JP2021038949A - Sensor device and position identification method - Google Patents

Abstract

To more precisely determine the size and the location of a moving object such as a vehicle.SOLUTION: A first sensor and a second sensor are disposed at vertexes of a rectangular virtual region, and at both ends of one diagonal of the virtual region. The first sensor has: first irradiation means which radiates a plurality of first light pulses to a measurable range contained in the virtual region; and first light reception means which receives a plurality of first reflected lights in which the first light pulse is reflected on a measuring target, and generates first point group information indicating a position at which the first reflected light is reflected. The second sensor has: second irradiation means which radiates a plurality of second light pulses to the measurable range contained in the virtual region; and second light reception means which receives a plurality of second reflected lights in which the second light pulse is reflected on the measuring target, and generates second point group information indicating the position at which the second reflected light is reflected. A measurement processing unit acquires side surface point group information indicating a side surface of the measuring target disposed at the measurable range, by using the first point group information and the second point group information, and identifies the position of the measuring target from the side surface point group information.SELECTED DRAWING: Figure 1

Description

The present invention relates to a sensor device and a position specifying method for specifying the position of a measurement object from point cloud information of the measurement object acquired by a laser sensor.

As a technique for specifying the position of a vehicle, there is a technique for acquiring point cloud information of the shape and orientation of an oncoming vehicle by mounting a laser sensor and a camera on the vehicle (see, for example, Patent Document 1). In the technique disclosed in Patent Document 1, point cloud information on one side facing the own vehicle is acquired.

Further, an in-lane object detection device has been proposed in which periodic information provided on one side in the width direction of a lane is acquired on the other side and an intrusion of an object into the lane is detected based on a change in the periodic information (for example). , Patent Document 2).

There is also a technique of acquiring information on the entire space by synthesizing point cloud information acquired in a plurality of times at different positions and angles with one laser sensor (see, for example, Non-Patent Document 1).

Japanese Unexamined Patent Publication No. 2009-098025 Japanese Unexamined Patent Publication No. 2013-210894

https://www.elysium-global.com/ja/customer_story/hankai/

However, in the technique of Patent Document 1, since only the point cloud information on one surface facing the sensor is acquired, the accuracy of determining the size and position of the vehicle is low.

Further, in the technique of Patent Document 2, the tire size and the tire spacing can be grasped from the captured image shielded by the object, but the accuracy of discriminating the vehicle size from the tire size and spacing is high. It can not be said.

Further, in the technique of Non-Patent Document 1, the point cloud information to be acquired is not acquired at the same time. Therefore, for example, assuming monitoring at a construction site, it cannot be used for monitoring a site that changes from moment to moment.

The present invention has been made in view of the above-mentioned problems. An object of the present invention is to provide a sensor device and a position specifying method capable of more accurately determining the size and position of a moving body such as a vehicle.

In order to achieve the above-mentioned object, the sensor device of the present invention includes a first sensor, a second sensor, and a measurement processing unit.

The first sensor is the apex of the rectangular virtual area, and is arranged at the apex on one end side of one diagonal line of the virtual area. The first sensor is a first irradiation means that irradiates a plurality of first light pulses into a measurable range included in the virtual area, and a plurality of first reflected lights in which the first light pulse is reflected by a measurement object. It has a first light receiving means that receives light and generates first point group information indicating a position where the first reflected light is reflected.

The second sensor is located at the apex on the other end of the diagonal line. The second sensor is a second irradiation means that irradiates a plurality of second light pulses into a measurable range included in the virtual area, and a plurality of second reflected lights in which the second light pulse is reflected by the measurement object. It has a second light receiving means that receives light and generates second point group information indicating a position where the second reflected light is reflected. The measurement processing unit acquires the side point cloud information indicating the side surface of the measurement object arranged in the measurable range by using the first point cloud information and the second point cloud information, and the measurement object is measured from the side point cloud information. Identify the position of.

The side point cloud information is obtained, for example, based on the difference between the target point cloud information and the reference point cloud information. The target point cloud information is acquired as the first point cloud information and the second point cloud information in a state where the measurement object is arranged in the measurable range. The reference point cloud information is acquired as the first point cloud information and the second point cloud information in a state where the measurement object is not arranged in the measurable range.

The measurement processing unit determines whether or not the distance between the first sensor and the second sensor in the direction along the assumed movement path of the measurement object is larger than the length of the measurement object in the direction along the assumed movement path. If it is large, it is determined that the first sensor and the second sensor are properly arranged, and if not, it is determined that the first sensor and the second sensor are not properly arranged.

Further, according to another preferred embodiment of the sensor device of the present invention, n is an integer of 3 or more, k is an integer of 1 or more, and when n is an odd number, k is (n + 1) / 2 or less. When n is an even number, k is n / 2 or less, x1 <x2 and y1 <y2, and when D = y2-y1, the first to nth virtual sensors are provided.

The second k-1 virtual sensor is arranged on the first virtual line, and the coordinates of the second k-1 virtual sensor are given by (x1, y1 + 2 (k-1) D). Further, the second k virtual sensor is arranged on the second virtual line, and the coordinates of the second k virtual sensor are given by (x2, y2 + 2 (k-1) D). Here, the set of the second k-1 virtual sensor and the second k virtual sensor, or the set of the second k virtual sensor and the second k + 1 virtual sensor functions as the set of the first sensor and the second sensor.

Further, according to another preferred embodiment of the sensor device of the present invention, n is an integer of 4 or more, k is an integer of 1 or more, and when n is an odd number, k is (n + 1) / 2 or less. When n is an even number, k is n / 2 or less, x1 <x2 and y1 <y2, and when D = y2-y1, the first to nth virtual sensors are provided.

