JP5673468B2 - Laser radar device installation angle setting system and laser radar device installation angle setting method - Google Patents

Description

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

As shown in FIG. 1 0, the laser radar apparatus 1 is installed on the wall surface 3 erected on the ground 2, generally to perform the measurement in a state to be parallel with the ground 2 places to monitor the scanning plane of the laser beam Is. However, the ground 2 to be monitored is not necessarily a horizontal plane, and even if the scanning surface of the laser beam is leveled using a level, it may not be parallel to the ground 2. Therefore, at present, as shown in FIG. 1 1, for example, a reference measurement object 4 at the same height h3 a plurality placed, the laser radar apparatus 4 while confirming whether their object 4 can be detected by laser scanning There is a problem that the installation angle is adjusted and the installation work is complicated. Further, the ground is not necessarily inclined in only one direction, sometimes tilted in two directions with respect to the horizontal plane as shown in FIG. 1 2, adjustment becomes more difficult when such .

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

  In Patent Document 1, the apparatus is tilted so that two distances a ′ and a ″ measured by applying three laser beams to the wall surface are equal, so that the laser beam is perpendicular to the wall surface. Adjusting is disclosed. In this technique, the laser beam can be made parallel to the ground only when the wall surface is perpendicular to the ground, but the problem is not solved because the wall surface is not necessarily perpendicular to the ground. Therefore, it cannot be said that it is a suitable technique.

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

According to the installation angle setting system of the laser radar device according to claim 1 , the user interface means includes the laser radar device with the main body installed on the installation surface and the laser beam scanning surface within 90 ° in both directions. The configuration can be changed. The user interface means first notifies the user of a first work instruction for tilting the scanning surface of the laser beam in one direction by an angle θ0 (<90 °), and the user performs the first work. When there is a response indicating completion, the laser radar apparatus is caused to measure the distance La to the ground at the scanning angle θa.
Next, the second work instruction for inclining the scanning surface of the laser beam by the angle θmove in the opposite direction from the state inclined by the angle θ0 is notified to the user, and when there is a completion response of the second work by the user, the laser radar device to measure the distance Lb to the ground for run査角.theta.b. Then, when the angle θc is calculated from the measurement distances La and Lb, the user is notified of a third work instruction for tilting the main body of the laser radar device by the angle θc in the first reference horizontal direction.

Subsequently, when there is a response for completion of the third work, an instruction for the fourth work for making the scanning plane of the laser beam perpendicular to the ground is notified to the user, and when there is a response for completion of the fourth work , the laser is issued. Based on distances Ld1 and Ld2 to the ground measured for two scanning angles θd1 and θd2 (θd1> θd2), the radar apparatus performs scanning, and the laser beam is parallel to the ground with the reference angle being 0 °. The angle difference θx until is calculated. Then, the user is notified of a fifth work instruction to tilt the main body of the laser radar apparatus toward the ground by an angle difference θx, and when there is a completion response of the fifth work , the laser beam scanning plane in the laser radar apparatus. Is informed to the user to rotate 90 °.

That is, The first, is adjusted so that the scan plane of the laser beam is parallel to the first reference horizontal direction within the ground. From this state, the scanning plane of the laser beam is perpendicular to the ground, and the distances Ld1 and Ld2 are measured at two scanning angles θd1 and θd2, and the scanning plane is inclined with respect to the second reference horizontal direction in the ground; Since the angle difference θx is obtained, the angle difference θx can be obtained with higher accuracy.
According to the laser radar apparatus installation angle setting system according to claim 2, when the user interface means sets one of the scanning angles θa and θb to −90 ° and the other to 90 ° with respect to the reference angle of the laser beam of 0 °. The angle θc is calculated by the equation (1).
La · cos θc = Lb · cos (180 ° −θmove−θc) (1)
That is, the amplitudes of the scanning angles θa and θb are 180 °, and the measurement distances La and Lb coincide with the apparent distance when viewed from the front of the laser radar device. Therefore, since the equation (1) is established from the geometric relationship in that state, the angle θc can be calculated by the equation (1).
According to the installation angle setting system of the laser radar device of the third aspect, the user interface means calculates the angle α, which is the difference between the angle θd1 and the angle perpendicular to the ground, using the equation (2).
Ld1 · cos α = Ld2 · cos (α + θd1−θd2) (2)
That is, both sides of the equation (2) indicate the length of a perpendicular line that has dropped from the laser beam irradiation point to the ground in the laser radar device. Then, if the angle α is obtained, the angle difference θx until the laser beam at the reference angle becomes parallel to the ground can be calculated by equation (3).
θx = α + θd1-90 ° (3)

