JP2019215286A - Adjustment method, detection equipment and detector - Google Patents

Abstract

To provide an adjustment method capable of appropriately adjusting detection ranges of a plurality of detectors and detection equipment and detectors adjusted by the adjustment method.SOLUTION: In a first adjustment step, a detection range FOV of a first scanner is adjusted according to first and second poles installed with reference to opposite ends of the detection range FOV of the first scanner in a horizontal direction. In a second adjustment step, a detection range FOV of a second scanner is adjusted so that the second pole is positioned at one end of the detection range FOV in the horizontal direction. In a third adjustment step, the detection range FOV of the second scanner is adjusted according to the second pole and a third pole which is installed with reference to the other end of the detection range FOV of the second scanner in the horizontal direction after adjustment in the second adjustment step and is provided on an opposite side of the first pole to the second pole.SELECTED DRAWING: Figure 10

Description

  The present invention relates to a technique for adjusting a detection range of a plurality of detection devices.

  2. Description of the Related Art Conventionally, a system in which a plurality of scanning units that perform scanning by laser light or the like are arranged has been disclosed. For example, in Patent Literature 1, when a plurality of distance measurement units are arranged so that the detection regions partially overlap with each other, the distance measurement of each of the distance measurement units is performed by using a part of the detection region of the distance measurement unit. There is disclosed a technique which is executed at a timing when another overlapping distance measuring means is not performing distance measurement.

JP-A-2006-8875

  When arranging a plurality of detection devices each for detecting a predetermined range, it is necessary to adjust the arrangement position and the detection direction. For example, if a certain detection device is displaced from a desired position, or if there is a detection device that has been displaced after being placed due to external factors such as vibration of the vehicle, the detection of the detection device The range may deviate from the original range, and the entire system including the detection device may not be able to operate in an optimal state.

  SUMMARY An advantage of some aspects of the invention is to provide an adjustment method capable of appropriately adjusting a detection range of a plurality of detection devices, a detection device adjusted by the adjustment method, and a detection apparatus. The main purpose is to provide a device.

  The invention described in the claims is an adjustment method for adjusting the detection ranges of the first detection device and the second detection device, wherein the first detection device is provided with reference to both ends in the horizontal direction of the detection range of the first detection device. And a first adjustment step of adjusting the detection range of the first detection device in accordance with the second reference object, and the second reference object sets the detection range of the second detection device in one horizontal direction of the detection range. A second adjustment step of adjusting the position of the second detection apparatus, and the second detection step is performed with reference to the other end in the horizontal direction of the detection range of the second detection device after the adjustment by the second adjustment step. A third adjustment step of adjusting a detection range of the second detection device in accordance with a third reference object provided on a side opposite to the first reference object and the second reference object.

1 is a schematic configuration of a measurement system. FIG. 2 shows a block diagram of a lidar unit. 2 shows a schematic configuration example of a scanner. 4 shows a scanning area of a scanner on a virtual irradiation surface. 4 shows the correspondence between the scannable range of the scanner on the virtual irradiation plane and the detection range. FIG. 7 is an overhead view showing a state after a pole is arranged and each detection range of the scanner is adjusted. It is the figure which observed the pole and the detection range from arrow A1 of FIG. FIG. 5 is a diagram illustrating a detection range and a point cloud image at the time of adjustment of a scanner that is adjusted first. FIG. 11 is a diagram illustrating a detection range and a point cloud image at the time of adjustment of a scanner that is adjusted second. 6 is an example of a flowchart showing a procedure for adjusting a scanner. FIG. 11 is a diagram illustrating an overview of a scanner adjustment method according to a modification. FIG. 13 is a diagram illustrating a point cloud image at the time of adjustment of a scanner that is adjusted first in a modification.

  According to a preferred embodiment of the present invention, there is provided an adjustment method for adjusting a detection range of a first detection device and a second detection device, wherein the adjustment method is provided with reference to both horizontal ends of the detection range of the first detection device. A first adjustment step of adjusting the detection range of the first detection device in accordance with the first and second reference objects, and the detection range of the second detection device is adjusted by the second reference object in the horizontal direction of the detection range. A second adjustment step of adjusting the position of the second detection device to be positioned at one end in the direction, and the second reference object is provided with reference to the other end in the horizontal direction of the detection range of the second detection device after the adjustment by the second adjustment step. A third adjustment step of adjusting a detection range of the second detection device in accordance with a third reference object provided on the opposite side of the first reference object and the second reference object.

  Here, “installed with reference to both ends in the horizontal direction of the detection range of the first detection device” means that the first and second reference objects are roughly set at both ends in the horizontal direction of the detection range of the first detection device. It does not require strict positional accuracy. On the other hand, “adjusting the detection range of the first detection device according to the first and second reference objects” is more than “installing the detection range of the first detection device with reference to both ends in the horizontal direction”. The position adjustment is performed with high accuracy, and the first and second reference objects are set with reference to both ends of the detection range of the first detection device in the horizontal direction. Refers to the process of aligning both ends of the line with higher accuracy. According to this adjustment method, each detection range of the first and second detection devices is adjusted so as not to cause distortion or inclination, and each detection range is adjusted so that unnecessary overlap does not occur in these detection ranges. It can be adjusted suitably.

  In one aspect of the adjustment method, the first to third reference objects are columnar objects. By adjusting the detection range of each detection device using such first to third reference objects, each detection range can be suitably adjusted so that no tilt or distortion occurs in each detection range.

  In another aspect of the above adjustment method, the adjustment method further includes an acquisition step of acquiring detection results of the first and second detection devices, and the first adjustment step includes: The detection range of the first detection device is adjusted based on the detection range, and the second and third adjustment steps adjust the detection range of the second detection device based on the detection result of the second detection device. According to this aspect, the actual positional relationship of the first to third reference objects with respect to each detection range of the first and second detection devices is accurately grasped, and each detection range is suitably adjusted to the first to third reference objects. Can be adjusted.

  In another aspect of the adjustment method, in the first adjustment step, at least a part of the first reference object is included in a detection range of the first detection device, and a part of the second reference object is included. Adjusts the detection range of the first detection device so that the detection range is included in the detection range of the first detection device. In the third adjustment step, a part of the second reference object is adjusted by the second detection device. And the detection range of the second detection device is adjusted such that at least a part of the third reference object is included in the detection range of the second detection device. Here, a part of the second reference object included in the detection range of the first detection device in the first adjustment step is a part of the second reference object included in the detection range of the second detection device in the third adjustment step. It is preferable that the area does not overlap with the part or the overlapping area is small, and it is more preferable that the part is close to the horizontal direction. According to this aspect, the adjustment method can suitably adjust the detection range of the first detection range so that the detection range of the second detection device does not substantially overlap.