The second k-1 virtual sensor is arranged on the first virtual line, and the coordinates of the second k-1 virtual sensor are given by (x1, y1 + (k-1) D). The second k virtual sensor is arranged on the second virtual line, and the coordinates of the second k virtual sensor are given by (x2, y2 + (k-1) D).

The irradiation axis of the second k-1 virtual sensor takes a first state and a second state. In the first state, the irradiation range has a fan shape centered on the coordinates of the virtual sensor and is sandwiched between a line segment in the positive direction of x and a line segment in the positive direction of y. On the other hand, in the second state, the irradiation range has a fan shape centered on the coordinates of the virtual sensor and is sandwiched between a line segment in the negative direction of y and a line segment in the positive direction of x.

Further, the irradiation axis of the second k virtual sensor takes a first state and a second state. In the first state, the irradiation range has a fan shape centered on the coordinates of the virtual sensor and is sandwiched between a line segment in the negative direction of x and a line segment in the negative direction of y. On the other hand, in the second state, a fan shape is formed centered on the coordinates of the virtual sensor and sandwiched between a line segment in the positive direction of y and a line segment in the negative direction of x.

When the irradiation axis of the second k-1 virtual sensor takes the first state, and at the same time, the irradiation axis of the second k virtual sensor also takes the first state, and when the irradiation axis of the second k-1 virtual sensor takes the second state. At the same time, each virtual sensor is synchronized so that the irradiation axis of the second k virtual sensor also takes the second state.

When the irradiation axes of the second k-1 virtual sensor and the second k virtual sensor take the first state, the pair of the second k-1 virtual sensor and the second k virtual sensor functions as the pair of the first sensor and the second sensor. When the irradiation axes of the second k virtual sensor and the second k + 1 virtual sensor take the second state, the pair of the second k virtual sensor and the second k + 1 virtual sensor functions as the set of the first sensor and the second sensor.

Further, the irradiation axis of the 2k-1 virtual sensor may be configured to take the third state and the fourth state, and the irradiation axis of the second k virtual sensor may take the third state and the fourth state.

When the irradiation axis of the second k-1 virtual sensor is in the third state, the irradiation range is a fan shape sandwiched between a line segment in the negative direction of x and a line segment in the negative direction of y with the coordinates of the virtual sensor as the center. It becomes. On the other hand, in the fourth state, the irradiation range has a fan shape centered on the coordinates of the virtual sensor and is sandwiched between a line segment in the positive direction of y and a line segment in the negative direction of x.

Further, when the irradiation axis of the 2k virtual sensor is in the third state, the irradiation range is a fan shape sandwiched between a line segment in the positive direction of x and a line segment in the positive direction of y with the coordinates of the virtual sensor as the center. It becomes. On the other hand, in the fourth state, a fan shape is formed centered on the coordinates of the virtual sensor and sandwiched between a line segment in the negative direction of y and a line segment in the positive direction of x.

When the irradiation axis of the 2k-1 virtual sensor takes the third state, the irradiation axis of the 2k virtual sensor also takes the third state, and when the irradiation axis of the second k-1 virtual sensor takes the fourth state, at the same time. Each virtual sensor is synchronized so that the irradiation axis of the second k virtual sensor also takes the fourth state.

Further, the position identification method of the present invention is a position identification method performed by using the above-mentioned sensor device, and is a process of acquiring the first point group information and the second point group information, and the first point group information and the first point cloud information. It includes a process of acquiring side point cloud information indicating the side surface of the measurement object from the two point cloud information and a process of specifying the position of the measurement object by using the side point cloud information.

According to the preferred embodiment of the above-mentioned position identification method, the sensor position identification process performed before the process of acquiring the first point cloud information and the second point cloud information is further provided.

In the sensor position identification process, the process of arranging the first sensor and the second sensor, and the process of arranging the first sensor and the second sensor, and the first sensor and the second sensor with the first sensor and the second sensor as the reference point group information and the second point group information in the absence of the measurement target The process of acquiring as information, the process of arranging the measurement object in the measurable range, and the state where the measurement object is arranged, the first sensor and the second sensor use the first point group information and the second point group information. The difference between the target point group information and the reference point group information is taken for each of the process of acquiring as the target point group information and the first point group information and the second point group information, and the side point group information of the measurement target object is obtained. The first virtual line segment and the second virtual line segment and the second from the side surface information parallel to the first virtual line segment and the second virtual line segment for the acquisition process and the first point group information and the second point group information, respectively. The process of acquiring the length and center position of the side surface in the direction along the virtual line segment, and the first virtual line segment and the second virtual line segment for the first point group information and the second point group information, respectively. The process of acquiring the length and center position of the side surface in the direction orthogonal to the first virtual line segment and the second virtual line segment from the side surface information of the orthogonal side surfaces, and the first virtual line segment of the first sensor and the second sensor. And the process of acquiring the distance Dy in the direction along the second virtual line segment, the length Ly of the side surface of the measurement object, and the first virtual line segment and the second virtual line segment of the first sensor and the second sensor. The process of acquiring the interval Dx in the orthogonal direction and the length Lx of the side surface of the object to be measured, and if the interval Dy is larger than the length Ly and the interval Dx is larger than the length Lx, the first sensor and the second sensor. If it is determined that the position of the sensor is appropriate and the interval Dy is less than or equal to the length Ly and the interval Dx is less than or equal to the length Lx, or both, the positions of the first sensor and the second sensor are inappropriate. Is determined. If it is determined to be inappropriate as a result of this determination, the distance Dy or Dx between the first sensor and the second sensor is widened, and the sensor position specifying process is performed again.

According to the sensor device and the position specifying method of the present invention, four aspects of the object to be measured can be acquired by the above-described configuration. Therefore, the size and position of the object to be measured can be obtained more accurately.