The flowchart which is a 1st Example and shows the adjustment procedure of the installation angle of a laser radar apparatus. Front view explaining installation angle adjustment procedure Side view (A) plan view, (b) side view with laser radar device installed on wall surface Diagram that defines the direction of the scan angle The figure which shows the user interface screen which is displayed on the display of the personal computer FIG. 6 equivalent view showing the second embodiment (part 1) Figure 6 equivalent (part 2) Figure 6 equivalent (part 3) Diagram for explaining the prior art (part 1) Diagram for explaining the prior art (2) Diagram for explaining the prior art (No. 3)

(First embodiment)
The first embodiment will be described below with reference to FIGS. Further, in FIG. 1 0 and 1 1, the same parts will not be described are denoted by the same reference numerals. Figure 4 shows a characteristic configuration of a laser radar device 11 used in this embodiment, is (a) is a plan view, (b) is the same side view as Figure 1 0. In general laser radar apparatus 1, as shown in FIG. 1 0, the laser beam is outputted so as to extend the scanning plane in the horizontal direction. On the other hand, as shown in FIG. 4, the laser radar device 11 has an output unit 11 b with ±± so that the scanning surface is perpendicular to the ground 2 with the main body 11 installed on the wall surface (installation surface) 3. It is configured to be rotatable within a range of 90 °. FIG. 5 shows ± of the angle when the laser radar device 11 performs scanning (plan view).

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

  Next, the operation of the present embodiment, that is, the procedure for adjusting the installation angle of the laser radar device 11 will be described with reference to FIGS. 2 and 3 are diagrams for explaining a procedure for adjusting the installation angle, and FIG. 1 is a flowchart showing the procedure. 2 and 3 are views of the laser radar device 11 as viewed from the front and side, respectively, and it is assumed that the wall surface 3 (shown as a column for convenience of illustration in FIG. 2) stands up perpendicularly to the horizontal. It is assumed that the ground 2 is inclined in two directions from the horizontal plane. The inclination from the first reference horizontal direction in the plane of the ground 2 shown in FIG. 2 is referred to as a first inclination angle, and from the second reference horizontal direction (direction orthogonal to the first reference horizontal direction) shown in FIG. The inclination is referred to as a second inclination angle.

  When the user installs the laser radar device 11 on the wall surface 3 standing on the ground 2 where he wants to monitor (S1), the scanning surface of the laser beam output from the laser radar device 11 is shown in FIG. It tilts so that it may become the installation state A shown in (S2, 1st step). For example, it is fixed by rotating 45 ° (θ0) with respect to the normal use direction. In this state, the distance La to the measurement point A is measured at a predetermined scan angle (in this case, −90 °) (S3, second step). Next, the scanning surface of the laser beam is tilted by an angle θmove so as to be in the installation state B shown in FIG. 2B (S4, third step). For example, from the installation state A, it is fixed by rotating 90 ° in the reverse direction. In this state, the distance Lb to the measurement point B is measured at a predetermined scan angle (90 ° in this case) (S5, fourth step).

Since the measured distances La and Lb are displayed on the display 12D of the personal computer 12, the user calculates the angle θc by the equation (1) based on the measurement result (S6, fifth step).
La · cos θc = Lb · cos (180 ° −θmove−θc) (1)
Equation (1) is determined by the geometric relationship shown in FIG. Since 180 ° is an opening of the scan angle in S3 and S5 and the angle θmove is also known, the angle θc can be obtained by solving equation (1).
When obtaining the angle θc, the user tilts and fixes the main body 11a of the laser radar device 11 by the angle θc as shown in FIG. 2D (S7, sixth step). As a result, the first reference horizontal direction of the ground 2 and the scanning plane of the laser radar device 11 are parallel.