  In one aspect of the adjustment method, the first to third reference objects have a pattern in which the reflectance changes at predetermined intervals in the stretching direction, and the first and second detection devices are configured to detect electromagnetic waves in the detection range. And outputs a detection result according to the intensity of the reflected wave of the electromagnetic wave, and the first adjusting step adjusts a detection range of the first detection device based on a detection result of the first detection device, The second and third adjustment steps adjust a detection range of the second detection device based on a detection result of the second detection device. According to this aspect, it is possible to appropriately adjust each detection range based on the pattern formed on each reference object, which appears in the detection results of the first and second detection devices, so that distortion and inclination do not occur in each detection range. Can be.

  In another aspect of the adjustment method, the first reference object, the second reference object, and the third reference object are substantially based on positions of the first detection device and the second detection device. It is placed on an arc. According to this aspect, the distances from the first and second detection devices to the respective reference objects can be preferably made uniform, and the adjustment accuracy can be suitably increased.

  In another aspect of the adjustment method, the first detection device and the second detection device are housed in the same housing. According to this aspect, even when a plurality of detection devices are accommodated in the same housing, the detection ranges of the detection devices can be appropriately adjusted so that unnecessary detection ranges do not overlap.

  According to another preferred embodiment of the present invention, a detection device is a detection device having a first detection device and a second detection device whose detection ranges have been adjusted by any of the adjustment methods described above. Such a detection device can effectively utilize the respective detection ranges of the first detection device and the second detection device, and can suitably realize a detection range with a wide field of view.

  According to another preferred embodiment of the present invention, there is provided a detection device in which the detection range is adjusted by the second adjustment step and the third adjustment step of any one of the above-described adjustment methods. Such a detection device corresponds to the above-described second detection device, and is suitably adjusted so that unnecessary detection ranges do not overlap with the first detection device.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[overall structure]
FIG. 1 is a schematic configuration of a measurement system 100 according to the present embodiment. The measurement system 100 is a system that performs measurement around a vehicle (not shown), and mainly includes an input unit 1, a sensor unit 2, a storage unit 3, a display unit 4, a communication unit 5, a control unit 6, Is provided. The control unit 6 and other elements are configured to be able to perform data communication based on a predetermined communication protocol.

  The input unit 1 is a button for a user to operate, a touch panel, a remote controller, a voice input device, and the like, and receives various inputs. The sensor unit 2 includes an inside sensor for detecting the state of the vehicle and an outside sensor for recognizing the surrounding environment of the vehicle. The sensor unit 2 includes a lidar (Light Detection and Ranging or Laser Illuminated Detection And Ranging) unit 7.

  The lidar unit 7 discretely measures a distance to an object existing in the external world by emitting a pulse laser that is an electromagnetic wave in a predetermined angle range in the horizontal direction and the vertical direction, and indicates a position of the object. Generate three-dimensional point cloud information. In this case, the lidar unit 7 has a scanning unit (scanner) that emits laser light while changing the irradiation direction and receives reflected light (scattered light) of the irradiated laser light. In this embodiment, the rider unit 7 has a plurality of scanners installed in different directions. An example of the configuration of the rider unit 7 will be described later with reference to FIGS.

  The storage unit 3 stores a program executed by the control unit 6 and information (for example, map information) necessary for the control unit 6 to execute a predetermined process. The display unit 4 displays an image or the like based on the point cloud information output by the rider unit 7 under the control of the control unit 6. The communication unit 5 performs data communication with an external device under the control of the control unit 6.

  The control unit 6 includes a CPU that executes a program, and controls the entire measurement system 100. The control unit 6 may be an ECU (Electronic Control Unit) that automatically controls the operation of the vehicle, or may be a CPU or the like of a vehicle-mounted device that transmits a control signal to the ECU. In another example, the control unit 6 may be configured as a part of the rider unit 7.

[Configuration example of lidar unit]
Next, a configuration example of the rider unit 7 will be described. FIG. 2 shows a block diagram of the rider unit 7. The rider unit 7 is, for example, a TOF (Time Of Flight) type rider, and performs distance measurement and detection of an object existing around the vehicle. The rider unit 7 is used, for example, as a part of an advanced driving assistance system for the purpose of assisting in the recognition of the surrounding environment of the vehicle. The rider unit 7 mainly includes a plurality of scanners (L1 to L4,...) And a signal processing unit SP. In the following description, each of the scanners (L1 to L4,...) Is simply referred to as “scanner L” when it is not necessary to distinguish between them.

  The scanner L emits a laser pulse (hereinafter, also referred to as a “transmission light pulse”) within a predetermined horizontal angle and vertical angle range. The scanner L emits a transmission light pulse for each segment obtained by dividing the horizontal angle by an equal angle. Then, the scanner L receives a reflected light (hereinafter, also referred to as a “received light pulse”) of the transmitted light pulse within a predetermined period after the emission of the transmitted light pulse, and generates a signal (eg, a light intensity) for each segment generated by receiving the reflected light. “Segment signal Sseg”) is output to the signal processing unit SP. The signal processing unit SP outputs, based on the segment signal Sseg for each segment received from the scanner L, point group information indicating a set of a distance to each point of the object irradiated with the transmission light pulse and an angle of the object. I do. Note that the signal processing unit SP may be provided for each scanner L.

  Each of the scanners L is provided with an adjusting mechanism 8 (8a to 8d,...) For performing position adjustment (including direction adjustment) of each scanner L. The adjustment mechanism 8 includes, for example, an actuator, and adjusts the position of the corresponding scanner L based on a control signal supplied from the control unit 6. Note that the adjustment mechanism 8 may receive a drive control signal from the signal processing unit SP. In this case, the control unit 6 transmits a control signal for instructing the driving of the adjustment mechanism 8 to the signal processing unit SP. In addition, each of the scanners L may further be provided with a posture sensor for detecting the posture of each scanner L. The scanner L is an example of the “detection device” in the present invention.

  The scanners L are housed in scan boxes 51 to 53 for housing one or more scanners L. In the example of FIG. 2, the scan box 51 houses scanners L1 to L4, the scan box 52 houses scanners L5 and L6, and the scan box 53 houses scanner L7. Each of the scan boxes 51 to 53 may be provided with an adjustment mechanism for adjusting the position of each scan box, and / or a posture sensor for detecting a posture.

  Here, if the scanning range of the transmission light pulse between the scanners L overlaps, the scanning range of the entire lidar unit 7 becomes narrower. Therefore, when a plurality of scanners L are accommodated in the same scan box, these scanners L It is necessary to adjust so that the scanning ranges of the transmission light pulses do not overlap each other. Therefore, in the present embodiment, when a plurality of scanners L are accommodated in the same scan box, adjustment using the above-described adjustment mechanism 8 or the like is performed so that the scanning ranges of the transmission light pulses by these scanners L do not overlap. I do.

  FIG. 3 shows a schematic configuration example of the scanner L. As shown in FIG. 3, the scanner L mainly includes a synchronization control unit 11, an LD driver 12, a laser diode 13, a MEMS mirror 14, a drive driver 15, a light receiving element 16, a current-voltage conversion circuit ( A transimpedance amplifier 17, an A / D converter 18, a segmentator 19, and a crystal oscillator 20.

