JP2013014967A - Scanning laser distance sensor device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a scanning laser distance sensor device which reliably detects a projecting portion thereof even if the reflectance of an object is low.SOLUTION: A distance to a pallet is stored in a RAM 11 in advance. A vehicle enters a parking place and an entrance button 36 is pressed so that a control circuit 10 starts a scanning laser device to measure a distance to a reflective object. Comparison is made between a measurement result in the case of presence of the vehicle and the distance stored in the RAM 11, and if they are different, detection signals are output.

Description

  The present invention relates to, for example, a scanning laser distance sensor device that detects a vehicle such as a mirror or a lid of a fuel filler, and a protrusion of a charging cable in a multilevel parking lot.

Three-dimensional parking lots are used to park cars efficiently. As one form of a three-dimensional parking lot, a car is stored on a pallet for in-vehicle use, the pallet in which the car is stored is moved up or down, and it is transported to a car storage space on the upper floor or underground etc. There is.
In such a case, if a part of the car protrudes outside the pallet when the car is put in, the part that protrudes when the pallet moves contacts and damages part of the members constituting the three-dimensional parking lot or other vehicles. there is a possibility.
In order to avoid such a situation, when a part of the vehicle protrudes from the pallet, processing such as detection and warning is performed, or driving of the pallet is stopped.

Patent Documents 1 and 2 disclose a method or apparatus for detecting such a protrusion of a vehicle. Patent Document 1 detects the protruding part from the warehousing possible range during the warehousing operation and informs the user. The building 12 of the mechanical parking device (using the code used in Patent Document 1, hereinafter, The vehicle 20 is put on the pallet 18 on the cage 17 in the building 12 from the entrance 13 provided on the front side wall 12a of Patent Document 2). The detection sensor 15 is installed on the rear side wall 12a of the building 12 so that the laser beam 16 passes above the boundary of the warehousing range that is the outer position of the left and right sides of the pallet 18, and the detection sensor 15 is flat in the vertical direction. Assuming that the laser beam 16 is irradiated so as to be a smooth surface, the laser beam 16 is irradiated in parallel to the outside of the left and right side portions of the vehicle 20, and the protruding portion is within the range of the surface of the laser beam 16. Is to be detected.
When an overhang is detected, a signal is sent to the display device, an alarm is generated, and a character display of “out” is made visible.

  Patent Document 2 is to quickly detect the protrusion of a door or door mirror of a warehousing vehicle from the pallet, and in the vehicle storage space 2 of the lower circulation type vertical circulation parking device, The lower frame 7 positioned on both the left and right sides of the lower end portion of the cage vertical movement path 16a in which each cage 13 moves in the vertical direction along the portion arranged vertically between the sprockets 6 and 8, and the left and right sides of the building 1 Brackets 19 and 22 projecting to the vicinity of the passing pallet 12 are provided on the beams 21 on both sides, and the light emitting portion 17a and the light receiving portion 17b of the transmission photoelectric tube sensor 17 are attached to each projecting end portion in the front-rear direction. When a door or door mirror of a vehicle that has entered the pallet 12 of the cage 13 arranged inside the entrance / exit 3 is protruding from the pallet 12, the protruding door or door mirror emits the irradiation light 18 of the transmissive photoelectric tube sensor 17. It is designed to detect by blocking.

JP 2010-255377 A JP 2009-97195 A

  The above-mentioned Patent Document 1 scans a wide side of a pallet by scanning a laser beam in the vertical direction as a structure for detecting a protruding portion. When there is a protruding portion, the laser strikes and reflects the protruding portion, and laser irradiation This is performed by detecting the reflected light by a detection sensor near the position. However, when the reflected light from the protruding portion is weak, there is a possibility that it cannot be detected. In such a case, it is unclear how the processing is performed to reliably detect the protruding portion.

By the way, as a method for detecting an object that becomes a protruding portion of a car, it is conceivable to use a distance sensor that measures the time until the reflected light from the object is received. This distance sensor has a low reflectivity, for example, in the case of a specularly reflecting object such as a black object or a mirror, the intensity of light reflected by the object and returning to the distance sensor becomes very weak, and the distance to the object is reduced. It becomes impossible to measure.
In such a case, the conventional method generally determines that there is no object and does not output a detection signal. Therefore, if it is used for detecting a protrusion from a vehicle-mounted pallet, the protrusion is missed.