It is a schematic block diagram for demonstrating the configuration example of the 1st sensor apparatus. It is a schematic diagram for demonstrating the arrangement of the 1st sensor and the 2nd sensor included in the 1st sensor apparatus. It is a schematic diagram for demonstrating the function of the side information acquisition means. It is a schematic diagram for demonstrating the function of the object position identification means. It is a schematic diagram (1) for demonstrating the configuration example of the 2nd sensor apparatus. It is a schematic diagram (2) for demonstrating the configuration example of the 2nd sensor apparatus. It is a schematic diagram which shows the example of the screen displayed on a monitor or the like.

Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the shape, size, and arrangement of each component are only schematically shown to the extent that the present invention can be understood. Further, although a preferable configuration example of the present invention will be described below, it is merely a suitable example. Therefore, the present invention is not limited to the following embodiments, and many modifications or modifications can be made that can achieve the effects of the present invention without departing from the scope of the constitution of the present invention.

(1st sensor device)
A sensor device (hereinafter, also referred to as a first sensor device) according to the first embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic block diagram for explaining a configuration example of the first sensor device. Further, FIG. 2 is a schematic diagram for explaining the arrangement of the sensors included in the first sensor device.

Here, a case where the moving body to be measured is a vehicle and the vehicle moves in the xy plane will be described as an example. Further, the direction along the assumed movement path 100 of the vehicle is defined as the y direction, and the direction orthogonal to the y direction is defined as the x direction.

The first sensor device includes, for example, a control unit 10, a first sensor 20-1, a second sensor 20-2, a measurement processing unit 30, and a display unit 40. The control unit 10 and the measurement processing unit 30 can be configured to realize each function by executing a program using a personal computer (PC) or the like. Hereinafter, although detailed description will be omitted, point cloud information and the like are stored in an arbitrary suitable storage means (not shown), used for each process, and updated.

The first sensor 20-1 and the second sensor 20-2 can be configured by using, for example, a two-dimensional laser sensor. The first sensor 20-1 includes a first irradiation means and a first light receiving means. The first irradiation means irradiates a plurality of first light pulses into a first irradiation range having a first angle θ1 centered on the first irradiation axis. The first light receiving means receives a plurality of first reflected lights in which a plurality of first light pulses are reflected by the object to be measured. The first light receiving means generates first point cloud information regarding the position of each reflection point of the first reflected light in the xy plane.

Similar to the first sensor 20-1, the second sensor 20-2 includes a second irradiation means and a second light receiving means. The second irradiation means irradiates a plurality of second light pulses into the second irradiation range at the second angle θ2 centered on the second irradiation axis. The second light receiving means receives a plurality of second reflected lights in which a plurality of second light pulses are reflected by the object to be measured. The second light receiving means generates the second point cloud information regarding the position of each reflection point of the second reflected light and the like.

The first sensor 20-1 and the second sensor 20-2 are arranged on the first virtual line 101 and the second virtual line 102 that are virtually provided on both sides of the assumed movement path 100 of the vehicle in the x direction. Both the first virtual line 101 and the second virtual line 102 are parallel to the assumed movement path 100 and extend in the y direction.

Here, the coordinates where the first sensor 20-1 is arranged are (x1, y1), and the coordinates where the second sensor 20-2 is arranged are (x2, y2). The first virtual line 101 is given with x1 = constant, and the second virtual line 102 is given with x2 = constant. Here, x1 ≠ x2. In the following description, x1 <x2. At this time, the assumed movement path 100 is given with x0 = constant and x1 <x0 <x2.

Further, the first sensor 20-1 and the second sensor 20-2 are arranged so as to be offset in the y direction. That is, y1 ≠ y2. In the following description, y1 <y2.

As described above, the first sensor 20-1 and the second sensor 20-2 are defined by the coordinates (x1, y1), the coordinates (x2, y1), the coordinates (x2, y2), and the coordinates (x1, y2). It is arranged at the apex of the rectangular virtual area 110. The first sensor 20-1 is arranged at the apex on one end side of the diagonal line of the virtual area 110, and the second sensor 20-2 is arranged at the apex on the other end side.

At this time, the measurable range by the first sensor 20-1 and the second sensor 20-2 is an area included in the virtual area 110.

This measurable range is set so as to satisfy the following two conditions. First, from the first point cloud information, information on two aspects of the measurement object arranged within the measurable range can be obtained, and from the second point cloud information, the measurement object arranged within the measurable range can be obtained. Information on two aspects of is obtained. Second, the two aspects obtained from the first point cloud information and the two aspects obtained from the second point cloud information are different. That is, the measurable range is set so that information on the four aspects of the object to be measured can be obtained. When the first sensor 20-1 and the second sensor 20-2 are composed of a two-dimensional laser sensor, information on the side surface of the object to be measured is obtained as a line segment.

The measurement processing unit 30 includes a side information acquisition means 32, an object position specifying means 34, and a sensor position specifying means 36.

The side surface information acquisition means 32 acquires the side point cloud information of the measurement target from the first point cloud information and the second point cloud information. The function of the side information acquisition means 32 will be described with reference to FIGS. 3 (A) to 3 (C). 3A to 3C are schematic views for explaining the function of the side information acquisition means 32.

The side surface information acquisition means 32 acquires in advance the first point cloud information (reference point cloud information) when the measurement object is not arranged in the measurable range (FIG. 3 (A)). Further, the side surface information acquisition means 32 acquires the first point cloud information (target point cloud information) when the measurement object is arranged in the measurable range (FIG. 3 (B)). The side information acquisition means 32 takes a difference between the reference point group information and the target point group information, and acquires the difference point group information. At this time, the points existing only in the reference point cloud information are not reflected in the difference point cloud information. The difference point cloud information also includes unnecessary information such as noise. This unnecessary information is removed by any suitable conventionally known process. As a result, point cloud information (side point cloud information) about the side surface of the measurement object can be obtained from the difference point cloud information (FIG. 3 (C)). Here, since the measurable range is set as described above, the side surfaces of the measurement object indicated by the side point cloud information are two surfaces.

