JP6693255B2 - Measuring instruments and measuring systems - Google Patents

Description

  The technique disclosed in the present application relates to a measuring device that acquires two-dimensional distance measuring data and three-dimensional distance measuring data, and a measuring system including the measuring device and the electronic device.

  Generally, a measuring instrument is used to measure a distance to an object and image the surrounding environment. Some of such measuring devices include a two-dimensional sensor and a three-dimensional sensor in order to acquire both the two-dimensional distance measuring data and the three-dimensional distance measuring data (for example, refer to Patent Document 1).

JP, 2008-52741, A JP, 2003-315023, A JP 2005-18385A International Publication No. 2013/030929 Pamphlet

  However, since a three-dimensional sensor is generally expensive, if the measuring device includes a three-dimensional sensor in addition to the two-dimensional sensor, the measuring device becomes expensive. Therefore, it is desirable to be able to acquire two-dimensional distance measurement data and three-dimensional distance measurement data using a two-dimensional sensor.

  Therefore, an object of the technology disclosed in the present application is to enable acquisition of two-dimensional distance measurement data and three-dimensional distance measurement data using a two-dimensional sensor.

To achieve the above object, according to the technology disclosed in the present application, a base member, a rotating member, a support member, a two-dimensional sensor, a pan motor, a first detector, a second detector, and a posture. A measuring device including a determination unit, a first calculation unit, and a second calculation unit is provided. The rotating member is rotatably supported by the base member. The supporting member is rotatably supported by the rotating member so that the supporting member can take an upright posture and a fallen posture with respect to the rotating member. The two-dimensional sensor is attached to the support member and scans along the two-dimensional plane while emitting laser light. Reflected light of laser light is incident on the two-dimensional sensor. The pan motor rotates the rotating member with respect to the base member. The first detector detects that the support member is in the standing posture. The second detector detects that the support member is in the lying posture. The posture determination unit determines, based on the detection results of the first detector and the second detector, whether the support member is in the standing posture or the support member is in the lying posture. The first calculation unit, when the posture determination unit determines that the support member is in the upright posture, the emission direction of the laser beam from the two-dimensional sensor, and the emission of the laser beam and the incidence of reflected light on the two-dimensional sensor. Two-dimensional distance measurement data in the scanning direction of the laser light is calculated based on the time difference between the two. The second calculation unit, when the posture determination unit determines that the support member is in the lying posture, the emitting direction of the laser light from the two-dimensional sensor, the rotation angle of the rotating member, and the laser light of the two-dimensional sensor. Three-dimensional distance measurement data in the scanning direction of the laser light and the rotating direction of the rotating member is calculated based on the time difference between the emission and the incidence of the reflected light.

  According to the technology disclosed in the present application, it is possible to acquire two-dimensional distance measurement data and three-dimensional distance measurement data using a two-dimensional sensor.

FIG. 3 is a perspective view of the measuring device according to the first embodiment, showing a state in which a support member is in a standing posture. It is a figure which shows the state in which the support member is in the fallen posture in the measuring device shown in FIG. It is a block diagram which shows the functional structure of the measuring equipment shown in FIG. 3 is a flowchart showing a flow of measurement processing executed by a measuring unit provided in the measuring device shown in FIG. 1. It is a figure which shows an example of a mode that two-dimensional ranging data is acquired by the measuring device shown in FIG. It is a figure which shows an example of a mode that three-dimensional ranging data is acquired by the measuring device shown in FIG. It is a figure which shows an example of a mode that the three-dimensional ranging data acquired by the measuring device shown in FIG. 6 are made into a three-dimensional image. It is a two-sided view of a measuring device according to a second embodiment, and is a diagram showing a state in which a support member is in a standing posture. It is a figure which shows a mode that a support member rotates with rotation of a rotating member in the measuring device shown in FIG. It is a figure which shows the Example of a measurement system. FIG. 11 is a block diagram showing a functional configuration of the measurement system shown in FIG. 10. It is a block diagram which shows the hardware constitutions of the electronic device shown by FIG. 11 is a flowchart showing a flow of measurement processing executed by a control unit provided in the electronic device shown in FIG. 10. It is a figure explaining the presence determination process, exit determination process, and pan rotation control process which are performed in the control part shown in FIG. FIG. 12 is a diagram illustrating a motion determination process and a follow-up control process executed by the control unit shown in FIG. 11 when a person steps up a stepladder. FIG. 12 is a diagram illustrating a motion determination process and a follow-up control process executed by the control unit illustrated in FIG. 11 when a person squats down. It is a figure explaining operation | movement of the rotation member and support member in the following control process shown by FIG. It is a figure explaining operation | movement of the rotation member and support member in the following control process shown by FIG.

[First embodiment]
First, a first embodiment of the technology disclosed in the present application will be described.

  As shown in FIGS. 1 and 2, the measuring device 10 according to the first embodiment includes a base member 12, a rotating member 14, a supporting member 16, a two-dimensional sensor 18, a pan motor 20, and a tilt motor 22. With.

  The base member 12 is in the form of a flat box that opens upward, and is arranged with the vertical direction as the thickness direction. A leg portion 24 extending downward is attached to the lower surface of the base member 12, and the measuring device 10 is installed at the measurement place via the leg portion 24.

  The rotating member 14 has a flat plate shape that is the same as the base member 12 in a plan view, and closes the upper opening formed in the base member 12. The rotating member 14 is supported by the base member 12 so as to be rotatable around the vertical direction. A pair of support pieces 26 extending upward is provided on the upper surface of the rotating member 14. The pair of support pieces 26 face each other in the horizontal direction. Further, on the upper surface of the rotating member 14, side wall portions 28 located on the sides of the pair of support pieces 26 are erected.

  The support member 16 has a block shape and is rotatably supported by the pair of support pieces 26 by a rotation shaft 30 extending in the horizontal direction. The support member 16 is rotatably supported by the pair of support pieces 26, so that the support member 16 can take an upright posture and a fallen posture with respect to the rotary member 14. FIG. 1 shows a state where the support member 16 is in a standing posture, and FIG. 2 shows a state where the support member 16 is in a lying posture.

