.
Here, the adjusting device 2 is a support mechanism (for example, a rotating shaft) that supports at least the detection head in a swingable or movable manner so that the mounting position or mounting angle of the detection head of the distance measuring device 1 can be adjusted. And at least driving means for swinging or moving the detection head (for example, a motor with a reduction gear).
[0016]
The distance measuring device 1 includes a scanning device 11, an LD 12, an LD driving circuit 13, a scanning position detection device 14, a PD 15, a light receiving circuit 16, a control circuit 17 (control means, processing means), and an optical axis adjustment command means 18. For example, a portion including the LD 12, the scanning device 11, and the PD 15 described above constitutes a detection head of the distance measuring device 1.
Here, the scanning device 11 irradiates the scan area with the laser beam output from the LD 12 while scanning the laser beam at a predetermined angle in the left-right direction by a reflection mirror that is driven to oscillate. It operates at the timing and cycle.
The LD driving circuit 13 is a circuit that is controlled by the control circuit 17 and operates the LD 12 at each light emission timing created by the control circuit 17 to output laser light.
The scanning position detection device 14 is an element that detects the scanning direction of the scanning device 11 and inputs the signal (scan direction signal) to the control circuit 17.
The PD 15 receives reflected light that is reflected by the irradiated laser light and returns to the detection target, and outputs an electrical signal corresponding to the amount of received light (hereinafter referred to as a received light amount signal). The output light amount signal is configured to be input to the control circuit 17 via the light receiving circuit 16.
[0017]
The control circuit 17 is constituted by a microcomputer (hereinafter referred to as a microcomputer) composed of, for example, a CPU, a ROM, a RAM, and the like, and basically performs a distance measurement operation by the following control process during normal operation of the apparatus.
That is, while controlling the scanning device 11 and the LD drive circuit 13 as described above, the distance from the light emission to the light reception to the detection target is calculated, and the direction of the detection target is determined from the scanning direction at that time. In addition, the received light amount is determined based on the intensity of the received light (the amount of the received light amount signal), and the detection target is determined and the moving state is determined from these data (distance, direction, received light amount) as described later. In addition, detection data including type information, position information, size information, and the like of the detection target is output.
The optical axis adjustment command means 18 is an operation means (for example, an operation switch) provided so as to be operable by at least a specialized worker (a worker who performs inspection at the time of shipment of the vehicle, repairs after shipment, etc.). The control circuit 17 is instructed to execute automatic optical axis adjustment.
[0018]
Also in this example, as illustrated in FIG. 8B, the angle region (scan area) where the laser beam is actually irradiated is an angle region where the reflected wave is received and the above-described distance data is measured. It is set larger than (detection area), and by changing the setting position (software parameter) on data processing within the scan area of this detection area (actually within the detection allowable area with a margin), It is possible to adjust the detection area to some extent in the left-right direction without physically changing the mounting position of the optical head of the apparatus. Hereinafter, such adjustment by changing the parameter is referred to as soft optical axis adjustment, and the range in which the position adjustment in the horizontal direction (scanning direction) of the center position of the detection area is possible by this soft optical axis adjustment. Hereinafter, it is referred to as a soft optical axis adjustable range. In FIG. 2 and the like, the spread of the detection area on the plane including the surface of the axis adjustment target 3 (hereinafter referred to as the field of view of the detection area) is indicated by the symbol A, and the soft optical axis adjustment possible range is shown. This is indicated by symbol B.
[0019]
Next, the operation of the distance measuring device 1 will be described. First, the operation during normal operation as a laser radar will be described.
The LD 12 operates under the control of the LD driving circuit 13 for each light emission timing created by the control circuit 17 and outputs a laser beam. Then, the laser beam from the LD 12 is irradiated to a scan area wider than the detection area as illustrated in FIG. 8B while being scanned by the scanning device 11.
When the irradiated laser light is reflected back to the detection target, the reflected light is received by the PD 15, and the received light amount signal is input to the control circuit 17 via the light receiving circuit 16. The control circuit 17 first generates the aforementioned data (distance, direction, received light amount) from the received light amount signal and the scanning direction signal input from the scanning position detecting device 14.
This data (distance, direction, received light amount) is generated every time light emission and reception are performed in a detection area narrower than the scan area as illustrated in FIG. This detection process is performed only for the detected object in the detection area.
[0020]
Then, the control circuit 17 performs the following processing based on the above data (distance, direction, received light amount) and the speed data of the host vehicle input from a vehicle speed sensor (not shown) in a predetermined cycle (in this case, the laser beam is scanned). To be executed).
That is, first, the distance to the object and the direction data (polar coordinate data) are converted into X and Y coordinates (Cartesian coordinate data) and stored in a memory (not shown) for each region together with the received light amount data. Here, each region is a region set in advance by dividing the detection area into, for example, equal divisions.
[0021]
Next, based on the distance data in the memory converted into the Cartesian coordinate system and registered for each region, the data is grouped to extract the target object, and the laser emission unit of the grouped target object The distance in the X direction (for example, the left-right direction) and the Y direction (for example, the front-rear direction) and the width dimension are calculated.
Here, the grouping is a process of collecting adjacent data that are close to each other in the individual data of each region and making it one object. Specifically, for example, windows (areas on the Cartesian coordinate system) having a certain width are provided for each data in the front-rear direction and the left-right direction, and the other data included in this window are grouped together. Note that the data grouped in this way (hereinafter referred to as group data) is handled collectively as one object in the subsequent processing.
[0022]
Next, the object detected during the previous scan is associated with the object detected during the current scan, and the relative speed of the detected object is further calculated.
