JP2013205352A - System and method for setting installation angle of laser radar apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system for setting an installation angle of a laser radar apparatus, capable of more simply setting a scanning surface of a laser beam in parallel with a ground surface.SOLUTION: A laser radar apparatus 11 capable of inclining a scanning surface of a laser beam in a depression angle direction in a state where a body 11a is attached to a wall surface 3 and capable of changing the scanning surface at 90° is used, and when the scanning surface is included in the depression angle direction, a distance l0a measured by scanning the laser beam at angle 45° in one direction from a reference angle 0° is made equal to a distance l0b measured by scanning the laser beam at the angle 45° in the opposite direction. Then distances l1, l2 up to the ground surface at two scanning angles θ1, θ2 in a state of setting the scanning surface at right angles to the ground surface are respectively measured, and an angle difference θx until the laser beam in a state of a reference angle 0° becomes in parallel with the ground surface 2 is calculated based on the measured results. Then, the scanning surface of the laser beam is rotated by 90° by inclining the body 11a of the laser radar apparatus 11 only by the angle difference θx in a direction of the ground surface 2.

Description

  The present invention relates to a system for setting a scanning plane of a laser beam in a laser radar device in parallel with the ground, and a method for setting an installation angle of the laser radar device.

  As shown in FIG. 12, the laser radar device 1 is generally installed on a wall surface 3 standing on the ground 2 and performs measurement in a state parallel to the ground 2 where the laser beam scanning surface is monitored. It is. However, the ground 2 to be monitored is not necessarily a horizontal plane, and even if the scanning surface of the laser beam is leveled using a level, it may not be parallel to the ground 2. Therefore, at present, as shown in FIG. 13, for example, a plurality of reference measurement objects 4 having the same height h3 are installed, and the laser radar apparatus 4 is installed while confirming whether the objects 4 can be detected by laser scanning. There is a problem that the angle is adjusted and the installation work is complicated.

Patent Document 1 discloses a technique for calculating a position to a target using three laser beams that are parallel at equal intervals.
Japanese Patent No. 3659957

In Patent Document 1, the apparatus is tilted so that two distances a ′ and a ″ measured by applying three laser beams to the wall surface are equal, so that the laser beam is perpendicular to the wall surface. Adjusting is disclosed. In this technique, the laser beam can be made parallel to the ground only when the wall surface is perpendicular to the ground, but the problem is not solved because the wall surface is not necessarily perpendicular to the ground. Therefore, it cannot be said that it is a suitable technique.
In addition, as shown in FIG. 14 (the wall surface 3 is shown in a column shape), the ground 2 is not necessarily inclined in only one direction, and may be inclined in two directions. Will be more difficult to adjust.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an installation angle setting system for a laser radar apparatus and an installation angle setting for a laser radar apparatus that can more easily set a laser beam scanning plane parallel to the ground. It is to provide a method.

  According to the laser radar apparatus installation angle setting system according to claim 1, it is possible to tilt the scanning surface of the laser beam in the depression direction and change it by 90 ° while the main body is installed on the installation surface. The configured laser radar device is used. Then, the user interface means first notifies the user to incline the scanning surface of the laser radar device in the depression direction, and if there is a response indicating that the operation is completed by the user, the laser radar device A distance l0a measured by scanning the laser beam from the reference angle 0 ° in one direction at a predetermined angle θ0, and a distance l0b measured by scanning the laser beam from the reference angle 0 ° in the opposite direction at the predetermined angle θ0. Until the two are equal, the user is informed to tilt the scanning plane.

When the distances l0a and l0b are equal, the user is notified that the scanning surface of the laser beam in the laser radar device is perpendicular to the ground. When there is a work completion response from the user, the laser radar device scans. Of the measured results, the angle difference θx until the laser beam is parallel to the ground in a state where the laser beam is at the reference angle 0 ° is calculated based on the distances l1 and l2 measured at the two scanning angles θ1 and θ2. To do.
Then, the user interface means informs the user that the main body of the laser radar apparatus is tilted by the angle difference θx toward the ground, and when there is a work completion response from the user, the scanning surface of the laser beam in the laser radar apparatus Is informed to the user to rotate 90 °.

