Adjustment method, detection equipment and detector

Abstract

To provide an adjustment method capable of appropriately adjusting detection ranges of a plurality of detectors and detection equipment and detectors adjusted by the adjustment method.SOLUTION: In a first adjustment step, a detection range FOV of a first scanner is adjusted according to first and second poles installed with reference to opposite ends of the detection range FOV of the first scanner in a horizontal direction. In a second adjustment step, a detection range FOV of a second scanner is adjusted so that the second pole is positioned at one end of the detection range FOV in the horizontal direction. In a third adjustment step, the detection range FOV of the second scanner is adjusted according to the second pole and a third pole which is installed with reference to the other end of the detection range FOV of the second scanner in the horizontal direction after adjustment in the second adjustment step and is provided on an opposite side of the first pole to the second pole.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to a technique for adjusting the detection ranges of a plurality of detection devices. [Background technology]

[0002] Conventionally, systems have been disclosed in which a plurality of scanning units that perform scanning using laser light, etc. For example, Patent Document 1 discloses a technology in which, when a plurality of distance measurement means are arranged so that their detection areas partially overlap, each of these distance measurement means performs distance measurement at a timing when the other distance measurement means that partially overlap with the detection area of the distance measurement means in question is not performing distance measurement. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-8875 Summary of the Invention [Problem to be solved by the invention]

[0004] When multiple detection devices, each capable of detecting a predetermined range, are installed, it is necessary to adjust their installation positions and detection directions. For example, if a detection device is installed at a position different from the desired position, or if a detection device is displaced after installation due to external factors such as vehicle vibration, the detection range of that detection device may deviate from its original range, and the entire system including the detection device may not be able to operate optimally.

[0005] The present invention has been made to solve the above-mentioned problems, and its main object is to provide an adjustment method that can suitably adjust the detection ranges of multiple detection devices, as well as detection equipment and detection devices adjusted using the adjustment method. [Means for solving the problem]

[0006] The invention described in the claims is an adjustment method for adjusting the detection ranges of a first detection device and a second detection device, comprising: a first adjustment step for adjusting the detection range of the first detection device to match first and second reference objects installed based on both horizontal ends of the detection range of the first detection device; a second adjustment step for adjusting the detection range of the second detection device so that the second reference object is located at one horizontal end of the detection range; and a third adjustment step for adjusting the detection range of the second detection device to match the second reference object and a third reference object installed based on the other horizontal end of the detection range of the second detection device after adjustment by the second adjustment step, and located on the opposite side of the first reference object with respect to the second reference object. [Brief explanation of the drawings]

[0007] [Figure 1] 1 shows a schematic configuration of a measurement system. [Figure 2] FIG. 1 shows a block diagram of a lidar unit. [Figure 3] 1 shows a schematic configuration example of a scanner. [Figure 4] 1 shows the scanning area of the scanner on the virtual illumination plane. [Figure 5] 10 shows the correspondence between the scannable range of the scanner on the virtual irradiation plane and the detection range. [Figure 6] FIG. 10 is a bird's-eye view showing the state after the poles have been placed and the detection ranges of the scanners have been adjusted. [Figure 7] FIG. 7 is a view of the pole and detection range observed from the arrow A1 in FIG. 6. [Figure 8] 10A and 10B are diagrams illustrating the detection range and point cloud image when the scanner to be adjusted first is adjusted. [Figure 9] FIG. 10 is a diagram showing the detection range and point cloud image when adjusting the scanner to be adjusted second. [Figure 10] 10 is a flowchart illustrating an example of a procedure for adjusting a scanner. [Figure 11] 10A and 10B are diagrams illustrating an outline of a method for adjusting a scanner according to a modified example. [Figure 12]FIG. 10 is a diagram showing a point cloud image at the time of adjustment of the scanner that is adjusted first in the modified example. DETAILED DESCRIPTION OF THE INVENTION

[0008] According to a preferred embodiment of the present invention, an adjustment method for adjusting the detection ranges of a first detection device and a second detection device includes a first adjustment step of adjusting the detection range of the first detection device to match first and second reference objects installed based on both horizontal ends of the detection range of the first detection device; a second adjustment step of adjusting the detection range of the second detection device so that the second reference object is located at one horizontal end of the detection range; and a third adjustment step of adjusting the detection range of the second detection device to match the second reference object and a third reference object installed based on the other horizontal end of the detection range of the second detection device after adjustment by the second adjustment step and located on the opposite side of the first reference object with respect to the second reference object.

[0009] Here, "installed using both horizontal ends of the detection range of the first detection device as references" means that the first and second reference objects are roughly installed at both horizontal ends of the detection range of the first detection device, and does not require strict positional accuracy. On the other hand, "adjusting the detection range of the first detection device to match the first and second reference objects" refers to a position adjustment with higher accuracy than "installed using both horizontal ends of the detection range of the first detection device as references," and refers to a process of aligning both horizontal ends of the detection range of the first detection device with higher accuracy to the first and second reference objects installed using both horizontal ends of the detection range of the first detection device as references. This adjustment method allows the detection ranges of the first and second detection devices to be adjusted to avoid distortion or tilt, while also allowing the detection ranges to be adjusted appropriately to avoid unnecessary overlap between these detection ranges.

[0010] In one aspect of the adjustment method, the first to third reference objects are columnar objects. By adjusting the detection range of each detection device using such first to third reference objects, each detection range can be suitably adjusted so that tilt or distortion does not occur in each detection range.

[0011] In another aspect of the adjustment method, the adjustment method further includes an acquisition step of acquiring detection results of the first and second detection devices, wherein the first adjustment step adjusts the detection range of the first detection device based on the detection result of the first detection device, and the second and third adjustment steps adjust the detection range of the second detection device based on the detection result of the second detection device. This aspect makes it possible to accurately grasp the positional relationship of the actual first to third reference objects with respect to the detection ranges of the first and second detection devices, and to suitably adjust the detection ranges to match the first to third reference objects.

[0012] In another aspect of the adjustment method, the first adjustment step adjusts the detection range of the first detection device so that at least a portion of the first reference object is included in the detection range of the first detection device and a portion of the second reference object is included in the detection range of the first detection device, and the third adjustment step adjusts the detection range of the second detection device so that a portion of the second reference object is included in the detection range of the second detection device and at least a portion of the third reference object is included in the detection range of the second detection device. Here, it is preferable that the portion of the second reference object that is included in the detection range of the first detection device in the first adjustment step does not overlap or has a small overlapping area with the portion of the second reference object that is included in the detection range of the second detection device in the third adjustment step, and more preferably, these portions are adjacent in the horizontal direction. According to this aspect, the adjustment method can suitably adjust the detection range of the first detection device so that the detection range of the second detection device does not substantially overlap.