Similarly, the side information acquisition means 32 acquires the side point cloud information from the second point cloud information. The side surfaces of the measurement object indicated by this side surface point cloud information are two surfaces. The two aspects obtained from this second point cloud information are different from the two aspects obtained from the first point cloud information. As a result, information on four aspects, that is, all aspects of the object to be measured can be obtained from the first point cloud information and the second point cloud information.

Here, an example in which side point cloud information is obtained by the difference between the reference point cloud information in which the measurement target is not arranged and the target point cloud information in which the measurement object is arranged is described, but the present invention is limited to this. However, the side point cloud information can be obtained by any publicly known conventionally known means.

The object position specifying means 34 acquires the position and size of the measurement object from the side point cloud information acquired by the side information acquiring means 32. The function of the object position specifying means 34 will be described with reference to FIG. FIG. 4 is a schematic diagram for explaining the function of the object position specifying means 34.

The object position specifying means 34 acquires the first y side surface information of the side surface in the first y direction parallel to the first virtual line segment from the side point cloud group information obtained from the first point cloud information. From this first y side surface information, as a specific example, from the maximum value y1max and the minimum value y1min of the y coordinate included in the first y side surface information, the length Ly1 in the direction along the first virtual line segment of the first y direction side surface and Get the center position. Further, the object position acquisition means 34 acquires the difference Δy1 between the y coordinate of the y coordinate of the first sensor 20-1 and the y coordinate of the center of the side surface in the first y direction.

Similarly, the object position specifying means 34 acquires the 1x side surface information of the side surface in the 1x direction orthogonal to the first virtual line segment from the side point cloud group information obtained from the first point cloud information. From this 1x side surface information, as a specific example, from the maximum value x1max and the minimum value x1min of the x coordinate included in the 1x side surface information, the length Lx1 in the direction orthogonal to the first virtual line segment of the side surface in the 1x direction and Get the center position. Further, the object position acquisition means 34 acquires the difference Δx1 between the xcoordinate x1 of the first sensor 20-1 and the xcoordinate of the center of the side surface in the first x direction.

The object position specifying means 34 acquires the second y side surface information of the side surface in the second y direction parallel to the second virtual line segment from the side point cloud group information obtained from the second point cloud information. From this second y side surface information, the length Ly2 and the center position in the direction along the second virtual line segment of the side surface in the second y direction are acquired. Further, the object position acquisition means 34 acquires the difference Δy2 between the y coordinate of the y coordinate of the second sensor 20-2 and the y coordinate of the center of the side surface in the second y direction.

Similarly, the object position specifying means 34 acquires the 2x side surface information of the side surface in the 2x direction orthogonal to the second virtual line segment from the side point cloud group information obtained from the second point cloud information. From this 2x side surface information, the length Lx2 and the center position in the direction orthogonal to the second virtual line segment of the side surface in the 2x direction are acquired. Further, the object position acquisition means 34 acquires the difference Δx2 between the xcoordinate x2 of the second sensor 20-2 and the xcoordinate of the center of the side surface in the second x direction.

The object position identifying means 34 is the average of the length Ly1 of the side surface in the first y direction obtained from the first point group information and the length Ly2 of the side surface in the second y direction obtained from the information of the second point group, and the first By averaging the length Lx1 of the side surface in the 1x direction obtained from the 1-point group information and the length Lx2 of the side surface in the 2x direction obtained from the information of the 2nd point group, the vehicle to be measured is measured. The length Ly in the y direction and the length Lx in the x direction, that is, the size of the vehicle which is a specific object is acquired. Further, the difference Δy1 between the y-coordinate y1 of the first sensor 20-1 and the y-coordinate of the center of the side surface in the first y direction, the y-coordinate y1 of the first sensor 20-1, the x-coordinate x1 of the first sensor 20-1 and the first. Difference Δx1 from the x-coordinate of the center of the side surface in the 1x direction, x-coordinate x1 of the first sensor 20-1, and y2 of the y-coordinate of the second sensor 20-2 and the y-coordinate of the center of the side surface in the second y-direction. Difference Δy2, y-coordinate y2 of the second sensor 20-2, difference Δx2 between the x-coordinate x2 of the second sensor 20-2 and the x-coordinate of the center of the side surface in the second x direction, and x of the second sensor 20-2. The position of the vehicle, which is the object to be measured, is acquired from the coordinates x2.

The sensor position specifying means 36 executes the sensor arrangement method described later to arrange the first sensor 20-1 and the second sensor 20-2.

When this first sensor device is used at a construction site, the display means 40 includes, for example, one or more of a monitor, a light source, and a speaker. In this case, when the object to be measured reaches the measurable range, the surrounding workers are notified of the danger by any suitable means such as a monitor display, light emission from a light source, and an alarm from a speaker.

(2nd sensor device)
The second sensor device includes a plurality of sets of the first sensor 20-1 and the second sensor 20-2 along the assumed movement path 100 of the vehicle. With this configuration, not only the position of the object to be measured but also the speed information can be obtained. A configuration example of this second sensor device will be described with reference to FIGS. 5 and 6. 5 and 6 are schematic views for explaining a configuration example of the second sensor device.

(First configuration example)
As shown in FIG. 5A, the first configuration example of the second sensor device includes n (n is an integer of 3 or more) virtual sensors 21-1 to n arranged at intervals D in the y direction. It is composed of.