That is, a fixed window is set around the position where the group data is estimated to appear during the current scan from the previous group data position and its relative speed. Then, it is determined whether or not the current group data is in this window, and if it is within this range, the previous group data and the current group data are handled as being for the same object. And calculate the relative speed from the distance traveled.
Next, attribute discrimination of the object is performed based on the width dimension and relative speed of the object.
That is, for example, by comparing with a reference value of a pre-registered width dimension, the object is a vehicle, a motorcycle, a person, a signboard, or a roadside reflector (reflector). The type of the object such as whether it is present is determined. Further, by comparing the relative speed of the object with the speed of the host vehicle, it is also determined whether the object is stopped or moving.
[0023]
Next, based on the determination result, a preceding vehicle or the like that is a target of the front obstacle monitoring system or the following traveling control system is specified. Information (position data, relative speed data, etc.) relating to the identified preceding vehicle and the like is sequentially transmitted to the control means of the front obstacle monitoring system and the follow-up traveling control system, and used for operation control of these systems. .
[0024]
Next, the optical axis adjustment of this example implemented by the said equipment structure is demonstrated. The optical axis adjustment in this example is performed by stopping the vehicle on which the distance measuring device 1 is mounted.
In the optical axis adjustment of this example, the axis adjustment target 3 shown in FIG. 2 is arranged around the appropriate position in front of the vehicle to which the distance measuring device 1 is attached (arrangement operation), and then the optical axis adjustment command means described above. 18, the optical axis automatic adjustment described later by the distance measuring device 1 is executed. The optical axis automatic adjustment by the distance measuring device 1 to be described later is a process for automatically executing the deviation detection process and the adjustment work of the present invention.
[0025]
In this case, the axis adjusting target 3 includes a vertically long and rectangular central reflecting portion 31 disposed on the center line S in the center of the scanning direction, and square end portions disposed on both sides of the central reflecting portion 31 in the scanning direction. The side reflection parts 32 and 33 are provided.
In addition, when the center position of the detection area deviates in the vertical direction (orthogonal direction) beyond the allowable range from the appropriate position, the end side reflection is performed so that only one of the end side reflection portions 32 and 33 is detected. The positions of the portions 32 and 33 in the vertical direction are different from each other. Specifically, in this case, the end-side reflection unit 32 is arranged at the lower left, the end-side reflection unit 33 is arranged at the upper right, and the end-side reflection unit 32 detects when the detection area is excessively shifted upward. If the detection area is excessively shifted downward, the vertical positions of the end-side reflecting portions 32 and 33 are set so that the end-side reflecting portion 33 is not detected.
In addition, when the center position in the left-right direction of the detection area is within the aforementioned soft optical axis adjustable range, the center position in the vertical direction of the detection area is shifted in the vertical direction beyond the allowable range with respect to the appropriate position. If not, the arrangement positions of the end reflection parts 32 and 33 are set so that both the end reflection parts 32 and 33 are detected.
[0026]
In addition, when the center position of the detection area is shifted in the left-right direction (scanning direction) from the appropriate position beyond the above-described soft optical axis adjustable range, only one of the end reflection parts 32 and 33 is detected. As described above, the positions in the left-right direction of the end reflection parts 32 and 33 are set. In this case, specifically, if the detection area is shifted to the right side beyond the above range, the end side reflection portion 32 is not detected. If the detection area is shifted to the left side beyond the above range, the end side reflection is not performed. The arrangement positions in the left-right direction of the end side reflection parts 32 and 33 are set so that the part 33 is not detected.
Further, even if the center position of the detection area is shifted in the vertical direction beyond the permissible range from the appropriate position, the central reflection part 31 can be detected separately from the end reflection parts 32 and 33. The size in the vertical direction is set to be longer than that of the end-side reflecting portions 32 and 33 so as to be vertically long. In this case, specifically, the central reflecting portion 31 is formed over the entire length of the axis adjustment target 3 in the vertical direction. In this case, the amount of light of the object to be detected that is discriminated in the control circuit 17 of the distance measuring device 1 differs between the central reflection unit 31 and the end-side reflection units 32 and 33, so that the central reflection unit 31 is processed by the control circuit 17. Is distinguished from the end-side reflecting portions 32 and 33.
[0027]
Next, the optical axis automatic adjustment operation of the distance measuring apparatus will be described.
When execution of the automatic optical axis adjustment is instructed by the optical axis adjustment command means 18 described above, the control circuit 17 executes the control process shown in the flowchart of FIG. 4 in this case.
First, in step S2, the distance measuring apparatus 1 is normally operated for one scan, and detection data including position information of each reflecting portion (detected object) of the axis adjustment target 3 is generated. Note that one of the end-side reflecting portions 32 and 33 may be out of the detection area as described above. In this case, the reflecting portion is not detected, and the detection data is naturally not created. However, since the center reflecting portion 31 is formed over the entire length on the center line S in the left-right direction center of the axis adjustment target 3, it cannot be entirely out of the detection area (such an extremely large size). It is practically easy to prevent the deviation from occurring in the horizontal direction or the vertical direction by managing the accuracy of the initial mounting operation of the distance measuring device 1).
[0028]
Next, in step S4, the positional information of the detected reflection portion that is discriminated as the central reflection portion 31 is analyzed, and the central position in the left-right direction of the reflection portion (that is, the position of the center line S) is adjusted with a soft optical axis. It is determined whether it is within the possible range. If it is within the range, the process proceeds to step S15, and if it is out of the range, the process proceeds to step S6. In this case, the determination of the central reflecting portion 31 can be easily performed by processing the detected reflecting portion having the highest received light amount as the central reflecting portion.