[0013] In one aspect of the adjustment method, the first to third reference objects have patterns whose reflectances change at predetermined intervals in the extension direction, the first and second detection devices emit electromagnetic waves in their detection ranges and output detection results according to the intensities of the reflected waves of the electromagnetic waves, the first adjustment step adjusts the detection range of the first detection device based on the detection result of the first detection device, and the second and third adjustment steps adjust the detection range of the second detection device based on the detection result of the second detection device. According to this aspect, each detection range can be suitably adjusted so as not to cause distortion or tilt in each detection range, based on the patterns formed on each reference object that appear in the detection results of the first and second detection devices.

[0014] In another aspect of the adjustment method, the first reference object, the second reference object, and the third reference object are arranged on a substantially circular arc based on the positions of the first detection device and the second detection device. This aspect makes it possible to uniformize the distances from the first and second detection devices to each reference object, thereby improving the adjustment accuracy.

[0015] In another aspect of the adjustment method, the first detection device and the second detection device are housed in the same housing. With this aspect, even when multiple detection devices are housed in the same housing, the detection ranges of the detection devices can be suitably adjusted to prevent unnecessary overlapping of the detection ranges.

[0016] According to another preferred embodiment of the present invention, the detection device includes a first detection device and a second detection device whose detection ranges have been adjusted by any one of the adjustment methods described above. Such a detection device can effectively utilize the individual detection ranges of the first detection device and the second detection device, and can preferably achieve a wide-field detection range.

[0017] According to another preferred embodiment of the present invention, there is provided a detection device whose detection range has been adjusted by the second adjustment step and the third adjustment step of any of the above-described adjustment methods. This detection device corresponds to the above-described second detection device, and is suitably adjusted so that there is no unnecessary overlap of the detection range with the first detection device. [Example]

[0018] Preferred embodiments of the present invention will now be described with reference to the drawings.

[0019] [Overall configuration] 1 shows a schematic configuration of a measurement system 100 according to this embodiment. The measurement system 100 is a system that measures the periphery of a vehicle (not shown), and mainly comprises an input unit 1, a sensor unit 2, a storage unit 3, a display unit 4, a communication unit 5, and a control unit 6. The control unit 6 and the other elements are configured to be able to communicate data based on a predetermined communication protocol.

[0020] The input unit 1 is a button, touch panel, remote controller, voice input device, etc. for user operation, and accepts various inputs. The sensor unit 2 is composed of internal sensors that detect the state of the vehicle and external sensors that recognize the environment around the vehicle. The sensor unit 2 includes a Lidar (Light Detection and Ranging, or Laser Illuminated Detection and Ranging) unit 7.

[0021] The lidar unit 7 emits a pulsed laser, which is an electromagnetic wave, over a predetermined angular range in the horizontal and vertical directions to discretely measure the distance to an object in the external world and generate three-dimensional point cloud information indicating the position of the object. In this case, the lidar unit 7 has a scanning unit (scanner) that emits laser light while changing the irradiation direction and receives reflected light (scattered light) of the irradiated laser light. In this embodiment, the lidar unit 7 has multiple scanners installed in different orientations. An example configuration of the lidar unit 7 will be described later with reference to FIGS. 2 and 3.

[0022] The storage unit 3 stores programs executed by the control unit 6 and information (e.g., map information) required for the control unit 6 to execute predetermined processes. The display unit 4 displays images based on point cloud information output by the LIDAR unit 7 under the control of the control unit 6. The communication unit 5 performs data communication with external devices under the control of the control unit 6.

[0023] The control unit 6 includes a CPU that executes a program and controls the entire measurement system 100. The control unit 6 may be an ECU (Electronic Control Unit) that automatically controls the driving of the vehicle, or may be a CPU of an on-board device that transmits control signals to the ECU. In another example, the control unit 6 may be configured as a part of the rider unit 7.

[0024] [Example of rider unit configuration] Next, an example configuration of the LIDAR unit 7 will be described. FIG. 2 shows a block diagram of the LIDAR unit 7. The LIDAR unit 7 is, for example, a TOF (Time Of Flight) LIDAR that measures distances to and detects objects present around the vehicle. The LIDAR unit 7 is used, for example, as part of an advanced driver assistance system, for the purpose of assisting the vehicle in recognizing its surrounding environment. The LIDAR unit 7 mainly has multiple scanners (L1 to L4, ...) and a signal processing unit SP. In the following description, when there is no need to distinguish between the scanners (L1 to L4, ...), they will simply be referred to as "scanner L."

[0025] The scanner L emits laser pulses (hereinafter also referred to as "transmitted light pulses") within a predetermined range of horizontal and vertical angles. The scanner L emits transmitted light pulses for each segment obtained by dividing the horizontal angle by equal angles. The scanner L then receives reflected light of the transmitted light pulse (hereinafter also referred to as "received light pulses") within a predetermined period after emitting the transmitted light pulse, and outputs a signal (also referred to as a "segment signal Sseg") relating to the received light intensity for each segment to the signal processing unit SP. The signal processing unit SP outputs point cloud information indicating a set of the distance to each point on the object irradiated with the transmitted light pulse and the angle of the object, based on the segment signal Sseg for each segment received from the scanner L. Note that a signal processing unit SP may be provided for each scanner L.

[0026] Each of the scanners L is provided with an adjustment mechanism 8 (8a to 8d, ...) for adjusting the position (including adjusting the orientation) of each scanner L. The adjustment mechanism 8 includes, for example, an actuator, and adjusts the position of the corresponding scanner L based on a control signal supplied from the control unit 6. The adjustment mechanism 8 may receive a driving control signal from the signal processing unit SP. In this case, the control unit 6 sends a control signal to the signal processing unit SP instructing the signal processing unit SP to drive the adjustment mechanism 8. Each of the scanners L may further be provided with a posture sensor or the like for detecting the posture of each scanner L. The scanner L is an example of a "detection device" in the present invention.

[0027] Scanners L are housed in scan boxes 51 to 53, each of which houses one or more scanners L. In the example of Fig. 2, scan box 51 houses scanners L1 to L4, scan box 52 houses scanners L5 and L6, and scan box 53 houses scanner L7. Scan boxes 51 to 53 may be provided with an adjustment mechanism for adjusting the position of each scan box and / or a posture sensor for detecting the posture.

