WO2023144983A1

WO2023144983A1 - Optical sensing device, optical sensing system, and optical sensing method

Info

Publication number: WO2023144983A1
Application number: PCT/JP2022/003232
Authority: WO
Inventors: 翼中村
Original assignee: 日本電気株式会社
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2023-08-03

Abstract

Occlusion is suppressed in this optical sensing system, in which a plurality of optical sensing devices are linked by means of optical wireless communication. An optical sensing device (1) comprises a light transmitting and receiving means (11) for transmitting and receiving first light (L1) used for first LiDAR measurement, and for transmitting or receiving second light (L2) used for optical wireless communication with another optical sensing device (1), and a control means (12) for switching between a first operating mode in which the first LiDAR measurement is executed, and a second operating mode in which the optical wireless communication is executed, wherein the first LiDAR measurement performed by the optical sensing device (1) and second LiDAR measurement performed by the other optical sensing device (1) are executed with respect to the same target object (O).

Description

Optical sensing device, optical sensing system and optical sensing method

The present disclosure relates to optical sensing devices and the like.

Techniques for detecting objects or measuring distances using LiDAR (Light Detection and Ranging) are known. Such technology is hereinafter referred to as "LiDAR measurement" or "optical sensing". Also, there is known a technique in which a plurality of LiDAR devices perform mutual optical wireless communication using laser light emitted by each LiDAR device (see, for example, Patent Document 1).

In the system described in Patent Document 1, for example, a LiDAR device is mounted on each of two vehicles. Each LiDAR device obtains information about the surrounding environment of the corresponding vehicle by performing LiDAR measurements. The acquired information is used for collision avoidance and automatic control of individual vehicles (paragraphs [0074] to [0076] of Patent Document 1, see FIG. 6). Further, in the system described in Patent Document 1, the two LiDAR devices perform mutual optical wireless communication. As a result, information obtained by one LiDAR device is transmitted to another LiDAR device (paragraph [0077] of Patent Document 1, see FIG. 6).

Japanese Patent Publication No. 2020-506402

In the technology described in Patent Document 1, in LiDAR measurement, it is assumed that individual LiDAR devices irradiate different objects with laser light (see FIGS. 2 and 3 of Patent Document 1). Therefore, on the surface of each object, there is a portion that is not irradiated with laser light in a region that does not face the LiDAR device (see FIG. 2 of Patent Document 1). That is, so-called "occlusion" occurs. As a result, for example, when generating a three-dimensional model of these objects, there is a problem that a missing part corresponding to occlusion occurs in the three-dimensional model.

In view of the problems described above, an object of the present disclosure is to suppress the occurrence of occlusion in an optical sensing system in which a plurality of optical sensing devices cooperate by optical wireless communication.

An optical sensing device according to one aspect of the present disclosure transmits and receives first light used for first LiDAR measurement, and transmits or receives second light used for optical wireless communication with other optical sensing devices. and control means for switching between a first operating mode for performing a first LiDAR measurement and a second operating mode for performing optical wireless communication, wherein the first LiDAR measurement by the optical sensing device and other A second LiDAR measurement with the optical sensing device is performed on the same object.

An optical sensing system according to one aspect of the present disclosure is an optical sensing system including an optical sensing device, the optical sensing device transmitting and receiving a first light used for a first LiDAR measurement, and another optical sensing device and a control means for switching between a first operation mode for performing a first LiDAR measurement and a second operation mode for performing optical wireless communication. , wherein a first LiDAR measurement by a light sensing device and a second LiDAR measurement by another light sensing device are performed on the same object.

In the optical sensing method according to one aspect of the present disclosure, the optical sensing device transmits and receives first light used for first LiDAR measurement, and transmits second light used for optical wireless communication with another optical sensing device. Or receive, the optical sensing device switches between a first operating mode performing a first LiDAR measurement and a second operating mode performing optical wireless communication, the first LiDAR measurement by the optical sensing device and other light A second LiDAR measurement by the sensing device is performed on the same object.

According to the present disclosure, it is possible to suppress the occurrence of occlusion in an optical sensing system in which a plurality of optical sensing devices cooperate through optical wireless communication.

FIG. 1 is a block diagram showing the optical sensing system according to the first embodiment. FIG. 2 is a block diagram showing the optical sensing device according to the first embodiment. FIG. 3 is a block diagram showing the optical sensing device according to the first embodiment. FIG. 4 is a block diagram showing the optical transceiver of the optical sensing device according to the first embodiment. FIG. 5 is a block diagram showing the controller of the optical sensing device according to the first embodiment. FIG. 6 is a block diagram showing the signal processing section of the optical sensing device according to the first embodiment. FIG. 7 is a block diagram showing the hardware configuration of the optical sensing device according to the first embodiment. FIG. 8 is a block diagram showing the hardware configuration of the optical sensing device according to the first embodiment. FIG. 9 is a block diagram showing the hardware configuration of the optical sensing device according to the first embodiment. 10A is a flowchart showing the operation of the control unit of the optical sensing device according to the first embodiment; FIG. 10B is a flowchart showing the operation of the control unit of the optical sensing device according to the first embodiment; FIG. FIG. 11 is a flow chart showing the operation of the signal processing section of the optical sensing device according to the first embodiment. FIG. 12 is a block diagram showing the optical sensing device according to the second embodiment. FIG. 13 is a block diagram showing the optical sensing system according to the second embodiment.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[First embodiment]
FIG. 1 is a block diagram showing the optical sensing system according to the first embodiment. FIG. 2 is a block diagram showing the optical sensing device according to the first embodiment. FIG. 3 is a block diagram showing the optical sensing device according to the first embodiment. FIG. 4 is a block diagram showing the optical transceiver of the optical sensing device according to the first embodiment. FIG. 5 is a block diagram showing the controller of the optical sensing device according to the first embodiment. FIG. 6 is a block diagram showing the signal processing section of the optical sensing device according to the first embodiment. A light sensing system according to a first embodiment will be described with reference to FIGS. 1 to 6. FIG.

As shown in FIG. 1 , the optical sensing system 100 includes multiple optical sensing devices 1 . Specifically, for example, the optical sensing system 100 includes two optical sensing devices 1_1 and 1_2.

A plurality of optical sensing devices 1 performs optical sensing on the same object (O in the figure). Hereinafter, such an object may be referred to as an "object". In the figure, L1 indicates light used for optical sensing. Hereinafter, such light may be referred to as "first light". The light sensing performed by the individual light sensing devices 1 is based on the LiDAR principle. Here, a plurality of optical sensing devices 1 are installed around a predetermined area that can include the object O. As shown in FIG. Hereinafter, such an area may be referred to as a "target area". Also, the plurality of optical sensing devices 1 are installed so that the laser beams emitted from the individual optical sensing devices 1 irradiate the target area. In other words, a plurality of optical sensing devices 1 are installed so as to surround the target area. That is, the plurality of optical sensing devices 1 are installed so as to surround the object O. As shown in FIG. As a result, the plurality of optical sensing devices 1 perform optical sensing on the same object O as described above.

In addition, when the object O is a granular material, the "same object" does not mean individual grains constituting such a granular material, but means the entire granular material. can be For example, when the object O is a pile of raw materials in a raw material yard, the "same object" does not mean the individual grains of raw materials that make up the pile of raw materials, but the pile of raw materials.

Also, each optical sensing device 1 performs optical wireless communication with other optical sensing devices 1 . In the figure, L2 indicates light used for optical wireless communication. Hereinafter, such light may be referred to as "second light". In addition, each optical sensing device 1 performs an optical search for searching for another optical sensing device 1 to be a partner of optical wireless communication. In the figure, L3 indicates light used for optical search. Hereinafter, such light may be referred to as "third light".

As shown in each of FIGS. 2 and 3, each optical sensing device 1 includes an optical transmitter/receiver 11 and a controller 12 . In addition, at least one optical sensing device 1 among the plurality of optical sensing devices 1 includes a signal processing section 13 and an output section 14 (see FIG. 2). Specifically, for example, the optical sensing device 1_1 of the optical sensing devices 1_1 and 1_2 shown in FIG. 1 includes an optical transceiver 11, a control unit 12, a signal processing unit 13, and an output unit 14 (see FIG. 2). . On the other hand, the optical sensing device 1_2 of the optical sensing devices 1_1 and 1_2 shown in FIG. 1 includes an optical transmitter/receiver 11 and a control unit 12 (see FIG. 3).

As shown in FIG. 4 , the optical transmitter/receiver 11 includes a light emitting section 21 and a light receiving section 22 . The light emitting section 21 is composed of, for example, an optical transmitter. The light receiving unit 22 is configured by, for example, an optical receiver. Note that the light emitting section 21 and the light receiving section 22 may be physically separated from each other.

First, the optical transceiver 11 is used for optical sensing based on the principle of LiDAR. That is, the light emitting section 21 emits laser light for optical sensing. A target region is irradiated with the emitted laser light. Here, in each optical sensing device 1, the orientation of the optical transmitter/receiver 11 is variable. Specifically, for example, the optical axis of the beam formed by the light transmitting/receiving unit 11 is within a predetermined angle range (for example, ±5°) with respect to the azimuth direction or each of the azimuth direction and the elevation direction. It is rotatable at Thereby, the light emitting section 21 sequentially emits laser light for optical sensing in a plurality of directions. As a result, laser light is irradiated so as to scan the target area. The irradiated laser light is scattered and reflected by objects (including the object O) existing in the target area. Hereinafter, the reflected light may be referred to as "reflected light". The light receiving section 22 receives the backscattered component of the reflected light. Hereinafter, the reflected light received by the light receiving section 22 may be referred to as "received light".

Thus, the first light L1 for optical sensing includes laser light emitted by each optical sensing device 1 (see FIG. 1). The first light L1 for optical sensing includes reflected light received by each optical sensing device 1 (see FIG. 1). That is, in each optical sensing device 1, the optical transmitter/receiver 11 transmits and receives the first light L1.

Second, the optical transmitter/receiver 11 is used for optical wireless communication between a plurality of optical sensing devices 1 . In other words, the optical transceiver 11 of the optical sensing device 1 on the transmitting side and the optical transceiver 11 of the optical sensing device 1 on the receiving side face each other by performing an optical search, which will be described later. In this state, the light emitting unit 21 of the optical sensing device 1 on the transmitting side emits laser light for optical wireless communication. On the other hand, the light receiving section 22 of the optical sensing device 1 on the receiving side receives the emitted laser light.

