Installation posture detection device, installation posture detection method, and recording medium

Abstract

Provided are an installation posture detection device and an installation posture detection method, and a recording medium, which can detect the installation posture of a distance measuring device installed on various devices without using a posture detection device such as an inclination sensor or a level. The installation posture detection device (10) includes a distance information acquisition unit (11), an angle information acquisition unit (12), and an installation posture detection unit (14). The distance information acquisition unit acquires distance information from a reference point (P1, P2) on the ground to a TOF sensor (20) based on the phase difference between the light receiving wave and the light projecting wave of the light emitted from an illumination unit (21) to the ground (FL). The angle information acquisition unit acquires angle information from the reference point (P1, P2). The installation posture detection unit detects the installation posture of the TOF sensor with respect to the ground based on the distance information and the angle information acquired by the distance information acquisition unit and the angle information acquisition unit.

Description

Technical Field

[0001] This invention relates to an installation posture detection device, a method for detecting installation posture, and a recording medium for detecting the installation posture of a distance measuring device mounted on various devices or the like relative to a reference plane. Background Technology

[0002] In recent years, for example, TOF (Time-of-Flight) sensors have been used. These sensors receive reflected light from an LED (Light Emitting Diode) as a light source and direct it toward the object being measured, and measure the distance to the object.

[0003] For example, Patent Document 1 discloses an object detection device that, in order to correct for deviations in the projection direction of a laser beam emitted by the object detection device, comprises: an emitting component that emits a beam; a receiving component that receives a reflected beam from an object upon contact with the beam emitted by the emitting component; a discrimination component that determines whether the object reflecting the reflected beam received by the receiving component is a road surface; a measuring component that measures the distance to the reflection position of the road surface based on the reflected beam received by the receiving component; a calculation component that calculates the tilt angle of the road surface based on the distance measured by the measuring component to the reflection position of the road surface; and a control component that controls the beam emission angle based on the tilt angle of the road surface calculated by the calculation component.

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2006-276023 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, the aforementioned conventional object detection devices have the following problems.

[0008] That is, the object detection device disclosed in the above-mentioned announcement is used as a lidar mounted in a car, and the beam emission angle is adjusted based on the distance from the point where the beam emitted from the emission component hits the road surface and is reflected.

[0009] However, even if the laser beam direction can be adjusted based on the deviation of the laser's optical axis due to deformation caused by collisions, etc., in such a structure, it is still impossible to identify the installation posture of the lidar.

[0010] Therefore, in order to identify the installation posture of the lidar, separate tilt sensors, levelers, and other posture detection devices are required.

[0011] The objective of this invention is to provide an installation posture detection device, an installation posture detection method, and a recording medium that can detect the installation posture of a distance measuring device mounted on various devices without using posture detection equipment such as tilt sensors or levels.

[0012] Methods for solving problems

[0013] The mounting posture detection device according to the first invention is a device for detecting the mounting posture of a distance measuring device mounted on a specified object. It includes a distance information acquisition unit, an angle information acquisition unit, and a mounting posture detection unit. The distance information acquisition unit acquires distance information up to a reference point on the reference surface based on the phase difference between the received wave and the projected wave of light illuminating a reference surface from an illumination unit, which is included in the distance measuring device. The angle information acquisition unit acquires angle information up to the reference point. The mounting posture detection unit detects the mounting posture of the distance measuring device relative to the reference surface based on the distance information and angle information acquired by the distance information acquisition unit and the angle information acquisition unit.

[0014] For example, in order to detect the installation posture of a distance measuring device installed on a specified object such as a conveying device, a wall, or a ceiling, the installation posture of the distance measuring device relative to a reference surface is detected using distance information and angle information measured by the distance measuring device.

[0015] Here, the distance measuring device can be, for example, a TOF (Time-of-Flight) sensor, a LiDAR (Light Detection and Ranging) sensor, or an SC (Structural Camera) sensor, which is a sensor that can obtain distance information up to a reference point on the reference plane and has angle information.

[0016] Furthermore, the installation posture of the distance measuring device implies, for example, the tilt angle of the distance measuring device relative to the reference plane, the distance from the reference plane, and the rotation angle relative to the reference plane.

[0017] A reference plane is, for example, the ground or a wall arranged in a vertical direction, and a reference point on the reference plane means, for example, a specified location on the ground or wall.

[0018] The light illuminating the distance measuring device includes, for example, light in a broad sense (ultraviolet light / visible light / infrared light), etc.

[0019] The distance information acquisition unit can also be a structure that detects light and calculates distance information, or it can be a structure that acquires distance information from a distance sensor or the like, which is an external device.

[0020] Alternatively, the posture detection device can be installed inside the distance measuring device, or it can be installed separately from the distance measuring device.

[0021] In addition, the objects for which the distance measuring device is installed can be, for example, vehicles such as conveyor systems or passenger cars, or interior walls, ceilings, or exterior pillars.

[0022] Therefore, the installation posture of the distance measuring device relative to a reference surface such as the ground can be detected using the results (distance information and angle information) measured in the distance measuring device.

[0023] The result is that the installation posture of distance measuring devices mounted on various devices can be detected without using posture detection equipment such as tilt sensors and levels.

[0024] The installation posture detection device involved in the second invention is the installation posture detection device involved in the first invention. The installation posture detection unit detects at least one of the following as the installation posture: the tilt angle of the distance measuring device relative to the reference surface, the distance from the reference surface, and the rotation angle relative to the reference surface.

[0025] Therefore, it is possible to detect at least one of the tilt angle, distance, and rotation angle of the distance measuring device relative to the reference plane as the installation posture.

[0026] The installation posture detection device involved in the third invention is the same as the installation posture detection device involved in the first or second invention. The installation posture detection unit uses distance information and angle information up to two reference points on the reference surface to detect the installation posture.

[0027] Therefore, for example, the installation posture of the aforementioned distance measuring device can be detected using information about the distance and angle between two reference points relative to a reference surface such as the ground.

[0028] The fourth invention relates to an installation posture detection device, which is an installation posture detection device according to any one of the first to third inventions. The distance measuring device further includes: a distance image generation unit that generates a distance image including a reference plane based on the acquisition results of the distance information acquisition unit and the angle information acquisition unit. It also includes a distance image acquisition unit that acquires the distance image from the distance image generation unit.

[0029] This allows each pixel in the acquired distance image to possess both distance and angle information, enabling the use of specific pixels as reference points to detect the installation posture of the distance measuring device.

[0030] The mounting posture detection device of the fifth invention is the mounting posture detection device of the fourth invention. The mounting posture detection unit uses a first distance from a first pixel in a distance image acquired by the distance image acquisition unit to a first reference point on a reference plane and a first angle relative to the reference plane, and a second distance from a second pixel in a second pixel different from the first pixel to a second reference point on the reference plane and a second angle relative to the reference plane to detect the mounting posture of the distance measuring device.

[0031] Therefore, the mounting posture of the distance measuring device can be detected by using the first distance to the first reference point and the first angle relative to the reference plane, which are obtained by using the first pixel contained in the distance image as information, and the second distance to the second reference point and the second angle relative to the reference plane, which are obtained by using the second pixel contained in the distance image as information.

[0032] The mounting posture detection device according to the sixth invention is the mounting posture detection device according to the fourth or fifth invention. The mounting posture detection unit uses a first angle of light from the illumination unit relative to the illumination axis in a first pixel of a distance image acquired in the distance image acquisition unit and a second angle of light from the illumination unit relative to the illumination axis in a second pixel different from the first pixel to detect the rotation relative to the reference plane as the mounting posture of the distance measuring device.

[0033] Therefore, the mounting posture (whether or not there is rotation relative to the reference plane) of the distance measuring device can be detected using the first angle of the light irradiated from the illumination unit relative to the illumination axis in the first pixel of the distance image and the second angle of the light relative to the illumination axis in the other second pixels.