  The crystal oscillator 20 outputs a pulsed clock signal “S1” to the synchronization control unit 11 and the A / D converter 18. The synchronization control unit 11 outputs a pulse-like trigger signal “S2” to the LD driver 12. Further, the synchronization control unit 11 outputs to the segmentator 19 a segment extraction signal “S3” that determines a timing at which a later-described segmentator 19 extracts the output of the A / D converter 18.

  The LD driver 12 supplies a pulse current to the laser diode 13 in synchronization with the trigger signal S2 input from the synchronization control unit 11. In the present embodiment, the LD driver 12 switches whether to supply a pulse current to the laser diode 13 based on a control signal supplied from the signal processing unit SP. The laser diode 13 is, for example, an infrared pulse laser, and emits an optical pulse based on a pulse current supplied from the LD driver 12.

  The MEMS mirror 14 reflects the transmission light pulse emitted from the laser diode 13 to the outside while changing the angle, and receives the reception light pulse as the return light reflected by the object irradiated with the transmission light pulse to the light receiving element 16. Reflects toward. The drive driver 15 applies a drive current for driving the MEMS mirror 14 in the horizontal and vertical directions to the MEMS mirror 14 based on the control of the signal processing unit SP.

  The light receiving element 16 is, for example, an avalanche photodiode, and generates a reflected light from an object guided by the MEMS mirror 14, that is, a weak current corresponding to the light amount of a received light pulse. The light receiving element 16 supplies the generated weak current to the current-voltage conversion circuit 17. The current-voltage conversion circuit 17 amplifies the weak current supplied from the light receiving element 16 and converts it into a voltage signal, and inputs the converted voltage signal to the A / D converter 18.

  The A / D converter 18 converts the voltage signal supplied from the current-voltage conversion circuit 17 into a digital signal based on the clock signal S1 supplied from the crystal oscillator 20, and supplies the converted digital signal to the segmentator 19. The segmentator 19 generates a digital signal, which is an output of the A / D converter 18 during a period in which the segment extraction signal S3 is asserted, as a segment signal Sseg. The segmentator 19 supplies the generated segment signal Sseg to the signal processing unit SP.

  The signal processing unit SP controls the drive driver 15 to drive the MEMS mirror 14 of each scanner L so as to scan the scanning area, which is a predetermined area, with the transmission light pulse. Further, the signal processing unit SP supplies a control signal for controlling emission of a transmission light pulse by the MEMS mirror 14 of each scanner L to the LD driver 12 and the like. Further, the signal processing unit SP generates point group information indicating the distance and the angle of the target object for each scanner L based on the segment signal Sseg transmitted from each scanner L. Specifically, the signal processing unit SP detects a peak from the waveform of the segment signal Sseg, and estimates an amplitude and a delay time corresponding to the detected peak. Then, the signal processing unit SP calculates, from among the peaks of the waveform indicated by the segment signal Sseg, information on the distance corresponding to the delay time of the peak at which the estimated amplitude is equal to or greater than the predetermined threshold and information on the angle corresponding to the target segment. Is generated as information of each point constituting the point cloud information.

[Mechanical adjustment and electronic adjustment]
First, a method of adjusting the scanning area of the transmission light pulse by each scanner L will be described. The control unit 6 adjusts the scanning region of the transmission light pulse by each scanner L mechanically (physical) to adjust the position of each scanner L or an actual scanning range (that is, detection) in a scannable range described later. Range) is adjusted by electronic adjustment.

  First, a specific example of the mechanical adjustment will be described. In the mechanical adjustment, the control unit 6 adjusts the position (including the direction) of the scanner L by transmitting a control signal to the adjustment mechanism 8 corresponding to the scanner L to be adjusted.

  FIG. 4A shows a scanning area of a certain scanner L on a virtual irradiation surface (virtual irradiation surface) separated from the vehicle by a predetermined distance in front. Hereinafter, the longitudinal direction (horizontal direction) of the scanning area of the scanner L is “x axis”, the lateral direction (vertical direction) of the scanning area is “y axis”, and the direction perpendicular to the virtual irradiation surface is “z axis”. And the positive direction of each axis is determined as shown. In the example of FIG. 4A, the emission direction of the transmission light pulse by the scanner L is perpendicular to the virtual irradiation surface, and the scanning region on the virtual irradiation surface is a rectangular region.

  FIG. 4B shows a scanning area on the virtual irradiation surface when the target scanner L is rotated by a predetermined angle around the z-axis from the state of FIG. 4A by the adjustment mechanism 8. As shown in FIG. 4B, in this case, the scanning area of the adjustment target scanner L rotates by a predetermined angle around the z-axis.

  FIG. 4C shows a scan area on the virtual irradiation surface when the target scanner L is rotated by a predetermined angle around the x-axis from the state of FIG. As shown in FIG. 4C, in this case, the scanning area of the target scanner L has a trapezoidal shape in which the top and bottom sides are reduced and the top side is reduced and the bottom side is enlarged, and moves downward as a whole. When the target scanner L is rotated around the x-axis in a direction opposite to the direction of FIG. 4C, the scanning area of the target scanner L has a reduced vertical width, an enlarged upper side and a lower side. Becomes a reduced trapezoidal shape and moves upward as a whole.

  FIG. 4D shows a scanning area on the virtual irradiation surface when the target scanner L is rotated by a predetermined angle around the y-axis from the state of FIG. As shown in FIG. 4D, in this case, the scanning area of the target scanner L has a trapezoidal shape in which the left and right widths are reduced, the right side is reduced, and the left side is enlarged, and the scanning area moves to the left as a whole. When the target scanner L is rotated around the y-axis in a direction opposite to that of FIG. 4D, the scanning area of the target scanner L is reduced in the left and right widths, the right side is enlarged, and the left side is enlarged. Becomes a reduced trapezoidal shape and moves to the right as a whole.

  FIG. 4E shows a scanning area on the virtual irradiation surface when the scanner L to be adjusted is slid from the state of FIG. 4A by a predetermined distance in the positive z-axis direction by the adjusting mechanism 8. FIG. 4F shows a scanning area on the virtual irradiation surface when the target scanner L is slid from the state shown in FIG. In the example of FIG. 4E, the scanning area is reduced because the target scanner L approaches the virtual irradiation surface. On the other hand, in the example of FIG. 4F, the scanning area is enlarged because the target scanner L moves away from the virtual irradiation surface.

  Then, by transmitting a predetermined control signal to the adjustment mechanism 8, the control unit 6 performs position adjustment of the scanner L as shown in FIGS. 4B to 4F as mechanical adjustment. Thereby, the control unit 6 suitably adjusts the scanning area of each scanner L according to a reference object described later. The adjustment mechanism 8 adjusts the target scanner L from the state shown in FIG. 4A in the x-axis direction or the y-axis direction in addition to the position adjustment of the scanner L as shown in FIGS. It may be possible to adjust the position by sliding a predetermined distance in the direction. In a mode in which the signal processing unit SP transmits a drive signal to the adjustment mechanism 8, the control unit 6 may transmit a control signal for instructing driving of the adjustment mechanism 8 to the signal processing unit SP.

