JP2016031236A - Laser radar device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a laser radar device that can measure the installed position and the installed angle of a scanner in real time without requiring to install a target for calibration outside the laser radar device.SOLUTION: A window 5 in which a plurality of markers 6 reflecting laser beams is arrayed is arranged in a position through which laser beams radiated from a scanner 3 pass. A positional angle identifying part 12 acquires from a distance intensity image generated by a distance intensity image generating part 11 the distance values Land positional coordinates (x, y) of the plurality of markers 6, and identifies the installed position δand the installed angle θof the scanner 3 on the basis of the acquired distance values Land positional coordinates (x, y).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a laser radar device that generates an image of a measurement object.

The laser radar device irradiates the measurement object with the laser light while the scanner scans the laser light emitted from the light source, and receives the reflected light of the laser light returned by the measurement object. Then, the distance to the measurement object is calculated.
In addition, the laser radar device identifies the direction in which the measurement object exists from the laser light irradiation direction by the scanner, and measures based on the distance to the measurement object and the direction in which the measurement object exists. A distance image indicating the distance and position to the object is generated.

However, if there is a deviation in the scanner installation position or installation angle, the exact direction in which the measurement object exists cannot be specified, and the distance image will be distorted. If the installation angle can be measured, distortion occurring in the distance image can be corrected.
Factors that cause the scanner installation position and installation angle to deviate include, for example, vibrations and pressures applied to the laser radar apparatus, and changes in the external environment such as temperature changes.

In Patent Document 1 below, in order to measure the installation position and installation angle of a scanner, a calibration target having a reflector with a known shape and a high reflectance is installed at a known position (outside the laser radar device). An example is disclosed.
When the laser radar device emits laser light to the calibration target and the light receiving element detects the reception level of the reflected light of the laser beam returned to the calibration target, the laser radar device calibrates from the reception level of the reflected light. The center position of the target is obtained.
If the center position of the calibration target is obtained as in Patent Document 1, the installation position and the installation angle of the scanner can be specified, and distortion occurring in the distance image can be corrected.

JP 2010-151682 A (paragraph number [0012], FIG. 8)

Since the conventional laser radar apparatus is configured as described above, if the calibration target can be installed at a known position, the installation position and installation angle of the scanner can be measured. There is a problem that the installation position and the installation angle of the scanner cannot be measured in a use environment where it cannot be installed outside the radar apparatus.
Moreover, since the installation position of the calibration target needs to be a known position, the place where the installation position and the installation angle of the scanner can be measured is limited to a specific place, and the laser radar device moves in a vehicle or the like. There is a problem that the installation position and the installation angle of the scanner cannot be measured in real time under the condition that it is mounted on the body and constantly moving.

  The present invention has been made to solve the above-described problems, and provides a laser radar device that can measure the installation position and installation angle of a scanner in real time without installing a calibration target outside. With the goal.

  A laser radar device according to the present invention includes a light source that emits laser light, a scanner that emits laser light toward a measurement object while scanning the laser light emitted from the light source, and the laser light emitted from the scanner. A window in which a plurality of markers that reflect laser light are arranged, a light receiving means that receives reflected light of the laser light reflected by the measurement object and the plurality of markers, and laser light from the scanner From the time difference between the time when the light is emitted and the time when the reflected light is received by the light receiving means, the distance to the position where the laser light is reflected is calculated, and based on the distance and the radiation direction of the laser light by the scanner, An image generation unit that generates a distance image indicating a distance to a position where the laser beam is reflected and a coordinate of the position where the laser beam is reflected is provided, and the position angle specifying unit generates the image. The distance from the distance image generated by the stage and the position coordinates of the plurality of markers are acquired, and the installation position and the installation angle of the scanner are specified based on the acquired distance and position coordinates. is there.

  According to the present invention, the window in which a plurality of markers that reflect the laser beam are arranged is arranged at a position where the laser beam emitted from the scanner passes, and the position angle specifying unit generates the distance image generated by the image generating unit. Since the scanner is configured to identify the installation position and the installation angle of the scanner based on the obtained distance and position coordinates, the distance from the marker to the plurality of markers and the position coordinates of the plurality of markers are externally set. There is an effect that the installation position and the installation angle of the scanner can be measured in real time without installation.

It is a block diagram which shows the laser radar apparatus by Embodiment 1 of this invention. It is a block diagram which shows the signal processing part 8 of the laser radar apparatus by Embodiment 1 of this invention. It is explanatory drawing which shows the window where the some marker 6 which reflects a laser beam was located in a line. It is explanatory drawing which shows an example of the distance intensity | strength image produced | generated by the distance measurement object space and the distance intensity | strength image generation part 11. FIG. It is a flowchart which shows the processing content of the position angle specific | specification part 12 of the laser radar apparatus by Embodiment 1 of this invention. It is explanatory drawing which shows the search process of the table using (chi) ² method. It is explanatory drawing which shows the radiation | emission direction of a laser beam when a change arises in the installation position and installation angle of the scanner. It is a block diagram which shows the laser radar apparatus by Embodiment 2 of this invention. It is a block diagram which shows the signal processing part 23 of the laser radar apparatus by Embodiment 2 of this invention. 6 is an explanatory diagram showing the intensity of reflected light of laser light reflected on the inner wall of the window 5 corresponding to the scanning angle of the scanner 3. FIG. It is explanatory drawing which shows the search process of the table using (chi) ² method. It is a block diagram which shows the other laser radar apparatus by Embodiment 2 of this invention. It is a block diagram which shows the other laser radar apparatus by Embodiment 2 of this invention. It is a block diagram which shows the signal processing part 8 of the laser radar apparatus by Embodiment 3 of this invention. It is explanatory drawing which shows the relationship of the distance value of the marker 6 corresponding to the scanning angle of the scanner 3. FIG.

Embodiment 1 FIG.
1 is a block diagram showing a laser radar apparatus according to Embodiment 1 of the present invention.
In FIG. 1, a laser light source 1 includes a light source that emits laser light and an optical system such as a lens and a mirror that shapes the laser light emitted from the light source.
The folding mirror 2 is an optical component that reflects the laser light emitted from the laser light source 1 toward the scanner 3 and guides the reflected light of the laser light that has been reflected back to the measurement object and the like to the light receiving element 7.
The scanner 3 emits the laser light toward the measurement object while scanning the laser light emitted from the laser light source 1 under the instruction of the control unit 4.
The control unit 4 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted or a one-chip microcomputer, and controls the frequency of laser light emitted from the laser light source 1 and the scanning speed of the scanner 3 (scanner). 3) is controlled.

The window 5 is a spherical window disposed at a laser light emission port (a position through which the laser light emitted from the scanner 3 passes) by the scanner 3, and the window 5 transmits the laser light emitted from the scanner 3. Consists of materials such as glass and plastic. A plurality of markers 6 that reflect the laser light emitted from the scanner 3 are arranged in the window 5.
After the laser beam is emitted from the scanner 3, the light receiving element 7 receives the reflected light of the laser beam that has been reflected back to the measurement object, converts the reflected light into an electrical signal, and a plurality of markers 6. The reflected light of the laser light reflected and returned is received, and the reflected light is converted into an electric signal. The light receiving element 7 constitutes a light receiving means.