[0034] The mounting posture detection device of the seventh invention is the mounting posture detection device of any one of the fourth to sixth inventions. The mounting posture detection unit detects the rotation of the mounting posture of the distance measuring device based on whether the position of the pixel that is the same as the distance to the reference plane in the distance image obtained by the distance image acquisition unit has moved from a predetermined reference position.

[0035] Therefore, it is possible to detect whether the mounting posture of the distance measuring device is rotated based on whether the position of the pixel that is the same as the reference plane in the distance image acquired by the distance image acquisition unit has moved.

[0036] The mounting posture detection device involved in the eighth invention is the mounting posture detection device involved in any of the fourth to seventh inventions. The mounting posture detection unit detects the rotation angle of the mounting posture of the distance measuring device by rotating a few degrees from a predetermined reference position based on the position of the pixel that is the same distance to the reference plane in the distance image obtained in the distance image acquisition unit.

[0037] Therefore, it is possible to detect the rotation angle of the position of the pixel in the distance image acquired in the distance image acquisition unit that is the same as the distance to the reference plane, as the rotation angle of the mounting posture of the distance measuring device.

[0038] The mounting posture detection device of the ninth invention is the mounting posture detection device of any one of the first to eighth inventions, and further includes: a correction determination unit, which determines whether to correct the measurement result in the distance measuring device based on the detection result in the mounting posture detection unit.

[0039] Therefore, it is possible to determine whether to correct the distance information measured by the distance measuring device based on whether the installation posture (installation angle, rotation angle, etc.) of the distance measuring device is within the specified allowable range.

[0040] Therefore, for example, in situations where the distance measuring device is tilted too much to allow for distance correction, measures such as broadcasting to the user can be taken to avoid performing distance correction.

[0041] The mounting posture detection device involved in the tenth invention is the mounting posture detection device involved in any of the first to ninth inventions, and the distance information acquisition unit acquires distance information and angle information relative to a reference point at a specified detection position.

[0042] Thus, by obtaining distance and angle information at a specific location (the designated detection location) for detecting the installation posture of the distance measuring device, more stable and accurate detection of the installation posture can be achieved.

[0043] The installation posture detection device involved in the eleventh invention is the same as the installation posture detection device involved in the tenth invention. The installation posture detection unit uses distance information and angle information relative to a reference plane obtained at a specified detection position to detect the installation posture.

[0044] Therefore, by detecting the installation posture of the distance measuring device at a specific location (the specified detection location), a more stable and accurate detection of the installation posture can be achieved.

[0045] The mounting posture detection device of the twelfth invention is the mounting posture detection device of any one of the first to eleventh inventions, and further includes: a storage unit that stores information related to the mounting posture of the distance measuring device detected in the mounting posture detection unit.

[0046] Therefore, by storing information related to the installation posture of the distance measuring device, such as the installation angle and rotation angle, this information related to the installation posture can be used to correct the distance information measured by the distance measuring device.

[0047] The installation posture detection device involved in the thirteenth invention is any one of the installation posture detection devices involved in the first to twelfth inventions, with the ground as the reference plane.

[0048] Therefore, by using the ground as a reference plane and setting reference points on the ground, it is possible to detect the installation posture of the aforementioned distance measuring device.

[0049] The mounting posture detection device involved in the fourteenth invention is any of the mounting posture detection devices involved in the first to thirteenth inventions, and the distance measuring device is one of TOF (Time-of-Flight) sensor, LiDAR (Light Detection and Ranging) or SC (Structural Camera) sensor.

[0050] Therefore, distance and angle information measured in various distance measurement devices such as TOF sensors, LiDAR, and SC can be used to detect the installation posture.

[0051] The fifteenth invention relates to a mounting posture detection method for detecting the mounting posture of a distance measuring device mounted on a specified object. The method includes a distance information acquisition step, an angle information acquisition step, and a mounting posture detection step. In the distance information acquisition step, distance information up to a reference point on the reference surface is acquired from the distance measuring device based on the phase difference between the received wave and the projected wave of light irradiated from the illumination unit onto the reference surface, which is included in the distance measuring device. In the angle information acquisition step, angle information up to the reference point is acquired from the distance measuring device. In the mounting posture detection step, the mounting posture of the distance measuring device relative to the reference surface is detected based on the distance information and angle information acquired in the distance information acquisition step and the angle information acquisition step.

[0052] For example, in order to detect the installation posture of a distance measuring device installed on a specified object such as a conveying device, a wall, or a ceiling, the installation posture of the distance measuring device relative to a reference surface is detected using distance information and angle information measured by the distance measuring device.

[0053] Here, the distance measuring device can be, for example, a TOF (Time-of-Flight) sensor, a LiDAR (Light Detection and Ranging) sensor, or an SC (Structural Camera) sensor, which is a sensor that can obtain distance information up to a reference point on the reference plane and has angle information.

[0054] Furthermore, the installation posture of the distance measuring device implies, for example, the tilt angle of the distance measuring device relative to the reference plane, the distance from the reference plane, and the rotation angle relative to the reference plane.

[0055] A reference plane is, for example, the ground or a wall arranged in a vertical direction, and a reference point on the reference plane means, for example, a specified location on the ground or wall.

[0056] The light illuminating the distance measuring device includes, for example, light in a broad sense (ultraviolet light, visible light, infrared light), etc.

[0057] In the distance information acquisition step, distance information can also be calculated by detecting light, for example, by obtaining distance information from a distance sensor or other external device.

[0058] The objects specified for installing distance measuring devices can be, for example, transportation vehicles such as conveyor systems and passenger cars, or interior walls, ceilings, and exterior pillars.

[0059] Therefore, the installation posture of the distance measuring device relative to a reference surface such as the ground can be detected using the results (distance information and angle information) measured in the distance measuring device.

[0060] As a result, it is possible to detect the installation posture of distance measuring devices mounted on various devices without using posture detection equipment such as tilt sensors and levels.

[0061] The sixteenth invention relates to an installation posture detection program that detects the installation posture of a distance measuring device mounted on a specified object. The installation posture detection program is a method for detecting an installation posture by having a distance information acquisition step, an angle information acquisition step, and an installation posture detection step executed by a computer. In the distance information acquisition step, distance information up to a reference point on the reference surface is acquired from the distance measuring device based on the phase difference between the received wave and the projected wave of light illuminating a reference surface from the illumination unit, which is contained in the distance measuring device. In the angle information acquisition step, angle information up to the reference point is acquired from the distance measuring device. In the installation posture detection step, the installation posture of the distance measuring device relative to the reference surface is detected based on the distance information and angle information acquired in the distance information acquisition step and the angle information acquisition step.

[0062] For example, in order to detect the installation posture of a distance measuring device installed on a specified object such as a conveying device, a wall, or a ceiling, the installation posture of the distance measuring device relative to a reference surface is detected using distance information and angle information measured by the distance measuring device.

[0063] Here, the distance measuring device can be, for example, a TOF (Time-of-Flight) sensor, a LiDAR (Light Detection and Ranging) sensor, or an SC (Structural Camera) sensor, which is a sensor that can obtain distance information up to a reference point on the reference plane and has angle information.

[0064] Furthermore, the installation posture of the distance measuring device implies, for example, the tilt angle of the distance measuring device relative to the reference plane, the distance from the reference plane, and the rotation angle relative to the reference plane.

[0065] A reference plane is, for example, the ground or a wall arranged in a vertical direction, and a reference point on the reference plane means, for example, a specified location on the ground or wall.

[0066] The light illuminating the distance measuring device includes, for example, light in a broad sense (ultraviolet light, visible light, infrared light), etc.

[0067] In the distance information acquisition step, distance information can also be calculated by detecting light, for example, by obtaining distance information from a distance sensor or other external device.

[0068] The objects specified for installing distance measuring devices can be, for example, transportation vehicles such as conveyor systems and passenger cars, or interior walls, ceilings, and exterior pillars.

[0069] Therefore, the installation posture of the distance measuring device relative to a reference surface such as the ground can be detected using the results (distance information and angle information) measured in the distance measuring device.

