CN101017080A - Device of measuring object - Google Patents

Abstract

A device of measuring an object comprises: a laser radar which scans the prescribed region to be monitored; a radar image generating means which generates a laser radar image visualizing the distance information detected by means of the laser radar; a security camera which is provided in the vicinity of the laser radar and picks up the image of the region to be monitored by the laser radar; an image matching means which correlates the coordinates of a camera image picked up by means of the security camera to those of the laser radar image; an object identifying means to identify the plane of the object and/or the moving object by the laser radar image; and an auxiliary information presenting means which make the auxiliary information of the polygon graphs of the identified plane of the object and/or the moving object superimposed upon the monitoring image.

Description

The measuring device of object

The application be international filing date be September 29 in 2003, national applications number be 03803275.9, denomination of invention divides an application for the Chinese patent application of " measuring method of object and the measuring device of object ".

Technical field

The invention relates to and use pulse laser position, size, the translational speed of object to be carried out the invention of measuring device of the object of instrumentation.

Background technology

The technology of now knowing is to utilize the laser-Doppler method, to method, the device of measuring at the true length of the intrusion angle of the object of rectangular shape in transit and side (for example: the spy opens flat 8-285554 communique).

In more detail, above-mentioned known method and device are that article according to rectangular shape are in the process that is transported by band conveyer, the translational speed of the above-mentioned band conveyer of trying to achieve by the laser-Doppler speed pickup and, top at the article of above-mentioned 2 rectangular shapes, detect each mistiming constantly that sensor detects the above-mentioned rectangular parallelepiped that is transmitted with the moving direction of above-mentioned band conveyer direction 2 object spaces placed side by side that meet at right angles, obtain above-mentioned rectangular parallelepiped side true length and for the intrusion angle of the above-mentioned rectangular parallelepiped of the moving direction of above-mentioned band conveyer.

Above-mentioned known method and apparatus can not the instrumentation rectangular parallelepiped side true length and to the value beyond the intrusion angle of the above-mentioned rectangular parallelepiped of the moving direction of above-mentioned band conveyer, the size of wide, high, the above-mentioned rectangular parallelepiped integral body of above-mentioned rectangular parallelepiped for example has size, the position of the object of the shape beyond can not the instrumentation rectangular parallelepiped, the weakness of translational speed.

The purpose of this invention is to provide use pulse laser can the instrumentation rectangular parallelepiped or rectangular parallelepiped beyond the measuring device of object of whole size, position, translational speed of object of shape.

Summary of the invention

According to the size of the object measuring method of the 1st example of the present invention rectangular parallelepiped that to be the bottom surface be provided with substantially abreast to the XY plane or the position is set, employing is at the pulse laser of the laser generator emission of the outer setting of above-mentioned rectangular parallelepiped, carry out the measuring method of instrumentation, this object measuring method is made up of following step: with above-mentioned pulse laser above-mentioned rectangular parallelepiped is carried out two-dimensional scan, accept the reflected light of above-mentioned object reflection, the reflection position that detects the reflection position of above-mentioned rectangular parallelepiped according to catoptrical mistiming that carved by the light time of the x time of the transmit direction of above-mentioned pulse laser and above-mentioned pulse laser and this pulse laser detects step; With the size of calculating above-mentioned rectangular parallelepiped according to the above-mentioned a plurality of reflection positions that are detected, the step of calculating of position is set; The step of calculating of this method is the coordinate figure of calculating the crest line of above-mentioned rectangular parallelepiped according to the above-mentioned a plurality of reflection positions that detect, and calculate each summit of the end face of above-mentioned rectangular parallelepiped with the coordinate figure of the crest line of calculating, and calculate the size of above-mentioned rectangular parallelepiped or the calculation method of position is set.

Measuring method according to the 2nd example of the present invention is in the measuring method of the 1st example, the scanning of this method is after certain orientation is carried out one-dimensional scanning, by the conversion scanning position with the direction of above-mentioned certain orientation almost parallel on carry out repeatedly coming above-mentioned rectangular parallelepiped is carried out two-dimensional scan with the identical scanning of above-mentioned one-dimensional scanning; The aforementioned calculation step is: to each above-mentioned one-dimensional scanning, the equation of line of trying to achieve the suitable number on the XY plane from the X coordinate figure and the Y coordinate figure of above-mentioned each reflection position, and according to this suitably the bar number of the equation of line of number or degree of tilt judge from above-mentioned laser generator which face of above-mentioned rectangular parallelepiped has been shone pulse laser; When the end face of above-mentioned rectangular parallelepiped has shone pulse laser, according to the maximal value of the X coordinate figure of the reflection position of the above-mentioned end face of above-mentioned each scanning and the Y coordinate figure corresponding with this maximal value, at the minimum value of the X coordinate figure of the reflection position of the above-mentioned end face of above-mentioned each scanning and 4 kinds of straight lines that the Y coordinate figure corresponding with this minimum value tried to achieve 4 crest lines of the end face that comprises above-mentioned rectangular parallelepiped, and try to achieve the X coordinate figure and the Y coordinate figure of the intersection point of above-mentioned each bar straight line, and use the Z coordinate figure of the reflection position of above-mentioned end face, each summit of calculating the above-mentioned end face of above-mentioned rectangular parallelepiped; 2 sides of above-mentioned rectangular parallelepiped by the situation of above-mentioned pulsed laser irradiation under, to above-mentioned each scanning, calculate 2 equation of line on the XY plane from the X coordinate figure of above-mentioned each reflection position and Y coordinate figure, from the intersection point of these 2 equation of line, calculating and Z axle almost parallel, the X coordinate figure of the 1st crest line of above-mentioned rectangular parallelepiped and Y coordinate figure, and calculate with Z axle almost parallel according to the maximal value of the X coordinate figure of the reflection position of the above-mentioned side of above-mentioned each scanning and the Y coordinate figure corresponding with this maximal value, the X coordinate figure of the 2nd crest line of above-mentioned rectangular parallelepiped and Y coordinate figure, and calculate with Z axle almost parallel according to the minimum value of the X coordinate figure of the reflection position of the above-mentioned side of above-mentioned each scanning and the Y coordinate figure corresponding with this minimum value, the X coordinate figure of the 3rd crest line of above-mentioned rectangular parallelepiped and Y coordinate figure, calculate with Z axle almost parallel according to each X coordinate figure of above-mentioned each bar crest line of 1-3 and each Y coordinate figure, the X coordinate figure of the 4th crest line and Y coordinate figure, maximal value from the Z coordinate figure of above-mentioned each reflection position, calculate the height and position of the end face of above-mentioned rectangular parallelepiped, according to each X coordinate figure of above-mentioned 1-4 crest line and each Y coordinate figure and above-mentioned above height and position each summit of calculating the above-mentioned end face of above-mentioned rectangular parallelepiped; When above-mentioned rectangular parallelepiped only a side is by above-mentioned pulsed laser irradiation the time, be judged as the size that can not calculate rectangular parallelepiped or the measuring method that the position is be set.

Be the size of the rectangular parallelepiped that is provided with abreast substantially for bottom surface and XY plane according to the measurement mechanism of the 3rd example of the present invention or the measuring device that instrumentation is carried out in the position be set that this device has: can be to the pulse laser emitter of above-mentioned rectangular parallelepiped emission pulse laser; Above-mentioned rectangular parallelepiped is carried out the scanister of two-dimensional scan with above-mentioned pulse laser; Acceptance is from the pulse laser infrared rays receiver of the above-mentioned pulse laser of above-mentioned rectangular parallelepiped reflection; According to the transmit direction of above-mentioned pulse laser and, catoptrical mistiming that carved by the light time of the x time of above-mentioned pulse laser and this pulse laser detects the reflection position detection device of the reflection position of above-mentioned rectangular parallelepiped; Calculate and export the size of above-mentioned rectangular parallelepiped or the calculating apparatus of position is set according to the above-mentioned a plurality of reflection positions that are detected.

Object identification method according to the employing area sensor of the 4th example of the present invention is the object identification method that adopts area sensor, the feature of this method is: by detect scope on one side emission pulse laser one scan edge of area sensor to the peripheral region in the walking zone that covers the guiding pedestrian and this walking zone, the instrumentation reflection of light time, by obtain each analyzing spot do not have object to exist the time reflection interval and the reflection interval when having object to exist poor, shape by object, size, obtain representing the calculation signal of the vector of the moving direction of object and translational speed with the position of the object of each scanning, the object of discerning the object that moves in the walking zone along channeling direction and moving based on the length of described an amount of calculation signal and direction from this calculation signal along the direction in cross-section walking zone.

The object identification method of the logical employing area sensor of the 5th example is in the object identification method of the employing area sensor that above-mentioned the 4th example is put down in writing according to the present invention, discerns along the object identification method of channeling direction in the employing area sensor of the mobile object in walking zone towards channeling direction, the shape of object, the size in walking zone by vector.

According to the object identification method of the employing area sensor of the 6th example of the present invention is in the object identification method of the employing area sensor of above-mentioned the 7th example or the record of the 5th example, and the object that identification is moved in the walking zone along channeling direction is not freely people's the object identification method of employing area sensor of the healthy people that grows up, child, wheelchair-bound people, action at least.

According to the object identification method of the employing area sensor of the 7th example of the present invention is in the object identification method of the employing area sensor of above-mentioned the 4th example record, be at least by appear at suddenly the scope of detecting around and vector be the object identification method that is identified in the employing area sensor of the object that moves along cross-section walking region direction towards cross-section walking zone.

Object identification method according to the employing area sensor of the 8th example of the present invention is: in the object identification method of the employing area sensor of above-mentioned the 4th example or the record of the 7th example, the object that identification is moved along cross-section walking zone is an automobile.

The object identification method of the employing area sensor of above-mentioned the 4th example to the 8 examples have a following effect.

Because use regional scanner on one side to detecting scope projection pulse laser one scan edge, the reflection interval of measuring light, the difference of reflection interval when detecting reflection interval when the object of each analyzing spot does not exist and object and existing detects object, so can not be subjected to the influence of environmental aspects such as weather, detect object accurately.With this, can discern in more detail along channeling direction at regional object that moves of walking and the object that moves along cross-section walking region direction, when the pedestrian is the traffic weak persons such as people of child, wheelchair-bound people and walking inconvenience, can positively discern, so use this recognition result, the traffic weak person walking zone of can passing by relievedly, safely can become certain safety feature.

Object measuring device according to the 9th example of the present invention possesses: the laser radar of monitor area that scanning is decided; Make the radar image producing device of radar image behind the visual range information that detects by this laser radar; What be provided with near the aforementioned laser radar possesses monitor camera to the shooting of the monitor area of laser radar; Make the coordinate of the photographic image of taking by aforementioned monitor camera and the corresponding image matching apparatus of coordinate of aforementioned radar image; The supplementary of the face of the object after coming the object detector of the face of recognition object and/or mobile object and will determine identification respectively from aforementioned lidar image and/or the polygon line chart of mobile object overlaps the auxiliary information indication device that the above-mentioned image of taking pictures is represented.

Object measuring device according to such formation, determine supplementary, for example outline line, identification marking overlapping expression on photographed images of the face and/or the mobile object of object from lidar image by handle, can conclusively show out the constant fixation construct in the monitored object zone and the object that should gaze in the above-mentioned monitored object zone and other objects showed with discerning easily.Consequently be not subjected to factors such as weather about, can accurately hold the various situations in monitored object zone.

Be more preferably, the formation of aforementioned radar image producing device can be made the range information that will detect according to the mode of the object measuring device of the 10th example after deep or light conversion or tone reversal, makes the radar image of 3 dimension information visualizations.And, as mode according to the object measuring device of the 11st example, the formation of aforementioned image matching apparatus is according to the position coordinates of most unique points of mutual correspondence between aforementioned photographed images and radar image, and the coordinate system of aforementioned photographed images and aforesaid radar image coordinate system are coincided.

Object measuring device according to such formation, because photographed images and radar image can be corresponding mutually, for example when photographed images is differentiated the object in monitored object zone easily, simultaneously from radar image easily, the precision highland tries to achieve the volume coordinate (from the distance and bearing in monitoring point) of this object.Opposite, because when the influence that is subjected to weather etc. makes that photographed images is not distinct, can replenish its not vividness by radar image, so can grasp certain situation in monitored object zone.

Object measuring device according to the 12nd example of the present invention, it is characterized in that possessing the reflected light of accepting the pulse laser that shines to deciding direction on one side, Yi Bian the direction of illumination that makes above-mentioned pulse laser to the region-wide laser radar that scans of fixed monitor area; From the information of the range information (catoptrical light-receiving time) that detects by this laser radar and this direction of scanning, try to achieve the radar information producing device of 3 dimension radar informations of the volume coordinate of the reflection spot of representing aforementioned pulse laser respectively; Detect the object detection device of the object that in aforementioned fixed monitor area, exists from aforementioned 3 dimension radar informations; And then tie up radar informations from aforementioned 3 and judge that predefined observation point (volume coordinate) has or not individually defined thing the visual-field space of described monitor area, monitor the guard condition judgment means of the implementation of processing for aforementioned monitor area control to having used described 3 objects of tieing up the described monitor area of radar informations; Accept the control of this guard condition decision maker and detect action, perhaps control the monitoring arrangement of the output that detects the result that obtains by aforementioned object detection device by aforementioned object detection device control object.

Promptly, the feature of object detection device of the present invention is: be conceived to the action of the certain objects in the fixed monitor area monitor that with object the necessity of handling is relevant for this monitor area, the volume coordinate detection function of the object that uses laser radar effectively and had, judge above-mentioned individually defined thing whether be in fixed position (observation point) (guard condition decision maker), adapt with this judged result, control detects action by the object of aforementioned object detection device, and control is by the output that detects the result of aforementioned object detection device.That is, the feature of object detection device of the present invention is the processing action that utilizes the owned function of object measuring device possess laser radar to draw oneself up, and carrying out does not need to carry out necessary supervision from outside input control signal and handle action.

Better mode of the present invention is as the object measuring device of the 13rd example record, aforementioned fixed monitor area is a railway road port area, aforementioned reference body is made of the circuit breaker of the above-mentioned railway of zoning road port area, and the judgment means of aforementioned guard condition judges whether aforementioned circuit breaker is in position of readiness.Particularly, feature of the present invention is not to be in position of readiness control and it to be carried out monitor and handle action by detecting circuit breaker, in other words, only just stop to monitor when circuit breaker is in position of readiness and handle action, the supervision of carrying out in railway road safety-sensitive, that accuracy the is high port area is handled.

And according to the present invention the feature of the object measuring device of the 14th example is: the above-mentioned the 12nd or the object measuring device of above-mentioned the 13rd example record on, again above-mentioned 3 dimension radar informations are carried out plane coordinate transformation and make monitoring picture coordinate transformation device and, the graphical representation device that on the monitoring picture of making of this coordinate transformation device, will specify the supplementary coincidence of the object that aforementioned object detection device tries to achieve to represent.

According to the object measuring device of formation like this, just can non-original idea exists in the fixed monitor area object and its location come graphical representation with form visual, easier assurance (understanding).Its result can for example give the alarm, and has reached countermeasures such as taking to write down aforementioned 3 dimension radar informations when the time comes quickly and accurately.

Description of drawings

Fig. 1 is the simple formation diagrammatic sketch of the measurement mechanism of example of the present invention.

Fig. 2 is the simple diagrammatic sketch of the action of measurement mechanism.

Fig. 3 is expression is implemented in the one-dimensional scanning situation of Fig. 2 to carton a diagrammatic sketch.

Fig. 4 represents that measurement mechanism measures the simple flow process that position, all actions when big or small are set of carton.

Fig. 5 is the expanded view of a part of each reflection position of the carton represented of Fig. 3.

Fig. 6 is the relative position relation and the diagrammatic sketch that utilizes pulse laser to scan between expression carton and the measurement mechanism.

Fig. 7 is the relative position relation and the diagrammatic sketch that utilizes pulse laser to scan between expression carton and the measurement mechanism.

Fig. 8 is the relative position relation and the diagrammatic sketch that utilizes pulse laser to scan between expression carton and the measurement mechanism.

Fig. 9 is the relative position relation and the diagrammatic sketch that utilizes pulse laser to scan between expression carton and the measurement mechanism.

Figure 10 is the relative position relation and the diagrammatic sketch that utilizes pulse laser to scan between expression carton and the measurement mechanism.

Figure 11 is the relative position relation and the diagrammatic sketch that utilizes pulse laser to scan between expression carton and the measurement mechanism.

Figure 12 only can carry out the end face of carton in the pattern of pulsed laser irradiation, with measurement mechanism the end face of carton is carried out the scan condition diagrammatic sketch.

Figure 13 is the pattern that measurement mechanism is set at the position of the end face that can only shine carton and a side, and be the pattern of the one-dimensional scanning direction almost parallel of the above-mentioned side of carton and measurement mechanism, the end face of carton and one side are carried out the scan condition diagrammatic sketch.

Figure 14 is the pattern that measurement mechanism is set at the position of the end face that can only shine carton and a side, and be the pattern of the one-dimensional scanning direction almost parallel of the above-mentioned side of carton and measurement mechanism, the end face of carton and side are carried out the diagrammatic sketch of scan condition.

Figure 15 may carry out in the pattern of pulsed laser irradiation end face and 2 sides of carton at measurement mechanism, and the scan condition diagrammatic sketch is carried out in 2 side of carton.