The signal processing unit 8 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like, and the distance to the measurement object and the plurality of markers 6 (the distance to the position where the laser beam is reflected). ) And a process for generating a distance intensity image indicating the coordinates of the positions of the measurement object and the plurality of markers 6, a process for specifying the installation position and installation angle of the scanner 3, and a process for correcting the distance intensity image.
FIG. 2 is a block diagram showing the signal processing unit 8 of the laser radar apparatus according to Embodiment 1 of the present invention.
In FIG. 2, the distance intensity image generation unit 11 determines the distance to the measurement object and the plurality of markers 6 from the time difference between the time when the laser light is emitted from the scanner 3 and the time when the reflected light is received by the light receiving element 7. And the distance to the measurement object and the plurality of markers 6 and the distance to the measurement object and the plurality of markers 6 and the measurement object and the plurality of markers 6 are calculated based on the distance to the measurement object and the plurality of markers 6 and the radiation direction of the laser beam from the scanner 3. A process for generating a distance intensity image indicating the coordinates of the position is performed. The distance intensity image generation unit 11 constitutes an image generation unit.
In the first embodiment, an example is shown in which the distance intensity image generation unit 11 generates a distance intensity image including signal intensity information at a position where the measurement object and the marker 6 exist, but does not include signal intensity information. A distance image may be generated.

The position angle specifying unit 12 acquires the distance to the plurality of markers 6 and the position coordinates of the plurality of markers 6 from the distance intensity image generated by the distance intensity image generating unit 11, and the scanner based on the acquired distances and position coordinates. 3 is performed to specify the installation position and the installation angle.
That is, the position angle specifying unit 12 records in advance the correspondence between the installation position and installation angle of the scanner 3, the distance to the plurality of markers 6 arranged in the window 5, and the position coordinates of the plurality of markers 6. A table is held, and the distance and position coordinates acquired from the distance intensity image generated by the distance intensity image generator 11 are collated with the table, and the installation position and the installation angle of the scanner 3 are specified. To do. The position angle specifying unit 12 constitutes a position angle specifying unit.
The distance intensity image correcting unit 13 performs a process of correcting distortion of the distance intensity image generated by the distance intensity image generating unit 11 based on the installation position and installation angle of the scanner 3 specified by the position angle specifying unit 12. The distance intensity image correction unit 13 constitutes image distortion correction means.

Next, the operation will be described.
The laser light source 1 emits laser light having a frequency indicated by the control unit 4.
When the laser light source 1 emits laser light, the folding mirror 2 reflects the laser light to the scanner 3 side.
Upon receiving the laser beam reflected by the folding mirror 2, the scanner 3 emits the laser beam toward the measurement object while scanning the laser beam under the instruction of the control unit 4.

The laser light emitted from the scanner 3 passes through the window 5 and irradiates the measurement object. Since the window 5 has a plurality of markers 6 that reflect the laser light, the marker 6 is irradiated. The laser beam reflected by the marker 6 returns to the scanner 3 side.
Here, FIG. 3 is an explanatory diagram showing a window 5 in which a plurality of markers 6 that reflect laser light are arranged.
In the example of FIG. 3, circular markers 6 having a diameter r _i are arranged on the inner wall of the window 5 in a known arrangement pattern of a × b at a known interval d _ij (i ≠ j). i represents the label of the marker 6, and _dij represents the distance between different markers.

For example, when the scanner 3 is installed at the center of curvature of the window 5 having a spherical shape, the distance from the scanner 3 to each marker 6 is equal, so the distance value of each marker 6 (up to the marker 6). (Value indicating distance) is equal. For this reason, when the distance value of each marker 6 is expressed on the distance intensity image, the arrangement pattern of the markers appearing in the distance intensity image is symmetric with respect to the origin (image center).
However, if a deviation occurs in the installation position and installation angle of the scanner 3 and the installation position of the scanner 3 deviates from the center of curvature of the window 5, a difference occurs in the distance from the scanner 3 to each marker 6. The distance values are not equal, and the marker arrangement pattern appearing in the distance intensity image is not symmetric with respect to the origin.

After being emitted from the scanner 3, a part of the laser light transmitted through the window 5 is reflected by the measurement object and returns to the laser radar device. The reflected light of the laser beam that has returned to the laser radar apparatus reaches the light receiving element 7 via the folding mirror 2.
Further, the laser light emitted from the scanner 3 to the position where it hits the marker 6 arranged in the window 5 is reflected by the marker 6. The reflected light of the laser light reflected by the marker 6 also reaches the light receiving element 7 via the folding mirror 2.

式（１）において、Ｃは光速である。
なお、スキャナ３からレーザ光が放射された時刻ｔ_１は、スキャナ３がレーザ光を放射する際、受光素子７が折り返し用ミラー２から内部参照用光を受光して、その内部参照用光の受信信号を距離強度画像生成部１１に出力するようにして、その受信信号が出力された時刻から特定しても良い。
また、受光素子７により反射光が受光された時刻ｔ_２は、受光素子７から反射光の受信信号が出力された時刻から特定することができる。 When the light receiving element 7 receives the reflected light of the laser beam reflected by the measurement object or the marker 6, the light receiving element 7 converts the reflected light into an electric signal and outputs the electric signal to the signal processing unit 8 as a received signal. To do.
When the distance intensity image generation unit 11 of the signal processing unit 8 receives the reception signal from the light receiving element 7, the time t ₁ when the laser beam is emitted from the scanner 3 and the light receiving element as shown in the following formula (1): The distance value L indicating the distance to the measurement object or the marker 6 is calculated from the time difference τ (= t ₂ −t ₁ ) from the time t ₂ when the reflected light is received by 7.

In the formula (1), C is the speed of light.
At time t ₁ when the laser light is emitted from the scanner 3, when the scanner 3 emits the laser light, the light receiving element 7 receives the internal reference light from the folding mirror 2, and the internal reference light The reception signal may be output to the distance intensity image generation unit 11 and specified from the time when the reception signal is output.
The time t ₂ when the reflected light is received by the light receiving element 7, can be identified from the time when the received signal of the reflected light output from the light receiving element 7.

  The distance intensity image generation unit 11 calculates the distance value L of the measurement object or the marker 6 every time the scanner 3 scans the laser beam. For example, if the scanning of the laser beam by the scanner 3 is a two-dimensional scan, When the scanning of the laser light from the upper left region to the lower right region in the predetermined distance measurement target space is completed, a two-dimensional distance value L in the distance measurement target space is obtained. The distance intensity image (the distance to the measurement object and the marker 6 and the measurement object and the marker 6 are present based on the distance value L at the time and the scanning angle (laser beam emission direction) of the scanner 3 at the time of scanning. And an image showing the signal intensity at the position where the measurement object and the marker 6 exist). Since the distance intensity image generation process itself is a known technique, a detailed description thereof will be omitted.