The second k-1 virtual sensor 21- (2k-1) is arranged on the first virtual line 101. When the coordinates of the first virtual sensor 21-1 are (x1, y1), the coordinates of the second k-1 virtual sensor 21- (2k-1) are (x1, y1 + 2 (k-1) D). .. Further, the second k virtual sensor 21-2k is arranged on the second virtual line 102. When the coordinates of the second virtual sensor 21-2 are (x2, y2), the coordinates of the second k virtual sensor 21-2k are (x2, y2 + 2 (k-1) D). Here, k is an integer of 1 or more, and when n is an odd number, k is (n + 1) / 2 or less, and when n is an even number, k is n / 2 or less.

Further, the irradiation angle θ of each virtual sensor is set to 180 °, the first irradiation axis and the second irradiation axis are orthogonal to the first virtual line and the second virtual line, and one of the first virtual line and the second virtual line. It is assumed that it is set to go from to the other.

When the virtual sensors are arranged in this way, the pair of the first virtual sensor 21-1 and the second virtual sensor 21-2 functions as the first set of the first sensor and the second sensor. Further, the set of the second virtual sensor 21-2 and the third virtual sensor 21-3 functions as the second set of the first sensor and the second sensor. Similarly, the set of the third virtual sensor 21-3 and the fourth virtual sensor 21-4 functions as the third set of the first sensor and the second sensor. Therefore, a plurality of measurable ranges of each set are provided along the assumed movement path 100 of the vehicle which is the measurement target.

(Second configuration example)
As shown in FIG. 5B, the second configuration example of the second sensor device includes n (n is an integer of 4 or more) virtual sensors arranged at intervals D in the y direction.

The second k-1 virtual sensor 21- (2k-1) is arranged on the first virtual line 101. When the coordinates of the first virtual sensor 21-1 are (x1, y1), the coordinates of the second k-1 virtual sensor 21- (2k-1) are (x1, y1 + (k-1) D). .. Further, the second k virtual sensor 21-2k is arranged on the second virtual line 102. When the coordinates of the second virtual sensor 21-2 are (x2, y2), the coordinates of the second k virtual sensor 21-2k are (x2, y2 + (k-1) D). Here, k is an integer of 1 or more, and when n is an odd number, k is (n-1) / 2 or less, and when n is an even number, k is n / 2 or less.

Further, the irradiation angle θ of each virtual sensor is set to 90 °. The irradiation axis of the second k-1 virtual sensor 21- (2k-1) is sandwiched between a line segment in the positive direction of x and a line segment in the positive direction of y with the coordinates of the virtual sensor as the center. It is provided so as to form a fan shape. On the other hand, the irradiation axis of the second k virtual sensor 21-2k has a fan shape whose irradiation range is sandwiched between a line segment in the negative direction of x and a line segment in the negative direction of y with the coordinates of the virtual sensor as the center. It is provided as follows.

When the virtual sensor 21 is arranged in this way, the pair of the first virtual sensor 21-1 and the second virtual sensor 21-2 functions as the first set of the first sensor and the second sensor. Further, the set of the third virtual sensor 21-3 and the fourth virtual sensor 21-4 functions as the second set of the first sensor and the second sensor. Similarly, the set of the fifth virtual sensor 21-5 and the sixth virtual sensor 21-6 functions as the third set of the first sensor and the second sensor. Therefore, a plurality of measurable ranges for each set are provided along the assumed movement path 100 of the vehicle.

(Third configuration example)
As shown in FIGS. 6A to 6D, the third configuration example of the second sensor device includes n (n is an integer of 4 or more) virtual sensors arranged at intervals D in the y direction. It is composed.

The second k-1 virtual sensor 21- (2k-1) is arranged on the first virtual line 101. When the coordinates of the first virtual sensor 21-1 are (x1, y1), the coordinates of the second k-1 virtual sensor 21- (2k-1) are (x1, y1 + (k-1) D). .. Further, the 2k virtual sensor 2k is arranged on the second virtual line 102. When the coordinates of the second virtual sensor 21-2 are (x2, y2), the coordinates of the second k virtual sensor 21-2k are (x2, y2 + (k-1) D). Here, k is an integer of 1 or more, and when n is an odd number, k is (n-1) / 2 or less, and when n is an even number, k is n / 2 or less.

Further, the irradiation angle θ of each virtual sensor 21 is set to 90 °. The irradiation angle θ of each virtual sensor takes two states, a first state and a second state, by rotation or rocking.

As shown in FIG. 6A, in the first state, the irradiation axis of the second k-1 virtual sensor 21- (2k-1) has an irradiation range in the positive direction of x with respect to the coordinates of the virtual sensor. It becomes a fan shape sandwiched between the line segment toward and the line segment toward the positive direction of y. On the other hand, as shown in FIG. 6B, in the second state, a fan shape is formed between the line segment in the negative direction of y and the line segment in the positive direction of x with the coordinates of the virtual sensor as the center.

Further, as shown in FIG. 6A, in the first state, the irradiation axis of the second k virtual sensor 21-2k is a line segment whose irradiation range is in the negative direction of x with the coordinates of the virtual sensor as the center. And y becomes a fan shape sandwiched between line segments in the negative direction. On the other hand, as shown in FIG. 6B, in the second state, a fan shape is formed centered on the coordinates of the virtual sensor and sandwiched between a line segment in the positive direction of y and a line segment in the negative direction of x.

Here, when the irradiation axis of the second k-1 virtual sensor 21- (2k-1) takes the first state, the irradiation axis of the second k virtual sensor 21-2k also takes the first state, and the second k-1 virtual Each virtual sensor is synchronized so that when the irradiation axis of the sensor 21- (2k-1) takes the second state, the irradiation axis of the second k virtual sensor 21-2k also takes the second state. This synchronization setting is made by, for example, the control unit 10.