  If safety is taken into consideration to avoid this, in the above case, it can be determined that there is an object and a detection signal can be output. However, when the reflection intensity from the pallet is weak due to deposits on the pallet, a detection signal is always output.

  Even if the reflected light intensity from the object is sufficient, if the light receiving window of the distance sensor is dirty, it may be judged that the reflected light intensity is weak. Don't be. In a three-dimensional parking lot, since the protrusion detection sensor is mounted at a high place or a deep place, frequent cleaning is very troublesome.

Patent Document 2 uses a transmissive photoelectric tube sensor as a structure for detecting a protruding portion of a car. This is a method of detecting by having a light-emitting part and a light-receiving part and having a detection target between the light-emitting part and the light-receiving part and blocking the irradiation light. However, in this method, after the warehousing operation is finished and the user exits from the entrance door of the parking device, it detects the protruding part such as the door mirror of the vehicle in the process of moving the machine, and makes the machine stop emergency. It is not intended to detect the protrusion during the warehousing operation before the user leaves. In addition, a special staff is required for recovery from an emergency stop, which takes time and inconveniences that other vehicles cannot be loaded and unloaded during work.
The present invention has been made in view of the above situation, and an object of the present invention is to improve the certainty of the detection state of the pallet in the sensor device that detects the protrusion of a part of the vehicle from the in-vehicle pallet of the three-dimensional parking lot. It is an object of the present invention to provide a scanning laser distance sensor device capable of performing

In order to achieve the above object, claim 1 of the present invention is a sensor device for detecting a protruding portion from a garageable range in a mechanical parking lot, and is provided above, in front of or behind the pallet, and at the end of the pallet. A scanning laser device that scans a predetermined range along the scanning laser device, a light receiving unit that detects reflection of laser light emitted from the scanning laser device, storage means, and a palette within the predetermined range by the operation of the scanning laser device. When the vehicle enters the pallet and the background distance data acquisition means for storing the measured distance data in the storage means, the distance to the reflecting object is measured by the operation of the scanning laser device, When the distance data is different from the distance data stored in the storage means, a detection signal indicating that there is a protruding part of the vehicle from the warehousing range is output. Characterized in that a drive protrusion detection unit for.
According to a second aspect of the present invention, in the sensor device for detecting the protruding portion from the warehousing range in the mechanical parking lot, the sensor device is provided above, in front of or behind the pallet, and scans a predetermined range along the end of the pallet. A scanning laser device, a light receiving unit that detects reflection of laser light emitted by the scanning laser device, a storage unit, and an operation of the scanning laser device measure a distance to the pallet in the predetermined range, Distance data to each position of the pallet of the reflection intensity, and if there is a position of the pallet having a reflection intensity smaller than a predetermined reflection intensity, the background distance data acquisition means for storing the distance data in the storage means, When a vehicle enters the pallet, the distance to the reflecting object is measured by the operation of the scanning laser device, and the reflecting object reflects at a distance closer to the pallet. Or when the reflective object is present at a position other than the position of the pallet where the reflection intensity is low and the reflection intensity is lower than the predetermined reflection intensity, it indicates that the protruding part of the vehicle is present from the storage range The distance of the storage means that outputs the detection signal and the reflecting object is in the position of the pallet with the low reflection intensity and the reflection intensity is lower than the predetermined reflection intensity, or includes the position of the pallet with the low reflection intensity A vehicle protrusion detection unit that outputs a caution signal indicating that there is a possibility that a protruding portion of the vehicle may exist from the warehousing range when the data does not change is provided.
According to a third aspect of the present invention, in the first aspect of the present invention, the detection signal output by the vehicle protrusion detection unit is based on the distance data to the pallet stored in the storage means and the measured distance when the vehicle enters the vehicle. If it is small, the first detection signal is output, and the distance data to the pallet stored in the storage means is distance data based on a predetermined reflection intensity. When the reflection intensity of the reflecting object is smaller than the predetermined reflection intensity, 2 detection signals are output.