[0028] Here, if the scanning ranges of the transmitted light pulses of the scanners L overlap, the scanning range of the entire lidar unit 7 becomes narrower, and therefore, when multiple scanners L are housed in the same scan box, adjustment is required so that the scanning ranges of the transmitted light pulses of these scanners L do not overlap. Therefore, in this embodiment, when multiple scanners L are housed in the same scan box, adjustment is performed using the above-mentioned adjustment mechanism 8 or the like so that the scanning ranges of the transmitted light pulses of these scanners L do not overlap.

[0029] Fig. 3 shows a schematic configuration example of the scanner L. As shown in Fig. 3, the scanner L mainly includes a synchronization control unit 11, an LD driver 12, a laser diode 13, a MEMS mirror 14, a driving driver 15, a light receiving element 16, a current-voltage conversion circuit (transimpedance amplifier) 17, an A / D converter 18, a segmentator 19, and a crystal oscillator 20.

[0030] The crystal oscillator 20 outputs a pulsed clock signal "S1" to the synchronization control unit 11 and the A / D converter 18. The synchronization control unit 11 outputs a pulsed trigger signal "S2" to the LD driver 12. The synchronization control unit 11 also outputs a segment extraction signal "S3" to the segmentator 19, which determines the timing at which the segmentator 19 extracts the output of the A / D converter 18, as will be described later.

[0031] The LD driver 12 supplies a pulse current to the laser diode 13 in synchronization with a trigger signal S2 input from the synchronization control unit 11. In this embodiment, the LD driver 12 switches between supplying and not supplying a pulse current to the laser diode 13 based on a control signal supplied from the signal processing unit SP. The laser diode 13 is, for example, an infrared pulse laser, and emits an optical pulse based on the pulse current supplied from the LD driver 12.

[0032] The MEMS mirror 14 reflects the transmitted light pulse emitted by the laser diode 13 to the outside while changing its angle, and also reflects the received light pulse, which is returned light reflected by an object onto which the transmitted light pulse is irradiated, toward the light receiving element 16. The driver 15 applies a drive current to the MEMS mirror 14 to drive the MEMS mirror 14 in the horizontal and vertical directions under the control of the signal processing unit SP.

[0033] The light receiving element 16 is, for example, an avalanche photodiode, and generates a weak current corresponding to the amount of light reflected from the object, i.e., the received light pulse, guided by the MEMS mirror 14. The light receiving element 16 supplies the generated weak current to a current-voltage conversion circuit 17. The current-voltage conversion circuit 17 amplifies the weak current supplied from the light receiving element 16 and converts it into a voltage signal, and inputs the converted voltage signal to an A / D converter 18.

[0034] The A / D converter 18 converts the voltage signal supplied from the current-voltage conversion circuit 17 into a digital signal based on the clock signal S1 supplied from the crystal oscillator 20, and supplies the converted digital signal to the segmentator 19. The segmentator 19 generates the digital signal that is the output of the A / D converter 18 during the period in which the segment extraction signal S3 is asserted as a segment signal Sseg. The segmentator 19 supplies the generated segment signal Sseg to the signal processing unit SP.

[0035] The signal processing unit SP controls the driver 15 to drive the MEMS mirror 14 of each scanner L so that a predetermined scanning area is scanned with transmitted light pulses. The signal processing unit SP also supplies a control signal to the LD driver 12 and other devices to control the emission of transmitted light pulses by the MEMS mirror 14 of each scanner L. The signal processing unit SP also generates point cloud information indicating the distance and angle of the target for each scanner L based on the segment signal Sseg transmitted from each scanner L. Specifically, the signal processing unit SP detects peaks from the waveform of the segment signal Sseg and estimates the amplitude and delay time corresponding to the detected peak. The signal processing unit SP then generates, as information on each point constituting the point cloud information, a set of distance information corresponding to the delay time of a peak whose estimated amplitude is equal to or greater than a predetermined threshold, among the peaks of the waveform indicated by the segment signal Sseg, and angle information corresponding to the target segment.

[0036] [Mechanical and electronic adjustments] First, we will explain how to adjust the scanning area of the transmitted light pulse by each scanner L. The control unit 6 adjusts the scanning area of the transmitted light pulse by each scanner L by mechanical adjustment, which mechanically (physically) adjusts the position of each scanner L, or by electronic adjustment, which changes the actual scanning range (i.e., detection range) within the scannable range, which will be described later.

[0037] First, a specific example of mechanical adjustment will be described. In mechanical adjustment, the control unit 6 adjusts the position (including the orientation) of the scanner L by sending a control signal to the adjustment mechanism 8 corresponding to the scanner L to be adjusted.

[0038] Figure 4(A) shows the scanning area of a certain scanner L on a virtual irradiation surface (virtual irradiation surface) a predetermined distance ahead of the vehicle. Hereinafter, the longitudinal direction (horizontal direction) of the scanning area of the scanner L will be referred to as the "x-axis," the lateral direction (vertical direction) of the scanning area will be referred to as the "y-axis," and the direction perpendicular to the virtual irradiation surface will be referred to as the "z-axis," with the positive directions of each axis defined as shown. In the example of Figure 4(A), the emission direction of the transmitted light pulse by the scanner L is perpendicular to the virtual irradiation surface, and the scanning area on the virtual irradiation surface is a rectangular area.

[0039] Fig. 4(B) shows the scanning area on the virtual irradiation surface when the target scanner L is rotated by a predetermined angle around the z-axis from the state of Fig. 4(A) by the adjustment mechanism 8. As shown in Fig. 4(B), in this case, the scanning area of the scanner L to be adjusted rotates by a predetermined angle around the z-axis.

[0040] Figure 4(C) shows the scanning area on the virtual irradiation surface when the target scanner L is rotated by a predetermined angle around the x-axis from the state shown in Figure 4(A) by the adjustment mechanism 8. As shown in Figure 4(C), in this case, the scanning area of the target scanner L shrinks in both vertical width and assumes a trapezoidal shape with the top side reduced and the bottom side expanded, and moves downward as a whole. Note that when the target scanner L is rotated around the x-axis in the opposite direction to that shown in Figure 4(C), the scanning area of the target scanner L shrinks in both vertical width and assumes a trapezoidal shape with the top side expanded and the bottom side reduced, and moves upward as a whole.

[0041] Figure 4(D) shows the scanning area on the virtual irradiation surface when the target scanner L is rotated by a predetermined angle around the y-axis from the state shown in Figure 4(A) by the adjustment mechanism 8. As shown in Figure 4(D), in this case, the scanning area of the target scanner L shrinks in width and takes on a trapezoidal shape with the right side shrinking and the left side expanding, and moves to the left as a whole. Note that when the target scanner L is rotated around the y-axis in the opposite direction to that shown in Figure 4(D), the scanning area of the target scanner L shrinks in width and takes on a trapezoidal shape with the right side expanding and the left side shrinking, and moves to the right as a whole.

