JPH0687810U - Swing-type lightwave distance measuring device - Google Patents
Swing-type lightwave distance measuring deviceInfo
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- JPH0687810U JPH0687810U JP3075193U JP3075193U JPH0687810U JP H0687810 U JPH0687810 U JP H0687810U JP 3075193 U JP3075193 U JP 3075193U JP 3075193 U JP3075193 U JP 3075193U JP H0687810 U JPH0687810 U JP H0687810U
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Abstract
(57)【要約】
【目的】 光波距離計測装置を小型化できる。
【構成】 制御部６により横軸駆動部４を可変制御し
て、横軸２を介し光波距離計測センサ１を正方向または
逆方向へ回転させ、光波距離計測センサ１から被計測物
上面までの距離Ｌを定ピッチで計測して、距離計測値を
制御部６へフイードバックする。また角度検出部５によ
り横軸２の回転角度θを検出して、角度検出値を制御部
６へフイードバックする。同制御部６では、上記各計測
値から被計測物の上面計測点Ｃの幅方向位置と光波距離
計測センサ１までの高さｈとを演算し、次いで被計測物
の上面計測点Ｃの座標位置とこの位置での被計測物の高
さとを演算して、記憶する。その後、光波距離計測セン
サ１の回転を続行させる一方、計測装置を紙面と直交し
た方向へ移動させ、被計測物の上面を連続的に網目状に
多点計測して、計測基準面（床面）Ｆ上にストックされ
た粉粒体等の被計測物の容積と三次元のストック形状と
を把握する。
(57) [Abstract] [Purpose] The lightwave distance measuring device can be miniaturized. [Constitution] The horizontal axis drive section 4 is variably controlled by the control section 6 to rotate the lightwave distance measuring sensor 1 in the forward direction or the reverse direction via the horizontal axis 2 so that the distance from the lightwave distance measuring sensor 1 to the upper surface of the object to be measured can be increased. The distance L is measured at a constant pitch, and the distance measurement value is fed back to the control unit 6. Further, the angle detection unit 5 detects the rotation angle θ of the horizontal axis 2 and feeds back the detected angle value to the control unit 6. The control unit 6 calculates the width direction position of the upper surface measurement point C of the object to be measured and the height h to the lightwave distance measuring sensor 1 from the above measured values, and then the coordinates of the upper surface measurement point C of the object to be measured. The position and the height of the object to be measured at this position are calculated and stored. After that, while continuing to rotate the lightwave distance measuring sensor 1, the measuring device is moved in a direction orthogonal to the paper surface, and the upper surface of the object to be measured is continuously measured in multiple meshes to measure the reference surface (floor surface). ) Grasp the volume of the object to be measured, such as powder or granular material, stocked on F and the three-dimensional stock shape.
Description
【０００１】[0001]
本考案は、首振型光波距離計測装置に関するものである。 The present invention relates to a swing type lightwave distance measuring device.
【０００２】[0002]
従来の光波距離計測装置を図４〜図６により説明する。 先ず図４の光波距離計測装置を説明すると、１００が天井クレーン、１０１が 同天井クレーン１００のガーダ、１０３が同ガーダ１０１に設けた光波センサで 、同光波センサ１０３がガーダ１０１の走行方向１０２に沿って投光するように なっている。１０４が他のクレーンに設けた反射板である。 A conventional lightwave distance measuring device will be described with reference to FIGS. First, the lightwave distance measuring device of FIG. 4 will be described. It is designed to project along. Reference numeral 104 is a reflector provided on another crane.
【０００３】 １０６が上記ガーダ１０１の一端部に取付けた光波センサ、１０７が上記ガー ダ１０１上を横行するトロリで、上記光波センサ１０６がトロリ１０７の横行方 向１０５に沿って投光するようになっている。１０８が上記トロリ１０７の側面 に取付けた反射板である。 図４に示す光波距離計測装置では、光波センサ１０３、１０６から反射板１０ ４、１０８へ投光し、互いの間の距離を検出して、位置決めや衝突防止に使用し ている。Reference numeral 106 is a light wave sensor attached to one end of the girder 101, 107 is a trolley traversing the girder 101, and the light wave sensor 106 projects light along the traverse direction 105 of the trolley 107. Has become. Reference numeral 108 is a reflector attached to the side surface of the trolley 107. In the lightwave distance measuring device shown in FIG. 4, the lightwave sensors 103 and 106 project light onto the reflectors 104 and 108, detect the distance between them, and are used for positioning and collision prevention.