Here, the optical sensing device 1 on the receiving side is the optical sensing device 1 including the signal processing unit 13 and the output unit 14 among the multiple optical sensing devices 1 . For example, in the example shown in FIG. 1, the optical sensing device 1 on the receiving side is the optical sensing device 1_1 of the optical sensing devices 1_1 and 1_2. On the other hand, in the example shown in FIG. 1, the light sensing device 1 on the transmitting side is the light sensing device 1_2 of the light sensing devices 1_1 and 1_2.

Thus, the second light L2 for optical wireless communication includes laser light transmitted by the light sensing device 1 on the transmission side (see FIG. 1). In other words, the second light L2 for optical wireless communication includes laser light received by the optical sensing device 1 on the receiving side (see FIG. 1). That is, in each of the optical sensing device 1 on the transmitting side and the optical sensing device 1 on the receiving side, the optical transmitter/receiver 11 transmits or receives the second light L2. In other words, in each optical sensing device 1, the optical transmitter/receiver 11 transmits or receives the second light L2.

In mutual optical wireless communication, the optical sensing device 1 on the transmitting side and the optical sensing device 1 on the receiving side can be switched. Therefore, in each optical sensing device 1, the optical transmitter/receiver 11 may transmit and receive the second light L2.

Thirdly, the optical transmitter/receiver 11 is used for optical search for searching for the optical sensing device 1 that is the partner of the optical wireless communication. That is, as described above, the orientation of the light transmitting/receiving section 11 is variable in each light sensing device 1 . Therefore, in the search-side optical sensing device 1, the optical sensing device 1 changes the direction of the optical transmission/reception section 11, so that the light emitting section 21 sequentially emits laser light for optical search in a plurality of directions. On the other hand, the optical sensing device 1 changes the orientation of the optical transmitter/receiver 11 in the optical sensing device 1 on the search target side as well. Here, the variable range of the direction of the optical transmitter/receiver 11 in optical search may be set to a larger value than the variable range of the direction of the optical transmitter/receiver 11 in optical sensing. Specifically, for example, in the optical search, the rotation range of the optical axis of the beam formed by the optical transmitter/receiver 11 may be set to a value larger than ±5°.

The optical sensing device 1 on the searching side changes the direction of the optical transmitter/receiver 11, and the optical sensing device 1 on the searched side changes the direction of the optical transmitter/receiver 11, so that these optical transmitter/receivers 11 face each other. conditions can arise. In this state, the laser light for optical search emitted by the light emitting unit 21 of the optical sensing device 1 on the searching side is received by the light receiving unit 22 of the optical sensing device 1 on the searching side. In response to such reception, the light emitting unit 21 of the optical sensing device 1 on the side to be searched emits a laser beam for response to the laser beam for optical search. The light receiving section 22 of the optical sensing device 1 on the searching side receives the emitted laser light.

Here, the laser light for response may be laser light for optical wireless communication. That is, the optical sensing device 1 on the searched side in the optical search may become the optical sensing device 1 on the transmitting side in the optical wireless communication when receiving the laser light for the optical search. That is, in the example shown in FIG. 1, the optical sensing device 1 on the side to be searched is, for example, the optical sensing device 1_2 out of the optical sensing devices 1_1 and 1_2. On the other hand, in the example shown in FIG. 1, the optical sensing device 1 on the searching side is, for example, the optical sensing device 1_1 of the optical sensing devices 1_1 and 1_2.

Alternatively, the response laser light may be a dedicated laser light (for example, a laser light similar to the light search laser light). That is, the response laser light may be used for optical search or may be used for optical wireless communication. In other words, the laser light for response may be included in the second light L2 or may be included in the third light L3.

Thus, the third light L3 for optical search includes laser light emitted by the optical sensing device 1 on the search side (see FIG. 1). In other words, the third light L3 for optical search includes laser light received by the optical sensing device 1 on the side to be searched (see FIG. 1). That is, in each of the optical sensing device 1 on the search side and the optical sensing device 1 on the searched side, the optical transmitter/receiver 11 transmits or receives the third light L3. In other words, in each optical sensing device 1, the optical transmitter/receiver 11 transmits or receives the third light L3.

It should be noted that, as described above, the third light L3 may include response laser light in addition to light search laser light. Therefore, in each optical sensing device 1, the optical transmitter/receiver 11 may transmit and receive the third light L3.

For the wavelength λ1 of the laser light for optical sensing, the wavelength λ2 of the laser light for optical wireless communication, the wavelength λ3 of the laser light for optical search, and the wavelength λ4 of the laser light for response, these values (λ1, λ2 , λ3, λ4) may be values in the same wavelength band. Alternatively, each two of these values (λ1, λ2, λ3, λ4) may be values in different wavelength bands. The light emitting section 21 preferably uses an optical transmitter corresponding to these wavelengths (λ1, λ2, λ3, λ4). Moreover, it is preferable that the light receiving section 22 uses an optical receiver corresponding to these wavelengths (λ1, λ2, λ3, λ4).

However, from the viewpoint of realizing optical sensing, the wavelength λ1 is preferably set to a value used for LiDAR. Specifically, for example, the wavelength λ1 is set to a value in the 905 nm band or a value in the 1550 nm band. On the other hand, the wavelength λ2 is preferably set to a value used for optical wireless communication from the viewpoint of realizing optical wireless communication. Specifically, for example, the wavelength λ2 is set to a value in the 800 nanometer band. That is, from the viewpoint of realizing both optical sensing and optical wireless communication, the wavelength λ1 and the wavelength λ2 are preferably set to values in different wavelength bands. In addition, each of the wavelength λ3 and the wavelength λ4 is set to a value of a selected wavelength band among these wavelength bands, for example. That is, from the viewpoint of reducing the number of wavelength bands used, each of the length λ3 and the wavelength λ4 may be set to the same wavelength band value as the wavelength λ1 or the wavelength λ2.

As shown in FIG. 5, the control unit 12 includes an operation mode setting unit 31, a measurement mode execution unit 32, a communication mode execution unit 33, a search mode execution unit 34 and a standby mode execution unit 35. Hereinafter, in the description of each functional unit of each optical sensing device 1, the optical sensing device 1 provided with this functional unit may be referred to as a "corresponding optical sensing device" or "the relevant optical sensing device".

The operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 . Here, as will be described later, each optical sensing device 1 has a plurality of operation modes. The operation mode setting unit 31 selects one of the plurality of operation modes, and sets the operation mode of the corresponding optical sensing device 1 to the selected operation mode. In other words, the operation mode setting unit 31 switches the operation mode of the corresponding optical sensing device 1 . A specific example of how the operation mode setting unit 31 sets the operation mode will be described later. Specific examples of the plurality of operation modes will be described below.

<Measurement mode (first operation mode)>
First, each light sensing device 1 has an operation mode that performs light sensing based on the LiDAR principle. Hereinafter, this operation mode may be referred to as "measurement mode" or "first operation mode". The operation of each light sensing device 1 in measurement mode is as follows.

That is, as described above, in each optical sensing device 1, the light emitting section 21 emits laser light for optical sensing. Further, when the emitted laser light is reflected by the object O, the light receiving section 22 receives the reflected light. These operations are performed under the control of the measurement mode execution section 32 in each optical sensing device 1 . In other words, in each optical sensing device 1, the measurement mode execution unit 32 executes control for emitting laser light for optical sensing and control for receiving the corresponding reflected light.

Also, the measurement mode execution unit 32 measures the distance D based on the laser light emitted by the light emitting unit 21 and the reflected light received by the light receiving unit 22 . Here, the laser light emitted by the light emitting unit 21 is the laser light with which the object O is irradiated. Also, the reflected light received by the light receiving unit 22 is the reflected light reflected by the object O. As shown in FIG. The measurement of the distance D uses, for example, the ToF (Time of Flight) method or the FMCW (Frequency Modulated Continuous Wave) method.

When using the ToF method, the light emitting section 21 emits pulsed laser light in each direction under the control of the measurement mode executing section 32 . The measurement mode execution unit 32 receives information indicating timing t1 at which the light emitting unit 21 emits laser light in each direction, and information indicating timing t2 at which the light receiving unit 22 receives the corresponding reflected light (that is, the corresponding pulsed light). to get The measurement mode executing section 32 uses these pieces of information to calculate the time difference Δt between the timings t1 and t2. The time difference Δt corresponds to the round-trip propagation time of the laser light emitted in each direction and the corresponding reflected light. The measurement mode execution unit 32 calculates the one-way propagation distance (that is, the distance D) corresponding to the round-trip propagation time. Thus, the distance D is measured.

When using the FMCW method, each optical sensing device 1 has a function of performing frequency modulation for FMCW and a function of performing coherent detection. By performing frequency modulation for FMCW, the light emitting unit 21 emits chirped laser light in each direction. Moreover, the frequency and phase of the received light are detected by performing coherent detection on the reflected light (that is, the received light) received by the light receiving section 22 . The measurement mode execution unit 32 acquires information indicating the frequency f1 of the laser light emitted in each direction and information indicating the corresponding frequency f2 of the received light. The measurement mode execution unit 32 uses these pieces of information to calculate the frequency difference (so-called “beat frequency”) Δf between the frequencies f1 and f2. The measurement mode execution unit 32 calculates the distance D using a predetermined formula relating to FMCW based on the calculated beat frequency Δf. Thus, the distance D is measured.

It should be noted that the method for measuring the distance D is not limited to these specific examples. Various known techniques can be used to measure the distance D. A detailed description of these techniques is omitted. For example, the measurement mode execution unit 32 may calculate the distance D based on the phase difference between the laser light emitted in each direction and the corresponding received light. That is, the measurement mode execution unit 32 may use the indirect ToF method.

In this way, light sensing based on the principle of LiDAR is realized. That is, the measurement mode execution unit 32 executes optical sensing when the operation mode of the corresponding optical sensing device 1 is set to the measurement mode. In other words, the measurement mode execution unit 32 executes the measurement mode when the operation mode of the corresponding optical sensing device 1 is set to the measurement mode.

The measurement mode execution unit 32 generates data indicating the result of light sensing. Hereinafter, such data may be referred to as "measurement data". The measurement data includes the individual distances D calculated above. The measurement data also includes information indicating the emission direction of the laser beam corresponding to each of the distances D calculated above. The emission direction indicated by the measurement data is represented, for example, by a difference value with respect to a predetermined reference direction. The reference direction is, for example, the installation direction of the corresponding optical sensing device 1 .