In step S6, it is determined whether or not the reflecting portion with the highest received light amount (that is, the central reflecting portion 31) is shifted to the right side from the center position of the detection area at that time. If it is not the right side (that is, if it is the left side), the process proceeds to step S8.
[0029]
Next, in step S8, since it is determined that the center position of the detection area (that is, the optical axis) is greatly shifted to the right and exceeds the soft optical axis adjustable range, the determination result is displayed as necessary. A process of outputting a notification signal or display is performed.
Next, in step S10, in order to correct the deviation determined in the process up to step S8, a control signal is output to the adjusting device 2 described above to physically move the detection head, and the center position of the detection area is moved to the left side. Thereafter, the process returns to step S2 to repeat the process.
On the other hand, in step S12, since it is determined that the center position of the detection area is greatly deviated to the left and exceeds the soft optical axis adjustable range, a signal or display for informing the determination result is displayed as necessary. Perform output processing.
[0030]
Next, in step S14, in order to correct the deviation determined in the processing up to step S12, a control signal is output to the adjusting device 2 to physically move the detection head, and the center position of the detection area is moved to the right side. Thereafter, the process returns to step S2 to repeat the process.
On the other hand, in step S15, since the mechanical adjustment of the optical axis in the horizontal direction is unnecessary (or unnecessary), if the adjustment device 2 moves the detection head in the horizontal direction, it is stopped.
[0031]
Next, in step S16, it is determined whether or not the number of discriminated reflection parts is two. If so, the process proceeds to step S18, and if not, the process proceeds to step S28. Note that the fact that there are only two discriminated reflection portions means that one of the end-side reflection portions 32 and 33 is out of the field of view A of the detection area, for example, as shown in FIG. State.
If it is determined in step S16 that the number of determined reflection portions is not two, the number of determined reflection portions is three. This is because, as described above, the central reflection portion 31 (at least a part thereof) is always detected, only the central reflection portion 31 is detected, and both the end-side reflection portions 32 and 33 are detected out of the detection area. This is because it is impossible to prevent such an abnormal shift from occurring in the horizontal and vertical directions by managing the accuracy of the initial mounting operation of the distance measuring device 1 in practice.
[0032]
In step S18, it is determined whether one of the reflection parts (ie, the central reflection part 31) having a large amount of received light is on the right side of the other reflection part (ie, the end-side reflection part 32 or 33). If so, the process proceeds to step S20; otherwise, the process proceeds to step S24. For example, if the reflecting part with the larger amount of received light is on the right side of the other reflecting part, the left side reflecting part 32 and the central reflecting part 31 are in the field of view A of the detection area, and the right side reflecting part is reflected. It can be determined that only the portion 33 is outside the field of view A (see FIG. 3A). On the other hand, if the reflecting part with the larger amount of received light is not on the right side of the other reflecting part (that is, if it is on the left side), the right end-side reflecting part 33 and the central reflecting part 31 are the field of view A of the detection area. It can be determined that only the left end-side reflecting portion 32 is outside the field of view A.
Next, in step S20, since it is determined that the center position (that is, the optical axis) of the detection area is shifted below the allowable range as shown in FIG. A process of outputting a notification signal or display is performed.
[0033]
Next, in step S22, in order to correct the deviation determined in the process up to step S20, a control signal is output to the adjusting device 2 to physically move the detection head, and the center position of the detection area is moved upward. Thereafter, the process returns to step S2 to repeat the process.
On the other hand, in step S24, since it is determined that the center position of the detection area is shifted to the upper side beyond the allowable range, processing for outputting a signal or display for informing the determination result is performed as necessary.
Next, in step S26, in order to correct the deviation determined in the processing up to step S24, a control signal is output to the adjusting device 2 to physically move the detection head, and the center position of the detection area is moved downward. . Thereafter, the process returns to step S2 to repeat the process.
[0034]
On the other hand, in step S28, it is determined that the center position of the detection area is not mechanically shifted, and processing for outputting a signal or display for informing the determination result is performed as necessary. That is, when the process proceeds to step S28, it is determined that the deviation of the center position of the detection area is within the allowable range in the vertical direction and within the soft optical axis adjustable range in the horizontal direction. Because.
Next, in step S30, since the mechanical optical axis adjustment in the vertical direction is unnecessary (or unnecessary), if the adjustment device 2 moves the detection head in the vertical direction, it is stopped.
Further, in step S32, the above-described soft optical axis adjustment is performed to finely adjust the center position of the detection area in the left-right direction, and the series of processes ends.
[0035]
According to the above series of processes, the deviation detection process of the present invention is automatically executed by the processes of steps S2 to S8, S12, S16 to S20, S24, and S28. That is, the distance measuring device 1 is operated to scan once in the left-right direction, and the presence / absence of detection of each reflecting portion 31, 32, 33 of the axis adjustment target 3 and the position information in the left-right direction are determined. The presence / absence and direction of the center position of the detection area from the appropriate position are detected.
Further, the adjustment work of the present invention is automatically executed by the processes of steps S10, S14, S15, S22, S26, S30, and S32. That is, a control process for adjusting at least the mounting position or the mounting angle of the detection head of the distance measuring apparatus 1 is performed by operating the adjusting device 2 so as to correct the shift in the direction detected by the shift detection processing. Alternatively, processing for changing the above-described parameters for setting the detection area (that is, soft optical axis adjustment) is executed.