[0070] As a result, it is possible to detect the installation posture of distance measuring devices mounted on various devices without using posture detection equipment such as tilt sensors and levels.

[0071] Invention Effects

[0072] According to the mounting posture detection device of the present invention, the mounting posture of a distance measuring device mounted on various devices can be detected without using posture detection equipment such as tilt sensors or levels. Attached Figure Description

[0073] Figure 1 This is a perspective view showing the structure of a conveying system according to an embodiment of the present invention, in which a TOF sensor equipped with an attitude detection device is mounted on a conveying device.

[0074] Figure 2 (a) means Figure 1 A conceptual diagram of the structure of a conveyor system in a DOCK state, showing the conveyor device placed in a DOCK state. Figure 2 (b) is Figure 2 (a) Top view.

[0075] Figure 3 This indicates that it is installed at Figure 2 A conceptual diagram of the polar coordinates, orthogonal coordinates, and orthogonal coordinate system parallel to the ground for the TOF sensor of the conveying device.

[0076] Figure 4 yes Figure 1 The control block diagram of the TOF sensor and other components included in the conveying system.

[0077] Figure 5 This means that the calculation is done using the Time-of-Flight (TOF) method. Figure 1 A diagram illustrating the principle of how a TOF sensor measures the distance to an object.

[0078] Figure 6 It means Figure 4 The control block diagram of the structure of the mounting posture detection device included in the TOF sensor.

[0079] Figure 7 This means that in Figure 6 The diagram illustrates the principle of detecting the installation angle and height of a TOF sensor in an installation posture detection device.

[0080] Figure 8 This means that in Figure 6The diagram illustrates the principle of detecting the rotation angle of a TOF sensor in an installation posture detection device.

[0081] Figure 9 This means that in Figure 6 The diagram illustrates the principle of detecting the rotation angle of a TOF sensor in an installation posture detection device.

[0082] Figure 10 (a) and (b) are explanations of... Figure 6 The diagram illustrates the principle of detecting the rotation angle of a TOF sensor in an installation posture detection device.

[0083] Figure 11 (a) and (b) are explanations of... Figure 6 The diagram illustrates the principle of a mounting posture detection device that detects the mounting angle and mounting height when a TOF sensor is in operation.

[0084] Figure 12 It means in Figure 6 The flowchart shows the process of detecting the installation angle and installation height of the TOF sensor in the installation posture detection device.

[0085] Figure 13 It means in Figure 6 The flowchart shows the process of detecting the rotation angle of the TOF sensor in the installation posture detection device.

[0086] Figure 14 It means in Figure 1 The flowchart shows the process of handling the conveyor returning to the DOCK.

[0087] Figure 15 This diagram illustrates the state in which a TOF sensor, including a posture detection device, is installed as an observation device on an indoor wall, according to another embodiment of the present invention.

[0088] Figure 16 This is a control block diagram illustrating the structure of a conveying system including an installation posture detection device according to another embodiment of the present invention.

[0089] Figure 17 This is a structural control block diagram illustrating a conveying system including a conveying device with an installation posture detection device, according to another embodiment of the present invention.

[0090] Explanation of reference numerals in the attached figures

[0091] 10 Mounting posture detection device; 11 Distance information acquisition unit; 12 Angle information acquisition unit; 13 Distance image acquisition unit; 14 Mounting posture detection unit; 14a Mounting angle detection unit; 14b Mounting height detection unit; 14c Rotation detection unit; 15 Calibration availability determination unit; 16 Storage unit; 17 Notification unit; 20 TOF sensor (distance measuring device); 21 Illumination unit; 22 Light receiving lens; 23 Camera element (detection unit); 24 Control unit; 24a Distance information calculation unit; 24b Angle information acquisition unit; 24c Distance image generation unit; 24d Distance correction processing unit; 25 Storage unit; 30 Conveying device (specified object); 31 Main body; 32 Drive unit; 32a Wheel; 33 Fork; 34 Drive control unit; 35 Charging terminal; 36 Secondary battery; 40 DOCK (specified detection position); 41 Connection unit; 42 Power supply unit; 50 Conveying system (distance measuring system); 110 Mounting posture detection device; 120 TOF sensor (distance measurement device); AX optical axis; C circle; d, d1, d2 distance; da height (distance); FL ground (reference plane); L1 light; L2 line segment; P0 image center (pixel); P1, P2 reference points; P3, P4 pixels; S1 object; θ1, θ2 angle information; θa installation angle; θb rotation angle. Detailed Implementation

[0092] Regarding a conveying system 50 according to one embodiment of the present invention, which includes a conveying device (prescribed object) 30 equipped with a TOF sensor (distance measuring device) 20 including a mounting posture detection device 10, if using Figures 1 to 14 Please provide an explanation as follows.

[0093] (1) Conveying system 50

[0094] The conveying system (distance measurement system) 50 is controlled to enable... Figure 1 The system shown, comprising a conveyor 30, automatically performs a desired conveying operation. It includes a conveyor 30, a TOF sensor (distance measuring device) 20 installed in the conveyor 30, a mounting posture detection device 10 installed within the TOF sensor 20, and a DOCK (prescribed detection position) 40 (reference). Figure 2 (a) etc.

[0095] In the conveying system 50, the conveying device 30 automatically travels while detecting obstacles in its direction of travel via the TOF sensor 20, performing a prescribed conveying operation. Furthermore, for example, when the conveying operation ends, or when the remaining charge of the conveying device 30 becomes low, etc. Figure 2 (a) and Figure 2 As shown in (b), the conveyor 30 is controlled to return to the DOCK 40 set at a predetermined standby position (detection position).

[0096] The mounting posture detection device 10 is disposed inside the TOF sensor 20, using reference points P1 and P2 on the ground FL detected in the TOF sensor 20 (reference points). Figure 7 The distance and angle information (etc.) are used to detect the installation posture of the TOF sensor 20 relative to the ground FL.

[0097] Furthermore, the detailed structure of the mounting posture detection device 10 will be described in detail later.

[0098] TOF sensor 20 Figure 1 As shown, the device is installed on the upper surface of the main body 31 of the conveying device 30 to detect distance information such as obstacles and transported goods in the direction of travel of the conveying device 30.

[0099] Furthermore, the detailed structure of the TOF sensor 20 will be described in detail later.

[0100] The conveying device (prescribed object) 30 is an example of a prescribed object equipped with a TOF sensor 20, such as an automated conveyor like an AGV (Automated Guided Vehicle) or AMR (Autonomous Mobile Robot) that is controlled by a prescribed driving procedure. The conveying device 30 performs conveying operations, for example, in factories or warehouses, in a manned or unmanned manner.

[0101] Conveying device (specified item) 30 such Figure 1 as well as Figure 4 As shown, it includes a main body 31, a drive unit 32, a wheel 32a, a fork 33, a drive control unit 34, a charging terminal 35, and a secondary battery 36.

[0102] The main body 31 is, for example, a generally cylindrical box, on which a TOF sensor 20 is mounted. In addition, a plurality of wheels 32a are provided at the lower part of the main body 31, which are rotatably mounted and move the conveying device 30 in the desired direction.

[0103] The drive unit 32 is, for example, an electric motor, which drives the rotation of at least one of the plurality of wheels 32a mounted on the lower part of the main body 31, thereby causing the conveying device 30 to travel in the desired direction.

[0104] In this embodiment, three wheels 32a are provided at the lower part of the main body 31, at least one of which is driven to rotate by the drive unit 32. In addition, at least one of the multiple wheels 32a is provided as a steering wheel to determine the direction of travel of the conveying device 30.

[0105] The forks 33 are positioned in front of the main body 31 and are used to place and transport goods during transport operations. Furthermore, the forks are controlled by a transport control unit (not shown) provided in the transport device 30 to adjust their raising, lowering, and tilt angle.

[0106] The drive control unit 34 controls the rotational speed and direction of the drive unit 32 that drives the multiple wheels 32a. As a result, the conveying device 30 can move at a desired speed and in a desired direction to perform a conveying operation.