In the optical sensing device 1 on the transmission side, the measurement mode execution section 32 outputs the generated measurement data to the communication mode execution section 33 . Here, the light sensing device 1 on the transmission side is the light sensing device 1 that does not have the signal processing section 13 and the output section 14 . In FIG. 5, the connection line between the measurement mode execution section 32 and the communication mode execution section 33 in this case is omitted. Hereinafter, the measurement data indicating the optical sensing result of the optical sensing device 1 on the transmission side may be referred to as "first measurement data". The output first measurement data is transmitted to the optical sensing device 1 on the receiving side, as will be described later.

On the other hand, in the optical sensing device 1 on the receiving side, the measurement mode execution section 32 outputs the generated measurement data to the signal processing section 13 . Here, as described above, the optical sensing device 1 on the receiving side is the optical sensing device 1 having the signal processing section 13 and the output section 14 . Hereinafter, the measurement data indicating the optical sensing result of the optical sensing device 1 on the receiving side may be referred to as "second measurement data". The output second measurement data is used to generate point cloud data, as will be described later.

<Communication mode (second operation mode)>
Secondly, each optical sensing device 1 has an operational mode of performing optical wireless communication with other optical sensing devices 1 . Hereinafter, this operation mode may be referred to as "communication mode" or "second operation mode". The operation of each optical sensing device 1 in communication mode is as follows.

That is, as described above, in the optical sensing device 1 on the transmission side, the light emitting section 21 emits laser light for optical wireless communication. Such operations are performed under the control of the communication mode execution unit 33 in the optical sensing device 1 on the transmission side. In other words, in the optical sensing device 1 on the transmission side, the communication mode execution unit 33 executes control to emit laser light for optical wireless communication.

On the other hand, in the optical sensing device 1 on the receiving side, the light receiving section 22 receives the emitted laser light. Such an operation is executed under the control of the communication mode executing section 33 in the optical sensing device 1 on the receiving side. In other words, in the optical sensing device 1 on the receiving side, the communication mode execution unit 33 executes control for receiving laser light for optical wireless communication.

Thus, the communication mode includes an operation mode corresponding to the light sensing device 1 on the transmitting side and an operation mode corresponding to the light sensing device 1 on the receiving side. Hereinafter, the operation mode corresponding to the optical sensing device 1 on the transmission side, among the communication modes, may be referred to as the "transmission mode". In addition, among the communication modes, an operation mode corresponding to the optical sensing device 1 on the receiving side may be referred to as a "reception mode".

Here, in the optical sensing device 1 on the transmitting side, the communication mode execution unit 33 executes optical wireless communication to transmit information indicating the position and orientation of the optical sensing device 1 on the transmitting side to the optical sensing device 1 on the receiving side. to notify. In other words, in the optical sensing device 1 on the receiving side, the communication mode execution unit 33 executes optical wireless communication to transmit information indicating the position and orientation of the optical sensing device 1 on the transmitting side to the optical sensing device 1 on the transmitting side. Get from 1.

Hereinafter, information indicating the position and orientation of the optical sensing device 1 on the transmission side may be referred to as "first position information". The first position information is stored in advance in the light sensing device 1 on the transmission side, for example. On the other hand, information indicating the position and orientation of the optical sensing device 1 on the receiving side may be referred to as "second position information". The second position information is stored in advance in the light sensing device 1 on the receiving side, for example. Also, at least one of the first position information and the second position information may be collectively referred to as "position information".

The position indicated by the first position information is, for example, the installation position of the optical sensing device 1 on the transmission side. More specifically, the first position information includes coordinate values (for example, latitude value ψ1, longitude value γ1, and altitude value h1) indicating the installation position of the optical sensing device 1 on the transmitting side. That is, the position indicated by the first position information may be a so-called "absolute position".

The direction indicated by the first position information is the installation direction of the optical sensing device 1 on the transmission side. Specifically, for example, a first axis, which is a virtual axis corresponding to the front-rear direction of the optical sensing device 1 on the transmission side, is set. A second axis, which is a virtual axis corresponding to the horizontal direction of the optical sensing device 1 on the transmission side, is set. A third axis, which is a virtual axis corresponding to the vertical direction of the light sensing device 1 on the transmission side, is set. The installation direction of the optical sensing device 1 on the transmission side is represented by the tilt value of each axis with respect to the state in which the optical sensing device 1 on the transmission side is installed on a horizontal plane.

The position indicated by the second position information is, for example, the installation position of the optical sensing device 1 on the receiving side. More specifically, the second position information includes coordinate values (for example, latitude value ψ2, longitude value γ2, and altitude value h2) indicating the installation position of the optical sensing device 1 on the receiving side. That is, the position indicated by the second position information may be a so-called "absolute position".

The direction indicated by the second position information is the installation direction of the light sensing device 1 on the receiving side. Specifically, for example, a first axis, which is a virtual axis corresponding to the front-rear direction of the optical sensing device 1 on the receiving side, is set. A second axis, which is a virtual axis corresponding to the lateral direction of the optical sensing device 1 on the receiving side, is set. A third axis, which is a virtual axis corresponding to the vertical direction of the light sensing device 1 on the receiving side, is set. The installation direction of the optical sensing device 1 on the receiving side is represented by the tilt value of each axis with respect to the state in which the optical sensing device 1 on the receiving side is temporarily installed on a horizontal plane.

Also, the optical sensing device 1 on the transmitting side notifies the optical sensing device 1 on the receiving side of the first measurement data by executing optical wireless communication. In other words, the optical sensing device 1 on the receiving side acquires the first measurement data from the optical sensing device 1 on the transmitting side by performing optical wireless communication.

In this way, optical wireless communication between the optical sensing devices 1 is realized. That is, the communication mode execution unit 33 executes optical wireless communication when the operation mode of the corresponding optical sensing device 1 is set to the communication mode. In other words, the communication mode execution unit 33 executes the communication mode when the operation mode of the corresponding optical sensing device 1 is set to the communication mode.

In the optical sensing device 1 on the receiving side, the communication mode execution unit 33 outputs the acquired first position information to the signal processing unit 13 . Also, in the optical sensing device 1 on the receiving side, the communication mode executing section 33 outputs the acquired first measurement data to the signal processing section 13 . The output first position information and the output first measurement data are used to generate point cloud data, as will be described later.

<Search mode (third operation mode)>
Thirdly, each optical sensing device 1 has an operation mode in which it performs an optical search for searching for other optical sensing devices 1 with which to communicate optically wirelessly. Hereinafter, this operation mode may be referred to as "search mode" or "third operation mode". The operation of each light sensing device 1 in search mode is as follows.

That is, as described above, the search-side optical sensing device 1 sequentially emits laser light for optical search in a plurality of directions by changing the direction of the optical transmitter/receiver 11 . Further, when the optical sensing device 1 on the searched side emits a response laser beam, the searching-side optical sensing device 1 receives the emitted response laser beam. These operations are executed under the control of the search mode execution unit 34 in the search-side optical sensing device 1 . In other words, in the optical sensing device 1 on the search side, the search mode execution unit 34 controls the orientation of the optical transmitter/receiver 11, controls the emission of laser light for optical search, and receives the laser light for response. to perform control.

In addition, the optical sensing device 1 on the search target side changes the orientation of the optical transmitter/receiver 11 . As a result, a state in which the optical sensing device 1 on the searching side and the optical transmitter/receiver 11 of the optical sensing device 1 on the searched side face each other may occur. In this state, the light receiving section 22 of the optical sensing device 1 on the side to be searched receives the emitted laser light for optical search. In response to such reception, the light emitting unit 21 of the optical sensing device 1 on the side to be searched emits laser light for response. These operations are performed under the control of the search mode execution unit 34 in the optical sensing device 1 on the searched side. In other words, in the optical sensing device 1 on the search target side, the search mode execution unit 34 performs control to change the direction of the optical transmitter/receiver 11, control to receive laser light for optical search, and control to receive laser light for response. Execute control to emit.

Thus, the search mode includes an operation mode corresponding to the optical sensing device 1 on the search side and an operation mode corresponding to the optical sensing device 1 on the searched side. Hereinafter, among the search modes, the operation mode corresponding to the optical sensing device 1 on the search side may be referred to as a "narrowly-defined search mode". Further, among the search modes, an operation mode corresponding to the optical sensing device 1 on the side to be searched may be referred to as a "searched mode".

In this way, optical wireless search is realized. That is, the search mode execution unit 34 executes optical search when the operation mode of the corresponding optical sensing device 1 is set to the search mode. In other words, the search mode executing section 34 executes the search mode when the operation mode of the corresponding optical sensing device 1 is set to the search mode.

<Standby mode (fourth operation mode)>
Fourth, each optical sensing device 1 has an operating mode in which it performs neither optical sensing, optical wireless communication nor optical searching. In other words, this mode of operation is a mode of waiting to perform any of optical sensing, optical wireless communication, and optical searching. Hereinafter, this operation mode may be referred to as "standby mode" or "fourth operation mode".

The definition of the standby mode may be an operation mode in which none of the laser light for optical sensing, the laser light for optical wireless communication, and the laser light for optical search is emitted. That is, the reception mode may be included in the standby mode instead of or in addition to being included in the communication mode. Also, the searched mode may be included in the standby mode instead of or in addition to being included in the search mode.

The following description will focus on an example in which the reception mode is included in the communication mode. Also, an example in which the searched mode is included in the search mode will be mainly described. In this case, the standby mode is an operation mode in which the corresponding optical sensing device 1 does not change the orientation of the optical transceiver 11 .

Such standby is realized under the control of the standby mode execution unit 35. For example, the search mode execution unit 34 sets the state of the corresponding optical sensing device 1 to the standby state when the operation mode of the corresponding optical sensing device 1 is set to the standby mode. In other words, the standby mode execution unit 35 executes the standby mode when the operation mode of the corresponding optical sensing device 1 is set to the search mode. This enables such waiting.

In the operation mode setting unit 31, information indicating execution conditions for individual operation modes (hereinafter sometimes referred to as "execution condition information") is stored in advance. The operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 using the stored execution condition information.

That is, the execution condition information includes information indicating execution conditions for the measurement mode. Hereinafter, the conditions for executing the measurement mode may be referred to as "measurement conditions" or "first conditions". Also, the execution condition information includes information indicating execution conditions for the communication mode. Hereinafter, the condition for executing the communication mode may be referred to as "communication condition" or "second condition". Also, the execution condition information includes information indicating execution conditions for the search mode. Hereinafter, the search mode execution condition may be referred to as a "search condition" or a "third condition". Further, the execution condition information includes information indicating execution conditions for the standby mode. Hereinafter, the conditions for executing the standby mode may be referred to as "standby conditions" or "fourth conditions".

