TWI475525B - Measurement apparatus, measurement method and program - Google Patents
Measurement apparatus, measurement method and program Download PDFInfo
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- TWI475525B TWI475525B TW101129950A TW101129950A TWI475525B TW I475525 B TWI475525 B TW I475525B TW 101129950 A TW101129950 A TW 101129950A TW 101129950 A TW101129950 A TW 101129950A TW I475525 B TWI475525 B TW I475525B
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- 238000005259 measurement Methods 0.000 title claims description 48
- 238000000691 measurement method Methods 0.000 title claims description 4
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
- Traffic Control Systems (AREA)
- Road Repair (AREA)
Description
本發明是關於一種，測量存在於路面上的對象物的高度的測量裝置、測量方法及程式。The present invention relates to a measuring device, a measuring method, and a program for measuring the height of an object existing on a road surface.
收費道路等的通路的過路費中，徵收的費用依車種而不同。因此，設於通路的路側裝置，為了判別車種必須測量車輛的高度。在車輛高度的測量，使用例如使用雷射感測器的測量方法。Among the tolls of the passages such as toll roads, the fees to be collected vary depending on the type of vehicle. Therefore, the roadside device provided in the passage must measure the height of the vehicle in order to discriminate the vehicle type. In the measurement of the vehicle height, for example, a measurement method using a laser sensor is used.
作為藉由雷射測量車高的方法，有使用設在路面上方的雷射感測器朝向路面掃瞄雷射光，並測量所掃瞄的雷射的反射光的強度、從雷射光的照射到收到反射光的光為止的時間的方法(例如參照專利文獻1)。具體而言，測量從雷射感測器到車輛為止的長度，由雷射感測器的設置高減該被測量的長度進行車高的算出。As a method of measuring the vehicle height by laser, a laser sensor disposed above the road surface is used to scan the laser light toward the road surface, and measure the intensity of the reflected light of the scanned laser light, from the irradiation of the laser light to A method of receiving time until the light of the reflected light is received (for example, refer to Patent Document 1). Specifically, the length from the laser sensor to the vehicle is measured, and the calculation of the vehicle height is performed by the height of the measured by the height of the laser sensor.
[專利文獻1]日本特開2002-8188號公報[Patent Document 1] Japanese Patent Laid-Open Publication No. 2002-8188
然而，在路面因為設有用來使雨水等往路側流的排水 坡度，或因車輛的通行而形成有車轍，所以路面不一定平坦。因此，雷射感測器的設置高在路面上的每個點上可能會有不同，使用上述的方法時，會有無法正確算出車高的虞慮。However, there is drainage on the road surface for the side flow of rainwater and the like. The slope, or the rut formed by the passage of the vehicle, is not necessarily flat. Therefore, the setting of the laser sensor may be different at each point on the road surface. When the above method is used, there is a concern that the vehicle height cannot be correctly calculated.
本發明之目的在提供一種，可正確計算存在於不是平坦的路面上的對象物的高度的測量裝置、測量方法及程式。An object of the present invention is to provide a measuring apparatus, a measuring method, and a program that can accurately calculate the height of an object existing on a road surface that is not flat.
本發明的測量裝置的第一實施態樣，係測量存在於路面上的對象物的高度的測量裝置，其為，具備有：從路面上方的基準位置朝向路面上的複數個點射出雷射光，並依據前述雷射光的反射光測量從前述基準位置到作為反射前述雷射光的點的反射點為止的距離之距離測量部；記憶表示路面上的點、與從前述基準位置到前述點為止的距離之路面高的關係的路面高情報的記憶部；依據前述記憶部記憶的路面高情報，將前述各反射點中的路面高予以特定的路面高特定部；以及依據前述距離測量部所算出的各距離與前述路面高特定部所特定的路面高，算出從路面起至前述反射點為止的長度作為前述對象物的高度之高度算出部。A first embodiment of the measuring device according to the present invention is a measuring device for measuring a height of an object existing on a road surface, and is configured to emit laser light from a reference position above the road surface toward a plurality of points on the road surface, And measuring, according to the reflected light of the laser light, a distance measuring unit from the reference position to a distance from a reflection point of a point at which the laser light is reflected; and memorizing a point on the road surface and a distance from the reference position to the point a road surface high-intelligence memory unit having a high road surface relationship; a road surface height specific portion in which the road surface height in each of the reflection points is specified based on the road surface high information stored in the memory unit; and each of the road surface height specifying units calculated by the distance measuring unit The distance is higher than the road surface specified by the road surface high specific portion, and the length from the road surface to the reflection point is calculated as the height calculation unit of the height of the object.
本發明的測量裝置的第二實施態樣，是在第一實施態樣中，具備有：判定在前述每個反射點，前述距離測量部測量到的距離與前述路面高特定部所特定的路面高的差是 否在預定的閾值以下的對象物判定部；以及藉由前述對象物判定部判定前述距離測量部測量到的距離與前述路面高特定部所特定的路面高的差有在預定的閾值以下時的反射點存在時，依據前述反射點的路面高將前述記憶部記憶的路面高情報予以更新的更新部。According to a second aspect of the present invention, in a first aspect of the present invention, the first aspect of the present invention includes: determining, at each of the reflection points, a distance measured by the distance measuring unit and a road surface specified by the specific portion of the road surface height The difference is high An object determination unit that is not equal to or less than a predetermined threshold; and when the object determination unit determines that the difference between the distance measured by the distance measurement unit and the road surface height specified by the road surface specific portion is equal to or less than a predetermined threshold value When the reflection point exists, the update unit that updates the road surface high information stored in the memory unit based on the road surface height of the reflection point is updated.
本發明的測量裝置的第三實施態樣，是在第二實施態樣中，具備判定路面狀態的良否的路面狀態判定部，前述更新部是藉由前述對象物判定部判定前述距離測量部測量到的距離與前述路面高特定部所特定的路面高的差有在預定的閾值以下時的反射點存在，且只有在前述路面狀態判定部判定路面狀態良好的時候，依據前述反射點的路面高將前述記憶部記憶的路面高情報予以更新。According to a third aspect of the present invention, in a second aspect of the invention, a road surface state determination unit that determines whether the road surface state is good or not is provided, and the update unit determines that the distance measurement unit measures by the object determination unit. The difference between the distance to the road surface and the road surface height specified by the specific portion of the road surface height is less than or equal to a predetermined threshold value, and the road surface height is determined according to the reflection point only when the road surface state determination unit determines that the road surface condition is good. The road surface high information memorized by the memory unit is updated.