  That is, if the ground is inclined in the direction of the laser beam scanning angle ± 90 degrees, the distances l0a and l0b measured with the scanning surface inclined in the depression direction are not equal in length. Therefore, if the scanning plane is inclined so that the distances l0a and l0b are equal, the scanning plane becomes parallel to the direction of the scanning angle ± 90 degrees. Next, by changing the scanning plane by 90 ° and measuring the distances l1 and l2 with respect to the scanning angles θ1 and θ2, the angle difference θx until the laser beam becomes parallel to the ground in the reference angle 0 ° direction can be obtained by calculation. When the angle difference θx is obtained, the laser radar apparatus main body is tilted by the angle difference θx toward the ground surface and the laser beam scanning surface is rotated by 90 ° so that the scanning surface is grounded even in the reference angle 0 ° direction. Parallel. Therefore, the adjustment work can be simplified as compared with the conventional case.

According to the installation angle setting system of the laser radar device according to claim 2, the user interface means sets the predetermined angle θ0 to 45 °, and among the distances l0a and l0b, the shorter distance is l01 and the distance is If the longer one is l02, the target distance angle θA is calculated by the following equation:
θA = tan ⁻¹ (101/102)
The user is informed that the distances l0a and l0b are equal to the distance l0x measured by the laser radar device with respect to the target distance angle θA.

  That is, when the predetermined angle θ0 is 45 °, the angle formed by the scanning line at the distance 102 with respect to the ground is the target distance angle θA, and if the scanning surface of the laser beam is inclined by (45 ° −θA), the scanning surface Is parallel to the ground in the direction of the scanning angle ± 90 degrees. This adjustment is equivalent to adjusting the distances l0a and l0b measured for the scanning angle of 45 ° to be equal to the distance l0x measured for the target distance angle θA. Therefore, since a specific target value is presented to the user, the user can make adjustment more easily.

According to the installation angle setting system of the laser radar device of the third aspect, the user interface means calculates the angle α, which is the difference between the angle θ1 and the angle perpendicular to the ground, by the equation (1).
l1 · cos α = l2 · cos (α + θ1−θ2) (1)
That is, both sides of the formula (1) indicate the length of a perpendicular line that is lowered from the laser beam irradiation point to the ground in the laser radar device. Then, if the angle α is obtained, the angle difference θx until the laser beam at the reference angle becomes parallel to the ground can be calculated by equation (2).

θx = α + θ1-90 ° (2)
According to the installation angle setting system of the laser radar device according to claim 4, since the user interface means tilts the main body of the laser radar device toward the ground by the angle difference θx, the scanning angle of the laser beam is different from the angle θ2. The user is informed that the distance detected when indicating the angle (θ2−θx) that is the difference from θx is adjusted to be the distance l2. By making such adjustment, the user can make adjustment so that the laser beam at the reference angle is parallel to the ground in a state where the scanning plane of the laser beam is perpendicular to the ground.

FIG. 1 is a diagram for explaining a procedure for adjusting an installation angle of a laser radar apparatus according to a first embodiment (part 1); The figure explaining the procedure which adjusts the installation angle of a laser radar apparatus (the 2) (A) plan view, (b) side view with laser radar device installed on wall surface Flow chart showing the adjustment procedure The figure which shows the user interface screen which is displayed on the display of the personal computer (the 1) Figure showing the user interface screen (2) Figure showing the user interface screen (Part 3) FIG. 5 equivalent view showing the second embodiment (part 1) Figure 8 equivalent (part 2) Figure 8 equivalent (part 3) The figure which shows an example of the distance measured in the state where a scanning surface is non-parallel to the ground about a scanning angle ± 90 ° direction Diagram for explaining the prior art (part 1) Diagram for explaining the prior art (2) Diagram for explaining the prior art (No. 3)

(First embodiment)
The first embodiment will be described below with reference to FIGS. Also, the same parts as those in FIG. 12 and FIG. FIGS. 1A, 1B, and 3 show a characteristic configuration of the laser radar device 11 used in this embodiment, and FIGS. 1A and 1B are side views. In a general laser radar device 1, as shown in FIG. 1A, a laser beam is output so that the scanning surface expands in the horizontal direction. The laser radar device 11 can tilt the scanning surface, that is, the output unit 11b with respect to the ground surface 2 in the depression direction, as shown in FIG. 1B, with the main body 11a installed on the wall surface (installation surface) 3. It is comprised so that. 3A is a plan view, and FIG. 3B is a side view similar to FIG. 1, and the laser radar device 11 includes an output unit 11b so that the scanning plane is perpendicular to the ground 2. Is configured to be rotatable by 90 °.