Here, the second condition includes a transmission mode execution condition and a reception mode execution condition. Hereinafter, the conditions for executing the transmission mode may be referred to as "transmission conditions". Also, the condition for executing the reception mode may be referred to as a "reception condition". In addition, the third execution condition includes a narrowly defined search mode execution condition and a searched mode execution condition. Hereinafter, the narrowly defined search mode execution condition may be referred to as a "narrowly defined search condition". Moreover, the execution conditions of the searched mode may be referred to as "searched conditions".

A specific example of how to set the operation mode will be described below.

<First specific example of how to set the operation mode>
In the first specific example, the first condition, the second condition, the third condition, and the fourth condition are set to conditions that do not overlap each other. In other words, the first condition, the second condition, the third condition, and the fourth condition are set as mutually exclusive conditions. In this case, the operation mode setting unit 31 determines whether each of the first condition, the second condition, the third condition, and the fourth condition is satisfied.

When it is determined that the first condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the measurement mode. Thereby, the measurement mode executing section 32 executes the measurement mode.

When it is determined that the second condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the communication mode. Thereby, the communication mode execution unit 33 executes the communication mode.

More specifically, in this case, the operation mode setting unit 31 determines which of the transmission condition and the reception condition is satisfied. When it is determined that the transmission condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the transmission mode. Thereby, the communication mode execution unit 33 executes the transmission mode. On the other hand, when it is determined that the reception condition is satisfied, the operation mode setting section 31 sets the operation mode of the corresponding optical sensing device 1 to the reception mode. Thereby, the communication mode execution unit 33 executes the reception mode.

When it is determined that the third condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to search mode. Thereby, the search mode execution unit 34 executes the search mode.

More specifically, in this case, the operation mode setting unit 31 determines which of the narrowly-defined search condition and the searched condition is satisfied. When it is determined that the search condition in the narrow sense is satisfied, the operation mode setting section 31 sets the operation mode of the corresponding optical sensing device 1 to the search mode in the narrow sense. As a result, the search mode execution unit 34 executes a narrowly defined search mode. On the other hand, when it is determined that the search condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the search target mode. Thereby, the search mode execution unit 34 executes the searched mode.

When it is determined that the fourth condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the standby mode. Thereby, the standby mode execution unit 35 executes the standby mode.

It should be noted that, due to the rapid switching of these operation modes, it may appear to the human eye that multiple operation modes are being executed simultaneously (in parallel). For example, it may appear that other modes of operation are being performed while scanning individual lines in the measurement mode.

<Second Concrete Example of Operation Mode Setting Method>
In the second specific example, the operation mode setting unit 31 presets the execution priority in the measurement mode, the communication mode, the search mode, and the standby mode. In other words, the order of priority of determination in the first condition, the second condition, the third condition, and the fourth condition is set in advance.

The operation mode setting unit 31 sequentially determines whether or not each execution condition is satisfied in descending order of priority. When it is determined that any execution condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the operation mode corresponding to the determined execution condition.

Specifically, for example, it is assumed that the priority is set as follows.

Priority: (high) 1st condition - 2nd condition - 3rd condition - 4th condition (low)

In this case, the operation mode setting unit 31 first determines whether or not the first condition is satisfied. When it is determined that the first condition is satisfied, the operation mode setting section 31 sets the operation mode of the corresponding optical sensing device 1 to the measurement mode. Thereby, the measurement mode executing section 32 executes the measurement mode.

When it is determined that the first condition is not satisfied, then the operation mode setting unit 31 determines whether or not the second condition is satisfied. When it is determined that the second condition is satisfied, the operation mode setting section 31 sets the operation mode of the corresponding optical sensing device 1 to the communication mode. Thereby, the communication mode execution unit 33 executes the communication mode.

When it is determined that the second condition is not satisfied, then the operation mode setting unit 31 determines whether or not the third condition is satisfied. When it is determined that the third condition is satisfied, the operation mode setting section 31 sets the operation mode of the corresponding optical sensing device 1 to the search mode. Thereby, the search mode execution unit 34 executes the search mode.

When it is determined that the third condition is not satisfied, the operation mode setting unit 31 determines whether or not the fourth condition is satisfied. When it is determined that the fourth condition is satisfied, the operation mode setting section 31 sets the operation mode of the corresponding optical sensing device 1 to the standby mode. Thereby, the standby mode execution unit 35 executes the standby mode.

It should be noted that the order of priority is not limited to the above specific examples. Any priority may be set. Also, the priority may be changed by the user.

In this way, the operation mode of the optical sensing device 1 is set.

Specific examples of each of the first, second, third and fourth conditions will now be described. Each of the first, second, third and fourth conditions includes at least one condition as follows.

<Specific example of the first condition>
The first condition includes, for example, the condition that the current time has reached a predetermined time. In this case, the operation mode setting section 31 has a clock function. The operation mode setting unit 31 compares the current time indicated by the clock with the predetermined time. Thereby, the operation mode setting unit 31 determines whether or not such a condition is satisfied.

Alternatively, for example, the first condition includes the condition that the elapsed time after the previous optical sensing was performed exceeds a predetermined time. In this case, the operation mode setting unit 31 has a timer for measuring the elapsed time after each optical sensing is performed. The operation mode setting unit 31 uses such a timer to measure the elapsed time after the previous optical sensing was performed. The operation mode setting unit 31 compares the measured elapsed time with a predetermined time. Thereby, the operation mode setting unit 31 determines whether or not such a condition is satisfied.

It should be noted that the conditions included in the first condition are not limited to the above specific examples. The first condition may include any condition as long as the light sensing can be performed at appropriate timing. Also, these conditions may be set in advance or may be set by the user.

<Specific example of the second condition>
The second condition includes, for example, the condition that the optical search is completed. In other words, the second condition includes, for example, the condition that the optical transceiver 11 of the optical sensing device 1 on the searching side and the optical transceiver 11 of the optical sensing device 1 on the searched side face each other. In this case, in the optical sensing device 1 on the search side, the search mode execution unit 34 outputs information indicating that to the operation mode setting unit 31 when receiving the response laser light. On the other hand, in the optical sensing device 1 on the search target side, the search mode execution unit 34 outputs information to the operation mode setting unit 31 when receiving the laser light for optical search. The operation mode setting unit 31 uses these pieces of information to determine whether or not such conditions are satisfied.

Here, the transmission condition includes, for example, the condition that the searched mode was executed in the previous search mode. Also, the reception condition includes, for example, a condition that the search mode in the narrow sense was executed in the previous search mode. In this case, in each optical sensing device 1, the search mode execution unit 34 sends information indicating whether the narrowly defined search mode or the searched mode is executed to the operation mode setting unit 31 when the optical search is completed. Output. The operation mode setting unit 31 uses such information to determine whether or not such conditions are satisfied.

Alternatively, the transmission condition includes, for example, the condition that the search mode in the narrow sense was executed in the previous search mode. Also, the reception condition includes, for example, the condition that the searched mode was executed in the immediately preceding search mode. In this case, in each optical sensing device 1, the search mode execution unit 34 sends information indicating whether the narrowly defined search mode or the searched mode is executed to the operation mode setting unit 31 when the optical search is completed. Output. The operation mode setting unit 31 uses such information to determine whether or not such conditions are satisfied.

Alternatively, for example, in each optical sensing device 1, information indicating whether the transmission mode should be executed or the reception mode should be executed is stored in advance. More specifically, when optical wireless communication is performed a plurality of times, information indicating whether the transmission mode should be performed or the reception mode should be performed in each optical wireless communication is provided in advance. remembered. The transmission conditions include the condition that such information indicates the transmission mode. The reception conditions also include a condition that such information indicates the reception mode. In this case, the operation mode setting unit 31 uses such information to determine whether these conditions are satisfied. However, such information may be input by the user instead of being stored in advance.

It should be noted that the conditions included in the second condition are not limited to the above specific examples. The second condition may include any condition as long as the light sensing can be performed at appropriate timing. Moreover, each of the transmission conditions and the reception conditions is not limited to the above specific examples. Each of the transmission conditions and the reception conditions may include any conditions as long as the transmission and reception of laser light for optical wireless communication can be performed normally. Also, these conditions may be set in advance or may be set by the user.

<Specific example of the third condition>
The third condition includes, for example, the condition that the search mode has not been executed or completed. In other words, the third condition includes, for example, the condition that another optical sensing device 1 to be the other party of optical wireless communication is undiscovered. In this case, in each optical sensing device 1, the search mode execution unit 34 sends information indicating that when the optical search is completed (that is, when another optical sensing device 1 is found) to the operation mode setting unit 31. output to The operation mode setting unit 31 stores such information. The operation mode setting unit 31 determines whether or not such conditions are satisfied based on the presence or absence of such information.

Here, for example, in each optical sensing device 1, information indicating whether the narrowly-defined search mode should be executed or the searched mode should be executed is stored in advance. More specifically, when the optical search is performed multiple times, information indicating whether the narrowly-defined search mode or the searched mode should be performed in each optical search is stored in advance. A narrow search condition includes a condition that such information indicates a narrow search mode. Also, the search condition includes a condition that such information indicates the search mode. In this case, the operation mode setting unit 31 uses such information to determine whether these conditions are satisfied. However, such information may be input by the user instead of being stored in advance.

It should be noted that the conditions included in the third condition are not limited to the above specific examples. The third condition may include any condition as long as the optical search can be executed at appropriate timing. Moreover, each of the narrowly defined search conditions and searched conditions is not limited to the above specific examples. Each of the search condition and the searched condition in a narrow sense may include any condition as long as it is a condition under which transmission and reception of laser light for optical search can be performed normally. In addition, each of the narrowly defined search conditions and searched conditions may include any condition as long as it is a condition under which transmission and reception of laser light for response can be performed normally. Also, these conditions may be set in advance or may be set by the user.

<Specific example of the fourth condition>
The fourth condition includes, for example, the condition that none of the first, second, and third conditions are met. In this case, the operation mode setting unit 31 determines whether or not these conditions are satisfied based on the most recent determination result of the first condition, the most recent determination result of the second condition, and the most recent determination result of the third condition. do.

It should be noted that the conditions included in the fourth condition are not limited to the above specific examples. The fourth condition may include any condition as long as the individual optical sensing devices 1 can enter the standby state at appropriate timing. Also, these conditions may be set in advance or may be set by the user.

As shown in FIG. 6, the signal processing unit 13 includes a point cloud data generating unit 41 and a three-dimensional model generating unit 42.

