Assay device

Abstract

The measurement device determines two sites, i.e., a first site and a second site, for measuring the size of the measurement object in a space where the measurement object is located, calculates first and second space coordinates representing the positions of the first and second sites in the space based on distance information related to the distance from a reference position to the first site and the distance from the reference position to the second site, and calculates the distance between the first and second sites based on the first and second space coordinates.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to Japanese Patent Application No. 2020-114374 (filed on July 1, 2020), the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] This disclosure relates to a measuring device. Background Technology

[0004] A known structure calculates the actual size of the subject in a captured image based on data such as shooting distance or focal distance of the shooting lens and the length of a scale set within the viewfinder's field of view (e.g., see Patent Document 1, etc.).

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 62-259004. Summary of the Invention

[0008] One embodiment of the measuring apparatus disclosed herein determines two locations—a first location (P1) and a second location (P2)—in the space where the object to be measured is located for measuring the dimensions of the object. The measuring apparatus calculates first spatial coordinates and second spatial coordinates representing the positions of the first location and the second location in the space based on distance information (d1, d2) related to the distance from the reference position to the first location and the distance from the reference position to the second location. The measuring apparatus then calculates the distance between the first location and the second location based on the first spatial coordinates and the second spatial coordinates. Attached Figure Description

[0009] Figure 1 This is a structural diagram showing a schematic structure of an electromagnetic wave detection device according to one embodiment.

[0010] Figure 2 It is used for explanation Figure 1 The diagram shows the direction of electromagnetic wave propagation in the first and second states of the electromagnetic wave detection device.

[0011] Figure 3 This is a diagram used to illustrate the detection of electromagnetic waves that include reflected waves.

[0012] Figure 4 This is a timing diagram used to illustrate distance calculations.

[0013] Figure 5 This diagram illustrates the calculation of the distance measurement point of an object without considering the X-coordinate.

[0014] Figure 6 This is a graph showing the difference between the distance-based size calculation and the image-based size calculation when the object is tilted.

[0015] Figure 7 This diagram illustrates the calculation of the distance measurement point of an object when the X-coordinate is taken into account.

[0016] Figure 8 It is a planar diagram illustrating the location of the distance measurement point on the XY plane.

[0017] Figure 9 It is a three-dimensional diagram illustrating the position of the distance measuring point on the XY plane.

[0018] Figure 10 This is a diagram illustrating an example of measuring the diameter of a wheel as the object.

[0019] Figure 11 This is a diagram illustrating an example of measuring the body length of a fish.

[0020] Figure 12 This is a flowchart illustrating an example of a method for determining dimensions based on distance measurement information.

[0021] Figure 13 This is a flowchart illustrating an example of a method for correcting coordinates calculated based on ranging information from an image and determining dimensions.

[0022] Figure 14 This is a diagram illustrating a structural example of obtaining distance measurement information of vehicles on the road surface from a top-down view relative to the road surface.

[0023] Figure 15 It will be Figure 14 The example is a chart depicting the distance measurement information obtained.

[0024] Figure 16 This is a flowchart illustrating an example of a method for measuring the height of vehicles on a road surface. Detailed Implementation

[0025] In structures that calculate the actual size of a subject in a captured image, measurement errors can sometimes occur due to deviations in focal distance information caused by lens changes. Furthermore, when the subject is tilted relative to the lens's optical axis, changing the distance between the camera and the subject alters the position of the reflected light from the subject on the sensor. This can also sometimes result in measurement errors. The aim is to reduce these measurement errors.

[0026] like Figure 1As shown, an electromagnetic wave detection device 10 according to one embodiment includes an illumination system 111, a light receiving system 110, and a control unit 14. The electromagnetic wave detection device 10 of this embodiment functions as a ranging device. In this embodiment, the electromagnetic wave detection device 10 is described with one illumination system 111 and one light receiving system 110. The number of each illumination system 111 and light receiving system 110 is not limited to one, and may include two or more. When the electromagnetic wave detection device 10 has multiple illumination systems 111 and multiple light receiving systems 110, each illumination system 111 corresponds to each light receiving system 110.

[0027] The illumination system 111 includes an illumination section 12 and a deflection section 13. The light receiving system 110 includes an incident section 15, a separation section 16, a first detection section 20, a second detection section 17, a switching section 18, and a first post-stage optical system 19. The control section 14 includes an image information acquisition section 141, a reflection intensity information acquisition section 142, an illumination control section 143, a light receiving control section 144, a calculation section 145, and a corresponding information calculation section 146. Detailed descriptions of each functional block of the electromagnetic wave detection device 10 will be provided later.

[0028] In the accompanying drawings, the dashed lines connecting the functional blocks represent the information flow of control signals or communication. The communication shown by the dashed lines can be wired or wireless. Additionally, the solid arrows represent bundles of electromagnetic waves. Furthermore, in the drawings, object ob is the subject being photographed by the electromagnetic wave detection device 10. The subject may include, for example, objects such as roads, median strips, sidewalks, roadside trees, vehicles, etc., and may also include people. Furthermore, object ob is not limited to one.

[0029] The electromagnetic wave detection device 10 is configured to acquire an image containing a subject and to identify the subject by detecting the reflected wave reflected from the subject. The electromagnetic wave detection device 10 includes a calculation unit 145 for measuring the distance to the object ob, and functions as a ranging device.

[0030] (Structural example of irradiation system 111)

[0031] The irradiation system 111 irradiates electromagnetic waves into the space where the object ob is located. In this embodiment, the irradiation system 111 irradiates the electromagnetic waves irradiated by the irradiation unit 12 towards the space where the object ob is located via the deflection unit 13. As another example, the irradiation system 111 may also be a structure in which the irradiation unit 12 directly irradiates electromagnetic waves towards the object ob.

[0032] The irradiation unit 12 irradiates at least one of infrared light, visible light, ultraviolet light, and radio waves. In this embodiment, the irradiation unit 12 irradiates infrared light. Additionally, in this embodiment, the irradiation unit 12 irradiates a narrow beam of electromagnetic waves, for example, with an extension angle of 0.5°. Furthermore, the irradiation unit 12 irradiates electromagnetic waves in a pulsed manner. As an electromagnetic wave irradiation element, the irradiation unit 12 can be configured, for example, to include an LED (Light Emitting Diode). Alternatively, as an electromagnetic wave irradiation element, the irradiation unit 12 can be configured, for example, to include an LD (Laser Diode). The irradiation unit 12 switches and stops the electromagnetic wave irradiation based on the control of the control unit 14. Here, the irradiation unit 12 can be configured as an LED array or LD array in which multiple electromagnetic wave irradiation elements are arranged in an array, allowing multiple beams to irradiate simultaneously.

[0033] The deflector 13 directs the electromagnetic waves emitted by the irradiation unit 12 in multiple different directions, thereby changing the irradiation position of the electromagnetic waves irradiating the space where the object ob is located. This multiple-direction output can be achieved by reflecting the electromagnetic waves from the irradiation unit 12 while simultaneously changing the orientation of the deflector 13. For example, the deflector 13 can scan the object ob in one or two dimensions using the electromagnetic waves emitted by the irradiation unit 12. Here, if the irradiation unit 12 is configured as an LD array, for example, the deflector 13 can reflect all multiple beams output from the LD array and output them in the same direction. That is, the irradiation system 111 can have a deflector 13 relative to the irradiation unit 12, which has one or more electromagnetic wave irradiation elements.

[0034] The deflection unit 13 is configured such that at least a portion of the space from which the electromagnetic wave is output, i.e., the irradiation area, is included within the detection range of the electromagnetic wave in the light-receiving system 110. Therefore, at least a portion of the electromagnetic wave irradiated by the deflection unit 13 into the space where the object ob is located is reflected by at least a portion of the object ob and can be detected in the light-receiving system 110. Here, the electromagnetic wave after the irradiation wave is reflected by at least a portion of the object ob is referred to as a reflected wave. An irradiation wave refers to an electromagnetic wave that irradiates from the irradiation system 111 in multiple directions toward the space where the object ob is located.