[0107] Charging terminal 35 Figure 1 As shown, it is located on the rear side of the main body 31 (opposite to the fork 33). Furthermore, as... Figure 2 (a) and Figure 2 As shown in (b), when the conveying device 30 is connected to the DOCK 40, the charging terminal 35 is connected to the connection part 41 on the DOCK 40 side, and power is supplied to the conveying device 30 from the power supply part 42.

[0108] 36 rechargeable batteries Figure 1 As shown, it is disposed inside the main body 31 of the conveying device 30. When the conveying device 30 is connected to the DOCK 40, the secondary battery 36 is repeatedly charged via the charging terminal 35 using power supplied from the DOCK 40 side. Furthermore, the secondary battery 36 supplies the stored power to the drive unit 32.

[0109] DOCK 40 Figure 2 (a) and Figure 2 As shown in (b), the conveyor 30 is set to a predetermined standby position (detection position) where the conveyor 40 returns after the conveying operation has ended. In this standby position, the conveyor 30 is connected to the DOCK 40 and the secondary battery 36 is charged.

[0110] Furthermore, on the front side of the conveyor 30 connected to DOCK 40, such as Figure 2 (a) and Figure 2 As shown in (b), a marker M is arranged on the ground FL.

[0111] Marker M has a line segment L2 that is substantially parallel to the front of the conveyor 30 on which the forks 33 are mounted. Line segment L2 is configured to be substantially perpendicular to the straight line connecting DOCK 40 and the conveyor 30 connected to DOCK 40.

[0112] Therefore, the mounting posture detection device 10 can detect the mounting posture of the TOF sensor 20 mounted on the conveying device 30 based on the line segment L2 marked M.

[0113] In addition, in this embodiment, the example of detecting the mounting posture of the TOF sensor 20, determining whether the correction is possible, and correcting the measured distance information is described when the conveying device 30 is connected to the DOCK 40. However, the detection of the mounting posture of the TOF sensor 20 and other processing can also be performed when it is not connected to the DOCK 30.

[0114] (2) TOF sensor 20

[0115] TOF sensor (distance measurement device) 20 Figure 3 As shown, the upper surface of the main body 31 of the conveying device 30 is mounted downwards compared to the horizontal plane. Furthermore, the TOF sensor 20 uses a pre-set angle table and the measured distance value to convert from a polar coordinate system to an orthogonal coordinate system (…). Figure 3 The first coordinate transformation is shown by the solid line representing the TOF optical axis coordinate system (XT, YT, ZT). Furthermore, the TOF sensor 20 uses the mounting angle and mounting height obtained through the detection processing described later to transform the TOF optical axis coordinate system (XT, YT, ZT) into an orthogonal coordinate system parallel to the ground FL. Figure 3 The second coordinate transformation is shown by the dashed lines representing the three axes (XTH, YTH, ZTH). Furthermore, using the rotation angle of the TOF sensor 20 obtained through the rotation angle detection processing described later, the third coordinate transformation is performed to align the orthogonal coordinate system (XTH, YTH, ZTH) parallel to the ground FL with the orthogonal coordinate system (XA, YA, ZA) of the conveying device 30 on which the TOF sensor 20 is mounted.

[0116] After the third coordinate transformation, the conveying device 30 (TOF sensor 20) is configured such that the ZA axis of the orthogonal coordinate system is aligned with the line segment L2 of the aforementioned marker M (reference). Figure 2 (a) and Figure 2 (b)) Orthogonal.

[0117] In addition, the rotation angle of the TOF sensor 20 refers to the angle representing the positional deviation in the rotational direction centered on the illumination axis of the light irradiated from the illumination unit 21.

[0118] TOF sensor 20 Figure 4 As shown, it includes an illumination unit 21, a light-receiving lens 22, an imaging element 23, a control unit 24, a storage unit 25, and a mounting posture detection device 10.

[0119] The lighting unit 21 includes, for example, an LED, which illuminates objects such as goods or the ground FL with light L1 of a desired wavelength. In addition, the lighting unit 21 is provided with a projection lens (not shown) that guides the light L1 irradiated by the LED toward the object.

[0120] The light-receiving lens 22 is configured to receive and guide the reflected light from the object irradiated by the illumination unit 21 to the imaging element 23.

[0121] The imaging element 23 has multiple pixels, and each of the multiple pixels receives the reflected light that is received in the light-receiving lens 22, and sends the photoelectric converted electrical signal to the control unit 24. In addition, the control unit 24 uses an electrical signal corresponding to the amount of light received by the reflected light detected in the imaging element 23 to calculate the distance information.

[0122] The control unit 24 reads various control programs stored in the storage unit 25 and controls the illumination unit 21 that illuminates the object. In addition, the control unit 24 adjusts the exposure time of the imaging element 23, which detects the amount of light illuminating the illumination unit 21 and the amount of light reflected from the illumination unit 21, based on the distance to the object, for example.

[0123] Specifically, the control unit 24 adjusts the exposure time when the distance to the object is close, and adjusts the exposure time when the distance to the object is far.

[0124] Control unit 24 Figure 4 As shown, it includes a distance information calculation unit 24a, an angle information acquisition unit 24b, a distance image generation unit 24c, and a distance correction processing unit 24d.

[0125] The distance information calculation unit 24a calculates the distance information to the object based on the electrical signals corresponding to each pixel received from the imaging element 23, for each pixel.

[0126] Here, regarding the calculation of the distance information from the TOF sensor 20 to the object in this embodiment, if using... Figure 5 Please provide an explanation as follows.

[0127] That is, in this embodiment, the so-called TOF (Time of Flight) method is used. The distance information calculation unit 24a calculates the distance based on the phase difference Φ (reference) between the AM-modulated light wave of a certain frequency, such as a sine wave or a rectangular wave, emitted from the illumination unit 21 and the light received in the imaging element 23. Figure 4 ), calculate the distance to the object.

[0128] Here, the phase difference Φ is represented by the following relationship (1).

[0129] Φ=atan(y / x) ·····(1)

[0130] (x = a2 - a0, y = a3 - a1, where a0 to a3 are the amplitudes at points after sampling the received light wave four times at 90-degree intervals)

[0131] Furthermore, the transformation from phase difference Φ to distance D is expressed by the following relation (2).

[0132] D=(c / (2×fLED))×(Φ / 2π)+DOFFSET·····(2)

[0133] (c is the speed of light (≒3×10⁸ m / s), fLED is the modulation frequency of the LED's emitted light wave, and DOFFSET is the distance offset.)

[0134] Therefore, the distance information calculation unit 24a receives the reflected light from the light irradiated by the illumination unit 21, compares their phase difference, and can easily calculate the distance to the object using the speed of light c.

[0135] The angle information acquisition unit 24b acquires the angle (angle information) of the light irradiated from the illumination unit 21 relative to the illumination axis for each pixel of the imaging element 23 constituting the TOF sensor 20. In addition, the angle information acquisition unit 24b can, for example, acquire the angle information of each pixel that is stored in the storage unit 25 as a table in advance from the storage unit 25.

[0136] The distance image generation unit 24c uses the distance information and angle information calculated and acquired in the distance information calculation unit 24a and the angle information acquisition unit 24b respectively to generate a distance image with the distance information and angle information assigned to each pixel.

[0137] The distance correction processing unit 24d performs correction processing as needed based on the distance information calculated in the distance information calculation unit 24a and the mounting posture (mounting angle, rotation angle, etc.) of the TOF sensor 20 detected by the mounting posture detection device 10 (described later).

[0138] The storage unit 25 stores, for example, various programs that control the operation of the TOF sensor 20, as well as distance information calculated in the distance information calculation unit 24a, angle information corresponding to each pixel that is stored in advance as a table, distance images generated in the distance image generation unit 24c, and distance information corrected in the distance correction processing unit 24d.