According to the first aspect, when the reflection intensity from the pallet is sufficiently obtained, it is possible to reliably detect a vehicle having a low reflection intensity.
According to claim 2, even if there is a portion where the reflection intensity from the pallet is weak, it can be determined that the detection is correctly performed if the reflection intensity from the vehicle is sufficiently obtained. Therefore, it is possible to eliminate overhang determination when the overhang is overlooked or not overhang. Further, when a position where the reflection intensity from the pallet is weak and a vehicle portion where the reflection intensity is weak overlap, a warning signal is output, thereby prompting the user to confirm.
According to the third aspect, in addition to the detection determination described above, the sensor window can be checked for contamination by detecting a sample having an appropriate reflectance, and can be cleaned at an appropriate time.

1 is a block diagram of a scanning laser distance sensor 1 according to a first embodiment of the present invention. It is a block diagram of scanning laser distance sensor 1 concerning a 2nd embodiment of the present invention. It is a block diagram of the scanning laser distance sensor 1 which concerns on 3rd Embodiment of this invention. It is a flowchart which shows the process of 1st Embodiment of this invention. It is a flowchart which shows the process of 2nd Embodiment of this invention. It is a flowchart which shows the process of 3rd Embodiment of this invention. It is an image figure which installed scanning type laser distance sensor 1 to pallet 2 of a multilevel parking lot, and is a figure showing when there is no vehicle. In the first embodiment of the present invention, it is an image diagram when the laser beam emitted from the scanning laser distance sensor 1 is applied to the door mirror 5 of the vehicle 4. In the first embodiment of the present invention, it is an image diagram when the laser beam emitted from the scanning laser distance sensor 1 does not hit the vehicle 4. FIG. In 2nd Embodiment of this invention, it is an image figure when there is no vehicle by the case where reflection intensity is weak from the E point to the F point within the scanning range of the A point of the pallet 2 to the D point. In 2nd Embodiment of this invention, it is an image figure in case the laser beam radiate | emitted from the scanning laser distance sensor 1 has applied to the door mirror 5 of the vehicle 4. FIG. In the second embodiment of the present invention, when the vehicle 4 enters the state of FIG. 10 and the laser beam of the scanning laser distance sensor hits the door mirror 5 from the point G to the point H other than the point E to the point F. It is. In 2nd Embodiment of this invention, it is an image figure when the vehicle 4 enters into the state of FIG. 10, and it does not hit the laser beam of the scanning laser distance sensor 1. FIG. In 3rd Embodiment of this invention, it is an image figure of the state which installed the sample 6 in the place near the scanning laser distance sensor 1 from the pallet 2. FIG. FIG. 8 is a chart of scanning angle and distance when the reflection intensity from point A to point D of the pallet 2 in FIG. 7 is sufficient. It is a chart figure of a scanning angle and distance when the reflected light amount from the door mirror 5 is weak (small) in FIG. It is a chart figure of a scanning angle and distance when the reflected light amount from the door mirror 5 is strong (large) in FIG. FIG. 10 is a chart of scanning angles and distances when the laser beam emitted from the scanning laser distance sensor 1 does not strike the vehicle 4 in FIG. 9. FIG. 11 is a chart of scanning angles and distances when the reflection intensity is weak from point E to point F within the scanning range from point A to point D of pallet 2 in FIG. It is a chart figure of a scanning angle and distance when the reflected light amount from the door mirror 5 is weak in FIG. It is a chart figure of a scanning angle and distance when the reflected light amount from the door mirror 5 is strong in FIG. It is a chart figure of a scanning angle and distance when the reflected light amount from the door mirror 5 is weak in FIG. It is a chart figure of a scanning angle and distance when the laser beam radiate | emitted from the scanning laser distance sensor 1 in FIG. FIG. 15 is a chart of scanning angles and distances when the light receiving window of the scanning laser distance sensor 1 in FIG. 14 is clean. It is a chart figure of a scanning angle and distance when the light-receiving window of the scanning laser distance sensor 1 in FIG. 14 is dirty.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
(First embodiment)
FIG. 1 is a block diagram of the scanning laser distance sensor 1 according to the first embodiment of the present invention, FIG. 4 is a flowchart showing the processing of the first embodiment of the present invention, and FIG. On the other hand, it is an image diagram in which the scanning laser distance sensor 1 is installed, and is a diagram showing a state where there is no vehicle.
In FIG. 1, a scanning laser distance sensor 1 includes a CPU 43, an EEPROM 13, a laser diode drive circuit 14, a laser diode 15, a resonant scanner 16, a mirror 17, a light receiving element 18, an amplifier 19, a detection signal output circuit 28, and a storage signal input circuit 30. And a warehousing signal input circuit 31. The CPU 43 includes a control circuit 10, a RAM 11, a ROM 12, a distance calculation unit 20, a short distance comparison unit 21, a long distance comparison unit 22, a detection signal output unit 23, a storage signal input unit 25, and a warehousing signal input unit 26. . A warehousing button 36 for instructing that the vehicle has entered and for starting the overhang detection process of the scanning laser distance sensor 1 is stored in advance, and the distance to the pallet in the laser scan range before the vehicle enters the vehicle. A memory button 35 for generating sound, a sound generator 33 for generating a sound indicating a detection signal when a part of the vehicle is detected, and a speaker 34 for outputting the sound of the sound generator 33 are provided on the pallet frame or the operation console. Equipped.
The scanning laser device corresponds to a portion including a control circuit 10, a laser diode drive circuit 14, a laser diode 15, a resonant scanner 16, and a mirror 17. The light receiving unit that detects the reflection of the laser light emitted from the scanning laser device corresponds to a portion that includes the light receiving element 18 and the amplifier 19. The storage means corresponds to the RAM 11. The background distance data acquisition unit corresponds to the output 19 of the amplifier 19, the distance calculation unit 20, and the control circuit 10. The vehicle protrusion detection unit corresponds to the output 19 of the amplifier 19, the distance calculation unit 20, the short distance comparison unit 21, the long distance comparison unit 22, the control circuit 10, the detection signal output unit 23, and the detection signal output circuit 28.