  When the support member 16 is in the upright posture, the support member 16 faces the side wall portion 28, and the axial direction of the support member 16 is along the axial direction of the rotating member 14. In the present embodiment, the axial direction of the rotating member 14 corresponds to, for example, the vertical direction, and the axial direction of the support member 16 corresponds to the thickness direction of the block-shaped support member 16.

  On the other hand, when the support member 16 is in the lying posture, the support member 16 faces the upper surface of the rotary member 14, and the axial direction of the support member 16 is along the direction intersecting the axial direction of the rotary member 14. In the present embodiment, the direction intersecting the axial direction of the rotating member 14 corresponds to the horizontal direction as an example.

  In this way, the support member 16 has an upright posture in which the axial direction of the support member 16 stands along the axial direction of the rotating member 14 and a direction in which the axial direction of the supporting member 16 intersects the axial direction of the rotating member 14. It is designed so that it can take a prone posture in which it prowls along. In FIG. 1 in which the support member 16 is in the upright posture, the central axis extending in the axial direction of the rotating member 14 and the axial direction of the support member 16 is indicated by A1. On the other hand, in FIG. 2 in which the support member 16 is in the lying posture, the central axis line extending in the axial direction of the rotating member 14 is indicated by A1, and the central axis line extending in the axial direction of the supporting member 16 is indicated by A2.

  The two-dimensional sensor 18 is attached to the upper end of the support member 16. The two-dimensional sensor 18 is, for example, a laser range scanner, and is configured to scan along a two-dimensional plane while emitting laser light and to allow reflected light of the laser light to enter. The two-dimensional sensor 18 is attached to the support member 16 so as to scan the laser light along a two-dimensional plane that intersects the axial direction of the support member 16.

  In the present embodiment, the two-dimensional plane scanned by the laser light is, for example, orthogonal to the axial direction of the support member 16. The two-dimensional sensor 18 scans the laser beam around the support member 16 in the axial direction, whereby the detection area 32 of the two-dimensional sensor 18 spreads in a fan shape along the two-dimensional plane. The central angle of the detection area 32 of the two-dimensional sensor 18 can be set arbitrarily.

  The pan motor 20 is for rotating the rotating member 14 and is housed inside the box-shaped base member 12. The main body of the pan motor 20 is fixed to the base member 12, and the output shaft of the pan motor 20 is fixed to the rotating member 14. The rotating member 14 is rotatably supported by the base member 12 via the pan motor 20. When the output shaft of the pan motor 20 rotates, the rotating member 14 rotates with respect to the base member 12.

  The tilt motor 22 is for rotating the support member 16. The body of the tilt motor 22 is fixed to one of the pair of support pieces 26, and the output shaft of the tilt motor 22 is fixed to the rotating member 14. When the output shaft of the tilt motor 22 rotates, the support member 16 rotates with respect to the support piece 26, and the support member 16 changes from one of the standing posture and the lying posture to the other.

  Further, the above-described measuring device 10 includes a first magnet 34, a second magnet 36, a first detector 38, and a second detector 40 in addition to the above-mentioned components.

  The first magnet 34 is fixed to the side wall portion 28, and the second magnet 36 is fixed to the upper surface of the rotating member 14. The support member 16 is made of magnetic metal, and when the support member 16 is in the upright posture, the first magnet 34 attracts the support member 16 and holds the support member 16. Further, when the support member 16 is in the lying posture, the second magnet 36 is attracted to the support member 16 and the support member 16 is held.

  The first detector 38 is provided on the side wall portion 28, and the second detector 40 is provided on the upper surface of the rotating member 14. The first detector 38 detects that the support member 16 is in the standing posture, and the second detector 40 detects that the support member 16 is in the lying posture. For the first detector 38 and the second detector 40, for example, proximity sensors or limit switches are used.

  When the support member 16 is in the upright posture, the second detector 40 is off and the first detector 38 is on. When the support member 16 is in the lying posture, the first detector 38 is off and the second detector 40. Turns on. The 1st detector 38 and the 2nd detector 40 output an ON signal or an OFF signal according to an ON state or an OFF state as an example of the detection result which detected the attitude of support member 16.

  Further, as shown in FIG. 3, the above-described measuring device 10 includes a sensor control unit 42, a pan motor control unit 44, a tilt motor control unit 46, a measuring unit 48, and a communication I / F (interface) 50. Have.

  The sensor control unit 42 is realized by a driver circuit that controls the two-dimensional sensor 18, and the pan motor control unit 44 is realized by a driver circuit that controls the pan motor 20. Further, the tilt motor control unit 46 is realized by a driver circuit that controls the tilt motor 22.

  The sensor control unit 42 and the pan motor control unit 44 have a function as a detector in addition to the function of controlling the two-dimensional sensor 18 and the pan motor 20, respectively. That is, the sensor control unit 42 outputs a signal according to the emission direction of the laser light from the two-dimensional sensor 18 and a signal according to the time difference between the emission of the laser light and the incidence of the reflected light at the two-dimensional sensor 18. .. Further, the pan motor control unit 44 outputs a signal according to the rotation angle of the output shaft of the pan motor 20.

  The measuring unit 48 is realized by, for example, an electronic circuit including an arithmetic element, a storage element, and the like. The measuring unit 48 is electrically connected to the sensor control unit 42, the pan motor control unit 44, the first detector 38, the second detector 40, and the communication I / F 50 described above. The measurement unit 48 includes a posture determination unit 52, a first calculation unit 54, a second calculation unit 56, and a transmission control unit 58 for each function. The functions of the posture determination unit 52, the first calculation unit 54, the second calculation unit 56, and the transmission control unit 58 will be described together with the flow of the measurement process shown in FIG.

  Next, the operation of the measuring device 10 according to the first embodiment will be described.

  When the measurement by the measuring device 10 is started and the two-dimensional sensor 18 is activated, the sensor control unit 42 causes the two-dimensional sensor 18 to emit a signal corresponding to the emission direction of the laser beam and the two-dimensional sensor 18 to emit the laser beam. And a signal corresponding to the time difference between the incidence of the reflected light and the incidence of the reflected light. When the pan motor 20 operates, the pan motor control unit 44 outputs a signal according to the rotation angle of the output shaft of the pan motor 20. The rotation angle of the output shaft of the pan motor 20 is the same as the rotation angle of the rotating member 14.