  Next, the user rotates the output unit 11b by 90 ° with reference to the state of FIG. 2D, so that the state shown in FIGS. 4 and 3A, that is, the scanning plane is perpendicular to the ground 2. (S8). In this state, the laser radar device 11 is caused to scan the ground 2 (S9). FIG. 4B shows a state of scanning with a laser beam. The measurement results are displayed as a list on the display 12D of the personal computer 12 as shown in FIG. Here, the distance (m) measured at every scanning angle of 0.5 ° is displayed.

  The user selects appropriate two points with reference to the measurement result. Here, p1 “scanning angle 14.0 °; distance 5.76 m” shown in FIG. 6A and p2 “scanning angle 10.0 °; distance 9.57 m” shown in FIG. 6B are selected. Shall be. Here, the scanning angle of p1 corresponds to θd1, the measurement distance corresponds to Ld1, the scanning angle of p2 corresponds to θd2, and the measurement distance corresponds to Ld2 (S10, S11, seventh step).

As shown in FIG. 3 (a), the angle formed by the scanning line of the distance Ld1 from the vertical line standing on the ground 2 (the vertical line dropped from the laser beam irradiation point in the laser radar device 11) to the ground is α, and the laser at the reference angle. The angle at which the beam is adjusted in the depression direction until it is parallel to the ground surface 2 is defined as θx (second inclination angle). Then, the equations (2) and (3) are established from the geometric relationship.
Ld1 · cos α = Ld2 · cos (α + θd1−θd2) (2)
θx = α + θd1-90 ° (3)

That is, both sides of the formula (2) indicate the length of the perpendicular line. Then, when the angle α is obtained, the angle difference θx until the laser beam at the reference angle becomes parallel to the ground 2 can be calculated by equation (3). From the equation (2), the angle α is obtained as follows.
Ld1 · cos α / Ld2 = cos α · cos (θd1−θd2)
+ Sin α · sin (θ1d−θd2)
Ld1 / Ld2 = cos (θd1−θd2) + tan α · sin (θ1d−θd2)
tan α = {l1 / l2-cos (θd1−θd2)} / sin (θd1−θd2)
α = tan ⁻¹ [{Ld1 / Ld2-cos (θd1-θd2)}
/ Sin (θd1-θd2)]

When the user calculates the angle θx for the measurement results of p1 and p2 described above, θx = 4 ° is obtained (S12, eighth step). As shown in FIG. 3B, when the distance measured when the scanning angle of the laser radar device 11 becomes the angle (θd2-θx) becomes Lb2, the reference angle of the laser beam is parallel to the ground 2 Become.
θd2−θx = 10 ° −4 ° = 6 °
Therefore, the user tilts the output unit 11b of the laser radar apparatus 11 in the depression direction with respect to the main body 11a, and the distance measured at a scanning angle of 6 ° is Lb2 = as shown in FIG. 6C. It adjusts so that it may be 9.57 m (S13). If adjusted in this way, the reference angle of the laser beam becomes parallel to the ground surface 2. In this state, if the output unit 11b is rotated by 90 ° as shown in FIG. 3C (S14, ninth step). ) The scanning surface of the laser beam is parallel to the second reference horizontal direction of the ground 2.

As described above, according to the present embodiment, the laser radar device 11 employs a configuration capable of changing the scanning plane of the laser beam within 90 ° with the main body 11a installed on the wall surface 3. When the scanning plane of the beam is tilted by 45 ° in one direction and the distance La to the ground is measured at a scanning angle of −90 °, the scanning plane is tilted by 90 ° in the opposite direction and the ground is scanned at a scanning angle of 90 °. The distance Lb is measured. Then, calculate the measured distance La, Lb by Ri angle theta c, the body 11a of the laser radar device 11, inclined by an angle θc to the first reference horizontal direction.

  Then, the distances Ld1 and Ld2 to the ground are measured for the two scanning angles θd1 and θd2 in a state where the scanning plane of the laser beam is perpendicular to the ground 2, and the laser beam has a reference angle of 0 based on the measurement results. In a state where the angle is θ, an angle difference θx until the ground 2 becomes parallel to the second reference horizontal direction is calculated. Then, the main body 11a of the laser radar device 11 is tilted by the angle difference θx in the second reference horizontal direction so that the scanning surface of the laser beam is rotated by 90 °.

