Distance measurement system and calculation device

Abstract

To provide a distance measuring system capable of expanding an irradiation area of a laser beam.SOLUTION: The distance measurement unit 10 is fixed to the rotation shaft 22 of the fixed member 20. The fixing member 20 is fixed to the bucket of the aerial work platform by a clamp 34. The motor 30 rotates the rotating shaft 22. Laser light is emitted from the ranging unit 10 in a state in which the ranging unit 10 is rotating together with the rotating shaft 22. The distance measurement unit 10 outputs a signal corresponding to the reflected light of the laser light to the signal output device 32. The signal output device 32 generates and outputs distance measurement point data. The terminal 40 corrects the value of the direction variable of the distance measurement point data in accordance with the rotation angle of the rotating shaft 22.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a distance measuring system and a computing device. [Background technology]

[0002] For example, Patent Document 1 describes a distance measurement system equipped with three optical sensors. One of the optical sensors emits a laser beam in each horizontal direction. Another of the optical sensors emits a laser beam upward. The remaining optical sensor emits a laser beam downward. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-34845 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above system, the larger the area in which the optical sensors are used to detect an object, the more optical sensors must be used. [Means for solving the problem]

[0005] The means for solving the above problems and their effects will be described below. 1. A ranging system including a ranging unit configured to be able to scan laser light along a scanning direction and having an optical sensor configured to receive reflected light of the irradiated laser light, the ranging system having a fixed member, the fixed member having a fixed portion for fixing the fixed member to a specified member, a rotating shaft rotatable relative to the fixed portion, and a motor for rotating the rotating shaft relative to the fixed member, the ranging system being configured to rotate integrally with the rotating shaft.

[0006] In the above configuration, the distance measuring unit rotates integrally with the rotary shaft by the motor, and therefore the irradiation direction of the laser light can be changed within the range in which the rotary shaft can rotate. 2. A ranging system as described in 1 above, wherein the scanning direction of the laser light by the ranging unit is a direction extending radially from the first rotation center line in a plane perpendicular to the first rotation center line, and a direction extending radially from the second rotation center line in a plane perpendicular to a second rotation center line that intersects the first rotation center line.

[0007] In the above configuration, the direction in which the laser light is irradiated can be expanded by fixing a distance measuring unit capable of irradiating laser light in directions extending radially from the first rotation center line and in directions extending radially from the second rotation center line to the rotation axis.

[0008] 3. A ranging system as described in 1 or 2 above, comprising an arithmetic unit, the arithmetic unit being configured to execute a ranging point data acquisition process and a correction process, the ranging point data acquisition process being a process of acquiring ranging point data output by the ranging unit, the ranging point data being data in which a distance variable is linked to a direction variable, the distance variable being a variable indicating the distance between the object that reflected the laser light and the ranging unit, the direction variable being a variable indicating the direction of irradiation of the laser light toward the ranging unit, the correction process being a process in which the ranging point data is input and which outputs data regarding the reflected object, and the data output by the correction process being data determined by the value of the direction variable corrected to compensate for the shift in the irradiation direction of the laser light caused by the rotation of the rotation axis.

[0009] The value of the direction variable of the ranging point data output by the ranging unit is a value indicating a direction determined with the ranging unit as the reference. Therefore, when the ranging unit is rotated by a motor, even if the value of the direction variable is the same, the direction in which the laser light is actually emitted varies depending on the rotation angle of the rotation shaft. Therefore, in the above configuration, the value of the direction variable is corrected depending on the rotation of the rotation shaft. As a result, even when the laser light is emitted while the rotation shaft is rotating, the value of the direction variable can be set to a value in a stationary system together with the fixed member.

[0010] 4. A ranging system as described in claim 3, wherein the correction process includes a process of outputting data regarding the reflected object using information regarding the time of irradiation of the laser light corresponding to the ranging point data as an input variable indicating the rotation of the rotation axis.