As described above, in the optical sensing device 1 on the receiving side (that is, the optical sensing device 1 having the signal processing unit 13), the communication mode execution unit 33 transmits the first position information and the first measurement data to the optical sensing device 1 on the transmitting side. Get from The communication mode execution unit 33 outputs the acquired first position information and first measurement data to the signal processing unit 13 . Also, in the optical sensing device 1 on the receiving side, the measurement mode execution unit 32 generates second measurement data. The measurement mode execution section 32 outputs the generated second measurement data to the signal processing section 13 . Further, the second position information is stored in advance in the optical sensing device 1 on the receiving side.

The point cloud data generation unit 41 acquires the output first position information, the output first measurement data, the stored second position information, and the output second measurement data. The point cloud data generator 41 uses the position information and the measurement data to perform so-called "point cloud synthesis". Thereby, the point cloud data generating unit 41 generates point cloud data corresponding to the position and shape of the object O. FIG.

That is, based on the first position information and the first measurement data, the point cloud data generation unit 41 determines that the light sensing laser light emitted in each direction by the light sensing device 1 on the transmitting side is an object. The position of the point reflected by (including the object O) (hereinafter sometimes referred to as "first reflection point") is calculated. The point cloud data generator 41 plots points corresponding to the calculated individual positions in a virtual three-dimensional space.

In addition, based on the second position information and the second measurement data, the point cloud data generation unit 41 determines whether the laser beams for optical sensing emitted in each direction by the optical sensing device 1 on the receiving side are the objects. The position of the point reflected by (including the object O) (hereinafter sometimes referred to as "second reflection point") is calculated. The point cloud data generator 41 plots points corresponding to the calculated individual positions in a virtual three-dimensional space.

At this time, the point cloud data generation unit 41 uses the first position information and the second position information to convert the absolute positions indicated by these information into relative positions. Based on the relative positions, the point cloud data generator 41 plots the points corresponding to the positions of the individual first reflection points and the points corresponding to the positions of the individual second reflection points in the same three-dimensional space. That is, the point cloud data generation unit 41 performs point cloud synthesis for a plurality of optical sensing devices 1 (for example, two optical sensing devices 1_1 and 1_2). As a result, point cloud data is generated.

In addition to irradiating the target object O, the laser light for optical sensing can also irradiate another object (hereinafter sometimes referred to as "non-target object") O' existing in the target area. Thereby, the generated point cloud data can include a point cloud corresponding to the non-target object O' in addition to the point cloud corresponding to the target object O. In this case, the point cloud data generation unit 41 extracts the point cloud corresponding to the non-target object O' from among the point clouds included in the generated point cloud data, and converts the extracted point cloud to the generated point cloud. may be excluded from the generated point cloud data. Alternatively, the point cloud data generating unit 41 extracts the point cloud corresponding to the object O from the point cloud included in the generated point cloud data, and converts the remaining point cloud to the generated point cloud data. may be excluded from.

Various known techniques are used to extract such point clouds. Specifically, for example, the point cloud data generation unit 41 performs processing for calculating distances between points and individual surfaces (including planes and curved surfaces) that constitute individual objects for the generated point cloud data. ) is detected. Based on the results of these processes, the point cloud data generation unit 41 divides the point clouds included in the generated point cloud data into point groups corresponding to individual objects.

The point cloud data generation unit 41 acquires information indicating a pattern corresponding to the assumed shape and position of the non-target object O' and the position of the non-target object O' in the target space. Such information is pre-stored in the optical sensing device 1 on the receiving side, for example. The point cloud data generator 41 performs pattern matching on the shape and position of each divided point cloud. The point cloud data generation unit 41 determines whether or not each divided point cloud is a point cloud corresponding to the non-target object O' based on the pattern matching result. The point cloud data generator 41 extracts a point cloud corresponding to the non-target object O' based on the determination result.

Alternatively, the point cloud data generation unit 41 acquires information indicating a pattern corresponding to the assumed shape and position of the target object O in the target space and the shape of the target object O. Such information is pre-stored in the optical sensing device 1 on the receiving side, for example. The point cloud data generator 41 performs pattern matching on the shape and position of each divided point cloud. The point cloud data generation unit 41 determines whether or not each divided point cloud is a point cloud corresponding to the object O based on the pattern matching result. The point cloud data generator 41 extracts the point cloud corresponding to the object O based on the result of such determination.

In this way, point cloud data corresponding to the position and shape of the object O are generated.

A specific example of a method for converting an absolute position into a relative position is as follows.

That is, the point cloud data generation unit 41 calculates the difference value between the coordinate values (ψ2, γ2, h2) indicated by the second position information and the coordinate values (ψ1, γ1, h1) indicated by the first position information. The point cloud data generator 41 calculates coordinate values (r1, θ1, φ1) indicating the relative position of the optical sensing device 1 on the transmitting side with respect to the optical sensing device 1 on the receiving side based on the calculated difference value. Here, the coordinate values (r1, θ1, φ1) are coordinate values in the spherical coordinate system. This spherical coordinate system has an origin corresponding to the installation position of the optical sensing device 1 on the receiving side. Also, this spherical coordinate system has a first axis corresponding to the installation direction of the optical sensing device 1 on the receiving side. Thus, the absolute position indicated by the first position information is converted into a relative position.

Instead of or in addition to this, the point cloud data generation unit 41 generates the difference value of the coordinate values (ψ2, γ2, h2) indicated by the second position information with respect to the coordinate values (ψ1, γ1, h1) indicated by the first position information. Calculate The point cloud data generator 41 calculates coordinate values (r2, θ2, φ2) indicating the relative position of the optical sensing device 1 on the receiving side with respect to the optical sensing device 1 on the transmitting side based on the calculated difference value. Here, the coordinate values (r2, θ2, φ2) are coordinate values in the spherical coordinate system. This spherical coordinate system has an origin corresponding to the installation position of the optical sensing device 1 on the transmitting side. This spherical coordinate system also has a first axis corresponding to the installation direction of the optical sensing device 1 on the transmitting side. Thus, the absolute position indicated by the second position information is converted into a relative position.

The point cloud data generation unit 41 outputs the generated point cloud data (that is, point cloud data corresponding to the position and shape of the object O) to the three-dimensional model generation unit 42 .

The 3D model generation unit 42 acquires the point cloud data output by the point cloud data generation unit 41 . The three-dimensional model generation unit 42 generates a three-dimensional model of the object O using the acquired point cloud data. Specifically, for example, the 3D model generator 42 converts the acquired point cloud data into surface data (for example, mesh data or surface data). A three-dimensional model is thereby generated.

In addition, various known techniques related to 3D LiDAR can be used to generate point cloud data and 3D models. A detailed description of these techniques is omitted.

Thus, the processing executed by the signal processing unit 13 includes processing for generating point cloud data and processing for generating a three-dimensional model. The signal processing unit 13 generates information indicating the result of such processing (hereinafter sometimes referred to as “result information”). The signal processing unit 13 outputs the generated result information to the output unit 14 (see FIG. 2). The result information is, for example, information including the 3D model generated by the 3D model generation unit 42 .

The output unit 14 acquires result information output by the signal processing unit 13 . The output unit 14 outputs the acquired result information to the outside of the corresponding optical sensing device 1 . Specifically, for example, the output unit 14 outputs the acquired result information to the external system 200 (see FIG. 2). The external system 200 is, for example, a system higher than the optical sensing system 100 . The external system 200 is provided outside the optical sensing system 100 . Note that the external system 200 may be a system of the user of the optical sensing system 100 .

In this case, the optical sensing device 1 having the output unit 14 (for example, the optical sensing device 1_1 of the optical sensing devices 1_1 and 1_2 shown in FIG. 1) is communicatively connected to the external system 200 via the network NW. The network NW is configured by, for example, an LTE (Long Term Evolution) line or a 5G (5th Generation) line. The output unit 14 transmits the acquired result information to the external system 200 via the network NW.

The output result information can be used for various purposes in the external system 200. Specifically, for example, the output result information is used for the process of estimating the volume of the object O. FIG.

The optical sensing system 100 is configured in this manner.

Next, the hardware configuration of each optical sensing device 1 will be described. More specifically, the hardware configuration of the optical sensing device 1_1 out of the optical sensing devices 1_1 and 1_2 shown in FIG. 1 will be described with reference to FIGS. 7 to 9. FIG.

The optical sensing device 1_1 has a function F1 of the optical transmitter/receiver 11, a function F2 of the control unit 12, a function F3 of the signal processing unit 13, and a function F4 of the output unit 14 (see FIG. 2). On the other hand, as shown in FIG. 7, the optical sensing device 1_1 includes an optical transmitter 51, an optical receiver 52, an output interface (“output I/F” in the figure) 53, a processor 54 and a memory 55. FIG. In this case, the function F1 is realized by the optical transmitter 51 and the optical receiver 52. FIG. The memory 55 also stores programs corresponding to the functions F2 and F3. The processor 54 reads and executes programs stored in the memory 55 . Thereby, functions F2 and F3 are realized. Also, the function F4 is implemented by the output interface 53 .

Alternatively, as shown in FIG. 8, the optical sensing device 1_1 comprises an optical transmitter 51, an optical receiver 52, an output interface 53 and a processing circuit 56. In this case, the function F1 is realized by the optical transmitter 51 and the optical receiver 52. FIG. The processing circuit 56 also executes processing corresponding to the functions F2 and F3. Thereby, functions F2 and F3 are realized. Also, the function F4 is implemented by the output interface 53 .

Alternatively, as shown in FIG. 9, the optical sensing device 1_1 comprises an optical transmitter 51, an optical receiver 52, an output interface 53, a processor 54, a memory 55 and a processing circuit 56. In this case, the function F1 is realized by the optical transmitter 51 and the optical receiver 52. FIG. Some of the functions F2 and F3 are implemented by the processor 54 and the memory 55, and the rest of the functions F2 and F3 are implemented by the processing circuit 56. FIG. Also, the function F4 is implemented by the output interface 53 .

The hardware configuration of the optical sensing device 1_2 is the same as the examples shown in FIGS. Therefore, detailed description is omitted. However, the optical sensing device 1_2 does not have the function of the signal processing section 13 (see FIG. 3). Therefore, the function realized by the processor 54, the memory 55 and the processing circuit 56 in the optical sensing device 1_2 is only the function F2 among the functions F2 and F3. Also, the optical sensing device 1_2 does not have the function of the output unit 14 (see FIG. 3). Therefore, the output interface 53 is unnecessary in the optical sensing device 1_2.