[0042] FIG. 4(E) shows the scanning area on the virtual irradiation surface when the adjustment target scanner L is slid a predetermined distance in the positive direction of the z-axis from the state shown in FIG. 4(A) by the adjustment mechanism 8. FIG. 4(F) shows the scanning area on the virtual irradiation surface when the adjustment target scanner L is slid a predetermined distance in the negative direction of the z-axis from the state shown in FIG. 4(A) by the adjustment mechanism 8. In the example of FIG. 4(E), the scanning area is reduced because the target scanner L approaches the virtual irradiation surface. On the other hand, in the example of FIG. 4(F), the scanning area is expanded because the target scanner L moves away from the virtual irradiation surface.

[0043] The control unit 6 then transmits a predetermined control signal to the adjustment mechanism 8, thereby performing mechanical adjustment of the position of the scanner L as shown in FIGS. 4(B) to 4(F). As a result, the control unit 6 suitably adjusts the scanning area of each scanner L in accordance with a reference object, which will be described later. In addition to the position adjustment of the scanner L as shown in FIGS. 4(B) to 4(F), the adjustment mechanism 8 may also be capable of performing position adjustment by sliding the target scanner L a predetermined distance in the x-axis or y-axis direction from the state shown in FIG. 4(A). In an embodiment in which the signal processing unit SP transmits a drive signal to the adjustment mechanism 8, the control unit 6 may transmit a control signal to the signal processing unit SP instructing the signal processing unit SP to drive the adjustment mechanism 8.

[0044] Next, a specific example of electronic adjustment will be described. Fig. 5(A) shows the correspondence relationship between the scannable range "SR" of a scanner L on a virtual irradiation plane perpendicular to the emission direction of the scanner L and the detection range "FOV" in which object detection is performed. Here, the scannable range SR refers to the range in which scanning by the transmitted light pulses is possible, and the detection range FOV refers to the range in which scanning by the transmitted light pulses is actually performed.

[0045] 5(A), the detection range FOV is set to a range smaller than the scannable range SR. For example, the control unit 6 can adjust the detection range FOV to any area within the scannable range SR by controlling whether or not to supply a pulse current to the laser diode 13 of the LD driver 12 via the signal processing unit SP.

[0046] 5(B) and (C) show the correspondence between the scannable range SR and the detection range FOV when the detection range FOV is moved within the xy plane based on electronic adjustment. In the example of Fig. 5(B), the detection range FOV moves a predetermined distance in the negative x-axis direction and a predetermined distance in the positive y-axis direction within the scannable range SR. In the example of Fig. 5(C), the detection range FOV rotates clockwise by a predetermined angle within the scannable range SR.

[0047] In this way, the control unit 6 can adjust the position of the detection range FOV by electronic adjustment as well as mechanical adjustment. When there is no particular distinction between the detection range FOV and the scannable range SR, they are also called the "scanning region."

[0048] [Detection range adjustment] Next, a method for adjusting the detection range FOV of scanners L housed in the same scanner box will be described. In the adjustment method described below, the left and right end positions of the detection range FOV of each scanner L are adjusted to match reference objects arranged on an arc centered on the target scanner box. Hereinafter, as an example, a method for adjusting each of the detection ranges FOV1 to FOV4 of scanners L1 to L4 housed in scan box 51 will be described.

[0049] FIG. 6 is an overhead view showing the state after poles P1 to P4, which are examples of the reference objects described above, are placed and the detection ranges FOV1 to FOV4 of the scanners L1 to L4 are adjusted. Here, the poles P1 to P5 are columnar objects capable of reflecting transmitted optical pulses and are arranged on an arc (see dashed line) centered on the scan box 51. By doing so, the poles P1 to P4, which serve as reference objects, are approximately equidistant from the scan box 51, allowing the detection ranges FOV1 to FOV4 of each scanner L within the scan box 51 to be adjusted uniformly. Furthermore, when the scanning angles "θ1" to "θ4" of the scanners L1 to L4 are the same, the poles P1 to P5 are arranged at approximately equal intervals on the circle. As will be described later, the poles P2 to P5, excluding pole P1, are sequentially placed during the adjustment of the detection ranges FOV1 to FOV4 of the scanners L1 to L4.

[0050] Furthermore, the detection ranges FOV1 to FOV4 of scanners L1 to L4 are each adjusted so that the left and right boundaries of the detection range FOV overlap two adjacent poles among poles P1 to P5. Here, the left end of detection range FOV1 is adjusted to match pole P1, and the right end of detection range FOV1 and the left end of detection range FOV2 are adjusted to match pole P2. Similarly, the right end of detection range FOV2 and the left end of detection range FOV3 are adjusted to match pole P3, the right end of detection range FOV3 and the left end of detection range FOV4 are adjusted to match pole P4, and the right end of detection range FOV4 is adjusted to match pole P5. In the state shown in FIG. 6, the detection ranges FOV1 to FOV4 are arranged without substantial overlap, achieving a detection range FOV with a wide scanning angle (approximately the sum of angles θ1 to θ4) for the entire scan box.

[0051] Fig. 7 is a diagram of the poles P1 to P5 and the detection ranges FOV1 to FOV4 observed from the arrow A1 in Fig. 6. For ease of explanation, Fig. 7 also clearly shows the detection range FOV that is actually blocked by the poles P1 to P5.

[0052] As shown in Fig. 7, in this case, the detection ranges FOV1 to FOV5 are arranged horizontally at the same height with no substantial gaps or overlaps. The short-side direction of each detection range FOV1 to FOV5 is adjusted to coincide with the extension direction of the poles P1 to P5 (i.e., the direction perpendicular to the ground), and as a result, each detection range FOV is substantially aligned with the other, and there is no distortion or tilt to the left or right of each detection range FOV. The poles P1 to P5 have a pattern in which the reflectance changes at predetermined intervals. Specifically, the poles P1 to P5 are formed with band regions Ph, each with a higher reflectance than other regions, at predetermined intervals in the extension direction. As will be described later, the band regions Ph are preferably used to adjust the position of the detection range FOV in the short-side direction (vertical direction).

[0053] Next, as a representative example, a procedure for adjusting the detection ranges FOV1 to FOV4 of the scanners L1 to L4 housed in the scan box 51 will be specifically described.