[0011] The irradiation time is a variable that specifies the rotation angle of the rotation axis. Therefore, in the above configuration, by using the irradiation time as an input variable, data related to the reflected object can be made to reflect the rotation angle of the rotation axis.

[0012] 5. The distance measurement system of claim 3, wherein the correction process includes a rotation angle information storage process and a synchronization process, wherein the rotation angle information storage process is a process for storing time series data of the rotation angle of the rotation axis and time, the synchronization process is a process for identifying the value of the rotation angle stored by the rotation angle information storage process at the time of irradiation of the laser light corresponding to the distance measurement point data, and the correction process includes a process for outputting data regarding the reflected object using the identified rotation angle as an input variable.

[0013] In the above configuration, pairs of the rotation angle and the time are sequentially stored, so that even if the rotation speed of the motor fluctuates, the rotation angle of the rotary shaft at the timing of laser light irradiation can be determined with high accuracy.

[0014] 6. A ranging system described in any one of 3 to 5 above, wherein the correction process includes a three-dimensional data generation process, which is a process of outputting data in which the position of the reflected object is converted into components on three mutually perpendicular axes, and which is determined by the value of the directional variable corrected according to the rotation of the rotation axis.

[0015] In the above configuration, the rotation of the rotation axis can be reflected in the three components related to the position of the object that reflected the laser light. 7. A ranging system described in any one of 3 to 7 (excluding those not dependent on 3) above, wherein the calculation device is configured to perform velocity feedback processing, and the velocity feedback processing is processing for operating the motor by feedback control in which the rotational angular velocity of the rotating shaft is a control quantity and a target rotational angular velocity is a target value of the control quantity.

[0016] In the above configuration, since the speed feedback process is performed, the rotation speed of the rotating shaft can be stabilized compared to when the speed feedback process is not performed, which is particularly suitable for the configuration 4 above.

[0017] 8. A ranging system described in any one of 3 to 7 above, wherein the calculation device is configured to perform a judgment process and an alarm process, the judgment process being a process of determining whether or not an object exists within a specified area based on data output by the correction process, and the alarm process being a process of issuing an alarm to that effect by operating an interface if it is determined that an object exists within the specified area.

[0018] With the above configuration, if an object is present within a predetermined area, it is possible to notify the user of this. 9. A ranging system as described in claim 8, wherein the fixed member is attached to a bucket of an aerial work vehicle, and the specified area is an area in the vicinity of the bucket and excluding at least a portion of the area within the bucket.

[0019] A worker rides in the bucket of an aerial work vehicle. If the predetermined area includes the area where the worker is located, an alarm may be issued due to the worker's presence. Therefore, with the above configuration, by excluding at least a portion of the area within the bucket from the predetermined area, it is possible to prevent an alarm from being issued due to the worker being in the bucket.

[0020] 10. The arithmetic unit in the distance measuring system according to any one of 3 to 9 above (excluding those not dependent on 3 above). [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a distance measuring system according to a first embodiment. [Figure 2] 2 is a diagram showing the direction of irradiation of laser light from the distance measuring unit shown in FIG. 1. [Figure 3] 2 is a diagram illustrating an example of the arrangement of distance measuring units shown in FIG. 1. FIG. [Figure 4] 2 is a diagram showing an area monitored by the ranging system shown in FIG. 1; [Figure 5] 2 is a flowchart showing a procedure of processing executed by the terminal shown in FIG. [Figure 6] 2 is a flowchart showing a procedure of processing executed by the terminal shown in FIG. [Figure 7] 2 is a flowchart showing a procedure of processing executed by the terminal shown in FIG. [Figure 8] 2 is a diagram illustrating an example of the arrangement of distance measuring units shown in FIG. 1. FIG. [Figure 9] 10 is a flowchart showing a procedure of a process executed by a terminal according to the second embodiment. [Figure 10] 10 is a flowchart showing a procedure of a process executed by a terminal according to the second embodiment. [Figure 11] 10A and 10B are diagrams illustrating a fixing member according to a modified example of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0022] First Embodiment The first embodiment will be described below with reference to the drawings. System Configuration Figure 1 shows the configuration of the ranging system.