Figure 16 may carry out in the pattern of pulsed laser irradiation end face and 2 sides of carton at measurement mechanism, and the scan condition diagrammatic sketch is carried out in 2 sides of carton.

Figure 17 only may carry out in the pattern of pulsed laser irradiation 2 sides of carton at measurement mechanism, and the scan condition diagrammatic sketch is carried out in 2 sides of carton.

Figure 18 only may carry out in the pattern of pulsed laser irradiation 2 sides of carton at measurement mechanism, and the scan condition diagrammatic sketch is carried out in 2 sides of carton.

Figure 19 is the block diagram of one of the form of enforcement apparatus of the present invention example.

Figure 20 is the planimetric map that expression is suitable for an example of highway of the present invention point of crossing.

Figure 21 is illustrated in the oblique view that detects pulse laser scanning mode in the scope of the present invention.

Figure 22 is ground instrumentation pedestrian states are tieed up in expression by the reflection interval of the pulse laser of Figure 21, at each point, 3 a oblique view.

Figure 23 is illustrated in weighting in the information of Figure 22 behind each point, 3 dimension ground instrumentations, obtains discerning the oblique view of state of the value of detecting of pedestrian and automobile.

Figure 24 is the oblique view of the state of expression the detect scope different with Figure 21.

Figure 25 is the oblique view with the state of the object of vector representation in Figure 24.

Figure 26 is the simple pie graph of the object measuring device of an example of the present invention.

Figure 27 is the state diagram that the monitored object zone is scanned by laser radar.

Figure 28 is the block diagram of the simple making treating apparatus of expression lidar image.

Figure 29 is the presentation graphs that lidar image 30A and photographed images 30B is carried out the notion of matching treatment.

Figure 30 is an illustration figure of the concrete processing sequence of images match processing.

Figure 31 is the routine diagrammatic sketch of representational expression of the monitoring picture of expression object measuring device shown in Figure 26.

Figure 32 is the simple pie graph of the object measuring device of an example of the present invention.

Figure 33 is the state diagram that the monitored object zone is scanned by laser radar.

Figure 34 is the block diagram of the simple making treating apparatus of expression lidar image.

Figure 35 is to use object measuring device shown in Figure 32 to monitor the diagrammatic sketch of railway road junction appearance.

Figure 36 is the simple processing sequence diagrammatic sketch that the initial setting of object measuring device shown in Figure 32 is handled.

Figure 37 is the diagrammatic sketch of an example of the enforcement control sequence handled of the supervision of object measuring device shown in Figure 32.

The best form that carries out an invention

Fig. 1 is the simple formation diagrammatic sketch of the measuring device 3 of example of the present invention.

Measuring device 3 has: to carton 1 can emission pulse laser LB1 pulse laser emitter 5; The scanister 7 that above-mentioned carton 1 is carried out two-dimensional scan with above-mentioned pulse laser LB1; Acceptance is from the pulse laser infrared rays receiver 9 of the above-mentioned pulse laser LB1 of above-mentioned carton 1 reflection; Detect the reflection position detection device 11 of the reflection position of above-mentioned carton 1 according to catoptrical mistiming that carved by the light time of the x time of the transmit direction of above-mentioned pulse laser LB1 and above-mentioned pulse laser LB1 and this pulse laser LB1; According to the above-mentioned a plurality of reflection positions that are detected, calculate and export the whole size and the calculating apparatus 13 that the position is set of above-mentioned carton 1.

Here, pulse laser emitter 5 have be arranged in the control module 15, can produce pulse laser LB1 laser element 17, the pulse laser LB1 of above-mentioned generation launches towards the reflecting surface of the polygonal mirror 23 of above-mentioned scanister 7 from the pulse laser emission part 21 of the base station 19 that is set at scanister 7.

Scanister 7, with pulse laser LB1 after certain direction is carried out one-dimensional scanning to carton 1, by the conversion scanning position, with the direction of above-mentioned certain orientation almost parallel on repeatedly carry out the scanning same with above-mentioned one-dimensional scanning, in the surface of above-mentioned carton 1, make pulse laser LB1 carry out two-dimensional scan to the roughly universe of shining possible face.

Here, scanister 7 possesses base station 19, and revolution freely supports polygonal mirror support component 25 revolutions of polygonal mirror 23 freely to be supported on this base station 19.And, the revolving shaft of the revolving shaft of polygonal mirror 23 and polygonal mirror support component 25 with mutually roughly the mode of meeting at right angles be provided with.Be used to allow polygonal mirror 23 be connected above-mentioned polygonal mirror 23 linkedly, be used to allow polygonal mirror support component 25 be connected above-mentioned polygonal mirror propping material 25 linkedly to the rotating control motor 29 of the direction of arrow A R12 to the rotating control motor 27 of the direction of arrow A R11.

Form the polygonal mirror 23 of reflectings surface by revolution at 4 faces of side, the transmit direction of the pulse laser LB1 that launches from pulse laser reflecting part 21 changes, and this pulse laser LB1 carries out one-dimensional scanning to certain orientation to carton 1.And, by revolution polygonal mirror support component 25, carry out repeatedly the one-dimensional scanning with above-mentioned one-dimensional scanning almost parallel repeatedly, just can realize two-dimensional scan to carton 1.

In order to detect the angle of revolution that these respectively control motor, on control motor 27 or control motor 29, be provided with scrambler (encoder), by above-mentioned each scrambler, can detect the transmit direction of above-mentioned pulse laser LB1.

Pulse laser infrared rays receiver 9 has detector 33, this detector 33 be used to detect 5 emissions of pulse laser emitter, by the surface reflection of carton 1, by the pulse laser of light harvesting camera lens 31 light harvestings.And the above-mentioned pulse laser by the surface reflection of carton 1 is reflected by polygonal mirror 23, advances towards the direction of light harvesting camera lens 31.

Pulse laser emission part 21, light harvesting camera lens 31 and detector 33 by there not being illustrated connecting portion material, are fixed on the polygonal mirror propping material 25, integratedly along with the revolution of polygonal mirror propping material 25 is turned round together.

Reflection position detection device 11 has the register 35 that is arranged on control module 15, and this register 35 calculates the catoptrical mistiming that is subjected to quarter light time of x time with the detector 33 detected above-mentioned pulse laser LB1 of the pulse laser LB1 that launches from above-mentioned laser cell 17.

Then, be arranged on control module 15 control with PC 37 accept above-mentioned mistiming that above-mentioned register 35 tries to achieve, the transmit direction of representing above-mentioned pulse laser LB1, by the angle of revolution value of the output shaft of the detected control motor 27 of scrambler with control the value of angle of revolution of the output shaft of motor 29, the reflection position on the surface of the carton 1 of above-mentioned pulse laser detects with PC 37 by controlling.

Control is with PC 37, as mentioned above, in control setting in control module 15 integral body of laser element 17 and register 35, control control motor 27 and control motor 29.

Calculating apparatus 13 uses upper PC 39, according to controlling a plurality of reflection positions that detect with PC 37, calculate the coordinate figure of the crest line of above-mentioned carton 1, use the coordinate figure of the crest line that this quilt calculates to calculate each summit of above-mentioned carton 1, calculate and export the whole size of above-mentioned carton 1 and the position is set.And, the size of above-mentioned above-mentioned carton 1 of being calculated and the position is set, be output and be illustrated on the display screen (not have diagram) of LCD etc. of above-mentioned upper PC 39 or with printer that above-mentioned upper PC 39 is connected on.

Next, the action to measuring device 3 describes.

Each action of measuring device 3 is carried out under the control of control with PC 37, upper PC 39 as shown in fig. 1.

Illustrate that at first measuring device 3 obtains the pulse laser LB1 that launched for instrumentation carton 1 action in the XYZ coordinate value of the lip-deep reflection position of above-mentioned carton 1.

In above-mentioned action, the relative position relation between carton 1 and the measuring device 3 is not changed.For example, carton 1 is arranged to for the mobile state in ground, and the base station 19 of measuring device 3 also is arranged to for the mobile state in ground.

Fig. 2 is the simple presentation graphs of the action of measuring device 3.

In Fig. 2, the bottom surface of carton 1 is arranged to for ground almost parallel (for example, above-mentioned bottom surface contacts with above-mentioned ground) carton 1 is set, and the upper portion on above-mentioned ground is provided with measuring device 3.

Continuous emission pulse laser LB1, by revolution polygonal mirror 23 as shown in Figure 1, measuring device 3 carries out scanning W21 linear, one dimension in arrow A R21 direction as shown in Figure 2.Above-mentioned scanning W21, it is inferior that pulse laser LB1 is launched (N), forms each reflection position (point) P11-P1N on above-mentioned ground.

Then, turn round polygonal mirror support component 25 shown in Figure 1, continuous emission pulse laser LB1, by revolution polygonal mirror 23 as shown in Figure 1, the scanning position that makes one dimension moves to AR22 direction as shown in Figure 2, and measuring device 3 carries out the scanning W22 with the much the same linear and one dimension of scanning W21.And then measuring device 3 carries out repeatedly the roughly same scanning W23-W2M with scanning W21.Like this, by the scanning W21-W2m repeatedly of one dimension, the two-dimensional scan that measuring device 3 carries out carton 1.And the direction of scanning of above-mentioned each one-dimensional scanning W21-W2M is parallel to each other.

Secondly, the action to the reflection position that detects (extraction) carton 1 describes.

Fig. 3 is at the diagrammatic sketch of carton 1 being carried out as the situation of the scanning W2n of the one dimension of Fig. 2.Among Fig. 3, carton 1 is set its bottom surface and XY plane (face of Z=0) Pxy is joined, measuring device 3 be set at XYZ space fixed position (for example, X=0, Y=0, Z=H; Highly).

Fig. 3 (a) is that Fig. 3 (b) is the planimetric map that is illustrated in the III direction of arrow among Fig. 3 (a) at the front view (FV) of the situation of implementing an one-dimensional scanning W2n.

Here, as Fig. 2 explanation like that, continuous emission pulse laser LB1 by turning round polygonal mirror shown in Figure 1 23, carries out once linear one-dimensional scanning W2n on the direction of the arrow A R31 of Fig. 3 (b).Among this one-dimensional scanning W2n, a plurality of (n) pulse laser Wp1-Wpn is launched, and forms a plurality of reflection positions (reflection spot) P1-P2 corresponding to this each pulse laser Wp1-Wpn.

Here, for example, distance between use measuring device 3 and the reflection position Pr and the transmit direction of pulse laser Wpr represent that with the XYZ coordinate value of above-mentioned XYZ space the situation of reflection position Pr describes.

Pulse laser Wpr from moment that measuring device 3 is reflected as moment t1, above-mentioned pulse laser Wpr is reflected from the reflection position Pr on the carton 1, if the moment of accepting this laser with above-mentioned measuring device 3, the distance L 3 from above-mentioned measuring device 3 to above-mentioned reflection position Pr can (L3=(t2-t1) * c) ([c] is the light velocity) calculates with formula as moment t2.

Shown in Fig. 3 (a), the intersecting angle of the transmit direction of above-mentioned pulse laser Wpr and z axle is as angle θ, as Fig. 3 (b) expression, the intersecting angle of the transmit direction of above-mentioned pulse laser Wpr and y axle is as angle φ, the z coordinate figure of above-mentioned reflection position Pr can be tried to achieve with calculating formula [H-L3cos θ], the x coordinate figure of above-mentioned reflection position Pr can be tried to achieve with calculating formula [L3sin θ sin φ], and the y coordinate figure of above-mentioned reflection position Pr can be tried to achieve with [L3sin θ cos φ].

Same, the xyz coordinate figure of each reflection position P1-Pr-1, the Pr+2-Pn of each pulse laser Wp1-Wpr-1, Wpr+2-Wpn beyond the above-mentioned pulse laser Wpr also can be tried to achieve, and the xyz coordinate figure of each reflection position P1-Pn also can be tried to achieve.

In these each reflection position P1-Pn, the z coordinate figure is roughly each reflection position P1-Pr-1, Pr+9-Pn of 0, represents the reflection position on the above-mentioned xy plane P xy, is not that each reflection position Pr-Pr+8 of 0 represents the reflection position on the carton 1 at the z coordinate figure.

Therefore, each reflection position P1-Pr-1, Pr+9-Pn are the reflection positions on the above-mentioned xy plane P xy, because be not the reflection position on the carton 1, thereby can ignore, according to each reflection position Pr-Pr+8, calculate the coordinate figure of the crest line of above-mentioned carton 1, calculate each top summit of above-mentioned carton 1, and calculate the size that position and integral body are set of carton 1 with the coordinate figure of this crest line that calculates.

Shown in Fig. 3 (b), reflection position Pm for example, for above-mentioned reflection position Pm reflection position Pm-1, Pm+1 successively, coordinate figure is visibly different to be ignored, and for example, detects as detecting the rubbish that wafing etc. in the air.Just, at reflection position Pm, carton 1 does not exist.

Among Fig. 3, be illustrated about an one-dimensional scanning W2n, the intersecting angle θ of conversion Fig. 3 (a) expression, when carrying out other one-dimensional scanning, W2n is the same with one-dimensional scanning, can obtain the xyz coordinate figure of lip-deep reflection position of carton 1.Then, as shown in Figure 2,, promptly carton 1 is implemented two-dimensional scan by one-dimensional scanning W21-W2M repeatedly.And the two-dimensional scan that the one-dimensional scanning W21-W2M by repeatedly forms can show as a frame.

And, when the value of the angle of the crossing θ of Fig. 3 (a) expression becomes big, the pulse laser of measuring device 3 emissions can not reflex time, just think that the transmit direction upper paper box 1 at pulse laser does not exist.

Below, illustrate in greater detail behind the xyz of lip-deep each reflection position that detects above-mentioned carton 1 coordinate figure, from these respectively the value of detecting obtain above-mentioned carton 1 position, whole size are set the time the action of measuring device 3.

Fig. 4 be measuring device 3 measure cartons 1 position and whole size are set the time the general flowchart of action.

At first, measuring device 3 is tried to achieve each reflection position on the carton 1 of each one-dimensional scanning of a frame shown in Figure 2 (frame that constitutes by each scanning W21-W2M), obtains the equation of line (S1) on the xy plane that connects with this each reflection position of trying to achieve.

Here the equation of line action of finding the solution in an one-dimensional scanning on the xy plane that connects each reflection position on the carton 1 is described in detail.

Fig. 5 is the part expanded view of each the reflection position Pr-Pr+8 on the carton 1 that shows of Fig. 3.Each reflection position Pr-Pr+8 shown in Figure 5 is each reflection position of representing on the xy plane, reflection position Pr-Pr+2 among each reflection position Pr-Pr+8 is roughly arranged side by side in a straight line, constituted a group 41, each reflection position Pr+2-Pr+6 is roughly arranged side by side in a straight line, constituted a group 43, each reflection position Pr+6-Pr+8 is roughly arranged side by side in a straight line, has constituted a group 45.

Calculate straight line 42 from each the reflection position Pr-Pr+2 that constitutes above-mentioned group 41 with for example method of least squares.The formula of this straight line 42 can be represented with [y=K1x+T1].

Same, calculate straight line 44 from each the reflection position Pr+2-Pr+6 that constitutes above-mentioned group 43, calculate straight line 46 from each the reflection position Pr+6-Pr+8 that constitutes above-mentioned group 45.The formula of this straight line 44 can represent that the formula of this straight line 46 can be represented with [y=K3x+T3] with [y=K2x+T2].And the value of [K2] of the formula of above-mentioned straight line 44 is near 0.

Fig. 5, each reflection position of the carton 1 that detects with an one-dimensional scanning W2n is calculated each straight line 42,44,46, and each the one-dimensional scanning W21-W2M (with reference to figure 2) beyond each scanning W2n shown in Figure 3 is obtained each equation of line on the above-mentioned xy plane.

According to the position relation of measuring device of representing as Fig. 33 and carton 1, measuring device 3 can be to end face and 2 side-irradiation pulse lasers of carton 1.But not all each one-dimensional scanning all is at the end face of carton 1 and 2 side-irradiation pulse laser, and can each scanning in irradiated with pulse laser on which face of carton 1 by the direct of travel of the pulse laser that is launched shown in Fig. 3 (a) and the decisions such as angle of cut θ between the z axle.

Can access (calculating) 3 straight lines as described above by the one-dimensional scanning at the pulse laser of the end face of carton 1 and 2 side-irradiations, the inclination of these straight lines is different.Can access 2 straight lines by the one-dimensional scanning to the pulse laser of 2 side-irradiation of carton 1 only, the inclination of these straight lines is different.And, can access 1 straight line by one-dimensional scanning only at the pulse laser of the end face of carton 1 irradiation.

Then, the relative position relation of carton 1 and measuring device 3 and scanning by measuring device 3 are described in detail to the radical of the straight line on the xy plane of calculating at each reflection position on the carton 1 with the relation of the degree of tilt of above-mentioned each straight line.

Fig. 6-Figure 11 is the relative position relation between expression carton 1 and the measuring device 3 and the figure of pulse laser scanning, and Fig. 6 is the constitutional diagram that is provided with of only representing on the end face of carton 1 can the position of irradiated with pulse laser measuring device 3.

Fig. 6 (a) is the front view (FV) of the position relation of expression measuring device 3 and carton 1, and Fig. 6 (b)-(d) is the view of the VI direction among Fig. 6 (a).

Among Fig. 6 (a), respectively scan W6a-W6k, carry out the scanning of two dimension for carton 1 by what measuring device 3 carried out one dimension.

