JP2004317507A - Axis-adjusting method of supervisory device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an axis-adjusting method which an axis displacement in the rolling direction, such as a radar can be adjusted, to provide the axis adjustment method which adjusts easily and exactly the axis displacement of each sensor (includes roll direction) and position relation among sensors, in a supervisory device of a fusion system which uses the radar together with a camera. <P>SOLUTION: Using an adjusting target 3, with which a light and dark pattern and an outer size of the detecting surface are set, the axis displacement, including the roll direction of the radar 1, is adjusted so as to enable calculation quantitatively for each direction about the axial displacement quantity from a wave form, having the shape of the reversing W as the wave form of a receiving intensity for a scanning direction position. In the fusion system, after the axial adjustment of the radar 1, the axial adjustment for the radar 1 of the camera 2 is performed by imaging of the image of the same adjusting target 3, based on the coordinate values on the image surface of the plural feature points in the image. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a monitoring apparatus (radar or the like) that is mounted on a vehicle or the like and measures the position information or the like of an object to be detected such as a preceding vehicle using a wave of a laser beam or the like. ) About the technology to do.

  2. Description of the Related Art Conventionally, monitoring devices for monitoring a preceding vehicle or an obstacle in front of a vehicle and for following and running control have been widely developed, and generally, a radio wave type or a laser type radar is known. This is an apparatus that irradiates a detection target in a predetermined detection area with a wave such as a radio wave or a laser beam, and obtains a distance to the detection target from a propagation delay time with a reflected signal.

For example, in the case of a laser radar, a laser beam is radiated while scanning a fixed scan area in one scanning direction (normally, a right and left direction), and a control is performed to obtain a propagation delay time with respect to the reflected light. A light emission timing is created by a circuit, a counter is started at that timing, and at the same time, a laser diode (hereinafter, referred to as an LD) is driven to emit laser light in accordance with the timing, and the laser light is reflected on a detection target. The returned reflected light is received by a photodiode (hereinafter referred to as PD), and when a reflected light having a reception intensity equal to or higher than a light reception threshold level set in a signal processing unit is obtained, the timing is captured by a control circuit. , Stop the counter and measure the propagation delay time.
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 receiving reflected light.

  Then, based on the distance data to the object thus measured, the direction data, the data on the amount of received light, and the data on the vehicle speed obtained by the vehicle speed sensor, individual distance data are grouped, and past data and 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 specified and the object to be warned are specified.

In addition, as a monitoring device for monitoring the inter-vehicle distance or the like in a vehicle, there is a monitoring device using an image sensor (hereinafter, simply referred to as a camera in this specification) such as a CCD camera. This is because a wave (usually visible light) from a predetermined detection area around the vehicle is received by an image sensor, and the image is in the detection area due to the distribution of light and dark in an image of the detection area obtained from a received signal of the wave. This is to analyze and determine the existence and position of a detection target such as a preceding vehicle.
In recent years, a fusion method using a radar and a camera together has been studied as the monitoring device. This is because the fusion method can compensate for the disadvantages of the radar and the camera.

  By the way, in the above-described monitoring device including a radar and a camera, when it is actually mounted on a vehicle or the like, an ideal detection area where a detection target such as a preceding vehicle should be detected (a general monitoring device mounted on a vehicle). In this case, if the actual detection area (a fixed area for receiving the reflected wave) of the device is shifted from the area which is symmetrically spread at a predetermined height position in front of the vehicle in the traveling direction, the corresponding amount is used. Since the reliability of the measurement result is reduced, the position adjustment for aligning the center position of the detection area (so-called optical axis adjustment in the case of a laser radar) is performed so that such a state without deviation is maintained. Work) is required as appropriate at the time of inspection at a production line such as a vehicle or a repair shop.

As a conventional method of adjusting the position and orientation of the detection area (in this specification, sometimes referred to as axis adjustment), first, an axis adjustment in an orthogonal direction (generally, a vertical direction) orthogonal to a reference direction in which scanning is performed. For example, there is a method shown in FIG.
This is because, for example, in a vehicle (stop state) on which a laser radar or the like is mounted, a reflector serving as a reference is installed at, for example, a position just above an appropriate detection area, and an object to be detected other than the reflector is as small as possible. After preparing an environment free from undetected disturbance factors, the laser radar is actually operated, and the mounting angle (vertical angle) and mounting position of the detection head such as a laser radar is changed from the state where this reflector is detected. The angle is gradually changed downward by human work, and when the reflector is no longer detected, the mounting angle and the mounting position of the detection head are fixed manually.

Next, for the axis adjustment in the reference direction (generally the horizontal direction) for scanning, for example, a method shown in FIG. 15B is usually used.
That is, for example, in a vehicle (stop state) on which a radar or the like is mounted, a reflector is arranged at the center position of an ideal detection area, and an object other than the reflector is not detected as much as possible and there is no disturbance factor. After adjusting the distance, the distance measuring device is actually operated, and for example, the mounting angle of the detection head and the like are manually adjusted so that the detected position data of the reflector matches the center position of the detection area of the device. There is a method of physically changing the parameter or changing a software parameter inside the control system by processing of the control system.

  As illustrated in FIG. 15B, a laser radar mounted on a vehicle, for example, receives a reflected wave in an angular area (scan area) in a scanning direction in which a laser beam is actually scanned and irradiated. It is set to be larger than the angle area (detection area in the reference direction) where the distance data and the like are measured, and the data processing in the scan area of this detection area (actually, within the detection allowable area with a margin). By changing the set position (software parameter), 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. Further, by changing a set value (software parameter) in a control process of an operation range of the scanning mechanism for realizing the scanning (for example, an operation range of the scanning motor), the entire scanning area and the detection area are scanned. It is also possible to adjust the position to some extent in the direction.

Next, another conventional technique relating to axis adjustment of a radar or the like will be described.
Patent Literature 1 discloses an axis adjustment method that solves the drawbacks of the methods shown in FIGS. 15A and 15B, that is, an axis adjustment operation in both the reference direction and the orthogonal direction is performed with the same target in a short time. What can be done is disclosed.
Patent Documents 2 to 4 disclose techniques relating to horizontal or vertical axis adjustment of a radar.
As a method of adjusting the camera, Patent Document 5 discloses a technique of setting a specific mark at the front end of the vehicle and adjusting the direction of the camera using the mark. Patent Document 6 discloses a specific technique. A device that performs adjustment by shooting an image is disclosed.

JP-A-2000-75031 JP-A-11-326495 JP-A-11-64489 JP-A-7-225277 JP-A-2002-74339 JP-A-2000-142221

  However, each of the above-described conventional axis adjustment methods only adjusts the position in the two directions (for example, the horizontal direction and the vertical direction) of the center axis of the detection area, and does not consider the axial deviation in the roll direction. And no adjustment was made. The axis deviation in the roll direction is a deviation in a direction in which the detection area rotates around the axis, that is, a tilt from a proper posture of the detection area (normally, a state in which the reference direction is horizontal). For this reason, conventionally, even after the axis adjustment, such a deviation in the roll direction causes an error between the position grasped by the monitoring device and the actual position on the end side of the detection area (position farther from the center axis). Was generated in a considerable amount, and sufficient measurement accuracy could not be obtained. In the case of a general radar mounted alone in a vehicle or the like, particularly a one-dimensional scan radar that scans only in a reference direction (normally, horizontal direction) and does not matter in an orthogonal direction (normally, vertical direction). Even if the reference direction is slightly inclined, the error in the orthogonal direction due to the inclination is not a problem, so that the axial deviation in the roll direction is not a problem. However, in the case of the fusion method in which the monitoring device uses a plurality of sensors (for example, a radar and a camera), if the correlation information of the sensors (position information of the detected object) cannot be correctly obtained, the measurement of each sensor is not possible. Since the merits of the fusion method cannot be fully exhibited by utilizing the results, the axial deviation in the roll direction is appropriately adjusted, and the axial deviation in the roll direction is sufficiently small (or the axial deviation is grasped). State that is reflected in the position data).

In addition, the conventional axis adjustment method is a method in which the axis adjustment of the radar and the camera is performed independently using separate targets and the like, respectively. Therefore, in the case of the fusion method using the radar and the camera together, the following problems occur. was there.
That is, when the conventional axis adjustment method is applied to the fusion method, the relative positional relationship between the radar and the camera is improper due to an installation error of an adjustment target or a mark (when the axes of the detection areas of the sensors are not parallel, or (The posture in the roll direction is relatively inclined). This is because there are errors in the positioning between the vehicle or the like and each target, and these errors are accumulated between the sensors. In addition, since the axis deviation of each sensor in the roll direction is not adjusted, the orientation of each detection area in the roll direction does not match. If the relative positional relationship between the sensors becomes improper in this way, when the sensors cooperate as a fusion method, it becomes impossible to correctly correlate the recognition information of each other. You can not demonstrate.
In addition, since the axis adjustment of the radar and the camera is performed using separate targets and the like, the axis adjustment is troublesome and time-consuming.

  Therefore, an object of the present invention is to provide an axis adjustment method of a monitoring device that solves the above-described problem of the axis adjustment, which is a problem particularly in the case of the fusion method.