Here, FIG. 4 is an explanatory diagram illustrating an example of the distance measurement target space and the distance intensity image generated by the distance intensity image generation unit 11.
4A shows a distance intensity image before the installation position and the installation angle of the scanner 3 change, and FIG. 4B shows a distance intensity image after the installation position and the installation angle of the scanner 3 change. Is shown.
Since the plurality of markers 6 are arranged on the inner wall of the window 5, the arrangement pattern of the plurality of markers 6 appears in the distance intensity image generated by the distance intensity image generation unit 11.

Here, the change in the distance value and position coordinate of the plurality of markers 6 arranged in the window 5 and the change in the installation position and installation angle of the scanner 3 correspond as follows.
(1) When there is no change in the distance value of the marker 6 and there is no change in the position coordinate of the marker 6, the installation position and the installation angle of the scanner 3 are not changed.
(2) When there is no change in the distance value of the marker 6, but there is a change in the position coordinate of the marker 6,
There is a change in the installation angle of the scanner 3.
(3) If the distance value of the marker 6 has changed, but the position coordinate of the marker 6 has not changed,
There is a change in the installation position of the scanner 3.
(4) When the distance value of the marker 6 has changed and the position coordinate of the marker 6 has changed, the installation position or the installation angle of the scanner 3 has changed.

4A shows the distance intensity image before the installation position and the installation angle of the scanner 3 are changed, as described above, the distance when the installation position and the installation angle of the scanner 3 are not changed. It is a distance intensity image generated by the intensity image generation unit 11.
When the installation position of the scanner 3 is moved in the direction perpendicular to the radiation direction of the laser light from the state before the installation position and the installation angle of the scanner 3 are changed, the arrangement pattern of the plurality of markers 6 appearing in the distance intensity image Changes.
In the example of FIG. 4B, the installation position of the scanner 3 is moved in parallel in the vertical direction (upward in the figure) with respect to the laser light emission direction, so that the distance values of the plurality of markers 6 and the plurality of markers 6 The interval between the markers 6 has changed.
Changes in the distance values and intervals of the plurality of markers 6 can be obtained from the distance intensity image.

When the distance intensity image generation unit 11 generates a distance intensity image, the position angle specifying unit 12 acquires distance values and position coordinates of the plurality of markers 6 from the distance intensity image, and based on the acquired distance values and position coordinates. Then, the installation position and installation angle of the scanner 3 are specified.
FIG. 5 is a flowchart showing the processing contents of the position angle specifying unit 12 of the laser radar device according to the first embodiment of the present invention.
Hereinafter, the process of specifying the installation position and the installation angle of the scanner 3 will be described with reference to the flowchart of FIG.

The position angle specifying unit 12 determines the distance values L ^m _i of the plurality of markers 6 arranged in the window 5 and the markers 6 at a known time before the installation position δ ^m and the installation angle θ ^m of the scanner 3 change. The position coordinates (x ^m _i , y ^m _i ) are acquired as foresight information, the installation position δ ^m and the installation angle θ ^{m of} the scanner 3, the distance values L ^m _i of the plurality of markers 6, and the position coordinates (x ^m _i , a table in which the correspondence relationship with y ^m _i ) is recorded.
Position angle specifying unit 12, the installation position [delta] while changing the ^m and installation angle theta ^m of the scanner 3 (installation position [delta] ^m and the installation angle theta ^m after the change is also known), the installation position [delta] ^m and installation of the scanner 3 By acquiring the distance value L ^m _i and the position coordinates (x ^m _i , y ^m _i ) of the marker 6 corresponding to the angle θ ^m , m tables are held in advance (step ST1). i represents the label of the marker 6, and m represents the label of the table.

Here, the distance value L ^m _i and the position coordinates (x ^m _i , y ^m _i ) of the plurality of markers 6 are the distance value and the position coordinates of the marker 6 on the distance intensity image generated by the distance intensity image generation unit 11. When the position angle specifying unit 12 acquires the foresight information and holds the table, the light receiving element 7 receives the reflected light while the scanner 3 scans the laser beam, so that the distance intensity image generating unit 11 Generates a distance intensity image, and the position angle specifying unit 12 uses the distance intensity image generated by the distance intensity image generation unit 11 to determine the distance values L ^m _i and position coordinates (x ^m _i , y ^m _i ) of the plurality of markers 6. To get.
In the distance intensity image generated by the distance intensity image generator 11, the distance value of the marker 6 is extremely small compared to the distance value of the measurement object (up to the marker 6 compared to the distance to the measurement object). For example, if distance gating is performed, it is possible to determine which distance value on the distance intensity image is the distance value of the marker 6. The distance value L ^m _{i of} 6 and the position coordinates (x ^m _i , y ^m _i ) can be easily acquired.
In the distance gate processing, a distance slightly longer than the known distance from the scanner 3 to the inner wall of the window 5 is set as a threshold value. If a certain distance value on the distance intensity image is smaller than the threshold value, the distance value is determined by the marker 6. It is the process which discriminate | determines that it is a distance value of.

The position angle specifying unit 12 holds m tables in advance, and when the distance intensity image generation unit 11 generates a distance intensity image during actual measurement, the distance values of the plurality of markers 6 are generated from the distance intensity image. L ^o _i and position coordinates (x ^o _i , y ^o _i ) are acquired (step ST2).
When the position angle specifying unit 12 acquires the distance values L ^o _i and the position coordinates (x ^o _i , y ^o _i ) of the plurality of markers 6, the m of the plurality of markers 6 acquired at the time of measurement are obtained from the m tables. A table in which the distance value L ^m _i and the position coordinates (x ^m _i , y ^m _i ) having the highest degree of coincidence with the distance value L ^o _i and the position coordinates (x ^o _i , y ^o _i ) is searched ( Step ST3).
When the position angle specifying unit 12 searches the table that records the distance value L ^m _i and the position coordinates (x ^m _i , y ^m _i ) with the highest degree of coincidence, the installation of the scanner 3 recorded in the table is performed. The position δ ^m and the installation angle θ ^m are acquired, and the installation position δ ^m and the installation angle θ ^m are output to the distance intensity image correction unit 13 (step ST4).
The position angle specifying unit 12 repeatedly performs the processing of steps ST2 to ST4 while the laser radar device is activated (step ST5).

Here, FIG. 6 is an explanatory diagram showing a table search process using the χ ² method.
When the position angle specifying unit 12 obtains the distance values L ^o _i and the position coordinates (x ^o _i , y ^o _i ) of the plurality of markers 6 from the distance intensity image at the time of actual measurement, the distance value L sequentially from each table. ^m _i and the position coordinates _{^{(x m i, y m i}} ) obtains, when the actual measurement of the distance value ^L _{o i} and the position coordinates _{^{(x o i, y o i}} ) and the distance value L obtained from the table χ _m ² for each table is calculated by substituting ^m _i and position coordinates (x ^m _i , y ^m _i ) into the following equation (2).