本發明的測量裝置的第四實施態樣，是在第三實施態樣中，前述路面狀態判定部是當藉由前述對象物判定部判定前述距離測量部測量到的距離與前述路面高特定部所特定的距離的差有在預定的閾值以下時的反射點存在時，在前述各反射點藉由距離測量部所測量到的距離的散佈度在所定值以下時，判定路面狀態良好。According to a fourth aspect of the invention, in the third aspect of the invention, the road surface state determination unit determines that the distance measured by the distance measuring unit and the road surface height specific portion are determined by the object determination unit. When the difference between the specific distances is greater than or equal to a predetermined threshold value, the road surface state is judged to be good when the degree of dispersion of the distance measured by the distance measuring unit is less than or equal to the predetermined value.
本發明的測量裝置的第五實施態樣，是第一至第四實施態樣中的任一實施態樣中，具備判定在前述反射點車輛存在於否的車輛判定部；以及藉由前述車輛判定部判定有車輛存在時，將前述車輛的車輪存在的位置予以特定的車輪位置特定部，前述路面高特定部是依據藉由前述車輪位置特定部所特定的車輪位置，將前述車輛存在的點的路面 高予以特定。According to a fifth aspect of the present invention, in any one of the first to fourth embodiments, the vehicle determination unit includes: determining whether the vehicle exists at the reflection point; and When the determination unit determines that the vehicle is present, the position of the wheel of the vehicle is specified as a specific wheel position specifying unit, and the road surface height specifying unit is a point where the vehicle exists based on the wheel position specified by the wheel position specifying unit. Pavement High is specific.
本發明的測量裝置的第六實施態樣，是第五實施態樣中，前述車輛判定部是當前述反射點之中，藉由前述對象物判定部所判定的前述距離測量部測量到的距離與前述路面高特定部所特定的距離的差超過預定的閾值時的反射點跨預定的寬幅連續存在時，判定在前述連續的反射點的位置有車輛存在。According to a sixth aspect of the invention, in the fifth aspect of the invention, the vehicle determination unit is a distance measured by the distance measuring unit determined by the object determination unit among the reflection points. When the reflection point when the difference from the specific distance specified by the road surface height specific portion exceeds a predetermined threshold value continuously exists over a predetermined width, it is determined that the vehicle exists at the position of the continuous reflection point.
本發明的測量方法實施態樣，是使用係具備記憶表示路面上的點、與從路面上方的基準位置到前述點為止的距離的路面高的關係之路面高情報的記憶部，測量存在於路面上的對象物的高度的測量裝置測量方法，其中，具有：從基準位置朝向路面上的複數個點射出雷射光，並依據前述雷射光的反射光測量從前述基準位置到作為反射前述雷射光的點的反射點為止的距離之距離測量工程；依據前述記憶部記憶的路面高情報，將前述各反射點的路面高予以特定的路面高特定工程；以及依據在前述距離測量工程所算出的各距離與在前述路面高特定工程所特定的路面高，算出從路面起至前述反射點為止的長度作為前述對象物的高的高度算出工程。In the embodiment of the measurement method of the present invention, the memory portion having the high-information information indicating that the point on the road surface and the distance from the reference position above the road surface to the point above the road surface is high is used, and the measurement is performed on the road surface. The measuring device measuring method of the height of the object, wherein the laser light is emitted from the reference position toward a plurality of points on the road surface, and the reflected light is measured from the reference position to reflect the laser light according to the reflected light of the laser light. The distance measurement project of the distance from the point of reflection of the point; according to the road surface high information stored in the memory unit, the road surface height of each of the reflection points is specified to a specific road surface height; and the distance calculated according to the distance measurement project The length from the road surface to the reflection point is calculated as the height of the road surface specified by the road surface high specific engineering, and the height is calculated as the height of the object.
本發明的程式，係將具備記憶表示路面上的點、與作為從路面上方的基準位置到前述點為止的距離的路面高的關係的路面高情報的記憶部，測量存在於路面上的對象物的高度的測量裝置作為：從基準位置朝向路面上的複數個點射出雷射光，並依據前述雷射光的反射光測量從前述基 準位置到作為反射前述雷射光的點的反射點為止的距離之距離測量部、依據前述記憶部記憶的路面高情報，將前述各反射點的路面高予以特定的路面高特定部、依據前述距離測量部所算出的各距離與前述路面高特定部所特定的路面高，算出從路面起至前述反射點為止的長度作為前述對象物的高度之高度算出部發揮功能。The program of the present invention is provided with a memory unit that memorizes a road surface high-intelligence indicating a point on the road surface and a road surface that is a distance from a reference position above the road surface to the point, and measures an object existing on the road surface. The height measuring device is configured to: emit laser light from a plurality of points on the road surface from the reference position, and measure the light from the base according to the reflected light of the laser light. a distance measuring unit that is a distance from a quasi-position to a reflection point that reflects a point of the laser light, and a road surface height specified by each of the reflection points according to the road surface high information stored in the memory unit, according to the distance Each of the distances calculated by the measurement unit is higher than the road surface specified by the road surface height-specific portion, and the height calculated from the road surface to the reflection point functions as the height calculation unit of the height of the object.
本發明的記錄媒體，係在具備記憶表示路面上的點、與作為從路面上方的基準位置到前述點為止的距離的路面高的關係的路面高情報的記憶部，測量存在於路面上的對象物的高度的測量裝置的電腦中記錄使從基準位置朝向路面上的複數個點射出雷射光，並依據前述雷射光的反射光測量從前述基準位置到作為反射前述雷射光的點的反射點為止的距離之距離測量工程；依據前述記憶部記憶的路面高情報，將前述各反射點的路面高予以特定的路面高特定工程；以及依據在前述距離測量工程所算出的各距離與在前述路面高特定工程所特定的路面高，算出從路面起至前述反射點為止的長度作為前述對象物的高的高度算出工程執行的程式。In the recording medium of the present invention, the memory unit having the high-information information indicating the relationship between the point on the road surface and the road surface as the distance from the reference position above the road surface to the point is measured, and the object existing on the road surface is measured. The computer of the height measuring device of the object records the laser light from a plurality of points on the road surface from the reference position, and measures the reflection point from the reference position to the point at which the laser light is reflected, based on the reflected light of the laser light. Distance measurement project; according to the high road information stored in the memory section, the road surface height of each of the reflection points is specified to a specific road surface height; and the distance calculated according to the distance measurement project is higher than the road surface The road surface specified by the specific project is high, and the length from the road surface to the reflection point is calculated as a program for executing the project as a high height of the object.