The axis adjustment method of the first monitoring device of the present application is capable of executing a measurement operation of receiving a wave from the detection area for each reference direction position, and based on at least a received intensity of the received wave, the measurement operation is performed in the detection area. Regarding a monitoring device that outputs data for specifying at least the position of the detected object, an axis adjusting method for adjusting the axis deviation in the roll direction of the detection area,
A light portion having a large wave reflectance and a dark portion having a small reflectance are provided with a detection surface having a predetermined outer shape arranged in a predetermined light / dark pattern, and the measurement operation is performed in a state where a detection area of the monitoring device is directed toward the detection surface. When performed, the waveform of the reception intensity with respect to the reference direction position becomes a W-shape or inverted W-shape corresponding to the light and dark pattern or the outer shape of the detection surface, and from this waveform, the reference position of the detection surface in the reference direction (for example, , Center position) using an adjustment target having a light-dark pattern or an outer shape set on the detection surface so that the calculation target can be calculated.
The adjustment target is arranged in front of the monitoring device, the reference direction of the detection surface is aligned with the direction that should be the reference direction of the detection area, and the surrounding environment of the adjustment target is further changed as necessary. Or, target installation work to set the same reflectance as the dark part,
Next, the measurement operation of the monitoring device is performed by changing the measurement position in the orthogonal direction orthogonal to the reference direction to at least two or more locations, and the reference position calculated from the waveform of the reception intensity obtained thereby is calculated. Based on the change, a roll deviation detection process for determining the axial deviation of the detection area in the roll direction,
If necessary, adjusting the mounting angle of the monitoring device so as to correct the axis deviation determined in the roll deviation detection process or adjusting the parameter for setting the detection area. And

  According to this axis adjustment method, the axis deviation in the roll direction of the monitoring device can be easily adjusted. This is because, if there is an axis deviation in the roll direction, when the measurement position is changed in the orthogonal direction, the reference position fixed position in the reference direction (the reference position) is not observed as a fixed position, and the amount of axis deviation in the roll direction is reduced. This is because the observation value changes accordingly. For this reason, the axis deviation in the roll direction can be easily adjusted, and the measurement accuracy of the monitoring device can be improved. Also, in the case of the fusion method, the correlation between the recognition information (position information of the detected object) between the sensors can be correctly obtained, and the advantages of the fusion method can be fully exhibited by mutually utilizing the measurement results of the sensors. it can.

Here, the "monitoring device" may include a device consisting of a radar alone, a device consisting of a camera alone, or a device consisting of a radar and a camera.
Further, the “light-dark pattern or further outer shape of the detection surface” means at least including the light-dark pattern of the detection surface and, if necessary, the outer shape of the detection surface. This is because, as will be described later, the present invention obtains the above-described W-shaped or inverted W-shaped measurement waveform under the influence of both the surrounding environment of the detection surface and the light / dark pattern of the detection surface. This is because there is a mode in which the above-mentioned W-shaped or inverted W-shaped measurement waveform is obtained irrespective of the surrounding environment, and in the latter case, the outer shape of the detection surface is not particularly limited.
Further, the “W-shaped or inverted W-shaped” waveform need only be observed at least when the amount of axis deviation exceeds the allowable value. Also, the whole of the observed waveform does not necessarily have to be the above-mentioned "W-shaped or inverted W-shaped" waveform, and a part of the observed waveform has a "W-shaped or inverted W-shaped" waveform. May be included.
Further, the “reference position” is a fixed position in the reference direction on the detection surface of the adjustment target (a reference position determined for detecting an axial deviation in the roll direction), for example, the center of the detection surface in the reference direction. Position.

Preferred embodiments of the adjustment target in the present invention include, for example, the following four embodiments.
First, in a first mode, as shown in, for example, targets 3 and 3b described later (FIGS. 2C and 14B), an outer edge of the detection surface is set to an edge parallel to the orthogonal direction in a reference direction. The width of the detection surface in the reference direction (for example, the dimension L1) is smaller than the width of the detection area in the reference direction, and the light-dark pattern is formed on the detection surface. As a region, a band-shaped region arranged so as to cross (including a longitudinal section) a central portion of the detection surface, and inversion regions located on both sides in the reference direction of the band-shaped region are formed, and the band-shaped region and the inversion are formed. One of the regions is the bright portion, and the other is the dark portion. In addition, if only the axial deviation in the roll direction is detected, the band-shaped region does not need to be disposed diagonally. It is very convenient to detect the axis deviation in the direction orthogonal to the direction with the same target (the same is true for the adjustment target of the second embodiment described later). In the present application, "crossing" in the description such as "traverse the center of the detection surface" means passing through the center or the like of the detection surface without any particular limitation, and in a strict sense. The vertical section is also included.

  Next, in a second embodiment, the detection surface is provided as an area constituting the light-dark pattern, as in targets 3a and 3c described later (FIGS. 14A and 14C). A band-shaped region arranged so as to cross the center of the band-shaped region, inversion regions located on both sides in the reference direction of the band-shaped region, and background regions located on both sides in the reference direction of the inversion region are further formed. And one of the background region and the inversion region is the bright portion, and the other is the dark portion, and each boundary between the inversion region and the background region on both sides of the detection surface in the reference direction. Are arranged in parallel to the orthogonal direction, and the dimension (for example, dimension L1) between these boundaries is set smaller than the width of the detection area in the reference direction.

  Next, in a third mode, the width (for example, dimension L1) of the detection surface in the reference direction is larger than the width of the detection area in the reference direction, such as a target 3d (FIG. 13A) described later. The detection surface has a small size, and on the detection surface, as a region constituting the light and dark pattern, a band-shaped region arranged so as to cross a central portion of the detection surface in the orthogonal direction, and a band-shaped region located on both sides in the reference direction of the band-shaped region. A reverse region is formed, and one of the band-like region and the reverse region is the bright portion, and the other is the dark portion. Note that the outer shape of the detection surface is not particularly limited as long as only the axial deviation in the roll direction is detected. However, the target surface is disposed obliquely to the orthogonal direction and parallel to each other as in a target 3d described later. With the shape having the set edges on both sides in the reference direction, it is extremely convenient that the same target can detect the axis deviation in the direction perpendicular to the reference direction.

  In a fourth aspect, for example, as in a target 3e (FIG. 13B) described later, the detection surface traverses a central portion of the detection surface in a direction orthogonal to a region constituting the light-dark pattern. And a reverse region located on both sides in the reference direction of the belt-like region, and background regions located further on both sides in the reference direction of the reverse region are formed, and the band-like region and the background region, One of the inversion regions is the bright portion and the other is the dark portion, and the dimension between each boundary between the inversion region and the background region on both sides of the detection surface in the reference direction (for example, The dimension L1) is set to be smaller than the width of the detection area in the reference direction. The direction of each boundary between the inversion area and the background area is not particularly limited as long as only the axis deviation in the roll direction is detected. When they are arranged obliquely and parallel to each other, it is extremely convenient that the same target can detect the axis deviation in the direction perpendicular to the reference direction.

If the adjustment targets of the first and second aspects are used among these four aspects, a W-shaped or inverted W-shaped waveform of the reception intensity can be easily obtained. This is because, for example, when the band-shaped region is a dark portion, the inversion regions located on both sides thereof are light portions, and the background region (or surrounding environment) located on both sides thereof is a dark portion, the position of the band-shaped region is determined. This is because the reception intensity drops like a valley, the reception intensity rises like a mountain at the position of the inversion region on both sides, and the reception intensity also drops at the position of the background region (or surrounding environment) on both sides.
Then, in the waveform observed as described above, the reference direction position data a, corresponding to the points having the same reception intensity as the apexes located on both sides of the apex of the central mountain-like portion or the valley-like portion in the reference direction. By performing an operation of (a + b) / 2 from b, for example, a measured value of the center position of the detection surface in the reference direction can be easily and accurately calculated as the reference position. That is, the reference direction position data a and b correspond to end positions of the inversion area on the detection surface of the target outside the reference direction (that is, both end positions of the detection surface or boundary positions between the inversion area and the background area). This is reference direction position data. For this reason, for example, the average value of (a) and (b) (b) is the reference direction position data on the detection area at the center position of the target detection surface (that is, a fixed reference position).

Next, according to the adjustment targets of the third and fourth aspects, similarly to the first or second aspect, the W-shaped or inverted-W-shaped waveform of the reception intensity can be easily formed. can get.
Then, in the observed waveform, the reference position can be easily obtained based on the reference direction position data c corresponding to the apex of the peak or valley on the center side. That is, the reference direction position data c is reference direction position data on the detection area corresponding to the center position of the band-shaped area, and is a fixed position (that is, a reference position) of a central portion of the target detection surface in the reference direction. This is because the reference direction position data itself on the detection area is used. This is because the band-like region in this case is arranged so as to cross the center of the detection surface in the orthogonal direction.

The difference between the first and second aspects of the adjustment target or the difference between the third and fourth aspects is as follows.
That is, in the first and third aspects, the end positions of the inversion region on the detection surface outside the reference direction correspond to both end positions of the detection surface, and the surrounding environment located on both sides of the detection surface has the same reflectance as the band-like region. (Region corresponding to the background region in the second and fourth modes) is used to form the above-described waveform. For this reason, although the reflectance of the surrounding environment needs to be set to be equal to that of the band-shaped region, there is an advantage that the detection surface is relatively small.
On the other hand, in the second and fourth aspects, a region having the same reflectance as the band-shaped region (that is, the background region) is provided outside the inversion region on the detection surface in the reference direction as a region in the detection surface. The aforementioned waveform can be formed independently of the surrounding environment of the detection surface. For this reason, although the detection surface becomes relatively large, there is an advantage that the reflectance of the surrounding environment does not need to be set to be equal to that of the band-shaped region.

Next, the second axis adjustment method of the present application can execute a measurement operation of receiving a wave from the first detection area for each reference direction position, and based on at least a received intensity of the received wave, Regarding a monitoring device including a radar that outputs data for specifying at least the position of an object in one detection area and a camera that captures an image of a second detection area overlapping the first detection area,
An axis adjustment method of appropriately adjusting the position and orientation of the first detection area and the second detection area, and obtaining and setting coordinate conversion parameters between the radar and the camera,
The same adjustment target is set at a prescribed position of an overlapping area of the first detection area and the second detection area, and the first detection area is adjusted based on the measurement result of the radar for the adjustment target. After doing
Based on the image of the adjustment target captured by the camera, the axis deviation of the second detection area is grasped, the second detection area is adjusted, and the coordinate conversion parameter is obtained and set. .

The "monitoring device" in the second axis adjustment method uses a radar and a camera together.
The “first detection area” and the “second detection area” mean the detection areas of the radar and the camera, respectively.
The “coordinate conversion parameter between the radar and the camera” means a coordinate conversion parameter for correctly correlating recognition information (position information of an object) of each sensor (radar and camera).
The specific mode of the “target for adjustment” and the specific method of “adjustment of the first detection area” may be the same as, for example, the above-described first axis adjustment method. However, in this case, it is necessary to provide a mode in which not only the axis adjustment in the roll direction but also the axis adjustment in the normal direction perpendicular to the reference direction can be realized, as in the embodiment described later.