【０００４】 次に図５の光波距離計測装置を説明すると、１１０がコンベア、１１１が同コ ンベア１１０により搬送される物品、１１２、１１３がコンベア１１０の側方前 後に配設した２つの光波センサである。 図５に示す光波距離計測装置では、光波センサ１１２、１１３からコンベア１ １０上の物品１１１へ斜めに投光し、物品１１１までの距離を検出して、物品１ １１の位置決めに使用したり、通過する物品１１１の形状を二次元的に検出する ようにしている。Next, the light wave distance measuring device of FIG. 5 will be described. 110 is a conveyor, 111 is an article conveyed by the conveyor 110, and 112 and 113 are two light wave sensors arranged side by side. Is. In the lightwave distance measuring device shown in FIG. 5, the lightwave sensors 112 and 113 project light obliquely onto the article 111 on the conveyor 110, detect the distance to the article 111, and use it for positioning the article 111. The shape of the passing article 111 is two-dimensionally detected.
【０００５】 次に図６に示す光波距離計測装置を説明すると、１２０が貯蔵パイル、１２１ が同貯蔵パイル１２０上の撒荷、１２２が貯蔵パイル１２０に沿って移動するガ ントリ、１２３が同ガントリ１２２の梁の等間隔位置に下向きに投光可能に取付 けた複数の光波センサである。 図６に示す光波距離計測装置では、ガントリ１２２を貯蔵パイル１２０に沿い 移動させながら、各光波センサ１２３から撒荷１２１へ投光して、撒荷１２１ま での垂直距離を検出する。その場合、撒荷１２１の山の高さを網目状に多点計測 して、撒荷１２１の量を三次元的に検出するようにしている。Next, the lightwave distance measuring device shown in FIG. 6 will be described. 120 is a storage pile, 121 is a load on the storage pile 120, 122 is a gantry that moves along the storage pile 120, and 123 is a gantry. A plurality of light wave sensors 122 are attached to the beams of 122 at equal intervals so that light can be projected downward. In the lightwave distance measuring device shown in FIG. 6, while moving the gantry 122 along the storage pile 120, each lightwave sensor 123 projects light onto the load 121 to detect the vertical distance to the load 121. In that case, the heights of the piles 121 of the load 121 are measured in a mesh pattern to detect the amount of the load 121 three-dimensionally.
【０００６】[0006]
前記図４〜図６に示す光波距離計測装置では、光波センサを移動体上または静 止体上に固定して、一定方向に投光するようにしており、図５、図６に示すよう に二次元データや三次元データを得ようとすると、必然的に光波センサの数を増 やさなければならなくて、光波距離計測装置の全体が大型化するという問題があ った。 In the lightwave distance measuring device shown in FIGS. 4 to 6, the lightwave sensor is fixed on the moving body or the stationary body so that the light is projected in a fixed direction. As shown in FIGS. Obtaining two-dimensional data or three-dimensional data inevitably requires an increase in the number of light wave sensors, which causes the problem of increasing the size of the light wave distance measuring device as a whole.
【０００７】 本考案は前記の問題点に鑑み提案するものであり、その目的とする処は、小型 化できる首振型光波距離計測装置を提供しようとする点にある。The present invention is proposed in view of the above problems, and an object of the present invention is to provide a swing-type optical wave distance measuring device that can be downsized.
【０００８】[0008]
上記の目的を達成するために、本考案の首振型光波距離計測装置は、光波投光 方向と直交する方向に配設した回転可能な横軸と、同横軸の先端部に取付けた光 波距離計測センサと、上記横軸を正逆方向に回転する横軸駆動部と、上記横軸の 回転角度を検出する角度検出部と、上記横軸の正逆方向の回転量及び回転速度と 上記光波距離計測センサによる計測とを制御する制御部とを具えている。 In order to achieve the above-mentioned object, the swing type lightwave distance measuring device of the present invention comprises a rotatable horizontal axis arranged in a direction orthogonal to the lightwave projection direction and an optical axis attached to the tip of the horizontal axis. A wave distance measuring sensor, a horizontal axis drive unit that rotates the horizontal axis in the forward and reverse directions, an angle detection unit that detects a rotation angle of the horizontal axis, and a rotation amount and a rotation speed in the forward and reverse directions of the horizontal axis. And a control unit for controlling the measurement by the lightwave distance measuring sensor.