  A personal computer (personal computer, user interface means) 12 is connected to the laser radar device 11 via a communication line 13, and both can communicate with each other via, for example, a serial communication interface. The personal computer 12 is equipped with a user interface program for performing measurement using the laser radar device 11, and outputs a measurement instruction to the laser radar device 11 in accordance with a user's input operation, or by the laser radar device 11. The measurement result is displayed on the display 12D. In addition, the user is notified by displaying a necessary message on the display 12D or by outputting the message via a speaker (not shown).

  Next, the operation of this embodiment, that is, the procedure for adjusting the installation angle of the laser radar device 11 will be described with reference to FIGS. 1, 2, and 4 to 7. FIG. FIG. 1 is a diagram illustrating a procedure for adjusting the installation angle, and FIG. 4 is a flowchart illustrating the procedure. As shown in FIG. 1, it is assumed that the wall surface 3 rises perpendicular to the horizontal, and the ground surface 2 is inclined in the depression direction from the horizontal plane.

  When the user installs the laser radar device 11 on the wall surface 3 standing on the ground 2 where he wants to monitor (S1), the output unit 11b of the laser radar device 11 is then turned down as shown in FIG. Tilt in the direction (S2). Then, the laser radar apparatus 11 is caused to perform scanning in that state (S3). FIG. 1C is a front view of the scanning state performed in step S3. Then, the measurement result (distance measured with respect to the scanning angle) is displayed as a list on the display 12D of the personal computer 12 as shown in FIG. Here, the distance (m) measured at every scanning angle of 0.5 ° is displayed.

  Here, the user pays attention to the distances l0a and l0b measured for a specific scanning angle θ0 (for example, ± 45 °, a predetermined angle) (S4 and S5), and scans until these distances l0a and l0b become equal. Surface, here the main body 11a of the laser radar device 11 is repeatedly scanned while tilting in the direction of the scanning angle ± 90 °, and when the distances l0a and l0b become equal, the main body 11a is fixed to the wall surface 3 while being tilted. (Refer to FIG. 1 (d), S6, first step). FIG. 6 shows a state where the distances l0a and l0b measured at a scanning angle of ± 45 ° are both equal at 2.40 m. Thereby, as shown in FIG.1 (e), the scanning surface of the laser radar apparatus 11 is adjusted so that it may become parallel with the ground, when the said apparatus 11 is seen from a front direction.

  Next, after returning the inclination of the output unit 11b to the depression direction, the user rotates the output unit 11b by 90 ° with respect to the normal use direction, that is, the state shown in FIG. The scanning plane is set to be perpendicular to the ground 2 (S7). In this state, the laser radar apparatus 11 is caused to scan the ground 2. As for the scanning angle, a state in which the laser beam is output in the front direction is set to a reference angle of 0 °, and a direction in which the measurement distance with respect to the ground 2 is shortened from the reference angle here is positive. FIG. 2A shows a state of scanning with a laser beam. The measurement results are displayed as a list on the display 12D of the personal computer 12 as in FIG. 5 (see FIG. 7).

  The user selects appropriate two points with reference to the measurement result. Here, p1 “scanning angle 14.0 °; distance 5.76 m” shown in FIG. 7A and p2 “scanning angle 10.0 °; distance 9.57 m” shown in FIG. 7B are selected. Shall be. Here, the scan angle of p1 corresponds to θ1, the measurement distance corresponds to l1, the scan angle of p2 corresponds to θ2, and the measurement distance corresponds to l2 (S8, S9, second step).