[0035] The deflection section 13 may include, for example, a MEMS (Micro Electro Mechanical Systems) mirror, a multi-faceted mirror, or a galvanometer mirror. In this embodiment, the deflection section 13 includes a MEMS mirror.

[0036] The deflection unit 13 changes the orientation of the reflected electromagnetic wave based on the control of the control unit 14. Furthermore, the deflection unit 13 may include an angle sensor, such as an encoder. The deflection unit 13 can output the angle detected by the angle sensor as direction information of the reflected electromagnetic wave to the control unit 14. In this configuration, the control unit 14 can calculate the illumination position of the electromagnetic wave based on the direction information obtained from the deflection unit 13. Additionally, the control unit 14 can also calculate the illumination position based on the drive signal input to the deflection unit 13 to change the orientation of the reflected electromagnetic wave.

[0037] (Structural example of light-receiving system 110)

[0038] In the following description, "electromagnetic wave containing reflected waves" refers to an electromagnetic wave incident on the light-receiving system 110 that contains reflected waves from the object ob. That is, to distinguish it from irradiation waves, electromagnetic waves incident on the light-receiving system 110 are sometimes referred to as "electromagnetic waves containing reflected waves." Electromagnetic waves containing reflected waves include not only reflected waves from electromagnetic waves irradiated from the irradiation system 111 that are reflected by the object ob, but also external light such as sunlight, or light from external light that is reflected by the object ob.

[0039] The incident section 15 is an optical system having at least one optical component, which images the object ob, which is the subject being photographed. The optical component includes at least one of, for example, a lens, a mirror, an aperture, and an optical filter.

[0040] The separation unit 16 is disposed between the incident unit 15 and the imaging position (i.e., the primary imaging position) of the image of the object ob, which is separated from the incident unit 15 at a predetermined distance. The separation unit 16 separates electromagnetic waves containing reflected waves according to their wavelength, performing the separation in a manner that travels in a first direction D1 or a second direction D2. The separation unit 16 can separate the electromagnetic waves containing reflected waves into reflected waves and electromagnetic waves after removing the reflected waves. The electromagnetic waves after removing the reflected waves may contain light, such as visible light.

[0041] In this embodiment, the separation unit 16 reflects a portion of the electromagnetic wave containing the reflected wave in the first direction D1 and transmits the other portion in the second direction D2. In this embodiment, the separation unit 16 reflects visible light from the incident electromagnetic wave, such as sunlight, after it has been reflected by the object ob, in the first direction D1. Additionally, the separation unit 16 transmits infrared light from the incident electromagnetic wave, such as infrared light emitted by the irradiation unit 12, after it has been reflected by the object ob, in the second direction D2. As another example, the separation unit 16 may also transmit a portion of the incident electromagnetic wave in the first direction D1 and reflect the other portion in the second direction D2. Furthermore, the separation unit 16 may refract a portion of the incident electromagnetic wave in the first direction D1 and refract the other portion in the second direction D2. The separation unit 16 may, for example, be configured to include a semi-reflective mirror, a beam splitter, a dichroic mirror, a cold reflector, a hot reflector, a metasurface, a deflecting element, or a prism.

[0042] The second detection unit 17 is disposed on the path of the electromagnetic wave traveling from the separation unit 16 to the first direction D1. The second detection unit 17 is disposed at or near the imaging position of the object ob in the first direction D1. The second detection unit 17 detects the electromagnetic wave traveling from the separation unit 16 to the first direction D1.

[0043] Furthermore, the second detection unit 17 can be arranged relative to the separation unit 16 such that the first travel axis of the electromagnetic wave traveling from the separation unit 16 toward the first direction D1 is parallel to the first detection axis of the second detection unit 17. The first travel axis corresponds to the central axis of the electromagnetic wave that radially extends and travels parallel to the first direction D1 from the separation unit 16. In this embodiment, the first travel axis is defined as the axis that extends the optical axis of the incident unit 15 to the separation unit 16 and is bent in the separation unit 16 in a manner parallel to the first direction D1. The first detection axis is defined as the axis that passes through the center of the detection surface of the second detection unit 17 and is perpendicular to the detection surface.

[0044] Furthermore, the second detection unit 17 can be configured such that the interval between the first travel axis and the first detection axis is less than or equal to a first interval threshold. Alternatively, the second detection unit 17 can be configured such that the first travel axis and the first detection axis are aligned. In this embodiment, the second detection unit 17 can be configured such that the first travel axis and the first detection axis are aligned.

[0045] Furthermore, the second detection unit 17 can be configured relative to the separation unit 16 such that the first angle formed by the first travel axis relative to the detection surface of the second detection unit 17 is below a first angle threshold or a predetermined angle. In this embodiment, the second detection unit 17 is configured with a first angle of 90°.

[0046] In this embodiment, the second detection unit 17 is a passive sensor. More specifically, in this embodiment, the second detection unit 17 includes an array of elements. For example, the second detection unit 17 includes an imaging element such as an image sensor or an imaging array, which captures an image of electromagnetic waves imaged on the detection surface to generate image information containing the space of the captured object ob.

[0047] In this embodiment, more specifically, the second detection unit 17 is configured to capture images of visible light. The second detection unit 17 sends the generated image information as a signal to the control unit 14. The second detection unit 17 can be configured to capture images other than visible light, such as infrared, ultraviolet, and radio waves.

[0048] The switching unit 18 is disposed on the path of the electromagnetic wave traveling from the separation unit 16 to the second direction D2. The switching unit 18 is disposed at or near the primary imaging position of the object ob in the second direction D2.

[0049] In this embodiment, the switching unit 18 is disposed at the imaging position. The switching unit 18 has an action surface as, which is used to receive electromagnetic waves that have passed through the incident unit 15 and the separation unit 16. The action surface as is composed of a plurality of switching elements se arranged in a two-dimensional pattern. In at least one of the first and second states described later, the action surface as acts on the electromagnetic waves, for example, by reflecting or transmitting electromagnetic waves.

[0050] The switching unit 18 is capable of switching each switching element se between a first state in which the electromagnetic wave incident on the action surface as travels in a third direction D3 and a second state in which it travels in a fourth direction D4. In this embodiment, the first state is a first reflection state in which the electromagnetic wave incident on the action surface as is reflected in a third direction D3. The second state is a second reflection state in which the electromagnetic wave incident on the action surface as is reflected in a fourth direction D4.

[0051] In this embodiment, more specifically, the switching unit 18 causes each switching element se to include a reflecting surface that reflects electromagnetic waves. By arbitrarily changing the orientation of the respective reflecting surface of each switching element se, the switching unit 18 allows each switching element se to switch between a first reflection state and a second reflection state.

[0052] In this embodiment, the switching unit 18 includes, for example, a digital micromirror device (DMD). The DMD drives the tiny reflective surfaces constituting the operating surface as, thereby enabling the reflective surface of each switching element se to be tilted at either +12° or -12° relative to the operating surface as. The operating surface as is parallel to the surface of the substrate in the DMD on which the tiny reflective surfaces are mounted.