[0139] (3) Install posture detection device 10

[0140] The installation posture detection device 10 involved in this embodiment is as follows: Figure 4As shown, the TOF sensor 20 is installed within the sensor itself. The distance and angle information detected in the TOF sensor 20 up to reference points P1 and P2 on the ground FL are used to detect the installation posture of the TOF sensor 20. The installation posture detection device 10 is as follows... Figure 6 As shown, it includes a distance information acquisition unit 11, an angle information acquisition unit 12, a distance image acquisition unit 13, an installation posture detection unit 14, a correction availability determination unit 15, a storage unit 16, and a notification unit 17.

[0141] The distance information acquisition unit 11 acquires the distance information to the target object calculated in the distance information calculation unit 24a from the control unit 24.

[0142] The angle information acquisition unit 12 acquires the angle information up to the object obtained in the angle information acquisition unit 24b from the control unit 24.

[0143] The distance image acquisition unit 13 acquires the distance image generated in the distance image generation unit 24c from the control unit 24.

[0144] Mounting posture detection unit 14 uses distance and angle information measured in TOF sensor 20 up to the ground FL to detect the mounting posture of TOF sensor 20 relative to the ground FL. More specifically, mounting posture detection unit 14, as... Figure 6 As shown, it has an installation angle detection unit 14a, an installation height detection unit 14b, and a rotation detection unit 14c.

[0145] The mounting angle detection unit 14a detects information related to the mounting angle of the TOF sensor 20 relative to the ground FL as information related to the mounting posture. Specifically, the mounting angle detection unit 14a uses the measurement results (distance information d1, d2) up to two reference points P1, P2 and the angle information θ1, θ2 corresponding to each pixel of the imaging element 23 to detect the mounting angle θa of the TOF sensor 20 mounted in the transport device 30 relative to the ground FL.

[0146] The mounting height detection unit 14b detects information related to the mounting height of the TOF sensor 20 from the ground FL. Specifically, the mounting height detection unit 14b uses measurement results (distance information d1, d2) up to two reference points P1, P2 and angle information θ1, θ2 corresponding to each pixel of the imaging element 23 to detect the mounting height da of the TOF sensor 20 mounted in the transport device 30 relative to the ground FL.

[0147] Here, the installation posture (installation angle θa, installation height da) is detected as follows: Figure 7As shown, the distances (d1, d2, θ1, θ2) to any two reference points P1 and P2 on the ground FL are used to calculate the result.

[0148] That is, if set as

[0149] da: The installation height of the TOF sensor from the ground FL (da is set as a vertical line at a 90° angle relative to the ground FL).

[0150] θa: The angle between the optical axes of the ground FL and the TOF sensor 20.

[0151] θ1: The angle of the first pixel of the TOF sensor 20 relative to the center of the TOF sensor (sensor standard).

[0152] d1: The distance (measured value) from the first pixel of the TOF sensor 20 to the reference point P1 on the ground FL.

[0153] θ2: The angle of the second pixel of the TOF sensor 20 relative to the center of the TOF sensor (sensor standard).

[0154] d2: The distance (measured value) from the second pixel of the TOF sensor 20 to the reference point P2 on the ground FL.

[0155] Then the following relation holds true.

[0156] cos(θa)=da / d

[0157] cos(θa-θ1)=da / d1

[0158] cos(θa-θ2)=da / d2

[0159] Therefore, the installation height da is represented by the following two formulas using the installation angle θa, the distance information (d1, d2) to the reference points P1 and P2, and the angle information (θ1, θ2).

[0160] da=d1cos(θa-θ1) ·····(1)

[0161] da=d2cos(θa-θ2)·····(2)

[0162] Here, θ1 and θ2 are known values ​​determined by the sensor standard, and d1 and d2 are values ​​obtained by measurement. Therefore, the installation height da and the installation angle θa can be calculated according to equations (1) and (2).

[0163] The rotation detection unit 14c detects information related to the rotation angle centered on the optical axis of the TOF sensor 20. Specifically, the rotation detection unit 14c, as follows: Figure 8As shown, the field of view (e.g., θ1) of all pixels on the circle C centered at the center pixel P0 of the frame in the distance image generated by the distance image generation unit 24c of the TOF sensor 20 installed in the conveying device 30 should all become the same. Therefore, the rotation detection unit 14c, as shown... Figure 9 As shown, the presence or absence of rotation of the TOF sensor 20 is detected based on whether the position of the pixel on the circle C centered on the image center of the frame image has moved, and the rotation angle θb is calculated.

[0164] That is, the rotation angle θb detected in the rotation detection unit 14c is as follows: Figure 10 As shown in (a), when there is no rotation in the TOF sensor 20, the detection distance up to pixels P3 and P4 that intersect the horizontal line passing through the center pixel P0 (x0, y0) is the same. On the other hand, when there is rotation in the TOF sensor 20, as... Figure 10 As shown in (b), the detection distance to pixels P3 and P4 is the same as the pixel movement rotation angle θb.

[0165] Therefore, the rotation angle θb of the TOF sensor 20 can be obtained based on the presence or absence of changes in the positions of pixels P3 and P4 that are at the same distance and their rotation angles.

[0166] Additionally, regarding the installation angle θa and installation height da when the TOF sensor 20 rotates, such as... Figure 11 (a) and Figure 11 As shown in (b), the pixels of θ1 and θ2 can be obtained in the same way by setting the distances of the pixels at the intersection of the same field-angle circle and the vertical line passing through the center of the diameter line a that connects the same distance mentioned above as d1 and d2.

[0167] The correction determination unit 15 determines whether to correct the measurement results (distance information) in the distance information calculation unit 24a of the control unit 24 based on the installation angle detection unit 14a of the installation posture detection device 10 and the installation angle and rotation angle detected in the rotation detection unit 14c.

[0168] Here, situations that become uncorrectable include, for example, the conveyor 30 unexpectedly colliding with obstacles during operation, or the TOF sensor 20 being installed in a significantly skewed position.

[0169] Furthermore, the determination of whether correction is possible is based on whether the installation angle and rotation angle detected in the installation angle detection unit 14a and rotation detection unit 14c of the installation posture detection device 10 are within a preset correctable reference range.

[0170] Therefore, if the detection result in the mounting posture detection device 10 indicates that the mounting posture of the TOF sensor 20 is significantly skewed, measures such as notifying the user to adjust the mounting posture of the TOF sensor 20 can be taken without correcting the distance value as a measurement result.

[0171] The storage unit 16 stores information about the installation posture (installation angle, rotation angle, etc.) of the TOF sensor 20 detected in the installation posture detection unit 14.

[0172] Therefore, the TOF sensor 20 can use information related to the mounting posture of the TOF sensor 20 stored in the storage unit 16 to correct the measurement results (distance information).

[0173] For example, if the calibration feasibility determination unit 15 determines that the distance information is not calibrable, the notification unit 17 will notify the user to adjust the installation posture of the TOF sensor 20, since there is a high possibility of extreme deviation in the installation posture of the TOF sensor 20.

[0174] <Installation Posture Detection Method>

[0175] If the installation posture detection method of the TOF sensor 20 in this embodiment is used... Figure 12 The flowchart shown is illustrated below.

[0176] Here, the process of detecting the installation angle θa and installation height da as the installation posture of the TOF sensor 20 will be explained.

[0177] First, such as Figure 12 As shown, in step S11, it is determined whether the center pixel P0 of the TOF sensor 20 is within the ground FL. Here, if the center pixel P0 is within the ground FL, proceed to step S13; if it is outside the ground FL, proceed to step S12a.

[0178] Furthermore, the determination in step S11 does not necessarily have to be based on the center pixel; it can also be based on pixels other than the center pixel. However, in this embodiment, the center pixel is used for simplification.

[0179] Here, in step S12a, since the center pixel P0 is determined to be the ground FL in step S11, the notification unit 17 notifies the user that information related to the installation posture of the TOF sensor 20 is undetectable.

[0180] Next, in step S13, since it was determined in step S11 that the center pixel P0 is within the ground FL, light is irradiated from the illumination unit 21, and the reflected light is received in the imaging element 23, the measurement value (distance information) of the center pixel P0 of the TOF sensor 20 is set to d.