As shown in FIG. 6A, when the irradiation axes of the first virtual sensor 21-1 and the second virtual sensor 21-2 take the first state, the first virtual sensor 21-1 and the second virtual sensor 21- The set of 2 functions as a set of the first sensor and the second sensor.

When the virtual sensors are arranged in this way, the pair of the first virtual sensor and the second virtual sensor functions as the first set of the first sensor and the second sensor. Further, the set of the third virtual sensor and the fourth virtual sensor functions as the second set of the first sensor and the second sensor. Similarly, the set of the fifth virtual sensor and the sixth virtual sensor functions as the third set of the first sensor and the second sensor. Therefore, a plurality of measurable ranges for each set are provided along the assumed movement path 100 of the vehicle. In this way, the third configuration example includes a plurality of sets of the first sensor and the second sensor.

Further, as shown in FIG. 6B, when the irradiation axes of the second virtual sensor 21-2 and the fifth virtual sensor 21-5 take the second state, the second virtual sensor 21-2 and the fifth virtual sensor 21-2 and the fifth virtual sensor The set of 21-5 functions as a set of the first sensor and the second sensor.

The irradiation axis of each virtual sensor may be configured to take a third state and a fourth state by rotation.

As shown in FIG. 6C, in the third state, the irradiation range of the second k-1 virtual sensor 21- (2k-1) is a line segment in the negative direction of x with the coordinates of the virtual sensor as the center. And y becomes a fan shape sandwiched between line segments in the negative direction. Further, as shown in FIG. 6D, in the fourth state, the irradiation range is sandwiched between a line segment in the positive direction of y and a line segment in the negative direction of x with the coordinates of the virtual sensor as the center. It becomes a fan shape.

Further, as shown in FIG. 6C, in the third state, the irradiation range of the second k virtual sensor 21-2k is a line segment in the positive direction of x and the positive of y with the coordinates of the virtual sensor as the center. It becomes a fan shape sandwiched between line segments going in the direction. Further, as shown in FIG. 6D, in the fourth state, the irradiation range of the second k virtual sensor 21-2k is a line segment in the negative direction of y and the positive of x with the coordinates of the virtual sensor as the center. It becomes a fan shape sandwiched between line segments going in the direction.

In this case, a plurality of virtual lines are set in parallel with the first virtual line and the second virtual line, the second k-1 virtual sensor is arranged on the (2m + 1) virtual line as an integer whose m is 1 or more, and the second (2m + 2) virtual line is arranged. ) When the k-th virtual sensor is arranged on the virtual line in a grid pattern, the measurement target is not only one assumed movement path 100 but also a plurality of assumed movement paths 100- (m + 1). The position of an object can be specified.

(Sensor placement method)
In the sensor device of the present invention, the measurable range needs to be set so as to satisfy the following two conditions. First, from the first point cloud information, information on two aspects of the measurement object arranged within the measurable range can be obtained, and from the second point cloud information, the measurement object arranged within the measurable range can be obtained. Information on two aspects of is obtained. Second, the two aspects obtained from the first point cloud information and the two aspects obtained from the second point cloud information are different. That is, the measurable range must be set so that information on the four aspects of the object to be measured can be obtained. This measurable range is determined by the arrangement of the first sensor and the second sensor. Therefore, a method of arranging the first sensor and the second sensor executed by the sensor position specifying means 36 will be described.

First, in step 10 (hereinafter, step is represented by S) 10, two laser sensors, a first sensor and a second sensor, are arranged.

Next, in S20, the first point cloud information and the second point cloud information are acquired by the two laser sensors in the state where there is no object to be measured. Both the first point cloud information and the second point cloud information are obtained as reference point cloud information.

Next, in S30, the object to be measured is arranged.

Next, in S40, the first point cloud information and the second point cloud information are acquired by the two laser sensors in the state where the measurement object is arranged. Both the first point cloud information and the second point cloud information are obtained as target point cloud information.

Next, in S50, the difference between the target point group information and the reference point information is taken for each of the first point group information and the second point group information, and the side point group information of the measurement target object is acquired.

Next, in S60, for the first point group information and the second point group information, respectively, the first virtual line segment and the second virtual line segment on the y-direction side surface parallel to the first virtual line segment and the second virtual line segment. The lengths Ly1 and Ly2 in the direction along the virtual line segment and the center positions of each are acquired.

Next, in S70, with respect to the first point group information and the second point group information, the lengths Lx1, Lx2, and the centers of the side surfaces in the x direction orthogonal to the first virtual line segment and the second virtual line segment, respectively. Get the position.

Next, in S80, the distance Dy between the first sensor and the second sensor in the y direction and the length Ly of the side surface of the object to be measured are acquired. In this S80, the difference Δy1 between the y-coordinate y1 of the first sensor and the y-coordinate of the center of the side surface in the first y direction of the measurement target is acquired, and the y-coordinate y2 of the second sensor and the measurement target second. The difference Δy2 from the y coordinate of the center of the side surface in the 2y direction is acquired. In this case, the interval Dy is given by the sum of Δy1 and Δy2. Further, the maximum value y1max and the minimum value y1min of the y coordinate are acquired from the first y side surface information obtained by the first sensor. In this case, the length Ly1 on the first virtual line side is given by the difference between the maximum value y1max and the minimum value y1min. Similarly, the maximum value y2max and the minimum value y2min of the y coordinate are acquired from the second y side surface information obtained by the second sensor. In this case, the length Ly2 on the second virtual line side is given by the difference between the maximum value y2max and the minimum value y2min. The length Ly of the object to be measured in the y direction is given as the average of the length Ly1 on the first virtual line side and the length Ly2 on the second virtual line side.