[0054] 8(A) is a diagram showing the positional relationship between the poles P1 and P2 observed from the scan box 51 and the detection range FOV1. First, when adjusting the detection range FOV1, the control unit 6 performs scanning of transmitted light pulses using the scanner L1, thereby acquiring from the lidar unit 7 a point cloud image (also referred to as a "point cloud image Im1") representing the intensity of reflected light at each position within the detection range FOV1 obtained by reflected light of the transmitted light pulses, and displays the image on the display unit 4. Then, the poles P1 and P2 are moved on an arc centered on the scan box 51 so that the pole P1 is located at the right end of the detection range FOV1 (representing the right end when observed from the scan box 51; the same applies hereinafter) and the pole P2 is located at the left end of the detection range FOV1 (representing the left end when observed from the scan box 51; the same applies hereinafter). In this case, for example, the position of pole P1 is adjusted so that part or all of it (all of it in FIG. 8(A)) in the horizontal direction is included in the detection range FOV1, and the position of pole P2 is adjusted so that part of it (approximately half of it in FIG. 8(A)) in the horizontal direction is included in the detection range FOV1. Note that the position adjustment of poles P1 and P2, which is performed based on the left and right ends of the detection range FOV1, does not require high precision, and more precise position adjustment can be performed by mechanical adjustment and / or electronic adjustment of scanner L1, which will be described later.

[0055] After the poles P1 and P2 are positioned, the control unit 6 performs at least one of mechanical adjustment and electronic adjustment of the scanner L1 based on the point cloud image Im1 to align the poles P1 and P2 with the two ends of the detection range FOV1. For example, the control unit 6 refers to the point cloud image Im1 and adjusts the detection range FOV1 so that, with the pole P1 located at the left end of the detection range FOV1, approximately half of the pole P2 in the horizontal direction is located at the right end of the detection range FOV1, and the band regions Ph of the poles P1 and P2 within the detection range FOV1 have a symmetrical positional relationship.

[0056] 8(B) and 8(C) show the point cloud image Im1 referenced when adjusting the detection range FOV1. The point cloud image Im1 shown in FIGS. 8(B) and 8(C) includes a pole region R1 representing the pole P1 and a pole region R2a representing approximately the left half of the pole P2. Here, the pole region R1 includes high-reflection regions R11, R13, and R15 corresponding to the band region Ph, as well as other low-reflection regions R12 and R14. Similarly, the pole region R2a includes high-reflection regions R21a, R23a, and R25a corresponding to the band region Ph, as well as other low-reflection regions R22a and R24a. In FIG. 8(B), the outline of the approximately right half of the pole P2 that does not fall within the detection range FOV1 is indicated by a dashed line 65. In addition, Figure 8(C) clearly shows arrows 71 to 74 which represent the distance from each boundary position of high-reflection regions R11, R13, and R15 to the upper end position of point cloud image Im1, and also clearly shows arrows 75 to 78 which represent the distance from each boundary position of high-reflection regions R21a, R23a, and R25a to the upper end position of point cloud image Im1.

[0057] In this case, the control unit 6 refers to the point cloud image Im1 and adjusts the detection range FOV1 so that the horizontal length of the pole region R2a and the horizontal length of the pole region R1 each become a predetermined length. In the example of Fig. 8(B), the control unit 6 adjusts the horizontal length of the pole region R1 so that the entire pole P1 is included in the detection range FOV1 in the horizontal direction, and adjusts the horizontal length of the pole region R2a so that the horizontal length becomes the length (here, half the horizontal length of the pole region R1) that half of the pole P2 is included in the detection range FOV1 in the horizontal direction. Note that the appropriate values (target values) of the horizontal lengths of the pole region R2a and the pole region R1 may be stored in advance in the storage unit 3 or the like so that they can be referenced by the control unit 6.

[0058] Furthermore, the control unit 6 adjusts the detection range FOV1 so that the distances from the lower ends of high-reflection regions R11 and R21a to the upper end of point cloud image Im1 (see arrows 71 and 75) match, the distances from the upper ends of high-reflection regions R13 and R23a to the upper end of point cloud image Im1 (see arrows 72 and 76) match, the distances from the lower ends of high-reflection regions R13 and R23a to the upper end of point cloud image Im1 (see arrows 73 and 77) match, and the distances from the upper ends of high-reflection regions R15 and R25a to the upper end of point cloud image Im1 (see arrows 74 and 78) match. This allows the control unit 6 to suitably match the extension direction of poles P1 and P2 with the short side direction of detection range FOV1, and to suitably set detection range FOV1 without left-right distortion or tilt.

[0059] After completing the above adjustment, the control unit 6 stores the control values of the adjustment mechanism 8a, position information of the detection range FOV in the scannable range SR after electronic adjustment, and the like as calibration information for the scanner L1.

[0060] Next, adjustment of the detection range FOV2 will be described. Fig. 9(A) is a diagram showing the positional relationship between the poles P2 and P3 observed from the scan box 51 and the detection range FOV2.

[0061] To adjust the detection range FOV2, the control unit 6 starts scanning the transmitted light pulses using the scanner L2, acquires a point cloud image (also referred to as a "point cloud image Im2") representing the intensity of reflected light at each position within the detection range FOV2 from the lidar unit 7, and displays it on the display unit 4. At this time, while keeping the pole P2 and the scanner L1 fixed, the control unit 6 adjusts the detection range FOV2 by mechanical adjustment and / or electronic adjustment so that the left end of the detection range FOV2 is aligned with the pole P2. At this time, the control unit 6 adjusts the position of the pole P2 so that a portion of the pole P2 in the horizontal direction (approximately half in FIG. 9(A)) is included in the detection range FOV2. Thereafter, as shown in FIG. 9(A), the control unit 6 places the pole P3 at the right end of the detection range FOV2 and adjusts the position of the pole P3 so that a portion of the pole P2 in the horizontal direction (approximately half in FIG. 9(A)) is included in the detection range FOV2. Note that the position adjustment of the pole P3, which is performed based on the left end of the detection range FOV2, does not require high precision, and more precise position adjustment is performed by mechanical adjustment and / or electronic adjustment of the scanner L2, which will be described later.

[0062] After placing the pole P3, the control unit 6 adjusts the positions of both ends of the detection range FOV2 to match the poles P2 and P3 by performing at least one of mechanical and electronic adjustments of the scanner L2 based on the point cloud image Im2. Specifically, the control unit 6 refers to the point cloud image Im2 and adjusts the detection range FOV2 so that approximately half of the horizontal direction of the poles P2 and P3 is included in the detection range FOV2 and the positions of the band regions Ph of the poles P2 and P3 within the detection range FOV2 are symmetrical.