The one-dimensional scanning W6a of Fig. 6 (b) expression because with pulsed laser irradiation be the xy plane, so can not detect the reflection position on the carton 1.Same, one-dimensional scanning W6k can not detect the reflection position on the carton 1.

Among Fig. 6 (c), because carton 1 is shone by one-dimensional scanning W6d, so can detect reflection position on the carton 1.Here, above-mentioned each reflection position that detects (each reflection position on the surface of carton 1) is identified as group roughly arranged side by side shown in Figure 5 point-blank, and connects each reflection position and the line segment that obtains with straight line as the line segment R6d of Fig. 6 (c) expression.Therefore, on line segment R6d, there are a plurality of reflection positions.The straight-line equation that contains on the xy plane of above-mentioned line segment R6d can be expressed as [y=K6dX+T6d].And the value of above-mentioned [K6d] is bordering on 0.That is, comprise the straight line of above-mentioned line segment R6d and the straight line of x axle almost parallel.

And Fig. 6 (d) is also the same with Fig. 6 (c), can enough one-dimensional scanning W6g obtain line segment R6g, and the equation of line that comprises on the xy plane of above-mentioned line segment R6g can be expressed as [y=K6gX+T6g], and the value of above-mentioned [K6g] also is bordering on 0.That is, the straight line that comprises above-mentioned line segment R6g also is the straight line with x axle almost parallel.

And then, roughly the same with the situation of Fig. 6 (c) and Fig. 6 (d) expression, can try to achieve each equation of line to above-mentioned each scanning from each reflection position of each scanning W6b, W6c, W6e, W6f, W6h, W6i, W6j.But, also be straight line with x axle almost parallel with above-mentioned W6b, W6c, W6e, W6f, W6h, W6i, each straight line that W6j is corresponding of respectively scanning.

That is, which scanning of the number of the straight line on the xy plane of trying to achieve with above-mentioned each reflection position that respectively scans W6b-W6j in above-mentioned each scanning W6b-W6j all is one, and the inclination of this straight line also has only a kind of.

And, at the above-mentioned z coordinate figure that respectively scans the reflection position of W6b-W6j, because be the value that obtains with behind the pulsed laser irradiation carton 1, so be roughly certain.In a word, above-mentioned each reflection position be with the parallel plane plane of xy (plane that Z=is certain) on.

Fig. 7 is that measuring device 3 is arranged on can be to the end face of carton 1 and the locational state of a side-irradiation pulse laser only, and is the direction presentation graphs of the state of keeping parallelism roughly of the above-mentioned side of carton 1 and one-dimensional scanning (for example scanning W7a).

Fig. 7 (a) is the front view (FV) of the position relation of expression measuring device 3 and carton 1, and Fig. 7 (b)-(d) is the view of the VII direction in Fig. 7 (a).

Among Fig. 7 (a), respectively scan W7a-W7h, carry out two-dimensional scan for carton 1 by what measuring device 3 carried out one dimension.

The scanning W7a of the one dimension of Fig. 7 (b) expression because by pulsed laser irradiation only be the xy plane, with same shown in Fig. 6 (a), thereby can not detect reflection position on the carton 1.

About Fig. 7 (c), because carton 1 is shone by one-dimensional scanning W7c, so can detect reflection position on the carton 1.Here, the roughly the same line segment of line segment R6d that line segment R7c is and Fig. 6 (c) represents of Fig. 7 (c) expression.And the equation of line that comprises on the xy plane of above-mentioned line segment R7c can be with [y=K7cX+T7c] expression.Above-mentioned [K7c] near y in 0.That is, above-mentioned straight line is the straight line with x axle almost parallel.

Fig. 7 (d) is also the same with Fig. 7 (c), can obtain line segment R7g by enough one-dimensional scanning W7g.And the equation of line that comprises on the plane of xy of above-mentioned line segment R7g can be with [y=K7gX+T7g] expression, and the value of above-mentioned [K7g] also approaches 0.That is, above-mentioned straight line also is the straight line with x axle almost parallel.

Also have, roughly the same with the situation of Fig. 7 (c) and Fig. 7 (d) expression, can try to achieve each equation of line of each scanning from each reflection position of each scanning W7b, W7d, W7e, W7f, W7h.But, also be straight line with x axle almost parallel with above-mentioned W7b, W7d, W7e, W7f, each straight line that W7h is corresponding of respectively scanning.

That is, all be one with above-mentioned which scanning of number in above-mentioned each scanning W7b-W7h that respectively scans each straight line on the xy plane that W7b-W7h tries to achieve, the inclination of this straight line also has only a kind of.

And, from Fig. 7 (a) be appreciated that along with from scanning W7b towards scanning W7e, with pulsed laser irradiation from the bottom of the side of carton 1 towards top, so, become big gradually at the above-mentioned z coordinate figure that respectively scans each scanning position of W7b-W7e along with from scanning W7b towards scanning W7e.

On the other hand, at the above-mentioned z coordinate figure that respectively scans each reflection position of W7f, W7g, W7h,, therefore roughly certain because be the value that obtains with the end face of pulsed laser irradiation carton 1.

That is, the part at the z coordinate figure of above-mentioned each reflection position that respectively scans W7b-W7h is positioned on the plane parallel plane with xy (face that z=is certain).

Fig. 8 is that measuring device 3 only is arranged on can be to the locational state table diagrammatic sketch of one side-irradiation pulse laser of carton 1.

And Fig. 8 (a) is the front view (FV) of the position relation of expression measuring device 3 and carton 1, and Fig. 8 (b)-(d) shows the not view of the VII direction in Fig. 8 (a).

Fig. 8 (a) respectively scans W8a-W8h by what measuring device 3 carried out one dimension, carries out two-dimensional scan for carton 1.

About the one-dimensional scanning W8a of Fig. 8 (b) expression, identical with Fig. 6 (a) expression because with pulsed laser irradiation only be the xy plane, thereby can not detect the reflection position on the carton 1.

About Fig. 8 (c), because carton 1 is shone by one-dimensional scanning W8b, so can detect reflection position on the carton 1.Here, the roughly the same line segment of line segment R6d that line segment R8b is and Fig. 6 (c) represents of Fig. 8 (c) expression.And the equation of line that comprises on the xy plane of above-mentioned line segment R8b can be with [y=K8bX+T8b] expression.

Fig. 8 (d) is also the same with Fig. 8 (c), can obtain line segment R8c by enough one-dimensional scanning W8c.And the equation of line that comprises on the xy plane of above-mentioned line segment R8c can be with [y=K8cX+T8c] expression.And, among scanning W8b and the scanning W8c, because be the same side of carton 1 is shone, in above-mentioned equation of line [y=K8bX+T8b], [y=K8cX+T8c], the value of [K8b] and [K8c] about equally, the value of [T8b] and [T8c] that is to say about equally, comprises the equation of line on the xy plane of line segment R8b and the equation of line that comprises on the xy plane of line segment R8c is roughly the same straight line.

And then roughly the same with Fig. 7 (c) and Fig. 7 (d) expression can be tried to achieve equation of line of above-mentioned each scanning from each reflection position of each scanning W8d, W8e, W8f, W8g.The equation of line of trying to achieve like this because be that the irradiation of the same side of carton 1 is obtained, so with top [y=K8bX+T8b], [y=K8cX+T8c] roughly the same equation of line.

Therefore, each straight line that comprises on the xy plane of each reflection position that respectively scans W8b-W8g is mutually roughly the same straight line.That is, the number that comprises each straight line on the xy plane of each reflection position that respectively scans W8b-W8g is 1, and the inclination of this straight line also has only a kind.

Fig. 9 is that measuring device 3 setting can be to the presentation graphs of the state of the position of the top of carton 1 and two side-irradiation pulse lasers.

Fig. 9 (a) is the front view (FV) of the position relation of expression measuring device 3 and carton 1, and Fig. 9 (b)-(e) is the view of the IX direction in Fig. 9 (a).

Among Fig. 9 (a), the W9a-W9i that respectively scans that carries out one dimension by measuring device 3 comes carton 1 is carried out two-dimensional scan.

About the one-dimensional scanning W9a of Fig. 9 (b) expression, identical with Fig. 6 (a) expression because by pulsed laser irradiation only be the xy plane, thereby can not detect the reflection position on the carton 1.

Among Fig. 9 (c), because carton 1 is shone by one-dimensional scanning W9e, so can detect reflection position on the carton 1.Here, as the roughly the same line segment of line segment R6d that line segment R9e is and Fig. 6 (c) represents of Fig. 9 (c) expression, and, because above-mentioned line segment R9e is two sides with scanning W9e irradiation carton 1, so form by 2 line segment R1, R2.

The equation of line that comprises on the xy plane of a line segment R1 among above-mentioned 2 line segment R1, the R2 can be with [y=K9eX+T9e] expression, and the equation of line that comprises on the xy plane of the 2nd line segment R2 can be with [y=L9eX+U9e] expression.

And, Fig. 9 (d) also and Fig. 9 (c) same, can access line segment R9g.And, because above-mentioned line segment R9g is end face and 2 sides with scanning W9e irradiation carton 1, so form by 3 line segment R3, R4, R5.

The equation of line that comprises on the xy plane of first line segment R3 among above-mentioned 3 line segment R3, R4, the R5 can be with [y=K9gX+T9g] expression, the equation of line that comprises on the xy plane of the 2nd line segment R4 can be with [y=M9gX+V9g] expression, and the equation of line that comprises on the xy plane of the 3rd line segment R5 can be with [y=L9gX+U9g] expression.

Fig. 9 (e) also and Fig. 9 (c) same, can access line segment R9h.And above-mentioned line segment R9h is because with end face and a side of scanning W9e irradiation carton 1, so formed by 2 line segment R6, R7.

The equation of line that comprises on the xy plane of the 1st line segment R6 in above-mentioned 2 line segment can be with [y=K9hX+T9h] expression, and the equation of line that comprises on the xy plane of the 2nd line segment R7 can be with [y=M9hX+V9h] expression.

The equation of line [y=K9gX+T9g] of the equation of line of above-mentioned line segment R1 [y=K9eX+T9e] and line segment R3 and the equation of line [y=K9hX+T9h] of line segment R6, because obtain with each side scanning W9e, W9g, W9h irradiation carton 1, so much the same each other mutually equation of line.

Equally, the equation of line [y=L9gX+U9g] of the equation of line of above-mentioned line segment R2 [y=L9eX+U9e] and line segment R5 is because obtain with each side scanning W9e, W9g irradiation carton 1, so much the same each other mutually equation of line.

Equally, the equation of line [y=M9hX+V9h] of the equation of line of above-mentioned line segment R4 [y=M9gX+V9g] and line segment R7, because obtain with each end face that scans W9g, W9h irradiation carton 1, so the value of [M9g] and [M9h] is roughly 0, the value of [V9g] and [V9h] is then different mutually.

Each reflection position by scanning W9e can be tried to achieve 2 different straight lines of mutual inclination, each reflection position by scanning W9g can be tried to achieve 3 different straight lines of mutual inclination, can try to achieve 2 different straight lines of mutual inclination by each reflection position of scanning W9h.

By each reflection position of each scanning W9b, W9c, W9d, W9f, W9i, under situation, can try to achieve roughly the same equation of line as Fig. 9 (c), Fig. 9 (d), Fig. 9 (e) expression.

The equation of line of trying to achieve by each scanning W9b, W9c, W9d, W9f, each reflection position of W9i is carried out specific description, each reflection position by each scanning W9b-W9d, W9e is the same with scanning, can try to achieve 2 different straight lines of mutual inclination, by each reflection position of each scanning W9f, W9g is the same with scanning, can try to achieve 3 different straight lines of mutual inclination, by each reflection position of each scanning W9i, can try to achieve 1 straight line.

That is, can try to achieve 2 straight lines by each scanning W9b-W9e, can try to achieve 3 straight lines by each scanning W9f, W9g, W9h can try to achieve 2 straight lines by scanning, and W9i can try to achieve 1 straight line by scanning.In other words, the straight line that obtains from each reflection position of carton 1 by each scanning W9b-W9i mostly is 3 most.And the inclination of the straight line that obtains from each reflection position of carton 1 by each scanning W9b-W9i mostly is 3 kinds most.

Figure 10 is that measuring device 3 only is arranged on can be to the presentation graphs of the locational state of two side-irradiation pulse lasers of carton 1.

Figure 10 (a) is the front view (FV) of the position relation of expression measuring device 3 and carton 1, and Figure 10 (b)-(d) is the view of the directions X in Figure 10 (a).

Figure 10 (a) carries out two-dimensional scan by the W10a-W10k that respectively scans that measuring device 3 carries out one dimension for carton 1.

As for one-dimensional scanning W10a as Figure 10 (b) expression, with identical shown in Fig. 6 (a) because by pulsed laser irradiation only be the xy plane, thereby can not detect the reflection position on the carton 1.

Among Figure 10 (c), because carton 1 is shone by one-dimensional scanning W10c, so can detect reflection position on the carton 1.Here, the line segment R10c shown in Figure 10 (c) be and Fig. 6 (c) shown in the roughly the same line segment of line segment R6d, and above-mentioned line segment R10c is because be to shine two side of carton 1 and the line segment that obtains with scanning W10c, so formed by 2 line segment R8, R9.

The equation of line that comprises on the xy plane of first line segment R8 among above-mentioned 2 line segment R8, the R9 can be with [y=K10cX+T10c] expression, and the equation of line that comprises on the xy plane of the 2nd line segment R9 can be with [y=L10cX+U10c] expression.

Figure 10 (d) and Figure 10 (c) are same, can access line segment R10d.And above-mentioned line segment R10d is because with 2 sides scanning W10d irradiation carton 1, so formed by 2 line segment R10, R11.

The equation of line that comprises on the xy plane of first line segment R10 in above-mentioned 2 line segments can be with [y=K10dX+T10d] expression, and the equation of line that comprises on the xy plane of the 2nd line segment R11 can be with [y=L10dX+U10d] expression.

The equation of line [y=K10dX+T10d] of the equation of line of above-mentioned line segment R8 [y=K10cX+T10c] and line segment R10 because obtain with each side scanning W10c, W10d irradiation carton 1, think much the same equation of line.

Same, the equation of line [y=L10dX+U10d] of the equation of line of above-mentioned line segment R9 [y=L10cX+U10c] and line segment R11, because obtain with each another side of scanning W10c, W10d irradiation carton 1, think much the same equation of line.

And then, can try to achieve 2 different straight lines of mutual inclination by each reflection position of scanning W10c, can try to achieve 2 different straight lines of mutual inclination by each reflection position of scanning W10d.

By each reflection position of each scanning W10b, W10e-W10k,, can try to achieve equation of line with roughly the same as the situation of Figure 10 (c) and Figure 10 (d) expression.

The equation of line of trying to achieve by each reflection position of each scanning W10b, W10e-W10k is carried out specific description, each reflection position from each scanning W10b, W10e-W10k, the same with scanning W10c with scanning W10d, can try to achieve 2 different straight lines of mutual inclination.

That is, can try to achieve 2 straight lines, in other words, mostly be 2 most from the straight line that each reflection position of carton 1 obtains by each scanning W10b-Wi0k by each scanning W10b-W10k.And to the logical inclination most species that respectively scans the straight line that W10b-W10k obtains from each reflection position of carton 1 is 2 kinds.

Figure 11 is that measuring device 3 only is arranged on can be to the state table diagrammatic sketch of the position of the end face of carton 1 and a side-irradiation pulse laser.

Figure 11 (a) is the front view (FV) of the position relation of expression measuring device 3 and carton 1, and Figure 11 (b)-(d) is the view in the XI direction of Figure 11 (a).

Figure 11 (a) carries out two-dimensional scan by the W11a-W11i that respectively scans that measuring device 3 carries out one dimension for carton 1.

Among Figure 11 (b), because carton 1 is shone by one-dimensional scanning W11d, so can detect reflection position on the carton 1.Here, the line segment R11d shown in Figure 11 (b) be and Fig. 6 (c) shown in the line segment that similarly obtains of line segment R6d, the equation of line that comprises on the xy plane of above-mentioned line segment R11d can be with [y=K11dX+T11d] expression.

Figure 11 (c) and Figure 11 (b) are same, can access line segment R11g.Above-mentioned line segment R11g is because the side and the end face that shine carton 1 with scanning W11g shine, so formed by 2 line segment R12, R13.

The equation of line that comprises on the xy plane of first line segment R12 in above-mentioned 2 line segments can be with [y=M11gX+V11g] expression, and the equation of line that comprises on the xy plane of the 2nd line segment R13 can be with [y=K11gX+T11g] table not.

Figure 11 (d) and Figure 11 (b) are same, can access line segment R11i.And the equation of line that comprises on the xy plane of above-mentioned line segment R11i can be with [y=M11iX+V11i] expression.

The equation of line [y=K11gX+T11g] of the equation of line of above-mentioned line segment R11d [y=K11dX+T11d] and line segment R13 because obtain with each same side of scanning W11d, W11g irradiation carton 1, think roughly the same equation of line.

The equation of line [y=M11iX+V11i] of the equation of line of above-mentioned line segment R12 [y=M11gX+V11g] and line segment R11i, because obtain with each end face that scans W11g, W11i irradiation carton 1, so the value of [M11g] and [M11i] is roughly 0, the value of [V11g] and [V11i] is then different.

Each reflection position by scanning W11d can be tried to achieve 1 straight line, can try to achieve 2 different straight lines of mutual inclination by each reflection position of scanning W11g, can try to achieve 1 straight line by each reflection position of scanning W11i.