The laser beam emitted from the laser diode 15 of the scanning laser distance sensor 1 is reflected by a mirror 17 attached to the resonant scanner 16 and reciprocating, and is emitted within the range of the angle θ as shown in FIG. Scan between point A and point D. When the memory button 35 is pressed, the memory signal is sent to the control circuit 10 via the memory signal input circuit 30 and the memory signal input unit 25, and the control circuit 10 starts the memory distance measurement (steps in FIG. 1). The laser beam reflected by the palette 2 is reflected by the mirror 17 and received by the light receiving element 18. The light amplified by the amplifier 19 is converted into a distance from the time difference between the emission of the laser beam and the received light signal in the distance calculation unit 20 (S2).
FIG. 15 is a chart of the scanning angle (0 to 90 °) and the distance (0 to 5 m) when the reflection intensity from point A to point D of the pallet 2 is sufficient. This distance becomes d1, and is stored in the RAM 11 under the control of the control circuit 10 (S3).
The distance slightly smaller than this background is t1, and the slightly larger distance is t2, and these are also stored in the RAM 11. t1 and t2 are determination reference values for outputting a detection signal when the distance of the object is smaller than t1 or larger than t2.
Thereafter, the warehousing gate 3 opens and the vehicle 4 enters the pallet 2 (S4).
When the vehicle 4 stops at a predetermined position and the warehousing button 36 is pressed (S5), the warehousing signal is sent to the control circuit 10 via the warehousing signal input circuit 31 and the warehousing signal input unit 26, and the control circuit 10 detects it. The function is started (S6).

FIG. 8 shows a case where the laser beam emitted from the scanning laser distance sensor 1 is applied to the door mirror 5 of the vehicle 4.
In FIG. 8, when the amount of light reflected from the door mirror 5 is weak, the calculation result in the distance calculation unit 20 is d2 in FIG. The x2 portion of d2 cannot measure the distance because the amount of reflected light is weak, and it is determined that there is no background, that is, a very large distance.
d2 is compared with the determination reference value t1 in the short distance comparison unit 21. Since d2 is larger than the determination reference value t1, the determination result of the short distance comparison unit 21 is not detected (S7).
Next, d2 is compared with the determination reference value t2 in the long distance comparison unit 22 (S8).
Since the distance x2 of the object is larger than the determination reference value t2, the control circuit 10 determines that the vehicle is protruding, and outputs a detection signal from the detection signal output circuit 28 via the detection signal output unit 23 (S9). ). The detection signal is input to the sound generator 33, and a re-entry announcement is made by the speaker 34 (S10).