[0063] 9(B) and (C) show the point cloud image Im2 referenced when adjusting the detection range FOV2. The point cloud image Im2 shown in FIGS. 9(B) and (C) includes a pole region R2b representing pole P2 and a pole region R3 representing pole P3. Here, pole region R2b includes high-reflection regions R21b, R23b, and R25b corresponding to band region Ph, as well as other low-reflection regions R22b and R24b. Similarly, pole region R3 includes high-reflection regions R31, R33, and R35 corresponding to band region Ph, as well as other low-reflection regions R32 and R34. In FIG. 9(B), the outlines of poles P2 and P3 that do not fall within the detection range FOV2 are indicated by dashed lines 66 and 67. In addition, Figure 9(C) clearly shows arrows 81 to 84 which represent the distance from each boundary position of high-reflection regions R21b, R23b, and R25b to the upper end position of point cloud image Im2, and also clearly shows arrows 85 to 88 which represent the distance from each boundary position of high-reflection regions R31, R33, and R35 to the upper end position of point cloud image Im2.

[0064] In this case, the control unit 6 refers to the point cloud image Im2 and adjusts the detection range FOV1 so that the horizontal length of the pole region R2b and the horizontal length of the pole region R3 each become a predetermined length. In the example of Fig. 9(B), the control unit 6 adjusts the detection range FOV2 so that approximately half of the horizontal lengths of the poles P2 and P3 are included in the detection range FOV2. Note that the appropriate values (target values) of the horizontal lengths of the pole region R2b and the pole region R3 may be stored in advance in the storage unit 3 or the like so that they can be referenced by the control unit 6.

[0065] Furthermore, the control unit 6 adjusts the detection range FOV2 so that the distances from the lower ends of high-reflection regions R21b and R31 to the upper end of point cloud image Im1 (see arrows 81 and 85) match, the distances from the upper ends of high-reflection regions R23b and R33 to the upper end of point cloud image Im2 (see arrows 82 and 86) match, the distances from the lower ends of high-reflection regions R23b and R33 to the upper end of point cloud image Im2 (see arrows 83 and 87) match, and the distances from the upper ends of high-reflection regions R25b and R35 to the upper end of point cloud image Im2 (see arrows 84 and 88) match. This allows the control unit 6 to match the extension direction of poles P2 and P3 with the short side direction of the detection range FOV2, and to suitably set the detection range FOV2 without horizontal distortion or tilt. In this case, the detection ranges FOV1 and FOV2 are arranged without any misalignment in the horizontal direction, as shown in the examples of FIGS. 6 and 7, and there is substantially no unnecessary overlapping range.

[0066] After adjusting the detection range FOV2 as described above, the control unit 6 stores the control value of the adjustment mechanism 8b, position information of the detection range FOV2 in the scannable range SR after electronic adjustment, and the like as calibration information for the scanner L2.

[0067] Thereafter, the control unit 6 sequentially adjusts the detection ranges FOV3 and FOV4 using the same procedure as for adjusting the detection range FOV2. In this case, the control unit 6 starts scanning with transmitted light pulses using the scanner L3 and adjusts the detection range FOV3 so that the right end of the detection range FOV3 is aligned with the adjustment mechanism pole P3. Then, the control unit 6 positions the pole P4 so that a portion of the detection range FOV3 is included in the detection range FOV3 in the horizontal direction, and adjusts the detection range FOV3 so that approximately half of the horizontal dimensions of the poles P3 and P4 are included in the detection range FOV3 and the band regions Ph of the poles P3 and P4 within the detection range FOV3 are positioned symmetrically. Next, the control unit 6 starts scanning with transmitted light pulses using the scanner L4 and adjusts the detection range FOV4 so that the right end of the detection range FOV4 is aligned with the pole P4. Then, pole P5 is positioned so that a portion of it in the horizontal direction is included in detection range FOV4, and detection range FOV4 is adjusted so that approximately half of pole P4 in the horizontal direction and at least a portion of pole P5 in the horizontal direction are included in detection range FOV4, and the band areas Ph of poles P4 and P5 within detection range FOV4 are positioned symmetrically on the left and right.

[0068] In this way, the control unit 6 can suitably adjust the detection ranges FOV of all scanners L in the scan box 51 by sequentially adjusting the detection ranges FOV3 of scanner L3 and the detection ranges FOV4 of scanner L4 in the same manner as adjusting the detection range FOV2 of scanner L2.

[0069] 8 and 9, an example has been described in which adjustments are made sequentially, starting with scan L1, whose detection range is on the leftmost side when observed from scan box 51, among scans L1 to L4. Alternatively, adjustments may be made sequentially, starting with scan L4, whose detection range is on the rightmost side when observed from scan box 51, among scans L1 to L4. In this case, after installing poles P5 and P4, the detection range FOV4 is adjusted, and then pole P3 is installed and the detection range FOV3 is adjusted. Then pole P2 is installed and the detection range FOV2 is adjusted, and then pole P1 is installed and the detection range FOV1 is adjusted.

[0070] FIG. 10 is an example of a flowchart showing the procedure for adjusting the scanner L in the scan box 51 in this embodiment. In explaining the flowchart in FIG. 10, the scanner L that first adjusts the detection range FOV is called the "first scanner," and the scanner L that adjusts the detection range FOV after the first scanner is called the "second scanner." Similarly, the poles installed at the left and right ends of the detection range FOV of the first scanner are called the "first pole" and the "second pole," and of these, the pole installed at the boundary position between the detection range FOV of the first scanner and the second scanner is called the "second pole." Furthermore, of the poles installed at the left and right ends of the detection range FOV of the second scanner, the pole installed opposite the second pole is called the "third pole."

[0071] First, the control unit 6 determines whether the first pole and the second pole have been placed at the left and right ends of the detection range FOV of the first scanner (step S101). For example, when the control unit 6 detects object regions with a size equal to or greater than a predetermined number of pixels in the point cloud image Im1 at the left and right ends, the control unit 6 determines that the first pole and the second pole have been placed at the left and right ends of the detection range FOV of the first scanner. In another example, the control unit 6 displays the point cloud image Im1 on the display unit 4, and when a predetermined user input is made to the input unit 1 indicating that the placement of the first pole and the second pole has been completed, the control unit 6 determines that the first pole and the second pole have been placed at the left and right ends of the detection range FOV of the first scanner.