  Next, a specific example of the electronic adjustment will be described. FIG. 5A shows a correspondence relationship between a scanable range “SR” of the scanner L and a detection range “FOV” in which an object is detected on a virtual irradiation plane perpendicular to the emission direction of the scanner L. Show. Here, the scannable range SR indicates a range in which scanning by a transmission light pulse is possible, and the detection range FOV indicates a range in which scanning by a transmission light pulse is actually performed.

  As shown in FIG. 5A, the detection range FOV is set to a range smaller than the scannable range SR. For example, the control unit 6 controls whether or not a pulse current is supplied to the laser diode 13 of the LD driver 12 via the signal processing unit SP, so that an arbitrary area within the scannable range SR becomes the detection range FOV. So that it can be adjusted.

  FIGS. 5B and 5C show the correspondence between the scannable range SR and the detection range FOV when the detection range FOV is moved in the xy plane based on the electronic adjustment. In the example of FIG. 5B, the detection range FOV moves by a predetermined distance in the negative x-axis direction and by a predetermined distance in the positive y-axis direction within the scannable range SR. In the example of FIG. 5C, the detection range FOV is rotated clockwise by a predetermined angle within the scannable range SR.

  As described above, the control unit 6 can also adjust the position of the detection range FOV by electronic adjustment, similarly to the mechanical adjustment. When the detection range FOV and the scannable range SR are not particularly distinguished, they are also referred to as a “scanning region”.

[Adjustment of detection range]
Next, a method of adjusting the detection range FOV of the scanner L accommodated in the same scanner box will be described. In the adjustment method described below, the positions of the left and right ends of the detection range FOV of each scanner L are adjusted in accordance with the reference objects arranged on an arc centered on the target scanner box. Hereinafter, as an example, a method of adjusting the detection ranges FOV1 to FOV4 of the scanners L1 to L4 accommodated in the scan box 51 will be described.

FIG. 6 is a bird's-eye view showing a state after arranging the poles P1 to P4, which are examples of the above-described reference object, and adjusting the detection ranges FOV1 to FOV4 of the scanners L1 to L4. Here, the poles P1 to P5 are columnar objects that can reflect the transmission light pulse, and are provided on an arc (see a broken line) centered on the scan box 51. By doing so, the reference poles P1 to P4 are approximately equidistant from the scan box 51, so that the detection ranges FOV1 to FOV4 of the respective scanners L in the scan box 51 can be uniformly adjusted. it can. When the scanning angles “θ ₁ ” to “θ ₄ ” of the scanners L1 to L4 are the same, the poles P1 to P5 are arranged at substantially equal intervals on a circle. As will be described later, the poles P2 to P5 except the pole P1 are sequentially arranged in the process of adjusting the detection ranges FOV1 to FOV4 of the scanners L1 to L4.

The detection ranges FOV1 to FOV4 of the scanners L1 to L4 are adjusted such that the right and left boundaries of the detection range FOV overlap two adjacent poles of the poles P1 to P5, respectively. Here, the left end of the detection range FOV1 is adjusted according to the pole P1, and the right end of the detection range FOV1 and the left end of the detection range FOV2 are adjusted according to the pole P2. Similarly, the right end of the detection range FOV2 and the left end of the detection range FOV3 are adjusted according to the pole P3, and the right end of the detection range FOV3 and the left end of the detection range FOV4 are adjusted according to the pole P4. The right end of the range FOV4 is adjusted according to the pole P5. In the state of FIG. 6, the detection ranges FOV <b> _{1 to} FOV <b> ₄ are arranged without substantially overlapping, and the detection range is such that the entire scan box has a wide scanning angle (approximately the total angle of θ <b> _{1 to} θ <b> ₄ ). FOV is realized.

  FIG. 7 is a diagram in which the poles P1 to P5 and the detection ranges FOV1 to FOV4 are observed from the arrow A1 in FIG. In FIG. 7, for convenience of explanation, the detection range FOV actually shielded by the poles P1 to P5 is also shown transparently.

  As shown in FIG. 7, in this case, the detection ranges FOV <b> 1 to FOV <b> 5 are arranged in the horizontal direction so as to have the same height without substantial gaps and overlaps. Here, as a result of adjusting the widthwise direction of each of the detection ranges FOV1 to FOV5 so as to match the extending direction of the poles P1 to P5 (that is, the direction perpendicular to the ground), the respective widths substantially match each other. In addition, there is no left-right distortion or inclination in each of the detection ranges FOV. The poles P1 to P5 have a pattern in which the reflectance changes at predetermined intervals. Specifically, band regions Ph having higher reflectivity than other regions are formed at predetermined intervals in the extending direction on the poles P1 to P5. The band area Ph is suitably used for adjusting the position of the detection range FOV in the short direction (vertical direction), as described later.

  Next, as a representative example, a procedure for adjusting the detection ranges FOV1 to FOV4 of the scanners L1 to L4 accommodated in the scan box 51 will be specifically described.

  FIG. 8A is a diagram illustrating a positional relationship between the poles P1 and P2 observed from the scan box 51 and the detection range FOV1. First, when adjusting the detection range FOV1, the control unit 6 scans the transmission light pulse by the scanner L1, thereby obtaining the reflected light at each position within the detection range FOV1 obtained by the reflected light of the transmission light pulse. A point cloud image (also referred to as a “point cloud image Im1”) representing the intensity of is obtained from the rider unit 7 and displayed on the display unit 4. The pole P1 is located at the right end of the detection range FOV1 (the right end when observed from the scan box 51, the same applies hereinafter), and the pole P2 is at the left end of the detection range FOV1 (the left end when observed from the scan box 51). (The same applies hereinafter.) The poles P1 and P2 are moved on an arc centered on the scan box 51. In this case, for example, the position of the pole P1 is adjusted so that a part or the whole in the horizontal direction (all in FIG. 8A) is included in the detection range FOV1, and the position of the pole P2 is partly in the horizontal direction. The position is adjusted so that (approximately half in FIG. 8A) is included in the detection range FOV1. Note that the position adjustment of these poles P1 and P2, which is performed with reference to the left and right ends of the detection range FOV1, does not require high accuracy, and is performed by mechanical adjustment and / or electronic adjustment of the scanner L1 described later. Highly accurate position adjustment is performed.

  After arranging the poles P1 and P2, the control unit 6 executes at least one of the mechanical adjustment and the electronic adjustment of the scanner L1 based on the point cloud image Im1, and sets both ends of the detection range FOV1 to the poles P1 and P2. Match. For example, the control unit 6 refers to the point cloud image Im1 and, in a state where the pole P1 is located at the left end of the detection range FOV1, about half of the pole P2 in the horizontal direction is located at the right end of the detection range FOV1. The detection range FOV1 is adjusted so that the band regions Ph of the poles P1 and P2 within the range FOV1 have a symmetrical positional relationship.