As shown in FIG. 2 (a), an angle formed by a scanning line at a distance l1 from a vertical line standing on the ground surface 2 (a vertical line extending from the laser beam irradiation point in the laser radar device 11 to the ground surface) is α, and the laser at the reference angle. An angle at which the beam is adjusted in the depression direction until the beam is parallel to the ground surface 2 is defined as θx. Then, Expressions (1) and (2) are established from the geometric relationship.
l1 · cos α = l2 · cos (α + θ1−θ2) (1)
θx = α + θ1-90 ° (2)
That is, both sides of the formula (1) indicate the length of the perpendicular line. Then, if the angle α is obtained, the angle difference θx until the laser beam at the reference angle becomes parallel to the ground 2 can be calculated by equation (2). From the equation (1), the angle α is obtained as follows.
l1 · cos α / l2 = cos α · cos (θ1−θ2)
+ Sin α · sin (θ1-θ2)
l1 / l2 = cos (θ1-θ2) + tan α · sin (θ1-θ2)
tan α = {l1 / l2-cos (θ1-θ2)} / sin (θ1-θ2)
α = tan ⁻¹ [{l1 / l2-cos (θ1-θ2)} / sin (θ1-θ2)]

When the user calculates the angle θx for the measurement results of p1 and p2 described above, θx = 4 ° is obtained (S10, third step). As shown in FIG. 2B, when the distance measured when the scanning angle of the laser radar device 11 becomes an angle (θ2−θx) becomes l2, the reference angle of the laser beam is parallel to the ground 2. Become.
θ2-θx = 10 ° -4 ° = 6 °
Therefore, the user tilts the output unit 11b of the laser radar device 11 in the depression direction with respect to the main body 11a, and the distance measured at a scanning angle of 6 ° is 12 = as shown in FIG. It adjusts so that it may be 9.57 m (S11). If adjusted in this way, the reference angle of the laser beam is parallel to the ground surface 2. In this state, if the output unit 11b is rotated 90 ° as shown in FIG. 2C (S12, fourth step). ) The scanning surface of the laser beam is parallel to the ground 2.

  As described above, according to the present embodiment, the laser radar device 11 can tilt the scanning surface of the laser beam in the depression direction and change by 90 ° with the main body 11a installed on the wall surface 3. Adopt the configuration. When the personal computer 12 notifies the user that the scanning plane of the laser radar device 11 is inclined in the depression direction, and the user indicates that the operation has been completed, the personal computer 12 changes the laser beam from the reference angle of 0 °. The scanning plane is tilted until the distance l0a measured by scanning in the direction at an angle of 45 ° is equal to the distance l0b measured by scanning the laser beam at an angle of 45 ° in the opposite direction from the reference angle of 0 °. In this way, the user is notified.

  When the distances l0a and l0b are equal, the distances l1 and l2 to the ground are measured for the two scanning angles θ1 and θ2, respectively, with the scanning plane of the laser beam being perpendicular to the ground 2, and the measurement results are Based on this, the angle difference θx until the laser beam is parallel to the ground 2 in a state where the laser beam is at the reference angle 0 ° is calculated. Then, the main body 11a of the laser radar device 11 is tilted by the angle difference θx in the direction of the ground 2 so that the scanning surface of the laser beam is rotated by 90 °.

  That is, if the ground is inclined with respect to the laser beam scanning angle ± 90 degrees, the distances l0a and l0b measured with the scanning surface tilted in the depression direction are not equal in length, and the distances l0a and l0b are equal. If the scanning surface is tilted so as to become, the scanning surface becomes parallel to the scanning angle ± 90 degrees direction. Next, by changing the scanning plane by 90 ° and measuring the distances l 1 and l 2 with respect to the scanning angles θ 1 and θ 2, the angle difference θx until the laser beam becomes parallel to the ground 2 from the reference angle can be obtained by calculation. If the angle difference θx is obtained, the laser beam scanning surface is changed from the ground 2 by tilting the main body 11a of the laser radar device 11 in the direction of the ground 2 by the angle difference θx and rotating the laser beam scanning surface by 90 °. Parallel. Therefore, the adjustment work can be simplified as compared with the conventional case.