  When the measurement by the measuring device 10 is started, the measuring unit 48 executes the measuring process described below. As described below, the measurement process includes a posture determination process, a two-dimensional distance measurement data calculation process, a three-dimensional distance measurement data calculation process, and a transmission control process. Hereinafter, each of the plurality of processes will be described in detail in order. For the number and contents of each step in the following description, refer to FIG. 4 as appropriate. Moreover, regarding each component of the measuring device 10, FIGS. 1 to 3 will be appropriately referred to.

(Posture determination process)
The posture determination process is executed in step S1. In step S1, the posture determination unit 52 determines the posture of the support member 16 based on the signals output from the first detector 38 and the second detector 40. That is, when the support member 16 is in the upright posture, the second detector 40 is off and the first detector 38 is on, the first detector 38 outputs an on signal and the second detector 40 outputs an off signal. Is output. When the posture determination unit 52 detects the ON signal output from the first detector 38 and the OFF signal output from the second detector 40, the posture determination unit 52 determines that the support member 16 is in the standing posture.

  On the other hand, when the support member 16 is in the lying posture and the first detector 38 is off and the second detector 40 is on, an off signal is output from the first detector 38 and an on signal from the second detector 40. Is output. When the posture determination unit 52 detects the OFF signal output from the first detector 38 and the ON signal output from the second detector 40, the posture determination unit 52 determines that the support member 16 is in the lying posture.

(Two-dimensional distance measurement data calculation process)
Then, when the posture determination unit 52 determines that the support member 16 is in the standing posture, the two-dimensional distance measurement data calculation process is executed in step S2. In step S2, the first calculator 54 calculates two-dimensional distance measurement data in the scanning direction of the laser light based on the signal output from the sensor controller 42.

  That is, the first calculating unit 54 determines the laser light emission direction from the two-dimensional sensor 18, and the laser light scanning direction based on the time difference between the laser light emission and the reflected light incidence on the two-dimensional sensor 18. Calculate two-dimensional distance measurement data.

  FIG. 5 shows an example of how the measuring device 10 acquires two-dimensional distance measurement data. The measuring device 10 is installed in the room 60. A person 62 is present in the room 60 as an example of a dynamic object. When a dynamic object is present in the detection area 32 of the two-dimensional sensor 18, in addition to the data based on the reflected light reflected by the static object in the environment around the measuring device 10, the two-dimensional distance measurement data is also included. , Data based on light reflected from a dynamic object is included.

(3D distance measurement data calculation process)
On the other hand, when the posture determination unit 52 determines that the support member 16 is in the lying posture, the three-dimensional distance measurement data calculation process is executed in step S3. In step S3, the second calculator 56 calculates the three-dimensional distance measurement data in the scanning direction of the laser light and the rotating direction of the rotating member 14 based on the signals output from the sensor controller 42 and the pan motor controller 44. ..

  That is, the second calculation unit 56 is based on the emission direction of the laser light from the two-dimensional sensor 18, the rotation angle of the rotating member 14, and the time difference between the emission of the laser light and the incidence of the reflected light at the two-dimensional sensor 18. , Three-dimensional distance measurement data is calculated.

  FIG. 6 shows an example of how the measuring device 10 acquires the three-dimensional distance measurement data in the room 60 described above. A person 62 shown in FIG. 5 is leaving the room 60. The three-dimensional distance measurement data includes data based on the reflected light reflected by the static object in the environment around the measuring device 10. The static object in this case is the wall, structure, ceiling, floor, etc. of the room 60.

(Transmission control process)
Then, when the two-dimensional distance measurement data is calculated in the above-described two-dimensional distance measurement data calculation processing, or when the three-dimensional distance measurement data is calculated in the three-dimensional distance measurement data calculation processing, transmission control is performed in step S4. The process is executed. In step S4, the transmission control unit 58 extracts the two-dimensional distance measurement data calculated in the above-described two-dimensional distance measurement data calculation processing or the three-dimensional distance measurement data calculated in the three-dimensional distance measurement data calculation processing. .. Then, the transmission control unit 58 causes the external electronic device 70 to transmit the extracted data through the communication I / F 50.

  Next, the operation and effect of the first embodiment will be described.

  As described above in detail, the measuring device 10 according to the first embodiment includes the support member 16 that can take the standing posture and the fall posture with respect to the rotating member 14, and the support member 16 has a two-dimensional shape. A sensor 18 is attached. Then, by operating the two-dimensional sensor 18 with the support member 16 standing upright, two-dimensional distance measurement data in the scanning direction of the laser light can be acquired. Further, if the two-dimensional sensor 18 is operated with the support member 16 lying down and the two-dimensional sensor 18 is rotated together with the rotating member 14, the three-dimensional distance measurement data in the scanning direction of the laser light and the rotating direction of the rotating member 14 can be obtained. Can be obtained.

  As described above, according to the measuring device 10 according to the first embodiment, it is possible to acquire the two-dimensional distance measurement data and the three-dimensional distance measurement data by using the two-dimensional sensor 18. Therefore, the structure can be simplified and the cost can be reduced as compared with the case where the three-dimensional sensor is provided in addition to the two-dimensional sensor 18.

  Further, when the three-dimensional distance measurement data transmitted from the measuring device 10 is received by the electronic device 70 shown in FIG. 5 and FIG. The position of the target object and the distance from the measuring device 10 to the static object can be grasped. In addition, the electronic device 70 can generate a three-dimensional image from the three-dimensional distance measurement data. FIG. 7 shows an example of a three-dimensional image converted from the above-mentioned three-dimensional distance measurement data. As shown in FIG. 7, the electronic device can obtain a three-dimensional image 72 corresponding to a static object in the environment around the room 60 shown in FIG.

  Further, when the electronic device 70 receives the two-dimensional distance measurement data, the electronic device 70 uses the two-dimensional distance measurement data to detect the position of the dynamic object with respect to the measuring device 10 and the movement from the measuring device 10. The distance to the target object can be grasped. Then, based on the absolute position of the measuring device 10, the position of the dynamic object with respect to the measuring device 10, and the distance from the measuring device 10 to the dynamic object, the position of the dynamic object in the environment in which the measuring device 10 is installed. Can be grasped.