  FIGS. 8B and 8C show a point cloud image Im1 referred to when adjusting the detection range FOV1. In the point cloud image Im1 shown in FIGS. 8B and 8C, there is a pole region R1 representing the pole P1 and a pole region R2a representing the pole P2 in the approximately left half. Here, the pole region R1 includes high reflection regions R11, R13, and R15 corresponding to the band region Ph, and other low reflection regions R12 and R14. Similarly, the pole region R2a includes high reflection regions R21a, R23a, R25a corresponding to the band region Ph, and other low reflection regions R22a, R24a. In FIG. 8B, the outline of the right half pole P2 that does not fall within the detection range FOV1 is clearly indicated by a broken line 65. In FIG. 8C, arrows 71 to 74 indicating the distances from the respective boundary positions of the high reflection regions R11, R13, and R15 to the upper end position of the point cloud image Im1 are clearly shown, and the high reflection regions R21a, R23a, Arrows 75 to 78 indicating the distances from the respective boundary positions of R25a to the upper end position of the point cloud image Im1 are clearly shown.

  In this case, the control unit 6 refers to the point cloud image Im1 and adjusts the detection range FOV1 such that the lateral length of the pole region R2a and the lateral length of the pole region R1 are each a predetermined length. . In the example of FIG. 8B, the control unit 6 adjusts the horizontal length of the pole region R1 so that the entire length of the pole P1 in the horizontal direction is included in the detection range FOV1. The horizontal length of the pole region R2a is defined as the length when half of the pole P2 is included in the detection range FOV1 in the horizontal direction (here, half of the horizontal length of the pole region R1). Adjust so that The appropriate values (target values) of the lateral length of the pole region R2a and the lateral length of the pole region R1 may be stored in the storage unit 3 or the like in advance so that the control unit 6 can refer to them. Good.

  Further, the control unit 6 determines that the distances (see arrows 71 and 75) from the lower ends of the high reflection area R11 and the high reflection area R21a to the upper end of the point cloud image Im1 match, and the high reflection area R13 and the high reflection area R23a. The distance from each upper end to the upper end of the point group image Im1 (see arrows 72 and 76) matches, and the distance from each lower end of the high reflection area R13 and the high reflection area R23a to the upper end of the point group image Im1 (arrow) 73 and the arrow 77) and the distances (see arrows 74 and 78) from the upper ends of the high reflection area R15 and the high reflection area R25a to the upper end of the point cloud image Im1 match. Make adjustments. Thereby, the control unit 6 suitably matches the extending direction of the poles P1 and P2 with the lateral direction of the detection range FOV1, and preferably sets the detection range FOV1 in which distortion on the left and right and tilting on the left and right do not occur. can do.

  After completing the above-described adjustment, the control unit 6 stores the control value of the adjustment mechanism 8a, the position information of the detection range FOV in the scannable range SR after the electronic adjustment, and the like as calibration information for the scanner L1. .

  Next, adjustment of the detection range FOV2 will be described. FIG. 9A is a diagram illustrating a positional relationship between the poles P2 and P3 observed from the scan box 51 and the detection range FOV2.

  In order to adjust the detection range FOV2, the control unit 6 starts scanning of the transmission light pulse by the scanner L2, and a point group image (“point group image Im2”) representing the intensity of the reflected light at each position within the detection range FOV2. Is also acquired from the lidar unit 7 and displayed on the display unit 4. At this time, the control unit 6 adjusts the detection range FOV2 by mechanical adjustment and / or electronic adjustment so that the left end of the detection range FOV2 matches the pole P2 while the pole P2 and the scanner L1 are fixed. At this time, the control unit 6 performs position adjustment such that a part (substantially half in FIG. 9A) of the pole P2 in the horizontal direction is included in the detection range FOV2. After that, as shown in FIG. 9A, a pole P3 is arranged at the right end of the detection range FOV2, and a part of the pole P3 in the horizontal direction (substantially half in FIG. 9A) is included in the detection range FOV2. Adjust the position of. Note that the position adjustment of the pole P3 performed with reference to the left end of the detection range FOV2 does not require high accuracy, and more precise position adjustment is performed by mechanical adjustment and / or electronic adjustment of the scanner L2 described later. Is performed.

  After arranging the pole P3, the control unit 6 performs at least one of the mechanical adjustment and the electronic adjustment of the scanner L2 based on the point cloud image Im2, so that both ends of the detection range FOV2 are aligned with the poles P2 and P3. Adjust the position. Specifically, the control unit 6 refers to the point cloud image Im2, and about half of the poles P2 and P3 in the horizontal direction are included in the detection range FOV2, respectively, and the poles P2 and P3 in the detection range FOV2 are not included. The detection range FOV2 is adjusted so that the position of the band region Ph is left-right symmetric.

  FIGS. 9B and 9C show a point cloud image Im2 which is referred to when adjusting the detection range FOV2. In the point group images Im2 shown in FIGS. 9B and 9C, there is a pole region R2b representing the pole P2 and a pole region R3 representing the pole P3. Here, the pole region R2b includes high reflection regions R21b, R23b, R25b corresponding to the band region Ph, and other low reflection regions R22b, R24b. Similarly, the pole region R3 includes high reflection regions R31, R33, and R35 corresponding to the band region Ph, and other low reflection regions R32 and R34. In FIG. 9B, the outlines of the poles P2 and P3 that do not fall within the detection range FOV2 are clearly indicated by broken lines 66 and 67. Also, in FIG. 9C, arrows 81 to 84 indicating the distances from the respective boundary positions of the high reflection regions R21b, R23b, and R25b to the upper end position of the point cloud image Im2 are clearly shown, and the high reflection regions R31, R33, Arrows 85 to 88 indicating the distances from the respective boundary positions of R35 to the upper end position of the point cloud image Im2 are clearly shown.

  In this case, the control unit 6 refers to the point cloud image Im2 and adjusts the detection range FOV1 such that the horizontal length of the pole region R2b and the horizontal length of the pole region R3 are each a predetermined length. . In the example of FIG. 9B, the control unit 6 adjusts the detection range FOV2 such that approximately half of the poles P2 and P3 in the horizontal direction are respectively included in the detection range FOV2. The appropriate values (target values) of the lateral length of the pole region R2b and the lateral length of the pole region R3 may be stored in the storage unit 3 or the like in advance so that the control unit 6 can refer to them. Good.