Next, in S90, the distance Dx between the first sensor and the second sensor in the x direction and the length Lx of the side surface of the object to be measured are acquired. In this S90, the difference Δx1 between the xcoordinate x1 of the first sensor and the xcoordinate of the center of the side surface in the first x direction of the measurement target is acquired, and the xcoordinate x2 of the second sensor and the measurement target second. The difference Δx2 from the x-coordinate of the center of the side surface in the 2x direction is acquired. In this case, the interval Dx is given by the sum of Δx1 and Δx2. Further, the maximum value x1max and the minimum value x1min of the x coordinate are acquired from the first x side surface information obtained by the first sensor. In this case, the length Lx1 on the first virtual line side is given by the difference between the maximum value x1max and the minimum value x1min. Similarly, the maximum value x2max and the minimum value x2min of the x coordinate are acquired from the second x side surface information obtained by the second sensor. In this case, the length Lx2 on the second virtual line side is given by the difference between the maximum value x2max and the minimum value x2min. As the average of the lengths Lx1 and Lx2, the length Lx in the x direction of the object to be measured is given.

Next, in S100, the suitability of the sensor position is determined. If Dy> Ly and Dx> Lx, it is determined that the sensor position is appropriate. On the other hand, if either Dy ≦ Ly or Dx ≦ Lx, it is determined that the sensor position is inappropriate.

Next, in S110, the result of the determination in S100 is displayed on a monitor or the like. An example of a screen displayed on a monitor or the like will be described with reference to FIG. 7. FIG. 7 is a schematic view showing an example of a screen displayed on a monitor or the like. If the sensor position is appropriate as a result of the determination in S100 (see FIG. 7A), the position of the object to be measured may be specified as it is. On the other hand, when the sensor position is inappropriate (see FIG. 7B), the two laser sensors are placed at either the y-direction interval Dy or the x-direction interval Dx based on the result of the determination in S100. One or both of them may be moved so as to be widened, and the processes of S20 to S110 may be performed again.

(Usage pattern)
Here, the case where the assumed movement path 100 of the vehicle as the measurement target is a straight line has been described as an example, but the vehicle as the measurement target has a measurable range by the first sensor 20-1 and the second sensor 20-2. It may move in the diagonal direction or the x direction that intersects the y direction, or may meander.

Although an example of using a two-dimensional laser sensor as the first sensor and the second sensor has been described, a three-dimensional laser sensor may be used. When a three-dimensional laser sensor is used, for example, the center of gravity of the side surface can be used as the center of the side surface.

When the two-dimensional laser sensor is used, the load of data processing is small because the point cloud information is two-dimensional information, and the system can be constructed at a lower cost.

On the other hand, since the two-dimensional laser sensor obtains information on a specific plane, it may differ from the actual size of the vehicle, for example, when the tire size is different. On the other hand, when the three-dimensional laser sensor is used, since the point cloud information is three-dimensional information, the accuracy of specifying the size of the vehicle can be improved.

As described above, according to the sensor device and the position specifying method of the present invention, it is possible to simultaneously acquire four aspects of the object to be measured. Therefore, the size and position of the object to be measured can be obtained more accurately.

10 Control unit 20 Sensor 30 Measurement processing unit 32 Side information acquisition means 34 Object position identification means 36 Sensor position identification means 40 Display unit

Claims (8)