  According to the second axis adjustment method, in a fusion type monitoring apparatus using a radar and a camera together, axis adjustment of each sensor can be easily and quickly performed using one adjustment target. When the sensors cooperate with each other, the correlation between the pieces of recognition information can be correctly obtained, and the merits of the fusion method can be exhibited to a high degree. For example, a radar can relatively easily detect the presence or absence and the distance of an object without performing complicated image processing, but it is difficult to accurately identify the shape and the like of the object. On the other hand, a camera can relatively accurately identify the shape of an object to be detected, but has a disadvantage that complicated image processing is required. However, if these sensors can be used together with the axes of these sensors accurately adjusted, for example, only a small image of the position of the detected object measured by radar is cut out from the entire image taken by the camera, and the small image Only the image processing is focused on and analyzed, and more accurate information of the detected object can be obtained efficiently, and the effect of greatly reducing the processing time can be obtained.

Next, a preferable mode of the second axis adjustment method is that a processing means (for example, a microcomputer) installed inside or outside the monitoring device uses an image of the adjustment target captured by the camera as an image. Detecting a plurality of feature points on the detection surface of the adjustment target, specifying a coordinate value of the feature point on the image surface, and grasping an axis shift of the second detection area based on the coordinate value. In addition, the coordinate conversion parameters are obtained and set.
According to this aspect, since the axis adjustment of the camera (including the setting of the coordinate conversion parameters) is automatically performed based on the plurality of feature points of the adjustment target, more accurate axis adjustment can be easily performed. Become.

In the case of the above embodiment, it is desirable to adopt the following embodiment. That is, after displaying the image of the adjustment target captured by the camera on the display, the processing unit determines a specific region cutout image including the feature point on the display screen according to a region specifying operation of the operator. It is preferable that image processing is performed on a specific region cutout image to specify the coordinate values of the feature points on the image plane.
In this way, the area of image processing for extracting feature points is limited to a necessary minimum, and the processing time can be reduced accordingly.

In the case of the above aspect, the feature point is a vertex located at a corner or a corner formed by a boundary of a light and dark pattern formed on the detection surface of the adjustment target, and the processing unit captures an image by the camera. The image of the adjustment target is subjected to image processing for extracting a straight line, the straight line extracted by this image processing is displayed on a display, and then the intersection position of the straight line designated by the intersection designation operation of the operator is displayed. , Is preferably determined as the coordinate value of the feature point on the image plane.
In this way, it is possible to specify feature points by relatively simple straight line extraction processing without performing complicated image processing using a special extraction filter (for detecting a corner of an edge). This can further contribute to a reduction in processing time.

Further, in the case of the above-described aspect, when adjusting the second detection area (when changing the position and orientation of the second detection area by physically changing the mounting direction of the camera and the like), the processing means Registering a surrounding image of the feature point in the image of the adjustment target before adjustment as a template, and performing normalization cross-correlation calculation on the adjusted target image from the image of the adjustment target after adjustment (or during adjustment). It is preferable that a new coordinate value after the adjustment, which is the coordinate value of the feature point on the image plane, is obtained based on the search for the image.
By doing so, even if the same image processing as before the adjustment (initial state) is not performed again, the state of the axis deviation (the position and orientation of the optical axis of the camera) of the second detection area after the adjustment can be easily processed. This is advantageous because it can be calculated sequentially in a short time.

In another preferred aspect of the second axis adjustment method, the processing unit may be configured to execute the first axis adjustment based on a measurement result of the radar with respect to the adjustment target or an image of the adjustment target captured by the camera. Finding the axis deviation information about the axis deviation of the detection area or the second detection area, displaying this axis deviation information on a display installed inside or outside the monitoring device,
An operator changes the first detection area or the second detection area while watching the axis deviation information displayed on the display until the axis deviation of the first detection area or the second detection area falls within an allowable range. Things.
In this embodiment, the axis is adjusted by a manual operation of an operator (an operation of physically changing a mounting direction of a radar or a camera). However, the operation may be performed while viewing the axis deviation information displayed on a display. There is an advantage that accurate adjustment can be performed relatively easily and inexpensively without the need for advanced human skills and without the need for a device that automatically performs axis adjustment.

Further, another preferable aspect of the second axis adjustment method includes a determination of an adjustment impossible state based on an image of the adjustment target captured by the camera and an adjustment impossible state based on a measurement result of the adjustment target by the radar. The state is determined, and if it is determined that the adjustment is not possible by any of the determinations, the adjustment of both the first detection area and the second detection area is not performed.
According to this aspect, by detecting the uncontrollable state that cannot be detected by one sensor with the other sensor, various uncontrollable states can be widely determined, and whether or not axis adjustment can be performed can be integrally determined. A situation in which an erroneous adjustment is performed in an adjustment impossible state can be avoided with high reliability. It should be noted that a specific example of the non-adjustable state will be described in a later-described embodiment.

As a preferred mode common to the first and second axis adjustment methods of the present application, all axis deviation detection processing is automatically performed by using a control unit that controls the monitoring device (radar and / or camera). In addition, an adjustment device that automatically adjusts the mounting position or the mounting angle of the monitoring device, or a processing unit that automatically changes a parameter of a detection area or automatically sets the coordinate conversion parameter, is used to basically perform an axis adjustment operation. It is fully automatic. However, a simple human operation such as the above-described region specifying operation or intersection specifying operation may be required.
In this case, the operator basically only needs to instruct the control means and the processing means to execute the above operation after performing the target setting work for arranging the adjustment target. No delicate and difficult work such as adjustment is required at all, and accurate adjustment can be achieved with high reliability without depending on human skills. Therefore, it is possible to greatly contribute to improvement in productivity when mass-producing vehicles or the like equipped with the monitoring device.

According to the first axis adjustment method of the present application, it is possible to easily adjust the axis deviation of the monitoring device in the roll direction and improve the measurement accuracy of the monitoring device.
Further, according to the second axis adjustment method of the present application, in a fusion type monitoring device using a radar and a camera together, axis adjustment of each sensor can be performed easily and in a short time by using one adjustment target. When each sensor cooperates as a method, correlation between the pieces of recognition information can be correctly obtained, and the merits of the fusion method can be exhibited to a high degree.

Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.
1 and 2 are diagrams illustrating a facility configuration including a monitoring device (on-vehicle monitoring device including a laser radar and a camera) that implements the axis adjustment method according to the present embodiment, and FIG. FIG. 1B is a block diagram illustrating a control processing system of a monitoring device, FIG. 2A is a block diagram illustrating a configuration of a laser radar, and FIG. 2B is a measurement principle of the laser radar. FIG. 2C is a front view showing an adjustment target and the like.
In FIG. 1A, reference numeral 1 denotes a laser radar (hereinafter simply referred to as radar 1), and reference numeral 2 denotes a camera mounted on the same vehicle as the radar 1. The radar 1 in this case is a two-dimensional scan laser radar that can scan in both the horizontal direction (horizontal direction) and the vertical direction. In FIG. 1A, reference numeral 3 denotes an adjustment target. In this example, as viewed from the radar 1 and the camera 2, the left-right direction corresponds to the reference direction of the present invention, and the vertical direction perpendicular to the reference direction corresponds to the orthogonal direction of the present invention. The coordinates indicated by XYZ in FIG. 1 are coordinates fixed to the vehicle or the place where the vehicle is installed. When viewed from the vehicle, X is the vertical direction, Y is the horizontal direction, and Z is the traveling direction. The direction of rotation about the Z axis is the roll direction.

Next, as shown in FIG. 1B, the control processing system of the present monitoring device includes a determination unit 4, an image processing operation unit 5, and a laser radar operation unit 6.
The image processing calculation unit 5 performs image processing of the measurement result (imaging data) of the camera 2 to perform detection determination of an object to be detected during normal operation, and information on axis deviation of the camera 2 (optical axis information A) during axis adjustment. And an element for outputting optical axis adjustment availability information A.
In addition, the laser radar calculation unit 6 performs detection determination of an object to be detected during normal operation based on the measurement result of the radar 1, and performs axis deviation information (optical axis information B) and optical axis adjustment of the radar 1 during axis adjustment. This element outputs the propriety information B. Note that the laser radar calculation unit 6 and a control circuit 17 (FIG. 2A) described later may be configured as a single circuit.
The determination unit 4 performs final position determination and type determination of the detected object during normal operation based on information output from the image processing calculation unit 5 and the laser radar calculation unit 6, and performs optical axis adjustment during axis adjustment. Delivery of the adjustment availability information A and B is performed.

Here, the optical axis adjustment availability information A is availability information determined based on a measurement result (a captured image) of the camera 2 and, for example, the target 3 is not installed, the light / dark pattern of the target 3 is incorrect, The information indicates that the axis cannot be adjusted due to a reason such as that the target 3 is tilted greatly and an operator or another obstacle is in front of the target 3 so that the entire target 3 cannot be seen. Further, the optical axis adjustment availability information B is availability information determined based on the measurement result of the radar 1, and is information indicating that the axis adjustment cannot be performed because the distance to the target 3 is abnormal, for example.
The determination unit 4, the image processing operation unit 5, and the laser radar operation unit 6 can be configured by a circuit including a common or separate microcomputer (hereinafter, referred to as a microcomputer). Further, in this example, an external display (or a personal computer including an external display) as a display at the time of axis adjustment work can be connected to the above-described circuits constituting the determination unit 4 and the like. In addition, an axis adjustment commanding means (not shown) is connected to the above-described circuits constituting the determination unit 4 and the like. The axis adjustment command means is an operation means (for example, an operation switch) provided so as to be operable by a worker who performs optical axis adjustment (a worker who performs inspection adjustment at the time of shipment of a vehicle, repair after shipment, and the like). This is to instruct a circuit including the microcomputer and a control circuit 17 to be described later to execute an axis adjustment process (a process shown in FIG. 10) described later. Instead of providing the operation means as the axis adjustment command means, the command may be input by operating a keyboard or a mouse of a connected personal computer. Further, the axis adjustment processing (the processing shown in FIG. 10) described later may be executed using the processing function of the connected personal computer.