When the amount of light reflected from the door mirror 5 is sufficient, the calculation result in the distance calculation unit 20 is d3 in FIG. d3 is compared with the determination reference value t1 in the short distance comparison unit 21 (S7).
Here, since the distance of the object is smaller than the determination reference value t1 in the x1 portion of d3, the control circuit 10 determines that the vehicle is protruding, and the detection signal is output from the detection signal output circuit 28 via the detection signal output unit 23. Output (S9).
The detection signal is input to the sound generator 33, and a re-entry announcement is made by the speaker 34 (S10).

FIG. 9 shows a case where the laser beam emitted from the scanning laser distance sensor 1 does not hit the vehicle 4. In this state, the calculation result in the distance calculation unit 20 is d4 in FIG. d4 is compared with the determination reference value t1 in the short distance comparison unit 21.
Since d4 is larger than the determination reference value t1, the determination result of the short distance comparison unit 21 is not detected (S7).
Next, d4 is compared with the determination reference value t2 in the long distance comparison unit 22 (S8).
Since d4 is smaller than the determination reference value t2, the determination result of the long distance comparison unit 22 is not detected (S8). Therefore, the control circuit 10 determines that d4 and d1 coincide with each other, and the detection signal is not output and the warehousing ends. When the measured distance is d3 in FIG. 17, it can be detected even in the conventional example, but in the case of d2 in FIG. 16, it is determined that the determination criterion is only t1 in the conventional example and there is no object nearby. It becomes non-detection.

(Second Embodiment)
FIG. 2 is a block diagram of the scanning laser distance sensor 1 according to the second embodiment of the present invention, FIG. 5 is a flowchart showing the processing of the second embodiment of the present invention, and FIG. It is a figure which shows a state when there is no vehicle in the case where reflection intensity is weak from point E to point F within the scanning range of points.
The scanning laser distance sensor 1 in FIG. 2 has the same function as the components of the scanning laser distance sensor in FIG. 1, and an attention signal output circuit 29 and a confirmation signal input circuit 32 are added to these configurations. Is. Further, the CPU 43 in FIG. 2 has the same function as the components of the CPU in FIG. 1, and the attention signal output unit 24 and the confirmation signal input unit 27 are added to these configurations. In addition to the warehousing button 36, the storage button 35, the sound generator 33 and the speaker 34, a confirmation button 37 is provided on the pallet frame or the operation console.
The scanning laser device, the light receiving unit, the storage unit, and the background distance data acquisition unit correspond in the same manner as in FIG. 1, and the vehicle protrusion detection unit includes the output of the amplifier 19, the distance calculation unit 20, the short distance comparison unit 21, and the long distance. This corresponds to a portion including the comparison unit 22, the control circuit 10, the detection signal output unit 23, the detection signal output circuit 28, the attention signal output unit 24, and the attention signal output circuit 29.

When the memory button 35 is pressed, the memory distance measurement is started (S101 in FIG. 5).
The laser beam reflected by the palette 2 is reflected by the mirror 17 and received by the light receiving element 18. The light amplified by the amplifier 19 is converted into a distance from the time difference between the emission of the laser beam and the received light signal in the distance calculation unit 20 (S102).
FIG. 19 is a chart of the scanning angle and distance in this case. Since the x3 portion cannot measure the distance in the range from the point E to the point F and becomes a large distance, the measurement result is as d5. This distance is stored in the RAM 11 (S103).
The criterion value t3, which is a distance slightly smaller than the background, is the same as t1. The determination reference value t4 for a distance slightly larger than the background is the same as t2 except for the x3 portion, but the x3 portion is excluded from the determination. At this time, since there is a portion x3 that is weak in the reflection intensity of the pallet 2, the attention signal flag is set (S104, S105).
Thereafter, the warehousing gate 3 is opened and the vehicle 4 enters the pallet 2 (S106).
When the vehicle 4 stops at a predetermined position and the warehousing button 36 is pressed (S107), the warehousing signal is sent to the control circuit 10 via the warehousing signal input circuit 31 and the warehousing signal input unit 26, and the control circuit 10 detects it. The function is started (S108).