[0181] Next, in step S14, an arbitrary pixel P1 is selected such that the center pixel P0 and the x-coordinate are the same. In addition, P1 is within the ground FL, and the angle between the center pixel P0 and the arbitrary pixel P1 is set as θ1, and the measured value (distance) of the arbitrary pixel P1 is set as d1 (distance and angle information acquisition step).

[0182] Next, in step S15, an arbitrary pixel P2 is selected such that the center pixel P0 and the x-coordinate are the same. In addition, the arbitrary pixel P2 is within the ground FL, and the angle between the center pixel P0 and the arbitrary pixel P2 is set as θ2, and the measured value (distance) of the arbitrary pixel P2 is set as d2.

[0183] Next, in step S16, as described above, the mounting angle θa and mounting height da of the TOF sensor 20 are calculated using the following equations (1) and (2) (mounting posture detection step).

[0184] da=d1cos(θa-θ1) ·····(1)

[0185] da=d2cos(θa-θ2)·····(2)

[0186] Next, in step S17, it is determined whether the installation angle θa and installation height da of the TOF sensor 20 are within the reference range.

[0187] In addition, the reference range can be set arbitrarily according to the user's preferences, the type, shape, performance, etc. of the TOF sensor 20.

[0188] Here, in step S12b, since it is determined in step S17 that the installation angle θa and installation height da are outside the reference range, the notification unit 17 notifies the user that the measurement result measured by the TOF sensor 20 is uncorrectable.

[0189] Next, in step S18, since the installation angle θa and installation height da were determined to be within the reference range in step S17, the installation angle θa and installation height da are saved to the storage unit 16.

[0190] Next, in step S19, the measurement results of the TOF sensor 20 are corrected based on the installation angle θa and the installation height da, and the process ends.

[0191] Alternatively, after step S19, the values ​​of the mounting angle θa and mounting height da can be used to perform coordinate transformation during the ranging operation of the TOF sensor 20. Or, the user can adjust the mounting posture of the TOF sensor 20 using the values ​​of the mounting angle θa and mounting height da as a reference.

[0192] Next, regarding the process of detecting the rotation angle θb as the mounting posture of the TOF sensor 20, if using Figure 13 Please provide an explanation as follows.

[0193] First, such as Figure 13 As shown, in step S21, it is determined whether the center pixel P0 of the TOF sensor 20 is within the ground FL. Here, if the center pixel P0 is within the ground FL, proceed to step S23; if it is outside the ground FL, proceed to step S22a.

[0194] Here, in step S22a, since the center pixel P0 is determined to be the ground FL in step S21, the notification unit 17 notifies the user that information related to the installation posture of the TOF sensor 20 is undetectable.

[0195] Next, in step S23, since it was determined in step S21 that the center pixel P0 is within the ground FL, the circle C centered on the center pixel P0 of the TOF sensor 20 is defined as the ground FL.

[0196] Next, in step S24, the distance values ​​of the pixels on the circumference of circle C are read (distance information acquisition step).

[0197] Next, in step S25, pixels P3 and P4, which are located at the same distance from the distance values ​​obtained in step S24, are identified.

[0198] Next, in step S26, it is determined whether pixel P3, center pixel P0, and pixel P4 are arranged on the same Y coordinate. Here, if pixel P3, center pixel P0, and pixel P4 are not arranged on the same Y coordinate, proceed to step S28; if they are arranged, proceed to step S27.

[0199] Next, in step S27, since it was determined in step S26 that pixel P3, center pixel P0, and pixel P4 are arranged on the same Y coordinate, it is determined that the rotation of the TOF sensor 20 is 0 degrees (no deviation in the installation posture in the rotation direction), and the process ends. Alternatively, at this time, the user can be notified via the notification unit 17 that calibration is not required to accompany the rotation of the TOF sensor 20.

[0200] Next, in step S28, the coordinates of the center pixel P0 are set to (x0, y0), and the angle between the line Y = y0 and the line connecting pixels P3, P0, and P4 is set as the rotation angle θb in the optical axis direction (installation posture detection step).

[0201] Next, in step S29, it is determined whether the rotation angle θb is within the reference angle range. If it is within the reference angle range, proceed to step S30; if it is outside the reference angle range, proceed to step S22b.

[0202] Here, in step S22b, since it is determined in step S29 that the rotation angle θb is outside the reference angle range, the notification unit 17 notifies the user that the measurement result of the TOF sensor 20 is uncorrectable.

[0203] Next, in step S30, since the rotation angle θb is within the reference angle range in step S29, the rotation angle θb is saved to the storage unit 16.

[0204] Next, in step S31, the result (distance value) measured by the TOF sensor 20 is corrected based on the value of the rotation angle θb, and the process ends.

[0205] Alternatively, after step S31, a rotation angle θb can be used to perform coordinate transformation during ranging by the TOF sensor 20. Or, the user can use the rotation angle θb as a reference to adjust the rotation angle of the TOF sensor 20.

[0206] <Method for detecting installation posture when returning to DOCK>

[0207] Regarding the installation posture detection method of the TOF sensor 20 as described in this embodiment, the processing performed when the conveyor system 50 returns to the DOCK 40, if using Figure 14 The flowchart shown is illustrated below.

[0208] Here, the process of adjusting the installation posture by detecting the installation angle θa, installation height da, and rotation angle θb when the conveyor 30 equipped with TOF sensor 20 returns to DOCK 40 after completing the prescribed operation will be described.

[0209] First, such as Figure 14 As shown, in step S41, it is determined whether the connection between the conveyor 30 and the DOCK 40 is identified. Here, if the connection between the conveyor 30 and the DOCK 40 is identified, the process proceeds to step S43; otherwise, the process proceeds to step S42.

[0210] Here, in step S42, since it was determined in step S41 that the connection between the conveyor 30 and the DOCK 40 was not identified, steps S41 and S42 are repeated until the connection with the DOCK 40 is established.

[0211] Next, in step S43, since it was determined in step S41 that the conveyor 30 is connected to the DOCK 40, the initial setting of the exposure time Inti of the imaging element 23 of the TOF sensor 20 is performed.

[0212] Next, in step S44, it is determined whether the marker M in the image can be identified by the TOF sensor 20. If the marker M can be identified, proceed to step S46; otherwise, proceed to step S45.

[0213] Next, in step S45, since it was determined in step S44 that the marker M of the image cannot be recognized by the TOF sensor 20, the exposure time Inti of the imaging element 23 of the TOF sensor 20 is adjusted. This exposure time Inti adjustment process is repeated until the marker M of the image is recognized.

[0214] Next, in step S46, since it was determined in step S44 that the mark M in the image can be recognized by the TOF sensor 20, the TOF sensor 20 takes a picture of the ground FL together with the mark M drawn approximately parallel to the front of the conveyor 30.

[0215] At this time, the TOF sensor 20 is aligned so that the front of the conveying device 30 is approximately parallel to the line segment L2 marked M. In this state, the distance to the two reference points P1 and P2 on the ground FL is measured, thereby enabling more accurate detection of the installation posture.

[0216] Next, in step S47, two reference points P1 and P2 are set on the ground FL being photographed. The installation angle θa and installation height da of the TOF sensor 20 are calculated using the above formulas (1) and (2) (distance information acquisition step, angle information acquisition step, installation posture detection step).

[0217] Next, in step S48, it is determined whether the mounting angle θa of the TOF sensor 20 calculated in step S47 is within the reference range. If it is determined that the mounting angle θa is within the reference range, proceed to step S50; if it is determined that it is outside the reference range, proceed to step S49.

[0218] In addition, the reference range can be set arbitrarily according to the user's preferences, the type, shape, performance, etc. of the TOF sensor 20.

[0219] Next, in step S49, since it was determined in step S48 that the installation angle θa is outside the reference range, the notification unit 17 notifies the user that the measurement result measured by the TOF sensor 20 is not usable for installation angle θa correction.