根據本發明，測量裝置是依據記憶部記憶的路面高情報特定前述各反射點中的路面高，並使用該路面高算出對象物的高度。藉此，可正確算出存在於不平坦的路面上的對象物的高度。According to the invention, the measuring device specifies the height of the road surface in each of the reflection points based on the road surface high information stored in the memory unit, and calculates the height of the object using the road surface height. Thereby, the height of the object existing on the uneven road surface can be accurately calculated.
一面參照圖面一面針對本發明的實施形態進行詳細的說明。The embodiments of the present invention will be described in detail with reference to the drawings.
圖1是本發明的一實施形態的測量裝置的構成圖。測量裝置具備雷射感測器1(距離測量部)與情報處理裝置2。Fig. 1 is a configuration diagram of a measuring apparatus according to an embodiment of the present invention. The measuring device includes a laser sensor 1 (distance measuring unit) and an information processing device 2.
雷射感測器1是經由懸臂、支架設置在路面D的上方，從該設置位置S朝向路面D掃瞄雷射光Z。雷射感測器1是朝向路面D掃瞄雷射光Z，並朝向路面D上的複數個點E射出雷射光Z。又，雷射感測器1是依據所掃瞄的雷射光Z的反射光，測量從預定的基準位置T到作為反射其雷射光Z的點的反射點R為止的距離(測量距離H)。The laser sensor 1 is disposed above the road surface D via a cantilever and a bracket, and scans the laser beam Z from the installation position S toward the road surface D. The laser sensor 1 scans the laser beam Z toward the road surface D and emits the laser beam Z toward a plurality of points E on the road surface D. Further, the laser sensor 1 measures the distance (measurement distance H) from the predetermined reference position T to the reflection point R which is a point at which the laser light Z is reflected, based on the reflected light of the scanned laser light Z.
在本實施形態，基準位置T是指：與雷射感測器1的設置位置S相同的高度的位置，且為反射點R的正上的位置。亦即在本實施形態，測量距離H是等價於雷射感測器1的設置位置S的高度與反射點R的高度的差。In the present embodiment, the reference position T is a position at the same height as the installation position S of the laser sensor 1, and is a position directly above the reflection point R. That is, in the present embodiment, the measurement distance H is equivalent to the difference between the height of the installation position S of the laser sensor 1 and the height of the reflection point R.
作為雷射感測器1輸出到情報處理裝置2的反射點R與測量距離H的關係的例子可例舉：由來自雷射感測器1的原點的掃瞄角θ與該掃瞄角θ到反射點R為止的直線距離L所表示的極座標系的關係、或由以雷射感測器1的設置位置S作為原點的水平方向的位置X與從該位置X到 反射點R為止的垂直方向的距離Y所示的正交座標系的關係等。An example of the relationship between the reflection point R outputted to the information processing device 2 by the laser sensor 1 and the measurement distance H is exemplified by the scanning angle θ from the origin of the laser sensor 1 and the scanning angle. The relationship between the polar coordinate system indicated by the linear distance L from θ to the reflection point R or the position X in the horizontal direction with the installation position S of the laser sensor 1 as the origin and from the position X The relationship between the orthogonal coordinate system indicated by the distance Y in the vertical direction from the reflection point R, and the like.
雷射感測器1將正交座標系的關係輸出到情報處理裝置2時，雷射感測器1使用掃瞄角θ與直線距離L算出X=Lsin θ、Y=Lcos θ，將該位置X與距離Y的關係輸出到情報處理裝置2。When the laser sensor 1 outputs the relationship of the orthogonal coordinate system to the information processing device 2, the laser sensor 1 calculates X=Lsin θ and Y=Lcos θ using the scan angle θ and the linear distance L, and the position is The relationship between X and the distance Y is output to the information processing device 2.
情報處理裝置2是依據雷射感測器1所測量的距離，算出存在路面D上的車輛O(對象物)的高度。The information processing device 2 calculates the height of the vehicle O (object) on the road surface D based on the distance measured by the laser sensor 1.
圖2表示情報處理裝置2的構成的概略方塊圖。FIG. 2 is a schematic block diagram showing the configuration of the information processing device 2.
情報處理裝置2具備：感應器情報取得部21、記憶部22、路面高特定部23、對象物判定部24、路面狀態判定部25、更新部26、車輛判定部27、車輪位置特定部28、高度算出部29。The information processing device 2 includes a sensor information acquisition unit 21, a storage unit 22, a road surface height specifying unit 23, an object determination unit 24, a road surface state determination unit 25, an update unit 26, a vehicle determination unit 27, and a wheel position specifying unit 28. Height calculation unit 29.
感應器情報取得部21，是從雷射感測器1按照每個反射點R與表示其反射點R的路面寬幅方向的位置的座標(例如來自路側的距離)產生關連地取得測量距離H。The sensor information acquisition unit 21 acquires the measurement distance H in association with the coordinates (for example, the distance from the road side) of each of the reflection points R and the position of the road surface in the width direction of the reflection point R from the laser sensor 1 . .
圖3表示記憶部22記憶的路面高表的例子的圖。FIG. 3 is a view showing an example of a road surface height table stored in the storage unit 22.
記憶部22是記憶使路面D上的點E、與從對應其點E的基準位置T到其點E為止的距離之路面高I產生關連而予以儲存的路面高表(路面高情報)。作為路面高表的例子，是如圖3所示，與在寬幅方向以每10公分將路面D予以區分時的區分點產生關連，而將其每個區分點的高度予以儲存者。The memory unit 22 stores a road surface high table (road surface high information) that stores a point E on the road surface D and a road surface height I that is related to a distance from the reference position T corresponding to the point E to the point E. As an example of the road surface height meter, as shown in FIG. 3, it is related to the discrimination point when the road surface D is distinguished every 10 cm in the wide direction, and the height of each of the division points is stored.
該路面高表，是預先藉由雷射感測器1測量對象物不 存在時的路面高I，並使其測量值與路面D上的點E產生關連而予以記錄所作成。The road surface high meter is that the object is not measured by the laser sensor 1 in advance. The road surface height I is present, and the measured value is correlated with the point E on the road surface D to be recorded.
雷射感測器1一般會因溫度在測量結果產生偏差。因此，記憶部22所記憶的路面高表的值，是藉由更新部26更新成含有因溫度偏差的影響造成的偏置的值。The laser sensor 1 generally has a deviation in the measurement result due to temperature. Therefore, the value of the road surface height table stored in the memory unit 22 is updated by the update unit 26 to include a value of the offset due to the influence of the temperature deviation.