[0023] The distance measuring unit 10 shown in Fig. 1 emits, for example, a laser beam such as a near-infrared beam. The distance measuring unit 10 also includes an optical sensor that receives reflected light of the laser beam. The distance measuring unit 10 is fixed to a rotating shaft 22 of a fixed member 20. The rotating shaft 22 is rotatable by a motor 30. When the rotating shaft 22 rotates, the distance measuring unit 10 rotates integrally with the rotating shaft 22.

[0024] The distance measuring unit 10 is connected to a cable 26 via a slip ring 24. The cable 26 includes wiring for supplying power to the distance measuring unit 10 and wiring for transmitting an output signal from the distance measuring unit 10. The output signal from the distance measuring unit 10 is input to a signal output device 32 via the cable 26.

[0025] The signal output device 32 generates distance measurement point data based on the output signal of the distance measurement unit 10. The distance measurement point data includes a distance variable d, a direction variable (θ, ψ), an intensity variable in, and an irradiation time variable tr. The distance variable d is a variable that indicates the distance between the object that reflected the laser light and the distance measurement unit 10. The direction variable (θ, ψ) is a variable that indicates the irradiation direction of the laser light for the distance measurement unit 10. The intensity variable in is a variable that indicates the intensity of the light received by the distance measurement unit 10. The irradiation time variable tr is a variable that indicates the irradiation time of the laser light. The process of generating the distance measurement point data can be realized by, for example, a TOF (Time of Flight) method. However, the distance measurement point data may be generated not only by the TOF method, but also by, for example, an FMCW (Frequency Modulated Continuous Wave) method.

[0026] The ranging point data generated by the signal output device 32 is input to the terminal 40. The terminal 40 includes a PU 42 and a storage device 44. The PU 42 is a software processing device including at least one of a CPU, a GPU, a TPU, etc. The storage device 44 stores a program, which is an instruction that defines the processing executed by the PU 42.

[0027] The fixing member 20 is provided with a clamp 34, which allows the fixing member 20 to be fixed to a bucket in this embodiment. The bucket carries a worker who performs indirect live-line work in the power distribution section. The bucket is attached to an aerial work vehicle. Note that FIG. 1 illustrates the distance measuring unit 10 and the fixing member 20 so that the vertically upward direction coincides with when they are attached to the bucket. In FIG. 1, the positive z-axis direction is the vertically upward direction. The x-axis and y-axis are horizontal directions.

[0028] FIG. 2 shows the direction of laser light irradiation by the distance measuring unit 10. As shown on the left side of FIG. 2, the distance measuring unit 10 is configured to irradiate laser light along the radial direction of the distance measuring unit 10. In other words, the distance measuring unit 10 is configured to be able to rotationally scan the irradiation direction of the laser light in directions extending radially from the first rotation center line L1 on a plane perpendicular to the first rotation center line L1 parallel to the y-axis in FIG. 2. Also, as shown on the right side of FIG. 2, the distance measuring unit 10 is capable of irradiating laser light in three mutually different directions in the horizontal direction. In other words, the distance measuring unit 10 is configured to rotationally scan the irradiation direction of the laser light in directions extending radially from the second rotation center line L2 on a plane perpendicular to the second rotation center line L2 parallel to the z-axis in FIG. 2.

[0029] 3, the distance measurement unit 10 is attached to a bucket 60 provided on an aerial work vehicle via a fixing member 20. To ensure the safety of a worker 70, the terminal 40 monitors the distance between the bucket 60 and a predetermined object based on the distance measurement point data. Specifically, the terminal 40 monitors whether an object is present in a predetermined area near the bucket 60.

[0030] FIG. 4 shows a predetermined area Ar in which the terminal 40 monitors the presence of an object. 4, the area to monitor for the presence of an object is wide, so that the area irradiated with laser light by the distance measuring unit 10 cannot cover the entire predetermined area Ar in the horizontal direction.