Next, the operation of the optical sensing system 100 will be described. More specifically, the operation of the controller 12 in each optical sensing device 1 will be described with reference to the flowcharts shown in FIGS. 10A and 10B.

In the examples shown in FIGS. 10A and 10B, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 based on the second specific example.

First, the operation mode setting unit 31 determines whether or not the measurement mode execution information (that is, the first condition) is satisfied (step ST1). A specific example of the first condition and a specific example of the method of determining whether the first condition is satisfied have already been described. Therefore, repetitive description is omitted.

If it is determined that the first condition is satisfied (step ST1 "YES"), then the operation mode setting section 31 sets the operation mode of the corresponding optical sensing device 1 to the measurement mode (step ST2). Next, the measurement mode executing section 32 executes the measurement mode (step ST3). Thereby, optical sensing based on the principle of LiDAR is performed. The details of the operation of each optical sensing device 1 in the measurement mode have already been explained. Therefore, repetitive description is omitted.

If it is determined that the first condition is not satisfied ("NO" in step ST2), then the operation mode setting unit 31 determines whether or not the communication mode execution condition (that is, the second condition) is satisfied. (step ST4). A specific example of the second condition and a specific example of the method of determining whether the second condition is satisfied have already been described. Therefore, repetitive description is omitted.

If it is determined that the second condition is satisfied (step ST4 "YES"), then the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the communication mode (step ST5). More specifically, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to transmission mode or reception mode. Next, the communication mode executing section 33 executes the communication mode (step ST6). More specifically, the communication mode execution unit 33 executes transmission mode or reception mode. Thereby, optical wireless communication between the optical sensing devices 1 is performed. The details of the operation of each optical sensing device 1 in the communication mode have already been explained. Therefore, repetitive description is omitted.

If it is determined that the second condition is not satisfied ("NO" in step ST4), then the operation mode setting unit 31 determines whether or not the search mode execution condition (that is, the third condition) is satisfied. (step ST7). A specific example of the third condition and a specific example of the method for determining whether or not the third condition is satisfied have already been described. Therefore, repetitive description is omitted.

If it is determined that the third condition is satisfied (step ST7 "YES"), then the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the search mode (step ST8). More specifically, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to a narrowly defined search mode or searched mode. Next, the search mode execution section 34 executes the search mode (step ST9). More specifically, the search mode execution unit 34 executes a narrowly defined search mode or searched mode. As a result, an optical search is performed to search for another optical sensing device 1 to be a partner of optical wireless communication. The details of the operation of each optical sensing device 1 in the search mode have already been explained. Therefore, repetitive description is omitted.

If it is determined that the third condition is not satisfied ("NO" in step ST7), then the operation mode setting unit 31 determines whether or not the standby mode execution condition (that is, the fourth condition) is satisfied. (step ST10). A specific example of the fourth condition and a specific example of the method of determining whether the fourth condition is satisfied have already been described. Therefore, repetitive description is omitted.

If it is determined that the fourth condition is satisfied (step ST10 "YES"), then the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the standby mode (step ST11). Next, the standby mode execution section 35 executes the standby mode (step ST12). As a result, the corresponding optical sensing device 1 enters a standby state.

Next, another operation of the optical sensing system 100 will be described. More specifically, operations of the signal processing unit 13 and the output unit 14 in the optical sensing device 1_1 of the optical sensing devices 1_1 and 1_2 shown in FIG. 1 will be described with reference to the flowchart shown in FIG.

It is assumed that light sensing has already been performed by each of the light sensing devices 1_1 and 1_2. Thus, the first measurement data and the second measurement data have been generated. It is also assumed that optical wireless communication has already been performed between the optical sensing devices 1_1 and 1_2. Accordingly, the first position information and the first measurement data have been transmitted (that is, received).

First, the point cloud data generation unit 41 acquires first position information, first measurement data, second position information, and second measurement data (step ST21). Next, the point cloud data generator 41 uses these pieces of information and data to generate point cloud data corresponding to the position and shape of the object O (step ST22). Next, the three-dimensional model generation unit 42 generates a three-dimensional model of the object O using the generated point cloud data (step ST23). A specific example of the point cloud data generation method and a specific example of the three-dimensional model generation method have already been described. Therefore, repetitive description is omitted.

Next, the output unit 14 outputs information indicating the result of the processing executed by the signal processing unit 13 (that is, the processing of steps ST21 to ST23) to the outside (step ST24). That is, the output unit 14 outputs the result information to the outside. The result information is, for example, information including the three-dimensional model generated in step ST23.

Next, a modified example of the optical sensing system 100 will be described.

First, the signal processing unit 13 may not have the three-dimensional model generation unit 42. In this case, the result information is information including the point cloud data generated by the point cloud data generation unit 41, for example. The external system 200 may generate a three-dimensional model of the object O using such result information.

Second, the first position information indicates the relative position of the optical sensing device 1 on the transmitting side with respect to the optical sensing device 1 on the receiving side instead of or in addition to the absolute position of the optical sensing device 1 on the transmitting side. can be The second position information may indicate the relative position of the optical sensing device 1 on the receiving side with respect to the optical sensing device 1 on the transmitting side instead of or in addition to the absolute position of the optical sensing device 1 on the receiving side. good.

Specifically, for example, in an optical search, when the optical sensing device 1 on the searched side receives laser light for optical search, it calculates a distance value r1 based on the received intensity, and An angle value θ1 and an angle value φ1 are calculated based on the orientation. As a result, the coordinate values (r1, θ1, φ1) indicating the relative position of the optical sensing device 1 on the searched side with respect to the optical sensing device 1 on the searching side are calculated. On the other hand, when the optical sensing device 1 on the search side receives the response laser beam, it calculates the distance value r2 based on the received intensity of the laser beam, and calculates the angle values θ2 and φ2 based on the orientation of the optical transmitter/receiver 11. calculate. As a result, coordinate values (r2, θ2, φ2) indicating the relative position of the optical sensing device 1 on the search side with respect to the optical sensing device 1 on the searched side are calculated. After that, optical wireless communication is performed between the optical sensing devices 1, so that position information indicating their relative positions is shared.

Note that the distance value r1 (or the distance value r2) may use the ToF method. For example, when the laser light for optical search is incident on the lens of the light receiving unit 22 of the optical sensing device 1 on the side to be searched, part of it is reflected, and the reflected light becomes the light receiving unit of the optical sensing device 1 on the searching side. 22. Similarly, when the response laser light is incident on the lens of the light sensing device 1 on the searching side, a part of it is reflected, and the reflected light becomes the light receiving portion of the light sensing device 1 on the side to be searched. 22. Therefore, the distance value r1 (or the distance value r2) can be calculated using the ToF method.

Alternatively, for example, the laser light for optical search may include a signal indicating the time when the laser light was emitted. In this case, the optical sensing device 1 on the searched side calculates the distance value r1 based on the time difference (that is, the one-way propagation time) between the time indicated by the signal and the time when the laser light was received. Similarly, the response laser light may contain a signal indicating the time when the laser light was emitted. In this case, the optical sensing device 1 on the search side calculates the distance value r2 based on the time difference (that is, the one-way propagation time) between the time indicated by the signal and the time when the laser light was received.

Thirdly, when executing the transmission mode, the communication mode execution unit 33, when the relative position as described above has been calculated, performs the optical wireless communication according to the distance values (r1, r2) included in the relative position. The intensity of the laser light for communication may be made different. Specifically, for example, the communication mode execution unit 33 may set the intensity of the laser light for optical wireless communication to a higher value as the distance value (r1, r2) increases. In other words, the communication mode execution unit 33 may set the intensity of the laser light for optical wireless communication to a higher value as the distance values (r1, r2) are smaller. Thereby, according to the distance between the optical sensing devices 1, a laser beam having an appropriate intensity can be used for optical wireless communication.

Fourth, the position indicated by the position information is not limited to the installation position of the corresponding optical sensing device 1. Also, the reference position (that is, the origin) in the three-dimensional space where individual points are plotted in the process of generating point cloud data is not limited to any installation position of the optical sensing device 1 . These positions may be a third position different from the installation position of the optical sensing device 1_1 and different from the installation position of the optical sensing device 1_2. Also, these positions may be positions in the global coordinate system.

Fifth, the optical wireless communication between the optical sensing devices 1 may use so-called "optical digital coherent communication". In this case, each optical sensing device 1 has the function of performing digital signal processing. The optical sensing device 1 on the transmission side converts information to be transmitted (for example, first position information and first measurement data) into a digital signal (so-called "encoding"), and corresponds to the converted digital signal. A laser beam having amplitude, phase or frequency is emitted. On the other hand, the optical sensing device 1 on the receiving side detects a digital signal contained in the received laser light and converts the detected digital signal into original information (eg, first positional information and first measurement data). (so-called "decryption"). Thus, optical digital coherent communication is realized.

Sixthly, the optical sensing system 100 has a function of detecting a rough position of each optical sensing device 1 using GPS (Global Positioning System) or low-capacity wireless communication (for example, BLUETOOTH (registered trademark) communication). It may have. Each optical sensing device 1 uses this function to detect the rough position of the other optical sensing device 1, and then executes the search mode to detect the precise position of the other optical sensing device 1. It can be.

That is, in this case, the third condition may include the condition that the rough position of the other optical sensing device 1 has been detected using this function. In other words, the third condition may include the condition that information indicating the presence of another optical sensing device 1 is obtained based on the result of detection by such a function.

Seventh, the control unit 12 may not have the search mode execution unit 34. In other words, the operation mode of each light sensing device 1 may not include the search mode. In this case, from the viewpoint of realizing wireless optical communication and point group synthesis, each optical sensing device 1 may store information indicating the position and orientation of another optical sensing device 1 in advance.

Also, the control unit 12 may not have the standby mode execution unit 35 . In other words, the operation mode of each optical sensing device 1 may not include the standby mode. That is, the operation mode of each optical sensing device 1 should include at least the measurement mode and the communication mode. Also, the operation mode of each optical sensing device 1 may include a measurement mode, a communication mode, and a standby mode.

Next, the effects of the optical sensing system 100 will be described.

In the following description of each optical sensing device 1, the optical sensing performed by this optical sensing device 1 may be referred to as "first LiDAR measurement". In addition, in the description of each optical sensing device 1, optical sensing performed by another optical sensing device 1 may be referred to as "second LiDAR measurement".