路面高特定部23，是依據記憶部22記憶的路面高情報，讀取對應感應器情報取得部21取得的反射點R的路面高I，將該路面高I輸出到對象物判定部24。The road surface height specifying unit 23 reads the road surface height I of the reflection point R acquired by the sensor information acquisition unit 21 in accordance with the road surface high information stored in the memory unit 22, and outputs the road surface height I to the object determination unit 24.
又，路面高特定部23，是在對象物判定部24所為的判定之後，依據藉由路面高情報與車輪位置特定部28所特定的車輪位置，特定對應車輛O存在的點E的路面高I，將該路面高I輸出到高度算出部29。In addition, after the determination by the object determination unit 24, the road surface height specifying unit 23 specifies the road surface height I at the point E where the corresponding vehicle O exists based on the wheel position specified by the road surface high information and the wheel position specifying unit 28. This road surface height I is output to the height calculation unit 29.
對象物判定部24，是按照每個反射點R，判定感應器情報取得部21取得的測量距離H與由路面高特定部23取得的路面高I的差是否在預定的閾值以下，來判斷在反射點R是否有成為高度的測量對象的對象物的存在。The object determination unit 24 determines whether or not the difference between the measurement distance H acquired by the sensor information acquisition unit 21 and the road surface height I acquired by the road surface height specifying unit 23 is equal to or less than a predetermined threshold value for each reflection point R. Whether or not the reflection point R has an object to be measured as a height.
路面狀態判定部25，是取得感應器情報取得部21取得的測量距離H與對象物判定部24的判定結果，依據判定為對象物不存在的反射點R的測量距離H的散佈度，判定路面D的狀態的良否。The road surface state determination unit 25 obtains the measurement distance H acquired by the sensor information acquisition unit 21 and the determination result of the object determination unit 24, and determines the road surface based on the degree of dispersion of the measurement distance H of the reflection point R where the object is not present. The quality of D is good or bad.
更新部26，是當藉由路面狀態判定部25判定路面D的狀態良好時，依據判定對象物不存在的各反射點R的測量距離H與路面高I的差，更新記憶部22記憶的路面高表。When the road surface state determination unit 25 determines that the state of the road surface D is good, the update unit 26 updates the road surface memorized by the storage unit 22 based on the difference between the measurement distance H of each reflection point R and the road surface height I where the determination target object does not exist. High table.
車輛判定部27，是判定在藉由對象物判定部24判定有對象物存在的反射點R是否有車輛O的存在。The vehicle determination unit 27 determines whether or not the vehicle O exists in the reflection point R where the object determination unit 24 determines that the object exists.
車輪位置特定部28，是當藉由車輛判定部27判定有車輛O的存在時，特定其車輪的位置。The wheel position specifying unit 28 specifies the position of the wheel when the vehicle determining unit 27 determines that the vehicle O is present.
高度算出部29，是按照每個反射點R，算出感應器情報取得部21所取得的測量距離H與路面高特定部23所特定的路面高I的差的方式，算出對象物的高度。The height calculation unit 29 calculates the height of the object so that the difference between the measurement distance H acquired by the sensor information acquisition unit 21 and the road surface height I specified by the road surface height specifying unit 23 is calculated for each of the reflection points R.
在本實施形態，雷射感測器1是在預定的時間間隔進行雷射光Z的掃瞄，並按照每個反射點R，將表示其反射點R的路面寬幅方向的位置的座標及測量距離H輸出到情報處理裝置2作為其測量結果。In the present embodiment, the laser sensor 1 scans the laser beam Z at predetermined time intervals, and coordinates and measures the position of the road surface in the width direction of the reflection point R for each reflection point R. The distance H is output to the information processing device 2 as a measurement result thereof.
以下，針對每次由雷射感測器1接受到測量結果而被執行的情報處理裝置2的動作進行說明。Hereinafter, the operation of the information processing device 2 that is executed each time the measurement result is received by the laser sensor 1 will be described.
圖4表示本實施形態中的情報處理裝置2的動作的流程圖。Fig. 4 is a flow chart showing the operation of the information processing device 2 in the present embodiment.
由雷射感測器1輸出測量結果時，感應器情報取得部21取得其測量結果(步驟S1)。When the measurement result is output by the laser sensor 1, the sensor information acquisition unit 21 acquires the measurement result (step S1).
接著，感應器情報取得部21是將取得的測量結果輸出到對象物判定部24。又，感應器情報取得部21，是將所取得的測量結果之中的反射點R的座標輸出到路面高特定部23。Next, the sensor information acquisition unit 21 outputs the acquired measurement result to the object determination unit 24. Further, the sensor information acquisition unit 21 outputs the coordinates of the reflection point R among the acquired measurement results to the road surface height specifying unit 23.
接著，路面高特定部23，是參照記憶部22記憶的路面高表，讀取對應由感應器情報取得部21所取得的各反射點R的座標的路面高I，輸出到對象物判定部24(步驟 S2)。此時，路面高特定部23，是輸出與最接近反射點R的座標的區分點(參照圖3)產生關連的路面高I作為與反射點R的座標對應的路面高I。Then, the road surface height specifying unit 23 reads the road surface height I corresponding to the coordinates of the respective reflection points R acquired by the sensor information acquisition unit 21, and outputs the road surface height I, which is stored in the memory unit 22, to the object determination unit 24 (step S2). At this time, the road surface height specifying unit 23 outputs the road surface height I which is related to the coordinate point of the coordinate closest to the reflection point R (see FIG. 3 ) as the road surface height I corresponding to the coordinate of the reflection point R.
接著，對象物判定部24，是按照每個反射點R，算出由感應器情報取得部21所取得的測量距離H與由路面高特定部23所取得的路面高I的差(步驟S3)。Then, the object determination unit 24 calculates the difference between the measurement distance H acquired by the sensor information acquisition unit 21 and the road surface height I acquired by the road surface height specifying unit 23 for each reflection point R (step S3).
接著，對象物判定部24，是依據所算出的差，按照每個反射點R，判定在其反射點R是否有對象物存在(步驟S4)。具體而言，對象物判定部24，是判定在算出的差為預定的閾值(例如1公尺)以上的反射點R有對象物存在，並判定在算出的差為不足預定的閾值的反射點R沒有對象物的存在。在反射點R沒有對象物存在時，由雷射感測器1所射出的雷射光Z在路面D反射，反射點R為路面D上的點E。Next, the object determination unit 24 determines whether or not an object exists at the reflection point R for each reflection point R based on the calculated difference (step S4). Specifically, the object determination unit 24 determines that there is an object at the reflection point R at which the calculated difference is a predetermined threshold value (for example, 1 meter) or more, and determines that the calculated difference is a reflection point that is less than a predetermined threshold value. R has no object. When there is no object in the reflection point R, the laser light Z emitted by the laser sensor 1 is reflected on the road surface D, and the reflection point R is the point E on the road surface D.