  Next, a modified example of the first embodiment will be described.

  In the first embodiment, the measuring device 10 is preferably installed such that the axial direction of the rotary member 14 is along the vertical direction, but the axial direction of the rotary member 14 is installed along a direction other than the vertical direction. May be done.

  In addition, in the first embodiment, the measuring device 10 includes the tilt motor 22, and the support member 16 changes from one of the standing posture and the lying posture to the other by the tilt motor 22. However, the tilt motor 22 may be omitted from the measuring device 10, and the support member 16 may be manually changed from one of the standing posture and the lying posture to the other.

[Second embodiment]
Next, a second embodiment of the technology disclosed in the present application will be described.

  The measuring device 80 according to the second embodiment shown in FIG. 8 has a power transmission mechanism that converts the rotational force of the pan motor 20 into a rotational force for the supporting member 16 in the measuring device 10 according to the above-described first embodiment. 82 has been added.

  The power transmission mechanism 82 has a first gear 84 provided on the base member 12 and a pair of second gears 86, 88 provided on the rotating member 14. The first gear 84 is provided on the upper surface of the base member 12. As the first gear 84, a rack extending linearly along the upper surface of the base member 12 is used. When the power transmission mechanism 82 is close to the rotating shaft of the pan motor 20 and it is difficult to apply a linear rack, the meshing portion of the first gear 84 and the second gear 86 may be a bevel gear. ..

  The pair of second gears 86, 88 are provided side by side in the height direction of the rotating member 14. One second gear 86 is rotatably supported by the rotating member 14, and the other second gear 88 is fixed to the rotating shaft 30 of the supporting member 16. The support member 16, the rotation shaft 30 of the support member 16, and the second gear 88 on the other side integrally rotate.

  The one second gear 86 is meshed with the first gear 84, and the one second gear 86 and the other second gear 88 are meshed with each other. One of the second gears 86 meshes with the first gear 84 in a part of the rotation range A of the rotation range of the rotating member 14 and moves in the remaining rotation range B of the rotation range of the rotation member 14 to the first range. It is separated from the one gear 84.

  Then, as shown in FIG. 9, in a part of the rotation range A of the rotation range of the rotation member 14, the one second gear 86 meshes with the first gear 84. As a result, the force transmitted from the first gear 84 to the pair of second gears 86, 88 is converted by the pair of second gears 86, 88 into rotational force for the support member 16, and the support member 16 rotates. Therefore, in a part of the rotation range A of the rotation member 14, when the rotation member 14 rotates in the forward direction, the support member 16 rotates toward the laid posture and the rotation member 14 rotates in the opposite direction. Then, the support member 16 rotates toward the standing posture.

  On the other hand, in the remaining rotation range B of the rotation range of the rotation member 14, one of the second gears 86 is separated from the first gear 84, so that the support member 16 remains in the laid posture and the rotation member 14 supports the support member 16. Rotate with. When the distance measuring range of the two-dimensional sensor 18 is 360 °, the rotation range B may be 180 ° in order to acquire the three-dimensional distance measuring data over the entire circumference of the measuring device 80.

  Since the measuring device 80 according to the second embodiment includes the power transmission mechanism 82 that converts the rotational force of the pan motor 20 into the rotational force for the support member 16, the pan motor 20 has the function of the tilt motor. be able to. As a result, the tilt motor can be eliminated, so that the structure of the measuring device 80 can be simplified, downsized, and the cost can be reduced.

  In addition, since the power transmission mechanism 82 can change the tilt angle of the two-dimensional sensor 18 together with the support member 16, the measurement range of the two-dimensional sensor 18 can be adjusted in the vertical direction.

  In the second embodiment, the power transmission mechanism 82 has a structure including the first gear 84 and the pair of second gears 86 and 88, but other structures may be used.

[Example of measurement system]
Next, an example of the measurement system 100 will be described.

  The measurement system 100 according to the present embodiment shown in FIG. 10 includes a measurement device 10 and an electronic device 110. As the measuring device 10, for example, the measuring device 10 according to the above-described first embodiment (see FIGS. 1 to 3) is used. The control unit 111, which is the main body device of the electronic device 110, can communicate with the measuring device 10. An information processing device such as a personal computer is used as the electronic device 110, and the control unit 111 functions as a computer. A small information processing device such as a stick-type personal computer may be used as the electronic device 110, and this device may be mounted inside the measuring instrument 10.

  As shown in FIG. 11, the control unit 111 includes, for each function, an existence determination unit 112, an exit determination unit 114, a pan control unit 116, a tilt control unit 118, and a position information output unit 120. The tilt control unit 118 includes a motion determination unit 122 and a tracking control unit 124. The function of each functional unit such as the presence determining unit 112 will be described together with the operation of the control unit 111 described in the measurement method described later.

  As illustrated in FIG. 12, the control unit 111 having each functional unit such as the above-described presence determination unit 112 includes a CPU (Central Processing Unit) 126, a memory 128 as a temporary storage area, and a non-volatile storage unit 130. With. The control unit 111 also includes an input / output I / F (interface) 132. The input / output I / F 132 is connected to the input / output device 134 such as a keyboard and a display, and the above-described measuring device 10.

  The control unit 111 also includes an R / W (Read / Write) unit 136 that controls reading and writing of data from and to the storage medium 140, and a network I / F 138 connected to a network such as the Internet. The CPU 126, the memory 128, the storage unit 130, the input / output I / F 132, the R / W unit 136, and the network I / F 138 are connected to each other via the bus 142.

  The storage unit 130 is realized by an HDD (Hard Disk Drive), an SSD (solid state drive), a flash memory, or the like. A measurement program 150 is stored in the storage unit 130.

  The measurement program 150 includes an existence determination process 152, an exit determination process 154, a pan control process 156, a tilt control process 158, and a position information output process 160. The tilt control process 158 has a motion determination process 162 and a tracking control process 164.

  The CPU 126 reads the measurement program 150 from the storage unit 130, expands it in the memory 128, and sequentially executes the above-described plurality of processes included in the measurement program 150. The CPU 126 executes each of the above-described plurality of processes, so that the presence determination unit 112, the exit determination unit 114, the pan control unit 116, the tilt control unit 118, and the position information output unit 120 illustrated in FIG. Works as each of.