FIG. 11 shows a case where the laser beam emitted from the scanning laser distance sensor 1 is applied to the door mirror 5 of the vehicle 4.
When the amount of light reflected from the door mirror 5 is weak, the calculation result in the distance calculation unit 20 is d6 in FIG. d6 is compared with the determination reference value t3 in the short distance comparison unit 21. Since d6 is larger than the determination reference value t3, the determination result of the short distance comparison unit 21 is not detected (S109).
Next, d6 is compared with the determination reference value t4 in the long distance comparison unit 22.
Here, since the points B to C of d6 are included from the points E to F and the x3 portion is excluded from the determination reference value t4, the control circuit 10 determines that d6 is smaller than t4 and the determination result is not detected. (S112). Here, since the attention signal flag is set, the attention signal is output from the attention signal output circuit 29 via the attention signal output unit 24 (S113, S114).
The caution signal is input to the sound generator 33 and a caution announcement is made by the speaker 34 (S115).
Here, when the driver visually confirms the protrusion and presses the confirmation button 37, the confirmation signal is sent to the control circuit 10 via the confirmation signal input circuit 32 and the confirmation signal input unit 27, and the control circuit 10 is careful. Announcement is stopped and warehousing ends (S116, S117).

In FIG. 11, when the amount of light reflected from the door mirror 5 is sufficient, the calculation result in the distance calculation unit 20 is d7 in FIG. d7 is compared with the determination reference value t3 in the short distance comparison unit 21 (S109).
Here, since the distance of the object is smaller than the determination reference value t3 in the x4 portion of d7, the control circuit 10 determines that the vehicle protrudes and outputs the detection signal from the detection signal output circuit 28 via the detection signal output unit 23. (S110).
The detection signal is input to the sound generator 33, and a re-entry announcement is made by the speaker 34 (S111).

FIG. 12 shows the case where the vehicle 4 enters the state of FIG. 10 and the laser beam of the scanning laser distance sensor is applied to the door mirror 5 from the point G to the point H other than the point E to the point F.
When the amount of light reflected by the door mirror 5 is weak, the calculation result in the distance calculation unit 20 is d8 in FIG. 22 (S108).
d8 is compared with the determination reference value t3 in the short distance comparison unit 21. Since d8 is larger than the determination reference value t3, the determination result of the short distance comparison unit 21 is not detected (S109).
Next, d8 is compared with the determination reference value t4 in the long distance comparison unit 22 (S112).
Since the distance x5 of the object is greater than the determination reference value t4, the control circuit 10 determines that the vehicle is protruding, and outputs a detection signal from the detection signal output circuit 28 via the detection signal output unit 23 (S110). ).
The detection signal is input to the sound generator 33, and a re-entry announcement is made by the speaker 34 (S111).

FIG. 13 shows a case where the vehicle 4 enters the state of FIG. 10 and is not exposed to the laser beam of the scanning laser distance sensor 1.
The calculation result in the distance calculation unit 20 is d9 in FIG.
d9 is compared with the determination reference value t3 in the short distance comparison unit 21. Since d9 is larger than the determination reference value t3, the determination result of the short distance comparison unit 21 is not detected (S109).
Next, d9 is compared with the determination reference value t4 in the long distance comparison unit 22. At this time, since the x3 portion is excluded from the determination reference value t4, it is determined that d9 is smaller than the determination reference value t4, and the determination result of the long distance comparison unit 22 is not detected (S112).
At this time, since the attention signal flag is set, the control circuit 10 outputs the attention signal from the attention signal output circuit 29 via the attention signal output unit 24 (S113, S114).
The caution signal is input to the sound generator 33 and a caution announcement is made by the speaker 34 (S115).
Here, when the driver visually confirms the protrusion and presses the confirmation button 37, the confirmation signal is sent to the control circuit 10 via the confirmation signal input circuit 32 and the confirmation signal input unit 27, and the control circuit 10 is careful. Announcement is stopped and warehousing ends (S116, S117).

Table 1 and Table 2 summarize the above detection states in comparison with the conventional example.