That is, if the distances La and Lb are measured, the angle θc can be calculated, and the scanning surface of the laser radar device 11 can be adjusted to be parallel to the first reference horizontal direction of the ground 2. Then, by measuring the distances Ld1 and Ld2 with respect to the scanning angles θd1 and θd2, the angle difference θx until the laser beam is parallel to the second reference horizontal direction of the ground 2 can be obtained by calculation. If the angle difference θx is obtained, the laser beam scanning plane is parallel to the ground 2 by tilting the main body 11a of the laser radar device 11 toward the ground 2 by the angle difference θx and rotating the scanning plane of the laser beam by 90 °. Become. Therefore, even when the ground 2 is inclined in two directions with respect to absolute horizontal, the user can perform the adjustment work more easily than in the past.

And angle (theta) c is calculated by (1) Formula. That is, the scan angle .theta.a, swing width of θb1 is 180 °, and the measured distances La, Lb is consistent with the apparent distance when viewed from the front of the laser radar device 11. Therefore, since the equation (1) is established from the geometric relationship in that state, the angle θc can be calculated by the equation (1). Also, an angle α, which is the difference between the angle θd1 and the angle perpendicular to the ground 2 is calculated by the equation (2), and the angle difference until the laser beam at the reference angle becomes parallel to the second reference horizontal direction of the ground 2 θx can be calculated by equation (3). Further, since the main body 11a is tilted in the direction of the ground 2 by the angle difference θx, the distance detected when the scanning angle of the laser beam shows an angle (θd2−θx) that is the difference between the angle θd2 and the angle difference θx. Since the distance Ld2 is adjusted, the laser beam at the reference angle can be adjusted to be parallel to the second reference horizontal direction in a state where the scanning plane of the laser beam is perpendicular to the ground surface 2.

(Second embodiment)
7 to 9 show a second embodiment. The same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. Hereinafter, different parts will be described. In the second embodiment, when the installation angle of the laser radar device 11 is adjusted in the same procedure as the first embodiment, the degree of involvement of the personal computer 12 is further increased to reduce the work burden on the user. FIG. 9 to FIG. 9 show examples of user interface screens displayed on the display 12D of the personal computer 12 as in FIG.

  First, the personal computer 12 displays a text message such as “Please attach a laser radar” as shown in FIG. The user installs the laser radar device 11 on the wall surface 3 according to the message (S1), and clicks “next” on the screen with a pointing device such as a joypad or a mouse (operation completion response). Next, as shown in FIG. 7B, a text message such as “Start measurement after setting to installation state A” is displayed. When the user tilts the scanning surface of the laser beam by 45 ° according to the message and clicks “measurement start” on the screen, the personal computer 12 causes the laser radar device 11 to measure the distance La (S2, S3).

Next, as shown in FIG. 7C, a text message such as “Measurement is completed. Move to a predetermined angle θmove to set the installation state B.” is displayed. When the user clicks “start measurement”, the personal computer 12 causes the laser radar device 11 to measure the distance Lb (S4, S5). Next, as shown in FIG. 7D, a text message such as “Measurement is completed. Move the calculated angle θc to the installation state C. After completion, press“ Next ”.” Is displayed. Further, the angle θc calculated by the personal computer 12 is displayed on the display 12D (“θc = 5 °”, S6, S7).

  When the user clicks “Next”, a text message such as “Please rotate the 90 ° laser radar relative to the (normal) laser scanning plane” is displayed as shown in FIG. When the user rotates the output unit 11b by 90 ° according to the message and clicks “Next” on the screen (S8), next, “Start laser scanning as shown in FIG. 8B”. "Is displayed. When the user clicks “Next”, scanning by the laser radar device 11 is started (S9), and the measurement result is displayed as shown in FIGS. 8C and 9A.

  The personal computer 12 displays a message for allowing the user to select θd1 and θd2 as the measurement result is displayed as described above. For example, “Enter θd1”, “Enter θd2”, etc. For example, the user selects θd1 = 15 ° from FIG. 8C (S10), selects θd2 = 10 ° from FIG. 9A (S11), and clicks “Next” on each screen. The personal computer 12 calculates the angle difference θx in accordance with the equations (2) and (3) according to the selection results, and the angle (θd2−θx) is calculated as shown in FIG. Display as shown in b).