  Then, the angle α, which is the difference between the angle θ1 and the angle perpendicular to the ground 2 is calculated by the equation (1), and the angle difference θx until the laser beam at the reference angle becomes parallel to the ground 2 is calculated by the equation (2). Can be calculated. Further, since the main body 11a is tilted in the direction of the ground 2 by the angle difference θx, the distance detected when the scanning angle of the laser beam shows an angle (θ2−θx) that is the difference between the angle θ2 and the angle difference θx. Since the distance l2 is adjusted, the laser beam at the reference angle can be adjusted to be parallel to the ground 2 in a state where the scanning plane of the laser beam is perpendicular to the ground 2.

(Second embodiment)
8 to 11 show a second embodiment. The same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. Hereinafter, different parts will be described. In the second embodiment, when the installation angle of the laser radar device 11 is adjusted in the same procedure as in the first embodiment, the degree of involvement of the personal computer 12 is further increased to reduce the work burden on the user.

  8 to 10 are examples of user interface screens displayed on the display 12D of the personal computer 12 as in FIGS. First, the personal computer 12 displays a text message such as “Please attach a laser radar” as shown in FIG. The user installs the laser radar device 11 on the wall surface 3 according to the message (S1), and clicks “next” on the screen with a pointing device such as a joypad or a mouse (operation completion response).

  Then, next, as shown in FIG. 8B, a text message such as “tilt the laser radar in the depression direction” is displayed. When the user tilts the output unit 11b in the depression direction according to the message and clicks “Next” on the screen (S2), next, “Start laser scanning as shown in FIG. 8C”. "Is displayed. When the user clicks “Next”, scanning by the laser radar device 11 is started (S3), and the measurement result is displayed as shown in FIG. 8D.

Here, when the scanning angle θ0 is ± 45 ° as in the first embodiment, and when l0a (l01) <l0b (l02) as shown in FIG. The angle formed by the scanning line is defined as θA (target distance angle). At this time,
45 ° + θA = 90 °
If the scanning surface is adjusted so that the scanning surface becomes parallel to the ground, the angle at which the scanning surface is tilted, the tilt angle θB,
θB = 90 ° −45 ° −θA = 45 ° −θA
It becomes.

The angle θA can be calculated by the following equation.
θA = tan ⁻¹ (10a / 10b) (3)
Here, as shown in FIG. 11, if l0a = 2.08 m and l0b = 2.96 m,
θA = tan ⁻¹ (2.08 / 2.96) = 35 [deg]
So,
θB = 45 ° −35 ° = 10 °
It becomes.

  That is, if the measured distances l0a and l0b at the scanning angle ± 45 ° are equal to the distance of 2.40 m (distance l0x) currently measured at the scanning angle of 35 °, the angle of the scanning surface is inclined by 10 °. become. Therefore, for example, as shown in FIG. 9A, the personal computer 12 has an angle of 45 ° with a message “Adjust the mounting angle of the laser radar so as to be the display distance at the display angle”. The target adjustment distance 2.40 m is displayed. When the user completes the adjustment and clicks “Next” (the above processing is equivalent to S4 to S6), the personal computer 12 returns to the laser scanning surface by returning the inclination in the depression direction, for example, as shown in FIG. The message “Please rotate the 90 ° laser radar” is displayed (S7).

  Subsequently, as shown in FIGS. 9C and 9D, the personal computer 12 displays a message for causing the user to select θ1 and θ2 as the measurement result is displayed. “Enter θ1”, “Enter θ2”, etc. For example, when the user selects θ1 = 15 ° from FIG. 9C, selects θ2 = 10 ° from FIG. 9D, and clicks “Next” on each screen, the personal computer 12 Similar to the first embodiment, the angle difference θx is calculated according to the formulas (1) and (2) according to the selection result, and the result of calculating the angle (θ2−θx) is shown in FIG. indicate.

  In this case, the angle (θ2−θx) = 6 °. For example, “Adjust the laser radar mounting angle so that the display distance (l2 = 9.57 m) at the display angle (6 °). Is displayed (S11). When the user adjusts the angle of the output unit 11b according to the message and clicks “Next”, the personal computer 12 displays a text message such as “Please rotate the laser radar 90 °” as shown in FIG. Is displayed. When the user rotates the output unit 11b by 90 ° according to the message (S12) and clicks “end” on the screen, the process is ended.