  That is, the CPU 126 operates as the presence determination unit 112 by executing the presence determination process 152, and the CPU 126 operates as the exit determination unit 114 by executing the exit determination process 154. Further, the CPU 126 operates as the pan control unit 116 by executing the pan control process 156, and the CPU 126 operates as the tilt control unit 118 by executing the tilt control process 158. Further, the CPU 126 operates as the position information output unit 120 by executing the position information output process.

  In the present embodiment, the tilt motor control unit 46 (see FIG. 11) provided in the measuring device 10 has a function as a detector in addition to the function of controlling the tilt motor 22. A signal according to the rotation angle of the output shaft of 22 is output. In addition to the two-dimensional distance measurement data and the three-dimensional distance measurement data, the measuring device 10 outputs a signal corresponding to the rotation angle of the output shaft of the pan motor 20 and a signal corresponding to the rotation angle of the output shaft of the tilt motor 22. Is transmitted to the control unit 111.

  Next, the operation of the measurement system 100 according to this embodiment will be described.

  In the measuring method according to the present embodiment, the plurality of processes shown in each step of FIG. 13 are executed by each functional unit of the control unit 111. Hereinafter, each of the plurality of processes will be described in detail in order. For the number and contents of each step in the following description, refer to FIG. 13 as appropriate. 10 to 12 will be appropriately referred to for each component of the measuring device 10 and the measuring system 100.

  Note that, in FIG. 10, the support member 16 of the measuring device 10 is shown in an inclined state, but the measuring method according to the present embodiment is started from the state in which the support member 16 of the measuring device 10 is in the upright posture. Furthermore, the measuring device 10 is installed such that the axial direction of the rotating member 14 is along the vertical direction. When the support member 16 of the measuring device 10 is in the upright posture, the laser light emitted from the two-dimensional sensor 18 is scanned along the two-dimensional plane parallel to the horizontal direction.

  The measuring device 10 also creates two-dimensional distance measurement data at regular time intervals and sequentially transmits the two-dimensional distance measurement data to the control unit 111. In addition to the two-dimensional distance measurement data, the measuring device 10 sends a signal corresponding to the rotation angle of the output shaft of the pan motor 20 and a signal corresponding to the rotation angle of the output shaft of the tilt motor 22 to the control unit 111 at any time. Sent. In the measuring method according to the present embodiment, the person 62 is a “dynamic object” as an example. In FIG. 10, a person 62 is performing a predetermined work using a stepladder 64 or the like in the environment where the measuring device 10 is installed.

(Presence determination process)
The presence determination process is executed in steps S11 and S12. In step S11, the presence determination unit 112 refers to the two-dimensional distance measurement data output from the measuring device 10. Then, in step S12, the presence determination unit 112 determines whether or not the person 62 is present in the detection area 32 of the two-dimensional sensor 18 based on the two-dimensional distance measurement data.

  Specifically, the presence determination unit 112 determines whether or not the two-dimensional ranging data includes data corresponding to the shape of the person 62. If the two-dimensional distance measurement data does not include data corresponding to the shape of the person 62, the presence determination unit 112 determines that the person 62 exists in the detection area 32 of the two-dimensional sensor 18. , Step S11 and Step S12 are repeatedly executed. On the other hand, when the two-dimensional distance measurement data includes data corresponding to the shape of the person 62, the presence determination unit 112 determines that the person 62 exists in the detection area 32 of the two-dimensional sensor 18. To do.

(Exit determination process)
When the presence determination unit 112 determines that the person 62 exists in the detection area 32, the exit determination process is executed in steps S13 and S14. In step S13, the exit determination unit 114 refers to the new two-dimensional distance measurement data output from the measuring device 10 after step S11 described above. Then, in step S14, the exit determination unit 114 determines whether or not the person 62 has moved in the horizontal direction and exited from the detection area 32 based on the two-dimensional distance measurement data.

  Specifically, when the person 62 horizontally moves and crosses the boundary 32A of the detection area 32 as indicated by an arrow M in the state (1) of FIG. 14, the exit determination unit 114 determines that the person It is determined that 62 has moved in the horizontal direction and has exited the detection area 32. In this way, when the exit determination unit 114 determines that the person 62 has moved in the horizontal direction and has exited from the detection area 32, step S11 is executed again.

  On the other hand, when the person 62 stays in the detection area 32, or when the person 62 moves vertically such as crouching or raising the stepladder 64, the person 62 does not exceed the boundary 32A of the detection area 32. .. Therefore, in this case, the exit determination unit 114 determines that the person 62 has moved horizontally and has not exited the detection area 32.

(Bread control processing)
When the exit determination unit 114 determines that the person 62 has moved horizontally and has not exited the detection area 32, the pan control process is executed in step S15. In step S15, the pan control unit 116 controls the pan motor 20 to rotate the rotating member 14. At this time, the pan control unit 116 sets the position P of the person 62 whose presence is determined by the presence determination unit 112 and the rotation axis O of the rotation member 14 as shown in the state (2) of FIG. The rotating member 14 is rotated so that the imaginary line L1 connecting them and the rotation axis L2 of the support member 16 are perpendicular to each other.

  In addition, the pan control unit 116 uses the signal transmitted from the measuring device 10 according to the rotation angle of the rotating member 14 set in step S15 as rotation angle information (pan angle information) regarding the rotation angle of the rotating member 14. It is temporarily stored in the memory 128.

(Tilt control processing)
Subsequently, tilt control processing is executed in steps S16 to S22. In this tilt control process, as shown in the state (3) of FIG. 14, the tilt control unit 118 controls the tilt motor 22 so that the person 62 exists in the detection area 32 and the supporting member. 16 is rotated. The tilt control process has a motion determination process and a follow-up control process. The motion determination process and the tracking control process are executed by the motion determination unit 122 and the tracking control unit 124 of the tilt control unit 118.

(Motion determination process)
The operation determination process is executed in step S16. In step S16, the operation determination unit 122 refers to the plurality of two-dimensional distance measurement data sequentially output from the measuring device 10. Then, the motion determination unit 122 determines, based on the plurality of two-dimensional distance measurement data, whether the person 62 moves vertically upward or the person 62 moves vertically downward.