In Equation (2), (σ _x , σ _y , σ _L ) is an allowable value of measurement error, and the distance value L ^o _i and position coordinates (x ^o _i , y ^o _i ) of the plurality of markers 6 are acquired. When calculated. Since the calculation process itself of (σ _x , σ _y , σ _L ) is a known technique, detailed description thereof is omitted. Note that (σ _x , σ _y , σ _L ) may be preset values.
Position angle specifying unit 12, calculating the chi _m ² per table, within their chi _m ^2, the table corresponding to a minimum chi _m ² is most matching degree is higher distance value L ^m _i and the position coordinates (X ^m _i , y ^m _i ) is specified as a recorded table, and the installation position δ ^m and the installation angle θ ^m of the scanner 3 recorded in the table are output to the distance intensity image correction unit 13.

When the distance intensity image correcting unit 13 receives the installation position δ ^m and the installation angle θ ^m of the scanner 3 from the position angle specifying unit 12, the distance intensity image correcting unit 13 installs the scanner 3 based on the installation position δ ^m and the installation angle θ ^m of the scanner 3. The distortion of the distance intensity image generated by the distance intensity image generation unit 11 due to the change in the position δ ^m and the installation angle θ ^m is corrected.
Hereinafter, an example of the distance intensity image correction process by the distance intensity image correction unit 13 will be described.
FIG. 7 is an explanatory diagram showing the radiation direction of the laser light when the installation position and the installation angle of the scanner 3 change.
Here, it is assumed that information on the refractive index of the laser beam at each position of the window 5 is given to the distance intensity image correction unit 13 in advance.

The distance intensity image correction unit 13 radiates from the scanner 3 if the installation position δ ^m and the installation angle θ ^m of the scanner 3 and the scanning angle of the scanner 3 are known (the scanning angle of the scanner 3 is obtained from the control unit 4). Since it can be known which position of the window 5 the laser beam passes through, the radiation direction of the laser beam can also be determined from the refractive index of the position through which the laser beam passes.
Therefore, the distance intensity image correction unit 13 can determine the position coordinates on the distance intensity image corresponding to the laser light emitted from the scanner 3 if the installation position δ ^m and the installation angle θ ^m of the scanner 3 and the scanning angle of the scanner 3 are known. Can be specified.
Therefore, the distance intensity image correction unit 13 performs an operation on the distance intensity image corresponding to each scanning angle of the scanner 3 in a known state in which the installation position and the installation angle of the scanner 3 are not changed before actually starting the measurement. The position coordinates (hereinafter referred to as “reference position coordinates”) are grasped.

When the distance intensity image correction unit 13 receives the installation position δ ^m and the installation angle θ ^m of the scanner 3 from the position angle specifying unit 12 during actual measurement, the distance intensity image correction unit 13 scans the installation position δ ^m and the installation angle θ ^m and the scanner 3. A position coordinate (hereinafter referred to as “measurement position coordinate”) on the distance intensity image corresponding to the laser beam emitted from the scanner 3 is specified from the angle, and a distance value of the measurement position coordinate is acquired from the distance intensity image. .
When the distance intensity image correction unit 13 acquires the distance value of the measurement position coordinates, if the measurement position coordinates are different from the reference position coordinates corresponding to the scanning angle of the scanner 3 at the time of measurement, the distance intensity image correction unit 13 calculates the distance value of the reference position coordinates. The distance value of the distance intensity image is corrected by replacing the distance value of the measurement position coordinates.
Thus, by correcting the distance value of the distance intensity image, it is possible to eliminate the influence of changes in the installation position and installation angle of the scanner 3.

As apparent from the above, according to the first embodiment, the window 5 in which the plurality of markers 6 that reflect the laser light are arranged is arranged at a position through which the laser light emitted from the scanner 3 passes, and the position angle is set. The specifying unit 12 acquires the distance value L ^o _i and the position coordinates (x ^o _i , y ^o _i ) of the plurality of markers 6 from the distance intensity image generated by the distance intensity image generation unit 11, and the distance value L ^o. Since the configuration is such that the installation position δ ^m and the installation angle θ ^m of the scanner 3 are specified based on _i and the position coordinates (x ^o _i , y ^o _i ), in real time without installing a calibration target outside. There is an effect that the installation position and the installation angle of the scanner can be measured.

Further, according to the first embodiment, the distance intensity image correcting unit 13 causes the distance intensity image generating unit 11 to perform the setting based on the installation position δ ^m and the installation angle θ ^m of the scanner 3 specified by the position angle specifying unit 12. Since the distortion of the generated distance intensity image is corrected, there is an effect that it is possible to eliminate the influence of changes in the installation position and installation angle of the scanner 3.
Thus, for example, when the laser radar device of FIG. 1 is mounted on a moving body, the installation position and installation angle of the scanner 3 can be measured in real time, and the influence of changes in the installation position and installation angle of the scanner 3 can be measured. Since a distance intensity image with no image can be obtained, the traveling direction of the moving body can be accurately grasped. As a result, when there is an obstacle in the traveling direction of the moving body, it is possible to avoid a collision.

In the first embodiment, the position angle specifying unit 12 holds m tables in advance, but at a known time before the installation position δ ^m and the installation angle θ ^{m of} the scanner 3 change. , The reflection intensity of the laser beam at the position coordinates (x ^m _i , y ^m _i ) of the plurality of markers 6 arranged in the window 5 is obtained as foresight information, and the position coordinates (x ^m _i , information reflecting the intensity of the laser beam in y m _ⁱ⁾ may be included in the m tables.
When the laser beam is emitted to a position on the inner wall of the window 5 where the marker 6 is not provided, if the entire laser beam passes through the window 5, information on the reflection intensity of the laser beam is included in the table. Although it is not necessary, when a part of the laser light is reflected by the inner wall of the window 5 and received by the light receiving element 7, whether the laser light received by the light receiving element 7 is reflected light of the marker 6 or the window It is impossible to distinguish whether the reflected light is from the inner wall 5.

Therefore, when a part of the laser beam is reflected by the inner wall of the window 5 and received by the light receiving element 7, the laser light received by the light receiving element 7 with reference to the information on the reflection intensity of the laser beam by the marker 6. It is discriminated whether the reflected light of the light is the reflected light of the marker 6 or the reflected light of the inner wall of the window 5, and the reflected light of the inner wall of the window 5 is excluded and only the reflected light of the marker 6 is left. To.
Thereafter, in the same manner as described above, among the m tables, the distance having the highest degree of coincidence with the distance values L ^o _i and position coordinates (x ^o _i , y ^o _i ) of the plurality of markers 6 acquired at the time of measurement. the value L ^m _i and the position coordinates _{^{(x m i, y m i}} ) if search a table that records, even if some of the laser light is received by the light receiving element 7 are reflected on the inner wall of the window 5 The accurate installation position δ ^m and the installation angle θ ^m of the scanner 3 can be acquired.

In the first embodiment, among the m tables, the distance value L ^o _i and the position coordinates (x ^o _i , y ^o _i ) of the plurality of markers 6 acquired at the time of measurement have the highest degree of coincidence. ^m _i and the position coordinates _{^{(x m i, y m i}} ) showed that probing the table that records, instead of holding the m-number of tables, the installation position and installation angle of the scanner 3, the distance A function indicating a correspondence relationship between the distance values and the position coordinates of the plurality of markers 6 on the intensity image is held, and using the function, the distance values L ^o _i and the position coordinates (a plurality of markers 6 acquired at the time of measurement). The installation position δ and the installation angle θ of the scanner 3 corresponding to x ^o _i , y ^o _i ) may be calculated.
Thus, the processing load in the position angle specifying unit 12 can be reduced by formulating the correspondence.