接著，路面狀態判定部25，是取得感應器情報取得部21在步驟S1所取得的測量結果之中，藉由對象物判定部24判定對象物不存在的反射點R中的距離。然後，路面狀態判定部25，是算出最接近的預定次數的測量中判定對象物沒有連續存在時的反射點R中的測量距離H的標準偏差(步驟S5)。Then, the road surface state determination unit 25 determines the distance in the reflection point R in which the object determination unit 24 determines that the object does not exist, in the measurement result acquired by the sensor information acquisition unit 21 in step S1. Then, the road surface state determination unit 25 calculates a standard deviation of the measurement distance H in the reflection point R when the determination target object is not continuously present in the measurement of the closest predetermined number of times (step S5).
接著，路面狀態判定部25是藉由判定算出的標準偏差是否在預定的閾值以上，判定路面狀態的良否(步驟S6)。具體而言，路面狀態判定部25，是當算出的標準偏差在預定的閾值以上時，判定路面狀態差。因雨天等弄 濕路面D時，因為雷射感測器1所照射的雷射光Z不規則反射，所以測量距離H的不均變大。亦即路面狀態差的時候，雷射感測器1所為的測量結果的信賴度變低。Next, the road surface state determination unit 25 determines whether or not the road surface state is good or not by determining whether or not the calculated standard deviation is equal to or greater than a predetermined threshold value (step S6). Specifically, the road surface state determination unit 25 determines the road surface state difference when the calculated standard deviation is equal to or greater than a predetermined threshold value. Because of rain and so on In the wet road surface D, since the laser light Z irradiated by the laser sensor 1 is irregularly reflected, the unevenness of the measurement distance H becomes large. That is, when the road surface condition is poor, the reliability of the measurement result by the laser sensor 1 becomes low.
路面狀態判定部25判定路面狀態良好時(步驟S6：YES)，更新部26是取得對象物判定部24在步驟S3所算出的差之中與判斷沒有對象物存在時的反射點R產生關連著。然後，更新部26依據取得的差的值，更新記憶部22記憶的路面高表(步驟S7)。作為路面高表的更新方法，例如可例舉算出所取得的差的值的平均值，在路面高表的各路面高I加上該平均值的方法。其他，也可使用由反射點R與取得的差的值的關係導出表示雷射感測器1中的溫度漂移的影響的函數，並依據該函數在路面高表的各路面高I加上溫度漂移的影響的方法。When the road surface state determination unit 25 determines that the road surface condition is good (step S6: YES), the update unit 26 associates the reflection point R when the acquisition target determination unit 24 determines that there is no object in the difference calculated in step S3. . Then, the update unit 26 updates the road surface height table stored in the storage unit 22 based on the value of the acquired difference (step S7). As a method of updating the road surface height meter, for example, a method of calculating an average value of the obtained difference values and adding the average value to each road surface height I of the road surface height meter can be exemplified. Alternatively, a function indicating the influence of the temperature drift in the laser sensor 1 may be derived using the relationship between the reflection point R and the value of the difference obtained, and the temperature I is added to the road surface height I according to the function. The method of drift effects.
在步驟S6，路面狀態判定部25判定路面狀態不好的時候(步驟S6：NO)，或在步驟S7，更新部26更新路面高表時，路面高特定部23從記憶部22記憶的路面高表讀取每個反射點R每的路面高I(步驟S8)。路面高特定部23讀取的路面高I在步驟S6判定路面狀態良好的時候，成為在步驟S7被更新的路面高表的路面高I。When the road surface state determination unit 25 determines in step S6 that the road surface condition is not good (step S6: NO), or when the update unit 26 updates the road surface height table in step S7, the road surface height specifying unit 23 stores the road surface height from the storage unit 22 The table reads the road surface height I per each reflection point R (step S8). When the road surface height I read by the road surface high specific portion 23 is determined to be good in the step S6, the road surface height I of the road surface high table updated in the step S7 is high.
接著，高度算出部29，是由路面高特定部23所讀取的路面高I減去在步驟S1感應器情報取得部21取得的測量距離H，算出各反射點R的高度(步驟S9)。Then, the height calculation unit 29 subtracts the measurement distance H acquired by the sensor information acquisition unit 21 in step S1 from the road surface height I read by the road surface height specifying unit 23, and calculates the height of each reflection point R (step S9).
接著，車輛判定部27，是按照藉由對象物判定部24判定有對象物存在時的每個反射點R，判定在其反射點R 車輛O存在與否(步驟S10)。具體而言，車輛判定部27，是當藉由對象物判定部24判定對象物存在時的反射點R跨預定的寬幅(例如40公分)連續存在時，判定在該連續的反射點R群的位置有車輛O存在。Next, the vehicle determination unit 27 determines the reflection point R at each of the reflection points R when the object determination unit 24 determines that the object exists. The presence or absence of the vehicle O (step S10). Specifically, when the object determination unit 24 determines that the reflection point R when the object is present continuously exists over a predetermined width (for example, 40 cm), the vehicle determination unit 27 determines that the continuous reflection point R group exists. The location of the vehicle O exists.
車輛判定部27判定沒有車輛O存在的反射點R群時(步驟S10：NO)，情報處理裝置2將在步驟S9所算出的反射點R的高度輸出作為路面D上的對象物的高度，並結束處理。When the vehicle determination unit 27 determines that there is no reflection point R group in which the vehicle O exists (step S10: NO), the information processing device 2 outputs the height of the reflection point R calculated in step S9 as the height of the object on the road surface D, and End processing.
另一方面，車輛判定部27判定有車輛O存在的反射點R群的時候(步驟S10：YES)，對該各反射點R群，判定車輛O是否為四輪車(O1)(步驟S11)。具體而言，車輛判定部27，是當車輛O的寬幅在預定的寬幅(例如70公分)以上時，判定該車輛O為四輪車，不是這樣時判定該車輛O為兩輪車(O2)。On the other hand, when the vehicle determination unit 27 determines that there is a reflection point R group in which the vehicle O exists (step S10: YES), it is determined whether or not the vehicle O is a four-wheeled vehicle (O1) for each of the reflection point R groups (step S11). . Specifically, the vehicle determination unit 27 determines that the vehicle O is a four-wheeled vehicle when the width of the vehicle O is equal to or larger than a predetermined width (for example, 70 cm), and if not, determines that the vehicle O is a two-wheeled vehicle ( O2).