【０００９】[0009]
本考案の首振型光波距離計測装置は前記のように構成されており、制御部によ り横軸駆動部を可変制御して、横軸を介し光波距離計測センサを正方向または逆 方向へ回転させ、光波距離計測センサから被計測物上面までの距離を定ピッチで 計測して、距離計測値を制御部へフイードバックする。また角度検出部により横 軸の回転角度を検出して、角度検出値を制御部へフイードバックする。同制御部 では、上記各計測値から被計測物の上面計測点の幅方向位置と光波距離計測セン サまでの高さとを演算し、次いで被計測物の上面計測点の座標位置とこの位置で の被計測物の高さとを演算して、記憶する。その後、光波距離計測センサの回転 を続行させる一方、計測装置を紙面と直交した方向へ移動させ、被計測物の上面 を連続的に網目状に多点計測して、計測基準面（床面）上にストックされた粉粒 体等の被計測物の容積と三次元のストック形状とを把握する。 The swing type light wave distance measuring device of the present invention is configured as described above, and the horizontal axis drive unit is variably controlled by the control unit to move the light wave distance measuring sensor in the forward direction or the reverse direction via the horizontal axis. Rotate, measure the distance from the lightwave distance measuring sensor to the upper surface of the object to be measured at a constant pitch, and feed back the measured distance value to the control unit. The angle detection unit detects the rotation angle of the horizontal axis and feeds back the detected angle value to the control unit. The control unit calculates the position in the width direction of the measurement point on the upper surface of the measured object and the height to the lightwave distance measurement sensor from the above measured values, and then calculates the coordinate position of the measured point on the upper surface of the measured object and this position. The height of the object to be measured is calculated and stored. After that, while continuing to rotate the optical distance measuring sensor, the measuring device is moved in the direction orthogonal to the paper surface, and the upper surface of the object to be measured is continuously measured in multiple meshes, and the measurement reference surface (floor surface) is measured. Understand the volume of the object to be measured, such as powder particles, and the three-dimensional stock shape.
【００１０】[0010]
次に本考案の首振型光波距離計測装置を図１、図２に示す一実施例により説明 すると、図１の１が光波距離計測センサ、２が光波投光方向と直交する方向の横 軸、３が上記光波距離計測センサ１を回転可能に支持する支持体で、同支持体３ は、ブラケット３ａを介して計測用移動台車やクレーン等の移動機体に取付けら れ、被検出側が移動する場合には、その上の静止している構造物等に取付けられ ている。 Next, the swing type light wave distance measuring device of the present invention will be described with reference to an embodiment shown in FIGS. 1 and 2. 1 in FIG. 1 is a light wave distance measuring sensor, and 2 is a horizontal axis in a direction orthogonal to the light wave projecting direction. Reference numeral 3 denotes a support body that rotatably supports the lightwave distance measuring sensor 1. The support body 3 is attached to a moving machine body such as a moving carriage for measurement or a crane via a bracket 3a, and the detected side moves. In some cases, it is attached to a stationary structure on it.
【００１１】 ４が同支持体３内に設けた横軸駆動部で、同横軸駆動部４が横軸２を正逆方向 に回転するようになっている。また５が横軸２の回転角度を検出する角度検出部 で、同角度検出部５が上記支持体３内に設けられている。 ６が制御装置、７が上記光波距離計測センサ１及び上記横軸駆動部４にケーブ ルを介して接続した制御ユニット、８が同制御ユニット６に接続したコンピュー タ、９が上記横軸駆動部４と上記制御ユニット７と上記コンピュータ８とに接続 した電源、１０がコンピュータ８の表示部、１１がコンピュータ８のキーボード である。Reference numeral 4 denotes a horizontal axis drive section provided in the support body 3, and the horizontal axis drive section 4 rotates the horizontal axis 2 in forward and reverse directions. Further, 5 is an angle detection unit for detecting the rotation angle of the horizontal axis 2, and the angle detection unit 5 is provided in the support body 3. 6 is a control device, 7 is a control unit connected to the lightwave distance measuring sensor 1 and the horizontal axis drive unit 4 via a cable, 8 is a computer connected to the control unit 6, and 9 is the horizontal axis drive unit. 4, a power source connected to the control unit 7 and the computer 8, 10 is a display unit of the computer 8, and 11 is a keyboard of the computer 8.