[0036]
Specifically, for example, as shown in FIG. 2A, the optical axis (the center position of the visual field A) and the appropriate position (the center position of the axis adjustment target 3) are substantially at the same position, and above and below If the deviation in direction is within an allowable range and the deviation in the left-right direction is within a range that can be corrected by soft optical axis adjustment (or such a state), all reflections will occur. The parts 31, 32, and 33 are detected and discriminated, and the center position in the left-right direction of the central reflecting part 31 is located within the soft optical axis adjustable range B. Therefore, in this case, the process proceeds to step S28 in the branch process of steps S4 and S16, and there is no optical axis shift (tilt or position shift) that requires mechanical optical axis adjustment. If it is determined and the adjusting device 2 is operating, it is stopped (steps S15 and S30), and only the fine adjustment in the left-right direction by the soft optical axis adjustment is executed (step S32), and the series of processes is completed. .
[0037]
Also, for example, as shown in FIG. 2B, the optical axis is greatly deviated in the left direction with respect to the appropriate position, and the deviation in the left-right direction is within a range that cannot be corrected by the soft optical axis adjustment. In this case, the central position in the left-right direction of the central reflecting portion 31 is located outside the soft optical axis adjustable range B. For this reason, in this case, the process proceeds to step S12 in the branching processes of steps S4 and S6, and it is determined that the optical axis shifts to the left side so that mechanical optical axis adjustment is necessary, and the central reflection occurs. The optical axis is moved to the right side by the adjusting device 2 until the center position in the left-right direction of the portion 31 falls within the soft optical axis adjustable range B (steps S14 and S15).
Even when the optical axis is greatly deviated in the right direction, the same adjustment is made in the reverse direction (steps S8, S10, S15).
[0038]
Further, for example, as shown in FIG. 3A, when the optical axis is shifted downward beyond the allowable range with respect to the appropriate position, only the reflection portions 31 and 32 are detected and discriminated. At the same time, the central position in the left-right direction of the central reflecting portion 31 is located within the soft optical axis adjustable range B. For this reason, in this case, the process proceeds to step S20 in the branching process of steps S4, S16, and S18, and it is determined that the optical axis is shifted downward enough to require mechanical optical axis adjustment. Then, the optical axis is moved upward by the adjusting device 2 until all the reflection parts 31, 32, 33 are detected (steps S22, S30).
Note that the same adjustment is made in the reverse direction even when the optical axis is shifted beyond the allowable range in the upward direction (steps S24, S26, S30).
[0039]
As described above, according to the present example, the two-dimensional axis adjustment in the vertical direction and the horizontal direction can be performed in one direction and with the same target without using a special expensive device such as an image sensor. Therefore, it is possible to shorten the work time and the cost required for the work.
In this example, the deviation detection process and the adjustment work of the present invention are automatically performed by the above-described automatic optical axis adjustment process of the control circuit 17. For this reason, the operator only has to instruct execution of the optical axis automatic adjustment by the optical axis adjustment command means 18 after performing the arrangement work for arranging the axis adjustment target 3, as in the conventional vertical axis adjustment. The delicate and difficult work is completely unnecessary, and accurate adjustment can be realized with high reliability without depending on human skills.
Therefore, it can greatly contribute to the improvement of productivity when mass-producing a vehicle equipped with a laser radar.
[0040]
(Second example)
Next, a second example will be described. This example is characterized by the configuration of the axis adjustment target and the processing contents of the optical axis automatic adjustment, and the other configuration is the same as the first example.
In the optical axis adjustment of this example, the axis adjustment target 3a shown in FIG. 5 is arranged around the proper position in front of the vehicle to which the distance measuring device 1 is attached (arrangement operation), and then the optical axis adjustment command means described above. 18, the optical axis automatic adjustment described later by the distance measuring device 1 is executed.
[0041]
In this case, the axis adjustment target 3a is formed by arranging two reflecting portions 41 and 42 having different sizes (width dimensions) in the left-right direction on the center line S at the center in the left-right direction.
It should be noted that when the center position of the detection area is shifted in the vertical direction beyond the permissible range from the appropriate position, only one of the reflective portions 41 and 42 is detected in the vertical direction. Each position is different.
In this case, specifically, the wide reflecting portion 41 is disposed on the upper end side of the axis adjustment target 3a, and the narrow reflecting portion 42 is disposed on the lower end side, so that the detection area is excessively shifted upward. If so, the vertical position of each reflecting portion is set so that the reflecting portion 41 is not detected if the detecting area is excessively shifted downward.
In this case, the arrangement positions of the reflection part 41 and the reflection part 42 overlap in the scanning direction. For this reason, when both the reflection part 41 and the reflection part 42 exist in a detection area, in the process of the control circuit 17, these detection data are integrated and it handles as one reflection part (to-be-detected object). However, the light quantity or width dimension of this one object to be detected, which is discriminated in the control circuit 17 of the distance measuring device 1, includes the case where only the reflection part 41 is detected, the case where only the reflection part 42 is detected, and the reflection Since both of the portions 41 and 42 are clearly different from each other, it is possible to easily determine which reflection portion is in the detection area and detected by the processing of the control circuit 17.
[0042]
Next, the automatic optical axis adjustment operation of the distance measuring apparatus in this example will be described.
When execution of the automatic optical axis adjustment is instructed by the optical axis adjustment command means 18 described above, the control circuit 17 executes the control process shown in the flowchart of FIG. 7 in this case.