車輛判定部27判定車輛O為四輪車的時候(步驟S11：YES)，車輪位置特定部28，是將藉由車輛判定部27判定比有四輪車存在時的反射點R群的兩端更只有預定的長度(例如10公分)位於各內側的點R特定為該四輪車的車輪的位置(步驟S12)。When the vehicle determination unit 27 determines that the vehicle O is a four-wheeled vehicle (step S11: YES), the wheel position specifying unit 28 determines that both ends of the reflection point R group when the vehicle determination unit 27 determines that there is a four-wheeled vehicle. More than a predetermined length (for example, 10 cm), the point R located on each inner side is specified as the position of the wheel of the four-wheeled vehicle (step S12).
另一方面，車輛判定部27判定車輛O為兩輪車時(步驟S11：NO)，車輪位置特定部28，是將藉由車輛判定部27判定有兩輪車存在的反射點R群的中央的點R特定為該兩輪車的車輪的位置(步驟S13)。On the other hand, when the vehicle determination unit 27 determines that the vehicle O is a two-wheeled vehicle (step S11: NO), the wheel position specifying unit 28 determines the center of the reflection point R group in which the two-wheeled vehicle exists by the vehicle determination unit 27. The point R is specified as the position of the wheel of the two-wheeled vehicle (step S13).
在步驟S12或步驟S13，車輪位置特定部28特定車 輪位置時，路面高特定部23，是依據在步驟S8讀取的路面高I之中對應所特定的車輪位置的路面高I，特定與藉由車輛判定部27判定有車輛O存在時的反射點R群對應的路面高I(步驟S14)。具體而言，車輛O為四輪車時，由於在步驟S12藉由兩個反射點R特定車輪位置，所以利用線性互補對應車輪位置的兩個路面高I，算出與反射點R群對應的路面高I。In step S12 or step S13, the wheel position specifying portion 28 specifies a car In the wheel position, the road surface height specifying portion 23 is a road surface height I corresponding to the specific wheel position among the road surface heights I read in the step S8, and is specified to be reflected by the vehicle determining unit 27 when the vehicle O is present. The road surface height I corresponding to the point R group is determined (step S14). Specifically, when the vehicle O is a four-wheeled vehicle, since the wheel position is specified by the two reflection points R in step S12, the road surface corresponding to the reflection point R group is calculated by the two road surface heights I of the linear complementary corresponding wheel positions. High I.
另一方面，車輛O為兩輪車時，由於在步驟S13是藉由1個反射點R特定車輪位置，所以將對應車輪位置的路面高I作為對應反射點R群的路面高I。On the other hand, when the vehicle O is a two-wheeled vehicle, since the wheel position is specified by one reflection point R in step S13, the road surface height I corresponding to the wheel position is taken as the road surface height I corresponding to the reflection point R group.
說明進行步驟S14所為的路面高I的特定的理由。The reason why the road surface height I determined in step S14 is specified will be described.
圖5表示行駛路面的車輛的例子的圖。(A)表示路面與車輛的關係的圖。(B)為圖表化包含車轍、坡度的影響的算出結果的圖。(C)為圖表化去除車轍、坡度的影響的算出結果的圖。Fig. 5 is a view showing an example of a vehicle that travels on a road surface. (A) A diagram showing the relationship between the road surface and the vehicle. (B) is a graph which shows the calculation result including the influence of the rut and the gradient. (C) is a graph for calculating the result of removing the influence of the rut and the gradient from the graph.
如圖5(A)所示，會有因車輛O的通行在路面D形成車轍W的情況。As shown in FIG. 5(A), there is a case where the rudder W is formed on the road surface D due to the passage of the vehicle O.
如圖5(A)所示，在車轍W之上有四輪車存在時，僅依據記憶部22記憶的路面高表算出車輛O的高度時，如圖5(B)所示，車輛O的高度的算出結果包含車轍W造成的凹凸的影響。As shown in FIG. 5(A), when a four-wheeled vehicle exists on the rudder W, the height of the vehicle O is calculated based only on the road surface height table stored in the memory unit 22, as shown in FIG. 5(B), the vehicle O The calculation result of the height includes the influence of the unevenness caused by the rutting W.
另一方面，藉由步驟S14的處理特定路面高I時，如圖5(C)所示，可由車輛O的高度的算出結果去除車轍的影響(參照圖5(A)的車輛O的高度的基準線P)。On the other hand, when the road surface height I is specified by the process of step S14, as shown in FIG. 5(C), the influence of the rut can be removed from the calculation result of the height of the vehicle O (refer to the height of the vehicle O of FIG. 5(A)). Baseline P).
兩輪車因為車輪1個，所以姿勢不依存於坡度。因此，僅依據記憶部22記憶的路面高表，算出車輛O的高度時，如圖5(B)所示，車輛O的高度的算出結果包含坡度的影響。Because the two-wheeled vehicle has one wheel, the posture does not depend on the slope. Therefore, when the height of the vehicle O is calculated based only on the road surface height table stored in the memory unit 22, as shown in FIG. 5(B), the calculation result of the height of the vehicle O includes the influence of the gradient.
另一方面，藉由步驟S14的處理特定路面高I時，如圖5(C)所示，可由車輛O的高度的算出結果去除坡度的影響(參照圖5(A)的車輛O的高度的基準線P)。On the other hand, when the road surface height I is specified by the process of step S14, as shown in FIG. 5(C), the influence of the gradient can be removed from the calculation result of the height of the vehicle O (refer to the height of the vehicle O of FIG. 5(A)). Baseline P).
在步驟S14，路面高特定部23特定路面高I時，高度算出部29，是路面高特定部23所特定的路面高I減在步驟S1感應器情報取得部21所取得的測量距離H，算出車輛O的高度(步驟S15)。並且，高度算出部29，是將車輛O存在的反射點R的高度置換成在步驟S15所算出的車輛O的高度。藉此，可算出雷射光Z的每個反射點R的對象物的高度。When the road surface height specifying unit 23 specifies the road surface height I in the step S14, the height calculating unit 29 calculates the road surface height I specified by the road surface height specifying unit 23 and subtracts the measured distance H obtained by the sensor information acquiring unit 21 in step S1. The height of the vehicle O (step S15). Further, the height calculation unit 29 replaces the height of the reflection point R in which the vehicle O exists with the height of the vehicle O calculated in step S15. Thereby, the height of the object of each of the reflection points R of the laser light Z can be calculated.
以上，雖參照圖面針對該發明的一實施形態進行詳細的說明，可是具體的構成並不限於上述者，在不脫離本發明的要旨的範圍內可有各式各樣的設計變更。In the above, the embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes can be made without departing from the scope of the invention.