[0053] Based on the control of the control unit 14, the switching unit 18 switches the first state and the second state for each switching element se. For example, as Figure 2 As shown, the switching unit 18 switches a portion of the switching elements se1 to a first state, thereby enabling the electromagnetic wave incident on the switching elements se1 to travel in a third direction D3. Furthermore, the switching unit 18 switches another portion of the switching elements se2 to a second state, thereby enabling the electromagnetic wave incident on the switching elements se2 to travel in a fourth direction D4. The switching unit 18 can switch the states of each switching element simultaneously. More specifically, the control unit 14 detects the direction or position of the electromagnetic wave based on the direction information from the deflection unit 13. Moreover, by setting the switching element se1 corresponding to the detected direction or position of the electromagnetic wave to the first state, and setting the other switching elements se1 to the second state, the reflected wave from the target ob is selectively directed in a third direction D3. Electromagnetic waves other than the reflected wave from the target ob, which have passed through the separation unit 16, travel in the fourth direction D4 and therefore do not incident on the first detection unit 20.

[0054] like Figure 1 As shown, a first post-stage optical system 19 is disposed on a third direction D3 from the switching unit 18. The first post-stage optical system 19 includes, for example, at least one of a lens and a mirror. The first post-stage optical system 19 images an object ob, which is an electromagnetic wave whose direction of travel has been switched in the switching unit 18.

[0055] The first detection unit 20 detects the reflected wave. The first detection unit 20 is positioned to detect the electromagnetic wave that travels through the first post-stage optical system 19 after passing through the switching unit 18 in the third direction D3. The first detection unit 20 detects the electromagnetic wave that has passed through the first post-stage optical system 19, i.e., the electromagnetic wave that travels in the third direction D3, and outputs a detection signal.

[0056] Furthermore, the first detection unit 20, together with the switching unit 18, can be arranged relative to the separation unit 16 with the second travel axis of the electromagnetic wave that travels from the separation unit 16 along the second direction D2 and is switched to the third direction D3 by the switching unit 18, in a manner parallel to the second detection axis of the first detection unit 20. The second travel axis corresponds to the central axis of the electromagnetic wave that travels from the switching unit 18 to the third direction D3 and expands and propagates radially. In this embodiment, the second travel axis is defined as the axis that extends the optical axis of the incident unit 15 to the switching unit 18 and is bent in the switching unit 18 in a manner parallel to the third direction D3. The second detection axis is defined as the axis that passes through the center of the detection surface of the first detection unit 20 and is perpendicular to the detection surface.

[0057] Furthermore, the first detection unit 20 can be configured together with the switching unit 18 such that the interval between the second travel axis and the second detection axis is less than or equal to a second interval threshold. The second interval threshold can be the same as or different from the first interval threshold. Additionally, the first detection unit 20 can be configured such that the second travel axis and the second detection axis are aligned. In this embodiment, the first detection unit 20 is configured such that it is aligned with the second travel axis and the second detection axis.

[0058] Furthermore, the first detection unit 20, together with the switching unit 18, can be configured relative to the separation unit 16 at an angle where the second angle formed by the second travel axis and the detection surface of the first detection unit 20 is below a second angle threshold or a predetermined angle. The second angle threshold can be the same as the first angle threshold or a different value. In this embodiment, as shown above, the first detection unit 20 is configured with the second angle being 90°.

[0059] In this embodiment, the first detection unit 20 is an active sensor that detects the reflected wave of electromagnetic waves emitted from the irradiation unit 12 toward the object ob. The first detection unit 20 includes a single element such as an APD (Avalanche Photo-Diode), a PD (Photo-Diode), or a ranging image sensor. Alternatively, the first detection unit 20 may include an array of elements such as an APD array, a PD array, a ranging imaging array, or a ranging image sensor.

[0060] In this embodiment, the first detection unit 20 sends detection information indicating that a reflected wave from the subject has been detected as a signal to the control unit 14. More specifically, the first detection unit 20 detects electromagnetic waves in the infrared frequency band.

[0061] Furthermore, in this embodiment, the first detection unit 20 is used as a detection element for determining the distance to the object ob. In other words, the first detection unit 20 is an element constituting a ranging sensor, and it is only necessary to detect electromagnetic waves; it does not need to image on the detection surface. Therefore, the first detection unit 20 does not necessarily need to be located at the imaging position, i.e., the secondary imaging position, of the first post-stage optical system 19. That is, in this structure, the first detection unit 20 can be positioned where electromagnetic waves from all viewing angles can be incident on the detection surface, or it can be positioned at any position on the path of the electromagnetic waves that travel through the switching unit 18 along the third direction D3 and then through the first post-stage optical system 19.

[0062] With the above-described structure, the electromagnetic wave detection device 10 aligns a predetermined position on the image with the optical axis of the reflected wave used to determine the distance to that position. In other words, in the electromagnetic wave detection device 10, the optical axis of the image information acquisition unit 141 that acquires the image is aligned with the optical axis of the light-receiving system 110 that receives the reflected wave of the electromagnetic wave used to acquire distance information. The image information acquisition unit 141 is also called the imaging unit. The structure that includes the light-receiving system 110 for acquiring distance information is also called the ranging unit. The imaging unit and the ranging unit can be said to share a common optical axis.

[0063] Here, Figure 3 This is a diagram used to illustrate the detection of electromagnetic waves, including reflected waves. In Figure 3 In this system, the space containing the object ob is divided into a grid pattern by the number of times the electromagnetic waves are irradiated by the irradiation system 111 for each frame. Generally, the time required to detect a frame of electromagnetic waves containing reflected waves is longer than the time required to acquire an image frame by an imaging element. For example, an imaging element can acquire 30 frames of 1920×1080 pixel images per second. On the other hand, the time required to determine the distance by receiving the reflected waves of the irradiated electromagnetic waves can sometimes be around 20 μs at a single point. Therefore, the number of locations (points) that receive reflected waves from space and acquire distance measurement information is less than 1920×1080 per frame.

[0064] exist Figure 3In this example, the beam-shaped electromagnetic wave emitted from the irradiation unit 12 is reflected by the deflection unit 13 and incident as an irradiation wave into a region R in space. In this embodiment, the irradiation wave is infrared radiation. An electromagnetic wave containing the reflected wave after being reflected by an object ob present in region R is incident on the incident unit 15. In this embodiment, the reflected wave is infrared radiation. In addition, the electromagnetic wave containing the reflected wave contains visible light after external light is reflected by an object ob present in region R. The separation unit 16 reflects the visible light in the electromagnetic wave containing the reflected wave in the first direction D1. The reflected visible light is detected by the second detection unit 17. In addition, the separation unit 16 causes the infrared radiation in the electromagnetic wave containing the reflected wave to pass through in the second direction D2. The infrared radiation that has passed through the separation unit 16 is reflected by the switching unit 18, and at least a portion travels in the third direction D3. The infrared radiation traveling in the third direction D3 is detected by the first detection unit 20 through the first post-stage optical system 19.

[0065] (Example of the structure of the control unit)

[0066] The irradiation control unit 143 controls the irradiation system 111. For example, the irradiation control unit 143 switches the electromagnetic wave irradiation of the irradiation unit 12 and stops it. For example, the irradiation control unit 143 causes the deflection unit 13 to change the direction of the reflected electromagnetic wave.

[0067] The light receiving control unit 144 controls the light receiving system 110. For example, the light receiving control unit 144 causes the switching unit 18 to switch the first state and the second state for each switching element se.

[0068] The image information acquisition unit 141 acquires image information of the space where the object ob is located from the second detection unit 17 that detects electromagnetic waves from space.

[0069] The calculation unit 145 calculates the distance to the object ob based on the detection information from the first detection unit 20. The calculation unit 145 can calculate the distance based on the acquired detection information, for example, using the Time-of-Flight (ToF) method.