First, in step S42, the distance measuring device 1 is normally operated for one scan, and detection data including position information and the like of each reflecting portion (detected object) of the axis adjustment target 3a is generated. Note that either of the reflection parts 41 and 42 may be out of the detection area as described above. In this case, the reflection part is not detected, and the detection data is naturally not created. However, a situation in which both of the reflection portions 41 and 42 are out of the detection area and cannot be detected cannot occur (the occurrence of such a large deviation in the horizontal direction or the vertical direction means that the distance measuring device 1 is initially attached. Can be easily prevented in practice by managing the accuracy of
[0043]
Next, in step S44, the position information of the obtained detection data is analyzed, and whether or not the center position of the detected object in the left-right direction (that is, the position of the center line S) is within the soft optical axis adjustable range B. If it is within the range, the process proceeds to step S55, and if it is out of the range, the process proceeds to step S46.
In step S46, it is determined whether or not the center position in the left-right direction of the detection object is shifted to the right side from the center position of the detection area at that time. If it is on the left side, the process proceeds to step S48.
[0044]
Next, in step S48, it is determined that the center position of the detection area (that is, the optical axis) is greatly shifted to the right and exceeds the soft optical axis adjustable range. A process of outputting a notification signal or display is performed.
Next, in step S50, in order to correct the deviation determined in the processing up to step S48, a control signal is output to the adjusting device 2 to physically move the detection head, and the center position of the detection area is moved to the left side. Thereafter, the process returns to step S42 to repeat the process.
On the other hand, in step S52, since it is determined that the center position of the detection area is greatly deviated to the left side and exceeds the soft optical axis adjustable range, a signal or display for informing the determination result is displayed as necessary. Process to output.
[0045]
Next, in step S54, in order to correct the deviation determined in the process up to step S52, a control signal is output to the adjusting device 2 to physically move the detection head, and the center position of the detection area is moved to the right side. Thereafter, the process returns to step S42 to repeat the process.
On the other hand, in step S55, since the mechanical optical axis adjustment in the horizontal direction is unnecessary (or unnecessary), if the adjustment device 2 moves the detection head in the horizontal direction, it is stopped.
Next, in step S56, it is determined from the amount of light received by the detected object whether or not the number of detected reflection parts is two. If it is two, the process returns to step S68. If one), go to step S58. Note that the fact that there is only one detected reflection part means that one of the reflection parts 41 and 42 is out of the field of view A of the detection area, as shown in FIGS. 6A and 6B, for example. State.
[0046]
In step S58, it is determined from the data of the detected width dimension of the detected object whether one of the detected reflection parts is the upper wide reflection part 41, and the upper reflection part 41 is determined. If so, the process proceeds to step S64; otherwise, the process proceeds to step S60.
Next, in step S60, since it is determined that the center position of the detection area (that is, the optical axis) is shifted downward beyond the allowable range, a signal or display for informing the determination result is output as necessary. Perform the process.
Next, in step S62, in order to correct the deviation determined in the process up to step S60, a control signal is output to the adjusting device 2 described above, the detection head is physically moved, and the center position of the detection area is moved upward. Thereafter, the process returns to step S42 to repeat the process.
[0047]
On the other hand, in step S64, since it is determined that the center position of the detection area is shifted to the upper side beyond the allowable range, processing for outputting a signal or display for informing the determination result is performed as necessary.
Next, in step S46, in order to correct the deviation determined in the processing up to step S64, a control signal is output to the adjusting device 2 to physically move the detection head, and the center position of the detection area is moved downward. . Thereafter, the process returns to step S42 to repeat the process.
[0048]
On the other hand, in step S68, it is determined that the center position of the detection area is not mechanically shifted, and processing for outputting a signal or display for informing the determination result is performed as necessary. That is, when the process proceeds to step S68, it is determined that the shift of the center position of the detection area is within the allowable range in the vertical direction and within the soft optical axis adjustable range in the horizontal direction. .
Next, in step S70, since the mechanical optical axis adjustment in the vertical direction is unnecessary (or unnecessary), if the adjustment device 2 moves the detection head in the vertical direction, it is stopped.
In step S72, the above-described soft optical axis adjustment is performed to finely adjust the center position of the detection area in the left-right direction, and the series of processes ends.
[0049]
According to the above series of processes, the deviation detection process of the present invention is automatically executed by the processes of steps S42 to S48, S52, S56 to S60, S64, and S68. That is, the distance measuring device 1 is operated to scan once in the left-right direction, and the presence / absence of detection of the reflecting portions 41, 42 of the axis adjustment target 3a and the position information in the left-right direction are determined, and based on these determination results. Thus, the presence / absence and direction of the center position of the detection area from the appropriate position are detected.
Further, the adjustment work of the present invention is automatically executed by the processes of steps S50, S54, S55, S62, S66, S70, and S72. That is, a control process for adjusting at least the mounting position or the mounting angle of the detection head of the distance measuring apparatus 1 is performed by operating the adjusting device 2 so as to correct the shift in the direction detected by the shift detection processing. Alternatively, processing for changing the above-described parameters for setting the detection area (that is, soft optical axis adjustment) is executed.
[0050]
Specifically, for example, as shown in FIG. 5A, the optical axis (the center position of the visual field A) and the appropriate position (the center position of the axis adjustment target 3a) are substantially at the same position, and the upper and lower If the deviation in direction is within an allowable range and the deviation in the left-right direction is within a range that can be corrected by soft optical axis adjustment (or such a state), all reflections will occur. The portions 41 and 42 are detected, and the center position in the left-right direction of the reflecting portions 41 and 42 (that is, the position of the center line S) is located within the soft optical axis adjustable range B. For this reason, in this case, the process proceeds to step S68 in the branch processing of steps S44 and S56, and it is determined that there is no optical axis deviation (tilt or positional deviation) that requires mechanical optical axis adjustment. If the adjusting device 2 is operating, it is stopped (steps S55 and S70), and only the fine adjustment in the left-right direction by the soft optical axis adjustment is executed (step S72), and the series of processes is completed.