在本實施形態，雖針對雷射感測器1對情報處理裝置2輸出從基準位置T到反射點R為止的距離H時進行說明，可是並不限於此。亦即，雷射感測器1的測量結果不限於正交座標系的值的情況。例如，雷射感測器1即使是對情報處理裝置2輸出雷射R1的掃瞄角θ與反射點R為止的距離L者，也可進行同樣的處理。亦即，雷射感測器1的測量結果也可為極座標系的值。此時，基準位置T是 設置位置S，路面高表必需儲存掃瞄角θ與路面高I的關係。In the present embodiment, the case where the laser sensor 1 outputs the distance H from the reference position T to the reflection point R to the information processing device 2 will be described, but the present invention is not limited thereto. That is, the measurement result of the laser sensor 1 is not limited to the case of the value of the orthogonal coordinate system. For example, the laser sensor 1 can perform the same processing even if the information processing device 2 outputs the distance L between the scanning angle θ of the laser R1 and the reflection point R. That is, the measurement result of the laser sensor 1 can also be the value of the polar coordinate system. At this time, the reference position T is To set the position S, the road surface high table must store the relationship between the scanning angle θ and the road surface height I.
在本實施形態，雖針對使用掃瞄式的雷射感測器1作為距離測量部時進行說明，可是並不限於此，也可使用多光軸式等其他的感測方式的雷射感測器。In the present embodiment, the scanning type laser sensor 1 is used as the distance measuring unit. However, the present invention is not limited thereto, and other sensing methods such as multi-optical type laser sensing may be used. Device.
在本實施形態，雖針對路面高特定部23輸出與反射點R的座標最近的區分點產生關連的路面高I的情況作為對應反射點R的座標的路面高I，可是並不限於此。例如，路面高特定部23也可藉由與反射點R的座標附近的兩個區分點產生關連的路面高I的內差計算求取與反射點R的座標對應的路面高I。In the present embodiment, the road surface height specifying unit 23 outputs a road surface height I which is the closest to the coordinate point of the reflection point R as the road surface height I corresponding to the coordinate of the reflection point R, but is not limited thereto. For example, the road surface high specific portion 23 may calculate the road surface height I corresponding to the coordinates of the reflection point R by calculating the internal difference of the road surface height I associated with the two points in the vicinity of the coordinates of the reflection point R.
在本實施形態，雖說明記憶部22將路面D上的點E與從基準位置T起至該點E為止的距離之路面高I的關係作為路面高表予以記憶的情況，可是並不限於此。例如，當在路面D沒有車轍W存在時、車轍W小到可無視時，記憶部22也可將表現路面D上的點E與從基準位置T起到該點E為止的距離之路面高I的關係的函數作為路面高情報予以記憶。In the present embodiment, the case where the memory unit 22 stores the relationship between the point E on the road surface D and the road surface height I from the reference position T to the point E is stored as the road surface height table, but the present invention is not limited thereto. . For example, when there is no rut W on the road surface D and the rut W is so small that it can be ignored, the memory unit 22 can also express the point E on the road surface D and the road surface distance from the reference position T to the point E. The function of the relationship is remembered as high information on the road surface.
在本實施形態，雖說明路面狀態判定部25是依據連續對象物不存在的反射點R的每個時間的測量情報的標準偏差判定路面狀態的良否，可是並不限於此。例如，也可依據表示分散的大小、按照最大值與最小值的差的範圍等的其他的散佈度的值判定路面狀態的良否。又，也可不是按照每個時間的測量情報的標準偏差，而是依據在某時刻 的沒有對象物存在的複數個反射點R的散佈度判定路面狀態的良否。In the present embodiment, the road surface state determination unit 25 determines whether or not the road surface state is good or not based on the standard deviation of the measurement information for each time of the reflection point R where the continuous object does not exist, but is not limited thereto. For example, the quality of the road surface state may be determined based on the value of the other degree of dispersion indicating the size of the dispersion and the range of the difference between the maximum value and the minimum value. Also, it may not be based on the standard deviation of the measured information at each time, but at a certain moment. The degree of dispersion of the plurality of reflection points R in the absence of the object determines the quality of the road surface.
在本實施形態，雖說明路面狀態判定部25依據測量情報的散佈度判定路面狀態的良否的情況，可是並不限於此。例如，具備降雨感應器等，該降雨感應器檢測到降雨時，路面狀態判定部25也可判定路面狀態不好。In the present embodiment, the road surface state determination unit 25 determines whether or not the road surface state is good or not based on the degree of dispersion of the measurement information, but is not limited thereto. For example, when the rain sensor detects rain, the road surface state determining unit 25 may determine that the road surface condition is not good.
在本實施形態，雖說明在步驟S8、步驟S9先算出各反射點R的高度之後，藉由步驟S10~步驟S15的處理覆寫路面高I的差的情況，可是並不限於此。例如，也可先執行步驟S10~步驟S15的處理之後，藉由與步驟S8、步驟S9同樣的次序算出車輛O沒有存在的反射點R的高度。In the present embodiment, the case where the heights of the respective reflection points R are first calculated in steps S8 and S9, and the difference in the road surface height I is overwritten by the processing in steps S10 to S15 is not limited thereto. For example, after the processes of steps S10 to S15 are performed, the height of the reflection point R in which the vehicle O does not exist may be calculated in the same order as steps S8 and S9.
在本實施形態，雖說明算出全部的反射點R的高度，進行包含車輛O與路面D的高度的算出的情況，可是並不限於此。例如，測量裝置也可僅算出車輛O的高度。此時，也可省略步驟S8、步驟S9的處理，進行步驟S10~步驟S15的處理算出只有車輛O的高度。In the present embodiment, the case where the heights of all the reflection points R are calculated and the height of the vehicle O and the road surface D is calculated is described, but the present invention is not limited thereto. For example, the measuring device can also calculate only the height of the vehicle O. At this time, the processing of steps S8 and S9 may be omitted, and the processing of steps S10 to S15 may be performed to calculate the height of only the vehicle O.
情報處理裝置2在內部具有電腦系統。上述的各處理部的動作，是以程式的形式記錄在電腦可讀取的記錄媒體，藉由電腦讀取該程式並予以執行，進行上述的各處理。電腦可讀取的記錄媒體是指磁碟、光碟、CD-ROM、DVD-ROM、半導體記憶體等。也可藉由通訊電路將該電腦程式送訊到電腦，接受到該送訊的電腦執行該程式。The information processing device 2 has a computer system inside. The operation of each of the above-described processing units is recorded in a computer-readable recording medium in the form of a program, and the program is read and executed by a computer, and the above-described respective processes are performed. The computer readable recording medium refers to a magnetic disk, a compact disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. The computer program can also be sent to the computer through the communication circuit, and the computer that receives the communication can execute the program.