[0031] 1, the distance measuring unit 10 is fixed to a rotation shaft 22 so that the distance measuring unit 10 is mounted in a manner that allows it to rotate horizontally in the bucket 60. The rotation shaft 22 is disposed parallel to the z-axis direction.

[0032] "Rotation control of motor 30" Fig. 5 shows the procedure for processing related to the rotation control of the motor 30. The series of processing shown in Fig. 5 is realized by the PU 42 repeatedly executing a program stored in the storage device 44, for example, at a predetermined interval. Note that, below, the step number of each processing step is represented by a number preceded by "S."

[0033] 5, the PU 42 first acquires the rotation angle θm of the motor 30 detected by the rotation angle sensor 50 shown in FIG. 1 (S10). The rotation angle θm is also the rotation angle of the rotary shaft 22. Therefore, the rotation angle θm is also the rotation angle of the distance measuring unit 10. Next, the PU 42 calculates the rotation angular velocity ωm of the motor 30 (S12). As an example, the PU 42 assigns a value obtained by subtracting the rotation angle θm acquired in the previous processing of S10 from the rotation angle θm acquired in the current processing of S10 to the rotation angular velocity ωm.

[0034] Next, the PU 42 calculates a feedback control manipulated variable in which the rotational angular velocity ωm is the controlled variable and the target rotational angular velocity ωm* is the target value of the controlled variable, and substitutes the manipulated variable for the torque command value Tm (S14). The PU 42 then outputs an manipulated signal MS to the motor 30 to bring the torque of the motor 30 closer to the torque command value Tm (S16). In more detail, the manipulated signal MS is, for example, a manipulated signal of an inverter that applies a voltage to the terminals of the motor 30.

[0035] Next, the PU 42 determines whether or not the flag F is "1" (S18). The flag F is "0" when the motor 30 starts to rotate. If the PU 42 determines that the flag F is "0" (S18: NO), the PU 42 determines whether or not the rotational angular velocity ωm is stable (S20). As an example, the PU 42 determines that the rotational angular velocity ωm is stable when the absolute value of the difference between the previous value and the current value of the rotational angular velocity ωm remains equal to or smaller than a predetermined value for a predetermined period of time.

[0036] When the PU 42 determines that the rotational angular velocity ωm is stable (S20: YES), it determines whether the rotational angle θm matches a predetermined reference angle (S22). When the PU 42 determines that the rotational angle θm matches the reference angle (S24: NO), it assigns "1" to flag F (S24). Then, the PU 42 starts measuring the elapsed time since the affirmative determination was made in the processing of S22 (S26). Furthermore, the PU 42 assigns the current time to the start time t0, which is the time when the affirmative determination was made in the processing of S22 (S28).

[0037] The PU 42 temporarily terminates the series of processes shown in FIG. 5 when it completes the process of S28, when it makes a positive determination in the process of S18, or when it makes a negative determination in the processes of S20 and S22.

[0038] "Range point data correction" The effect of the rotation angle θm is not taken into account in the distance measurement point data calculated from the output signal of the distance measurement unit 10 when the motor 30 is rotating by the above process. Therefore, the PU 42 corrects the distance measurement point data.

[0039] The procedure for the above correction is shown in Fig. 6. The series of processes shown in Fig. 6 is realized by the PU 42 repeatedly executing a program stored in the storage device 44, for example, at predetermined intervals.

[0040] 6, the PU 42 first acquires one frame of ranging point cloud data (S30). One frame of ranging point cloud data is made up of ranging point data generated from each of the reflected light of the laser light irradiated while the ranging unit 10 makes one rotation in the radial direction, for each of three different horizontal directions shown on the right side of FIG.