[0051]
Further, for example, as shown in FIG. 5B, the optical axis is greatly deviated in the left direction with respect to the appropriate position, and the deviation in the horizontal direction is within a range that cannot be corrected by the soft optical axis adjustment. In this case, the position of the center line S is located outside the soft optical axis adjustable range B. For this reason, in this case, the process proceeds to step S52 in the branching process of steps S44 and S46, and it is determined that the optical axis shifts to the left side to the extent that mechanical optical axis adjustment is necessary. The optical axis is moved to the right by the adjusting device 2 until the position of the line S falls within the soft optical axis adjustable range B (steps S54 and S55).
Even when the optical axis is greatly deviated in the right direction, the same adjustment is made in the reverse direction (steps S48, S50, S55).
[0052]
Further, for example, as shown in FIG. 6A, when the optical axis is shifted downward beyond the allowable range with respect to the appropriate position, only the reflection portion 42 is detected and the center line S is detected. Is located within the soft optical axis adjustable range B. For this reason, in this case, the process proceeds to step S60 in the branch process of steps S44, S56, and S58, and it is determined that the optical axis is shifted downward enough to require mechanical optical axis adjustment. Then, the optical axis is moved upward by the adjusting device 2 until all the reflection portions 41 and 42 are detected (steps S62 and S70).
For example, as shown in FIG. 6B, the same adjustment is performed in the reverse direction even when the optical axis is shifted beyond the allowable range in the upward direction (steps S64, S66, and S70).
[0053]
As described above, according to this example, the two-dimensional axis adjustment in the vertical direction and the horizontal direction can be performed in one direction and with the same target without using a special expensive device such as an image sensor. The same effect as in the example can be obtained.
In addition, in the case of this example, since the axis adjustment target 3a in which the two reflecting portions 41 and 42 are arranged on the center line S in the left-right direction center is used, the axis adjustment target 3a is the first. Compared to the example, the size can be reduced in the left-right direction, and this is advantageous over the first example.
[0054]
In addition, this invention is not restricted to the said example of an aspect, There can exist various aspects and deformation | transformation.
For example, as the axis adjustment target, an axis adjustment target 3b having a central reflecting portion 34 having a large width dimension (size in the scanning direction) as shown in FIG. 3B may be used. With such a configuration, the light amount data of the central reflecting portion 34 is larger than those of the other reflecting portions (end-side reflecting portions 32 and 33), and the width dimension data of the central reflecting portion 34 is the other reflecting portions. Therefore, the reflection part can be more reliably distinguished. It goes without saying that the width of the central reflecting portion may be made relatively smaller than that of the end-side reflecting portion, contrary to the mode shown in FIG.
[0055]
Further, the central reflecting portion of the axis adjustment target does not necessarily have a vertically long shape in the vertical direction (orthogonal direction) of the axis adjustment target. For example, you may arrange | position in the center position (vertical direction and center position of a horizontal direction) of the axis | shaft adjustment target as the same square shape as the end side reflection parts 32 and 33 of the said 1st example. If the central reflecting portion is arranged at this center position, it does not deviate from the detection area even if it is not vertically or horizontally long (such a large shift in the horizontal or vertical direction is It can be easily prevented in practice by managing the accuracy of the initial installation work of the device).
Further, in the above embodiment, in order to distinguish and detect each reflective portion of the axis adjustment target, the size of the reflective portion is changed in the vertical and horizontal directions, but the reflection intensity is set by setting the reflectance of each reflective portion. By differentiating (for example, the amount of reflected light), it is possible to have a configuration in which each reflecting portion can be distinguished even if the size of each reflecting portion is the same.
[0056]
Further, the shift detection processing and adjustment work of the present invention do not necessarily have to be automatically performed as in the above-described embodiment. For example, the detection data display of each reflection portion of the axis adjustment target by the distance measuring device is displayed by the operator. However, there may be a mode in which the operator performs the adjustment work by moving the detection head of the distance measuring device by himself / herself. Also in this case, the axis can be adjusted only by scanning in one direction and with only one target, and the effect of shortening the working time can be obtained.
Further, the arrangement work of the present invention may be automatically performed using an automatic machine such as a robot, or a vehicle in which a distance measuring device is mounted on an axis adjustment target installed in a fixed state. Etc. are moved by a conveyor or the like and automatically positioned by using a positioning device, whereby the arrangement work of the present invention can be automatically performed.
In addition, the present invention may be applied to a distance measuring device that scans in only one direction as in the above-described embodiment, but is applied to, for example, a distance measuring device that performs scanning in two directions, the vertical direction and the horizontal direction. You can also.
The present invention can be applied not only to a distance measuring device using laser light but also to a distance measuring device using radio waves or sound waves, for example.
[0057]
【The invention's effect】
The axis adjustment target of the present invention has at least a plurality of reflecting portions having different positions in the orthogonal direction orthogonal to the scanning direction. For this reason, when the center position of the detection area of the distance measuring device is deviated in the orthogonal direction with respect to the axis adjustment target arranged with the proper position as the center by the arrangement work of the present invention, the direction and deviation of the deviation are detected. Depending on the amount, a specific reflection part of the plurality of reflection parts is out of the detection area and is not detected, and detection data generated based on the reflected wave from the reflection part depends on the direction and amount of the deviation. Come different. Therefore, according to the deviation detection process of the present invention, it is possible to detect whether or not there is a deviation in the orthogonal direction orthogonal to the scanning direction even though the distance measuring device is scanned only in one scanning direction. Further, the deviation in the scanning direction can be detected as usual by the position information in the scanning direction included in the detection data.