  Further, the control unit 6 determines that the distances (see arrows 81 and 85) from the lower ends of the high reflection area R21b and the high reflection area R31 to the upper end of the point cloud image Im1 match, and the high reflection area R23b and the high reflection area R33. And the distance from the upper end of the point group image Im2 to the upper end of the point group image Im2 (see arrows 82 and 86) matches, and the distance from the lower end of each of the high reflection area R23b and the high reflection area R33 to the upper end of the point group image Im2 (arrow) 83 and the arrow 87) match, and the distances (see arrows 84 and 88) from the upper ends of the high reflection area R25b and the high reflection area R35 to the upper end of the point cloud image Im2 match (see arrows 84 and 88). Make adjustments. Thereby, the control unit 6 matches the extending direction of the poles P2 and P3 with the lateral direction of the detection range FOV2, and appropriately sets the detection range FOV2 in which distortion on the left and right and tilting on the left and right do not occur. Can be. In this case, the detection range FOV1 and the detection range FOV2 are arranged without being shifted in the horizontal direction, as shown in the examples of FIGS. 6 and 7, and an unnecessary overlapping range does not substantially occur.

  After the adjustment of the above-described detection range FOV2, the control unit 6 sends the control value of the adjustment mechanism 8b, the position information of the detection range FOV2 in the scannable range SR after the electronic adjustment, and the like to the calibration information for the scanner L2. To be stored.

  Thereafter, the controller 6 sequentially adjusts the detection range FOV3 and the detection range FOV4 in the same procedure as the adjustment of the detection range FOV2. In this case, the control unit 6 starts the scanning of the transmission light pulse by the scanner L3, and adjusts the detection range FOV3 such that the right end of the detection range FOV3 matches the adjustment mechanism pole P3. Thereafter, the pole P4 is arranged so that a part in the horizontal direction is included in the detection range FOV3, and approximately half of the poles P3 and P4 in the horizontal direction are respectively included in the detection range FOV3, and the pole P4 in the detection range FOV3 is included. The detection range FOV3 is adjusted such that the band areas Ph of P3 and P4 have a symmetrical positional relationship. Next, the control unit 6 starts scanning of the transmission light pulse by the scanner L4, and adjusts the detection range FOV4 such that the right end of the detection range FOV4 matches the pole P4. Thereafter, the pole P5 is arranged so that a part in the horizontal direction is included in the detection range FOV4, and about half of the pole P4 in the horizontal direction and at least a part of the pole P5 in the horizontal direction are each included in the detection range FOV4, and The detection range FOV4 is adjusted such that the band areas Ph of the poles P4 and P5 within the detection range FOV4 have a symmetrical positional relationship.

  As described above, the control unit 6 sequentially adjusts the detection range FOV3 of the scanner L3 and the detection range FOV4 of the scanner L4 in the same manner as the method of adjusting the detection range FOV2 of the scanner L2, so that all the scanners L in the scan box 51 are adjusted. The detection range FOV can be suitably adjusted.

  In the description of FIGS. 8 and 9, an example has been described in which the adjustment is sequentially performed from the scan L1 having the detection range on the leftmost side when observed from the scan box 51 among the scans L1 to L4. Alternatively, the adjustment may be performed sequentially from the scan L4 having the detection range on the rightmost side when observed from the scan box 51 among the scans L1 to L4. In this case, after the installation of the poles P5 and P4, the detection range FOV4 is adjusted, and then the detection range FOV3 is adjusted by installing the pole P3. Then, the detection range FOV2 is adjusted by installing the pole P2, and then the detection range FOV1 is adjusted by installing the pole P1.

  FIG. 10 is an example of a flowchart illustrating an adjustment procedure of the scanner L in the scan box 51 in the present embodiment. In the description of the flowchart of FIG. 10, the scanner L that adjusts the detection range FOV first is referred to as a “first scanner”, and the scanner L that adjusts the detection range FOV after the first scanner is referred to as a “second scanner”. Similarly, the poles installed at the left and right ends of the detection range FOV of the first scanner are referred to as “first pole” and “second pole”, of which the poles installed at the boundary between the detection range FOV of the first scanner and the second scanner. Is the second pole. Further, among the poles installed on the left and right ends of the detection range FOV of the second scanner, a pole installed on the opposite side to the second pole is referred to as a “third pole”.

  First, the control unit 6 determines whether or not the first pole and the second pole are respectively disposed at the left and right ends of the detection range FOV of the first scanner (Step S101). For example, when the control unit 6 detects, at each of the left end and the right end, an area of the object having a size equal to or larger than the predetermined number of pixels of the point cloud image Im1, the first pole and the first pole are respectively located at the left and right ends of the detection range FOV of the first scanner. It is determined that the second pole has been placed. In another example, the control unit 6 displays the point cloud image Im1 on the display unit 4, and when there is a predetermined user input to the input unit 1 indicating that the arrangement of the first pole and the second pole has been completed, It is determined that the first pole and the second pole are disposed at the left and right ends of the detection range FOV of the first scanner, respectively.

  When the control unit 6 determines that the first pole and the second pole are disposed at the left and right ends of the detection range FOV1 of the first scanner (step S101; Yes), the left and right ends of the detection range FOV of the first scanner are determined. The first scanner is mechanically adjusted and / or electronically adjusted so as to match the first pole and the second pole (step S102). In this case, for example, the control unit 6 determines the width information of the pole region R1 and the pole region R2a illustrated in FIG. 8B and the height corresponding to the band region Ph illustrated in FIG. 8C from the point cloud image Im1. Information on the reflection area (for example, information on the distance indicated by arrows 71 to 78) and the like are acquired as parameters, and the adjustment direction and the adjustment amount of the mechanical adjustment and / or the electronic adjustment are determined based on these acquired parameters. In this case, for example, the control unit 6 previously stores in the storage unit 3 map information indicating an adjustment direction and an adjustment amount that need to be applied to the first scanner to be adjusted for each combination of the above-described parameter values. The adjustment direction and the adjustment amount to be adjusted by the mechanical adjustment and / or the electronic adjustment are determined by referring to the map information. In another example, the control unit 6 receives the user input indicating the adjustment direction and the adjustment amount of the mechanical adjustment or / and the electronic adjustment by the input unit 1 and performs the adjustment by the mechanical adjustment or / and the electronic adjustment. The adjustment direction and the adjustment amount to be performed may be determined.

  Next, the control unit 6 adjusts the second scanner by mechanical adjustment and / or electronic adjustment so that the second pole is positioned at one end of the detection range FOV of the second scanner while the second pole is fixed. (Step S103). In this case, for example, the control unit 6 mechanically adjusts or / or adjusts the second scanner so as to detect, at the left end or the right end, an area of the second pole having a size equal to or larger than a predetermined number of pixels in the point cloud image of the second scanner. And electronic adjustment. In this case, in the point cloud image of the second scanner, the control unit 6 determines the end (right end in FIG. 8A) opposite to the end (right end in FIG. 8A) of the point cloud image of the first scanner. Adjustment is made so that the second pole is detected at the left end in FIG. 9 (A).

  Next, the control unit 6 determines whether or not the third pole is located at the other end of the detection range FOV of the second scanner (that is, the end opposite to the end where the second pole is installed) (Step S104). . In this case, similarly to the determination in step S101, the control unit 6 may perform the automatic determination based on the point cloud image of the second scanner or may determine based on a user input.