[0070] like Figure 4As shown, the control unit 14 inputs an electromagnetic wave emission signal to the irradiation unit 12, causing the irradiation unit 12 to irradiate pulsed electromagnetic waves (see the "Electromagnetic Wave Emission Signal" column). The irradiation unit 12 irradiates electromagnetic waves based on the input electromagnetic wave emission signal (see the "Irradiation Unit Emission Amount" column). The electromagnetic waves irradiated by the irradiation unit 12 and reflected by the deflection unit 13, irradiating the space where the object ob is located, i.e., the irradiation area, are reflected in the irradiation area. The control unit 14 switches at least a portion of the switching element se in the imaging area of ​​the switching unit 18 based on the incident unit 15 of the reflected wave in the irradiation area to a first state, and switches the other switching elements se to a second state. Then, when the first detection unit 20 detects the reflected electromagnetic waves in the irradiation area (see the "Electromagnetic Wave Detection Amount" column), it notifies the control unit 14 of the detection information.

[0071] The arithmetic unit 145 acquires information about the signal, including the detection information. The arithmetic unit 145 includes, for example, a time measurement LSI (Large Scale Integrated circuit) that measures the time ΔT from the moment T1 when the irradiation unit 12 is irradiated with electromagnetic waves to the moment T2 when the detection information is acquired (see the "Detection Information Acquisition" column). The arithmetic unit 145 calculates the distance to the irradiated position by multiplying the speed of light by the time ΔT and dividing by 2.

[0072] The planar resolution of each frame of the ranging information detected by the first detection unit 20 up to the object ob is lower than the resolution of the image of the object ob detected by the second detection unit 17. The reason is as follows: First, the resolution of the detection of electromagnetic waves containing reflected waves used to acquire ranging information is determined by the number of detection points in the space containing the object ob based on the electromagnetic wave detection distance, i.e., the number of locations where ranging information is acquired. When scanning space with a laser, the resolution of the electromagnetic wave detection refers to the number of laser-irradiated points in one scan of the object space (i.e., the number of laser-irradiated points covering the field of view). In contrast, the image of the object ob detected by the second detection unit 17 is captured by improving the performance of the imaging element, using pixels with a narrower interval than the interval between laser-irradiated points. Therefore, the planar resolution of the ranging information is lower than the resolution of the image. Hereinafter, in this specification, the resolution of the ranging information refers to the planar resolution of each frame. Alternatively, it can be said that the resolution of the ranging unit is lower than the resolution of the imaging unit.

[0073] (Size calculation based on distance measurement information)

[0074] The control unit 14 of the electromagnetic wave detection device 10 in this embodiment also includes a length measurement calculation unit 147. The length measurement calculation unit 147 calculates the size of the object ob based on the distance measurement information up to the object ob detected by the first detection unit 20. The electromagnetic wave detection device 10 is also called a measuring device. The object ob is also called the measuring object.

[0075] Specifically, the length measurement calculation unit 147 calculates the coordinates of two points contained in the object ob based on the distance measurement information and the emission direction of the electromagnetic wave emitted to obtain the distance measurement information, and calculates the distance between the two points as the size of the object ob. As an example, for Figure 5 The steps for calculating the dimensions of the object ob are explained below. Object ob is set as a human figure. Furthermore, for simplicity, the coordinates along the X-axis perpendicular to the paper are not considered; the calculation steps are limited to the YZ plane along the paper.

[0076] The calculation unit 145 of the control unit 14 measures the distance from the origin O of the illumination system 111 to the ranging point P1 located at the head of the object ob, and the distance from the origin O to the ranging point P2 located at the feet of the object ob. The distance from the origin O to the ranging point P1 is denoted by d1. The distance from the origin O to the ranging point P2 is denoted by d2. d1 and d2 are also called distance information. The origin O is also called the reference position. The ranging points P1 and P2 are also called the first location and the second location, respectively. The ranging points P1 and P2 are also called the first ranging point and the second ranging point, respectively. The information used to determine the ranging points P1 and P2 is also called the first ranging information and the second ranging information, respectively.

[0077] Here, the illumination system 111 has an illumination axis 111A that is included within the range capable of scanning the irradiated electromagnetic waves. In this embodiment, the illumination axis 111A corresponds to the central axis of the range capable of scanning the irradiated electromagnetic waves. The XYZ coordinate system is set such that the Z-axis coincides with the illumination axis 111A. Therefore, the illumination axis 111A is contained within the YZ plane.

[0078] The length measurement calculation unit 147 obtains the distance to the ranging points P1 and P2 from the calculation unit 145. The length measurement calculation unit 147 further obtains the angle (θ1) between the line segment connecting the origin O and the ranging point P1 and the illumination system 111. The angle θ1 determines the direction from the origin O to the ranging point P1 in the YZ plane. That is, the angle θ1 can also be said to be direction-related information. The angle θ1 is also called angle information related to the direction toward the ranging point P1. The angle θ1 can also be obtained based on the direction information obtained from the deflection unit 13. Based on d1 and θ1, the length measurement calculation unit 147 can calculate the Y coordinate (Y1) and Z coordinate (Z1) of the ranging point P1 as shown in the following equations (1) and (2).

[0079] [Number 1]

[0080] Y1=d1sinθ1 (1)

[0081] [Number 2]

[0082] Z1=d1cosθ1 (2)

[0083] Additionally, the length measurement calculation unit 147 obtains from the calculation unit 145 or the illumination system 111 the angle (θ2) formed by the line segment connecting the origin O and the distance measuring point P2 relative to the illumination axis 111A. Similar to the distance measuring point P1, the length measurement calculation unit 147 can calculate the Y-coordinate (Y2) and Z-coordinate (Z2) of the distance measuring point P2 based on d2 and θ2. The coordinates of the respective locations of the first and second locations are also referred to as the first spatial coordinates and the second spatial coordinates.

[0084] Here, the size of object ob is represented by its length from head to foot. That is, the length measurement calculation unit 147 can calculate the length of object ob as the length of line segment P1P2. Figure 6 In the example, the line segment P1P2 contained in object ob intersects the XY plane, i.e., the shooting plane. The length measurement calculation unit 147 can calculate the length L of line segment P1P2 by applying the coordinates of P1 and P2 to the following formula (3) based on the Pythagorean theorem.

[0085] [Number 3]

[0086]

[0087] When the electromagnetic wave detection device 10 calculates the size of the object ob based solely on an image obtained by capturing the object ob, the size may differ from the actual size of the object ob for the following reasons.

[0088] The electromagnetic wave detection device 10, positioned on the Z-axis, photographs the object ob from the positive direction of the Z-axis. Therefore, the imaging plane of the image captured by the electromagnetic wave detection device 10 is a plane perpendicular to the Z-axis, i.e., parallel to the XY plane. When line segments P1P2 contained in the object ob intersect the imaging plane, line segments P1P2 appear in the image as orthographic projections of the imaging plane. Ignoring extension in the X-axis direction (the depth direction of the paper), the line segments appear in the image as orthographic projections of the Y-axis. The length of the orthographic projection of the line segment is shorter than the actual length of the line segment. Specifically, Figure 6 The length of the example line segment P1P2 projected onto the Y-axis is Y1-Y2, which is shorter than L calculated in equation (3) above. Therefore, the size of object ob calculated based on the image as the length of line segment P1P2 may differ from the actual size of object ob.

[0089] Furthermore, even when line segment P1P2 is parallel to the imaging plane, the length of the line segment displayed in the image will change due to the varying distance from the electromagnetic wave detection device 10 to the object ob. Therefore, the true length of line segment P1P2 cannot always be calculated based solely on the image.

[0090] As described above, the electromagnetic wave detection device 10 of this embodiment calculates the coordinates of ranging points P1 and P2 contained in the object ob. Then, based on the coordinates of P1 and P2, the electromagnetic wave detection device 10 can calculate the length of line segment P1P2 as the size of the object ob. Calculating the size of the object ob based on the ranging results improves the accuracy of the object ob size calculation compared to the case where it is calculated solely based on an image.