[0072] If the control unit 6 determines that the first and second poles are located at the left and right ends of the detection range FOV1 of the first scanner (step S101; Yes), it performs mechanical and / or electronic adjustments of the first scanner so that the left and right ends of the detection range FOV of the first scanner are aligned with the first and second poles (step S102). In this case, the control unit 6 acquires, as parameters, information on the widths of the pole regions R1 and R2a shown in FIG. 8(B) and information on the high-reflection regions corresponding to the band region Ph shown in FIG. 8(C) from the point cloud image Im1 (e.g., information on the distances indicated by arrows 71-78), and determines the adjustment direction and amount of the mechanical and / or electronic adjustments based on these acquired parameters. In this case, for example, the control unit 6 stores in advance in the storage unit 3 map information indicating the adjustment direction and amount to be applied to the first scanner to be adjusted for each combination of the values of the above parameters, and determines the adjustment direction and amount to be adjusted by the mechanical and / or electronic adjustments by referring to the map information. In another example, the control unit 6 may determine the adjustment direction and adjustment amount to be adjusted by mechanical adjustment and / or electronic adjustment by receiving user input via the input unit 1 indicating the adjustment direction and adjustment amount of the mechanical adjustment and / or electronic adjustment.

[0073] Next, with the second pole fixed, the control unit 6 adjusts the second scanner mechanically and / or electronically so that the second pole is located at one end of the detection range FOV of the second scanner (step S103). In this case, the control unit 6 adjusts the second scanner mechanically and / or electronically so that, for example, an area of the second pole having a size equal to or larger than a predetermined number of pixels can be detected at the left or right end in the point cloud image of the second scanner. Note that in this case, the control unit 6 adjusts so that the second pole is detected at the end (left end in FIG. 9A) opposite to the end where the second pole is located in the point cloud image of the first scanner (right end in FIG. 8A).

[0074] Next, the control unit 6 determines whether the third pole is placed at the other end of the detection range FOV of the second scanner (i.e., the end opposite to the end where the second pole is placed) (step S104). In this case, the control unit 6 may make the determination automatically based on the point cloud image of the second scanner, as in the determination in step S101, or may make the determination based on user input.

[0075] If the control unit 6 determines that the third pole has been placed at the other end of the detection range FOV of the second scanner (step S104; Yes), it performs mechanical and / or electronic adjustment of the second scanner so that the left and right ends of the detection range FOV of the second scanner are aligned with the second and third poles (step S105). In this case, the control unit 6 performs mechanical and / or electronic adjustment of the second scanner based on the analysis result of the point cloud image of the second scanner or user input to the input unit 1. The adjustment method is the same as the mechanical and / or electronic adjustment of the first scanner in step S102.

[0076] Next, the control unit 6 determines whether or not there are any scanners still to be adjusted (step S106). Specifically, the control unit 6 determines whether or not three or more scanners are housed in the target scan box. If there are any scanners to be adjusted (step S106; Yes), the control unit 6 sequentially adjusts the detection ranges FOV of the remaining scanners using the same procedures as steps S103 to S105 (step S107). As a result, the control unit 6 sequentially installs poles each time one of the remaining scanners L is selected as the adjustment target, and adjusts the ends of the detection range FOV of the scanner L to be adjusted so that they align with the newly installed pole and the pole installed immediately before that pole. On the other hand, if there are no scanners to be adjusted (step S106; No), the control unit 6 ends the processing of the flowchart.

[0077] In adjusting the detection range FOV in steps S102, S103, S105, etc., the control unit 6 performs mechanical adjustment when an adjustment that cannot be performed electronically (e.g., rotational deviation adjustment around the x-axis or y-axis and front-to-back deviation adjustment) is necessary. On the other hand, for adjustments that can be performed either electronically or mechanically (e.g., rotational deviation adjustment around the z-axis, up-down deviation adjustment, and left-to-right deviation adjustment), the control unit 6 may prioritize electronic adjustment over mechanical adjustment. In the latter case, for example, the control unit 6 may perform mechanical adjustment only when it determines that the target adjustment amount cannot be achieved by electronic adjustment alone. In this case, the control unit 6 may store information on the adjustment amounts of rotational deviation adjustment, up-down deviation adjustment, and left-to-right deviation adjustment that can be adjusted electronically in the storage unit 3, etc., in advance.

[0078] As described above, the adjustment method in this embodiment is a method for adjusting the detection range FOV of the first scanner and the second scanner, and includes the following first to third adjustment steps. In the first adjustment step, the detection range FOV of the first scanner is adjusted to match the first and second poles installed based on both horizontal ends of the detection range FOV of the first scanner. In the second adjustment step, the detection range FOV of the second scanner is adjusted so that the second pole is located at one horizontal end of the detection range FOV. In the third adjustment step, the detection range FOV of the second scanner is adjusted to match the third pole and the second pole installed based on the other horizontal end of the detection range FOV of the second scanner after adjustment in the second adjustment step, which are located on the opposite side of the first pole with respect to the second pole. This makes it possible to preferably adjust the multiple scanners so as to preferably expand the detection range FOV of the measurement system 100 as a whole.

[0079] [Variations] Next, preferred modifications of the embodiment will be described. The following modifications may be applied to the above-described embodiment in any combination.

[0080] (Variation 1) In the embodiment, a pole on which band regions Ph are formed at predetermined intervals is used as a reference object for determining the detection range FOV of each scanner L. Alternatively, each scanner L may be adjusted using a reference object on which no band regions Ph are formed.

[0081] Fig. 11(A) is a diagram showing the positional relationship between poles P1 and P2 and detection range FOV1 when adjusting scanner L1 using a pole without band region Ph, and Fig. 11(B) shows point cloud image Im1 acquired in the case of Fig. 11(A). As shown in Fig. 11(A) and (B), in this case, poles P1 and P2 are lower than the upper end of detection range FOV1 and are columnar objects with uniform reflectance.

[0082] In this case, as shown in FIG. 11(B), the control unit 6 measures the distance between the top end of the pole region R1 and the top end of the point cloud image Im1 (see arrow 93) and the distance between the top end of the pole region R2a and the top end of the point cloud image Im1 (see arrow 94), and adjusts the detection range FOV1 by performing at least one of mechanical adjustment and electronic adjustment so that these distances match. Similarly to the example of FIG. 8(B) described in the embodiment, the control unit 6 adjusts the detection range FOV1 by performing at least one of mechanical adjustment and electronic adjustment so that the horizontal lengths of the pole region R1 and the pole region R2a are each predetermined lengths. Even in this example, the control unit 6 can suitably adjust the detection range FOV1 so that the extension direction of the poles P1 and P2 matches the short-side direction of the detection range FOV1 and so that no distortion or tilt occurs to the left or right.

[0083] Furthermore, the reference object that defines the detection range FOV of each scanner L does not need to be columnar, and may be any object the whole or part of which extends in a direction approximately perpendicular to the ground.