  If the control unit 6 determines that the third pole is located at the other end of the detection range FOV of the second scanner (step S104; Yes), the control unit 6 sets the left and right ends of the detection range FOV of the second scanner to the second pole and the second pole. Mechanical adjustment and / or electronic adjustment of the second scanner is executed so as to match the third pole (step S105). In this case, the control unit 6 executes mechanical adjustment and / or electronic adjustment of the second scanner based on the analysis result of the point cloud image of the second scanner or a user input to the input unit 1. This adjustment method is the same as the mechanical adjustment and / or the electronic adjustment for the first scanner in step S102.

  Next, the controller 6 determines whether there is still a scanner to be adjusted (step S106). Specifically, the control unit 6 determines whether three or more scanners are accommodated in the target scan box. Then, when there is a scanner to be adjusted (Step S106; Yes), the control unit 6 sequentially adjusts the detection range FOV of the remaining scanners by the same procedure as Steps S103 to S105 (Step S107). Accordingly, the control unit 6 sequentially installs the pole each time one of the remaining scanners L is to be adjusted, and newly installs both ends of the detection range FOV of the scanner L to be adjusted and one of the poles. Make adjustments to match the pole installed just before. On the other hand, when there is no scanner to be adjusted (step S106; No), the control unit 6 ends the processing of the flowchart.

  In the adjustment of the detection range FOV in steps S102, S103, S105, and the like, the control unit 6 performs adjustment that cannot be replaced by electronic adjustment (for example, adjustment of rotational displacement around the x-axis or y-axis and adjustment of longitudinal displacement). If necessary, make mechanical adjustments. On the other hand, the control unit 6 performs electronic adjustment or mechanical adjustment on the electronic adjustment or mechanical adjustment (for example, adjustment of rotational shift around the z-axis, vertical shift adjustment, and horizontal shift adjustment). It is better to execute it with higher priority. In the latter case, for example, the control unit 6 may perform the mechanical adjustment only when it is determined that the electronic adjustment alone cannot achieve the target adjustment amount. In this case, the control unit 6 may store in advance the information of the adjustment amounts of the rotational shift adjustment, the vertical shift adjustment, and the horizontal shift adjustment that can be adjusted by electronic adjustment in the storage unit 3 or the like.

  As described above, the adjustment method according to the present embodiment is an adjustment method for adjusting the detection range FOV of the first scanner and the second scanner, and includes the following first to third adjustment steps. In the first adjustment step, the detection range FOV of the first scanner is adjusted in accordance with the first and second poles set with reference to both ends in the horizontal direction of the detection range FOV of the first scanner. In the second adjustment step, the detection range FOV of the second scanner is adjusted such that the second pole is located at one end in the horizontal direction of the detection range FOV. In the third adjustment step, the second scanner is installed with reference to the other end in the horizontal direction of the detection range FOV of the second scanner after adjustment in the second adjustment step, and is provided on the opposite side of the second pole from the first pole. The detection range FOV of the second scanner is adjusted according to the third pole and the second pole. This makes it possible to suitably execute the adjustment of the plurality of scanners so that the detection range FOV of the measurement system 100 as a whole is appropriately enlarged.

[Modification]
Next, a modified example suitable for the embodiment will be described. The following modifications may be arbitrarily combined and applied to the above embodiment.

(Modification 1)
In the embodiment, a pole in which band regions Ph are formed at predetermined intervals is used as a reference object that determines the detection range FOV of each scanner L. Instead, each scanner L may be adjusted using a reference object on which the band area Ph is not formed.

  FIG. 11A is a diagram showing a positional relationship between the poles P1 and P2 and the detection range FOV1 when the scanner L1 is adjusted using a pole having no band region Ph, and FIG. ) Shows the point cloud image Im1 acquired in the case of FIG. As shown in FIGS. 11A and 11B, in this case, the poles P1 and P2 are lower than the upper end of the detection range FOV1 and have a uniform reflectance.

  In this case, as shown in FIG. 11B, the control unit 6 determines the distance between the upper end of the pole area R1 and the upper end of the point group image Im1 (see arrow 93) and the distance between the upper end of the pole area R2a and the point group image Im1. The detection range FOV1 is adjusted by measuring the distance from the upper end (see arrow 94) and performing at least one of mechanical adjustment and electronic adjustment so that these distances match. In addition, as in the example of FIG. 8B described in the embodiment, the control unit 6 sets the lateral length of the pole region R1 and the lateral length of the pole region R2a to predetermined lengths, respectively. The detection range FOV1 is adjusted by performing at least one of the mechanical adjustment and the electronic adjustment. Also in this example, the control unit 6 matches the extension direction of the poles P1 and P2 with the lateral direction of the detection range FOV1, and preferably sets the detection range FOV1 such that distortion on the left and right and inclination on the left and right do not occur. Can be adjusted.

  Further, the reference object that defines the detection range FOV of each scanner L does not need to be columnar, and may be an arbitrary object whose whole or part extends substantially perpendicular to the ground.

(Modification 2)
A part of the processing of the control unit 6 may be executed by the signal processing unit SP. In this case, the signal processing unit SP can mechanically adjust each scanner L by transmitting a control signal to the adjustment mechanism 8 provided in each scanner L. The processing of the flowchart in FIG. Run instead. In another example, the signal processing unit SP and the control unit 6 may be the same device. In this case, the signal processing unit SP of the lidar unit 7 is electrically connected to the input unit 1, the storage unit 3, the display unit 4, the communication unit 5, and the like, and controls the entire measurement system 100.

(Modification 3)
In the embodiment, as shown in FIGS. 6 and 7, the adjustment is performed so that the detection ranges FOV of the respective scanners L to be adjusted are horizontally adjacent without overlapping. Instead, the adjustment may be performed so that the adjacent detection ranges FOV slightly overlap.

  In this case, for example, in the adjustment of the detection range FOV1 described with reference to FIG. 8B, the control unit 6 sets the pole region R2a such that the pole P2 is displayed on the point group image Im1 by a predetermined length longer than half in the horizontal direction. Adjust the width of. Similarly, in the adjustment of the detection range FOV2 described with reference to FIG. 9B, the control unit 6 controls the width of the pole region R2b such that the pole P2 is displayed on the point group image Im2 by a predetermined length longer than half in the horizontal direction. Adjust the length of. Then, the control unit 6 similarly adjusts the detection range FOV to be adjusted so that a predetermined length longer than half in the horizontal direction is displayed within the detection range FOV to be adjusted for the poles installed after the pole P2. .