[0091] (High-precision based on calibration coordinates)

[0092] As described above, the resolution of the ranging information up to the object ob is lower than the resolution of the image of the object ob. With lower ranging information resolution, the offset between the positions of ranging points P1 and P2 and the outline of the object ob becomes larger, resulting in a larger error in the calculated size of the object ob based on the ranging information. Therefore, the length calculation unit 147 can further improve the calculation accuracy of the object ob by correcting the coordinates used to calculate the size of the object ob based on the image obtained from capturing the object ob.

[0093] For example, such as Figure 5 As shown, the endpoint on the head side of object ob, used for calculating the dimensions of object ob, is corrected from P1 to P1'. Similarly, the endpoint on the foot side of object ob, used for calculating the dimensions of object ob, is corrected from P2 to P2'. The greater the separation between P1 and P1', or between P2 and P2', the more significantly the accuracy of the dimension calculation is improved through correction. The positions of the contour portion of the captured image of object ob closest to the ranging points P1 and P2 can be set as P1' and P2', respectively. P1' and P2' can be arbitrarily specified from the captured image of object ob using an operation unit not shown. P1' and P2' are not limited to the contour portion of the captured image of object ob; they can also be locations where the interval between the desired distance measurements is defined within the object ob.

[0094] The correction from P1 to P1' can be specifically achieved as follows: The length measurement calculation unit 147 generates a distance image that maps the distance measurement information up to the object ob. The length measurement calculation unit 147 acquires a captured image of the object ob. The length measurement calculation unit 147 detects the contour portion of the object ob based on the captured image. The length measurement calculation unit 147 obtains the endpoint P1' on the head side, which corresponds to the distance measurement point P1 and is located on the same XY plane as P1, from the contour portion, and calculates the angle θ1' formed by the line segment connecting the origin O and the endpoint P1' relative to the illumination axis 111A based on the position relationship between the distance measurement point P1 and the endpoint P1' in the captured image. The angle θ1' is calculated by overlaying the distance image with the captured image. For example, the length measurement calculation unit 147 can calculate the angle θ1' based on the ratio of the Y coordinate of the ranging point P1 to the Y coordinate of the endpoint P1', and the angle θ1 formed by the line segment connecting the origin O and the ranging point P1 relative to the illumination axis 111A, since the angle corresponding to the point with the Y coordinate of the point with the Y coordinate of the point with the Y coordinate of the endpoint P1' is regarded as zero degrees.

[0095] The length calculation unit 147 calculates the length d1' of the line segment connecting the origin O and the endpoint P1' based on Z1, which represents the Z coordinate of the distance measuring point P1, and the angle θ1', using the following formula (4).

[0096] [Number 4]

[0097]

[0098] Furthermore, the length measurement calculation unit 147 calculates the Y coordinate Y1' of the endpoint P1' based on d1' using the following equation (5).

[0099] [Number 5]

[0100] Y′1=d′1sinθ′1 (5)

[0101] The Z-coordinate of endpoint P1' is considered to be the same as Z1, which is the Z-coordinate of the ranging point P1. Thus, the coordinates of endpoint P1' are determined. As a result, correction from P1 to P1' is achieved. Furthermore, correction from P2 to P2' can be achieved in the same way as correction from P1 to P1'. Endpoints P1' and P2' are also referred to as the first endpoint and the second endpoint, respectively. The coordinates of the first endpoint and the second endpoint are also referred to as the first endpoint coordinates and the second endpoint coordinates, respectively. As described above, the length measurement calculation unit 147 sets the Z-coordinate of the first endpoint to be the same as the Z-coordinate of the first location. That is, in the depth direction of the space observed from the origin O of the illumination system 111, the position of the first location is set to be the same as the position of the first endpoint.

[0102] The length measurement calculation unit 147 can calculate the distance between two points represented by the corrected coordinates of P1' and P2' based on the following formula (6), and calculate the length of line segment P1'P2' as the size of object ob.

[0103] [Number 6]

[0104]

[0105] As described above, the length measurement calculation unit 147 can correct the coordinates of the two points at both ends used to calculate the length of the line segment based on the captured image. As a result, the accuracy of the size calculation of the object ob can be improved.

[0106] Furthermore, as described above, the electromagnetic wave detection device 10 can align the optical axis of the reflected wave used to generate the distance image with the optical axis of the captured image. Therefore, the length measurement calculation unit 147 can minimize or minimize the positional error that occurs when the distance image and the captured image are superimposed. By accurately superimposing the distance image and the captured image, the length measurement calculation unit 147 combines the angle and distance information contained in the distance image with the information contained in the captured image, enabling high-precision correction of the coordinates of the endpoints of the object ob. As a result, the accuracy of the object ob's dimension calculation can be improved.

[0107] (Calculation of dimensions considering expansion along the X-axis)

[0108] Reference Figure 5 and Figure 6 The method for calculating dimensions without considering the extension in the X-axis direction (the depth direction of the paper) is explained below. (Refer to...) Figure 7 , Figure 8 as well as Figure 9 The method for calculating dimensions considering the extension in the X-axis direction is explained. Figure 7 , Figure 8 as well as Figure 9 The example object ob is set as a vehicle. The length measurement calculation unit 147 measures the total length of the vehicle (the length from front to back).

[0109] like Figure 7 As shown, the length measurement calculation unit 147 acquires distance measurement information for distance measurement point P1 corresponding to the front end of the vehicle (ob), and distance measurement information for distance measurement point P2 corresponding to the rear end of the vehicle. The distances from the origin O of the illumination system 111 to distance measurement points P1 and P2 are represented by d1 and d2, respectively. The angles formed by line segments OP1 and OP2 relative to the illumination axis 111A are represented by θ1 and θ2, respectively. When the X-coordinates of distance measurement points P1 and P2 are not zero, line segments OP1 and OP2 lie in a plane intersecting the YZ plane. Specifically, as... Figure 8 and Figure 9As shown, line segment OP1 lies in a plane rotated relative to the YZ plane by an angle represented by θ3. Figure 9 As shown, the magnitude of θ1 represents the plane after being rotated by an angle θ3 relative to the YZ plane.

[0110] The length measuring calculation unit 147 can calculate the length using the following formulas (7) to (9). Figure 5 and Figure 6 The example is different, but the coordinates (X1, Y1, Z1) of the ranging point P1 are considered when the X coordinate is taken into account.

[0111] Z1=d1·cosθ1(7)

[0112] X1=d1·sinθ1·cosθ3(8)

[0113] Y1=d1·sinθ1·sinθ3(9)

[0114] It should be noted that angle θ1 can be obtained based on the direction information obtained from the deflection unit 13, and angle θ3 can be obtained based on the position of the ranging point P1 in the captured image or ranging image.

[0115] The length calculation unit 147 can calculate the coordinates of the distance measuring point P2 in the same way as the coordinates of the distance measuring point P1. In addition, the length calculation unit 147 can calculate the length L of the line segment P1P2 as the dimension of the object ob (the total length of the vehicle) by applying the coordinates of P1 and P2 respectively to the following formula (10) based on the Pythagorean theorem.

[0116] [Number 7]

[0117]

[0118] Furthermore, the length measurement calculation unit 147 can correct the coordinates used to calculate the dimensions (total length of the vehicle) of the object ob based on the image obtained by photographing the object ob. For example, the length measurement calculation unit 147 can correct the coordinates of the front end of the vehicle as follows.