式（３）において、ｘ^ｎ _ｉは既知の状態（スキャナ３の配置位置及び配置角度に対して変化の無い状態）でのｉ番目のマーカ６のｘ座標、ｙ^ｎ _ｉは既知の状態（スキャナ３の配置位置及び配置角度に変化の無い状態）でのｉ番目のマーカ６のｙ座標である。δはスキャナ３の配置位置の変化分である。 For example, as in the following formula (3), the relationship between the change amounts of the position coordinates of the plurality of markers 6 and the installation position of the scanner 3 may be formulated.

In Equation (3), x ⁿ _i is the x coordinate of the i-th marker 6 in a known state (a state where there is no change with respect to the arrangement position and the arrangement angle of the scanner 3), and y ⁿ _i is a known state (scanner) 3 is a y-coordinate of the i-th marker 6 in a state where there is no change in the arrangement position and the arrangement angle 3). δ is a change in the arrangement position of the scanner 3.

Further, for example, as shown in the following equation (4), the distance value f _i of the marker 6 is calculated from the change in the position coordinates of the plurality of markers 6 using the installation position δ and the installation angle θ of the scanner 3 as parameters. It may be.
Alternatively, the installation position δ and the installation angle θ of the scanner 3 where the difference between the calculated distance value f _i of the marker 6 and L _i that is the measurement value of the marker 6 is 0 may be calculated.

In the first embodiment, the plurality of markers 6 are arranged in the window 5. However, the marker 6 may be smaller than the beam diameter of the laser beam, or may be equal to the beam diameter of the laser beam or the beam. It may be larger than the diameter.
When arranging the markers 6 larger than the beam diameter, the reflected light of the laser beam by the marker 6 and the reflected light of the laser beam by the measurement object existing in the distance are obtained by the distance gate processing of the position angle specifying unit 12 described above. It is possible to distinguish between them, and it is possible to avoid shielding the reflected light from a distant measurement object by the marker pattern.
On the other hand, when the markers 6 smaller than the beam diameter are arranged, the size of the arrangement pattern of the plurality of markers 6 appearing on the distance intensity image is reduced, so that the resolution before and after the change of the position coordinates of the plurality of markers 6 can be increased. .

The number of markers 6 arranged in the window 5 is two or more if the scanning of the laser beam by the scanner 3 is a one-dimensional scan, and three or more if the scanning is two-dimensional.
By minimizing the number of markers 6 arranged in the window 5, even when the position angle specifying unit 12 does not have a distance gate function, the influence on the distance intensity image can be minimized.
In the first embodiment, a plurality of markers 6 are arranged as shown in FIG. 3, but at a known time before the installation position δ ^m and the installation angle θ ^{m of} the scanner 3 change, The arrangement pattern of the plurality of markers 6 appearing on the distance intensity image is distinguished from the arrangement pattern of the plurality of markers 6 appearing on the distance intensity image in a state where the installation position δ ^m and the installation angle θ ^{m of} the scanner 3 are changed. Any arrangement pattern is possible as long as it is possible.

The shape of the marker 6 is not limited to a circle, and may be a known shape such as an ellipse or a square. Further, the markers 6 need not all have the same shape, and the markers 6 having different shapes may be mixed. For example, in the arrangement of the plurality of markers 6 arranged as shown in FIG. 3, the shape of the marker 6 present near the center may be different from the shape of the marker 6 present near the outer periphery. .
When markers 6 having different shapes are mixed, even if the arrangement pattern of the plurality of markers 6 changes greatly, the markers 6 adjacent on the distance intensity image can be distinguished from each other.

Although the plurality of markers 6 are arranged on the inner wall of the window 5 in the first embodiment, the plurality of markers 6 may be arranged on the outer wall of the window 5. Moreover, the marker 6 currently arranged in the outer wall of the window 5 may be provided so that removal is possible.
When the marker 6 is provided so as to be removable, a distance intensity image in which the arrangement pattern of the plurality of markers 6 does not appear can be generated as necessary.
The material of the plurality of markers 6 is not limited as long as the arrangement pattern of the plurality of markers 6 appears on the distance intensity image. Therefore, it may be made of a highly reflective material or may be made of a low reflective material.
The reflectances of the plurality of markers 6 are not necessarily the same value, and markers 6 having different reflectances may be mixed. When markers 6 having different reflectances are mixed, even if the arrangement pattern of the plurality of markers 6 changes greatly, the adjacent markers 6 on the distance intensity image can be distinguished from each other.
The marker 6 may be applied to the window 5 or may be attached to the window 5.
At the time of forming the window 5, by forming an uneven structure corresponding to the arrangement pattern of the plurality of markers 6 on the front or back surface of the window 5, a distance intensity image equivalent to the arrangement pattern of the plurality of markers 6 is acquired. It may be.

In the first embodiment, the window 5 has a spherical shape. However, the window 5 may have an aspherical shape, for example, a flat plate, a hyperboloid, or an elliptical shape. .
For example, by using the flat window 5, it is possible to avoid the distortion that appears in the distance intensity image that occurs in the spherical window 5.

In the first embodiment, the distance intensity image correcting unit 13 generates the distance generated by the distance intensity image generating unit 11 based on the installation position δ ^m and the installation angle θ ^m of the scanner 3 specified by the position angle specifying unit 12. Although the correction of distortion of the intensity image is shown, the control unit 4 corrects the scanning angle of the scanner 3 based on the installation position δ ^m and the installation angle θ ^m of the scanner 3 specified by the position angle specifying unit 12. Thus, the radiation direction of the laser light may be adjusted. Correcting the scanning angle of the scanner 3 can also correct the distortion of the distance intensity image in real time.

Embodiment 2. FIG.
8 is a block diagram showing a laser radar apparatus according to Embodiment 2 of the present invention. In FIG. 8, the same reference numerals as those in FIG.
In the second embodiment, an example in which the markers 6 are not arranged on the inner wall of the window 5 will be described.
The window 5 is made of a material that transmits the laser light emitted from the scanner 3, but a part of the laser light is reflected by the inner wall.

After the laser light is radiated from the scanner 3, the light receiving element 21 receives the reflected light of the laser light reflected and returned from the measurement object, and converts the reflected light into an electric signal. The light receiving element 21 constitutes a first light receiving means.
After the laser light is emitted from the scanner 3, the monitor light receiving element 22 receives the reflected light of the laser light reflected and returned from the inner wall of the window 5 and converts the reflected light into an electric signal. The monitoring light receiving element 22 constitutes a second light receiving means.