  In this case, the angle (θd2−θx) = 6 °. For example, “Adjust the laser radar mounting angle so that the display distance (Ld2 = 9.57 m) at the display angle (6 °). Is displayed (S12, S13). When the user adjusts the angle of the output unit 11b according to the message and clicks “Next”, the personal computer 12 displays a text message such as “Please rotate the laser radar 90 °”. When the user rotates the output unit 11b by 90 ° according to the message (S14) and clicks “Next” on the screen, the process is terminated. The personal computer 12 displays a text message “Installation complete” (see FIG. 8D).

As described above, according to the second embodiment, the personal computer 12 notifies the user that the laser radar device 11 is in the installation state A, and scans the laser radar device 11 when there is a work completion response by the user. When the distance La is measured for the angle θa, the user is informed that the installation state B is tilted by the angle θmove in the reverse direction from the installation state A, and when the user receives a work completion response, the laser radar device 11 for scanning angle θb when the measured distance Lb, and calculates the measurement distance La, Lb by Ri angle theta c to.

  Then, the user is informed that the scanning surface of the laser radar device 11 is inclined by the angle θc in the first reference horizontal direction to the installation state C, and when there is a work completion response by the user, the scanning surface is next displayed. When notification is made to make a right angle with the ground 2 and there is a work completion response from the user, the measurement results scanned by the laser radar device 11 are the distances Ld1 and Ld2 measured for the two scanning angles θd1 and θd2. Based on this, the angle difference θx is calculated. Then, the user is informed that the main body 1a of the laser radar device 11 is tilted by the angle difference θx toward the ground, and when there is a work completion response, the user is prompted to rotate the laser beam scanning plane by 90 °. Inform.

That is, since the personal computer 12 calculates the angle θc and the angle difference θx, the user does not need to perform the calculation. The user can easily adjust the scanning plane of the laser beam to be parallel to the ground surface 2 by referring to the user interface screen displayed on the display 12D and performing a procedure according to the notified message. Further, since the personal computer 12 tilts the main body 11a toward the ground by an angle difference θx, the personal computer 12 is detected when the scanning angle of the laser beam indicates an angle (θd2−θx) that is a difference between the angle θd2 and the angle difference θx. The user is notified that the distance is adjusted to be the distance Ld2. Therefore, if the user performs such adjustment, the laser beam at the reference angle can be adjusted to be parallel to the ground 2 in a state where the scanning plane of the laser beam is perpendicular to the ground 2.

The present invention is not limited to the embodiments described above or shown in the drawings, and the following modifications or expansions are possible.
Similarly, when the ground is inclined in the elevation direction from the horizontal plane, the angle difference θx (sign is negative) can be obtained.
The angles for the installation states A and B are not limited to ± 45 °. Also, the absolute values of the two angles may be different.
When adjusting the angle of the laser beam, the angle at which the main body 11a of the laser radar device 11 is attached to the wall surface 3 may be adjusted. The laser beam scanning plane may be adjusted.

The scanning angle need not be in units of 0.5 °.
In the second embodiment, the personal computer 12 may automatically select an appropriate measurement point and calculate the angle difference θx without causing the user to select θd1 and θd2.
Further, the instruction message in FIG. 9B in the second embodiment may be “Please tilt the output unit 12 toward the ground by 4 ° (= θx)”, and the user makes an adjustment according to the instruction. Just do it .
The user interface means does not have to be a personal computer, and may be a dedicated device for the laser radar device. User interface means may be provided in the main body of the laser radar device.

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

Claims (6)