Next, as shown in FIG. 2A, the radar 1 includes a scanning unit 11, an LD 12, an LD driving circuit 13, a scanning position detection unit 14, a PD 15, a signal processing unit 16, and a control circuit 17. Note that, for example, a portion including the LD 12, the scanning unit 11, and the PD 15 described above constitutes a detection head of the radar 1.
Here, the scanning unit 11 scans the laser beam output from the LD 12 in the left and right direction and the up and down direction by a oscillatingly driven reflection mirror or the like and irradiates the scan area with a predetermined amount. It operates with the timing and cycle.
The LD drive circuit 13 is a circuit controlled by the control circuit 17 to operate the LD 12 at each light emission timing generated by the control circuit 17 to output laser light. The scanning position detection unit 14 is an element that detects a scanning direction (azimuth angle) of the scanning unit 11 and inputs a signal (scan direction signal) to the control circuit 17.
The PD 15 receives the reflected light that is reflected by the irradiated laser light and returns to the detection target, and outputs an electric signal (hereinafter, referred to as a received light amount signal) corresponding to the received light amount. The output light amount signal is configured to be input to the control circuit 17 via the signal processing unit 16.

The control circuit 17 (or the above-mentioned radar radar operation unit 6) is constituted by, for example, a microcomputer, and basically performs a measurement operation as a radar by the following control processing during normal operation of the apparatus.
That is, while controlling the scanning unit 11 and the LD drive circuit 13 as described above, the distance to the detection target is calculated from the propagation delay time T from light emission to light reception, and the direction of the detection target is determined from the scanning direction at that time. Further, the amount of received light is determined based on the intensity of the received light (magnitude of the received light amount signal), and from these data (distance, direction, received light amount), the determination of the detection target and the moving state are determined. It outputs detection data including type information, position information, size information, and the like of the detection target. It should be noted that the number of reflected lights obtained by one light emission is not actually one, but a plurality of reflected lights having different light receiving timings and light receiving amounts are received due to the spread of the irradiated light beam. Therefore, in this type of apparatus, an averaging process (for example, a process of obtaining the center of gravity of a plurality of points near the maximum amount of received light) is performed from the output waveform of the PD 15 sampled as shown in FIG. The propagation delay time T is determined. In addition, for example, a sampling value of the amount of received light corresponding to the obtained propagation delay time T is specified as data of the amount of received light.

Also in the case of this example, as described with reference to FIG. 15B, the angle area (scan area) where laser light is actually irradiated is an angle area where the reflected wave is received and the above-described distance data and the like are measured. (Detection area), and by changing the setting position (software parameter) in data processing within the scan area of this detection area (actually, within the detection allowable area with a margin). The position adjustment of the detection area (first detection area) of the radar 1 in the left-right direction (that is, the axis adjustment of the radar 1 in the reference direction) can be performed to some extent without physically changing the mounting position of the detection head of the apparatus. ing. Further, since the radar 1 of the present embodiment is a two-dimensional scan radar, the same soft axis adjustment can be performed for the vertical position adjustment and the roll direction adjustment.
The adjustment by changing such parameters is hereinafter referred to as soft optical axis adjustment, and the range in which the soft optical axis adjustment is possible is hereinafter referred to as a soft optical axis adjustable range.
Hereinafter, the spread of the detection area of the radar 1 on a plane along the detection surface of the adjustment target 3 is referred to as a radar field of view (see FIG. 2C).

Next, the optical axis adjustment of the present example performed by the above-described equipment configuration will be described. Note that the optical axis adjustment in this example is performed while stopping the vehicle on which the radar 1 and the like are mounted.
In the optical axis adjustment of this example, the adjustment target 3 shown in FIG. 2C or FIG. 3A is arranged around an appropriate position in front of the vehicle on which the radar 1 is mounted, and the reference of the adjustment target 3 is set. The direction (horizontal direction) is adjusted to the direction where the reference direction of the radar 1 should be (horizontal direction in this case), and the environment around the detection surface of the adjustment target 3 is set to an environment (dark area) where the reflectance is almost zero. (Target installation work). Next, the above-described optical axis adjustment instruction means (not shown) is operated to execute the optical axis adjustment (shown in FIG. 10) described later. The optical axis adjustment, which will be described later, is a process that automatically executes the displacement detection process and the adjustment process of the present invention.

As shown in FIG. 2C, the adjustment target 3 in this case has a rectangular quadrilateral detection surface (two-dimensional plane) having sides (edges) parallel to the vertical direction on both left and right sides. The width L1 of the detection surface in the left-right direction is smaller than the width L2 of the laser radar field of view in the left-right direction. The length of the target 3 in the up-down direction (symbols omitted) is a length corresponding to the maximum amount of vertical displacement of the radar field of view. Specifically, even when the radar field of view is most shifted upward, the positional relationship is as shown in case A of FIG. 3A, and even when the radar field of view is most shifted downward, FIG. The length in the vertical direction is set so as to have a positional relationship as shown in case C).
On the detection surface of the target 3, a band-shaped region 21, which is arranged so as to obliquely cross the center position of the detection surface with respect to the vertical direction, as a region constituting the light-dark pattern of the present invention, Inversion regions 22 and 23 located on both sides in the left-right direction of 21 are formed. In this case, band-shaped regions 25 and 26 (not oblique portions) in the vertical direction are formed on the upper end and the lower end of the band-shaped region 21. . Here, the band-shaped regions 21, 25, 26 are dark portions (for example, portions painted in black) with low reflectivity that hardly reflect light, and are located on both sides of these band-shaped regions 21, 25, 26. The inversion regions 22 and 23 located are bright portions (for example, portions painted white) with high reflectivity for strongly reflecting light.

In the case of the target 3 having such a light-dark pattern, when the measurement operation is performed in a state where the detection area of the radar 1 is directed to the detection surface thereof (that is, the state where the target installation work is performed), the reference direction position (that is, 3 (b) to 3 (d), the waveform of the reception intensity (light reception amount) of the reflected light with respect to the scanning amount in the reference direction becomes an inverted W shape corresponding to the light / dark pattern on the detection surface. From the waveform, the amount of axis deviation of the detection area with respect to the center position of the detection surface (that is, the amount of axis deviation from an appropriate position of the radar 1 and including the direction of the deviation) can be calculated in two directions, up, down, left, and right.
Specifically, in the inverted W-shaped waveform of the reception intensity, reference direction position data (scan amount c) corresponding to the vertex (the lowest point in this case) of the central valley portion, Based on reference direction position data (scan amounts a and b) corresponding to points located on both sides in the scanning direction and having the same reception intensity as the vertex, the reference of the center position of the laser radar field of view with respect to an appropriate position (center position of the target 3). It is possible to calculate the direction shift amount (DY = (a + b) / 2) and the orthogonal direction shift amount (DX = DY−c).

That is, in the inverted W-shaped waveform of the reception intensity, the amount of received light drops in a valley shape (for example, a V-shape or a U-shape) at the positions of the band-shaped regions 21, 25, and 26 (dark portions), and both sides thereof The light receiving amount increases at the positions of the inversion regions 22 and 23 (bright portions) of the target 3, and further, the outer edges of the inversion regions 22 and 23 (that is, both right and left edges of the detection surface of the target 3) (the target 3 functioning as a dark portion). This is caused by a large decrease in the amount of received light toward the surrounding environment). For this reason, the average value ((a + b) / 2) of the scanning amounts a and b corresponding to the point having the same reception intensity as the vertex of the central valley portion is determined by the center position CP in the left-right direction of the detection surface of the target 3 (reference (Position) in the detection area. Therefore, the average value (or a value obtained by multiplying the average value by a predetermined coefficient) can be grasped as the reference direction deviation amount DY and the center position CP of the target 3 in the left-right direction.
Incidentally, when the reference direction deviation amount (DY) is zero (such as the case B shown in FIG. 3C), the center position (CP) in the left-right direction of the detection surface of the target 3 and the scanning amount Means that the zero point position (the position of the optical axis of the radar 1 in the reference direction) coincides (that is, DY = CP = zero), and that the optical axis of the radar 1 is at an appropriate position in the reference direction. . Also, in this case, when the reference direction deviation amount (DY) is a positive value (such as the case A shown in FIG. 3B), the center position of the target 3 in the left-right direction is set with respect to the center of the radar visual field. Means that the center of the radar visual field (optical axis) is shifted to the left, and conversely, the reference direction shift amount (DY) is a negative value (the case shown in FIG. 3D). C) means that the radar visual field center (optical axis) is shifted to the right.

Further, since the scanning amount c corresponds to the reference direction position where the center line of the belt-shaped regions 21, 25, 26 exists, the reference direction deviation amount (DY) corresponding to the left-right center position (CP) of the detection surface. ) And the scanning amount c (DY-c) is the distance DL (FIG. 3 (a) from the center position in the left-right direction of the detection surface to the left-right position where the center lines of the belt-shaped regions 21, 25, 26 exist. )). The distance DL is basically proportional to the orthogonal displacement (DX) corresponding to the vertical displacement of the laser radar field of view because the belt-shaped region 21 is inclined with respect to the vertical direction. . Therefore, the above-mentioned difference (DY-c) or a value obtained by multiplying the difference by a predetermined coefficient can be grasped as the orthogonal direction shift amount (DX).
By the way, when the orthogonal displacement (DX) is zero (as in the case B shown in FIG. 3C), the vertical position of the detection surface of the target 3 and the light of the radar 1 are detected. This means that the vertical positions of the axes match, and that the optical axis of the radar 1 is at an appropriate position in the vertical direction. Further, in this case, when the orthogonal direction shift amount (DX) is a negative value (such as a case A shown in FIG. 3B), the center of the target 3 is positioned below the center of the radar visual field. Yes, meaning that the center of the radar field of view (optical axis) is shifted upward, and conversely, when the orthogonal shift amount (DX) is a positive value (such as the case C shown in FIG. 3D). ) Means that the center of the radar field of view (optical axis) is shifted downward.

  In this case, since the belt-like regions 25 and 26 at the upper and lower ends of the belt-like region 21 are not inclined in this case, the distance DL is not proportional to the vertical displacement of the radar field of view in this portion. , The calculated value of the orthogonal direction shift amount (DX) becomes slightly inaccurate (slightly small value) in this portion. However, since the radar field of view is greatly shifted in the vertical direction, it falls within the range of error. Alternatively, after the position adjustment corresponding to the calculated orthogonal direction shift amount (DX) is performed, the orthogonal direction shift amount (DX) is obtained again at that time, and the position adjustment is performed again (for example, FIG. 11 described later). By repeating the processing of (1), it is finally possible to accurately grasp the positional deviation amount and adjust the position, and there is no practical problem at all.