[0119] The length measurement calculation unit 147 generates a distance image that maps the distance measurement information up to the object ob. The length measurement calculation unit 147 acquires a captured image of the object ob. Based on the captured image, the length measurement calculation unit 147 detects the endpoint P1' in front of the object ob, which is located on the same XY plane as P1. According to the position relationship between the distance measurement point P1 in the captured image and the endpoint P1', the length measurement calculation unit 147 calculates the angle θ1' formed by the line segment connecting the origin O and the endpoint P1' relative to the illumination axis 111A. For example, the length measurement calculation unit 147 considers the angle corresponding to the point where the X and Y coordinates of the captured image are zero as zero degrees. Then, based on the ratio of the distance from the origin (0, 0) of the XY plane to the distance from the origin (0, 0) of the XY plane to the endpoint P1', and the angle of the distance measurement point P1 as θ1, the angle θ1' of the endpoint P1' in the captured image can be calculated.

[0120] The length calculation unit 147 calculates the length d1' of the line segment connecting the origin O and the endpoint P1' based on Z1, which represents the Z coordinate of the distance measuring point P1, and the angle θ1', using the following formula (11).

[0121] [Number 8]

[0122]

[0123] Furthermore, the length measurement calculation unit 147 calculates the X coordinate X1' and Y coordinate Y1' of the endpoint P1' based on d1' using the following formulas (12) and (13).

[0124] Y1'=d1'·sinθ1'·sinθ3'(12)

[0125] X1'=d1'·sinθ1'·cosθ3'(13)

[0126] The Z-coordinate of endpoint P1' is considered to be the same as Z1, which is the Z-coordinate of the ranging point P1. Thus, the coordinates of endpoint P1' are determined. As a result, correction from P1 to P1' is achieved. Furthermore, correction from P2 to P2' can be achieved in the same way as correction from P1 to P1'.

[0127] The length measurement calculation unit 147 can calculate the distance between two points represented by the corrected coordinates of P1' and P2' based on the following formula (14), and calculate the length of line segment P1'P2' as the size of object ob.

[0128] [Number 9]

[0129]

[0130] As described above, even when considering the extension in the X-axis direction, the length measurement calculation unit 147 is able to correct the coordinates of the two points at both ends used to calculate the length of the line segment based on the captured image. As a result, the accuracy of the object ob's dimension calculation can be improved.

[0131] like Figure 10 As shown, the length measurement calculation unit 147 can not only measure the overall size of the object ob, but also measure the size of a portion of the object contained in the captured image. For example, the length measurement calculation unit 147 can use the tire portion of a large vehicle identified from the captured image as the object ob and measure its diameter. According to this embodiment, even when the imaging plane of the image captured by the electromagnetic wave detection device 10 is tilted relative to the tire, the accuracy of the tire diameter measurement can be improved. The length measurement calculation unit 147 can also measure other types of items as the object ob.

[0132] The control unit 14 can analyze the image information acquired by the image information acquisition unit 141 and determine the parts required for size measurement (e.g., tire parts). As described above, the illumination control unit 143 controls the illumination system 111 to measure the distance to the distance measurement points P1 and P2 of the object to be measured, and calculates the length of line segment P1P2 by the length calculation unit 147, thereby enabling the measurement of the object's size.

[0133] For example, worn tires on large vehicles can hinder their operations. The electromagnetic wave detection device 10, by continuously measuring the dimensions of tires and other components, can identify vehicle parts requiring repair or replacement and urge maintenance. It can also be configured to periodically measure the dimensions of tires and other components of multiple vehicles and store them in a storage unit in association with vehicle-specific information (identification information such as ID) determined from image information acquired by the image information acquisition unit 141.

[0134] like Figure 11 As shown, the length measurement calculation unit 147 can measure the total length of livestock such as fish as the object ob. According to this embodiment, even when the imaging plane of the image captured by the electromagnetic wave detection device 10 is tilted relative to the fish as the object ob, the accuracy of measuring the total length of the fish can be improved. The length measurement calculation unit 147 is not limited to fish, and can also measure the length of other kinds of animals such as cattle and horses as the object ob.

[0135] Livestock are living organisms and therefore may adopt various postures. The electromagnetic wave detection device 10 can measure the size of the livestock by means of the image information acquired by the image information acquisition unit 141 when the livestock being measured is identified to be in a prescribed posture.

[0136] Measuring the size of livestock is effective in their growth management. By continuously measuring the size of livestock using the electromagnetic wave detection device 10, growth management can be easily carried out. Alternatively, the measured size information of the livestock can be associated with the inherent information of the livestock determined by the image information acquired by the image information acquisition unit 141 and stored in a storage unit, thereby enabling the growth management of multiple livestock.

[0137] (Example of a flowchart)

[0138] <Calculation of endpoint dimensions using the coordinates of the ranging point>

[0139] The length measurement calculation unit 147 can also perform operations including Figure 12 The flowchart shown illustrates a dimensional measurement method. This dimensional measurement method can also be implemented as a dimensional measurement program executed by a processor constituting the length measurement calculation unit 147. The dimensional measurement program can be stored in a non-transitory computer-readable medium.

[0140] The length measurement calculation unit 147 acquires distance measurement information for at least two points contained in the object ob (step S1). Specifically, in order to determine the size of the object ob, the length measurement calculation unit 147 selects distance measurement points P1 and P2 as two points corresponding to the two ends of the object ob, and acquires distance measurement information for each distance measurement point. The length measurement calculation unit 147 acquires the distance from the origin O to the distance measurement point P1 and the distance from the origin O to the distance measurement point P2 as distance measurement information.

[0141] The length measurement calculation unit 147 obtains the illumination direction toward the two ranging points (step S2). Specifically, the length measurement calculation unit 147 obtains from the illumination system 111 the direction in which the illumination system 111 illuminates electromagnetic waves relative to the ranging point P1, and the direction in which the illumination system 111 illuminates electromagnetic waves relative to the ranging point P2.

[0142] The length measurement calculation unit 147 calculates the coordinates of the two distance measurement points (step S3). The length measurement calculation unit 147 can calculate the coordinates of each distance measurement point based on distance and direction.

[0143] The length measurement calculation unit 147 calculates the length between the two distance measurement points (step S4). After step S4 is completed, the length measurement calculation unit 147 ends. Figure 12 The execution of the steps in the flowchart.

[0144] <Calculate dimensions using endpoints corrected from captured images>

[0145] The length measurement calculation unit 147 can also perform operations including Figure 13 The flowchart shown in the example illustrates the method for determining the dimensions of the steps.

[0146] The length measurement calculation unit 147 acquires distance measurement information for at least two points contained in the object ob (step S11). Specifically, in order to determine the size of the object ob, the length measurement calculation unit 147 selects distance measurement points P1 and P2 as two points corresponding to the two ends of the object ob, and acquires distance measurement information for each distance measurement point. The length measurement calculation unit 147 acquires the distance from the origin O to the distance measurement point P1 and the distance from the origin O to the distance measurement point P2 as distance measurement information.

[0147] The length measurement calculation unit 147 obtains the illumination direction toward the two ranging points (step S12). Specifically, the length measurement calculation unit 147 obtains from the illumination system 111 the direction in which the illumination system 111 illuminates electromagnetic waves relative to the ranging point P1, and the direction in which the illumination system 111 illuminates electromagnetic waves relative to the ranging point P2.

[0148] The length measurement calculation unit 147 calculates the coordinates of the two distance measurement points (step S13). The length measurement calculation unit 147 can calculate the coordinates of each distance measurement point based on distance and direction.

[0149] The length measurement calculation unit 147 detects two points (P1', P2') at both ends of the measured size in the captured image of the object ob (step S14). Specifically, the length measurement calculation unit 147 assumes that each point of the object ob is located on the imaging surface along the XY plane, and detects two points at both ends on the imaging surface.

[0150] The length measurement calculation unit 147 calculates the angle toward the two points detected at both ends in the captured image (step S15). Specifically, the length measurement calculation unit 147 can calculate the angle toward the two points at both ends based on the distance measurement information, the X or Y coordinates of the distance measurement point in the distance measurement image, and the X or Y coordinates of each point in the captured image.