Therefore, according to the present invention, it is possible to detect a deviation between the scanning direction and a direction orthogonal to the scanning direction in one direction and with the same target without using a special expensive device such as an image sensor. Adjusting the mounting position or mounting angle of the distance measuring device (at least its detection head) or correcting the parameter for setting the detection area in the control system of the distance measuring device so as to correct this deviation (adjustment work) By doing so, the shaft adjustment operation can be performed in a shorter time and at a lower cost than in the past. Therefore, it is possible to contribute to productivity improvement in mass production of vehicles equipped with laser radar.
[0058]
For example, claims 1 or 2 In the described method, a central reflection portion disposed on the center line in the scanning direction center of the axis adjustment target and two end reflection portions disposed on both sides in the scanning direction of the central reflection portion are provided, and the detection area When the center position deviates in the orthogonal direction beyond the permissible range from the appropriate position, the arrangement positions of the end side reflection parts in the orthogonal direction are made different so that only one of the end reflection parts is detected. It was.
For this reason, when the center position of the detection area deviates in one direction in the orthogonal direction beyond the permissible range from the appropriate position, only the end-side reflection part on one side in the scanning direction is recognized with respect to the central reflection part. When the center position of the detection area is similarly shifted in the other direction in the orthogonal direction, only the end-side reflection part on the other side in the scanning direction is recognized with respect to the center reflection part. Thus, the contents of the detection data are clearly different. Therefore, it is possible to accurately detect whether or not there is a deviation in the direction orthogonal to the scanning direction from the difference in the detection data.
[0059]
Claims 1 In the described method, even if the center position of the detection area deviates in the orthogonal direction beyond the allowable range beyond the appropriate position, at least orthogonal to the central reflection part so that the central reflection part can be detected separately from the end-side reflection part. The size of the direction was set larger than that of the end-side reflecting portion.
In this case, since the reflection intensity (for example, the amount of reflected light) of the detection data generated based on the reflected wave of the central reflection portion is larger than the detection data of the end-side reflection portion, the obtained detection data is It can be surely recognized that it belongs to the central reflection part.
For this reason, the position information of the central reflecting portion arranged at the appropriate position in the scanning direction (that is, the ideal position where the center of the detection area should be in the scanning direction) is accurately grasped, and the scanning direction can be determined by the conventional method. The axis can be adjusted easily and accurately.
[0060]
And claims 2 In the described method, even if the center position of the detection area is deviated in the orthogonal direction beyond the allowable position beyond the proper position, the orthogonal direction of the central reflection part can be detected separately from the end reflection part. The center position in the orthogonal direction of the axis adjustment target is set as the center, and the reflection intensity of the central reflection part or the size in the scanning direction is made different from that of the end reflection part.
In this case, since the reflection intensity of the detection data generated based on the reflected wave of the central reflection part or the size in the scanning direction is different from the detection data of the end reflection part, the obtained detection data is You can be sure that it is.
For this reason, the position information of the central reflecting portion arranged at an appropriate position in the scanning direction (that is, the ideal position where the center of the detection area should be in the scanning direction) is accurately grasped, and scanning is performed by the conventional method. The direction of the axis can be adjusted easily and accurately.
[0061]
Claims 3 In the described method, two reflecting portions having different sizes or reflection intensities in the scanning direction are arranged on the center line in the scanning direction center of the axis adjustment target, and the center position of the detection area exceeds the allowable range from the appropriate position. Thus, the positions of the reflecting portions in the orthogonal direction are made different so that only one of the two reflecting portions is detected.
For this reason, when the center position of the detection area deviates in one direction in the orthogonal direction beyond the permissible range from the appropriate position, only one reflection part is detected, and the center position of the detection area is the same. Is shifted to the other direction in the orthogonal direction, only the other reflection part having a different size or reflection intensity in the scanning direction is recognized, and the contents of the detection data are clearly different. Therefore, the presence / absence and direction of the deviation in the direction orthogonal to the scanning direction can be accurately detected from the difference in the detection data.
[0062]
In this case, since the two reflecting portions are both arranged on the center line of the center of the axis adjustment target in the scanning direction (that is, the ideal position where the center of the detection area should be in the scanning direction), Regardless of whether only the reflection part is detected or both reflection parts are detected, the axis information in the scanning direction can be easily and accurately adjusted by the conventional method from the positional information of the obtained detection data. Yes.
If the reflecting portions are arranged on the same line as described above, there is an advantage that the axis adjustment target can be relatively reduced in size in the scanning direction.
[0063]
Claims 4 In the described method, the shift detecting process is automatically performed using a control unit that controls the distance measuring device, and the adjusting device for automatically adjusting the mounting position or the mounting angle of the distance measuring device, or the parameter is automatically set. The adjustment operation is automatically performed using the processing means to be changed.
For this reason, the operator only needs to instruct the control means and the processing means to execute the above operation after performing the placement work for placing the axis adjustment target. Delicate and difficult work is completely unnecessary, and accurate adjustment can be realized with high reliability without depending on human skills. Therefore, it is possible to greatly contribute to the improvement of productivity when mass-producing a vehicle equipped with a laser radar.
[Brief description of the drawings]
FIG. 1 is a diagram showing an equipment configuration including a distance measuring device that implements a two-dimensional axis adjustment method.
FIG. 2 is a diagram illustrating an optical axis adjustment target and a detection area.
FIG. 3 is a diagram illustrating an optical axis adjustment target and a detection area.
FIG. 4 is a flowchart showing a process of automatic optical axis adjustment.
FIG. 5 is a diagram showing an optical axis adjustment target and a detection area.
FIG. 6 is a diagram illustrating an optical axis adjustment target and a detection area.