[0041] In the process of S30, the PU42 acquires, among the ranging point data, in particular, a direction variable (θ, ψ), a distance variable d, and an irradiation time variable tr. In FIG. 6, the number in parentheses after each variable indicates at what timing within one frame the ranging point data is based on the reflected light of the laser light irradiated. In more detail, as an example, the earlier the ranging point data based on the reflected light of the laser light is irradiated, the smaller the number assigned to that data. In other words, (θ(1), ψ(1), d(1), tr(1)) is the data with the earliest laser light irradiation timing among the ranging point data within a frame.

[0042] Next, the PU 42 assigns "1" to the variable i that specifies the ranging point data within the frame (S32). Next, the PU 42 assigns the value obtained by adding the product of the target rotational angular velocity ωm* and the value obtained by subtracting the start time t0 from the irradiation time variable tr(i) to the direction variable ψ(i), which specifies the horizontal irradiation direction of the laser light, to the direction variable ψ(i) (S34). In other words, the PU 42 corrects the direction variable ψ(i) by "ωm*·{tr(i)-t0}". That is, at the time specified by the irradiation time variable tr(i), the ranging unit 10 has rotated by "ωm*·{tr(i)-0}" in the horizontal direction relative to the reference angle. Therefore, the irradiation direction of the laser light by the ranging unit 10 is shifted by "ωm*·{tr(i)-t0}" with respect to the direction variable ψ(i) indicated by the ranging point data.

[0043] Next, the PU42 generates three-dimensional point cloud data (S36). More specifically, the PU42 assigns "d(i)·cosθ(i)·cosψ(i)" to the x-axis component x(i). The PU42 also assigns "d(i)·cosθ(i)·sinψ(i)" to the y-axis component y(i). The PU42 also assigns "d(i)·sinθ(i)" to the z-axis component z(i). The above matrix used when generating three-dimensional point cloud data is an example in which the reference angle is aligned with the x-axis direction.

[0044] Next, the PU 42 determines whether all the distance measurement point data for one frame has been converted into 3D point cloud data (S38). If the PU 42 determines that there is data that has not yet been converted into 3D point cloud data (S38: NO), the PU 42 increments the variable i (S40) and then returns to the processing of S34.

[0045] If the determination in the process of S38 is affirmative, the PU 42 temporarily ends the series of processes shown in FIG. "Warning processing" Fig. 7 shows the procedure of processing when it is detected that an object is present within the predetermined area Ar of the bucket 60. The series of processing shown in Fig. 7 is realized by the PU 42 repeatedly executing a program stored in the storage device 44, for example, at a predetermined interval.

[0046] 7, the PU 42 first acquires three-dimensional point cloud data (S50). The PU 42 determines whether or not an object exists within a predetermined area Ar based on the three-dimensional point cloud data (S52). If the PU 52 determines that an object exists within the predetermined area Ar (S52: YES), the PU 52 executes an alarm process by operating the speaker 52 shown in FIG. 1 (S54).

[0047] The PU 42 temporarily terminates the series of processes shown in FIG. 7 when the process of S54 is completed or when a negative determination is made in the process of S52. "Actions and Effects of the Present Embodiment" Figure 8 shows a view of the bucket 60 from above. As shown in Figure 8, in this embodiment, a distance measuring unit 10 is provided at each end of the diagonal of the bucket 60. Figure 8 schematically shows the horizontal irradiation area of ​​the laser light when only the distance measuring unit 10 is used. In detail, the irradiation area of ​​the laser light when the distance measuring unit 10 is arranged as shown in Figure 8 is indicated by hatching that slopes upward to the right. Furthermore, the irradiation area of ​​the laser light when the arrangement of the distance measuring unit 10 shown in Figure 8 is rotated 90 degrees is indicated by hatching that slopes downward to the right. As shown in Figure 8, even when two distance measuring units 10 are used, it is not possible to provide a sufficient area in the horizontal direction as the irradiation area of ​​the laser light.