By each scanning W11b, W11c, W11e, W11f, W11h, W11j,, can try to achieve equation of line with identical as the situation of Figure 11 (c) and Figure 11 (d) expression.

The straight line of trying to achieve by each scanning W11b, W11c, W11e, W11f, each reflection position of W11h, W11j is carried out specific description, by each scanning W11b, W11c, W11e, W11f, W11d is the same with scanning, can try to achieve 1 straight line, by scanning W11h, W11g is the same with scanning, can try to achieve 2 different straight lines of mutual inclination, the same by scanning W11j with scanning W11i, can try to achieve 1 straight line.

That is, can respectively try to achieve 1 straight line, can respectively try to achieve 2 straight lines, can try to achieve 1 straight line by each scanning W11i, W11j by each scanning W11h, W11g by each scanning W11b-W11f.In other words, mostly be 2 by each scanning W11b-W11i most from the straight line that each reflection position of carton 1 obtains.And the inclination most species of the straight line that obtains from each reflection position of carton 1 by each scanning W11b-W11i is 2 kinds.

Follow the order of Fig. 6-Figure 11, try to achieve maximal value, judge the relative position relation of measuring device 3 and carton 1 from this maximal value at the bar number of the straight line of each scanning at step S1.

Promptly as shown in Figure 4, be (S3) under 1 the situation in the maximal value of the vertical element number that the reflection position of each scanning is tried to achieve, measuring device 3 judge all each reflection positions in each scanning whether form with the parallel plane plane of xy (whether the Z coordinate figure of all each reflection positions much the same) (S5).

Then, under the situation on all each each reflection positions formation that scans and the parallel plane plane of xy, measurement is judged as: as Fig. 6 represented, the relative position relation between device 3 and the carton 1 was that measuring device 3 only can be to the pattern of the end face irradiated with pulse laser of carton 1 (hereinafter referred to as [A pattern].), and corresponding with above-mentioned A pattern, carton 1 is discerned (S7).To corresponding with above-mentioned A pattern, will be elaborated below to the identification of carton 1.

Step S5 when all do not form with the parallel plane plane of xy at each reflection position of each scanning, judges whether the part at each reflection position of each surface sweeping forms and the parallel plane plane of xy (S9).

When the part of the reflection position of each scanning forms with the parallel plane plane of xy, be judged as: the relative position relation between measuring device 3 and the carton 1, as Fig. 7 represents, be that measuring device 3 only can be to the pattern of the end face and a side-irradiation pulse laser of carton 1, and, the pattern (hereinafter referred to as [B pattern]) of an above-mentioned side of carton 1 and the direction general plane of one-dimensional scanning, and corresponding with above-mentioned B pattern, carton 1 is discerned (S11).The identification to carton 1 to above-mentioned B pattern correspondence will be elaborated below.

Step S9, when each reflection position of each scanning whole or a part of do not form with the parallel plane plane of xy, be judged as: the relative position relation between measuring device 3 and the carton 1, as Fig. 8 represents, be that measuring device 3 only can be to the pattern of a side-irradiation pulse laser of carton 1 (hereinafter referred to as [C pattern].), and corresponding with above-mentioned C pattern, carton 1 is discerned (S 13).To corresponding with above-mentioned C pattern, will be elaborated below to the identification of carton 1.

Step S3 is not under 1 the situation in the maximal value of the straight line number of trying to achieve with the reflection position of each scanning, and at most whether that judge the straight line of trying to achieve with each reflection position of each scanning is 2 (S15).

Be not under 2 the situation in the maximal value of the straight line number of trying to achieve with the reflection position of each scanning, relative position relation between measuring device 3 and the carton 1, as Fig. 9 represents, be that measuring device 3 can be to the pattern of end face and 2 side-irradiation pulse lasers of carton 1 (hereinafter referred to as [D pattern].), and corresponding above-mentioned D pattern, carton 1 is discerned (S17).To corresponding with above-mentioned D pattern, will be elaborated below to the identification of carton 1.

Step S15 is under 2 the situation in the maximal value of the straight line number of trying to achieve with the reflection position of each scanning, judges whether the part at the reflection position of each scanning forms and the parallel plane plane of xy (S19).

When each reflection position of each scanning whole or a part of do not form with the parallel plane plane of xy, be judged as: the relative position relation between measuring device 3 and the carton 1, as Figure 10 represents, be that measuring device 3 only can be to the pattern of 2 side-irradiation pulse lasers of carton 1 (hereinafter referred to as [E pattern].), and corresponding with above-mentioned E pattern, carton 1 is discerned (S21).To corresponding with above-mentioned E pattern, will be elaborated below to the identification of carton 1.

Step S19, when the part of each reflection position of each scanning forms with the parallel plane plane of xy, be judged as: the relative position relation between measuring device 3 and the carton 1, as Figure 11 represents, be that measuring device 3 only can be to the pattern of the end face and a side-irradiation pulse laser of carton 1 (hereinafter referred to as [F pattern].), and carton carried out discerning (S23) accordingly with above-mentioned F pattern.To corresponding with above-mentioned F pattern, will be elaborated below to the identification of carton 1.

At step S3 and step S15, secondly carry out the action of which step with the corresponding judgement of maximal value of the straight line number of trying to achieve by each reflection position of each scanning, maximal value that can above-mentioned straight line, and the maximal value of the inclination kind of the straight line of trying to achieve with each reflection position of corresponding each scanning is judged and is secondly carried out the action of which step.

For example can, at step S1, try to achieve the result of each equation of line on xy plane of each scanning of a frame, at step S3, each scanning the maximal value of species number of inclination of equation of line be under the situation of [1], advance to step S5, be not under the situation of [1], advance to step S15.

Below, the identification at the carton 1 of the A of step S7 shown in Figure 4 pattern is described.

Figure 12 is in only can the pattern (A pattern) to the end face irradiated with pulse laser of carton 1 with measuring device 3, the presentation graphs of the situation of the end face of scanning carton 1.

That is, among Figure 12 (a), measuring device 3 sequentially carries out each one-dimensional scanning 51-56 by the end face at carton 1, comes the end face of carton 1 is carried out two-dimensional scan.

On the straight line of the above-mentioned scanning 51 of expression, as described in Figure 2, form the reflection position (not diagram) on the carton 1 of suitable number.Then, the x coordinate figure of reflection position (point) 51a of the x coordinate figure minimum in these each reflection positions is [x1], and the y coordinate figure corresponding with it (the y coordinate figure of reflection position 51a) is [y1].And the x coordinate figure of reflection position (point) 51b of the x coordinate figure maximum in above-mentioned each reflection position is [x21], and the y coordinate figure corresponding with it (the y coordinate figure of reflection position 51b) is [y21].

Equally, also form the reflection position 52a-66a of x coordinate figure minimum and the reflection position 52b-66b of x coordinate figure maximum at each scanning 52-66.Each x coordinate figure of above-mentioned each reflection position 52a-66a is [x2-x16], the y coordinate figure corresponding with these x coordinate figures is [y2-y16], the x coordinate figure of above-mentioned each reflection position 52b-66b is [x21-x36], and the y coordinate figure corresponding with these x coordinate figures is [y21-y36].X coordinate figure that obtains like this and y coordinate figure are shown in Figure 12 (b).

Then, the A pattern, shown in Figure 12 (a) because each reflection position 51a-54a be positioned at carton 1 end face article one crest line near, so each reflection position 51a-54a roughly is located along the same line.Here, use least square method, obtain the equation of line of expression by the straight line 50A near the xy plane of each reflection position 51a-54a from these each reflection position 51a-54a.Equally, obtain the equation of line of the straight line 50B of corresponding each the reflection position 55a-66a of expression, obtain the equation of line of the straight line 50C of corresponding each the reflection position 63b-66b of expression, obtain the equation of line of the straight line 50D of corresponding each the reflection position 51b-62b of expression.And with each straight line 50A-50D that above-mentioned equation of line is represented is the straight line (each crest line is extended the back) that contains 4 crest lines that exist at the end face of carton 1.In other words, the coordinate figure of each crest line that can represent the end face of carton 1 by each equation of line of representing each straight line 50A-50D.

And then, obtain the x coordinate figure and the y coordinate figure of intersection point 50E of the equation of line of the equation of line of straight line 50A and straight line 50B.Equally, obtain each x coordinate figure and the y coordinate figure of each intersection point 50F, 50G, 50H.

Obtain each Z coordinate figure of each intersection point 50E, 50F, 50G, 50H from the Z coordinate figure (for example mean value of each Z coordinate figure of above-mentioned each reflection position) of each reflection position of each scanning 51-66.

Here, if adopt the xyz coordinate figure of the xyz coordinate figure of above-mentioned each intersection point 50E, the 50F try to achieve as described above, 50G, 50H as each summit of the end face that is positioned at carton 1, the size (length of carton 1) that position and integral body are set that just can cognitive carton 1.

And, the output that position and whole size can be suitable being set and being illustrated in (not shown) on the LCD of the upper PC PC39 that Fig. 1 for example represents of above-mentioned carton 1.

The identification of the carton 1 of the B pattern of the step S11 that Fig. 4 is represented describes below.

It can and be in the pattern (B pattern) of direction almost parallel of one-dimensional scanning of the above-mentioned side of carton 1 and measuring device 3 to the pattern of the end face of carton 1 and a side-irradiation pulse laser only that Figure 13 and Figure 14 are illustrated in measuring device 3, and scan condition is carried out in end face and a side of carton 1.

Among Figure 13, two-dimensional scan is carried out in the end face of 3 pairs of cartons 1 of measuring device and a side.That is, by according to upwards and carry out one dimension to the order of the end face of carton 1 and respectively scan 71-79, the side and the end face of carton 1 carried out two-dimensional scan from the bottom of a side of carton 1.

On the straight line of the above-mentioned scanning 71 of expression, roughly the same with above-mentioned scanning 51, form the suitably reflection position of several cartons 1 (not having diagram).Then, in these each reflection positions, the x coordinate figure of the reflection position of x coordinate figure minimum (point) 71a is [x41], and the y coordinate figure corresponding with it (the y coordinate figure of reflection position 71a) is [y41], and z coordinate figure (the z coordinate figure of reflection position 71a) is [z41].And the x coordinate figure of reflection position (point) 71b of the x coordinate figure maximum in each reflection position is [x51], and the y coordinate figure corresponding with it (the y coordinate figure of reflection position 71b) is [y51], and z coordinate figure (the z coordinate figure of reflection position 71b) is [z51].

Equally, at each scanning 72-79, form the reflection position 72a-79a of x coordinate figure minimum and the reflection position 71b-79b of x coordinate figure maximum.And each x coordinate figure of above-mentioned each reflection position 72a-79a is [x42-x49], and each y coordinate figure of corresponding these x coordinate figures is [y42-y49], and each z coordinate figure is [z42-z49].And the x coordinate figure of above-mentioned each reflection position 71b-79b is [x52-x59], and each y coordinate figure of corresponding these x coordinate figures is [y52-y59], and each z coordinate figure is [z52-z59].Each the x coordinate figure that obtains like this and each y coordinate figure and each z coordinate figure are shown in Figure 14.

The B pattern, as shown in figure 13, a side (by the side of each scanning 71-74 irradiated with pulse laser) and xz plane almost parallel that the carton 1 of shape is arranged, because each reflection position 71a-79a, 71b-79b be positioned at carton 1 crest line near, so in each coordinate figure shown in Figure 14, the value of [x41-x49] roughly equates to be certain value mutually, the value of [x51-x59] roughly equates to be certain value mutually, the value of [y41-y44] roughly equates to be certain value mutually, the value of [y51-y54] roughly equates to be certain value mutually, the value of [z45-z49] roughly equates to be certain value mutually, and the value of [z55-z59] roughly equates to be certain value mutually.

Here, only to respectively the scanning among the 75-79 of the end face of carton 1 irradiation, as mentioned above because the value of [x45-x49] roughly equates to be certain value mutually, the value of [z45-z49] equates mutually roughly to be certain value that each reflection position 75a-79a roughly is located along the same line.Obtain equation of line with least square method from these each reflection position 75a-79a by near the straight line 70A each reflection position 75a-79a.

Equally, what shine on only to carton 1 respectively scans among the 75-79, because each reflection position 75b-79b roughly is located along the same line, obtain equation of line from these each reflection position 75b-79b by near the straight line 70B each reflection position 75b-79b with least square method.

Each straight line 70A, the 70B that represents with above-mentioned equation of line is the straight line (each crest line is extended the back) that contains 2 crest lines that the end face at carton 1 exists.In other words, the coordinate figure of each crest line that can represent the end face of carton 1 by each equation of line of representing each straight line 70A, 70B.

Then, each scans in the reflection position of 75-79, the y coordinate figure of the reflection position of y coordinate figure minimum (for example reflection position 75a and 75b) is updated in the equation of line and above-mentioned straight line 70B equation of line of above-mentioned straight line 70A, obtain x coordinate figure and the y coordinate figure and the z coordinate figure of first summit 70C (with reference to Figure 13) of the end face of carton 1, the x coordinate figure of the 2nd the summit 70D (with reference to Figure 13) of the end face of carton 1 and y coordinate figure and z coordinate figure.

Each scans in the reflection position of 75-79, the y coordinate figure of the reflection position of y coordinate figure maximum (for example reflection position 79a and 79b) is updated in the equation of line and above-mentioned straight line 70B equation of line of above-mentioned straight line 70A, obtain x coordinate figure and the y coordinate figure and the z coordinate figure of the 3rd summit 70E (with reference to Figure 13) of the end face of carton 1, x coordinate figure and y coordinate figure and the z coordinate figure of the 4th summit 70F (with reference to Fig. 1 3) of the end face of carton 1.

Here, if adopt the xyz coordinate figure of the xyz coordinate figure of above-mentioned each intersection point 70C, the 70D try to achieve as described above, 70E, 70F, just can discern the size (length of carton 1) that position and integral body are set of carton 1 as each summit of the end face that is positioned at carton 1.

Identical with the A pattern, the output that position and whole size can be suitable be set and be illustrated on the LCD of the upper PC PC39 that Fig. 1 represents (not shown) of above-mentioned carton 1.

In the B pattern, that only uses that the reflection position (scanning 75-79 reflection position) of the end face of carton 1 can try to achieve carton 1 is provided with position and whole size, and, for the correct size that position and integral body are set of trying to achieve carton 1, the reflection position (scanning 71-74 reflection position) that can add the side of upper paper box 1, that tries to achieve carton 1 is provided with position and whole size.

Promptly, for example substitute the y coordinate figure of reflection position 75a and 75b, and adopt at the x coordinate figure of the reflection position of each scanning 71-74 and the mean value of y coordinate figure (for example mean value of the y41-y44 that represents of Figure 14 and the mean value of y51-y54) the y coordinate figure as summit 70C and 70D, even for example scan 75 scanning position than the physical location of the crest line of carton 1 greatly to the y deviation in driction, also can correctly hold the position (particularly y coordinate figure) of the summit 70C and the 70D of carton 1.

Identification to the carton 1 of the C pattern of step S13 shown in Figure 4 describes below.

The C pattern is that measuring device 3 only can be to the pattern of the side-irradiation pulse laser of carton 1.

According to the C pattern, can measure the position and the size of an above-mentioned side of above-mentioned carton 1 with measuring device 3, but the size of the depth direction of the rectangular above-mentioned carton 1 of energy measurement and above-mentioned this side not.

So above-mentioned C pattern is judged as with measuring device 3 and can not measures the whole size of above-mentioned carton 1 and the position is set, this judged result is by suitable output and be illustrated on the LCD of upper PC PC39 shown in Figure 1 (not having diagram).

Though calculate above-mentioned carton 1 the position is set and whole size is impossible, but according to each reflection position on the above-mentioned side, can measure the position and the size of the above-mentioned side side of irradiated with pulse laser (measuring device 3 can) of above-mentioned carton 1 with measuring device 3, so can try to achieve the size and the position of an above-mentioned side, and suitably export and be illustrated on the LCD of upper PC PC39 shown in Figure 1 and (do not have diagram).

Identification to the carton 1 of the D pattern of step S17 shown in Figure 4 describes below.

The D pattern, because measuring device 3 can be to the end face irradiated with pulse laser of carton 1, so it is identical with above-mentioned A pattern, only position and whole size be set with what the reflection position of the end face of carton 1 just can be tried to achieve above-mentioned carton 1, and position and whole size be set for what try to achieve above-mentioned carton 1 with higher superior degree, what each reflection position that can add 2 side of above-mentioned carton 1 was tried to achieve above-mentioned carton 1 is provided with position and whole size.

Here, the situation that position and whole size are set of trying to achieve above-mentioned carton 1 according to each reflection position of 2 sides of carton 1 is described.

Figure 15, Figure 16 be illustrated in measuring device 3 can be to the presentation graphs of the situation of the end face of scanning carton 1 in the pattern (D pattern) of end face and 2 side-irradiation pulse lasers of carton 1 and 2 sides.

Figure 15 (a), two-dimensional scan is carried out in 2 sides of 3 pairs of cartons 1 of measuring device.That is, respectively scan 81-89, come two-dimensional scan is carried out in 2 sides of carton 1 by carrying out one dimension to top in order from the bottom, 2 sides of carton 1.

Respectively scan on the straight line of 81-89 in expression, identical with the A pattern, form the reflection position (do not have diagram) of the carton 1 of suitable number.Each x coordinate figure by these each reflection positions and with these corresponding y coordinate figures, on the xy plane, form line segment.