【００１２】 図２は、上記光波距離計測センサ１の詳細を示している。光波距離計測センサ １は、横軸２の先端部に固定した箱１２内にスタッド１３及びタイボルト１４を 介して固定され、蓋１５が箱１２に固定され、フード１６が蓋１５に固定されて 、光波距離計測センサ１からの光がフード１６内を通って投光されるようになっ ている。また横軸駆動部４と角度検出部５とが支持体３内の横軸２の両側に配置 されている。FIG. 2 shows the details of the lightwave distance measuring sensor 1. The lightwave distance measuring sensor 1 is fixed in a box 12 fixed to the tip of the horizontal axis 2 via studs 13 and tie bolts 14, a lid 15 is fixed to the box 12, and a hood 16 is fixed to the lid 15. The light from the lightwave distance measuring sensor 1 passes through the inside of the hood 16 and is projected. Further, the horizontal axis drive section 4 and the angle detection section 5 are arranged on both sides of the horizontal axis 2 in the support body 3.
【００１３】 １７が支持体３に取付けた横軸用軸受、１８、１９が横軸２の箱体３側端部に 取付けた大小のギヤ、２０が横軸駆動部４のステッピングモータ、２１が同ステ ッピングモータ２０の出力軸に取付けた駆動ギヤで、同駆動ギヤ２１が上記大ギ ヤ１８に噛合している。 ２２が回転角検出用エンコーダ、２３が同回転角検出用エンコーダ２２の回転 軸に取付けたギヤで、同ギヤ２２が上記小ギヤ１９に噛合している。Reference numeral 17 denotes a horizontal shaft bearing attached to the support 3, 18, 19 denotes large and small gears attached to the end of the horizontal shaft 2 on the side of the box body 3, 20 denotes a stepping motor of the horizontal drive unit 4, and 21 denotes A drive gear mounted on the output shaft of the stepping motor 20 has a drive gear 21 meshing with the gear 18. Reference numeral 22 is a rotation angle detecting encoder, and 23 is a gear attached to the rotation shaft of the rotation angle detecting encoder 22. The gear 22 meshes with the small gear 19.
【００１４】 次に前記図１、図２に示す首振型光波距離計測装置の作用を図３により具体的 に説明する。 Ｆが床面等の水平な計測基準面、Ｂが基準線Ｓと計測基準面Ｆとの交点から両 側に等間隔に設定した計測基準点、Ｈが計測基準面Ｆから光波距離計測センサ１ の光波０点までの高さ、Ｃが計測基準面（床面）Ｆ上にストックされた粉粒体等 の被計測物の上面である。Next, the operation of the swing type lightwave distance measuring device shown in FIGS. 1 and 2 will be described in detail with reference to FIG. F is a horizontal measurement reference plane such as a floor, B is a measurement reference point set at equal intervals on both sides from the intersection of the reference line S and the measurement reference plane F, and H is a lightwave distance measuring sensor 1 from the measurement reference plane F. The height C up to the zero point of the light wave, C, is the upper surface of the object to be measured, such as powder particles, which is stocked on the measurement reference surface (floor surface) F.