FIG. 7 is a flowchart showing a process of automatic optical axis adjustment.
FIG. 8 is a diagram showing a conventional shaft adjusting method.
[Explanation of symbols]
1 Distance measuring device
2 adjustment device
3, 3a, 3b Axis adjustment target
17 Control circuit (control means, processing means)
31, 34 Central reflector
32, 33 End side reflection part
41, 42 Reflector
A Field of view of the detection area
B Soft optical axis adjustable range
S-axis adjustment target center line in the scanning direction

Claims (4)

Irradiating while scanning a wave to a predetermined detection area, based on the reflected wave of this wave, position information and length information in the scanning direction of the detection object in the detection area, and reflection from the detection object In a distance measuring apparatus that generates and outputs detection data including at least intensity, a two-dimensional axis adjustment method that adjusts the center position of the detection area to an appropriate position in one scanning direction and an orthogonal direction perpendicular thereto. ,
Arrangement work for arranging an axis adjustment target having at least a plurality of reflecting portions having different positions in the orthogonal direction around the appropriate position on the front surface of the distance measuring device, and then operating the distance measuring device to A deviation detection process that scans in one scanning direction and detects the presence and direction of at least the deviation of the center position from the appropriate position based on detection data obtained at this time;
Adjusting the mounting position or mounting angle of the distance measuring device so as to correct the shift in the direction detected by the shift detection processing, or by adjusting the parameter for setting the detection area ,
As the reflection part, a central reflection part arranged on the center line in the scanning direction center of the axis adjustment target, and two end reflection parts arranged on both sides in the scanning direction of the central reflection part,
The orthogonal direction of the end-side reflection portion is detected so that only one of the end-side reflection portions is detected when the center position of the detection area is shifted in the orthogonal direction beyond an allowable range beyond an appropriate position. While placing each position in the different,
Even if the center position of the detection area deviates in the orthogonal direction beyond the allowable range from the appropriate position, at least the center reflection portion of the center reflection portion can be detected separately from the end-side reflection portion. A method for adjusting a two-dimensional axis of a distance measuring device, wherein a size in an orthogonal direction is set larger than that of the end-side reflecting portion. Irradiating while scanning a wave to a predetermined detection area, based on the reflected wave of this wave, position information and length information in the scanning direction of the detection object in the detection area, and reflection from the detection object In a distance measuring apparatus that generates and outputs detection data including at least intensity, a two-dimensional axis adjustment method that adjusts the center position of the detection area to an appropriate position in one scanning direction and an orthogonal direction perpendicular thereto. ,
Arrangement work for arranging an axis adjustment target having at least a plurality of reflecting portions having different positions in the orthogonal direction around the appropriate position on the front surface of the distance measuring device, and then operating the distance measuring device to A deviation detection process that scans in one scanning direction and detects the presence and direction of at least the deviation of the center position from the appropriate position based on detection data obtained at this time;
Adjusting the mounting position or mounting angle of the distance measuring device so as to correct the shift in the direction detected by the shift detection processing, or by adjusting the parameter for setting the detection area,
As the reflection part, a central reflection part arranged on the center line in the scanning direction center of the axis adjustment target, and two end reflection parts arranged on both sides in the scanning direction of the central reflection part,
The orthogonal direction of the end-side reflecting portion is detected so that only one of the end-side reflecting portions is detected when the center position of the detection area is shifted in the orthogonal direction beyond an allowable range beyond an appropriate position. While arranging each position in the different,
Even if the center position of the detection area deviates from the proper position beyond the allowable range in the orthogonal direction, the orthogonal portion of the central reflection portion is detected so that the central reflection portion can be detected separately from the end-side reflection portion. The direction arrangement position is set with the central position in the orthogonal direction in the axis adjustment target as the center, and the reflection intensity of the central reflection portion or the size in the scanning direction is different from that of the end reflection portion. A two-dimensional axis adjustment method for a distance measuring apparatus. Irradiating while scanning a wave to a predetermined detection area, based on the reflected wave of this wave, position information and length information in the scanning direction of the detection object in the detection area, and reflection from the detection object In a distance measuring apparatus that generates and outputs detection data including at least intensity, a two-dimensional axis adjustment method that adjusts the center position of the detection area to an appropriate position in one scanning direction and an orthogonal direction perpendicular thereto. ,
Arrangement work for arranging an axis adjustment target having at least a plurality of reflecting portions having different positions in the orthogonal direction around the appropriate position on the front surface of the distance measuring device, and then operating the distance measuring device to A deviation detection process that scans in one scanning direction and detects the presence and direction of at least the deviation of the center position from the appropriate position based on detection data obtained at this time;
Adjusting the mounting position or mounting angle of the distance measuring device so as to correct the shift in the direction detected by the shift detection processing, or by adjusting the parameter for setting the detection area,
As the reflection portion, two reflection portions having different sizes or reflection intensities in the scanning direction are arranged on the center line in the scanning direction center of the axis adjustment target,
Each position in the orthogonal direction of the reflection part is detected so that only one of the reflection parts is detected when the center position of the detection area is shifted in the orthogonal direction beyond an allowable range beyond an appropriate position. A method for adjusting a two-dimensional axis of a distance measuring device, characterized in that the two are arranged differently . Using the control means for controlling the distance measuring device, automatically performing the deviation detection process,
Adjusting apparatus for automatically adjusting the mounting position or mounting angle of the distance measuring device, or by using the processing means for automatically changing the parameter of claims 1 to 3, characterized in that the adjustment work automatically A two-dimensional axis adjustment method for a distance measuring apparatus according to any one of the above.

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