[0151] The length measurement calculation unit 147 calculates the distance to the two points detected at both ends of the captured image (step S16). Specifically, the length measurement calculation unit 147 calculates the distance to each point based on the angle toward each point and the Z coordinate of the distance measurement point close to each point.

[0152] The length measurement calculation unit 147 calculates the spatial coordinates of the two points detected at both ends of the captured image (step S17). Specifically, the length measurement calculation unit 147 calculates the spatial coordinates (X coordinate, Y coordinate, and Z coordinate) of each point based on the distance to each point and the angle towards each point.

[0153] The length measurement calculation unit 147 calculates the length between the two points whose coordinates have been calculated (step S18). After step S18 is completed, the length measurement calculation unit 147 ends. Figure 13 The execution of the steps in the flowchart.

[0154] (Other implementation methods)

[0155] The length measurement calculation unit 147 can measure the length of the object ob along the direction of the illumination axis 111A of the illumination system 111 irradiating electromagnetic waves. For example, the length measurement calculation unit 147 can measure the height of a vehicle located on the road surface by irradiating electromagnetic waves from the upper surface of the vehicle, taking the vehicle as the object ob.

[0156] Specifically, the length measurement calculation unit 147 acquires images of the vehicle (object ob) and the road surface on which the vehicle is located. The length measurement calculation unit 147 detects points located in an area presumed to be the road surface and acquires distance measurement information. Based on the distance measurement information, the length measurement calculation unit 147 calculates the coordinates of at least two points located in the area presumed to be the road surface. Based on the coordinates of the road surface, the length measurement calculation unit 147 calculates the slope of the road surface and the position of the road surface under the vehicle. The length measurement calculation unit 147 acquires distance measurement information of points located on the upper surface of the vehicle and can calculate the height of the vehicle based on the calculation results of the road surface slope and the position of the road surface.

[0157] For example, Figure 14 As shown, the length measurement calculation unit 147 can acquire distance measurement information of multiple points located on a straight line passing through the road surface and the vehicle when viewed from above relative to the road surface. The points for acquiring distance measurement information are arranged along the Y-axis and determined by the Y-coordinate. In addition, by establishing a correspondence with the Z-coordinate of the point, the distance measurement information of the point is represented as (y(n), z(n)). n is a parameter used to identify each point and is set to a natural number.

[0158] like Figure 15 As shown, the distance measurement information is plotted on the YZ plane. The length measurement calculation unit 147 can also estimate the area of ​​the road surface based on the curve plotted with the distance measurement information. Figure 15 In this process, the area of ​​the road surface is presumed to be the area represented by A1 and A3. The distance measurement calculation unit 147, for example, calculates the coefficients a, b, and c of the equation ay + bz + c = 0 representing the road surface based on distance measurement information of at least one point contained in area A1 and at least one point contained in area A3, thereby determining the information of the road surface. The road surface is also called a reference surface. The information of the road surface, which is determined to be a reference surface, corresponds to the first distance measurement information.

[0159] The length measurement calculation unit 147 is able to... Figure 15 The region represented by A2, which is detached from the formula representing the road surface, is presumed to be the region of the upper surface of the vehicle. The length measurement calculation unit 147 can calculate the distance from each point on the upper surface of the vehicle to the road surface based on the coordinates of each point on the upper surface of the vehicle and the formula representing the road surface. The length measurement calculation unit 147 can use the maximum value of the calculated distance as the height of the vehicle. For example, the length measurement calculation unit 147 can also calculate the height of the vehicle based on the following formula (15).

[0160] [Number 10]

[0161]

[0162] Here, Maxn is the function that selects the maximum value. Equation (15) refers to selecting the maximum value among the distances from the coordinates of each point to the straight line representing the road surface on the YZ plane.

[0163] It can be said that the length measurement calculation unit 147 determines the endpoint on the side furthest from the road surface serving as the reference plane, and determines the spatial coordinates of the endpoint. Based on the spatial coordinates of the endpoint and the formula representing the road surface serving as the reference plane, it calculates the height of the vehicle. The information determining the endpoint on the side furthest from the road surface serving as the reference plane corresponds to the second distance measurement information.

[0164] The length measurement calculation unit 147 can also acquire images of the vehicle as the object ob taken from a top-down view of the road surface, and determine the area of ​​the road surface and the area of ​​the vehicle based on the images. In this way, the calculation of the formula representing the road surface becomes easier.

[0165] The length measurement calculation unit 147 can also perform operations including Figure 16 The flowchart shown illustrates a dimensional measurement method. This dimensional measurement method can also be implemented as a dimensional measurement program executed by the processor constituting the length measurement calculation unit 147. The dimensional measurement program can also be stored on a non-transitory, computer-readable medium.

[0166] The length measurement calculation unit 147 acquires an image of the object ob (step S21). Specifically, it may also acquire an image of the vehicle taken from a top-down view of the road surface.

[0167] The length measurement calculation unit 147 detects the road surface from the image of the object ob and measures the distance to at least two points contained in the road surface (step S22). The points contained in the road surface that become the objects for measuring distance are also called distance measurement points of the road surface.

[0168] The length measurement calculation unit 147 calculates the coordinates of the distance measurement points on the road surface (step S23). Since the distance up to at least two points is measured in step S22, the length measurement calculation unit 147 is able to calculate the coordinates of at least two distance measurement points.

[0169] The length measurement calculation unit 147 calculates the slope of the road surface (step S24). Specifically, the length measurement calculation unit 147 can also calculate the coefficients a, b, and c of the formula ay + bz + c = 0 representing the road surface, as described above. The slope of the road surface is equivalent to the ratio of a to b.

[0170] The length measurement calculation unit 147 detects the vehicle based on the image of the object ob and measures the distance to a point located on the upper surface of the vehicle (step S25). The point on the upper surface of the vehicle that is the object to which the distance is measured is also called the distance measurement point of the vehicle.

[0171] The length measurement calculation unit 147 calculates the coordinates of the distance measurement point of the vehicle (step S26).

[0172] The length measurement calculation unit 147 calculates the vehicle's height (step S27). Specifically, the length measurement calculation unit 147 can calculate the vehicle's height by taking the distance from the vehicle's distance measurement point to the line representing the road surface. After step S27 is completed, the length measurement calculation unit 147 ends the calculation. Figure 16 The execution of the steps in the flowchart.

[0173] (Modified Example)

[0174] This disclosure has been described based on the accompanying drawings and embodiments; however, it should be noted that those skilled in the art can easily make various modifications or alterations based on this disclosure. Therefore, it should be understood that these modifications or alterations are also included within the scope of this disclosure.

[0175] In the above-described embodiment, as mentioned above, the electromagnetic wave detection device 10 is structured to generate ranging information using Direct ToF, which directly measures the time from the irradiation of the laser to its return. However, the electromagnetic wave detection device 10 is not limited to this structure. For example, the electromagnetic wave detection device 10 can also generate ranging information using Flash ToF, which irradiates electromagnetic waves radially (i.e., simultaneously in multiple directions) at a constant period and indirectly measures the time until the return based on the phase difference between the irradiated electromagnetic wave and the returning electromagnetic wave. Alternatively, the electromagnetic wave detection device 10 can also generate ranging information using other ToF methods, such as Phased ToF.

[0176] In the above embodiment, the switching unit 18 can switch the direction of travel of the electromagnetic wave incident on the action surface as in two directions, but it can also switch to three or more directions instead of switching to either of these two directions.

[0177] In the switching unit 18 of the above-described embodiment, the first state and the second state are the first reflection state in which the electromagnetic wave incident on the action surface as is reflected in the third direction d3 and the second reflection state in the fourth direction d4, respectively, but other methods may also be used.