【００１５】 コンピュータ８及び制御ユニット７により、横軸駆動部４のステッピングモー タ２０を可変制御する一方、同ステッピングモータ２０の回転を駆動ギヤ２１→ 大ギヤ１８→横軸２→光波距離計測センサ１に伝えて、同光波距離計測センサ１ を上下方向に通る基準線Ｓを中心として角度Ａの範囲を図３の左側から右側へま たは反対方向へ回転させ、光波距離計測センサ１から被計測物の上面計測点Ｃ1 、Ｃ2 、Ｃ3 ・・・までの距離Ｌを各計測基準点Ｂを計測目標点として定ピッチ で例えば２秒毎の定ピッチで計測して、距離計測値をコンピュータ８へフイード バックする。The stepping motor 20 of the horizontal axis drive unit 4 is variably controlled by the computer 8 and the control unit 7, while the rotation of the stepping motor 20 is driven by the drive gear 21 → large gear 18 → horizontal axis 2 → light wave distance measuring sensor. 1 to rotate the range of the angle A from the left side to the right side of FIG. 3 or to the opposite direction around the reference line S passing through the same lightwave distance measuring sensor 1 in the up-down direction. The distance L to the upper surface measurement points C 1 , C 2 , C 3 ... Is measured at a constant pitch with each measurement reference point B as a measurement target point at a constant pitch, for example, every 2 seconds, and the distance measurement value Is fed back to the computer 8.
【００１６】 このとき、横軸２の回転を小ギヤ１９→ギヤ２３→回転角検出用エンコーダ２ ２に伝え、光波距離計測センサ１の回転角度を検出して、角度検出値をコンピュ ータ８へフイードバックする。 いま、光波距離計測センサ１から被計測物の上面計測点Ｃ1 までの距離Ｌ1 を 計測し、このときの回転角度がθであると、制御装置６のコンピュータ８では、 この計測値から被計測物の上面計測点Ｃ1 の幅方向位置ｂ1 と光波距離計測セン サ１までの高さｈ1 とを演算し、次いで被計測物の上面計測点Ｃ1 の座標位置と この位置での被計測物の高さとを演算して、記憶する。At this time, the rotation of the horizontal axis 2 is transmitted to the small gear 19 → gear 23 → rotation angle detecting encoder 22 to detect the rotation angle of the lightwave distance measuring sensor 1 and the detected angle value is calculated by the computer 8 Feed back. Now, the distance L 1 from the light wave distance measuring sensor 1 to the upper surface measurement point C 1 of the object to be measured is measured, the rotation angle at this time is theta, the computer 8 of the control device 6, the this measured value calculating a height h 1 to the widthwise position b 1 and light wave distance measuring sensor 1 of the top measurement point C 1 of the measurement was then at this position and the coordinate position of the upper surface measurement point C 1 of the object to be measured The height of the object to be measured is calculated and stored.
【００１７】 その後、光波距離計測センサ１の回転を続行させる一方、支持体３を紙面と直 交した方向へ移動させて、被計測物の上面Ｃを連続的に網目状に多点計測し、こ れにより、計測基準面（床面）Ｆ上にストックされた粉粒体等の被計測物の容積 と、三次元のストック形状とを把握する。After that, while continuing the rotation of the lightwave distance measuring sensor 1, the support 3 is moved in a direction perpendicular to the paper surface, and the upper surface C of the object to be measured is continuously measured in a mesh-like manner at multiple points. With this, the volume of the object to be measured, such as powder particles, which is stocked on the measurement reference plane (floor surface) F, and the three-dimensional stock shape are grasped.