The scanning surface of the laser beam can be changed within 90 ° with the main body installed on the installation surface, and the distance and angle to the object are received by receiving the reflected light irradiated with the laser beam. A laser radar device for measuring
User interface means for instructing measurement to the laser radar device, informing the user of the measurement result by the laser radar device and the work instruction message, and executing the arithmetic processing based on the measurement result. ,
The user interface means informs a user of an instruction of a first operation for inclining the scanning surface of the laser beam in the laser radar device by an angle θ0 (<90 °) in one direction,
When there is a response indicating that the first work is completed by the user, the laser radar device is caused to measure the distance La to the ground with respect to the scanning angle θa,
Next, a second work instruction for inclining the scanning surface of the laser beam by the angle θmove in the opposite direction from the state inclined by the angle θ0 is notified to the user, and the second work is completed by the user. If there is a response indicating, when to measure the distance L b to ground surface about the run査角theta b to the laser radar apparatus, the measured distance La, from Lb, the laser beam in a state in which a normal measurement An angle θ c of which the scanning plane is inclined with respect to the first reference horizontal direction in the ground in a state where the second operation is completed ,
The body of the pre-SL laser radar apparatus, prior Symbol instructions of a third work tilting angle θc only notified to the user, if there is a response indicating the completion of the third work by the user, the laser radar Informing the user of a fourth work instruction to make the scanning surface of the laser beam in the apparatus perpendicular to the ground;
When there is a response indicating that the fourth work has been completed by the user, the laser radar apparatus is caused to scan, and the distances measured for the two scanning angles θd1, θd2 (| θd1 |> | θd2 |) Based on Ld1 and Ld2, an angle difference θx until the laser beam is parallel to the ground in a state where the laser beam is at a reference angle of 0 ° is calculated,
Informing the user of a fifth work instruction to tilt the main body of the laser radar device toward the ground by the angle difference θx;
A laser radar device that notifies the user that the scanning surface of the laser beam in the laser radar device is rotated by 90 ° when there is a response indicating that the user has completed the fifth operation. Installation angle setting system. It said user interface means, said scanning angle θa with respect to the reference angle 0 ° of the laser beam, theta one to -90 ° for b, and the other is referred to as 90 °,
2. The laser radar apparatus installation angle setting system according to claim 1, wherein the angle [ theta] c is calculated by equation (1).
La · cos θc = Lb · cos (180 ° −θmove−θc) (1) The user interface means calculates an angle α , which is a difference between the angle θ d 1 and an angle perpendicular to the ground, by the equation (2),
Ld1 · cos α = Ld2 · cos (α + θd1−θd2) (2)
3. An installation angle setting system for a laser radar device according to claim 1, wherein the angle difference [theta] x is calculated by equation (3).
θx = α + θd1 −90 ° (3) By receiving the reflected light irradiated with the laser beam, a laser radar device for measuring the distance and angle to the object is installed on the installation surface standing on the ground, and the scanning surface of the laser beam is set on the ground. It is a method of setting in parallel,
As the laser radar device, a device that can change the scanning surface of the laser beam in both directions within 90 ° while being installed on the installation surface,
Measurement results of the laser radar apparatus, and notifies the work instruction message to the user, and providing a user interface means for executing arithmetic processing based on the measurement result,
The scanning surface before Symbol laser beam, a first step of notifying the user to tilt in one direction by an angle θ0 (<90 °),
A second step of measuring the distance La to the ground for run査角.theta.a,
The scanning surface before Symbol laser beam, and a third step of informing the user to tilt by an angle θmove backwards from the angle θ0 inclined state,
For run査角.theta.b, a fourth step of measuring the distance Lb to the ground,
Before SL measured distance La, from Lb, and a fifth step of scanning plane of the laser beam in a state in which a normal measurement is to calculate the angles θc which is inclined with respect to the first reference horizontal direction of the inner ground,
A sixth step of informing the user of the main body of the laser radar apparatus, to tilt only before Symbol angle .theta.c,
In a state where the scanning plane and the ground and perpendicular prior SL laser beam, and a seventh step in which two scan angle? D1, with the θd2 (θd1> θd2), to measure the distance Ld1, Ld2 to the ground, respectively,
Based on the measurement results, an eighth step of calculating an angle difference θx until the laser beam is parallel to the ground in a state where the laser beam is at a reference angle of 0 °;
And characterized in that it consists of a ninth step of notifying the user so that the inclined angle difference [theta] x, rotated by 90 ° the scanning surface before Symbol laser beam the body of the laser radar apparatus before Symbol ground direction A method for setting an installation angle of a laser radar device. In the fifth step, when one of the scanning angles θa and θb is −90 ° and the other is 90 ° with respect to a reference angle of 0 ° of the laser beam, the angle θc is calculated by the equation (1). 5. The method of setting an installation angle of a laser radar device according to claim 4, wherein
La · cos θc = Lb · cos (180 ° −θmove−θc) (1) In the eighth step, an angle α, which is a difference between the angle θd1 and an angle perpendicular to the ground, is calculated by the equation (2),
Ld1 · cos α = Ld2 · cos (α + θd1−θd2) (2)
6. The laser radar apparatus installation angle setting method according to claim 4, wherein the angle difference θx is calculated by the equation (3).
θx = α + θd1-90 ° (3)

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