Figure 15 (b) is that straight line 851 that obtains with the reflection position from above-mentioned scanning 85, comprise the line segment on the xy plane and straight line 85m are the presentation graphs of example in the line segment on above-mentioned xy plane.

Also can represent from other each reflection position that respectively scans 81-84,86-89 straight line that obtain, that comprise each line segment on the xy plane with straight line 851 and straight line 85m roughly the samely.Because other each reflection position that respectively scans 81-84,86-89 is the reflection position on the same side of carton 1, so the straight line of each line segment from the xy plane that comprises that other each reflection position that respectively scans 81-84,86-89 obtains is and the roughly the same straight line of straight line that comprises above-mentioned line segment 851 and comprise above-mentioned line segment 85m.

Then, measuring device 3 is obtained, each reflection position on the side 1A in 2 sides of carton 1 that can irradiated with pulse laser, on each reflection position of each scanning 81-89 the average straight line 80A (with reference to Figure 15 (b)) of each straight line on xy plane that form, that comprise the line segment on the xy plane.

Here, above-mentioned average straight line 80A, can with for example from the mean value of each linear each degree of tilt that comprises each line segment on the xy plane that obtains of each reflection position (reflection position on the side 1A of carton 1) of each scanning 81-89 and, mean value of each section of each line segment from the xy plane that comprises that each reflection position (each reflection position on the side 1A of carton 1) of each scanning 81-89 obtains obtains.

Equally, measuring device 3 is obtained the average straight line 80B (with reference to Figure 15 (b)) of each straight line on xy plane, and the average straight line 80B of each straight line on this xy plane comprises can be by line segment on the side 1B in 2 sides of the carton 1 of pulsed laser irradiation, on the xy plane that forms on each reflection position of each scanning 81-89.

Obtain the intersection point 80C (with reference to Figure 15 (b)) of above-mentioned average straight line 80A and above-mentioned average straight line 80B then.With the x coordinate figure of this intersection point 80C and y coordinate figure as with 4 crest lines z axle almost parallel, above-mentioned carton 1 in the x coordinate figure and the y coordinate figure of article one crest line.

Then, by at the minimum value of the x coordinate figure of each reflection position of the above-mentioned above-mentioned side 1A that respectively scans 81-89 and the y coordinate figure corresponding with this minimum value, obtain with 4 crest lines z axle almost parallel, above-mentioned carton 1 in the x coordinate figure and the y coordinate figure of the 2nd crest line.

Specifically, for example, on the side 1A in 2 sides of carton 1, respectively scan among each reflection position 81a-89a 81-89, x coordinate figure minimum, obtain the x coordinate figure (x65-x69 that the x coordinate figure is roughly each certain reflection position 85a-89a; With reference to Figure 15 (a), Figure 16) mean value, the equation of line of average straight line 80A is represented in the mean value substitution of this x coordinate figure of trying to achieve, try to achieve the y coordinate figure.Then the x coordinate figure of trying to achieve like this and y coordinate figure x coordinate figure and y coordinate figure as above-mentioned the 2nd crest line of above-mentioned carton 1.Represent as some 80D in Figure 15 (b) with the point that these each xy coordinate figures are represented.

Then, the maximal value of the x coordinate by the reflection position on the above-mentioned above-mentioned side 1B that respectively scans 81-89 and the y coordinate figure corresponding with this maximal value are obtained x coordinate figure and y coordinate figure with the 3rd crest line of 4 crest lines z axle almost parallel, above-mentioned carton 1.

Specifically, for example, on the side 1B in 2 side of carton 1, respectively scan among each reflection position 81b-89b 81-89, x coordinate figure maximum, obtain the x coordinate figure (x72-x79 that the x coordinate figure is roughly each certain reflection position 82b-89b; With reference to Figure 15 (a), Figure 16) mean value, the equation of line of average straight line 80B is represented in the mean value substitution of this x coordinate figure of trying to achieve, try to achieve the y coordinate figure.Then the x coordinate figure of trying to achieve like this and y coordinate figure x coordinate figure and y coordinate figure as above-mentioned the 3rd crest line of above-mentioned carton 1.Represent as some 80E in Figure 15 (b) with the point that these each xy coordinate figures are represented.

Then, each the x coordinate figure by the 3rd each crest line of above-mentioned 1-and each y coordinate figure, obtain with 4 crest lines z axle almost parallel, above-mentioned carton 1 in the x coordinate figure and the y coordinate figure of the 4th crest line.

Specifically, for example try to achieve the x coordinate figure and the y coordinate figure of the central point of the line segment that connects above-mentioned some 80D and above-mentioned some 80E, with this central point of obtaining is symmetric points, obtain point-symmetric some 80F, then the x coordinate figure of this 80F and y coordinate figure x coordinate figure and y coordinate figure as above-mentioned the 4th crest line of above-mentioned carton 1 with above-mentioned intersection point 80C.

Then, try to achieve the height and position of carton 1 end face from the maximal value of the z coordinate figure of above-mentioned each reflection position that respectively scans 81-89.

Specifically, for example in the above-mentioned reflection position that respectively scans 81-89, obtain the mean value of z coordinate figure, then the height of this z coordinate figure as above-mentioned carton 1 for the z coordinate figure of the 89c 89d (with reference to pattern 5 (a)) of maximum reflection position.

Then, the height and position of the end face of each the x coordinate figure by above-mentioned 4 crest lines and each y coordinate figure and above-mentioned carton 1 is calculated x coordinate figure, Y coordinate figure and the z coordinate figure on 4 summits of the end face of above-mentioned carton 1.

If adopt like this from the coordinate figure on the summit (4 summits of the end face of carton 1) that each reflection position of two sides of carton 1 is obtained and, with the A pattern similarly, from the mean value of the coordinate figure of summit that the reflection position of the end face of carton 1 is obtained (carton 1 above 4 summits), as the xyz coordinate figure on each summit of the end face that is positioned at carton 1, that just can discern carton 1 is provided with position and whole size (the length and width height of carton 1).

In addition, with above-mentioned carton 1 position and whole size be set, identical with the situation of A pattern, on the LCD (not diagram) of the upper PC PC39 shown in suitably exporting and be displayed on Fig. 1.

And, in Fig. 3 (a), when measuring device 3 and carton 1 y direction of principal axis at interval under the situation of big distance each other, the intersecting angle θ variable quantity represented owing to Fig. 3 (a) is very little, xyz coordinate figure based on each summit of each reflection position end face that calculate, carton 1 of the end face of carton 1 is easy to generate bigger error, so, for example also can be from weighting on the data on each summit that each reflection position of two sides is obtained, obtain the mean value of xyz coordinate figure on each summit of the end face of carton 1.

Carton identification to the E pattern of step S21 shown in Figure 4 describes below.Promptly, explanation under measuring device 3 only can the situation to 2 side-irradiation pulse lasers of carton 1, according to what find the solution above-mentioned carton 1 at each reflection position of the pulse laser of above-mentioned two sides position and whole size be set.

Figure 17, Figure 18 represent that only 2 sides of carton 1 can be by in the pattern of pulsed laser irradiation (E pattern), and the figure of scan condition is carried out in two sides of 3 pairs of cartons 1 of measuring device.

Promptly, in Figure 17 (a), measuring device 3 carries out two-dimensional scan on two sides of carton 1.That is to say that by on two sides of carton 1, the one dimension that carries out from the lower to the upper order respectively scans 91-99, carries out two-dimensional scan on two sides of carton 1.

On each scanning each straight line shown in 91-88, identical with the situation of A pattern, formed the reflection position of the carton 1 of suitable number.And then each x coordinate figure and y coordinate figure corresponding with it by these each reflection positions have formed the line segment on the xy plane.

Figure 17 (b) is in the line segment that is illustrated on the above-mentioned xy plane, to include straight line 921 and the straight line 92m figure as an example that obtains the line segment on the xy plane from the reflection position of above-mentioned scanning 92.

In addition, include the straight line of each line segment from the xy plane that other respectively scan 91, each reflection position of 93-99 obtains, also can similarly represent with above-mentioned line segment 921 and straight line 92m.And, because each reflection position of other scanning 91,93-99 is the reflection position on the same side of carton 1, so include the straight line of each line segment on the xy plane that the reflection position of scanning 91 from other, 93-99 obtains, be with the straight line that comprises above-mentioned line segment 921 or comprise the essentially identical straight line of straight line of above-mentioned line segment 92m.

Next, measuring device 3 is obtained the average straight line 90A (with reference to Figure 17 (b)) of each straight line on the xy plane, the average straight line 90A of each straight line on this xy plane comprise on the side 1A in two sides of the carton 1 that pulse laser can shine, the line segment on the xy plane that forms on each reflection position of each scanning 91-99.

Here, above-mentioned average straight line 90A can with, for example, from the mean value of each slope of each straight line of comprising each line segment on each reflection position (each reflection position on the side 1A of carton 1) resulting XY plane of respectively scanning 91-99 and, mean value of each section of comprising the straight line of each line segment from the XY plane that each reflection position (each reflection position on the side 1A of carton 1) of each scanning 91-99 obtains obtains.

Similarly, measuring device 3 is obtained the average straight line 90B (with reference to Figure 15 (B)) of each straight line on the XY plane, the average straight line 90B of this each straight line comprise on the side 1B in two sides of the carton 1 that pulse laser can shine, respectively scan the line segment on the formed XY plane on each reflection position of 91-99.

Next; Obtain the intersection point 90C (with reference to Figure 17 (b)) of above-mentioned average straight line 90A and above-mentioned average straight line 90B.With the x axial coordinate value of this intersection point and y axial coordinate value as with 4 lines of the carton 1 z substantially parallel axes, above-mentioned in the x coordinate figure and the y coordinate figure of article one line.

Then, according at the minimum value of the x coordinate figure of the reflection position of the above-mentioned above-mentioned 1A that respectively scans 91-99 and the y coordinate figure corresponding, obtain the x coordinate figure and the y coordinate figure of the second line in 4 lines with the carton 1 z substantially parallel axes, above-mentioned with this minimum value.

Concrete, for example, among each reflection position 91a-99a in respectively scanning on each reflection position of 91-99 on the side 1A in two sides of carton 1, x coordinate figure minimum, obtaining the x coordinate figure is the x coordinate figure (X82-X87 of each reflection position 92a-97a of certain value substantially; With reference to Figure 17 (a), Figure 18) mean value, the straight-line equation of average straight line 90A is represented in the mean value substitution of the x coordinate figure of being obtained, and obtains y axial coordinate value.Then, with the x coordinate figure obtained like this and y axial coordinate value x coordinate figure and y coordinate figure as the above-mentioned second line of above-mentioned carton 1.In addition, illustrate out as a 90D in Figure 17 (b) with these each coordinate figures are represented.

Next, according to the maximal value of the x coordinate figure on the reflection position of the above-mentioned above-mentioned side 1B that respectively scans 91-99 and the y axial coordinate value corresponding, obtain x coordinate figure and y coordinate figure with the 3rd crest line of 4 crest lines of the carton 1 z substantially parallel axes, above-mentioned with this maximal value.

Concrete, for example, on the side 1B in two sides of carton 1 respectively scan 91-99, the x coordinate figure is among each maximum reflection position 91b-99b, obtains the x coordinate figure that the x coordinate figure is each reflection position 92b-98b of certain value substantially (X92-X98; With reference to Figure 17 (a), Figure 18) mean value, the straight-line equation of average straight line 90B is represented in the mean value substitution of the x coordinate figure of being obtained, and obtains y axial coordinate value.Then, with the x coordinate figure obtained like this and y coordinate figure x coordinate figure and y coordinate figure as above-mentioned the 3rd line of above-mentioned carton 1.In addition, come out as a 90E chart in Figure 17 (b) with these each coordinate figures are represented.

Next, according to each x coordinate figure and each y coordinate figure of each line of the 3rd of above-mentioned 1-, obtain the x coordinate figure and the y coordinate figure of the 4th line in 4 crest lines with the carton 1 z substantially parallel axes, above-mentioned.

Specifically, for example obtain the x coordinate figure and the y coordinate figure of the central point of the line segment that connects above-mentioned some 90D and above-mentioned some 90E, with this central point of obtaining is symmetric points, obtain with above-mentioned intersection point 90C be point-symmetric some 90F, with the x coordinate figure of this 90F and y coordinate figure x coordinate figure and y coordinate figure as the 4th line in 4 crest lines of above-mentioned carton 1.

Next, from the maximal value of z coordinate figure of each reflection position of each scanning 91-99 obtain carton above high position.

Specifically, for example, in each reflection position of each scanning 91-99, obtain the z coordinate figure and be maximum reflection position 89c, the mean value of the z coordinate figure of 89d (with reference to Figure 15 (a)), this z coordinate figure of obtaining is as the height of carton 1.

Then, according to the high position of the end face of each x coordinate figures of above-mentioned 4 each crest lines and each y coordinate figure and above-mentioned carton 1, calculate x coordinate figure, y coordinate figure, the z coordinate figure on 4 summits of the end face of above-mentioned carton 1.

Like this, if adopt the xyz coordinate figure on above-mentioned each summit that is positioned at carton 1 of trying to achieve, can realize the understanding that position and whole size are set to carton 1.

In addition, identical with the situation of A pattern, the position that is provided with of above-mentioned carton 1 is exported rightly and is illustrated on the LCD (not diagram) of the represented upper PC PC39 of Fig. 1 with whole size.

The identification of the carton 1 of the F pattern of the step S23 that Fig. 4 is represented describes below.

In the F pattern, because measuring device 3 can be in the end face irradiated with pulse laser of carton 1, identical with the feelings of above-mentioned A modal representation, that only utilizes that the reflection position of carton 1 end face also can obtain carton 1 is provided with position and size, but position and size be set for what obtain above-mentioned carton 1 more accurately, each reflection position that can add a side of upper paper box 1, basic identical with D pattern situation, that obtains above-mentioned carton 1 is provided with position and size.

If by measuring device 3, shine to carton 1 with pulse laser, with the emission pulse laser to above-mentioned carton 1 (in each face of above-mentioned carton 1, survey all that counter device 3 usefulness pulse lasers may shine) carry out two-dimentional scanning, accept the above-mentioned pulse laser of above-mentioned carton 1 reflection, transmit direction by above-mentioned pulse laser and, the x time of above-mentioned pulse laser and the mistiming of accepting the catoptrical moment of this pulse laser, detect the reflection position of above-mentioned carton 1, according to many each reflection positions that detect, calculate the size of above-mentioned carton 1 and the position is set, so can realize the measurement that position and whole size are set for the static relatively carton 1 of measuring device 3.

And, because be that not mobile carton 1 has just been realized the instrumentation to carton 1, so when carton 1 very heavily is difficult for being moved, also be easy to the size of instrumentation carton 1.

By measuring device 3, for example the bottom from carton 1 begins one-dimensional scanning, by in order above carton 1 at regular intervals, stagger and carry out the scanning the same abreast and carry out two-dimensional scan with this one-dimensional scanning, according to above-mentioned each scanning reflection position extreme value (for example, the minimum value of x coordinate figure and this are worth pairing y coordinate figure), obtain the summit of carton 1, that calculates carton 1 is provided with position and size, so the operation of scanning and the calculation method of above-mentioned crest line are very simple, that can calculate carton 1 rapidly is provided with the position with whole big or small.

Because can judge the relative position of measuring device 3 and carton 1, when the face that can shine carton 1 when measuring device 3 usefulness pulse lasers only is a face, just can easily judge size and the position that to measure carton 1 by measuring device 3.And, according to the relation of the relative position of measuring device 3 and carton 1, can calculate really measure carton 1 position and whole size be set.

And, measuring device 3 is represented each reflection position on the carton 1 with x coordinate figure, y coordinate figure, z coordinate figure, carries out the measurement that position and size are set of carton 1, also can represent above-mentioned each reflection position with polar form, that measures carton 1 is provided with the position with whole big or small.

And can, at measuring device 3, be conceived to x coordinate figure, y coordinate figure, the z coordinate figure of each reflection position of each scanning, for example, in above-mentioned D pattern, the point that z coordinate figure in each reflection position is certain substantially is as the set of the reflection position of the end face of carton 1, obtain the quadrangle (in whole quadrangles that exist equably basically of above-mentioned each reflection position) of envelope these each reflection positions set, with this quadrangle as the end face of formation carton 1 to usually measure carton 1 position and all sizes be set.

But rectangular parallelepiped that in addition can be by measuring device 3 instrumentations container except that rectangular carton 1 etc., surface paired pulses laser-bounce position and size be set.

Can also use the object of rectangular parallelepipeds such as object measuring device (measuring device) instrumentation carton or container shape in addition.

Promptly also can, the laser generator emission pulse laser that is used in above-mentioned object outer setting is measured the size of above-mentioned object, the position, in the translational speed (velocity vector) under the situation of at least one, with above-mentioned pulse laser above-mentioned object is carried out two-dimensional scan, accept above-mentioned reflected by objects light, transmit direction by above-mentioned pulse laser and, the x time of above-mentioned pulse laser and the mistiming of accepting the catoptrical moment of this pulse laser, detect above-mentioned reflected by objects position, according to a plurality of reflection positions that detect, calculate the size of above-mentioned object, the position, in the translational speed at least one.

In addition, the calculating of above-mentioned translational speed is, for example, calculate according to the change in location of the above-mentioned object of above-mentioned each two-dimensional scan.Promptly, with above-mentioned calculation element 13 etc., the position of the above-mentioned object when the position of the above-mentioned object under the above-mentioned two-dimensional scan instrumentation and the next two-dimensional scan after above-mentioned this two-dimensional scan under the instrumentation compares, and calculates the translational speed of above-mentioned object.