【００１８】[0018]
本考案の首振型光波距離計測装置は前記のように制御部により横軸駆動部を可 変制御して、横軸を介し光波距離計測センサを正方向または逆方向へ回転させ、 光波距離計測センサから被計測物上面までの距離を定ピッチで計測して、距離計 測値を制御部へフイードバックする。また角度検出部により横軸の回転角度を検 出して、角度検出値を制御部へフイードバックする。同制御部では、上記各計測 値から被計測物の上面計測点の幅方向位置と光波距離計測センサまでの高さとを 演算し、次いで被計測物の上面計測点の座標位置とこの位置での被計測物の高さ とを演算して、記憶する。その後、光波距離計測センサの回転を続行させる一方 、計測装置を紙面と直交した方向へ移動させ、被計測物の上面を連続的に網目状 に多点計測して、計測基準面（床面）上にストックされた粉粒体等の被計測物の 容積と三次元のストック形状とを把握するので、多数の光波センサを必要としな くて、光波距離計測装置を小型化できる。 As described above, the swing type light wave distance measuring device of the present invention variably controls the horizontal axis drive section by the control section to rotate the light wave distance measuring sensor in the forward or reverse direction through the horizontal axis to measure the light wave distance. The distance from the sensor to the upper surface of the object to be measured is measured at a fixed pitch, and the distance measurement value is fed back to the control unit. The angle detection unit detects the rotation angle of the horizontal axis and feeds back the detected angle value to the control unit. The control unit calculates the width direction position of the measurement point on the upper surface of the object to be measured and the height to the lightwave distance measurement sensor from the above measured values, and then calculates the coordinate position of the measurement point on the upper surface of the object to be measured and this position. The height of the object to be measured is calculated and stored. After that, while continuing to rotate the optical distance measuring sensor, the measuring device is moved in the direction orthogonal to the paper surface, and the upper surface of the object to be measured is continuously measured in multiple meshes, and the measurement reference surface (floor surface) is measured. Since the volume and the three-dimensional stock shape of the object to be measured, such as powder particles that are stocked above, are grasped, a large number of light wave sensors are not required, and the light wave distance measuring device can be miniaturized.
【図１】本考案の首振型光波距離計測装置の一実施例を
示す系統図である。FIG. 1 is a system diagram showing an embodiment of a swing type light wave distance measuring device of the present invention.
【図２】同首振型光波距離計測装置の詳細を示す縦断側
面図である。FIG. 2 is a vertical cross-sectional side view showing details of the same swing type light wave distance measuring device.
【図３】同首振型光波距離計測装置の作用説明図であ
る。FIG. 3 is an explanatory view of the operation of the same swing type light wave distance measuring device.
【図４】従来の光波距離計測装置の一例を示す斜視図で
ある。FIG. 4 is a perspective view showing an example of a conventional lightwave distance measuring device.
【図５】従来の光波距離計測装置の他の例を示す斜視図
である。FIG. 5 is a perspective view showing another example of a conventional lightwave distance measuring device.
【図６】従来の光波距離計測装置のさらに他の例を示す
斜視図である。FIG. 6 is a perspective view showing still another example of a conventional lightwave distance measuring device.
１ 光波距離計測センサ ２ 横軸 ４ 横軸駆動部 ５ 角度検出部 ６ 制御部 1 Lightwave distance measuring sensor 2 Horizontal axis 4 Horizontal axis drive section 5 Angle detection section 6 Control section
Claims (1)
回転可能な横軸と、同横軸の先端部に取付けた光波距離
計測センサと、上記横軸を正逆方向に回転する横軸駆動
部と、上記横軸の回転角度を検出する角度検出部と、上
記横軸の正逆方向の回転量及び回転速度と上記光波距離
計測センサによる計測とを制御する制御部とを具えてい
ることを特徴とした首振型光波距離計測装置。1. A rotatable horizontal axis disposed in a direction orthogonal to a light wave projecting direction, a light wave distance measuring sensor attached to a tip end portion of the horizontal axis, and a horizontal axis rotating the horizontal axis in forward and reverse directions. An axis drive unit, an angle detection unit that detects the rotation angle of the horizontal axis, and a control unit that controls the amount of rotation and the rotation speed in the forward and reverse directions of the horizontal axis and the measurement by the lightwave distance measurement sensor. A swing-type lightwave distance measuring device characterized by being installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3075193U JPH0687810U (en) | 1993-06-08 | 1993-06-08 | Swing-type lightwave distance measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3075193U JPH0687810U (en) | 1993-06-08 | 1993-06-08 | Swing-type lightwave distance measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0687810U true JPH0687810U (en) | 1994-12-22 |
Family
ID=12312396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3075193U Pending JPH0687810U (en) | 1993-06-08 | 1993-06-08 | Swing-type lightwave distance measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0687810U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011134234A (en) * | 2009-12-25 | 2011-07-07 | Honda Motor Co Ltd | Movable area extracting device, movable area extracting system, movable area extracting method, and program |
-
1993
- 1993-06-08 JP JP3075193U patent/JPH0687810U/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011134234A (en) * | 2009-12-25 | 2011-07-07 | Honda Motor Co Ltd | Movable area extracting device, movable area extracting system, movable area extracting method, and program |
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