Further, if the target 3 is used, the axial deviation amount (deviation angle θ) of the radar 1 in the roll direction can be calculated by the following method.
First, a state in which the detection area of the radar 1 is directed to the detection surface of the target 3 (for example, a state in which the target installation work is performed). However, in this case, it is not always necessary to set the detection surface in front of the radar 1. Then, a measurement operation is performed only by the scanning operation of the radar 1 in the reference direction, and the left-right center position CP1 of the detection surface is obtained based on the above-described principle. Then, the detection area (laser radar field of view) of the radar 1 is changed in the orthogonal direction by the scanning operation of the radar 1 in the orthogonal direction or the mounting angle of the radar 1 is changed. Of the center position CP2 in the left-right direction is determined.
That is, for example, as shown in FIG. 4A, first, a measurement operation is performed only by a scan operation in the reference direction in the current detection area (laser radar field of view A), and a left-right center position CP1 is obtained. In this case, light and dark as shown in FIG. 16A are visible in the detection area, and the waveform of the amount of received reflected light is as shown in FIG. 16B. Further, the center position CP1 in the left-right direction of the detection surface is obtained as the above-described reference direction shift amount ((a + b) / 2), and is as shown in FIG. Next, as shown in FIG. 4A, a measurement operation is performed only by a scanning operation in the reference direction in a detection area (laser radar field of view B) whose position is changed in the orthogonal direction, and a horizontal center position CP2 is obtained. In this case, light and dark as shown in FIG. 16C is seen in the detection area, and the waveform of the amount of received reflected light is as shown in FIG. 16D. Further, the center position CP2 in the left-right direction of the detection surface is obtained as the above-described reference direction shift amount ((a + b) / 2), and is as shown in FIG. Here, CP1 corresponds to the reference direction shift amount DY (DY1) in the laser radar visual field A in FIG. 4A, and CP2 corresponds to the reference direction shift amount DY (DY) in the laser radar visual field B in FIG. DY2).
Then, the direction and amount of the deviation angle θ can be calculated from the difference between CP2 and CP1 thus obtained (that is, a change in the center position of the detection surface in the left-right direction as viewed from the radar 1). This is because, for example, when the shift angle θ is defined as shown in FIG. 4A, when the orthogonal position of the detection area of the radar 1 is changed, for example, upward, the center position of the target 3 in the left-right direction changes to the right. If it is observed, it is determined that there is a counterclockwise shift angle θ as shown in FIG. 4A, and the relationship becomes a fixed relationship as shown in FIG. 4B. . Further, as is apparent from FIG. 4C, the change amount ΔX of the orthogonal position of the detection area in the radar 1 and the change amount ΔY of the center position of the target 3 in the left-right direction measured at that time (= CP2-CP1). ), A relational expression of ΔY = ΔX · tan θ is established, so that the deviation angle θ can be quantitatively obtained from this relational expression.

Next, an operation of adjusting the optical axis of the monitoring device will be described according to a control processing procedure.
When the execution of the optical axis adjustment is instructed by the above-described optical axis adjustment instructing means, the control processing system including the control circuit 17 and the determination unit 4 (or a personal computer connected from the outside) performs, for example, as shown in the flowchart of FIG. The following control process is executed.
First, in step S1, the measurement operation of the radar 1 and the imaging operation of the camera 2 are executed a predetermined number of times, and detection of optical axis adjustment failure is performed. For example, it is determined whether or not the distance to the object measured by the radar 1 is out of the specified range. If the distance is out of the specified range, the installation position of the adjustment target 3 is abnormal and the optical axis cannot be adjusted. Is output, indicating that the optical axis adjustment is possible. Further, it is determined whether or not an image of the preset adjustment target exists in the image captured by the camera 2. If not, the adjustment target 3 is not installed and the optical axis adjustment cannot be performed. It outputs optical axis adjustment availability information A indicating that there is.
Next, in step S2, it is determined whether or not it is determined that the optical axis adjustment is impossible based on the measurement result of the radar 1 (that is, whether or not the optical axis adjustment availability information B indicating that the optical axis adjustment is impossible is output). If the optical axis cannot be adjusted, the process proceeds to step S12; otherwise, the process proceeds to step S3.
Next, in step S3, it is determined whether or not it is determined that the optical axis cannot be adjusted based on the image of the camera 2 (ie, whether or not the optical axis adjustment availability information A indicating that the optical axis cannot be adjusted has been output). If the adjustment is not possible, the process proceeds to step S12; otherwise, the process proceeds to step S4.

Next, in step S4, a subroutine for optical axis adjustment of the radar 1 (which will be described in detail later) is executed, and then the process proceeds to step S5.
Next, in step S5, it is determined whether or not the deviation angle θ in the roll direction of the radar 1 has been calculated in the process of step S4 (step S30 described later), and if it has been calculated, the process proceeds to step S6. If not, the process proceeds to step S13.
Then, in step S6, a soft optical axis adjustment for changing the parameter for setting the detection area is executed so as to correct the calculated deviation angle θ of the radar 1, and the process proceeds to step S6. Here, the mounting angle of the radar 1 may be physically changed by a human operation or a mechanical operation so as to correct the deviation angle θ of the radar 1.
Next, in step S7, the imaging operation of the camera 2 is executed, and the imaging data of the adjustment target 3 obtained thereby and the distance information to the target 3 obtained by the measurement operation of the radar 1 in step S1 or S4. The optical axis of the camera 2 is recognized (details will be described later) based on (a distance DLT described later) and the like.

After step S7, in step S8, the information of the optical axis shift of the camera 2 obtained in step S7, that is, the external parameter described later and the value of the shift angle based on the value of the external parameter (the following equation 11) Is displayed on the connected display, and the process proceeds to step S9.
Then, in step S9, it is determined whether or not the optical axis adjustment of the camera 2 has been completed (in this case, whether or not the deviation angle has become within an allowable range). If not completed, the process proceeds to step S10.
Next, in step S10, the camera optical axis adjustment request is turned on, and the process proceeds to step S11. Turning on the camera optical axis adjustment request means that, in this example, information that requests the operator to perform an operation of physically changing and adjusting the optical axis of the camera 2 is displayed on a connected display. means.
In step S11, a process of recognizing a change in the optical axis of the camera 2 is performed, and the process returns to step S9.
On the other hand, in step S12, information indicating that optical axis adjustment is impossible is displayed on, for example, the above-described display, and the process returns to step S1.
In step S13, since the deviation angle θ in the roll direction has not been calculated, the measurement operation by scanning in the reference direction is performed by changing the position of the detection area of the radar 1 in the orthogonal direction, and the radar 1 is scanned by the method described above. The shift angle θ in the roll direction is calculated.
In step S14, if the camera optical axis adjustment request is turned on in step S10, this is canceled (that is, the information display is stopped).

Next, the details of the optical axis adjustment subroutine of the radar 1 (step S4 described above) will be described.
When this routine is started, first, in step S21, the radar 1 is scanned in the reference direction to perform a measurement operation, and the light receiving amount waveform of the reflected light from the adjustment target 3 and its surroundings (the change in the light receiving amount with respect to the scanning amount). Data).
Next, in step S22, the above-described scanning amount (c, a, b) is obtained from the received light amount waveform.
Next, in step S23, if the vertical adjustment flag set in step S37 described later is on, the process proceeds to step S29, and if not, the process proceeds to step S24.
Next, in step S24, the above-described reference direction shift amount (DY), that is, the value of the reference direction center position (CP) is obtained using the value of the scanning amount obtained in step S22. The above-described orthogonal direction shift amount (DX) is calculated.

After step S25, in the next step S26, it is determined whether or not the reference direction deviation (DY) obtained in step S24 is within the allowable range. If it is within the allowable range, the process proceeds to step S27; Proceeds to step S32.
Then, in step S27, the left / right adjustment request (display on the display) set in step S34 described later is turned off, and the process proceeds to step S28.
Then, in step S28, it is determined whether or not the orthogonal direction deviation amount (DX) obtained in step S25 is within the allowable range, and if it is within the allowable range, a series of processes is ended; otherwise, the process proceeds to step S36. move on.
On the other hand, in step S29, while keeping the value CP1 of the reference direction center position obtained in step S24 in the previous sequence, a new value CP2 of the reference direction center position is obtained from the scanning amount obtained in step S22 executed immediately before. .
Thereafter, in step S30, the axial deviation amount (deviation angle) of the radar 1 in the roll direction is determined based on the above-described principle based on the reference direction center positions CP1 and CP2 and the change amount ΔX in the orthogonal direction position stored in step S37. θ).
Next, in step S31, the flag set in step S37 is turned off, and the process proceeds to step S25.

In step S32, it is determined whether or not the reference direction deviation amount (DY) is within the above-described soft optical axis adjustable range. If it is within the range, the process proceeds to step S33; otherwise, the process proceeds to step S34. Proceed to.
Next, in step S33, the reference direction deviation amount (DY) obtained in step S24 is corrected by the above-described soft optical axis adjustment.
On the other hand, in step S34, in order to correct the reference direction deviation (DY), which cannot be completely adjusted by the soft optical axis adjustment, by physically changing the mounting state of the radar 1, the information requesting the display to perform this adjustment work. And outputs the amount of the axis deviation, and requests the operator to perform the axis adjustment work. Here, instead of requiring the operator to perform the axis adjustment work, a mechanism for mechanically adjusting the mounting angle or the mounting position of the radar 1 is provided, and this mechanism is operated to perform automatic adjustment. Good.

Then, after step S33 or S34, in step S35, the same determination as in step S28 is performed. If it is within the allowable range, the process returns to step S1 to repeat the process. If not, the process proceeds to step S36.
Next, in step S36, the orthogonal direction deviation amount (DX) obtained in step S25 is corrected by soft optical axis adjustment. In this example, the orthogonal direction shift amount (DX) is adjusted only by the soft optical axis adjustment as described above. However, steps are provided similarly to steps S32 and S34, and the orthogonal direction shift amount (DX) is adjusted. The physical adjustment may be performed as needed.
Then, in step S37, the change amount ΔX of the orthogonal direction position due to the adjustment in step S36 is stored, and the up / down adjustment flag is turned on, and then the process returns to step S21.