  As described above, according to the second embodiment, the personal computer 12 calculates the target distance angle θA from the distances l0a and l0b measured at the scanning angle θ0 = ± 45 ° by the equation (3), and the target distance angle θA is calculated. The user is notified that the distances l0a and l0b are equal to the distance l0x measured by the laser radar device 11. That is, when the predetermined angle θ0 is 45 °, the angle formed by the scanning line at the distance 102 with respect to the ground is the target distance angle θA, and if the scanning surface of the laser beam is inclined by (45 ° −θA), the scanning surface Is parallel to the ground in the direction of the scanning angle ± 90 degrees. This adjustment is equivalent to adjusting the distances l0a and l0b measured at the scanning angle ± 45 ° to be equal to the distance l0x measured for the target distance angle θA. Therefore, since a specific target value is presented to the user, the user can make adjustment more easily.

  In addition, the personal computer 12 notifies the user that the scanning surface of the laser beam in the laser radar device 11 is perpendicular to the ground 2, and when there is a work completion response from the user, the measurement performed by the laser radar device 11 is scanned. Of the results, the angle difference θx is calculated based on the distances l1 and l2 measured for the two scanning angles θ1 and θ2. Then, the user is informed that the main body 1a of the laser radar device 11 is tilted by the angle difference θx toward the ground, and when there is a work completion response, the user is prompted to rotate the laser beam scanning plane by 90 °. To inform.

  That is, since the personal computer 12 calculates the angle difference θx, the user does not need to perform the calculation. Then, by referring to the user interface screen displayed on the display 12D and performing a procedure according to the notified message, the laser beam scanning plane can be easily adjusted to be parallel to the ground surface 2. Further, the personal computer 12 is detected when the scanning angle of the laser beam indicates an angle (θ2−θx) which is a difference between the angle θ2 and the angle difference θx in order to tilt the main body 11a toward the ground by the angle difference θx. The user is notified that the distance to be adjusted becomes the distance l2. Therefore, if the user performs such adjustment, the laser beam at the reference angle can be adjusted to be parallel to the ground 2 in a state where the scanning plane is perpendicular to the ground 2.

The present invention is not limited to the embodiments described above or shown in the drawings, and the following modifications or expansions are possible.
Similarly, when the ground is inclined in the elevation direction from the horizontal plane, the angle difference θx (sign is negative) can be obtained.
When adjusting the angle of the laser beam, the angle at which the main body 11a of the laser radar device 11 is attached to the wall surface 3 may be adjusted.
The scanning angle need not be in units of 0.5 °. Further, the predetermined angle θ0 is not limited to 45 °.

In the second embodiment, the personal computer 12 may automatically select an appropriate measurement point and calculate the angle difference θx without causing the user to select θ1 and θ2.
In addition, the instruction message in FIG. 10A in the second embodiment may be “Please tilt the output unit 4 ° (= θx) toward the ground.” If the user makes an adjustment according to the instruction, Good. The same adjustment may be made for the first embodiment.
The user interface means does not have to be a personal computer, and may be a dedicated device for the laser radar device. User interface means may be provided in the main body of the laser radar device.

  Reference numeral 2 denotes the ground, 3 denotes a wall surface (grounding surface), 11 denotes a laser radar device, 11a denotes a main body, 11b denotes an output unit, and 12 denotes a personal computer (user interface means).

Claims (8)