By such method, has the effect of the whole size that calculates the object of shape beyond rectangular parallelepiped and the rectangular parallelepiped, position, translational speed.

And, when above-mentioned object is vehicle, pedestrians such as motor vehicle, if with above-mentioned object measuring device instrumentation by objects such as point of crossing, above-mentioned object measuring device is promptly applicable to traffic monitoring system.

In addition, the present invention is the invention of relevant object identification method, this method is not subjected to the influence of environment such as weather, by being determined at shape, size, the vector of object in guiding pedestrian's walking zone and the neighboring area, be identified on the channeling direction object that moves in the walking zone and, the object that moves on the direction in cross-section walking zone, adopt suitable means, utilize area sensor to realize that pedestrian and traffic weak person are purpose by the walking zone safely.

In the past, on runway, be provided with pedestrian's crossing that the pedestrian uses, be expert at and be provided with the teleseme that the general pedestrian who goes across the road uses (below be referred to as cross-section signal) and for motor vehicle teleseme (below be referred to as the track signal) on the people People's Bank of China lateral road, by the checker of two telesemes, the pedestrian just can cross the street in security.

On the point of crossing that plural runway intersects, be provided with the pedestrian's crossing by each runway into the pedestrian.For example, the intersection that the runway cross shape intersects is provided with 4 pedestrian's crossings usually.On such intersection, autos only when the track signal turns green, the cross-section signal of the pedestrian's crossing that parallels with runway turns green, and the pedestrian can go across the road according to the green channeling direction of cross-section signal.

But, turn on the green track motor vehicle at the track signal and also can turn left except that keeping straight on, therefore, the automobile of left-hand rotation can pass through the pedestrian just at cross-section crossing.

Therefore, the pedestrian is urged the slow traffic weak person of people's uniform velocity who passes through road, particularly children or old man, wheelchair-bound disabled person, legs and feet inconvenience as early as possible sometimes, because nourish the pavid psychology of being afraid of to be involved in motor vehicle accident, become anxious, thereby peril such as fall down.

And in the past, as the method for seeking crossing safety, by use the sound guidance pedestrian, enforcement is to the people's of children or old man, wheelchair-bound disabled person, legs and feet inconvenience help with the method that the voice signal machine is set.Also have as this bootstrap technique, for can allow the pedestrian of dysopia know can be cross-section direction, adopt usually toot cry the mode of exchange or employing xenogenesis toot be teleseme such as exchange.This method is effective ways to visually impaired person and children etc. especially.But when adopting such sound guidance method, there is the terror to the motor vehicles that turn left in the pedestrian, so do not change the fact of urging the pedestrian to go across the road as early as possible, problem is not basic to be solved.

On the other hand, in recent years, be expert at and be provided with pedestrian detector, infrared ray perceptron or CCD camera etc. on the people People's Bank of China lateral road for the ultrasonic type that can detect the pedestrian that goes across the road, probably can detect the pedestrian's that goes across the road number, the speed that moves when going across the road etc., with reference to doing the detecting signal that obtains like this, the time of adjusting cross-section signal change has perhaps proposed to change various schemes such as relaxing traffic jam by more efficient signal to go across the road with seeking pedestrains safety.

But, methods such as the pedestrian detector according to the ultrasonic type before above-mentioned, infrared ray perceptron, CCD camera, with two dimensional surface scan line people People's Bank of China lateral road, whether only can detect generally that the someone goes across the road or number, translational speed etc., can not correctly identify the pedestrian is people of children, old man, wheelchair-bound disabled person, legs and feet inconvenience etc.And, particularly use infrared ray perceptron and CCD camera as detection method, descend in environmental aspects such as night or rain, snow, can detect precision and significantly reduce and problem such as cause detecting.

Method as the safety of seeking pedestrian's crossing, if can correctly detect the pedestrian who whether has by pedestrian's crossing exists, particularly positive positive motion detects the situation by crossing such as the pedestrian of children or old man, wheelchair-bound disabled person, legs and feet inconvenience, inferior information is informed the driver of the motor vehicle that is about to turn left, it is stopped exactly; Perhaps by adjusting signal, what make that traffic weak person can safety crosses road, but on utilize method before ultrasonic type pedestrian detector, infrared ray perceptron, the CCD camera etc., promptly allow to capture pedestrian's crossing or can not correctly detect traffic weak person in its general quantity of pedestrian on every side, therefore, pedestrian, particularly traffic weak person are difficult to the road that crosses of safety.And infrared ray perceptron or CCD camera etc. can not utilize the safety of crossing road of real matter in fact because of descending accuracy of detection to decline to a great extent in environmental aspects such as night or rain, snow.

The present invention has solved the problem of device existence in the past.The purpose of this invention is to provide the method for utilizing area sensor to come recognition object, this method is not subjected to the influence of environment such as weather, by shape, size, the vector that is determined at object in guiding pedestrian's walking zone and the neighboring area be identified in the object that moves in the walking zone on the channeling direction and, the object that on the direction in cross-section walking zone, moves, adopting suitable means to realize making pedestrian and traffic weak person regional by walking safely is purpose.

Below, with accompanying drawing illustrate of the present invention best be real form.

Figure 20 is the figure that shows an example implementing form of the present invention, in Figure 20, the track 202A of 2 fares and the crossroad that track 202B intersection back forms have been showed, at this place, crossroad, be provided with 4 in order to allow the pedestrian cross the crossing 201 (walking zone) of above-mentioned track 202A and 202B at channeling direction 20P.

In 4 corners at the parting of the ways pillar 203 is set, on this pillar, at the track signalling means 204 of traveling vehicle top anterior position three kinds of lamps of arrangement (red greenish-yellow), on pillar 203, cross-section signalling means 205 is settled in the subtend position of the front and back upper position of the people People's Bank of China lateral road 201 of being expert at again.206 is the white lines in track among the figure, 207 o'clock stop lines.

The vehicle of representing the 20A direction at Figure 20 stops, the state of the vehicle to run of 20B direction.So the pedestrian is being crossed the crossing 201 of the direction that channeling direction 20P parallels with walking 20B direction, channeling direction 20P with stop the crossing 201 that direction 20A parallels, the pedestrian is just at signal waiting area 208 waiting signals at both ends.

Being provided with on above-mentioned each pillar 203 can be to the scope that detects 210 emissions that cover crossing 201 and its neighboring area 209 and the area sensor 212 that detects pulse laser 211 (for example using the area sensor of laser inductor).The above-mentioned scope 210 that detects comprises crossing 201, and comprise reciprocal cross crunode one side of this crossing 201 and the signal waiting area 208 at crossing 201 two ends, for example cover with the width 20L that exceeds that sets arbitrarily about 3-5 rice, and for can detect left-hand rotation, towards the automobile of crossing 201, also have the neighboring area 209 that covers the sidecar road, point of crossing of crossing 210 by needed scope.

Area sensor 212 is to object projection pulse laser 211, and detects the device of the reflector laser that reflects.Thereby area sensor is preferably disposed on the position that can see above-mentioned sensing range 210.So except the pillar 203 that uses above-mentioned telltale, special-purpose pillar for area sensor 212 etc. can also be set.

The formation of area sensor 212 as shown in figure 19.Promptly, area sensor 212 is made of scanister 216 and pendulous device 219, scanister 216 usefulness motors 213 are the center, polygon mirror 215 are scanned that pendulous device 219 is that the center makes this scanister 216 swing by motor 217 with axis of swing 218 on the y direction on the x direction with scan axis 214.

Pulse laser 211 from LASER Light Source 220 emissions of area sensor 212 equipment, laser projection device 222 through having mirror 221 grades outputs to above-mentioned polygon mirror 215, output to the pulse laser 211 on the polygon mirror 215, according to the action of scanister 216 and pendulous device 219, covering is comprised that crossing 201 and signal waiting area 208 scan with the scope that detects 210 that comprises the neighboring area 209 in track.And the reflector laser 223 that projects on the scope of detecting 210 and be reflected back toward is got back to above-mentioned polygon mirror 215, and, reflector laser 223 is imported in the photo detector 225 by camera lens 224, and the instrumentation signal 226 (electric signal) by photo detector 225 is imported in the calculation apparatus 227.

In calculation apparatus 227, input is from the instrumentation signal 226 of photo detector 225, to calculating measurement the reflection interval of the reflector laser 223 that detects scope 210 scannings and reflect from each analyzing spot.

On detecting scope 210, do not exist the pedestrian to wait in the object, image pattern 21 is represented, when on the x direction, carrying out single pass, basically be definite value the reflection interval of the reflector laser 223 that reflects from each analyzing spot, then, after making scanister 216 carry out the swing of minute angle by pendulous device 219, also carry out same scanning, be definite value the reflection interval of the reflector laser 223 that reflects from each analyzing spot basically.By scanning and the swing of doing like this, scan detecting scope 210, detect the instrumentation value of each analyzing spot that comes, represent with figure, promptly be face more smooth among Figure 22.

On the contrary, image pattern 21 is such, when in detecting scope 210, having object 20S such as pedestrian or wheelchair-bound disabled person, bicycle etc. or motor vehicle, to shorten the reflection interval of coming from each analyzing spot to the pulse laser 211 of object 20S irradiation, in view of the above, the shape of object 20S size and position image pattern 22 are such, with three-dimensional x, y, z form to put 228 values of representing of detecting.And by scanning repeatedly, by the passing of time, the shape of object 20S and size and position change, and according to these situations, can at length detect the various information of object 20S.

Area sensor 212 can be launched hundreds thousand of reversion pulse laser in 1 second, and can detect the distance of 2m-100m, for example detects in the 30m source, detect with the high resolving power below the 26mm, and the range accuracy in this time is below 10mm.The interval of the point of showing in Figure 22 228 has been exaggerated, but therefore this very little at interval in fact, just can access the detailed information about each object 20S.

By calculation apparatus 227, according to the three-dimensional data of Figure 22 mid point 228, can obtain weighting value of detecting 229 of object 20S as shown in figure 23, can obtain representing by the shape of the represented object 20S of this value of detecting 229 and the calculation signal value 230a of size.

With this calculation signal value 230a input recognition device 232,, carry out the identification of object 20S by comparing with the judgement information of obtaining in advance, be input in the recognition device 232 331.Promptly, recognition device 232 judges information 331 according to shape, size etc., discern calculation signal 230 represented object 20S and be healthy adult, child, wheelchair-bound disabled person, legs and feet inconvenience the people, push away the people of perambulator or people by bike etc.And the object 20S in detecting scope 210 is that from this position and shape and size, can detect object 20S was motor vehicle when left-hand rotation was invaded.And, can detect the number that detects the pedestrian in the scope 210 above-mentioned, even can detect barriers such as the article that drop.

Above-mentioned calculation apparatus 227 detects the vector of the object 20S that moves in scope 210 according to following method.

Figure 24 represents, owing to the cause of neighboring area 209 makes in the scope that detects 210 that detects the crossroad more largo, object 20S (motor vehicle) on the track turns left, move to the direction of cross-section crossing 201, just at this moment, object 20S (wheelchair-bound disabled person) on the channeling direction 20P on crossing 201 state when mobile.

At this moment, from the value of detecting of the point 228 of Figure 22 be in the back change in location of fixing time through institute the value of detecting, as shown in figure 25, can represent direction and the amount of movement that object 20S moves with vector 233.233 resulting calculation signal 230b are input to the recognition device 232 from this vector, according to the identification of these vector 233 implementations to object 20S.

The vector 233 of foregoing calculation signal 230b is that can identify object 20S is the pedestrian in the channeling direction 20P of crossing 201, and also to identify from little (speed is low) of vector 233 length of expression amount of movement be the pedestrian.And when vector 233 during towards the transverse direction of crossing 201, can identify object 20S is motor vehicle, and also to identify from the length of vector 233 big (speed is fast) be motor vehicle.At this moment, the value of detecting of the object 20S that turns left to the track is appear at the crossing 201 that leaves the scope of detecting 210 suddenly locational, and also can identify object 20S from this aspect is motor vehicle.

According to above-mentioned way, in recognition device 232, it is the pedestrian that shape of representing from calculation signal 233a and size can identify object 20S, can identify the pedestrian simultaneously and be healthy adult, child, wheelchair-bound disabled person, legs and feet inconvenience the people, push away the people of perambulator or people by bike etc.And, be that channeling direction 20P towards crossing 201 can identify from the vector 233 of aforesaid calculation signal 230b be the pedestrian, and, are pedestrians from little also can the identifying of length of vector 233.So, at least according to vector 233 towards the channeling direction 20P of crossing 201, shape and the size of object 20S, can positively identify the pedestrian.

When the direction of the vector 233 of aforementioned calculation signal 230b was the situation of object 20S of direction of cross-section crossing 201 as shown in figure 25, can discern was not the pedestrian at least, but motor vehicle.Because the value of detecting of the object 20S that turns left to the track is to leave on the position of crossing 201 of the scope that detects 210 emergently, so are emergent situations in detecting scope 210 from vector 233, also can identify object 20S is motor vehicle.And greatly also can identify from the length of vector 233 is motor vehicle.And shape and the size of the object 20S that represents by aforementioned calculation signal 230a also can identify motor vehicle.So, be to be directions at least towards cross-section crossing from occur vector 233 and vector 233 suddenly in the neighboring area 209 that detects scope 210, motor vehicle positively.And at this moment, when motor vehicle was the situation of motorcycle, can identify according to its shape and size was motorcycle.

By above-mentioned recognition device 232, when detecting the pedestrian who goes across the road and be the slow traffic weak person's of people's etc. the walking speed of children, wheelchair-bound disabled person, legs and feet inconvenience situation, with the identification signal 234 of recognition device 232, can realize adopting adequate measures to make traffic weak person can pass through crossing 201 relievedly safely.

Promptly, in Figure 19, the identification signal 234 of recognition device 232 is input on the wireless device 235, when traffic weak person is crossed crossing 201, by wireless device 235, the driver of the motor vehicle that moves on cross-section crossing 201 directions of turning left passes on the information of " traffic weak person go across the road ".The attention of arousing automobile driver assurance pedestrains safety in view of the above is to know.

And, the identification signal 234 of above-mentioned recognition device 232 is input in the signal shifter 237, can carry out the correction of signal switching etc.Usually, track signal 204 and cross-section signal 205, in each crossroad, the change of vehicular traffic amount corresponding and the pedestrian's number that goes across the road with time, what day, season corresponding, selected setting cycle 236 is input to signal shifter 237, the switching controls of carrying out signal according to this setting cycle 236.And signal shifter 237 is connected with reception and registration devices 238 such as giving birth to mixer or photoelectric display plate sometimes, passes on device 232 by sound or literal, carries out the points for attention of crossing to pedestrian's notice of going across the road.

When the identification signal 234 that obtains from aforementioned recognition device 232 is input to signal shifter 237, signal shifter 237, in order to make the traffic weak person who is going across the road, can adjust the green time that prolongs cross-section signal 205, or the point of prolongation green light subtracts the time safely by pedestrian's row lateral road 201.And, to pedestrian carry out with sound, literal etc. by passing on device 238 that " the cross-section time is extended.Do not worry, at leisure by " etc. guiding.

The below effect of the above-mentioned form of explanation.

As Figure 19, shown in Figure 20, adopt the area sensor of area sensor 212, action according to scanister 216 and pendulous device 219, the scope that detects to the neighboring area 209 that includes mobile object (motor vehicle) 20S on the direction that can detect crossing 201 and signal waiting area 208 and the cross-section crossing 201 that turns left scans detection with pulse laser.

To the laser 223 that detects scope 210 emission back reflections, turn back to the polygon mirror 215 of area sensor 212 by area sensor 212, be input in the photo detector 225 through camera lens 224, the instrumentation signal 226 of photo detector 225 is input in the calculation apparatus 227.

At calculation apparatus 227,, calculate to measure scanning is detected that scope 210 scans and reflection interval of the reflector laser 233 of reflected back from each reflection spot by the instrumentation signal 226 from photo detector 225 of input.

In view of the above, on calculation apparatus 227, obtained as shown in figure 22, with the three-dimensional data of each analyzing spot of putting 228 expressions, and, from the data of this point 228, can obtain value of detecting 229 as shown in figure 23, that express shape and size, the calculation signal is input in the recognition device 232.And simultaneously, utilizing calculation apparatus 227 to obtain the vector 233 of object 20S as shown in figure 25, this calculation signal 230b is imported in the recognition device 232.

Recognition device 232 can, according to judging information 231, shape size from aforementioned calculation signal 230a, coming recognition object 20S is pedestrian or motor vehicle, and, can identify the pedestrian and be healthy adult, child, wheelchair-bound disabled person, legs and feet inconvenience the people, push away the people of perambulator or people by bike etc.And then, are channeling direction 20P from the vector 233 of calculation signal 230b towards crossing 201, can recognition object 20S object be the pedestrian, and also can identify from the length little (speed is slow) of the vector 233 of expression amount of movement be the pedestrian.

Therefore, be that can identify object 20S really is the pedestrian towards shape and the size of the channeling direction 20P and the object 20S of crossing 201 from vector 233 at least, and a little less than the pedestrian is traffic the time, also can positively identify.