Next, the principle of the process of recognizing the optical axis of the camera 2 (the above-described step S7) will be described with reference to FIGS. The adjustment target shown in FIGS. 5 to 9 is of the type shown in FIG. 14A described later, and is different from the type described in FIGS. 2C and 3A on the drawings. Since the functions are the same, description will be made here assuming that they are the same adjustment target 3. Incidentally, actually, the optical axes of the radar 1 and the camera 2 can be adjusted using exactly the same type (the type is also the same, of course).
When this process is started, all the optical axis adjustments (including the roll direction) of the radar 1 have been completed. Therefore, when the radar coordinates (X1, Y1, Z1) fixed to the radar 1 are defined as shown in FIG. 5, the optical axis (that is, the Z1 axis) of the radar 1 passes through the center point G of the adjustment target 3, and The light emitting / receiving surface (X1-Y1 plane) of the radar 1 is parallel to the detection surface of the adjustment target 3. Further, the distance DLT from the radar 1 (origin O1) to the adjustment target 3 (center point G) is measured in the above-described optical axis adjustment of the radar 1, etc. Since the dimensions of the pattern are predetermined, the coordinate values at the radar coordinates (X1, Y1, Z1) of each of the feature points A to M on the adjustment target 3 shown in FIG. 5 can be easily obtained.
Therefore, what kind of positional relationship these feature points A to M are observed on the camera coordinates (Xc, Yc, Zc) fixed to the camera 2 and finally on the image plane of the camera 2 By grasping the transformation parameters between the coordinate systems, it is possible to grasp what relative positional relationship the optical axis of the camera 2 has with respect to the optical axis of the radar 1.

  In a general camera, since the lens of the optical system has distortion, the coordinate values on the image plane are corrected (coordinate value conversion) in consideration of the distortion with respect to the data actually obtained by the camera. However, in order to avoid complexity, the description is simplified assuming that there is no such distortion. Incidentally, the lens distortion coefficient, which is a parameter of the lens distortion, is, for example, a known method in which a square target having a lattice-shaped pattern formed on the surface is set at a specified distance position in front of a camera, and the image data is analyzed. Since it is easily obtained by a method, it is desirable to obtain it in advance for each model or product of the camera 2 if possible and to set it as a parameter for the distortion correction.

  By the way, the coordinates (Xw, Yw, Zw) of an arbitrary point M viewed from an arbitrary fixed three-dimensional coordinate system and the coordinates (u, v) of a point m on an image plane obtained by capturing the point M by a camera. The relationship is represented as in Equation 1. Here, scale s is a coefficient, and A is a 3 × 3 matrix representing internal parameters of the camera. Further, R and t are matrices corresponding to external parameters of the camera (parameters representing positions and orientations with six degrees of freedom in space), and are a 3 × 3 matrix and a 3 × 1 matrix, respectively. Note that R represents a rotation component of the camera, and t represents a translation component. That is, considering the coordinate system (Xw, Yw, Zw) as a radar coordinate system (Xl, Yl, Zl), and defining a camera coordinate system (Xc, Yc, Zc) fixed to the camera 2 as shown in FIG. The matrix R is a deviation of a relative angle (posture) between the radar coordinate system (Xl, Yl, Zl) and the camera coordinate system (Xc, Yc, Zc) fixed to the camera 2, that is, between the radar 1 and the camera 2. This is a parameter corresponding to the degree of optical axis mismatch (degree of non-parallelism). In this case, the matrix t is a parameter corresponding to the difference between the installation positions of the radar 1 and the camera 2. Incidentally, in the embodiment shown in FIG. 1A, the camera 2 is installed vertically above the radar 1, and such a difference in the installation height and a difference in the installation position in the horizontal direction are reflected in the matrix t. Is done.

Here, a method of obtaining the matrix A which is an internal parameter will be described.
The matrix A is a constant determined by the camera device, and is a component as shown in Expression 2. Here, (cu, cv) is the origin of the image coordinates (usually, the center point of the image plane), α and β are scale elements of the image coordinate axes (u, v), and γ is the u-axis and the v-axis. The degree of distortion.

  Next, when A, R, and t in Equation 1 are put together into one matrix P, Equation 3 is obtained. This indicates that, if the three-dimensional fixed coordinates of the point M and the matrix P are known, the point on the image plane as the projection destination is represented by a multiple of the scale s. Note that the scale s is obtained based on the distance between the point M and the camera (in this case, a value corresponding to the above-described distance DLT). The matrix P is a 3 × 4 matrix and is generally called a projection matrix. In the case of this example, the projection matrix is obtained from the coordinate values on the radar coordinates of each feature point of the adjustment target 3 and the coordinate values of these feature points on the image plane of the camera 2. The coordinate conversion parameters between them will be grasped.

  Then, when Equation 3 is transformed, an equation such as Equation 4 is obtained. Here, Z is a 2 × 12 matrix including a three-dimensional point M and a two-dimensional point m, and p is a camera parameter obtained by rearranging the projection matrix P into a vector. If the three-dimensional point M and the two-dimensional point m are known, the camera parameter p can be obtained as an optimization problem as shown in Expression 5. When the vector p is calculated, it is re-expressed in the projection matrix P.

Next, the obtained projection matrix P is divided into a 3 × 3 matrix and a 3 × 1 matrix as shown in Expression 6. Among them, the 3 × 3 matrix is the product AR of the matrices A and R, as can be seen from Equation 1. The 3 × 1 matrix is the product At of the matrix A and t.
For this reason, the above 3 × 3 matrix is decomposed into an orthogonal matrix and an upper triangular matrix by well-known QR decomposition (Cholesky decomposition), and the upper triangular matrix obtained by this decomposition is entirely composed of its (3, 3) components. By division, a matrix A (internal parameter) having the same format as that of Expression 2 is obtained.
Since the matrix A (internal parameters) is determined by the device itself of the camera 2, it is not always necessary to obtain the matrix A from the data of the adjustment target 3 in step S7 described above. What is necessary is just to obtain and set in advance for each product. For example, in the operation for obtaining the lens distortion described above, the matrix A may be obtained using the same target.

Next, a method of obtaining the external parameter (Rt) will be described.
This external parameter can also be obtained in the same way as the above-mentioned internal parameter (the idea of obtaining the projection matrix P). However, these external parameters are performed using the same adjustment target 3 after the optical axis adjustment of the radar 1 in step S7 described above. In this way, it is possible to accurately and easily obtain the external parameters constituting the coordinate conversion parameters between the optical axis of the radar 1 and the optical axis of the camera 2.
First, as described above, the coordinate values on the radar coordinates (Xl, Yl, Zl) of each of the feature points A to M on the adjustment target 3 can be easily obtained as shown in Expression 7.

Next, coordinate values on the image plane of each of the feature points A to M (excluding the center point G, the same applies hereinafter) are obtained. Note that the coordinate values may be obtained by performing image processing (edge extraction, corner extraction, and binarization) on the image of the adjustment target 3 captured by the camera 2, but here, the processing is simplified. For this purpose, the coordinate values of each feature point are obtained as follows.
That is, as shown in FIG. 6, in the image of the adjustment target 3 captured by the camera 2, the operator requests an operation of specifying the positions of the four corners surrounding each of the feature points A to M, and the operation is performed by the operator. The regions inside the four corners are cut out as shown in FIG. The designation operation (region designation operation) is performed, for example, by capturing an image of the adjustment target 3 into a personal computer connected to the monitoring apparatus and operating the mouse of the computer (see FIG. 6). Next, a well-known edge extraction filter process is performed on the image data thus cut out to generate an edge image as shown in FIG. 7B. Next, a well-known Hough transform is performed to detect a straight line as shown in FIG. 7C, and then the intersection of each detected straight line is obtained. Next, an operator's operation (for example, by the above-described mouse operation) for designating points (intersections indicated by circles in FIG. 8A) corresponding to the feature points A to M among the obtained intersections. , Corresponding to the intersection specifying operation of the present invention), and the coordinates of the specified intersection are registered as the coordinate values of the feature points A to M. As a result, as shown by black squares in FIG. 8B, the coordinate values on the image plane of each of the feature points A to M are obtained. Equation 8 is an equation representing this coordinate value.

Next, the projection matrix P shown in Expression 3 is obtained for the adjustment target 3. In other words, a projection matrix P that determines the relationship between the three-dimensional coordinate values of each of the characteristic points A to M represented by Expression 7 and the two-dimensional coordinate values of each of the characteristic points A to M represented by Expression 8 is obtained. The calculation method may be the same as that described in the method of calculating the matrix A (internal parameter).
Next, external parameters (matrix R and t) are extracted from the obtained projection matrix P. This extraction can be performed by Expression 9 from the relationship of Expression 6. Here, A ^-1 is an inverse matrix of the matrix A (internal parameter) obtained by the above-described method. As described above, the external parameters based on the adjustment target 3, that is, the external parameters for the radar 1 are obtained.

Next, the principle of the process of recognizing a change in the optical axis of the camera 2 (in this case, only a change in posture) (the above-described step S11) will be described with reference to FIG.
The rotation matrix R in the external parameters described above can be expressed as rotation around each axis of the camera coordinate system. That is, if the detection area (second detection area) of the camera 2 rotates θ around the Zc axis, rotates φ around the Xc axis, and rotates ρ around the Yc axis, the matrix R becomes as shown in Expression 10. . By comparing this with the component of Expression 9, the optical axis angles θ, φ, and ρ of the camera 2 can be calculated as in Expression 11.
In the above-described step S11, the matrix R may be newly obtained, a new optical axis angle may be calculated from Expression 11, and a change in the optical axis angle of the camera 2 (a change in the attitude of the detection area of the camera 2) may be grasped. In the present embodiment, the change in the optical axis angle is grasped by the following method in order to simplify the processing.

That is, if the feature point A on the image plane moves to the feature point A ′ as shown in FIG. 9 by the angle adjustment, a new rotation matrix R after the angle adjustment is estimated from such a change in the feature point. I do.
More specifically, for example, from the time when the above-described determination in step S9 becomes negative (the time when it is determined that the camera optical axis adjustment is necessary), the determination in step S9 becomes affirmative (camera optical axis). Until the point when the adjustment is determined to be completed), the imaging operation of the camera 2 is performed, for example, at regular time intervals, and the coordinates on the image plane of a plurality of feature points after the movement are searched each time, and rotation corresponding to the angle change is performed. The process of estimating the matrix R _{t + 1} from Equation 12 is repeatedly executed.
In Equation 12, ut _{, 0} , ..., ut _{, n} and vt _{, 0} , ..., vt _{, n} are the coordinate values on the image plane of the n feature points at time t, f is the focal length of the camera 2. Also, ut _{+ 1,0} ,..., Ut _{+ 1, n} and vt _{+ 1,0} ,..., Vt _{+ 1, n} are the coordinate values of the n feature points on the image plane at time t + 1.
Also, the estimated value of the rotation matrix R _{t + 1} at time t + 1 can be solved as the number 13 of the optimization problem.