  Similarly, the control unit 6 may perform adjustment so that adjacent detection ranges FOV are slightly separated from each other without being in contact with each other. In this case, for example, in the adjustment of the detection range FOV1 described with reference to FIG. 8B, the control unit 6 sets the pole region R2a such that the pole P2 is displayed on the point group image Im1 by a predetermined length shorter than half in the horizontal direction. Adjust the width of. Similarly, in the adjustment of the detection range FOV2 described with reference to FIG. 9B, the control unit 6 controls the width of the pole region R2b so that the pole P2 is displayed on the point group image Im2 by a predetermined length shorter than half in the horizontal direction. Adjust the length of. Then, the control unit 6 similarly adjusts the detection range FOV to be adjusted so that a predetermined length shorter than half in the horizontal direction is displayed within the detection range FOV to be adjusted in the poles installed after the pole P2. .

(Modification 4)
The measurement system 100 may perform the adjustment of the present embodiment on a scanner L belonging to a different box and having a detection range FOV that is close in the horizontal direction. In addition, the measurement system 100 may perform the adjustment of the present embodiment on a plurality of scanners L not housed in the scan box. As described above, the adjustment method of the present embodiment is not limited to the adjustment of the detection range FOV of the scanner L in the same box.

(Modification 5)
Reference objects such as the poles P1 to P5 may be installed only at the boundary positions between the detection ranges FOV. Hereinafter, in the adjustment of the scanners L1 to L5 described in FIGS. 8 and 9 and the like, an example will be described in which only the poles P2 to P4 placed between the detection ranges FOV are installed and the poles P1 and P5 are not installed.

  In this case, the control unit 6 adjusts the detection range FOV1 such that a part (for example, half) of the pole P2 is included in the detection range FOV1 at the right end of the point cloud image Im1 in the horizontal direction. At this time, the control unit 6 mechanically or / electronically adjusts the detection range FOV1 such that, for example, the longitudinal direction of the pole region R2a indicating the pole P2 is a rectangular region that coincides with the lateral direction of the point cloud image Im1. The detection range FOV1 may be adjusted by mechanical adjustment or / electronic adjustment so that the low-reflection region R22a and the low-reflection region R24a have a congruent rectangle. Thereafter, in the adjustment of the scanner L2 and the scanner L3, the poles P3 and P4 are sequentially installed as in the embodiment, and the respective detection ranges FOV are adjusted. Then, in the adjustment of the scanner L4, which is the last adjustment target, the detection range FOV4 is adjusted such that a part (for example, half) of the pole P2 is included in the detection range FOV4 at the left end of the point cloud image of the scanner L4 in the horizontal direction. . This adjustment method is performed in the same manner as the adjustment method of the detection range FOV1.

  According to this modification as well, the measurement system 100 can suitably adjust each scanner L so that the detection ranges FOV of the scanners L in the scan box do not substantially overlap.

(Modification 6)
In the example, as shown in FIGS. 8C and 9C, the detection range was adjusted so that the distance from the upper end and the lower end of each high reflection area to the upper end of the point cloud image coincided. Instead, the detection range may be adjusted so that the distance from the upper end and the lower end of each high reflection area to the lower end of the point cloud image coincides.

  FIG. 12 shows the distances from the upper end and the lower end of each high reflection area to the lower end of the point cloud image Im1 in the point cloud image Im1 of FIG. 8B referred to when adjusting the detection range FOV1 by arrows 71x to 78x. FIG. In the case of FIG. 12, the control unit 6 determines that the distances (see arrows 71x and 75x) from the lower ends of the high reflection area R11 and the high reflection area R21a to the lower end of the point cloud image Im1 match, and the high reflection area R13 and the high The distance from each upper end of the reflection area R23a to the lower end of the point group image Im1 (see arrows 72x and 76x) matches, and the distance from the lower end of each of the high reflection area R13 and the high reflection area R23a to the lower end of the point group image Im1. Detection is performed such that the distances (see arrows 73x and 77x) match, and the distances (see arrows 74x and 78x) from the upper ends of the high reflection area R15 and the high reflection area R25a to the lower end of the point cloud image Im1 match. The range FOV1 is adjusted.

  Also according to the present modification, the control unit 6 appropriately matches the extending direction of the poles P1 and P2 with the lateral direction of the detection range FOV1, and sets the detection range FOV1 in which distortion on the left and right and tilting on the left and right do not occur. It can be set appropriately. Note that the control unit 6 also sets the distance from the upper end and the lower end of each high reflection area displayed in the point cloud image to the lower edge of the point cloud image for the other detection ranges FOV to be adjusted after the detection range FOV1. It is preferable to adjust the detection range FOV so that they match.

DESCRIPTION OF SYMBOLS 1 Input part 2 Sensor part 3 Storage part 4 Display part 5 Communication part 6 Control part 100 Measurement system

Claims (9)

An adjustment method for adjusting a detection range of the first detection device and the second detection device,
A first adjustment step of adjusting the detection range of the first detection device in accordance with first and second reference objects provided with reference to both ends in the horizontal direction of the detection range of the first detection device;
A second adjustment step of adjusting the detection range of the second detection device so that the second reference object is located at one end in the horizontal direction of the detection range;
The second detection device is installed with reference to the other end in the horizontal direction of the detection range of the second detection device after the adjustment in the second adjustment step, and is provided on the opposite side of the first reference object with respect to the second reference object. A third adjustment step of adjusting a detection range of the second detection device according to a third reference object and the second reference object;
Adjustment method having   The adjustment method according to claim 1, wherein the first to third reference objects are columnar objects. An acquisition step of acquiring detection results of the first and second detection devices,
The first adjusting step adjusts a detection range of the first detection device based on a detection result of the first detection device,
The adjustment method according to claim 1, wherein the second and third adjustment steps adjust a detection range of the second detection device based on a detection result of the second detection device. In the first adjusting step, at least a part of the first reference object is included in a detection range of the first detection device, and a part of the second reference object is included in a detection range of the first detection device. Adjusting the detection range of the first detection device so as to be included in,
In the third adjusting step, a part of the second reference object is included in a detection range of the second detection device, and at least a part of the third reference object is included in a detection range of the second detection device. The adjustment method according to any one of claims 1 to 3, wherein the detection range of the second detection device is adjusted so that the detection range is included. The first to third reference objects have a pattern in which the reflectance in the stretching direction changes at predetermined intervals,
The first and second detection devices emit an electromagnetic wave in the detection range, and output a detection result according to the intensity of the reflected wave of the electromagnetic wave,
The first adjusting step adjusts a detection range of the first detection device based on a detection result of the first detection device,
The adjustment method according to any one of claims 1 to 4, wherein the second and third adjustment steps adjust a detection range of the second detection device based on a detection result of the second detection device.   The said 1st reference | standard object, the said 2nd reference | standard object, and the said 3rd reference | standard object are arrange | positioned on the substantially arc based on the position of the said 1st detection apparatus and the said 2nd detection apparatus. The adjustment method according to any one of claims 1 to 5.   The adjustment method according to any one of claims 1 to 6, wherein the first detection device and the second detection device are housed in the same housing.   A detection device having a first detection device and a second detection device whose detection ranges have been adjusted by the adjustment method according to claim 1.   A detection device whose detection range has been adjusted by the second adjustment step and the third adjustment step of the adjustment method according to claim 1.

Images