  Specifically, as shown in states (1) to (2) of FIG. 15, when the shoulder of the person 62 is initially positioned on the detection area 32, and then the person 62 moves up the stepladder 64. In the detection area 32, the width of the person 62 gradually narrows, and then two feet are positioned on the detection area 32. In this case, the movement determination unit 122 determines that the person 62 moves upward in the vertical direction based on the changes in the plurality of two-dimensional distance measurement data accompanying the movement of the person 62.

  On the other hand, as shown in states (1) and (2) of FIG. 16, for example, when the person 62 crouches, the two-dimensional distance measurement data when the person 62 moves upward in the vertical direction. Can't get Even when the person 62 is facing sideways, raising his hand, or hiding in the stepladder 64, the two-dimensional distance measurement data when the person 62 moves upward in the vertical direction is obtained. I can't get it. Therefore, in these cases, the motion determination unit 122 determines that the person 62 moves vertically downward. In the present embodiment, the upper side in the vertical direction corresponds to one side of the normal direction of the two-dimensional plane in which the laser light is scanned, and the lower side in the vertical direction is the normal line of the two-dimensional plane in which the laser light is scanned. It corresponds to the other side of the direction.

(Following control processing)
Then, the follow-up control process is executed in steps S17 to S22. When the motion determining unit 122 determines that the person 62 moves upward in the vertical direction, the tracking control unit 124 causes the tilt motor to move the detection area 32 to follow the motion of the person 62 in step S17. 22 is controlled. As a result, as shown in states (3) to (4) of FIG. 15, the two-dimensional sensor 18 rotates together with the support member 16, and the detection area 32 rotates upward. In the present embodiment, the upward rotation of the detection area 32 corresponds to the upward rotation of the detection area 32.

  In this embodiment, the rotation angle of the support member 16 is set to 0 ° to 90 °. Therefore, as shown in FIG. 17, when the detection area 32 is rotated upward, the follow-up control unit 124 controls the pan motor 20 to rotate the rotating member 14 so that the support member 16 falls to the lying posture side. The detection area 32 is directed upward with the rotation of.

Then, in step S18, the follow-up control unit 124 determines whether the tilt angle of the two-dimensional sensor 18 is within the threshold value based on the signal transmitted from the measuring device 10 according to the rotation angle of the support member 16. to decide. As shown in FIG. 15, the upper limit value of the chilled angle of the two-dimensional sensor 18 is set to an angle at which the detection area 32 forms an angle θ _H on the ceiling side with respect to the horizontal direction. Then, if the tilt angle of the two-dimensional sensor 18 is within the threshold value, the tracking control unit 124 determines whether or not the person 62 is detected in the detection area 32 in step S19. If the person 62 is not detected in the detection area 32 in step S19, step S17 is executed again.

  On the other hand, when it is determined that the person 62 moves vertically downward in step S16 described above, and when it is determined that the tilt angle of the two-dimensional sensor 18 reaches the upper threshold in step S18 described above. Moves to step S20.

  In step S20, the follow-up control unit 124 controls the tilt motor 22 so that the detection area 32 follows the movement of the person 62. As a result, as shown in states (3) to (4) of FIG. 16, the two-dimensional sensor 18 rotates together with the support member 16, and the detection area 32 rotates downward. In the present embodiment, the downward rotation of the detection area 32 corresponds to the rotational movement of the detection area 32 to the other side.

  As shown in FIG. 18, when the detection area 32 is rotated downward, the follow-up control unit 124 controls the pan motor 20 to rotate the rotating member 14 to move the support member 16 to the lying posture side. The detection area 32 is directed downward with the rotation.

Then, in step S21, the follow-up control unit 124 determines whether the tilt angle of the two-dimensional sensor 18 is within the threshold value based on the signal transmitted from the measuring device 10 according to the rotation angle of the support member 16. to decide. As shown in FIG. 16, the lower limit value of the chilled angle of the two-dimensional sensor 18 is set to an angle at which the detection area 32 forms an angle θ _L on the floor side with respect to the horizontal direction. Then, if the tilt angle of the two-dimensional sensor 18 is within the threshold value, the tracking control unit 124 determines whether or not the person 62 is detected in the detection area 32 in step S22.

  When the person 62 is not detected in the detection area 32 in step S22, step S20 is executed again. When it is determined in step S21 that the tilt angle of the two-dimensional sensor 18 has reached the lower threshold value, the process proceeds to step S17.

  On the other hand, when the person 62 is detected in the detection area 32 in steps S19 and S22 described above, the follow-up control process ends.

  It is assumed that the person 62 is not detected in the detection area 32 even after both the steps S19 and S22 described above. For example, when the person 62 enters the ceiling or under the floor, or when the person 62 lies on the floor, the person 62 cannot be detected even within the detection area 32. In such a case, after steps S19 and S22 have been performed a predetermined number of times or a predetermined time, it may be determined that the same process as in step S14 “a person has left the detection area” and the process may return to step 11.

  As described above, in this embodiment, when it is determined that the person 62 moves upward in the vertical direction, the detection area 32 works together with the two-dimensional sensor 18 so as to follow the upward movement of the person 62 in the vertical direction. The support member 16 is rotated upward. On the other hand, when it is determined that the person 62 moves downward in the vertical direction, the support member 16 moves downward together with the two-dimensional sensor 18 so that the detection area 32 follows the downward movement of the person 62 in the vertical direction. Is rotated to the side.

  Further, the tilt control unit 118 outputs the signal transmitted from the measuring device 10 according to the rotation angle of the support member 16 set in step S17 and step S20 to the rotation angle information regarding the rotation angle of the support member 16. (Tilt angle information) is temporarily stored in the memory 128.

(Position information output process)
Then, in the case where the detection area 32 is caused to follow the motion of the person 62 in this way, the position information output process is subsequently executed in step S23. In step S23, the position information output unit 120 causes the rotation angle information (pan angle information) temporarily stored in the memory 128 in the pan control process described above, and temporarily in the memory 128 in the tilt control process described above. The rotation angle information (tilt angle information) stored in is read and output. The rotation angle information and the rotation angle information output by the position information output unit 120 are sequentially stored in the memory 128 each time the latest information is obtained.