The search for the feature points after the movement is performed as follows.
That is, the surrounding image of the feature point at the time t is registered as a template, and the surrounding image at the position of the feature point is searched from the image at the time t + 1 while performing collation by the normalized cross-correlation operation shown in Expression 14. The coordinates of the feature point after the movement are specified by finding the position where ssd shown in FIG. In Equation 14, f (u, v) and g (u, v) mean the coordinate values on the image plane before and after the movement.

Next, when the rotation matrix R _{t + 1} corresponding to the angle change is obtained by the above-described estimation, the angle change amounts Δθ _t , Δφ _t , and Δρ _t in each direction can be obtained by the above-described Expression 11. When these angle change amounts are obtained, new postures (angles θ _{t + 1} , φ _{t + 1} , ρ _{t + 1} ) of the camera optical axis after the angle change (time t + 1) are easily calculated by the formula shown in Expression 15. Is done.
In the above-described process of step S9, each time a new attitude of the camera optical axis is determined, the new attitude is compared with a predetermined allowable angle ε, and as shown in Expression 16, each angle becomes ε or less. At the time point (time t + s), it is determined that the camera optical axis adjustment is completed.

According to the above-described control processing, first, in the processing of steps S1 to S3 and S12, the determination of the uncontrollable state by each sensor is performed. Adjustment is not performed. For this reason, as described above, it is possible to reliably avoid a situation in which an erroneous adjustment is performed in an unadjustable state.
Next, by the processing in step S4 (S21 to S37), the axis deviation detection processing and the axis adjustment in the direction orthogonal to the reference direction of the detection area (first detection area) of the radar 1 are automatically executed. However, in this example, if the axis deviation of the radar 1 in the reference direction (in this case, the left / right direction) exceeds the soft optical axis adjustment range, a left / right direction adjustment request for adjusting the left / right axis deviation (axis deviation information) ) Is displayed on the display (steps S32, S34), and when the axis deviation falls within the allowable range, this display is turned off (steps S26, S27). For this reason, the operator can easily correct the above-mentioned axis deviation exceeding the soft optical axis adjustment range and physically adjust by changing the mounting direction or the like of the radar 1 while watching the display on the display.

In the process of step S4, if the axis adjustment (in this case, the vertical direction) in the orthogonal direction (in this case, only the software adjustment) is performed in step S36, the vertical adjustment flag is set to ON in step S37. Accordingly, steps S29 to S31 (roll deviation detection processing for calculating the amount of axial deviation in the roll direction (deviation angle θ)) are executed by the branch processing of step S23.
Next, when the roll deviation detection processing in steps S29 to S31 has not been executed (when the deviation angle θ has not been calculated), the roll deviation detection processing is performed in steps S5 and S13, and then in step S6, An adjustment operation (in this case, only a soft adjustment) for correcting the calculated roll direction axis deviation is executed.
Then, after all the axis adjustments of the radar 1 have been completed in this way, in steps S7 to S11 and S14, the axis deviation detection processing and the axis deviation adjustment (including the setting of the coordinate conversion parameters) of the camera 2 are performed. In addition, when the axis deviation of the camera 2 (in this case, the deviation of the attitude of the radar 1 with respect to the optical axis, which is specified by the rotation matrix R which is the rotation component of the external parameter described above) is out of the allowable range. In step S10, an adjustment by physical attachment change is requested by displaying information on the display in step S10, and when the adjustment falls within the allowable range, the request is canceled by the processing in steps S9 and S14, and the processing ends. Therefore, the operator can easily correct the above-mentioned axial deviation and physically adjust by changing the mounting direction of the camera 2 while watching the display on the display.

  As described above, according to the axis adjustment method of the present example, two-dimensional axis adjustment of the radar 1 (first detection area) in the vertical direction (perpendicular direction) and the horizontal direction (reference direction) and the radar 1 (first detection area) are performed. Area adjustment) in the roll direction and axis adjustment in each direction of the camera 2 (second detection area) (particularly, attitude adjustment for making the optical axis of the camera 2 parallel to the optical axis of the radar 1) are the same target. And easily and accurately. For this reason, the measurement accuracy as a monitoring device can be improved, and the operation time required for axis adjustment and the cost required for the operation can be reduced. In addition, the correlation between the recognition information (position information of the detected object) between the sensors can be correctly obtained, and the advantages of the fusion method can be exhibited to a high degree by mutually utilizing the measurement results of the sensors.

  In this axis adjustment method (axis adjustment method of the radar 1), a light-dark pattern is formed on the detection surface of the adjustment target so that the waveform of the reception intensity becomes an inverted W-shape corresponding to the relative position of the adjustment target. The optical axis shift amount can be calculated for each direction (including the roll direction) from such a waveform of the reception intensity. For this reason, the deviation amount of the optical axis can be grasped qualitatively and quantitatively, and highly accurate optical axis adjustment can be stably performed. Further, even if the beam width of the laser beam of the radar 1 is widened as shown in FIG. 2 (c), for example, and the resolution of the radar 1 is relatively low, the waveform of the reception intensity (the continuous light reception amount in the scanning direction). Since the shift amount is determined based on (change), the above-described excellent shift amount detection and optical axis adjustment can be performed without any problem. Incidentally, the method of Patent Document 1 described above has a disadvantage that when the resolution of the radar is coarse, axis adjustment cannot be performed with sufficient accuracy.

Note that the present invention is not limited to the above-described embodiment, and may have various aspects and modifications.
For example, the first axis adjustment method (adjustment of axis deviation in the roll direction) of the present application is not necessarily limited to a fusion type monitoring apparatus, and can be applied to a monitoring apparatus including, for example, a single radar. In this case, the contents of the control processing are as shown in FIG. 12, for example.

As an adjustment target, as shown in FIG. 14A, an adjustment target 3a having a configuration in which a frame-shaped background region 31 (dark portion) is added to the detection surface of the above-described target 3 is used. Is also good. With such a configuration, even if the surrounding environment of the target is not necessarily set to a dark part, it becomes easy to obtain a good received light amount waveform as shown in FIGS.
Further, as shown in FIG. 14B, an adjustment target 3b having a configuration in which the band-shaped regions 25 and 26 (non-diagonal portions) in the above-described target 3 are deleted may be used. However, in the case of such a configuration, when the amount of displacement in the vertical direction is large and the vertical length of the target is large, both ends of the inclined band-shaped region 21 extend in the extension direction, and the width dimension of the target is proportional to it. And it gets bigger. On the other hand, with the configuration of the target 3 described above, the width dimension of the target can be reduced by the presence of the strip-shaped regions 25 and 26 (the portions that are not inclined). The configuration like the target 3 is excellent.
As shown in FIG. 14C, an adjustment target 3c having a configuration in which a frame-shaped background region 32 (dark portion) is added to the detection surface of the above-described target 3b may be used.

Further, an adjustment target 3d as shown in FIG. 13A may be used. The outer shape of the detection surface of the target 3d is a parallelogram having sides (edges) arranged on both sides in the left-right direction obliquely and vertically parallel to the vertical direction. The width L1 in the direction is smaller than the width L2 in the scanning direction of the detection area. Further, on the detection surface of the target 3d, as a region constituting the light and dark pattern of the present invention, a band-shaped region 41 arranged so as to vertically cross the center position of the detection surface in the vertical direction, and a left-right direction of the band-shaped region 41 Inversion regions 42 and 43 (in this case, triangular regions) located on both sides are formed, the band-shaped region 41 is a dark portion, and the inversion regions 42 and 43 are a bright portion.
In the case of such an adjustment target 3d, similarly to the adjustment target 3 described above, an inverted W-shaped light reception amount waveform is obtained, and from the scanning amount (c, a, b) in this light reception amount waveform, each The shift amount (DY, DX) in the direction can be calculated, and the same optical axis adjustment can be performed. However, the equations for calculating the shift amounts (DY, DX) in this case are DY = c and DX = (a + b) / 2-c.

Further, as shown in FIG. 13B, an adjustment target 3e having a configuration in which a frame-shaped background region 44 (dark portion) is added to the detection surface of the above-described target 3d may be used.
Further, as a special mode of the adjustment target of the present invention, for example, an adjustment target 3f as shown in FIG. This is because a vertical band-shaped region 51 (dark portion) whose center portion is cut obliquely, an N-shaped inverted region 52 (bright portion) arranged on both left and right sides and inside of the band-shaped region 51, A square frame-shaped background region 53 (dark portion) formed around the band 52 and the band-shaped region 51 is formed on the detection surface. Even with such an adjustment target 3f, the optical axis adjustment can be favorably performed on the same principle as that of the adjustment target 3 described above.
The background region 53 (dark portion) in the adjustment target 3f may be deleted.
Further, for example, an adjustment target having a configuration in which a bright portion and a dark portion are inverted with respect to the adjustment targets 3, 3a, 3b, 3c, 3d, and 3f described above may be used.

Further, as the axis deviation information to be displayed on the display, for example, the above-mentioned received light amount waveform may be displayed.
Further, the target installation work of the present invention may be automatically performed using an automatic machine such as a robot, or a vehicle equipped with a monitoring device for an adjustment target installed in a fixed state. Is moved by a conveyor or the like and is automatically positioned using a positioning device, whereby the target setting work of the present invention can also be performed automatically.
Further, the present invention may be applied to a radar that performs two-dimensional scanning as in the above-described embodiment, but may be applied to, for example, a radar that performs scanning only in the left-right direction (reference direction).
The present invention can be applied not only to a monitoring device including a sensor using laser light or visible light, but also to a distance measuring device including a sensor using, for example, radio waves or sound waves.