The signal processing unit 23 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted or a one-chip microcomputer, and generates a distance intensity image indicating the distance to the measurement object and the coordinates of the position of the measurement object. Processing, processing for specifying the installation position and installation angle of the scanner 3, processing for correcting the distance intensity image, and the like are performed.
FIG. 9 is a block diagram showing the signal processing unit 23 of the laser radar device according to the second embodiment of the present invention. In FIG. 9, the same reference numerals as those in FIG.
The position angle specifying unit 30 holds a table in which a correspondence relationship between the installation position and installation angle of the scanner 3 and the intensity of reflected light received by the monitor light receiving element 22 is recorded in advance. The process of identifying the installation position and the installation angle of the scanner 3 is performed by comparing the intensity of the reflected light received by 22 with the table. The position angle specifying unit 30 constitutes a position angle specifying unit.

Next, the operation will be described.
The laser light source 1 emits laser light having a frequency indicated by the control unit 4.
When the laser light source 1 emits laser light, the folding mirror 2 reflects the laser light to the scanner 3 side.
Upon receiving the laser beam reflected by the folding mirror 2, the scanner 3 emits the laser beam toward the measurement object while scanning the laser beam under the instruction of the control unit 4.

The laser light emitted from the scanner 3 passes through the window 5 and is irradiated onto the measurement object.
After being emitted from the scanner 3, a part of the laser light transmitted through the window 5 is reflected by the measurement object and returns to the laser radar device. The reflected light of the laser beam that has returned to the laser radar apparatus reaches the light receiving element 21 via the folding mirror 2.
Further, part of the laser light emitted from the scanner 3 is reflected on the inner wall of the window 5, and the reflected light of the laser light reflected on the inner wall of the window 5 reaches the monitor light receiving element 22.

When the light receiving element 21 receives the reflected light of the laser light reflected and returned from the measurement object, the light receiving element 21 converts the reflected light into an electric signal and outputs the electric signal to the signal processing unit 23 as a received signal.
When the distance intensity image generation unit 11 of the signal processing unit 23 receives the reception signal from the light receiving element 21, the time t _{1 when the} laser beam is emitted from the scanner 3 according to the equation (1), as in the first embodiment. From the time difference τ (= t ₂ −t ₁ ) from the time t ₂ when the reflected light is received by the light receiving element 21, the distance value L indicating the distance to the measurement object is calculated.

When receiving the reflected light of the laser beam reflected and returned from the inner wall of the window 5, the monitor light receiving element 22 converts the reflected light into an electric signal, and outputs the electric signal to the signal processing unit 23 as a received signal. To do.
Here, FIG. 10 is an explanatory diagram showing the intensity of the reflected light of the laser light reflected on the inner wall of the window 5 corresponding to the scanning angle of the scanner 3.
The solid line in FIG. 10 indicates the reflected light of the laser beam reflected on the inner wall of the window 5 in accordance with the change in the scanning angle of the scanner 3 when the installation position and the installation angle of the scanner 3 have not changed from the known state. It shows how the intensity of the is changing.
In the state where the installation position and the installation angle of the scanner 3 are changed from the known state, the alternate long and short dash line in FIG. 10 indicates the reflected light of the laser light reflected on the inner wall of the window 5 as the scanning angle of the scanner 3 changes. It shows how the intensity is changing.
As is clear from FIG. 10, the reflection corresponding to each scanning angle of the scanner 3 when the installation position and the installation angle of the scanner 3 are not changed from the known state and when the scanner 3 is changed from the known state. The light intensity is different, and the light receiving efficiency of the reflected light in the monitor light receiving element 22 changes.

The position angle specifying unit 30 uses the intensity of the received signal at the monitor light receiving element 22 corresponding to the scanning angle φ of the scanner 3 at a known time before the installation position δ ^m and the installation angle θ ^m of the scanner 3 change. A certain received signal intensity profile η ^m ({δ ^m , θ ^m }, φ) is acquired as foresight information, and the installation position δ ^m and the installation angle θ ^{m of} the scanner 3 and the received signal intensity profile η ^m ({δ ^m , A table in which a correspondence relationship with θ ^m }, φ) is recorded is held.
Position angle specifying unit 30, the installation position while changing the [delta] ^m and the installation angle theta ^m of the scanner 3 (installation position [delta] ^m and the installation angle theta ^m after the change is also known), the received signal strength profile eta ^{m ({[delta] m} , θ ^m }, φ) is acquired to hold m tables in advance.
Here, the received signal intensity profile η ^m ({δ ^m , θ ^m }, φ) is the intensity of the received signal at the monitor light receiving element 22, and the position angle specifying unit 30 obtains the foresight information to obtain a table. When holding, the received light intensity profile η ^m ({δ ^m , θ ^m }, φ) is acquired by the monitor light receiving element 22 receiving the reflected light while the scanner 3 scans the laser beam.

The position angle specifying unit 30 holds m tables in advance, and in the actual measurement, when the monitor light receiving element 22 receives the reflected light while the scanner 3 scans the laser light, the monitor light receiving element The received signal strength profile η ^o _i is obtained from the 22 received signals.
Position angle specifying unit 30, at the time of actual measurement, acquires the received signal strength profile eta ^o _i, in the m tables, best match degree is high and reception received signal strength profile eta ^o _i obtained at the time of measurement A table in which the signal strength profile η ^m ({δ ^m , θ ^m }, φ) is recorded is searched.
When the position angle specifying unit 30 searches for a table in which the received signal intensity profile η ^m ({δ ^m , θ ^m }, φ) having the highest degree of coincidence is found, the installation of the scanner 3 recorded in the table is set. The position δ ^m and the installation angle θ ^m are acquired, and the installation position δ ^m and the installation angle θ ^m are output to the distance intensity image correction unit 13.
The position angle specifying unit 30 repeatedly performs the above processing while the laser radar device is activated.

位置角度特定部３０は、テーブル毎のχ_ｍ ^２を算出すると、それらのχ_ｍ ^２の中で、最小のχ_ｍ ^２に対応するテーブルが、最も一致度が高い受信信号強度プロファイルη^ｍ（｛δ^ｍ，θ^ｍ｝，φ）を記録しているテーブルとして特定し、そのテーブルに記録されているスキャナ３の設置位置δ^ｍ及び設置角度θ^ｍを距離強度画像補正部１３に出力する。 Here, FIG. 11 is an explanatory diagram showing a table search process using the χ ² method.
When acquiring the received signal strength profile η ^o _i during actual measurement, the position angle specifying unit 30 acquires the received signal strength profile η ^m ({δ ^m , θ ^m }, φ) sequentially from each table. By substituting the received signal strength profile η ^o _i during actual measurement and the received signal strength profile η ^m ({δ ^m , θ ^m }, φ) obtained from the table into the following equation (5), Each χ _m ² is calculated.

Position angle specifying unit 30, calculating the chi _m ² per table, within their chi _m ^2, the table corresponding to a minimum chi _m ² is most matching degree is higher received signal strength profile eta ^{m ({} (δ ^m , θ ^m }, φ) is specified as a recording table, and the installation position δ ^m and the installation angle θ ^m of the scanner 3 recorded in the table are output to the distance intensity image correction unit 13.