[0220] Next, in step S50, since the installation angle θa is determined to be within the reference range in step S48, the rotation detection unit 14c performs the calculation of the rotation angle θb (installation posture detection step).

[0221] Next, in step S51, it is determined whether the rotation angle θb is within the correctable reference angle range. If it is within the reference angle range, proceed to step S53; if it is outside the reference angle range, proceed to step S52.

[0222] Here, in step S52, since it was determined in step S51 that the rotation angle θb is outside the reference angle range, the notification unit 17 notifies the user that the measurement result of the TOF sensor 20 cannot be corrected using the rotation angle θb.

[0223] Next, in step S53, since the rotation angle θb was determined to be within the reference angle range in step S51, the optical axis coordinate system of the TOF sensor 20 is transformed into an orthogonal coordinate system parallel to the ground FL.

[0224] Specifically, to obtain the information used from Figure 3 The solid line represents the transformation of the TOF optical axis coordinate system (XT, YT, ZT) into... Figure 3 The transformation coefficients of the three axes (XTH, YTH, ZTH) shown by the dashed lines are saved to the storage unit 16.

[0225] Next, in step S54, the orthogonal coordinate system parallel to the ground FL, which was transformed in step S53, is transformed into the orthogonal coordinate system of the conveying device 30.

[0226] Specifically, to obtain the information used from Figure 3 The 3 axes (XTH, YTH, ZTH) shown by the dashed lines are transformed into the orthogonal coordinate system (XA, YA, ZA) of the conveying device 30, and the transformation coefficients are saved to the storage unit 16.

[0227] Next, in step S55, it is determined whether the difference between the previous transformation coefficient and the previous one is above a predetermined threshold. Here, if the difference between the previous transformation coefficient and the previous one is above the predetermined threshold, the process proceeds to step S56; if it is below the threshold, it is determined that no further adjustment is needed, and the process ends.

[0228] Next, in step S56, since it was determined in step S55 that the difference between the previous ratio of the transformation coefficients is above a predetermined threshold, the notification unit 17 notifies the user that the installation posture of the TOF sensor 20 deviates more than it did during the last adjustment.

[0229] Next, in step S57, since it is known that the installation posture of the TOF sensor 20 has deviated more than that of the last adjustment, the installation angle θa, installation height da, and rotation angle θb of the TOF sensor 20 installed in the conveying device 30 are adjusted.

[0230] <Main Features>

[0231] The mounting posture detection device 10 of this embodiment includes a distance information acquisition unit 11, an angle information acquisition unit 12, and a mounting posture detection unit 14. The distance information acquisition unit 11 acquires distance information up to reference points P1 and P2 on the ground FL based on the phase difference between the received wave and the projected wave of light irradiated by the illumination unit 21 onto the ground FL, as contained in the TOF sensor 20. The angle information acquisition unit 12 acquires angle information up to reference points P1 and P2. The mounting posture detection unit 14 detects the mounting posture of the TOF sensor 20 relative to the ground FL based on the distance and angle information acquired by the distance information acquisition unit 11 and the angle information acquisition unit 12.

[0232] Therefore, the mounting posture of the TOF sensor 20 relative to a reference plane such as the ground FL can be automatically detected using the results (distance information and angle information) measured in the TOF sensor 20.

[0233] Therefore, without performing measurements using posture detection equipment such as tilt sensors and levels, the installation posture of the TOF sensor 20 installed on various devices can be detected, and the measurement results of the TOF sensor 20 can be appropriately corrected based on the error in the installation posture.

[0234] [Other Implementation Methods]

[0235] The present invention has been described above with respect to one embodiment, but the present invention is not limited to the above embodiment and various modifications can be made without departing from the spirit of the invention.

[0236] (A)

[0237] In the above embodiments, examples of the present invention implemented as an installation posture detection device and an installation posture detection method have been described. However, the present invention is not limited thereto.

[0238] For example, the present invention can also be implemented as a program that causes a computer to execute the installation posture detection method based on the installation posture detection device described above.

[0239] The program is stored in a memory (storage unit) mounted on the mounting posture detection device. The CPU reads the mounting posture detection program stored in the memory and causes the hardware to execute each step. More specifically, the CPU reads the program and executes the distance information acquisition step, angle information acquisition step, and mounting posture detection step described above, thereby achieving the same effect as described above.

[0240] Furthermore, the present invention can also be implemented as a recording medium storing an installation posture detection program.

[0241] (B)

[0242] In the above embodiment, an example of a TOF sensor 20 (distance measuring device) being mounted on a conveying device 30 has been described. However, the present invention is not limited thereto.

[0243] For example, the distance measuring device 120 (mounting posture detection device 110) can also be anything other than a conveying device, such as... Figure 15 As shown, this describes the internal structure of observation equipment or surveillance cameras installed on indoor walls.

[0244] In this case, the camera is positioned relative to the ground and oriented towards the optical axis AX so that the ground is used as a reference plane, thereby enabling the automatic detection of the installation posture of the observation equipment.

[0245] Furthermore, the mounting posture detection device of the present invention can also be installed on other equipment such as automobiles, motorcycles, and electric bicycles.

[0246] (C)

[0247] In the above embodiment, an example was given in which the posture detection device 10 was installed inside the TOF sensor 20. However, the present invention is not limited thereto.

[0248] For example, the installation of the posture detection device 10 can also be as follows: Figure 16 As shown, the structure is located outside the TOF sensor 20.

[0249] Alternatively, the installation of the posture detection device 10 can also be as follows: Figure 17 As shown, the structure is set inside the conveyor 30, which is equipped with a distance measuring device such as a TOF sensor.

[0250] (D)

[0251] In the above embodiments, the installation posture of the TOF sensor 20 was described using examples of detecting the installation angle, installation height, and rotation angle relative to the ground FL. However, the present invention is not limited thereto.

[0252] For example, it could also be a structure that detects other installation postures such as twisting, in addition to the installation angles mentioned above.

[0253] (E)

[0254] In the above embodiment, an example was described in which the installation angle and installation height of the TOF sensor 20 were detected using distance information from the TOF sensor 20 to two points on the ground FL. However, the present invention is not limited thereto.

[0255] For example, it could be a structure that uses the distance from three or more points on a reference surface such as the ground to detect the installation angle and installation height.

[0256] (F)

[0257] In the above embodiment, an example was given using the ground plane (FL) as a reference plane for automatically detecting the mounting posture of the TOF sensor 20. However, the present invention is not limited thereto.

[0258] For example, other surfaces besides the ground, such as walls and ceilings, can be used as reference surfaces.

[0259] (G)

[0260] In the above embodiment, an example was given of detecting the mounting posture of the TOF sensor 20 using the position where DOCK 40 is set as a predetermined detection position. However, the present invention is not limited thereto.

[0261] For example, if the ground or other reference surfaces are not tilted, it is not necessary to test the installation posture at a specific location; instead, the installation posture can be tested at the desired location and at regular intervals.

[0262] (H)

[0263] In the above embodiments, an example of using a TOF sensor 20 as a distance measuring device has been described. However, the present invention is not limited thereto.

[0264] For example, instead of a TOF sensor, other distance measurement devices such as LiDAR (Light Detection and Ranging) or SC (Structural Camera) can be used, which can obtain distance information up to the reference point and have angle information up to the reference point.

[0265] Industry availability

[0266] The mounting posture detection device of the present invention achieves the effect of detecting the mounting posture of a distance measuring device mounted on various devices without using posture detection equipment such as tilt sensors or levels, and therefore can be widely used on various devices that can mount distance measuring devices.