With the main body installed on the installation surface, the scanning surface of the laser beam can be tilted in the depression direction, and the scanning surface can be changed by 90 °, and the reflected light irradiated with the laser beam is received. A laser radar device for measuring the distance and angle to the object,
The measurement result by the laser radar device and the work instruction message are notified to the user, and configured by user interface means for executing arithmetic processing based on the measurement result,
The user interface means informs a user to incline the scanning plane in the laser radar device in the depression direction;
When there is a response indicating that the user has completed the work, the laser radar apparatus scans the laser beam from a reference angle 0 ° in one direction at a predetermined angle θ0, and the distance l0a is measured. Informing the user to tilt the scanning surface until the distance l0b measured by scanning the beam from the reference angle 0 ° in the opposite direction at the predetermined angle θ0 is equal,
When the distances l0a and l0b are equal, the user is informed to make the scanning plane perpendicular to the ground,
When there is a response indicating that the work is completed by the user, based on the distances l1 and l2 measured for two scanning angles θ1 and θ2 (θ1> θ2) among the measurement results scanned by the laser radar device. And calculating an angle difference θx until the laser beam is parallel to the ground in a state where the laser beam is at a reference angle of 0 °,
Informing the user that the main body of the laser radar device is tilted toward the ground by the angle difference θx,
An installation angle setting system for a laser radar apparatus, which notifies a user to rotate the scanning plane by 90 ° when a response indicating that the work is completed is made by the user. The user interface means sets the predetermined angle θ0 to 45 °, and calculates the target distance angle θA by the following equation, assuming that the shorter one of the distances l0a and l0b is l01 and the longer distance is l02. And
θA = tan ⁻¹ (101/102)
2. The installation angle setting of the laser radar device according to claim 1, wherein the user is notified so that the distances l0a and l0b are equal to the distance l0x measured by the laser radar device with respect to the target distance angle θA. system. The user interface means calculates an angle α, which is a difference between the angle θ1 and an angle perpendicular to the ground, by the equation (1),
l1 · cos α = l1 · cos (α + θ1−θ2) (1)
3. An installation angle setting system for a laser radar device according to claim 1, wherein the angle difference θx is calculated by the equation (2).
θx = α + θ1-90 ° (2)   Since the user interface means tilts the main body of the laser radar device toward the ground by the angle difference θx, the scanning angle of the laser beam is detected when the difference between the angle θ2 and the angle difference θx is shown. The installation angle setting system for a laser radar device according to any one of claims 1 to 3, wherein the user is notified that the distance to be adjusted is the distance l1. A laser radar device that measures a distance and an angle to an object by receiving reflected light irradiated with a laser beam is installed on an installation surface standing on the ground, and the laser beam scanning surface is placed on the ground surface. Which is set in parallel with
Using the laser radar device that is capable of inclining the scanning surface of the laser beam in the depression direction and changing the scanning surface by 90 ° while being installed on the installation surface,
With the scanning plane tilted in the depression angle direction, the laser radar device scans the laser beam from a reference angle 0 ° in one direction at a predetermined angle θ0 and the laser beam is measured. A first step of inclining the scanning plane until a distance l0b measured by scanning at a predetermined angle θ0 in the opposite direction from a reference angle of 0 ° is equal;
A second step of measuring the distances l1 and l2 to the ground for two scanning angles θ1 and θ2 (θ1> θ2), respectively, with the scanning plane being perpendicular to the ground;
A third step of calculating an angle difference θx until the laser beam is parallel to the ground in a state where the laser beam is at a reference angle of 0 ° based on the measurement result;
An installation angle setting method for a laser radar device, comprising: a fourth step of tilting the main body of the laser radar device toward the ground by the angle difference θx and rotating the scanning plane by 90 °. In the first step, when the predetermined angle θ0 is set to 45 °, and the distance l0a, l0b is set to be the shortest distance is l01, and the longest distance is l02, the target distance angle θA is calculated by the following equation. And
θA = tan ⁻¹ (101/102)
6. The installation angle of the laser radar apparatus according to claim 5, wherein the scanning plane is inclined so that the distances l0a and l0b are equal to a distance l0x measured by the laser radar apparatus with respect to the target distance angle θA. Setting method. In the third step, an angle α, which is a difference between the angle θ1 and an angle perpendicular to the ground, is calculated according to the equation (1),
l1 · cos α = l2 · cos (α + θ1−θ2) (1)
7. The laser radar apparatus installation angle setting method according to claim 5, wherein the angle difference θx is calculated by the equation (2).
θx = α + θ1-90 ° (2)   In the third step, the laser beam scanning angle is adjusted so that the distance detected when the difference between the angle θ2 and the angle difference θx is the distance l2. 8. An installation angle setting method for a laser radar device according to any one of 5 to 7.

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