Distance intensity image correcting unit 13, when the position angle specifying unit 30 receives the installation position [delta] ^m and the installation angle theta ^m of the scanner 3, as in the first embodiment, the installation position of the scanner 3 [delta] ^m and the installation angle theta ^{According to m,} the distortion of the distance intensity image generated by the distance intensity image generation unit 11 is corrected.

As is apparent from the above, according to the second embodiment, during actual measurement, the received signal intensity profile η ^o _i is obtained from the received signal of the monitor light receiving element 22 and is stored in advance. Search the table that records the received signal strength profile η ^m ({δ ^m , θ ^m }, φ) having the highest degree of coincidence with the received signal strength profile η ^o _i obtained at the time of measurement, Since the configuration is such that the installation position δ ^m and the installation angle θ ^m of the scanner 3 are specified, the installation position and installation of the scanner 3 in real time without installing a calibration target outside as in the first embodiment. There is an effect that the angle can be measured.

In the second embodiment, the m table is held in advance. However, instead of holding the m tables, the installation position δ ^m and the installation angle θ ^m of the scanner 3 and the received signal intensity profile η The correspondence relationship of ^m ({δ ^m , θ ^m }, φ) may be formulated.
By formulating the correspondence relationship, the processing load on the position angle specifying unit 30 can be reduced.

In the second embodiment, an example in which one monitor light receiving element 22 is mounted is shown. However, the reflected light of the laser light reflected on the inner wall of the window 5 arrives depending on the scanning angle of the scanner 3. Since the position changes, it may be impossible to receive all the reflected light with only one monitor light receiving element 22.
Therefore, when the position where the reflected light reaches greatly changes depending on the scanning angle of the scanner 3, a plurality of monitor light receiving elements 22 may be mounted as shown in FIG.

FIG. 12 shows an example in which a plurality of monitoring light receiving elements 22 are mounted. However, as shown in FIG. 13, a plurality of light receiving elements are arranged in one or two dimensions instead of the monitoring light receiving elements 22. The monitor light receiving array 24 may be mounted.
When a plurality of monitor light receiving elements 22 are arranged two-dimensionally or when a monitor light receiving array 24 in which a plurality of light receiving elements are arranged two-dimensionally is mounted, the installation position and the installation angle of the scanner 3 are determined. Sensitivity can be given to two-dimensional changes.

In the second embodiment, the monitor light receiving element 22 receives the reflected light of the laser beam reflected on the inner wall of the window 5. However, in order to increase the reflection of the laser beam, the inner wall of the window 5 is coated. May be given.
In the second embodiment, the window 5 has a spherical shape. However, the window 5 may have an aspherical shape, for example, a flat plate, a hyperboloid, or an elliptical shape. .
For example, by using the flat window 5, it is possible to avoid the distortion that appears in the distance intensity image that occurs in the spherical window 5.

In the second embodiment, the distance intensity image correcting unit 13 generates a distance generated by the distance intensity image generating unit 11 based on the installation position δ ^m and the installation angle θ ^m of the scanner 3 specified by the position angle specifying unit 30. Although the correction of distortion of the intensity image is shown, the control unit 4 corrects the scanning angle of the scanner 3 based on the installation position δ ^m and the installation angle θ ^m of the scanner 3 specified by the position angle specifying unit 30. Thus, the radiation direction of the laser light may be adjusted. Correcting the scanning angle of the scanner 3 can also correct the distortion of the distance intensity image in real time.

Embodiment 3 FIG.
FIG. 14 is a block diagram showing the signal processing unit 8 of the laser radar apparatus according to Embodiment 3 of the present invention. In the figure, the same reference numerals as those in FIG.
The overall configuration of the laser radar apparatus is the same as that of the laser radar apparatus of FIG.
The measurement target distance calculation unit 41 acquires the time t _w (φ) at which the reflected light from the marker 6 corresponding to the scanning angle φ of the scanner 3 is acquired from the distance intensity image generated by the distance intensity image generation unit 11 and each scanning angle φ. The time t _t (φ) at which the reflected light from the object to be measured is obtained is calculated, and from the times t _w (φ) and t _t (φ), the distance origin calibration value is obtained at each scanning angle φ. A process of calculating the distance L (φ) to the measurement object is performed.

The distance intensity image correcting unit 42 uses the measurement target distance calculating unit 41 to calculate the distance value of the pixel corresponding to the scanning angle φ of the scanner 3 among the pixels constituting the distance intensity image generated by the distance intensity image generating unit 11. By replacing with the calculated distance L (φ), the distance intensity image is corrected (distance value of the measurement object is corrected).
The distance intensity image correction unit 42 performs a process of correcting the distortion of the intensity image generated by the distance intensity image generation unit 11 based on the installation position and installation angle of the scanner 3 specified by the position angle specification unit 12. .
A distance correction unit is configured by the measurement target distance calculation unit 41 and the distance intensity image correction unit 42, and an image distortion correction unit is configured by the distance intensity image correction unit 42.

Next, the operation will be described.
Compared to the first embodiment, the signal processing unit 8 includes the measurement target distance calculation unit 41, and the distance intensity image correction unit 42 is the distance L (φ that is the origin calibration value calculated by the measurement target distance calculation unit 41. ) To correct the distance value of the measurement object.

Since the plurality of markers 6 are arranged on the inner wall of the window 5 having a spherical shape and the scanner 3 is installed at the center of curvature of the window 5, if the installation position and installation angle of the scanner 3 are not changed, the scanner The distance from 3 to each marker 6 is equal. For this reason, even if the scanning angle φ of the scanner 3 changes, the distance value of each marker 6 becomes the same value.
Here, FIG. 15 is an explanatory diagram showing the relationship of the distance value of the marker 6 corresponding to the scanning angle of the scanner 3.
FIG. 15A shows that the distance value of the marker 6 is constant when the installation position of the scanner 3 is not changed.

However, when the installation position of the scanner 3 is moved in a direction perpendicular to the laser beam emission axis, the correspondence between the scanning angle of the scanner 3 and the distance value of the marker 6 changes as shown in FIG. This shows an example in which the installation position of the scanner 3 is moved in the method indicated by the dotted arrow in FIG.
When the installation position of the scanner 3 is moved in the direction of the laser beam emission axis, the correspondence between the scanning angle of the scanner 3 and the distance value of the marker 6 changes as shown in FIG. 15C (in FIG. 15, the scanner 3 Is shown in an example in which the installation position is moved closer to the inner wall of the window 5).

ここで、ｃは測定対象物が存在する空間での光の伝播速度であり、光の伝播速度ｃを用いることで、距離強度画像の距離値から時間への変換や、時間から距離値への変換を行うことができる。 When the correspondence between the scanning angle of the scanner 3 and the distance value of the marker 6 is changed as shown in B and C of FIG. 15, it is equivalent to the origin of the distance being deviated. An error occurs in the distance to the measurement object indicated by the distance intensity image generated by the intensity image generation unit 11.
Therefore, when the distance intensity image generation unit 11 generates a distance intensity image in order to calibrate the origin of the distance, the measurement target distance calculation unit 41 calibrates the origin of the distance from the marker 6 corresponding to the scanning angle φ of the scanner 3 from the distance intensity image. A time t _w (φ) required to acquire the reflected light and a time t _t (φ) required to acquire the reflected light from the measurement object are calculated.
When the measurement target distance calculation unit 41 calculates the time t _w (φ) and t _t (φ) at each scanning angle φ, the measurement target at each scanning angle φ is calculated as shown in the following equation (6). Distance L (φ) is calculated.