Claims

1. A mounting posture detection device for detecting the mounting posture of a distance measuring device mounted on a specified object, comprising: The distance information acquisition unit acquires distance information of a reference point on the reference surface based on the phase difference between the received wave and the projected wave of light illuminating the reference surface from the illumination unit included in the distance measuring device. Angle information acquisition unit acquires angle information up to the reference point; as well as The mounting posture detection unit detects the mounting posture of the distance measuring device relative to the reference plane based on the distance information and angle information obtained by the distance information acquisition unit and the angle information acquisition unit. The distance measuring device further includes a distance image generating unit that generates a distance image containing the reference plane based on the results obtained from the distance information acquiring unit and the angle information acquiring unit. The mounting posture detection device further includes a distance image acquisition unit that acquires the distance image from the distance image generation unit. The mounting posture detection unit detects the rotation of the mounting posture of the distance measuring device based on whether the positions of pixels in the distance image acquired by the distance image acquisition unit that are at the same distance to the reference plane have moved from a predetermined reference position.

2. The installation posture detection device as described in claim 1, wherein, The installation posture detection unit detects at least one of the following: the tilt angle of the distance measuring device relative to the reference surface, the distance from the reference surface, and the rotation angle relative to the reference surface, as the installation posture.

3. The installation posture detection device as described in claim 1 or 2, wherein, The installation posture detection unit uses the distance information of two reference points on the reference surface and the angle information to detect the installation posture.

4. The installation posture detection device as described in claim 1, wherein, The mounting posture detection unit uses the first distance to a first reference point on the reference surface corresponding to a first pixel and a first angle relative to the reference surface contained in the distance image acquired by the distance image acquisition unit, and the second distance to a second reference point on the reference surface corresponding to a second pixel different from the first pixel and a second angle relative to the reference surface, to detect the mounting posture of the distance measuring device.

5. The installation posture detection device as described in claim 4, wherein, The mounting posture detection unit uses a first angle relative to the illumination axis of the light irradiated from the illumination unit corresponding to a first pixel in the distance image acquired by the distance image acquisition unit, and a second angle relative to the illumination axis of the light irradiated from the illumination unit corresponding to a second pixel different from the first pixel, to detect the rotation relative to the reference plane as the mounting posture of the distance measuring device.

6. The installation posture detection device as described in claim 1, wherein, It also includes a calibration determination unit, which determines whether to calibrate the measurement results in the distance measuring device based on the detection results in the installation posture detection unit.

7. The installation posture detection device as described in claim 1, wherein, The distance information acquisition unit acquires the distance information and the angle information relative to the reference point at a specified detection position.

8. The installation posture detection device as described in claim 7, wherein, The installation posture detection unit uses the distance information relative to the reference plane and the angle information obtained at the specified detection position to detect the installation posture.

9. The installation posture detection device as described in claim 1, wherein, It also includes a storage unit that stores information related to the installation posture of the distance measuring device detected in the installation posture detection unit.

10. The installation posture detection device as claimed in claim 1, wherein, The reference surface is the ground.

11. The installation posture detection device as described in claim 1, wherein, The distance measuring device is any one of a TOF (Time-of-Flight) sensor, a LiDAR (Light Detection and Ranging) sensor, and a SC (Structural Camera) sensor.

12. An installation posture detection device for detecting the installation posture of a distance measuring device installed on a specified object, comprising: The distance information acquisition unit acquires distance information of a reference point on the reference surface based on the phase difference between the received wave and the projected wave of light illuminating the reference surface from the illumination unit included in the distance measuring device. Angle information acquisition unit acquires angle information up to the reference point; as well as The mounting posture detection unit detects the mounting posture of the distance measuring device relative to the reference plane based on the distance information and angle information obtained by the distance information acquisition unit and the angle information acquisition unit. The distance measuring device further includes a distance image generating unit that generates a distance image containing the reference plane based on the results obtained from the distance information acquiring unit and the angle information acquiring unit. The mounting posture detection device further includes a distance image acquisition unit that acquires the distance image from the distance image generation unit. The mounting posture detection unit detects the rotation angle of the mounting posture of the distance measuring device based on the position of the pixel in the distance image obtained by the distance image acquisition unit that is at the same distance to the reference plane from a predetermined reference position.

13. A method for detecting installation posture, comprising detecting the installation posture of a distance measuring device installed on a specified object, comprising: The distance information acquisition step involves acquiring distance information of a reference point on the reference surface from the distance measuring device based on the phase difference between the received wave and the projected wave of light illuminating the reference surface from the illumination unit included in the distance measuring device. The angle information acquisition step involves obtaining angle information from the distance measuring device up to the reference point. as well as The installation posture detection step, based on the distance information and angle information obtained in the distance information acquisition step and the angle information acquisition step, detects the installation posture of the distance measuring device relative to the reference plane. The installation posture detection method further includes a distance image generation step, which generates a distance image containing the reference plane based on the results obtained in the distance information acquisition step and the angle information acquisition step. The installation posture detection method further includes a distance image acquisition step, which obtains the distance image from the distance image generation step. In the installation posture detection step, the rotation of the installation posture of the distance measuring device is detected based on whether the positions of pixels in the distance image obtained in the distance image acquisition step that are at the same distance to the reference plane have moved from a predetermined reference position.

14. A computer-readable recording medium storing an installation posture detection program, the installation posture detection program detecting the installation posture of a distance measuring device installed on a specified object, causing a computer to execute an installation posture detection method, the installation posture detection method comprising: The distance information acquisition step involves acquiring distance information of a reference point on the reference surface from the distance measuring device based on the phase difference between the received wave and the projected wave of light illuminating the reference surface from the illumination unit included in the distance measuring device. The angle information acquisition step involves obtaining angle information from the distance measuring device up to the reference point. as well as The installation posture detection step, based on the distance information and angle information obtained in the distance information acquisition step and the angle information acquisition step, detects the installation posture of the distance measuring device relative to the reference plane. The installation posture detection method further includes a distance image generation step, which generates a distance image containing the reference plane based on the results obtained in the distance information acquisition step and the angle information acquisition step. The installation posture detection method further includes a distance image acquisition step, which obtains the distance image from the distance image generation step. In the installation posture detection step, the rotation of the installation posture of the distance measuring device is detected based on whether the positions of pixels in the distance image obtained in the distance image acquisition step that are at the same distance to the reference plane have moved from a predetermined reference position.

15. A method for detecting installation posture, comprising detecting the installation posture of a distance measuring device installed on a specified object, wherein: The distance information acquisition step involves obtaining distance information of a reference point on the reference surface based on the phase difference between the received wave and the projected wave of light illuminating the reference surface from the illumination unit included in the distance measuring device. The angle information acquisition step involves acquiring the angle information up to the reference point; and The installation posture detection step, based on the distance information and angle information obtained in the distance information acquisition step and the angle information acquisition step, detects the installation posture of the distance measuring device relative to the reference plane. The installation posture detection method further includes a distance image generation step, which generates a distance image containing the reference plane based on the results obtained in the distance information acquisition step and the angle information acquisition step. The installation posture detection method further includes a distance image acquisition step, which obtains the distance image from the distance image generation step. In the installation posture detection step, the rotation angle of the installation posture of the distance measuring device is detected based on the rotation angle of the position of the pixel with the same distance to the reference plane in the distance image obtained in the distance image acquisition step from the predetermined reference position.

16. A computer-readable recording medium storing an installation posture detection program, the installation posture detection program detecting the installation posture of a distance measuring device installed on a specified object, causing a computer to execute an installation posture detection method, the installation posture detection method comprising: The distance information acquisition step involves obtaining distance information of a reference point on the reference surface based on the phase difference between the received wave and the projected wave of light illuminating the reference surface from the illumination unit included in the distance measuring device. The angle information acquisition step involves acquiring the angle information up to the reference point; and The installation posture detection step, based on the distance information and angle information obtained in the distance information acquisition step and the angle information acquisition step, detects the installation posture of the distance measuring device relative to the reference plane. The installation posture detection method further includes a distance image generation step, which generates a distance image containing the reference plane based on the results obtained in the distance information acquisition step and the angle information acquisition step. The installation posture detection method further includes a distance image acquisition step, which obtains the distance image from the distance image generation step. In the installation posture detection step, the rotation angle of the installation posture of the distance measuring device is detected based on the rotation angle of the position of the pixel with the same distance to the reference plane in the distance image obtained in the distance image acquisition step from the predetermined reference position.

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