  Next, the operation and effect of this embodiment will be described.

  As described in detail above, in the measurement system 100, the horizontal position and the dynamic position of the dynamic object in the environment in which the measuring device 10 is installed are determined from the rotation angle information of the rotating member 14 and the rotation angle information of the supporting member 16. The vertical position of the object is obtained. In addition, according to this measurement system 100, as described in the above-described first embodiment, it is possible to create three-dimensional distance measurement data for the environment in which the measurement device 10 is installed. Thereby, based on the three-dimensional distance measurement data and the above-described two-dimensional distance measurement data, it is possible to manage the operation history of the dynamic object in the environment where the measuring device 10 is installed.

  Further, when the dynamic object moves in the horizontal direction and does not leave the detection area 32, that is, when the dynamic object moves in the vertical direction and disappears from the detection area 32, the following is performed. It is processed. That is, as shown in FIG. 14, a virtual line L1 that connects the position P of the dynamic object whose presence is determined by the presence determination unit 112 and the rotation axis O of the rotation member 14, and the rotation of the support member 16. The rotation angle of the rotating member 14 is adjusted so that the axis L2 is perpendicular to the axis L2. As a result, by subsequently operating the tilt motor 22 to change the tilt angle of the detection area 32 of the two-dimensional sensor 18, the dynamic object can be accurately accommodated in the detection area 32.

  Further, even if the dynamic object moves in the vertical direction and disappears from the detection area 32 as described above, the dynamic object can be accurately accommodated in the detection area 32 after that, so that the dynamic object can be accurately accommodated. The operation history of can be continuously recorded.

  Further, as shown in FIGS. 15 and 16, even when the dynamic object moves vertically, the tilt angle of the detection area 32 is changed so that the detection area 32 follows the motion of the dynamic object. It Therefore, even if the dynamic object moves in the vertical direction, the dynamic object can be accurately accommodated in the detection area 32, so that the operation history of the dynamic object can be continuously recorded.

  Next, a modification of this embodiment will be described.

  In the above embodiment, the measuring device 10 is preferably installed such that the axial direction of the rotary member 14 is along the vertical direction, but the axial direction of the rotary member 14 is installed along a direction other than the vertical direction. Is also good.

  Further, in the above-described embodiment, the dynamic object to be measured by the measurement system 100 is a person, but it may be a person other than a person.

  Further, in the above example, the measuring device 10 according to the first embodiment is applied to the measuring system 100, but the measuring device 80 according to the second embodiment including the power transmission mechanism 82 described above (FIG. 8). , See FIG. 9) may be applied.

  Further, in the above-described embodiment, each functional unit such as the presence determination unit 112 in the control unit 111 is realized by the measurement program 150, and is, for example, a semiconductor integrated circuit, more specifically, an ASIC (Application Specific Integrated Circuit) or the like. May be realized.

  Although an example of the technology disclosed in the present application has been described above, the technology disclosed in the present application is not limited to the above, and may be implemented in various modifications within the scope not departing from the gist of the invention in addition to the above. Of course there is.

  Note that the following supplementary notes will be further disclosed regarding the embodiment of the technique disclosed in the present application.

(Appendix 1)
Base member,
A rotating member rotatably supported by the base member,
A supporting member rotatably supported by the rotating member so that the rotating member can take an upright posture and a fallen posture;
A two-dimensional sensor attached to the supporting member, which scans along a two-dimensional plane while emitting a laser beam and into which reflected light of the laser beam is incident.
A pan motor for rotating the rotating member with respect to the base member,
Measuring instrument equipped with.
(Appendix 2)
The support member has an upright posture in which the axial direction of the support member stands along the axial direction of the rotary member, and the support member falls down along a direction in which the axial direction of the support member intersects the axial direction of the rotary member. Can take a probation posture,
The measuring device according to attachment 1.
(Appendix 3)
The two-dimensional sensor scans the laser light along a two-dimensional plane intersecting the axial direction of the support member,
The measuring device according to attachment 2.
(Appendix 4)
A first detector that detects that the support member is in a standing posture,
A second detector that detects that the support member is in a lying posture,
Further comprising,
The measuring device according to any one of appendices 1 to 3.
(Appendix 5)
Based on the detection results of the first detector and the second detector, whether the support member is in a standing posture, or a posture determination unit that determines whether the support member is a fall posture,
When it is determined that the support member is in the standing posture in the posture determination unit, the emission direction of the laser beam from the two-dimensional sensor, and the emission of the laser beam and the incidence of reflected light in the two-dimensional sensor A first calculation unit that calculates two-dimensional distance measurement data in the scanning direction of the laser light based on the time difference,
When the posture determination unit determines that the support member is in the lying posture, the emission direction of the laser light from the two-dimensional sensor, the rotation angle of the rotating member, and the emission of the laser light in the two-dimensional sensor. And a second calculator that calculates three-dimensional distance measurement data in the scanning direction of the laser light and the rotating direction of the rotating member, based on the time difference between the incidence of reflected light and
Further comprising,
The measuring device according to attachment 4.
(Appendix 6)
A tilt motor for rotating the support member,
The measuring device according to any one of appendices 1 to 5.
(Appendix 7)
Further comprising a power transmission mechanism that converts the rotational force of the pan motor into a rotational force to the support member,
The measuring device according to any one of appendices 1 to 5.
(Appendix 8)
The power transmission mechanism is
A first gear provided on the base member,
A second gear provided on the rotating member,
Have
The second gear is
In a rotation range of a part of the rotation range of the rotation member, meshes with the first gear to convert the force transmitted from the first gear into a rotational force to the support member,
In the remaining rotation range of the rotation range of the rotating member, separated from the first gear,
The measuring device according to attachment 7.
(Appendix 9)
The measuring device according to Appendix 5,
An electronic device that communicates with the measuring device,
Measuring system with.
(Appendix 10)
The electronic device is
Based on the two-dimensional distance measurement data output from the measuring device, a presence determination unit that determines whether a dynamic object is present in the detection area of the two-dimensional sensor,
When the presence determination unit determines that the dynamic object is present in the detection area, based on the two-dimensional distance measurement data output from the measuring device, the dynamic object is An exit determination unit that determines whether or not the user has exited from the detection area by moving along the two-dimensional plane,
When the exit determination unit determines that the dynamic object has not moved out of the detection area by moving along the two-dimensional plane, the presence determination unit determines the presence A pan control unit that controls the pan motor to rotate the rotating member such that an imaginary line connecting the position of the object and the rotating shaft of the rotating member is perpendicular to the rotating axis of the supporting member. Prepare,
The measurement system according to attachment 9.
(Appendix 11)
The measuring device further includes a tilt motor that rotates the support member,
In the electronic device, when the rotation member is rotated by the pan control unit and the virtual line and the rotation axis of the support member are perpendicular to each other, the electronic device is moved to the dynamic area in the detection area. A tilt controller that controls the tilt motor to rotate the support member so that an object is present,
The measurement system according to attachment 10.
(Appendix 12)
The tilt control unit,
Based on the two-dimensional distance measurement data output from the measuring device, whether the dynamic object moves to one side in the normal direction of the two-dimensional plane, or the dynamic object is the two-dimensional An operation determination unit that determines to operate on the other side in the normal direction of the plane,
When the motion determining unit determines that the dynamic object moves to one side in the normal direction of the two-dimensional plane, the tilt is adjusted so that the detection area follows the motion of the dynamic object. A motor is controlled to rotate the support member to rotate the detection area to one side, and the motion determination unit determines that the dynamic object moves to the other side in the direction normal to the two-dimensional plane. In the case of the following, the follow-up control unit that controls the tilt motor to rotate the support member to rotate the detection area to the other side so that the detection area follows the movement of the dynamic object. And further,
The measurement system according to attachment 11.
(Appendix 13)
The electronic device outputs position information that outputs rotation angle information of the rotation member and rotation angle information of the support member when the detection area is made to follow the motion of the dynamic object by the tracking control unit. An output unit is further provided,
The measurement system according to attachment 12.