(Third embodiment)
FIG. 3 is a block diagram of the scanning laser distance sensor 1 according to the third embodiment of the present invention, and FIG. 6 is a flowchart showing the processing of the third embodiment of the present invention.
The third embodiment outputs a detection signal 1 when the measured distance when the vehicle is smaller than the stored distance in the first embodiment, and detects when the measured distance when the vehicle is larger than the stored distance. Signal 2 is output. A detection signal 2 output unit 39 and a detection signal 2 output circuit 41 are connected to the detection signal output of the control circuit 10 and a detection signal 2 indicator 42 is provided.
During operation for detecting a vehicle, as in the first embodiment, the short distance comparison unit 21 compares the determination reference value t1, and the long distance comparison unit 22 compares the determination reference value t2.

The third embodiment is effective at the time of inspection.
FIG. 7 is an image diagram in which the scanning laser distance sensor 1 is installed on the pallet 2 in the multilevel parking garage, and shows a state in which there is no vehicle.
When the storage button 35 is pressed in the state of FIG. 7, the storage distance measurement is started (S201 in FIG. 6). FIG. 15 is a chart of the scanning angle and distance when the reflection intensity from point A to point D of the pallet 2 is sufficient. This distance becomes d1 and is stored in the RAM 11 (S202, 203).
The distance slightly smaller than this background is t1, and the slightly larger distance is t2, and these are also stored in the RAM 11. t1 and t2 are determination reference values for outputting a detection signal when the distance of the object is smaller than t1 or larger than t2.

FIG. 14 shows a state in which the sample 6 is placed closer to the scanning laser distance sensor 1 than the pallet 2.
When the warehousing gate is opened and the light receiving window of the scanning laser distance sensor 1 is in a clean state, the sample 6 having the bare reflectance that can measure the distance is placed closer to the scanning laser distance sensor 1 than the pallet 2 (S204). ).
When the warehousing button 36 is pressed (S205), the warehousing signal is sent to the control circuit 10 via the warehousing signal input circuit 31 and the warehousing signal input unit 26, and the control circuit 10 starts the detection function (S206).
In the state of FIG. 14, the calculation result in the distance calculation unit 20 is d10 in FIG.
d10 is compared with the determination reference value t1 in the short distance comparison unit 21. Since d10 is smaller than the determination reference value t1 in the x6 portion, the determination result of the short distance comparison unit 21 is detection, and the control circuit 10 outputs the detection signal 1 from the detection signal 1 output circuit 40 via the detection signal 1 output unit 38. (S207, S208). Next, d10 is compared with the determination reference value t2 in the long distance comparison unit 22. Since d10 is smaller than the determination reference value t2, the determination result of the long distance comparison unit 22 is not detected, and the control circuit 10 does not output the detection signal 2 (S209).
At this time, since the detection signal 1 is output, the control circuit 10 announces re-entry with the sound generator 33 and the speaker 34 (S210, S213).

When the light receiving window of the scanning laser distance sensor 1 is dirty, as shown in FIG. 14, the warehousing gate is opened, and the sample 6 with the bare reflectance that can measure the distance is removed from the pallet 2. It is installed in a place close to 1 (S204).
When the warehousing button 36 is pressed (S205), the warehousing signal is sent to the control circuit 10 via the warehousing signal input circuit 31 and the warehousing signal input unit 26, and the control circuit 10 starts the detection function (S206).
The calculation result in the distance calculation unit 20 in the state of FIG. 14 is d11 in FIG.
The x8 portion is a place where the distance measurement cannot be performed because the received light signal becomes weak due to contamination of the light receiving window of the scanning laser distance sensor 1.
d11 is compared with the determination reference value t1 in the short distance comparison unit 21. Since d11 is smaller than the determination reference value t1 at the x7 portion, the determination result of the short distance comparison unit 21 is detected, and the detection signal 1 is output from the detection signal 1 output circuit 40 via the detection signal 1 output unit 38 (S207, S208).