Here, c is the light propagation speed in the space where the measurement object exists, and by using the light propagation speed c, the distance value of the distance intensity image is converted from time to time, or from time to distance value. Conversion can be performed.

The distance intensity image correction unit 42 calculates the distance L (φ) to the measurement object for each scanning angle φ of the scanner 3 when the measurement target distance calculation unit 41 calculates the distance intensity image generated by the distance intensity image generation unit 11. The distance intensity image is corrected by replacing the distance value of the pixel corresponding to the scanning angle φ of the scanner 3 with the distance L (φ).
When the distance intensity image correction unit 42 receives the installation position δ ^m and the installation angle θ ^m of the scanner 3 from the position angle specifying unit 12, the distance intensity image correction unit 42 similarly to the distance intensity image correction unit 13 in the first embodiment described above. The distortion of the intensity image generated by the distance intensity image generation unit 11 is corrected according to the installation position δ ^m and the installation angle θ ^m .

As apparent from the above, according to the third embodiment, the time t when the reflected light from the marker 6 corresponding to the scanning angle φ of the scanner 3 is acquired from the distance intensity image generated by the distance intensity image generating unit 11. _The time t _t (φ) at which the reflected light from the measurement object at _w (φ) and each scanning angle φ is acquired is calculated, and the origin calibration of the distance is performed from the times t _w (φ) and t _t (φ). As a value, a measurement object distance calculation unit 41 that calculates a distance L (φ) to the measurement object at each scanning angle φ is provided, and the distance intensity image correction unit 42 generates a distance generated by the distance intensity image generation unit 11. By replacing the distance value of the pixel corresponding to the scanning angle φ of the scanner 3 among the pixels constituting the intensity image with the distance L (φ) calculated by the measurement target distance calculation unit 41, the distance intensity image is changed. Since it was configured to compensate, There is an effect that an accurate distance to an elephant can be grasped.
As a result, when the radar laser apparatus is mounted on a moving body, it is possible to avoid collision with an obstacle existing in the traveling direction of the moving body with high accuracy.

式（７）において、｛ａ，ｂ，・・・｝は関数のパラメータセットであり、図１５のＢやＣの曲線を特定する多項式の係数である。ｌ_ｉは測定対象物の距離値（測定値）、ｉはスキャナ３の走査角度を示すラベルである。 In the third embodiment, the example in which the distance value of the measurement object is corrected by the method based on the distance to the marker 6 with respect to the distance value of the measurement object is shown, but the present invention is not limited to this. For example, as shown in the following equation (7), if a derivation function for the distance value using the scanning angle φ of the scanner 3 as an argument is prepared, the distance value L (φ) for an arbitrary scanning angle φ can be obtained. Therefore, it is possible to correct the origin of the distance with respect to an arbitrary scanning angle φ.

In equation (7), {a, b,...} Is a function parameter set, and is a coefficient of a polynomial that identifies the curves B and C in FIG. l _i is a distance value (measurement value) of the measurement object, and i is a label indicating the scanning angle of the scanner 3.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  1 laser light source, 2 folding mirror, 3 scanner, 4 control unit, 5 window, 6 marker, 7 light receiving element (light receiving unit), 8 signal processing unit, 11 distance intensity image generating unit (image generating unit), 12 position angle Identification unit (position angle identification unit), 13 Distance intensity image correction unit (image distortion correction unit), 21 Light receiving element (first light receiving unit), 22 Monitor light receiving element (second light receiving unit), 23 Signal processing unit , 24 Monitor light receiving array (second light receiving means), 30 Position angle specifying section (position angle specifying means), 41 Measuring object distance calculating section (distance correcting means), 42 Distance intensity image correcting section (image distortion correcting means, Distance correction means).

Claims (6)

A light source that emits laser light;
A scanner that emits the laser light toward the measurement object while scanning the laser light emitted from the light source;
A window in which a plurality of markers arranged to reflect the laser light are arranged at a position where the laser light emitted from the scanner passes;
A light receiving means for receiving reflected light of the laser light reflected by the measurement object and the plurality of markers;
The distance to the position where the laser beam is reflected is calculated from the time difference between the time when the laser beam is emitted from the scanner and the time when the reflected beam is received by the light receiving means. An image generating means for generating a distance image indicating a distance to a position where the laser light is reflected and a coordinate of the position where the laser light is reflected, based on a radiation direction of the laser light;
The distance to the plurality of markers and the position coordinates of the plurality of markers are acquired from the distance image generated by the image generation means, and the installation position and installation angle of the scanner are specified based on the acquired distance and position coordinates A laser radar apparatus comprising:   The position angle specifying means is a table in which a correspondence relationship between the installation position and installation angle of the scanner, the distance to the plurality of markers arranged in the window, and the position coordinates of the plurality of markers is recorded in advance. The distance and position coordinates acquired from the distance image generated by the image generation means are collated with the table to identify the installation position and installation angle of the scanner. The laser radar device described. A light source that emits laser light;
A scanner that emits the laser light toward the measurement object while scanning the laser light emitted from the light source;
A window disposed at a position through which the laser light emitted from the scanner passes;
First light receiving means for receiving the reflected light of the laser light reflected by the measurement object;
Second light receiving means for receiving the reflected light of the laser light reflected by the window;
The distance to the measurement object is calculated from the time difference between the time when the laser light is emitted from the scanner and the time when the reflected light is received by the first light receiving means, and the distance and the laser by the scanner are calculated. Image generating means for generating a distance image indicating the distance to the measurement object and the coordinates of the position of the measurement object, based on the radiation direction of light;
A laser radar apparatus comprising: a position angle specifying unit that specifies an installation position and an installation angle of the scanner based on an intensity of reflected light received by the second light receiving unit.   The position angle specifying unit holds in advance a table in which a correspondence relationship between the installation position and installation angle of the scanner and the intensity of reflected light received by the second light receiving unit is recorded, 4. The laser radar apparatus according to claim 3, wherein the intensity of the reflected light received by the second light receiving means is collated with the table to identify the installation position and installation angle of the scanner.   An image distortion correction unit that corrects distortion of the distance image generated by the image generation unit according to a change in the installation position or the installation angle based on the installation position and the installation angle of the scanner specified by the position angle specifying unit. The laser radar device according to any one of claims 1 to 4, further comprising:   The distance to the marker corresponding to the scanning angle of the scanner is acquired from the distance image generated by the image generation means, the origin calibration value of the distance is calculated from the distance to the marker, and the origin calibration value of the distance 6. The apparatus according to claim 1, further comprising a distance correction unit that corrects a distance to the measurement object indicated by the distance image generated by the image generation unit. The laser radar device according to item.

Images