A sensor that is the apex of a rectangular virtual area and is arranged at the apex on one end side of one diagonal line of the virtual area.
A first irradiation means for irradiating a plurality of first light pulses to a measurable range included in the virtual region, and a plurality of first reflected lights reflected by the measurement object are received by the first light pulse. A first sensor having a first light receiving means for generating first point group information indicating a position where the first reflected light is reflected, and a first sensor.
A sensor arranged at the apex on the other end side of one diagonal line of the virtual area.
A second irradiation means that irradiates a plurality of second light pulses into a measurable range included in the virtual region, and the second light pulse receives a plurality of second reflected lights reflected by the measurement object. , A second sensor having a second light receiving means for generating second point group information indicating a position where the second reflected light is reflected, and
Using the first point cloud information and the second point cloud information, side point cloud information indicating the side surface of the measurement object arranged in the measurable range is acquired, and the measurement target is obtained from the side surface point cloud information. A sensor device including a measurement processing unit that identifies the position of an object. The side point cloud information is
The target point cloud information acquired as the first point cloud information and the second point cloud information in the state where the measurement object is arranged in the measurable range, and the target point cloud information.
Claim 1 characterized in that it is obtained based on the difference between the first point cloud information in a state where the measurement object is not arranged in the measurable range and the reference point cloud information acquired as the second point cloud information. The sensor device according to. In the measurement processing unit, the distance between the first sensor and the second sensor in the direction along the assumed movement path of the measurement object is larger than the length of the measurement object in the direction along the assumed movement path. If it is large, it is determined that the first sensor and the second sensor are properly arranged, and if not, the first sensor and the second sensor are appropriately arranged. The sensor device according to claimant 1 or 2, wherein the sensor device is determined not to be present. n is an integer of 3 or more, k is an integer of 1 or more, k is (n + 1) / 2 or less when n is odd, k is n / 2 or less when n is even, and x1 < When x2 and y1 <y2 and D = y2-y1
It is configured with the 1st to nth virtual sensors.
The second k-1 virtual sensor is arranged on the first virtual line, and the coordinates of the second k-1 virtual sensor are given by (x1, y1 + 2 (k-1) D).
The second k virtual sensor is arranged on the second virtual line, and the coordinates of the second k virtual sensor are given by (x2, y2 + 2 (k-1) D).
A claim characterized in that a set of a second k-1 virtual sensor and a second k virtual sensor, or a set of a second k virtual sensor and a second k + 1 virtual sensor functions as a set of the first sensor and the second sensor. The sensor device according to any one of 1 to 3. n is an integer of 4 or more, k is an integer of 1 or more, k is (n + 1) / 2 or less when n is odd, k is n / 2 or less when n is even, and x1 < When x2 and y1 <y2 and D = y2-y1
It is configured with the 1st to nth virtual sensors.
The second k-1 virtual sensor is arranged on the first virtual line, and the coordinates of the second k-1 virtual sensor are given by (x1, y1 + (k-1) D).
The second k virtual sensor is arranged on the second virtual line, and the coordinates of the second k virtual sensor are given by (x2, y2 + (k-1) D).
The irradiation axis of the second k-1 virtual sensor has a first state in which the irradiation range is a fan shape centered on the coordinates of the virtual sensor and is sandwiched between a line segment in the positive direction of x and a line segment in the positive direction of y. And the second state, which is a fan shape sandwiched between the line segment in the negative direction of y and the line segment in the positive direction of x, centered on the coordinates of the virtual sensor.
The irradiation axis of the second k virtual sensor has a first state in which the irradiation range is a fan shape centered on the coordinates of the virtual sensor and is sandwiched between a line segment in the negative direction of x and a line segment in the negative direction of y. With the coordinates of the virtual sensor as the center, a second state is taken, which is a fan shape sandwiched between a line segment in the positive direction of y and a line segment in the negative direction of x.
When the irradiation axis of the second k-1 virtual sensor takes the first state, and at the same time, the irradiation axis of the second k virtual sensor also takes the first state, and when the irradiation axis of the second k-1 virtual sensor takes the second state. At the same time, each virtual sensor is synchronized so that the irradiation axis of the 2k virtual sensor also takes the second state.
When the irradiation axes of the second k-1 virtual sensor and the second k virtual sensor take the first state, the pair of the second k-1 virtual sensor and the second k virtual sensor functions as the pair of the first sensor and the second sensor. And
When the irradiation axes of the second k virtual sensor and the second (k + 1) + 1 virtual sensor take the second state, the pair of the second k virtual sensor and the second (k + 1) + 1 virtual sensor is the first sensor and the second sensor. The sensor device according to any one of claims 1 to 3, wherein the sensor device functions as a set of. The irradiation axis of the second k-1 virtual sensor has a fan shape whose irradiation range is sandwiched between a line segment in the negative direction of x and a line segment in the negative direction of y with the coordinates of the virtual sensor as the center. It takes a state and a fourth state, which is a fan shape sandwiched between a line segment in the positive direction of y and a line segment in the negative direction of x, centered on the coordinates of the virtual sensor.
The irradiation axis of the second k virtual sensor has a third state in which the irradiation range is a fan shape centered on the coordinates of the virtual sensor and is sandwiched between a line segment in the positive direction of x and a line segment in the positive direction of y. With the coordinates of the virtual sensor as the center, a fourth state, which is a fan shape sandwiched between a line segment in the negative direction of y and a line segment in the positive direction of x, is taken.
When the irradiation axis of the second k-1 virtual sensor takes the third state, the irradiation axis of the second k virtual sensor also takes the third state, and when the irradiation axis of the second k-1 virtual sensor takes the fourth state, at the same time. The sensor device according to claim 5, wherein each virtual sensor is synchronized so that the irradiation axis of the second k virtual sensor also takes the fourth state. A position identification method performed by using the sensor device according to any one of claims 1 to 6.
The process of acquiring the first point cloud information and the second point cloud information, and
A process of acquiring side point cloud information indicating a side surface of a measurement object from the first point cloud information and the second point cloud information, and
A position specifying method comprising a process of specifying the position of the measurement object by using the side point cloud information. The sensor position identification process performed before the process of acquiring the first point cloud information and the second point cloud information is further provided.
The sensor position identification process is
The process of arranging the first sensor and the second sensor, and
A process of acquiring the first point cloud information and the second point cloud information as reference point cloud information by the first sensor and the second sensor in the absence of the measurement object.
The process of arranging the object to be measured within the measurable range and
A process of acquiring the first point group information and the second point group information as target point group information by the first sensor and the second sensor in a state where the measurement object is arranged.
A process of obtaining the side point cloud information of the measurement object by taking the difference between the target point cloud information and the reference point cloud information for each of the first point cloud information and the second point cloud information.
For each of the first point group information and the second point group information, the first virtual line segment and the first virtual line segment and the first virtual line segment are obtained from the side surface information of the side surface parallel to the first virtual line segment and the second virtual line segment. 2 The process of acquiring the length and center position of the side surface in the direction along the virtual line segment,
For each of the first point group information and the second point group information, the first virtual line segment and the first virtual line segment and the first virtual line segment are obtained from the side surface information of the side surface orthogonal to the first virtual line segment and the second virtual line segment. 2 The process of acquiring the length and center position of the side surface in the direction orthogonal to the virtual line segment,
The distance Dy between the first sensor and the second sensor in the direction along the first virtual line segment and the second virtual line segment, and the direction along the first virtual line segment and the second virtual line segment. The process of acquiring the length Ly of the side surface of the object to be measured and
The distance Dx between the first sensor and the second sensor in the direction orthogonal to the first virtual line segment and the second virtual line segment, and the direction orthogonal to the first virtual line segment and the second virtual line segment. The process of acquiring the length Lx of the side surface of the object to be measured and
If the interval Dy is larger than the length Ly and the interval Dx is larger than the length Lx, it is determined that the positions of the first sensor and the second sensor are appropriate, and the interval Dx is the length Ly. If the interval Dx is one or both of the following and the length Lx or less, the process of determining that the positions of the first sensor and the second sensor are inappropriate is provided.
The position identification method according to claim 7, wherein when it is determined to be inappropriate, the interval Dy or the interval Dx of the first sensor and the second sensor is widened, and the sensor position identification process is performed again. ..

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