20s is when object, as shown in figure 25, when the direction of the vector 233 of calculation signal 230b is the direction of cross-section crossing 201, can identifies at least and be not the pedestrian, but motor vehicle.Again because the object 20S that turns left to the track is appear at the crossing 201 that leaves the scope of detecting 210 suddenly locational, so be that to appear at suddenly that the scope of detecting 210 can identify be motor vehicle from vector 233.And also can identify from the length of vector 233 big (speed is fast) is motor vehicle.Also can identify from the shape of the object 20S that represents according to aforesaid calculation signal 230a and size is motor vehicle.

So be at least, by vector 233 be in the neighboring area 209 that detects scope 210 emergent and, vector 233 is towards the direction of cross-section crossing 201, can positively identify object 20s is motor vehicle.

As mentioned above, with area sensor 212 on one side to detecting scope 210 emission pulse lasers scanning survey reflection intervals of calculating scan light on one side, obtain each analyzing spot, the reflection interval the when reflection interval when object does not exist and object exist poor, just can be by the detection of calculation apparatus 227 implementations to object 20S, so can realize not being subjected to the influence of environmental aspects such as weather, the high-precision object 20S that detects.According to calculation signal 230a, 230b from calculation apparatus 227, by recognition device 232, can at length identify the object 20S that on the direction of object 20S that crossing 201 upper edge channeling direction 20P move and cross-section crossing 201, moves, the pedestrian is traffic weak person, for example during the situations such as people of child, wheelchair-bound disabled person, legs and feet inconvenience, also can positively identify, so, identification signal 234 with this recognition device 232, can realize adopting adequate measures, make traffic weak person can pass through crossing 201 relievedly safely.

And, the present invention only limits to above-mentioned example, also is applicable to the crossing walking zone of passing through runway in addition, can adopt various inductors on the area sensor, only otherwise break away from thought of the present invention, can carry out various changes.

According to the present invention, use area sensor, on one side to detecting the scope emission pulse laser, scanning survey calculates the reflection of light time on one side, reflection interval when reflection interval the when object of obtaining each analyzing spot does not exist and object exist poor, with regard to practicable detection to object, can realize not being subjected to the influence of environmental aspects such as weather, the high-precision object that detects, at length identify in the walking zone object that moves along channeling direction and the object in cross-section walking zone, also can positively identify the pedestrian is traffic weak person, child for example, wheelchair-bound disabled person, legs and feet are no lack of situations such as people just, so, can realize adopting adequate measures, be that traffic weak person can be relievedly safely by the walking zone.

And then, the invention relates to the invention that is applicable to the object measuring device of the changed condition that is held in interior mobile object of set monitor area or monitor area.

In the past, monitor at the invader of set monitor area or when grasping its situation, generally adopt monitor camera.But, with the image that monitor camera obtains, the general easy influence that is subjected to weather (meteorology), and, in the night surveillance difficulty.

Recently, advocate the invader etc. (for example open the patent documentation 2 showed on the flat 11-227608 communique, open the patent documentation of being showed on the flat 11-352245 communique 3 the spy) that monitors set monitor area with laser radar the spy.If visit surveillance, can not be subjected to weather influences such as (meteorologies) to carry out detecting of object with this laser radar.

But,,, generally be difficult to what the grasp object is on earth though can access the volume coordinate (distance and bearing that begins from the monitoring point) that detects the mobile object of invading monitor area etc. accurately in surveillance with above-mentioned laser radar.In this, if during with the image of aforesaid monitor camera, the object in the photographed images can be easy to judge from this Image Intelligence what various objects are by just judging on people's the vision perception.But from the image of camera, except utilizing stereocamera, can not obtain and detect object apart from information.

The present invention solves such problem, the objective of the invention is: a kind of object measuring device is provided, and this object measuring device can easily obtain simultaneously information and its locus information of the mobile object in set monitor area etc.

Below, with reference to description of drawings about with the object measuring device of an example of the present invention.

Figure 26 is the figure of rough formation of the object measuring device of this example of expression.The 310th, the laser radar that set monitored object zone is scanned, the 320th, monitor camera (for example television camera) that the next door 310 is provided with, that made a video recording in set monitored object zone.These laser radars 310 and monitor camera 320 are that integral body is housed in the basket 330, constitute sensor unit, are arranged on the monitoring point of certain height of the exterior wall of buildings or electric pole etc., can look down the ground surface in this monitored object zone.That is, laser radar 310 and monitor camera 320 are designed to, and are actually from regarding same monitoring point as, monitor same monitored object zone from the different visuals field.

Promptly, because laser radar 310 has, for example, drive the main scan motor 312 and the subscan motor 313 of polyhedron mirror 311 with certain speed rotation, this subscan motor 313 is designed to meet at right angles with the rotation axis of this main scan motor 312, by allow above-mentioned polyhedron mirror 311 rotation axis banking motion in the fixed angular range, the surface of revolution of polyhedron mirror 311 is shaken with set speed.The laser pulse light of launching from LASER Light Source 314 is radiated on the above-mentioned polygonal mirror 311 by half mirror 315, above-mentioned laser pulse light, with the revolution of this polygonal mirror 311 with tilt corresponding, shine set monitor area, and the reflected light that comes from the monitor area of laser pulse light is accepted and detected to light-receiving device 317 from aforementioned polygonal mirror 311 through light harvesting camera lens 316.

Being constructed as follows of this laser radar 310.Revolution by polygonal mirror 311 and shaking, the direction of illumination of going up at a high speed at main scanning direction (x direction) to laser pulse light scans on one side, go up at sub scanning direction (y direction) on one side its scanning plane is scanned, in view of the above, as shown in figure 27, the universe to set monitored object zone scans.Then, synchronous with above-mentioned laser pulse rayed, be received in the monitored object region memory various reflected by objects light, be subjected to the light elapsed time (begin be subjected to till the light time carves elapsed time) from this to catoptrical from moment of pulsed laser irradiation, obtain object (reflection spot) apart from information.

To do apparatus for converting 340 with the radar image of making visual radar image apart from information that such laser radar 310 detects, for example, a kind of function that can be possessed by monitoring arrangement (object measuring device) body 350 that is made of PC realizes.Concrete, this radar image does apparatus for converting 340 and possesses reflected light detecting element 342, apart from information transformation component 343 and deep or light transformation component 344, this reflected light detecting element 342, for example as shown in figure 28, acceptance is also calculated the measurement aforementioned laser light time that is subjected to pulse, reflected by objects light from the synchronizing signal of the pulse laser scan loop 341 of driving aforementioned laser light source 314 and is carved, is apart from information apart from information transformation component 343 with the instrumentation time change, and this deep or light transformation component 344 should be transformed to deep or light information apart from information.Certainly, aforementioned instrumentation time also can Direct Transform become deep or light information.And, in this example, will convert to apart from information, for example, concentration thickens during distance deep or light information, yet also can take the tone reversal that changes with the corresponding color stage ground of distance.

Lidar image is made as follows.To the deep or light information of obtaining by above-mentioned way (apart from information), by the information of main sweep angle of obtaining from aforementioned pulse laser scan loop 341 and subscan angle, order mapping on the fixed video memory 345, generate image.Promptly, on the specific coordinate (address of video memory 345) of the main sweep angle of direction of scanning by the expression laser pulse and subscan angle, write the deep or light information (apart from information) that this moment obtains, with this at the lidar image of making the reflection spot of determining laser pulse in the monitored object zone on the video memory 345 three-dimensionally.

The feature of object measuring device of the present invention is to possess image matching apparatus 360 is arranged, the coordinate of this image matching apparatus 360 and the lidar image 30A in the monitored object zone of obtaining as mentioned above and, the coordinate of aforementioned photographed images 30B with the captured above-mentioned monitor area of monitor camera 320 is corresponding mutually.This image matching apparatus 360 also is that the part of the function that possessed as aforementioned monitoring arrangement body 350 realizes.And then this image matching apparatus 360 is to be that the sensor unit 330 of one is arranged on aforementioned electric pole etc. so that can see set monitor area the time with having equipped laser radar 310 and monitor camera, handles as initial setting to start.

Concrete, image matching apparatus 360 is arranged on the aforementioned monitoring arrangement body 350, represent lidar image 30A and photographed images 30B on the monitor (display) 370 respectively, when among these each image 30A, 30B, corresponding, representative mutually unique point respectively designated a plurality of somes time the in the aforementioned monitored object zone, according to the position coordinates of these characteristic specified points, implementation makes the corresponding mutually processing of coordinate system of coordinate system and the photographed images 30B of above-mentioned lidar image 30A.

Promptly, processing notion as shown in figure 29, the coordinate that is illustrated in the object space of the clear and definite discernible plural number on the lidar image 30A is appointed as unique point a1, a2, the a3 of representative ... specify, be illustrated in above-mentioned each object space on the photographed images B, with above-mentioned each unique point a1, a2, a3 ... Dui Ying coordinate is appointed as unique point b1, b2, b3 respectively ...About these unique points a1, a2, a3 ... (b1, b2, b3 ...), for example according to the experience of operation or the cognition sensation of image, optionally specify clear and definite cognitive on each image 30A, 30B be same object or the order point, as with in-plant object in monitoring point and and the remote object in monitoring point.Next, make these characteristic specified points a1, a2, a3 ... (b1, b2, b3 ...) overlap, the coordinate system of conversion one side's image (lidar image 30A or photographed images 30B) if can realize that by these lidar image 30A and photographed images 30B overlap then to well.

Concrete processing sequence as shown in figure 30 at first, is specified the coordinate of vertical target object on lidar image 30A, specifically, specify 4 horizontal direction point position and vertical direction point position (step S301) at lidar image 30A respectively.Next, on photographed images 30B, specify the coordinate (horizontal direction point position and vertical direction point position) at the same position of the same object of 4 expressions and lidar image 30A respectively.Obtain the gain (space rake ratio) (step 303) of each image 30A, 30B respectively from the coordinate of the plural number of these appointments.

Next, order is consistent with the coordinate in the same area of the same object of photographed images 30B at the coordinate of the privileged site of the object of lidar image 30A, the displacement (step S304) that input is represented by the some difference of the some difference of the horizontal direction of above-mentioned coordinate differences and vertical direction, according to aforesaid gain and displacement, for example, make on [laser image coordinate]=[photographed images coordinate]/[gain]-[displacement], the coordinate system of lidar image 30A and the coordinate system of photographed images 30B are coincided.

Like this, as the coordinate system of lidar image 30A and the coordinate system of photographed images 30B are mated, when supervision is after this moved, in general, on each position of the photographed images 30B of the situation of holding easily the shooting subject area, can give shown record information respectively by above-mentioned lidar image 30A.In photographed images 30B, even only have a look at be difficult to identification, for example, its part overlaps mutually and the object of the plural number of similar tone or be subjected under the situation of partition that the meteorological condition influence is difficult to discern plural object, according to obtain from above-mentioned radar laser image 30A apart from information, can discern each object respectively, clearly.So lidar image 30A and photographed images 30B remedy the deficiency that exists respectively mutually, and the advantage of lidar image 30A and photographed images 30B used respectively flexibly, can be easily and grasp situation at the mobile object in set monitored object field etc. exactly.

Object measuring device of the present invention has increased above-mentioned images match treating apparatus 360, has also possessed from above-mentioned lidar image 30A to be familiar with the face of fixed object in aforementioned monitored object zone or the object detector 380 of mobile object.Concrete, this object detector 380 detects handling part 382 by plane identification handling part 381 and mobile object and constitutes, this plane identification handling part 381, as shown in figure 30, discern the face that constitutes this fixed object from the information that gathers of the fixed object in monitored object zone, this mobile object detects the information of the changes in coordinates that handling part 382 detects from scanning each time and discerns mobile object in aforementioned monitored object zone.

Plane identification handling part 381 promptly,, for example, by on lidar image 30A, investigation volume coordinate and column direction continuous, that link to each other possesses the function of the face that fixation construct such as being identified in road constant in the aforementioned monitored object zone or buildings is arranged.With the result of these plane identification handling part 381 identifications, for example the outline line of this face or the auxiliary information of polygon line (polygon) are determined in conduct, overlap to show on lidar image 30A or photographed images 30B.Mobile object detects handling part 382 detects coordinate when above-mentioned laser radar each time scans the object information that changes successively, identifying this object is mobile things such as people or car, possesses auxiliary information such as the conduct that for example has, will surround the dimetric station location marker of mobile object (marker), the function of overlapping expression on above-mentioned lidar image 30A or photographed images 30B.About so auxiliary information, can under operating personnel's indication, represent selectively, also can only represent the mobile object that should be noted that.

According to having possessed the object measuring device that such object detector 380 and aforesaid image matching apparatus 360 constitute, monitoring picture after images match is handled is represented on monitor 370, and when the situation in set monitored object zone monitored, for example the same with the representational expression example shown in Figure 31 (a)-(d) goes up, can provide corresponding with the environment (situation) in monitored object zone, definitely express this situation of grasp necessity information and monitor.

Promptly, monitoring picture is foregoing, as to make photographed images 30B coordinate and the corresponding image of coordinate of lidar image 30A, for example, shown in Figure 31 (a), with coordinate entering devices such as mouses, indicateing arm (pointer) 30P is moved, only specifies the observation point on the monitoring picture, can represent the locus coordinate of this appointed part, specifically be exactly from (to) distance in monitoring point.And mobile object is when detecting, for example, shown in Figure 31 (b), by station location marker (auxiliary information) 30M of bag shown in the overlapping expression on monitoring picture for being familiar with the mobile object that, Identification Lists illustrates the mobile object that should be noted that clearly.

When wanting to discern the situation of the size of certain object or shape, shown in illustration 31 (c), if specified the point of the plural number in the bight of paying close attention to object, handle by the identification of aforesaid plane, can grasp main size and shape of this object respectively, from this recognition results, just can be easy to infer out the size of the solid of object, obtain its location at an easy rate.

The polygon line chart (polygon) (auxiliary information) on the plane of the object that obtains will be determined respectively to handle according to the identification of foregoing plane, shown in Figure 31 (d), the overlapping words that show on monitoring picture, there is the influence that is subjected to time band or weather condition even suppose, when can not obtain photographed images 30B brightly, also can be from above-mentioned polygon line chart) (auxiliary information) grasp the general situation in monitored object zone.Its result be exactly can realize not being subjected to Looking Out Time band or weather condition etc. influence, easily and exactly grasp the situation of monitor area.

The present invention is not by invention that above-mentioned example limited.Showed one about grasping the example of set without monitored object area condition at this, yet, use the monitoring picture shown in illustration 31 (a), can realize possessing the camera of each range finding function, be applicable to the electronic eyes of the monitor camera of boats and ships or robot and apart from instrumentation etc.And use the monitoring picture shown in Figure 31 (b), can construct the large-scale surveillance that waits without, with mobile object detect as flip flop equipment give the alarm, take to write down the countermeasure of monitoring picture at that time etc.And can be with the grasp system that locates the volume of traffic at the parting of the ways or the pedestrian's that goes across the road grasp system, and the system that knocks into the back of mobile object be first-class.

And, by using image as shown in figure 31, can be applied to determine the situations such as various goods size judgment processing that move on the position of container crane (container crane) or the ribbon conveyer.And, use the image shown in Figure 31 (d), can realize carrying out the concavo-convex judgement or the topographical surveying of various objects.Other, the present invention can implement many variations in the scope that does not depart from the main subject, can be applied to various object identifications field.

By above explanation, the present invention makes the coordinate of the photographed images that the coordinate of obtaining radar image from laser radar and the monitor camera on next door by being arranged on the aforementioned laser radar take corresponding, set monitor area is monitored processing, be not subjected to the influence of weather condition or Looking Out Time band, can frequently, unchangeably, easily monitor the situation in above-mentioned monitored object zone.And obtain observation point apart from information, can positively monitor situation at that time.

And, on monitoring picture overlapping expression as auxiliary information, the information relevant that identify from lidar image and the information of mobile object with face object, so can grasp situation at that time more exactly, in practical application, can play very big effect.

And object measuring device of the present invention (monitoring arrangement) is applicable to supervision, though circuit breaker whether fall, the railway exist mobile object or fall object etc.

In the past, during mobile object in monitoring set monitor area, generally adopted monitor camera.But, with the image that monitor camera obtains, the general easy influence that is subjected to weather (meteorology), and in the night surveillance difficulty.Advocate recently with laser radar and monitor the invader of set monitor area etc. (for example open the patent documentation 2 showed on the flat 11-227608 communique, open the patent documentation of being showed on the flat 11-352245 communique 3 the spy) the spy.If visit surveillance, not detected by the object of weather influences such as (meteorologies) with this laser radar.

But, adopt laser radar monitor at the parting of the ways the people or vehicle the time, preferably adopt correspondingly with the indicating status of teleseme, judge the method for the moving direction of people or vehicle.And similarly, when monitoring abnormal conditions in railway, preferably can whether fall correspondingly with circuit breaker with laser radar, judge in railway, whether have people or vehicle or the object that drops.

But, when carrying out with the corresponding supervision of the operating state of the indicating status of teleseme or circuit breaker, need for example detecting signal machine or the actuating signal of circuit breaker or the control signal of moving, control is handled action (for example object identification processing) by the supervision of laser radar.Concrete, the action control signal of teleseme or circuit breaker action is input on the object measuring device through set signal wire, make the action interlock of teleseme and circuit breaker, implement to handle with the supervision of laser radar.Therefore, the formation of this system is on a grand scale.

The present invention has considered such situation, the purpose of this invention is to provide a kind of easy object measuring device, the function that this object measuring device invention uses laser radar to have effectively flexibly, for example do not import the action control signal of circuit breaker, under the state that circuit breaker is fallen, positively detect people or the vehicle even the article that drop in the railway.