FIG. 2 is a diagram illustrating a facility configuration and the like including a monitoring device that performs axis adjustment. FIG. 3 is a diagram illustrating a configuration of a radar, an adjustment target, and the like. FIG. 3 is a diagram illustrating a received light waveform of a radar. It is a figure explaining the principle of the axis adjustment of the roll direction of a radar. FIG. 3 is a diagram illustrating a feature point of an adjustment target and a coordinate system of each sensor. It is a figure showing an example of an image of an adjustment target. It is a figure explaining the extraction processing of the feature point of an adjustment target. It is a figure explaining the extraction processing of the feature point of an adjustment target. It is a figure explaining the search processing of the feature point of an adjustment target. It is a flowchart which shows the process (main routine) of axis adjustment. It is a flowchart which shows the process (subroutine) of axis adjustment. It is a flowchart (other example) which shows the process of axis adjustment. It is a figure showing other examples of an adjustment target. It is a figure showing other examples of an adjustment target. It is a figure explaining the conventional axis adjustment. FIG. 4 is a diagram specifically describing the axial adjustment of the radar in the roll direction.

Explanation of reference numerals

1 laser radar (monitoring device)
2 Camera (monitoring device)
3, 3a, 3b, 3c, 3d, 3f Adjustment target 21, 25, 26, 41, 51 Strip-shaped area 22, 23, 42, 43, 52 Inverted area 31, 32, 44, 53 Background area

Claims (13)

A measurement operation for receiving a wave from within the detection area for each reference direction position is executable, and based on at least the reception intensity of the received wave, data for specifying at least a position of the detection target in the detection area. For a monitoring device that outputs a, it is an axis adjustment method for adjusting the axis deviation in the roll direction of the detection area,
A light portion having a large wave reflectance and a dark portion having a small reflectance are provided with a detection surface having a predetermined outer shape arranged in a predetermined light / dark pattern, and the measurement operation is performed in a state where a detection area of the monitoring device is directed toward the detection surface. Then, the waveform of the reception intensity with respect to the reference direction position becomes a W-shape or inverted W-shape corresponding to the light-dark pattern or the outer shape of the detection surface, and the reference position of the detection surface in the reference direction is calculated from this waveform. As possible, using an adjustment target having a light-dark pattern or a further outer shape set on the detection surface,
The adjustment target is arranged in front of the monitoring device, the reference direction of the detection surface is aligned with the direction that should be the reference direction of the detection area, and the surrounding environment of the adjustment target is further changed as necessary. Or, target installation work to set the same reflectance as the dark part,
Next, the measurement operation of the monitoring device is performed by changing the measurement position in the orthogonal direction orthogonal to the reference direction to at least two or more locations, and the reference position calculated from the waveform of the reception intensity obtained thereby is calculated. Based on the change, a roll deviation detection process for determining the axial deviation of the detection area in the roll direction,
If necessary, adjusting the mounting angle of the monitoring device so as to correct the axis deviation determined in the roll deviation detection processing, or adjusting the parameter for setting the detection area. Axis adjustment method of the monitoring device. The outer shape of the detection surface of the adjustment target has a shape having edges parallel to an orthogonal direction orthogonal to the reference direction on both sides in the reference direction,
The width of the detection surface in the reference direction is smaller than the length of the detection area in the reference direction,
On the detection surface, as a region configuring the light and dark pattern, a band-shaped region arranged to cross the center of the detection surface, and inversion regions located on both sides in the reference direction of the band-shaped region are formed,
One of the band-shaped region and the inversion region is the bright portion, and the other is the dark portion,
In the roll deviation detection process, in the W-shaped or inverted W-shaped waveform of the reception intensity, the same reception intensity as the apex located on both sides in the reference direction of the apex of the central crest or valley. The method according to claim 1, wherein the reference position is obtained based on reference direction position data (a, b) of a point. On the detection surface, as a region constituting the light and dark pattern, a band-shaped region arranged so as to cross a central portion of the detection surface, inversion regions located on both sides in the reference direction of the band-like region, and further, A background area located on both sides of the area in the reference direction is formed,
One of the band-shaped region and the background region and the inversion region is the bright portion, and the other is the dark portion,
Respective boundaries of the inversion region and the background region present on both sides of the detection surface in the reference direction are arranged in parallel to an orthogonal direction perpendicular to the reference direction, and a dimension between these boundaries is defined as a reference direction of the detection area. It is set smaller than the length,
In the roll deviation detection process, in the W-shaped or inverted W-shaped waveform of the reception intensity, the same reception intensity as the apex located on both sides in the reference direction of the apex of the central crest or valley. The method according to claim 1, wherein the reference position is obtained based on reference direction position data (a, b) of a point. The width of the detection surface in the reference direction is smaller than the length of the detection area in the reference direction,
On the detection surface, as a region configuring the light and dark pattern, a band-shaped region arranged to cross the center of the detection surface, and inversion regions located on both sides in the reference direction of the band-shaped region are formed,
One of the band-shaped region and the inversion region is the bright portion, and the other is the dark portion,
The band-shaped region is arranged in parallel to an orthogonal direction orthogonal to the reference direction,
In the roll shift detecting process, the reference position is obtained based on the reference direction position data c of the center-side peak or valley in the W-shaped or inverted W-shaped waveform of the reception intensity. The method for adjusting the axis of a monitoring device according to claim 1, wherein: On the detection surface, as a region constituting the light and dark pattern, a band-shaped region arranged so as to cross a central portion of the detection surface, inversion regions located on both sides in the reference direction of the band-like region, and further, A background area located on both sides of the area in the reference direction is formed,
One of the band-shaped region and the background region and the inversion region is the bright portion, and the other is the dark portion,
A dimension between each boundary between the inversion area and the background area present on both sides of the detection surface in the reference direction is set to be smaller than a length of the detection area in the reference direction,
The band-shaped region is arranged in parallel to an orthogonal direction orthogonal to the reference direction,
In the roll shift detecting process, the reference position is obtained based on the reference direction position data c of the center-side peak or valley in the W-shaped or inverted W-shaped waveform of the reception intensity. The method for adjusting the axis of a monitoring device according to claim 1, wherein: A measuring operation for receiving a wave from the first detection area for each reference direction position can be executed, and at least a position of an object to be detected in the first detection area is specified based on at least a reception intensity of the received wave. And a camera that captures an image of a second detection area overlapping the first detection area.
An axis adjustment method of appropriately adjusting the position and orientation of the first detection area and the second detection area, and obtaining and setting coordinate conversion parameters between the radar and the camera,
The same adjustment target is set at a prescribed position of an overlapping area of the first detection area and the second detection area, and the first detection area is adjusted based on the measurement result of the radar for the adjustment target. After doing
Based on the image of the adjustment target captured by the camera, the axis deviation of the second detection area is grasped to adjust the second detection area, and the coordinate conversion parameter is obtained and set. Axis adjustment method of the monitoring device. The first detection area or the second detection area, based on a measurement result of the radar for the adjustment target or an image of the adjustment target captured by the camera, by processing means installed inside or outside the monitoring device. Determine the axis deviation information about the axis deviation, and display this axis deviation information on a display installed inside or outside the monitoring device,
An operator changes the first detection area or the second detection area while watching the axis deviation information displayed on the display until the axis deviation of the first detection area or the second detection area falls within an allowable range. The method for adjusting the axis of a monitoring device according to claim 6, wherein: A determination of an adjustment impossible state based on an image of the adjustment target taken by the camera and a determination of an adjustment impossible state based on a measurement result of the adjustment target by the radar are performed, and a determination is made as an adjustment impossible state by any of the determinations. The method according to claim 6, wherein when the adjustment is performed, adjustment of both the first detection area and the second detection area is not performed. The adjustment target is
A bright portion having a large wave reflectance and a dark portion having a small reflectance are provided with a detection surface of a predetermined outer shape arranged in a predetermined light / dark pattern, and the first detection area of the radar is directed toward the detection surface in a reference direction. When scanning and performing the measurement operation, the waveform of the reception intensity with respect to the reference direction position becomes a W-shaped or inverted W-shaped corresponding to the light and dark pattern or the outer shape of the detection surface, and from this waveform, the first detection area is obtained. The light-dark pattern or the outer shape of the detection surface is set so that the axis deviation can be calculated,
The adjustment of the first detection area includes:
Placing the adjustment target in front of the radar, and setting the target environment to set the surrounding environment of the detection surface of the adjustment target to the same reflectance as the bright or dark portion, if necessary,
Next, the radar is actuated to perform a measurement operation by scanning in a reference direction, and an axis deviation of the first detection area is calculated from a W-shaped or inverted W-shaped waveform of the reception intensity obtained thereby. Detection processing,
If necessary, adjust the mounting position or the mounting angle of the radar so as to correct any of the axis shifts calculated in the axis shift detection processing, or adjust the parameter for setting the first detection area. 9. The method for adjusting the axis of a monitoring device according to claim 6, wherein the method comprises an operation. A processing unit installed inside or outside the monitoring device detects a plurality of feature points on a detection surface of the adjustment target from an image of the adjustment target captured by the camera, and detects an image plane of the feature point. 10. The method according to claim 6, further comprising: identifying an upper coordinate value, grasping an axis shift of the second detection area based on the coordinate value, and obtaining and setting the coordinate conversion parameter. 11. 3. The axis adjusting method of the monitoring device according to 1. The processing means displays an image of the adjustment target captured by the camera on a display, determines a specific area cutout image including the feature point on a display screen according to an area specifying operation of an operator, and determines the specific area. The method according to claim 10, wherein image processing is performed on the cut-out image to specify a coordinate value of the feature point on the image plane. The feature points are vertices located at corners or corners formed by boundaries of light and dark patterns formed on the detection surface of the adjustment target.
The processing unit executes image processing for extracting a straight line on the image of the adjustment target captured by the camera, displays the straight line extracted by the image processing on a display, and then performs an intersection specifying operation by a worker. 12. The method according to claim 10, wherein the position of the intersection of the straight lines specified by the following is determined as a coordinate value on the image plane of the feature point. When adjusting the second detection area, the processing unit registers, as a template, an image around the characteristic point in the image of the adjustment target before adjustment as a template, and registers a normal image from the image of the adjustment target after adjustment. 13. A coordinate value on the image plane of the feature point and a new coordinate value after adjustment are obtained based on searching for an image of the template by a generalized cross-correlation operation. An axis adjustment method for the monitoring device according to any one of the above.

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