As described above, the optical sensing system 100 includes the optical sensing device 1. The optical sensing device 1 includes an optical transceiver 11 and a controller 12 . The optical transceiver 11 transmits and receives a first light L1 used for optical sensing (first LiDAR measurement) based on the LiDAR principle, and transmits a second light L2 used for optical wireless communication with another optical sensing device 1. send or receive; The control unit 12 switches between a measurement mode (first operation mode) in which optical sensing (first LiDAR measurement) is performed and a communication mode (second operation mode) in which optical wireless communication is performed. Light sensing by the light sensing device 1 (first LiDAR measurement) and light sensing by another light sensing device 1 (second LiDAR measurement) are performed on the same object O. FIG.

In this way, the optical sensing system 100 is a system in which a plurality of optical sensing devices 1 cooperate by optical wireless communication. In such a system, when a plurality of optical sensing devices 1 perform optical sensing on the same object O, the following effects can be obtained. That is, it is possible to suppress the occurrence of occlusion in the object O as compared with the case where a plurality of optical sensing devices 1 perform optical sensing on different objects.

As a result, for example, when generating a three-dimensional model of the object O based on the results of optical sensing, it is possible to suppress the occurrence of missing portions due to occlusion. Also, for example, when estimating the volume of the target object O using the generated three-dimensional model, it is possible to suppress the occurrence of estimation errors due to missing portions of the three-dimensional model. Thereby, the volume of the target object O can be estimated correctly.

Next, other effects of the optical sensing system 100 will be described.

The optical transmitting/receiving unit 11 transmits or receives the third light L3 used for optical search for searching for another optical sensing device 1 to be a partner of optical wireless communication. The control unit 12 switches among a measurement mode (first operation mode), a communication mode (second operation mode), and a search mode (third operation mode) in which optical search is performed. Thereby, a search mode can be realized in addition to the measurement mode and the communication mode. As a result, even if each optical sensing device 1 does not know the positions of other optical sensing devices 1, optical wireless communication between the optical sensing devices 1 can be realized.

In addition, the optical sensing device 1 acquires first position information indicating the position and orientation of the other optical sensing device 1 from the other optical sensing device 1 by executing optical wireless communication. Thereby, the optical sensing device 1 on the receiving side can be realized. Further, by using the acquired first position information, point group synthesis between the optical sensing devices 1 can be realized in the optical sensing device 1 on the receiving side.

Further, the optical sensing device 1 acquires first measurement data indicating the result of optical sensing (second LiDAR measurement) in the other optical sensing device 1 from the other optical sensing device 1 by executing optical wireless communication. do. By using the acquired first measurement data, point group synthesis between the optical sensing devices 1 can be realized in the optical sensing device 1 on the receiving side.

The optical sensing device 1 also provides first positional information, first measurement data, second positional information indicating the position and orientation of the optical sensing device 1, and the result of optical sensing (first LiDAR measurement) in the optical sensing device 1. Point cloud data corresponding to the position and shape of the object O is generated using the second measurement data indicating By using these position information and measurement data, point group synthesis between the optical sensing devices 1 can be realized. Thereby, the point cloud data of the object O can be generated.

In addition, the optical sensing device 1 notifies other optical sensing devices 1 of the first position information indicating the position and orientation of the optical sensing device 1 by performing optical wireless communication. Thereby, the optical sensing device 1 on the transmission side can be realized. Also, by using the notified first position information, point group synthesis between the optical sensing devices 1 can be realized in the optical sensing device 1 on the receiving side.

In addition, the optical sensing device 1 notifies the other optical sensing devices 1 of first measurement data indicating the result of optical sensing (first LiDAR measurement) in the optical sensing device 1 by executing optical wireless communication. By using the notified first measurement data, point group synthesis between the optical sensing devices 1 can be realized in the optical sensing device 1 on the receiving side.

Further, the other optical sensing device 1 includes first positional information, first measurement data, second positional information indicating the position and orientation of the other optical sensing device 1, and optical sensing in the other optical sensing device 1 (second point cloud data corresponding to the position and shape of the object O is generated using the second measurement data indicating the results of the LiDAR measurement of . By using these position information and measurement data, point group synthesis between the optical sensing devices 1 can be realized. Thereby, the point cloud data of the object O can be generated.

As described above, in the optical sensing system 100, the information used to generate the point cloud data (that is, the position information and the measurement data) is shared between the optical sensing devices 1 before the point cloud data is generated. Also, point group synthesis is performed by any one of the optical sensing devices 1 .

Here, as an optical sensing system for comparison with the optical sensing system 100, the following system is considered. That is, in the optical sensing system for comparison, each optical sensing device uses GPS to acquire position information indicating the position and orientation of the optical sensing device. Also, each optical sensing device generates point cloud data based on the optical sensing results of the optical sensing device. Each optical sensing device uses a wireless LAN (Local Area Network) to transmit the acquired position information and the generated point cloud data to an external system. In the external system, point group synthesis using the generated point cloud data is executed based on the generated position information. That is, point cloud synthesis in the optical sensing system for comparison is post-processing of point cloud data generated by a plurality of optical sensing devices.

On the other hand, in the optical sensing system 100, as described above, the information used to generate the point cloud data is shared between the optical sensing devices 1 by optical wireless communication. Group composition is performed. This makes it possible to achieve so-called "real-time" point cloud synthesis compared to the optical sensing system for comparison. Also, point cloud synthesis is performed when point cloud data is generated, instead of being performed as post-processing after point cloud data is generated. As a result, it is possible to suppress errors due to distortion in the post-processing from being mixed into the result of the point-group synthesis, as compared with a method in which the point-group synthesis is post-processed. As a result, highly accurate point group synthesis can be realized.

[Second embodiment]
FIG. 12 is a block diagram showing the optical sensing device according to the second embodiment. A light sensing device according to the second embodiment will be described with reference to FIG. FIG. 13 is a block diagram showing the optical sensing system according to the second embodiment. A light sensing system according to the second embodiment will be described with reference to FIG. In FIGS. 12 and 13, blocks similar to those shown in FIGS. 1 to 6 are assigned the same reference numerals, and descriptions thereof are omitted.

Here, the optical sensing device 1 according to the first embodiment is an example of the optical sensing device 1a according to the second embodiment. Also, the optical sensing system 100 according to the first embodiment is an example of the optical sensing system 100a according to the second embodiment.

As shown in FIG. 12, the optical sensing device 1a includes an optical transmitter/receiver 11 and a controller 12. As shown in FIG.

As shown in FIG. 13, the optical sensing system 100a includes an optical sensing device 1a. The optical sensing device 1 a includes an optical transmitter/receiver 11 and a controller 12 .

Even in these cases, the same effects as those described in the first embodiment can be obtained as follows.

That is, the optical sensing system 100a includes the optical sensing device 1a. The optical sensing device 1 a includes an optical transmitter/receiver 11 and a controller 12 . The optical transceiver 11 transmits and receives a first light L1 used for optical sensing (first LiDAR measurement) based on the principle of LiDAR, and a first light L1 used for optical wireless communication with another optical sensing device 1a (not shown). 2. Transmit or receive light L2. The control unit 12 switches between a first operation mode in which optical sensing (first LiDAR measurement) is performed and a second operation mode in which optical wireless communication is performed. Light sensing by the light sensing device 1a (first LiDAR measurement) and light sensing by another light sensing device 1a (not shown) (second LiDAR measurement) are performed on the same object O (not shown). be done.

In this way, the optical sensing system 100a is a system in which a plurality of optical sensing devices 1a cooperate by optical wireless communication. In such a system, when a plurality of optical sensing devices 1a perform optical sensing on the same object O, the following effects can be obtained. That is, it is possible to suppress the occurrence of occlusion in the object O as compared with the case where a plurality of optical sensing devices 1a perform optical sensing on different objects.

Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure.

Some or all of the above embodiments can also be described as the following additional remarks, but are not limited to the following.

The optical transmitter/receiver 11 is hereinafter referred to as "optical transmitter/receiver". Moreover, the control part 12 is called a "control means."

[Appendix]
[Appendix 1]
an optical transmitting/receiving means for transmitting and receiving the first light used for the first LiDAR measurement and transmitting or receiving the second light used for optical wireless communication with another optical sensing device;
A control means for switching between a first operation mode for performing the first LiDAR measurement and a second operation mode for performing the optical wireless communication,
The optical sensing device, wherein the first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object.
[Appendix 2]
The optical transmitting/receiving means transmits or receives a third light used for optical search for searching for the other optical sensing device to be a partner of the optical wireless communication,
The optical sensing device according to appendix 1, wherein the control means switches between the first operation mode, the second operation mode, and the third operation mode for performing the optical search.
[Appendix 3]
The light according to

Supplementary note

1 or 2, wherein first position information indicating the position and orientation of the other optical sensing device is obtained from the other optical sensing device by performing the optical wireless communication. sensing device.
[Appendix 4]
3. The method according to appendix 3, wherein first measurement data indicating a result of the second LiDAR measurement in the other optical sensing device is obtained from the other optical sensing device by performing the optical wireless communication. optical sensing device.
[Appendix 5]
using the first position information, the first measurement data, the second position information indicating the position and orientation of the optical sensing device, and the second measurement data indicating the result of the first LiDAR measurement in the optical sensing device , the optical sensing device according to appendix 4, wherein point cloud data corresponding to the position and shape of the object is generated.
[Appendix 6]
The optical sensing device according to