Next, d11 is compared with the determination reference value t2 in the long distance comparison unit 22. Since d11 is larger than the determination reference value t2 in the x8 portion, the determination result of the long distance comparison unit 22 is detection, and the control circuit 10 outputs the detection signal 2 from the detection signal 2 output circuit 41 via the detection signal 2 output unit 39. (S209, S211).
The detection signal 2 indicator 42 is turned on by the detection signal 2 (S212).
From the detection signal 2 display, it can be confirmed that the light receiving window of the scanning laser distance sensor 1 is dirty. In addition, an announcement of re-entry by the sound generator 33 and the speaker 34 is also made (S213).
The contamination of the entire light receiving window of the scanning laser distance sensor 1 can be confirmed by installing the sample 6 in the scanning range θ of the scanning laser distance sensor 1, that is, in the entire range from point A to point D on the pallet 2. I can do it.
In the above embodiment, the example in which the scanning laser distance sensor is installed at the upper position of the vehicle has been described. However, even if the distance sensor is installed at the front position or the rear position of the vehicle, the same effect can be obtained. Can do.

  This is a scanning laser distance sensor device that detects a vehicle protrusion in a three-dimensional parking lot.

1 Scanning Laser Distance Sensor 2 Pallet 3 Storage Gate 4 Vehicle 5 Door Mirror 10 Control Circuit 11 RAM
12 ROM
13 EEPROM
DESCRIPTION OF SYMBOLS 14 Laser diode drive circuit 15 Laser diode 16 Resonant scanner 17 Mirror 18 Light receiving element 19 Amplifier 20 Distance calculation part 21 Short distance comparison part 22 Long distance comparison part 23 Detection signal output part 24 Caution signal output part 25 Storage signal input part 26 Storage signal Input unit 27 Confirmation signal input unit 28 Detection signal output circuit 29 Caution signal output circuit 30 Memory signal input circuit 31 Entry signal input circuit 32 Confirmation signal input circuit 33 Sound generator 34 Speaker 35 Storage button 36 Entry button 37 Confirmation button 38 Detection signal 1 output part 39 detection signal 2 output part 40 detection signal 1 output circuit 41 detection signal 2 output circuit 42 detection signal 2 indicator 43 CPU

Claims (3)

In the sensor device that detects the protruding part from the warehousing range in the mechanical parking lot,
A scanning laser device that is provided above, in front of, or behind the pallet, and scans a predetermined range along the end of the pallet;
A light receiving unit for detecting reflection of laser light emitted by the scanning laser device;
Storage means;
A background distance data acquisition means for measuring the distance to the predetermined range of pallets by the operation of the scanning laser device, and storing the measured distance data in the storage means;
When the vehicle enters the pallet, the distance to the reflecting object is measured by the operation of the scanning laser device, and compared with the distance data stored in the storage means. A vehicle overhang detection unit that outputs a detection signal indicating that there is an overhang portion;
A scanning laser distance sensor device comprising: In the sensor device that detects the protruding part from the warehousing range in the mechanical parking lot,
A scanning laser device that is provided above, in front of, or behind the pallet, and scans a predetermined range along the end of the pallet;
A light receiving unit for detecting reflection of laser light emitted by the scanning laser device;
Storage means;
The distance to the pallet in the predetermined range is measured by the operation of the scanning laser device, and there is distance data to each position of the pallet having a predetermined reflection intensity and a position of the pallet having a reflection intensity smaller than the predetermined reflection intensity. In the case, background distance data acquisition means for storing the distance data in the storage means,
When a vehicle enters the pallet, measure the distance to the reflecting object by the operation of the scanning laser device,
When the reflecting object is in a position where it is reflected at a distance closer to the pallet, or when the reflecting object exists at a position other than the position of the pallet where the reflection intensity is small and has a reflection intensity smaller than a predetermined reflection intensity, Outputs a detection signal indicating the presence of a protruding part of the vehicle,
When the reflective object is in the position of the pallet with the low reflection intensity and the reflection intensity is smaller than the predetermined reflection intensity, or when the reflection object is not different from the distance data of the storage means including the position of the pallet with the low reflection intensity, A vehicle overhang detection unit that outputs a caution signal indicating that there is a possibility that an overhang portion of the vehicle may exist from the warehousing range;
A scanning laser distance sensor device comprising: The scanning laser distance sensor device according to claim 1,
The detection signal output by the vehicle protrusion detection unit is
If the measurement distance when the vehicle enters is smaller than the distance data to the pallet stored in the storage means, the first detection signal is output,
When the distance data to the pallet stored in the storage means is distance data with a predetermined reflection intensity, the second detection signal is output when the reflection intensity of the reflecting object is smaller than the predetermined reflection intensity. Scanning laser distance sensor device.

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