該程式也可是實現上述的功能的一部分者。再者，也 可將上述的功能與已經記錄在電腦系統的程式予以組合而可以實現者，所謂的差分檔案(差分程式)。The program can also be part of the functionality described above. Furthermore, also The above functions can be implemented in combination with programs already recorded in a computer system, so-called differential files (differential programs).
1‧‧‧雷射感測器(距離測量部)1‧‧‧Laser sensor (distance measurement unit)
2‧‧‧情報處理裝置2‧‧‧Information processing device
21‧‧‧感應器情報取得部21‧‧‧Sensor Information Acquisition Department
22‧‧‧記憶部22‧‧‧Memory Department
23‧‧‧路面高特定部23‧‧‧High-section specific department
24‧‧‧對象物判定部24‧‧ ‧ Object Judgment Department
25‧‧‧路面狀態判定部25‧‧‧Pavement State Judgment Department
26‧‧‧更新部26‧‧‧Update Department
27‧‧‧車輛判定部27‧‧‧Vehicle Judgment Department
28‧‧‧車輪位置特定部28‧‧‧ Wheel Position Specific Department
29‧‧‧高度算出部29‧‧‧ Height calculation department
A‧‧‧測量裝置A‧‧‧Measuring device
Z‧‧‧雷射光Z‧‧‧Laser light
D‧‧‧路面D‧‧‧Pavement
W‧‧‧車轍W‧‧‧辙
E‧‧‧路面上的點E‧‧‧ points on the road
S‧‧‧設置位置S‧‧‧Set location
T‧‧‧基準位置T‧‧‧ reference position
R‧‧‧反射點R‧‧‧reflection point
H‧‧‧測量距離H‧‧‧measuring distance
I‧‧‧路面高I‧‧‧High road surface
O‧‧‧對象物O‧‧‧Objects
[圖1]本發明的一實施形態的測量裝置的構成圖。Fig. 1 is a configuration diagram of a measuring apparatus according to an embodiment of the present invention.
[圖2]表示情報處理裝置的構成的概略方塊圖。FIG. 2 is a schematic block diagram showing a configuration of an information processing device.
[圖3]表示記憶部記憶的路面高表的例子的圖。FIG. 3 is a view showing an example of a road surface height table stored in the memory unit.
[圖4]表示本實施形態中的情報處理裝置的動作的流程圖。Fig. 4 is a flow chart showing the operation of the information processing device in the present embodiment.
[圖5]表示行駛路面的車輛的例子的圖，(A)表示路面與車輛的關係的圖，(B)表示包含車轍、坡度的影響的算出結果的圖，(C)表示去除車轍、坡度的影響的算出結果的圖。[Fig. 5] A diagram showing an example of a vehicle on a road surface, (A) showing a relationship between a road surface and a vehicle, (B) showing a calculation result including an influence of a rut and a gradient, and (C) showing removal of a rut and a slope. The figure of the calculation result of the influence.
2‧‧‧情報處理裝置2‧‧‧Information processing device
22‧‧‧記憶部22‧‧‧Memory Department
23‧‧‧路面高特定部23‧‧‧High-section specific department
28‧‧‧車輪位置特定部28‧‧‧ Wheel Position Specific Department
27‧‧‧車輛判定部27‧‧‧Vehicle Judgment Department
29‧‧‧高度算出部29‧‧‧ Height calculation department
24‧‧‧對象物判定部24‧‧ ‧ Object Judgment Department
26‧‧‧更新部26‧‧‧Update Department
25‧‧‧路面狀態判定部25‧‧‧Pavement State Judgment Department
21‧‧‧感應器情報取得部21‧‧‧Sensor Information Acquisition Department
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| JP2011178875A JP5893869B2 (en) | 2011-08-18 | 2011-08-18 | Measuring device, measuring method, and program |
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| CN105277946A (en) * | 2014-06-09 | 2016-01-27 | 国家电网公司 | Cable laying distance measuring method |
| CN104536008B (en) * | 2015-01-05 | 2017-01-25 | 大连理工大学 | Drill jumbo blast hole laser ranging and positioning method |
| CN105667310B (en) * | 2016-01-20 | 2017-10-10 | 湘潭大学 | The safety control used applied to Freight Transport overheight cargo |
| JP6704307B2 (en) * | 2016-07-01 | 2020-06-03 | 株式会社日立製作所 | Moving amount calculating device and moving amount calculating method |
| JP7181026B2 (en) * | 2018-08-28 | 2022-11-30 | ヤンマーパワーテクノロジー株式会社 | Obstacle detection system |
| WO2020056586A1 (en) * | 2018-09-18 | 2020-03-26 | 深圳市大疆创新科技有限公司 | Height determination method and apparatus, electronic device and computer-readable storage medium |
| WO2020105166A1 (en) * | 2018-11-22 | 2020-05-28 | 三菱電機株式会社 | Obstacle detection device |
| JP2022139740A (en) * | 2021-03-12 | 2022-09-26 | オムロン株式会社 | Optical sensor, control method for optical sensor, and control program for optical sensor |
| GB2620503A (en) * | 2023-09-01 | 2024-01-10 | Red Fox Id Ltd | Processing LIDAR sensor data |
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| JP3240839B2 (en) * | 1994-07-19 | 2001-12-25 | オムロン株式会社 | Vehicle width measuring device |
| JPH11224397A (en) * | 1997-12-03 | 1999-08-17 | Omron Corp | Vehicle measurement device |
| JP3941790B2 (en) * | 2004-04-08 | 2007-07-04 | 石川島播磨重工業株式会社 | Moving object detection apparatus and method |
| JP2010249569A (en) * | 2009-04-13 | 2010-11-04 | Ihi Corp | Obstacle detection method and laser distance measuring instrument |
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| JPH0387683A (en) * | 1989-08-31 | 1991-04-12 | Railway Technical Res Inst | Detecting method for obstacle in railroad crossing |
| JPH05341035A (en) * | 1992-06-08 | 1993-12-24 | Matsushita Electric Ind Co Ltd | Microwave car sensor |
| JPH06266999A (en) * | 1993-03-17 | 1994-09-22 | Gakken Co Ltd | Number of vehicle managing device |
| JPH10105867A (en) * | 1996-09-30 | 1998-04-24 | Omron Corp | Vehicle measuring device |
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| WO2013024889A1 (en) | 2013-02-21 |
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