Supplementary note

1 or 2, characterized in that the other optical sensing device is notified of first position information indicating the position and orientation of the optical sensing device by executing the optical wireless communication. .
[Appendix 7]
6. The light according to claim 6, wherein the other optical sensing device is notified of first measurement data indicating the result of the first LiDAR measurement in the optical sensing device by performing the optical wireless communication. sensing device.
[Appendix 8]
The other optical sensing device comprises the first position information, the first measurement data, the second position information indicating the position and orientation of the other optical sensing device, and the second LiDAR in the other optical sensing device. 8. The optical sensing device according to appendix 7, wherein the point cloud data corresponding to the position and shape of the object is generated using the second measurement data indicating the result of the measurement.
[Appendix 9]
An optical sensing system comprising an optical sensing device,
The optical sensing device is
an optical transmitting/receiving means for transmitting and receiving the first light used for the first LiDAR measurement and transmitting or receiving the second light used for optical wireless communication with another optical sensing device;
A control means for switching between a first operation mode for performing the first LiDAR measurement and a second operation mode for performing the optical wireless communication,
The optical sensing system, wherein the first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object.
[Appendix 10]
The optical transmitting/receiving means transmits or receives a third light used for optical search for searching for the other optical sensing device to be a partner of the optical wireless communication,
10. The optical sensing system of claim 9, wherein the control means switches between the first operating mode, the second operating mode, and a third operating mode in which the optical search is performed.
[Appendix 11]
Supplementary note 9 or, wherein the optical sensing device acquires first position information indicating the position and orientation of the other optical sensing device from the other optical sensing device by executing the optical wireless communication. 11. The optical sensing system according to Appendix 10.
[Appendix 12]
The optical sensing device is characterized in that, by executing the optical wireless communication, first measurement data indicating the result of the second LiDAR measurement in the other optical sensing device is obtained from the other optical sensing device. 12. The optical sensing system according to claim 11.
[Appendix 13]
The optical sensing device comprises the first location information, the first measurement data, the second location information indicating the location and orientation of the optical sensing device, and the second location information indicating the result of the first LiDAR measurement in the optical sensing device. 13. The optical sensing system of claim 12, wherein the measurement data is used to generate point cloud data corresponding to the position and shape of the object.
[Appendix 14]
Supplementary Note 9 or Supplementary Note 10, wherein the optical sensing device notifies the other optical sensing device of first position information indicating the position and orientation of the optical sensing device by executing the optical wireless communication. The optical sensing system according to .
[Appendix 15]
The optical sensing device is characterized by notifying the other optical sensing device of first measurement data indicating the result of the first LiDAR measurement in the optical sensing device by executing the optical wireless communication. 15. The optical sensing system according to Appendix 14.
[Appendix 16]
The other optical sensing device comprises the first position information, the first measurement data, the second position information indicating the position and orientation of the other optical sensing device, and the second LiDAR in the other optical sensing device. 16. The optical sensing system according to appendix 15, wherein the point cloud data corresponding to the position and shape of the object is generated using the second measurement data indicating the result of the measurement.
[Appendix 17]
The optical sensing device transmits and receives a first light used for the first LiDAR measurement, and transmits or receives a second light used for optical wireless communication with another optical sensing device;
wherein the optical sensing device switches between a first operating mode for performing the first LiDAR measurement and a second operating mode for performing the optical wireless communication;
The light sensing method, wherein the first LiDAR measurement by the light sensing device and the second LiDAR measurement by the other light sensing device are performed on the same object.
[Appendix 18]
The optical sensing device transmits or receives a third light used for optical search for searching for the other optical sensing device to be a partner of the optical wireless communication,
18. The optical sensing method of claim 17, wherein the optical sensing device switches between the first operational mode, the second operational mode, and a third operational mode that performs the optical search.
[Appendix 19]
Supplementary note 17, wherein the optical sensing device acquires first position information indicating the position and orientation of the other optical sensing device from the other optical sensing device by executing the optical wireless communication. 19. The optical sensing method according to appendix 18.
[Appendix 20]
The optical sensing device is characterized in that, by executing the optical wireless communication, first measurement data indicating the result of the second LiDAR measurement in the other optical sensing device is obtained from the other optical sensing device. The optical sensing method according to Supplementary Note 19.
[Appendix 21]
The optical sensing device comprises the first location information, the first measurement data, the second location information indicating the location and orientation of the optical sensing device, and the second location information indicating the result of the first LiDAR measurement in the optical sensing device. 21. The optical sensing method according to claim 20, wherein the measurement data is used to generate point cloud data corresponding to the position and shape of the object.
[Appendix 22]
Supplementary Note 17 or Supplementary Note 18, wherein the optical sensing device notifies the other optical sensing device of first position information indicating the position and orientation of the optical sensing device by executing the optical wireless communication. The optical sensing method described in .
[Appendix 23]
The optical sensing device is characterized by notifying the other optical sensing device of first measurement data indicating the result of the first LiDAR measurement in the optical sensing device by executing the optical wireless communication. 23. The optical sensing method according to appendix 22.
[Appendix 24]
The other optical sensing device comprises the first position information, the first measurement data, the second position information indicating the position and orientation of the other optical sensing device, and the second LiDAR in the other optical sensing device. 24. The optical sensing method according to appendix 23, wherein point cloud data corresponding to the position and shape of the object is generated using second measurement data indicating the result of the measurement.

1, 1a Optical sensing device 11 Optical transceiver 12 Control unit 13 Signal processing unit 14 Output unit 21 Light emitting unit 22 Light receiving unit 31 Operation mode setting unit 32 Measurement mode execution unit 33 Communication mode execution unit 34 Search mode execution unit 35 Standby mode Execution unit 41 Point cloud data generation unit 42 Three-dimensional model generation unit 51 Optical transmitter 52 Optical receiver 53 Output interface 54 Processor 55 Memory 56

Processing circuits

100, 100a Optical sensing system 200 External system

Claims

an optical transmitting/receiving means for transmitting and receiving the first light used for the first LiDAR measurement and transmitting or receiving the second light used for optical wireless communication with another optical sensing device;
A control means for switching between a first operation mode for performing the first LiDAR measurement and a second operation mode for performing the optical wireless communication,
The optical sensing device, wherein the first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object.
The optical transmitting/receiving means transmits or receives a third light used for optical search for searching for the other optical sensing device to be a partner of the optical wireless communication,
2. The optical sensing device according to claim 1, wherein said control means switches between said first operation mode, said second operation mode, and a third operation mode in which said optical search is performed.
3. The optical wireless communication according to claim 1, wherein first position information indicating the position and orientation of the other optical sensing device is obtained from the other optical sensing device by performing the optical wireless communication. optical sensing device.
4. The method according to claim 3, wherein first measurement data indicating a result of said second LiDAR measurement in said other optical sensing device is acquired from said other optical sensing device by executing said optical wireless communication. An optical sensing device as described.
using the first position information, the first measurement data, the second position information indicating the position and orientation of the optical sensing device, and the second measurement data indicating the result of the first LiDAR measurement in the optical sensing device 5. The optical sensing device according to claim 4, wherein point cloud data corresponding to the position and shape of the object are generated.
3. The light according to claim 1, wherein first position information indicating the position and orientation of the optical sensing device is notified to the other optical sensing device by executing the optical wireless communication. sensing device.
7. The optical sensing device according to claim 6, wherein the other optical sensing device is notified of the first measurement data indicating the result of the first LiDAR measurement in the optical sensing device by performing the optical wireless communication. Optical sensing device.
The other optical sensing device comprises the first position information, the first measurement data, the second position information indicating the position and orientation of the other optical sensing device, and the second LiDAR in the other optical sensing device. 8. The optical sensing device according to claim 7, wherein the point cloud data corresponding to the position and shape of the object is generated using the second measurement data indicating the result of the measurement.
An optical sensing system comprising an optical sensing device,
The optical sensing device is
an optical transmitting/receiving means for transmitting and receiving the first light used for the first LiDAR measurement and transmitting or receiving the second light used for optical wireless communication with another optical sensing device;
A control means for switching between a first operation mode for performing the first LiDAR measurement and a second operation mode for performing the optical wireless communication,
The optical sensing system, wherein the first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object.
The optical transmitting/receiving means transmits or receives a third light used for optical search for searching for the other optical sensing device to be a partner of the optical wireless communication,
10. The optical sensing system according to claim 9, wherein said control means switches between said first operational mode, said second operational mode and a third operational mode in which said optical search is performed.
10. The optical sensing device acquires first position information indicating the position and orientation of the other optical sensing device from the other optical sensing device by executing the optical wireless communication. Or the optical sensing system according to claim 10.
The optical sensing device is characterized in that, by executing the optical wireless communication, first measurement data indicating the result of the second LiDAR measurement in the other optical sensing device is obtained from the other optical sensing device. 12. The optical sensing system of claim 11 .
The optical sensing device comprises the first location information, the first measurement data, the second location information indicating the location and orientation of the optical sensing device, and the second location information indicating the result of the first LiDAR measurement in the optical sensing device. 13. The optical sensing system of claim 12, wherein two measurement data are used to generate point cloud data corresponding to the position and shape of the object.
10. The light sensing device notifies the other light sensing device of first position information indicating the position and orientation of the light sensing device by executing the optical wireless communication. Item 11. The optical sensing system according to item 10.
The optical sensing device is characterized by notifying the other optical sensing device of first measurement data indicating the result of the first LiDAR measurement in the optical sensing device by executing the optical wireless communication. 15. The optical sensing system of claim 14.
The other optical sensing device comprises the first position information, the first measurement data, the second position information indicating the position and orientation of the other optical sensing device, and the second LiDAR in the other optical sensing device. 16. The optical sensing system according to claim 15, wherein point cloud data corresponding to the position and shape of the object is generated using second measurement data indicating the result of the measurement.
The optical sensing device transmits and receives a first light used for the first LiDAR measurement, and transmits or receives a second light used for optical wireless communication with another optical sensing device;
wherein the optical sensing device switches between a first operating mode for performing the first LiDAR measurement and a second operating mode for performing the optical wireless communication;
The light sensing method, wherein the first LiDAR measurement by the light sensing device and the second LiDAR measurement by the other light sensing device are performed on the same object.
The optical sensing device transmits or receives a third light used for optical search for searching for the other optical sensing device to be a partner of the optical wireless communication,
18. The light sensing method of claim 17, wherein the light sensing device switches between the first operating mode, the second operating mode, and a third operating mode for performing the optical search.
17. The optical sensing device acquires first position information indicating the position and orientation of the other optical sensing device from the other optical sensing device by executing the optical wireless communication. Or the optical sensing method according to claim 18.
The optical sensing device acquires first measurement data indicating a result of second LiDAR measurement in the other optical sensing device from the other optical sensing device by executing the optical wireless communication. The optical sensing method according to claim 19.
The optical sensing device comprises the first location information, the first measurement data, the second location information indicating the location and orientation of the optical sensing device, and the second location information indicating the result of the first LiDAR measurement in the optical sensing device. 21. The optical sensing method of claim 20, wherein two measurement data are used to generate point cloud data corresponding to the position and shape of the object.
18. The light sensing device notifies the other light sensing device of the first location information indicating the position and orientation of the light sensing device by executing the optical wireless communication. Item 19. The optical sensing method according to Item 18.
The optical sensing device is characterized by notifying the other optical sensing device of first measurement data indicating the result of the first LiDAR measurement in the optical sensing device by executing the optical wireless communication. 23. The optical sensing method according to claim 22.
The other optical sensing device comprises the first position information, the first measurement data, the second position information indicating the position and orientation of the other optical sensing device, and the second LiDAR in the other optical sensing device. 24. The optical sensing method according to claim 23, wherein the point cloud data corresponding to the position and shape of the object is generated using the second measurement data indicating the result of the measurement.