10 Measuring Equipment 12 Base Member 14 Rotating Member 16 Supporting Member 18 Two-Dimensional Sensor 20 Pan Motor 22 Tilt Motor 32 Detection Area 38 First Detector 40 Second Detector 42 Sensor Control Unit 44 Pan Motor Control Unit 46 Tilt Motor Control Unit 48 Measuring Unit 52 posture determination unit 54 first calculation unit 56 second calculation unit 58 transmission control unit 100 measurement system 110 electronic device 111 control unit 112 existence determination unit 114 exit determination unit 116 pan control unit 118 tilt control unit 120 position information output unit 122 operation Judgment unit 124 Tracking control unit 150 Measurement program

Claims (6)

Base member,
A rotating member rotatably supported by the base member,
A supporting member rotatably supported by the rotating member so that the rotating member can take an upright posture and a fallen posture;
A two-dimensional sensor attached to the supporting member, which scans along a two-dimensional plane while emitting a laser beam and into which reflected light of the laser beam is incident.
A pan motor for rotating the rotating member with respect to the base member,
A first detector that detects that the support member is in a standing posture,
A second detector that detects that the support member is in a lying posture,
Based on the detection results of the first detector and the second detector, whether the support member is in a standing posture, or a posture determination unit that determines whether the support member is a fall posture,
When it is determined that the support member is in the standing posture in the posture determination unit, the emission direction of the laser beam from the two-dimensional sensor, and the emission of the laser beam and the incidence of reflected light in the two-dimensional sensor A first calculation unit that calculates two-dimensional distance measurement data in the scanning direction of the laser light based on the time difference,
When the posture determination unit determines that the support member is in the lying posture, the emission direction of the laser light from the two-dimensional sensor, the rotation angle of the rotating member, and the emission of the laser light in the two-dimensional sensor. And a second calculator that calculates three-dimensional distance measurement data in the scanning direction of the laser light and the rotating direction of the rotating member, based on the time difference between the incidence of reflected light and
With
Measuring equipment. The measuring device according to claim 1,
An electronic device that communicates with the measuring device,
Measuring system with . The electronic device is
Based on the two-dimensional distance measurement data output from the measuring device, a presence determination unit that determines whether a dynamic object is present in the detection area of the two-dimensional sensor,
When the presence determination unit determines that the dynamic object is present in the detection area, based on the two-dimensional distance measurement data output from the measuring device, the dynamic object is An exit determination unit that determines whether or not the user has exited from the detection area by moving along the two-dimensional plane,
When the exit determination unit determines that the dynamic object has not moved out of the detection area by moving along the two-dimensional plane, the presence determination unit determines the presence A pan control unit that controls the pan motor to rotate the rotating member such that an imaginary line connecting the position of the object and the rotating shaft of the rotating member is perpendicular to the rotating axis of the supporting member. Prepare,
The measurement system according to claim 2 . The measuring device further includes a tilt motor that rotates the support member,
In the electronic device, when the rotation member is rotated by the pan control unit and the virtual line and the rotation axis of the support member are perpendicular to each other, the electronic device is moved to the dynamic area in the detection area. A tilt controller that controls the tilt motor to rotate the support member so that an object is present,
The measurement system according to claim 3. The tilt control unit,
Based on the two-dimensional distance measurement data output from the measuring device, whether the dynamic object moves to one side in the normal direction of the two-dimensional plane, or the dynamic object is the two-dimensional An operation determination unit that determines to operate on the other side in the normal direction of the plane,
When the motion determining unit determines that the dynamic object moves to one side in the normal direction of the two-dimensional plane, the tilt is adjusted so that the detection area follows the motion of the dynamic object. A motor is controlled to rotate the support member to rotate the detection area to one side, and the motion determination unit determines that the dynamic object moves to the other side in the direction normal to the two-dimensional plane. In the case where the detection area is moved, the tracking control unit controls the tilt motor to rotate the support member to rotate the detection area to the other side so that the detection area follows the movement of the dynamic object. And further,
The measurement system according to claim 4. The electronic device outputs position information that outputs rotation angle information of the rotation member and rotation angle information of the support member when the detection area is made to follow the motion of the dynamic object by the tracking control unit. An output unit is further provided,
The measurement system according to claim 5.