[0178] For example, the first state could also be a transmission state in which electromagnetic waves incident on the action surface as pass through and travel in a third direction d3. More specifically, a switching unit 181 with a structure other than the switching unit 18 described above could also have a shutter on each switching element, which has a reflective surface that reflects electromagnetic waves in a fourth direction d4. In a switching unit 181 with such a structure, by opening and closing the shutter of each switching element, it is possible to switch between the transmission state as the first state and the reflection state as the second state for each switching element.

[0179] Examples of such a switching unit 181 include a MEMS shutter comprising an array of multiple shutters that can be opened and closed. Alternatively, a switching unit 181 may include a liquid crystal shutter capable of switching between a reflection state (reflecting electromagnetic waves) and a transmission state (allowing electromagnetic waves to pass through) depending on the liquid crystal orientation. In such a switching unit 181, by switching the liquid crystal orientation of each switching element, switching can be performed between a transmission state (a first state) and a reflection state (a second state) for each switching element.

[0180] Furthermore, in the electromagnetic wave detection device 10, the light receiving system 110 may also include a second post-stage optical system and a third detection unit. The second post-stage optical system is provided in the fourth direction d4 from the switching unit 18 and images the object ob. The third detection unit is provided on the path of the electromagnetic wave that travels through the switching unit 18 in the fourth direction d4 and then through the second post-stage optical system, and detects the electromagnetic wave traveling in the fourth direction d4.

[0181] Furthermore, in the above embodiment, the electromagnetic wave detection device 10 has a structure where the second detection unit 17 is a passive sensor and the first detection unit 20 is an active sensor. However, the electromagnetic wave detection device 10 is not limited to such a structure. For example, in the electromagnetic wave detection device 10, even if both the second detection unit 17 and the first detection unit 20 are active sensors, or both are passive sensors, similar effects to the above embodiment can be obtained.

[0182] A portion of the image information acquisition unit 141, the reflection intensity information acquisition unit 142, the illumination control unit 143, the light receiving control unit 144, the calculation unit 145, and the corresponding information calculation unit 146 may be excluded from the control unit 14 and provided separately from the control unit 14. For example, the calculation unit 145 may be provided as a control device independent of the control unit 14.

[0183] The functions provided in the control unit 14, such as the image information acquisition unit 141, the reflection intensity information acquisition unit 142, or the corresponding information calculation unit 146, do not necessarily have to be included in the electromagnetic wave detection device 10, and can also be set as separate devices.

[0184] In the above embodiment, two points (P1 and P2, P1' and P2') are used to measure the size of object ob. The number of points used to measure the size of object ob is not limited to two; three or more points can also be used. Alternatively, the length between each point can be measured using three or more points, and the size of object ob can be determined by calculating the sum of the measured lengths. In cases where the shape of object ob is curved, or where a straight line between two points cannot accurately measure the length of object ob, three or more points can be set along the measurement area of ​​object ob to measure the size.

[0185] While representative examples have been described in the above embodiments, it will be apparent to those skilled in the art that many modifications and substitutions can be made within the spirit and scope of this disclosure. Therefore, this disclosure should not be construed as limited to the above embodiments, and various variations and modifications can be made without departing from the scope of the claims. For example, multiple structural blocks shown in the structural diagrams of the embodiments can be combined into one, or a single structural block can be divided.

[0186] Furthermore, although the solutions disclosed herein have been described as apparatuses, this disclosure may also be implemented in ways that include the above, and may also be implemented as methods, programs, or storage media storing programs that are substantially equivalent to the above. It should be understood that the scope of this invention also includes the above.

[0187] Explanation of reference numerals in the attached figures

[0188] 10 Electromagnetic wave detection device

[0189] 12Irradiation Department

[0190] 13 Deflection section

[0191] 14 Control Department

[0192] 15 entrance section

[0193] 16 Separation Section

[0194] 17 Second Inspection Department

[0195] Switching section 18, 181

[0196] 19 First Post-Stage Optical System

[0197] 20 First Testing Department

[0198] 110 Light Receiving System

[0199] 111 Irradiation System

[0200] 141 Image Information Acquisition Department

[0201] 142 Reflection Intensity Information Acquisition Unit

[0202] 143 Irradiation Control Department

[0203] 144 Light Receiving Control Unit

[0204] 145 Computing Unit

[0205] 146 Corresponding Information Computing Department

[0206] 147 Length Measurement and Calculation Department

[0207] as the working surface

[0208] D1, D2, D3, D4 (First Direction, Second Direction, Third Direction, Fourth Direction)

[0209] ob object

Claims

1. A determination method, wherein, Within the space where the object to be measured is located, two locations are determined for measuring the dimensions of the object: a first location and a second location. Based on the distances from the reference position to the first location and the distances from the reference position to the second location obtained by the ranging unit, the angles formed by the line segments of the reference position and the first location relative to the illumination axis, and the angles formed by the line segments of the reference position and the second location relative to the illumination axis, a first spatial coordinate and a second spatial coordinate representing the positions of the first location and the second location in space are calculated. The illumination axis corresponds to the central axis of the range capable of scanning the electromagnetic wave illumination. Based on the image of the object being measured acquired using the imaging unit, two locations, namely the first endpoint and the second endpoint, are determined for measuring the size of the object. Based on the positional relationship between the first location and the first endpoint, and the positional relationship between the second location and the second endpoint in the image of the measured object, angular information related to the directions from the reference position toward the first endpoint and the directions from the reference position toward the second endpoint is obtained. Based on the first spatial coordinates, the second spatial coordinates, and the angle information, calculate the coordinates of the first endpoint and the second endpoint, representing their positions in space. The distance between the first endpoint and the second endpoint is calculated based on the coordinates of the first endpoint and the second endpoint. The ranging unit and the imaging unit share an optical axis. The angle information is calculated by overlaying a distance image mapped to the distance measurement up to the object being measured with an image of the object being measured.

2. The determination method as described in claim 1, wherein, The positions of the first spatial coordinates and the first endpoint coordinates in the depth direction of the space are set to be the same, where the depth direction is the depth direction of the space as observed from the reference position.

3. The determination method as described in claim 1, wherein, The resolution of the ranging unit is lower than that of the imaging unit. The resolution of the ranging unit refers to the resolution of each frame of the electromagnetic wave in the planar direction.

4. The determination method as described in claim 1, wherein, The inherent information of the measured object, namely the identification information, identified based on the image of the measured object, is stored in association with the distance between the first endpoint and the second endpoint.

5. The determination method as described in claim 1, wherein, The distances to the first and second locations are obtained by receiving the reflected waves after the electromagnetic waves irradiated from the irradiation unit to the first and second locations are reflected by the objects.

6. The determination method as described in claim 1, wherein, The object being measured is part of an object existing in the space.

7. A measuring device, wherein, have: The irradiation unit irradiates electromagnetic waves at a predetermined irradiation angle toward a location in space, namely the first location on the object being measured. The first detection unit detects the reflected wave of the electromagnetic wave irradiated by the irradiation unit; The ranging unit measures the distance from the reference position to the first location, i.e., distance information, based on the reflected wave; as well as The second detection unit detects electromagnetic waves from the space and acquires an image of the space; The control unit calculates coordinate information representing the location of the location contained in the image in the space based on the distance information, the illumination angle, and the position of the first location in the image; Based on the positional relationship between the first location in the image of the space and the first endpoint determined based on the image of the space, the control unit obtains angle information related to the direction from the reference position toward the first endpoint. The control unit calculates the coordinates of the first endpoint, representing the position of the first endpoint in the space, based on angle information. In the electromagnetic wave incident from the first location, the optical axes of the reflected wave detected by the first detection unit and the electromagnetic wave detected by the second detection unit are aligned. The control unit calculates the angle information by overlaying a distance image, which maps the distance measurement information up to the object being measured, with an image of the space.

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