[0084] (Variation 2) The signal processing unit SP may execute part of the processing of the control unit 6. In this case, the signal processing unit SP can mechanically adjust each scanner L by sending a control signal to an adjustment mechanism 8 provided in each scanner L, and executes the processing of the flowchart in Fig. 10 instead of the control unit 6. In another example, the signal processing unit SP and the control unit 6 may be the same device. In this case, the signal processing unit SP of the lidar unit 7 is electrically connected to the input unit 1, memory unit 3, display unit 4, communication unit 5, etc., and controls the entire measurement system 100.

[0085] (Variation 3) In the embodiment, the adjustment was performed so that the detection ranges FOV of the scanners L to be adjusted are adjacent to each other in the horizontal direction without overlapping, as shown in Figures 6 and 7. Alternatively, the adjustment may be performed so that the adjacent detection ranges FOV slightly overlap.

[0086] In this case, for example, in adjusting the detection range FOV1 described in Fig. 8(B), the control unit 6 adjusts the width of the pole region R2a so that the pole P2 is displayed in the point cloud image Im1 by a predetermined length that is longer than half in the horizontal direction. Similarly, in adjusting the detection range FOV2 described in Fig. 9(B), the control unit 6 adjusts the width of the pole region R2b so that the pole P2 is displayed in the point cloud image Im2 by a predetermined length that is longer than half in the horizontal direction. Then, the control unit 6 similarly adjusts the detection range FOV to be adjusted for poles to be installed after the pole P2 so that they are displayed in the detection range FOV to be adjusted by a predetermined length that is longer than half in the horizontal direction.

[0087] Similarly, the control unit 6 may adjust adjacent detection ranges FOV so that they are slightly separated and do not touch. In this case, for example, in adjusting the detection range FOV1 described in FIG. 8(B), the control unit 6 adjusts the width of the pole region R2a so that the pole P2 is displayed in the point cloud image Im1 by a predetermined length that is shorter than half the horizontal length. Similarly, in adjusting the detection range FOV2 described in FIG. 9(B), the control unit 6 adjusts the width of the pole region R2b so that the pole P2 is displayed in the point cloud image Im2 by a predetermined length that is shorter than half the horizontal length. Then, the control unit 6 similarly adjusts the detection range FOV to be adjusted for poles to be installed after the pole P2 so that they are displayed in the detection range FOV to be adjusted by a predetermined length that is shorter than half the horizontal length.

[0088] (Variation 4) The measurement system 100 may perform the adjustment of this embodiment on scanners L that belong to different boxes and have detection ranges FOV that are close to each other in the horizontal direction. Also, the measurement system 100 may perform the adjustment of this embodiment on multiple scanners L that are not housed in a scan box. In this way, the adjustment method of this embodiment is not limited to adjusting the detection ranges FOV of scanners L in the same box.

[0089] (Variation 5) Reference objects such as poles P1 to P5 may be installed only at boundary positions between the detection ranges FOV. In the following, an example will be described in which, in the adjustment of scanners L1 to L5 described with reference to Figures 8 and 9, only poles P2 to P4 are installed between the detection ranges FOV, and poles P1 and P5 are not installed.

[0090] In this case, the control unit 6 adjusts the detection range FOV1 so that a portion (e.g., half) of the pole P2 is included in the detection range FOV1 at the right end of the point cloud image Im1 in the horizontal direction. At this time, the control unit 6 may adjust the detection range FOV1 mechanically or / electronically so that the pole region R2a representing the pole P2 becomes a rectangular region whose longitudinal direction coincides with the lateral direction of the point cloud image Im1, or may adjust the detection range FOV1 mechanically or / electronically so that the low-reflection region R22a and the low-reflection region R24a become congruent rectangles. Then, in adjusting the scanners L2 and L3, the poles P3 and P4 are sequentially installed and their respective detection ranges FOV are adjusted, as in the embodiment. Finally, in adjusting the scanner L4, which is the last adjustment target, the detection range FOV4 is adjusted so that a portion (e.g., half) of the pole P2 is included in the detection range FOV4 at the left end of the point cloud image of the scanner L4 in the horizontal direction. This adjustment is performed in the same way as the adjustment of the detection range FOV1.

[0091] Even with this modification, the measurement system 100 can suitably adjust each scanner L so that the detection ranges FOV of the scanners L in the scan box do not substantially overlap.

[0092] (Variation 6) In the embodiment, as shown in Figures 8(C) and 9(C), the detection range was adjusted so that the distance from the top and bottom of each highly reflective area to the top of the point cloud image was the same. Alternatively, the detection range may be adjusted so that the distance from the top and bottom of each highly reflective area to the bottom of the point cloud image is the same.

[0093] FIG. 12 is a diagram showing, by arrows 71x to 78x, the distances from the upper and lower ends of each highly reflective area to the lower end of point cloud image Im1 in FIG. 8(B) that is referenced when adjusting detection range FOV1. In the case of Figure 12, the control unit 6 adjusts the detection range FOV1 so that the distances from the lower ends of high-reflection regions R11 and R21a to the lower end of point cloud image Im1 (see arrows 71x and 75x) are consistent, the distances from the upper ends of high-reflection regions R13 and R23a to the lower end of point cloud image Im1 (see arrows 72x and 76x) are consistent, the distances from the lower ends of high-reflection regions R13 and R23a to the lower end of point cloud image Im1 (see arrows 73x and 77x) are consistent, and the distances from the upper ends of high-reflection regions R15 and R25a to the lower end of point cloud image Im1 (see arrows 74x and 78x) are consistent.

[0094] Even with this modification, the control unit 6 can suitably set the detection range FOV1 so that the extension direction of the poles P1 and P2 and the short side direction of the detection range FOV1 are aligned with each other and so that there is no distortion or tilt to the left or right. Note that the control unit 6 may also similarly adjust the detection range FOV for other detection ranges FOV that are adjusted after the detection range FOV1 so that the distances from the top and bottom of each highly reflective area displayed in the point cloud image to the bottom of the point cloud image are aligned. [Explanation of symbols]

[0095] 1 Input section 2 Sensor section 3 Storage section 4 Display 5. Communications Department 6 Control Unit 100 Measurement System

Claims

[Claim 1] An adjustment method for adjusting detection ranges of a first detection device and a second detection device, comprising: a first adjustment step of adjusting the detection range of the first detection device in accordance with first and second reference objects installed using both ends of the detection range of the first detection device in a horizontal direction as references; a second adjustment step of adjusting the detection range of the second detection device so that the second reference object is positioned at one end of the detection range in a horizontal direction; a third adjustment step of adjusting the detection range of the second detection device in accordance with a third reference object that is installed using the other horizontal end of the detection range of the second detection device after adjustment in the second adjustment step as a reference and is provided on the opposite side of the first reference object with respect to the second reference object; and The adjustment method has the following features.

Images