Below, with reference to accompanying drawing, survey counter device with regard to the object of an example of the present invention, the example that monitors the unusual intrusion in railway is described.

Figure 32 has showed the rough formation of the object measuring device of this example, the 410th, scan the laser radar in set monitored object zone.This laser radar 410 is become one in set basket by income, constitutes sensing unit, is arranged on the monitoring point of both take the altitudes of the wall of buildings or electric pole etc., is designed to overlook the railway road junction in monitored object zone.And,, be provided with on many laser radars 410 in the different positions that is provided with when a laser radar 410 can not be overlooked field, above-mentioned railway road junction (monitored object zone) whole.

Laser radar 410 possesses main scan motor 412 and subscan motor 413, this main scan motor 412 drives, for example, the polyhedron mirror turns round with certain speed, this subscan motor 413 is designed to become positive angle with the revolving shaft of this main scan motor 412, shakes under set speed by the revolving shaft that makes above-mentioned multiaspect mirror 411 surface of revolution that makes this polygonal mirror 411 that fascinates in set angular range.Next, with pulse laser from LASER Light Source 414 emissions, be radiated on the above-mentioned prismatic polygon mirror 411 through half mirror 415, with the revolution of above-mentioned pulse laser and this polyhedron 411 and the set monitor area of corresponding irradiation that tilts, from the next reflected light of the monitor area of pulse laser,, be subjected to light and detect through light harvesting camera lens 416 from above-mentioned polyhedron mirror 411 by light-receiving device 417.

This laser radar 410 promptly,, revolution by polyhedron mirror 411 and shaking, make pulse laser on main scanning direction (x direction), carry out the scanning of high speed deflection on one side, on one side make scanning plane be partial to scanning, carry out as shown in figure 33 scanning the universe of set scanning monitoring subject area with this to sub scanning direction (y direction).Connect, synchronous with the irradiation of above-mentioned pulse laser, be received in the monitored object region memory the reflected light of various objects reflection, obtain and carved by the light time from this (to be carved into during from the irradiation of pulse laser and to accept catoptrical effluxion.) to object (reflection spot) apart from information.The sweep limit of laser radar 410 is arranged to, for example, and main scanning direction (level) 60 degree, sub scanning direction (vertically) 30 degree.And the formation of laser radar 410 makes, and for example, when the every variation 0.1 in direction of scanning is spent, uses pulsed laser irradiation, accepts reflected light, so just can detect successively from the catoptrical information that adds up to (600 * 300) orientation.

On the other hand, the monitoring arrangement that for example is made of PC (object measuring device) body 420 possesses has the radar intelligence (RADINT) of three-dimensional radar information of obtaining the volume coordinate of this reflection spot of expression from the reflection information that uses above-mentioned laser radar 410 to detect to do apparatus for converting 421.Concrete, this radar intelligence (RADINT) is done apparatus for converting 421 reflected light detecting element 412b, apart from information transformation component 421c and deep or light transformation component 421d, this has reflected light detecting element 412b, as shown in figure 34, the synchronizing signal that acceptance comes from the pulse laser scan loop 421a that drives above-mentioned radar light source 414, measure above-mentioned pulse laser, carve from the light time that is subjected to of reflected by objects light, this becomes this instrumentation time change apart from information apart from information transformation component 421c, and this deep or light transformation component 421d will be transformed into deep or light information apart from information.

Certainly, aforementioned instrumentation time can Direct Transform become deep or light information.And, in this example, showed will convert to apart from information, the example of concentration thickens during for example distance deep or light information, the tone reversal that ground changes the implementation phase of also can taking with the corresponding color of distance.And, do not need 3 dimension radar intelligence (RADINT)s when being converted into the visualized operation of lidar image, do not carry out above-mentioned deep or light conversion, the instrumentation time that will be obtained by aforementioned reflected light detecting element 421b is as the information utilization of the reflection spot of pulse laser.

Next, lidar image as 3 dimension radar intelligence (RADINT)s is made to according to following method: use according to the deep or light information of obtaining like that (apart from information) recited above, according to the main sweep angle of obtaining from aforesaid laser radar scan loop 421a and the information of subscan angle, on set video memory 421e, generate image in turn.Promptly, on the coordinate of determining by the main sweep angle and the subscan angle of the direction of scanning of representing laser pulse (address of video memory 421e), write the deep or light coordinate of obtaining at that time (apart from information), making the lidar image of in the monitored object zone, determining to 3 dimensions the reflection spot of laser pulse on the video memory 421e.

Above-mentioned monitoring arrangement main body 420 has, guard condition judgment means 423 and regional determination device 424, this object detection device 422 above-mentioned radar intelligence (RADINT) do add on the apparatus for converting 421 from 3 the dimension radar intelligence (RADINT)s (lidar image) detect aforesaid monitored object region memory object, this guard condition judgment means 423 judges that from aforementioned 3 dimension radar intelligence (RADINT)s (volume coordinate) has or not certain objects on predefined observation point, control monitors the implementation of handling to the object in aforementioned monitored object zone, the subject area that these regional determination device 424 restrictions are detected by the object of aforementioned object detection device 422.Monitoring arrangement main body 420 can also add plane coordinate transformation device 425 described later, action detection device 426 and auxiliary information indication device 427 on these base conditioning functions.

These various functions are described.Aforesaid object detection device 422 possesses following function: basically with from aforesaid 3 dimension radar intelligence (RADINT)s, volume coordinate is that the set of the continuous above reflection spot of both fixing a number has the object of size to discern as certain, its center of gravity detects as the position of object.Next, aforesaid dynamic detection device 426 is to change the time from the centre of gravity place of the object that detects like this to judge that object is a fixture, or mobile object.When particularly identifying object and being mobile object, the variation side of above-mentioned centre of gravity place is identified as moving direction, and, the variable quantity of centre of gravity place is identified as translational speed.

The effect that field decision maker 424 is undertaken is to judge whether the location of the aforesaid object that detects is present in the predefined monitored object field.Concrete, the sweep limit of laser radar 410, as previously described, towards with pulsed laser irradiation, detect this catoptrical horizontal scanning and the determined zone of vertical scanning, be set at and include the whole of above-mentioned monitor area.So, in the aforesaid object that detects, be also included within the object that exists on the position in addition, above-mentioned monitored object zone.Here, in field judgment means 424, in space field, only judge and carry out the field that object detects by laser radar 410 scannings.By such field determination processing, for example, detect the object from object, remove the ground surface self that becomes the reference field that object detects, or detect apart from the locational object more than the 1m etc. from removing with the train way road junction.Only only limit to above state the railway field or at its people who nearby exists or vehicle, dropping etc. as the object object of cognition.

Aforesaid guard condition judgment means 423 has the processing function of the feature that the object measuring device possesses, its judges on predetermined observation point (volume coordinate position) whether have preassigned individually defined thing, bears the effect of the implementation that supervision that control detects according to aforementioned object handles.Concrete, whether this guard condition judgment means judgement for example is on the position of readiness as the circuit breaker of certain objects, only when circuit breaker is not on the position of readiness, detect, carry out the supervision that whether anomalies exists in railway and handle according to object noted earlier.

That is, in this example, what monitor the unusual intrusion of people in the railway road junction or vehicle or fall down object has an inaction purpose, and in fact, only when the gate that opens circuit is fallen the invasion of prevention in the railway road junction, it is sufficient carrying out that such supervision handles.So basically, as long as detect the state that the blocking machine is fallen on the road approach at railway road junction, control monitors that the implementation of handling is just passable.But circuit breaker fall the part that the position is field, railway road junction, under the state that circuit breaker is not fallen, people or vehicle cross above-mentioned position.

So whether this device by judging circuit breaker at that position of readiness, in other words, judge whether position on raising of circuit breaker, just can detect the operating state of this circuit breaker less than the people who passes through the railway road junction or the influence of vehicle.Next, circuit breaker is judged circuit breaker and is descended, or be the state that puts down not on position of readiness the time, and thus, in the moment before the state that is cut off the railway road junction by circuit breaker, indication monitors the implementation of handling rapidly.And this implementation of monitor to handle carrying out control can be that the aforesaid object of control detects the implementation of handling self, also can be to control whether object to be detected the object information obtained as monitoring result's output.

Anomalies in the railway road junction that such supervision control is obtained down detect the result, for example with plane coordinate transformation device 425, aforesaid 3 dimension radar intelligence (RADINT)s are carried out plane coordinate transformation, the plane monitoring picture that shows the situation in the railway road junction of looking down from the sky is shown at display 430.That is, with a plurality of laser radars 410, monitor area is divided into a plurality of zones, when monitoring respectively, the viewpoint of 410 pairs of above-mentioned monitor areas of these a plurality of laser radars is different with visual field direction.When these each lidar images are represented respectively, must consider the viewpoint position in each lidar image, judge the presentation video content.

At aforementioned plane coordinate transformation device 425, each laser radar image is carried out plane coordinate transformation, as benchmark, synthesize the coordinate of each lidar image with ground surface, a monitoring picture of having changed is looked on the plane that makes the monitored object zone, and it is shown on display 430.At that time, auxiliary information indication device 427 is done object frame shape identification sign (auxiliary information) overlapping expression on the monitoring picture of above-mentioned plane of aforementioned encirclement identification like this and can be strengthened expression to object, improves identity.

The suitable for example image recording structure 431 that is recorded in of the monitoring picture of trying to achieve like this.Particularly when detecting unusual intrusion such as people or vehicle railway road junction by aforementioned object, be recorded in image recording structure 431, can be utilized as and determine to invade railway people from road junction or the vehicle that cuts off with above-mentioned lidar image.

Figure 35 represents to use the appearance at the railway road junction that above-mentioned object measuring device monitors, 440 be railway track, and 441 for passing through the railway road junction of railway track, 442 circuit breakers that are provided with respectively for the import and export both sides at railway road junction 441.443 are the pedestrian by railway road junction 441, and 444 is bicycle, and 445 is motor vehicles.In this example, railway road junction 441 is divided into 2 zones along diagonal line, and the visual field of looking side ways direction with 2 laser radar 410a and 410b respectively monitors these 2 zones, therefrom the region-wide of railway road junction 441 is monitored.40A is the scanning field of laser radar 410a, and 40B is the scanning field of laser radar 410b.

Figure 36 represents the concise and to the point handling procedure that the initial setting of this object measuring device is handled, and Figure 37 represents to monitor the implementation control program of processing.These handling procedures are carried out simple explanation.Initial setting is handled when laser radar 410 is set, and according to the information that obtains with this laser radar 410, at first makes the lidar image (step 401) of monitored object.This lidar image is made of the visualized graphs of doubtful 3 dimensions that obtain by the processing of deep or lightization of distance information.This lidar image is presented on the display 430 (step 402), and (laser radar image) refers to push up the position of readiness (step 403) of deciding circuit breaker on display image.Obtain the volume coordinate of above-mentioned appointed positions from above-mentioned laser radar, this volume coordinate is registered as the ad-hoc location of the operating state that monitors circuit breaker.

After finishing initial setting and handle according to above way, the implementation of the supervision at railway road junction being handled by processing sequence shown in Figure 37 later on.It is at first to obtain lidar image (step 411) that this supervision is handled, and whether the ad-hoc location (observation point) that detects at this lidar image exists object (circuit breaker) (step 412).Then, when existing, be judged as circuit breaker and do not fall (being in position of readiness), when not existing, be judged as circuit breaker and fallen (step 413) at above-mentioned ad-hoc location object (circuit breaker) at above-mentioned ad-hoc location object (circuit breaker).Because be to be in the state of permission when circuit breaker is not fallen by the railway road junction, do not monitor processing so do not carry out, obtain next lidar image (step 411) constantly in next one scanning once more.

On the other hand, be to be in the state of falling if detect circuit breaker, just detect the object (step 414) in the railway road port area.This object detects the limit and specifies the above-mentioned subject area limit that detects to carry out.Be detected if any object, then judge the size that detects object, judge the action (step 415) that to carry out as required.That identification detects according to judgment processing is the people, is vehicle, or dropping.Corresponding with this recognition result, in the time of this object clearly should being represented, as previously mentioned laser radar image (3 dimension radar intelligence (RADINT)) is carried out plane coordinate transformation, on the monitoring picture that display 430 shows with identification sign (auxiliary information) overlapping expression (step 416).As required, the above-mentioned object that detects (people or vehicle) is given a warning, the monitoring picture during with this etc. is recorded on the image recording structure 331 (step 417).

Use the object measuring device of above-mentioned formation, utilize the part of the information that laser radar detects, control easily whether carry out according to the object that adopts this laser radar detect the supervision of fixed monitor area handle.Particularly in this example, whether be in position of readiness, when circuit breaker raises up standby, can be subjected to influence, detect the operating state of circuit breaker really by the object at road junction by detecting circuit breaker.So, when the state at circuit breaker is fallen, no thoroughfare road junction, positively detect and invade this road junction, or remain in the people or the vehicle at this road junction, take the countermeasure of the accident that prevents rapidly, have the very big effect in the practicality.And this device can make the traffic monitoring system of control circuit breaker move independently, has to make the advantage that external interface is simple, reduce equipment cost.

The present invention is not subjected to the restriction of above-mentioned example.Though only be illustrated here, but can be used in for example tower type parking field equally, monitor the surveillance whether people is arranged on parking platform with regard to the unusual example of invading of the object at railway road junction.At this moment, whether judgement is arranged on towards the door of the road approach of parking platform and opens, and when door is closed, can carry out the supervision of continuity a period of time and handle.This occasion, for the situation that prevents from people's existence to be detected owing to dead angle that the vehicle that places parking platform produces, can with different laser radars from oblique the place ahead of vehicle and tiltedly the rear monitor vehicle periphery.

The scanning angle of the horizontal vertical direction of laser radar 410, can be to the angle etc. looked down of monitor area according to monitoring that pattern decide.Also can carry out various variations about signal Processing function to the laser radar signal.In the scope that does not break away from purport of the present invention, can carry out various variations and implement the present invention.

As previously discussed, the object that the present invention applies flexibly laser radar effectively and had detects function, can control the implementation of monitor handling, and can realize moving the high easy object measuring device of reliability.Particularly, can carry out detecting this railway of the object road junction supervision processing of invading this railway road junction when only being cut off, have very big result of use at the railway road junction.

The full content of Japanese patent application 2002-287953 (application on September 30th, 2002), Japanese patent application 2002-352226 (application on Dec 4th, 2002), Japanese patent application 2002-380109 (application on Dec 27th, 2002) and Japanese patent application 2002-380110 (application on Dec 27th, 2002), with the mode of reference, write instructions of the present invention.

At last, as mentioned above, the present invention is not subjected to the restriction of example, by the suitable example that other can be arranged after changing.

Claims (6)

1. object measuring device is characterized in that possessing:

The laser radar that deciding monitor area is scanned;

To make the radar image producing device of visual radar image apart from information by what this laser radar detected;

Near the aforementioned laser radar, be provided with, to the monitor camera of the monitor area of laser radar shooting;

The image matching apparatus that the coordinate of the coordinate of the photographed images of being taken by aforementioned monitor camera and aforementioned radar image is mapped,

From aforementioned lidar image come the face of recognition object and/or mobile object object detector and

The supplementary of determining the polygon line chart of the face of the object after the identification and/or mobile object is respectively overlapped the auxiliary information indication device of representing on the above-mentioned image of taking pictures.

2. the object measuring device put down in writing of claim 1, it is characterized in that above-mentioned radar image producing device be the range information that will detect after deep or light conversion or tone reversal, 3 dimension information are made visual radar image.

3. the object measuring device put down in writing of claim 1, it is characterized in that the position coordinates of aforementioned image matching apparatus, the coordinate system of aforementioned photograph image pattern picture and the coordinate system of aforementioned radar image are coincided according to the most unique points that between aforementioned photographic image and radar image, are mapped mutually.

4. object measuring device is characterized in that possessing:

To the laser radar that scans of fixed monitor area;

From the information that detects by this laser radar, obtain the radar intelligence (RADINT) producing device of 3 dimension radar intelligence (RADINT)s apart from information and this direction of scanning;

Detect the object detection device of the object that in aforementioned fixed monitor area, exists the radar intelligence (RADINT)s from aforementioned 3 dimensions;

Judge that from aforementioned 3 dimension radar intelligence (RADINT)s predefined observation point has or not individually defined thing the visual-field space of described monitor area, the guard condition judgment means of the implementation that control is handled the supervision of the described monitor area that used described 3 dimension radar intelligence (RADINT)s;

Accept the control of this guard condition decision maker, and the object of control by aforementioned object detection device detect action, perhaps control monitor-control apparatus by the output that detects the result of aforementioned object detection device.

5. the object measuring device put down in writing of claim 4, it is characterized in that aforementioned fixed monitor area is a railway road port area, aforementioned individually defined thing is made of the circuit breaker that cuts off above-mentioned railway road port area, and aforementioned guard condition judgment means judges whether aforementioned circuit breaker is in position of readiness.

6. claim 4 or any one object measuring device of putting down in writing of 5 is characterized in that also possessing having:

With above-mentioned 3 the dimension radar intelligence (RADINT)s carry out plane coordinate transformation and make monitoring picture coordinate transformation device and;

On the monitoring picture of making of this coordinate transformation device, will determine the overlapping graphical representation device of representing of auxiliary information of the object of trying to achieve with aforementioned object detection device.

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