[0048] In contrast to this, in this embodiment, the distance measuring unit 10 is rotated in the horizontal direction, which allows the laser light to be irradiated over the entire area in the horizontal direction. <Second embodiment> The second embodiment will be described below with reference to the drawings, focusing on the differences from the first embodiment.

[0049] Fig. 9 shows a processing procedure relating to the rotation control of the motor 30. The series of processes shown in Fig. 9 is realized by the PU 42 repeatedly executing a program stored in the storage device 44, for example, at a predetermined interval. For convenience, the same step numbers are assigned in Fig. 9 to the processes that are the same as those shown in Fig. 5.

[0050] 9, when the PU 42 makes a positive determination in the process of S18, it associates the rotation angle θm acquired in the process of S10 with the detection time t of the rotation angle θm and stores them in the storage device 44 (S60). When the PU 42 completes the process of S60, it temporarily ends the series of processes shown in FIG.

[0051] Fig. 10 shows the procedure for correcting distance measurement point data. The series of processes shown in Fig. 10 is realized by the PU 42 repeatedly executing a program stored in the storage device 44, for example, at a predetermined interval. For convenience, the same step numbers are used in Fig. 10 to designate the same processes as those shown in Fig. 6.

[0052] In the series of processes shown in FIG. 10 , when completing the process of S32, the PU 42 searches for a rotation angle θm corresponding to the irradiation time variable tr(i) from among the rotation angles θm stored in the storage device 44 by the process of S60 (S62). Note that if there is no detection time t associated with the rotation angle θm stored in the storage device 44 by the process of S60 that matches the irradiation time variable tr(i), the PU 42 may perform an interpolation calculation. That is, for example, the PU 42 selects two detection times t that are chronologically adjacent to each other and sandwich the irradiation time variable tr(i) from among the detection times t associated with the rotation angles θm. Then, the PU 42 performs an interpolation calculation for the rotation angles θm associated with each of the two times. In this case, the result of the interpolation calculation is the search result. Note that it is not essential to perform the interpolation calculation if there is no detection time t associated with the rotation angle θm stored in the storage device 44 by the process of S60 that matches the irradiation time variable tr(i). For example, the PU 42 may search for the rotation angle θm associated with the time closest to the irradiation time variable tr(i) among the detection times t stored in the storage device 44 by the process of S60.

[0053] Next, the PU 42 adds the rotation angle θm to the direction variable ψ(i) and assigns the result to the direction variable ψ(i) (S64). That is, the PU 42 advances the direction variable ψ(i) by the rotation angle θm. When the process of S64 is completed, the PU 42 proceeds to the process of S36.

[0054] "Actions and Effects of the Present Embodiment" When the PU 42 rotates the distance measuring unit 10, it associates the rotation angle θm with the detection time t and stores it in the storage device 44 at a predetermined cycle. Then, it corrects the direction variable ψ(i) according to the rotation angle θm at the time corresponding to the irradiation time variable tr(i). Therefore, even if the rotation angular velocity ωm of the motor 30 fluctuates, the direction variable ψ(i) can be corrected to the irradiation angle of the laser light with high accuracy.

[0055] <Correspondence> The correspondence between the matters in the above embodiment and the matters described in the "Means for Solving the Problem" column is as follows. Below, the correspondence is shown for each number of the means for solving the problem described in the "Means for Solving the Problem" column. [1, 2] The fixing unit corresponds to the clamp 34. [3, 10] The calculation device corresponds to the terminal 40. The ranging point data acquisition process corresponds to the processes of S30 and S30a. The correction process corresponds to the processes of S34 and S36 in FIG. 6. The correction process corresponds to the processes of S60 to S64 and S36 in FIG. 9 and FIG. 10. [4] Information regarding the laser light irradiation time corresponds to the irradiation time variable tr(i). [5] The rotation angle information acquisition process corresponds to the process of S60. The synchronization process corresponds to the process of S62. [6] The three-dimensional data generation process corresponds to the process of S36. [7] The velocity feedback process corresponds to the processes of S14 and S16. [8, 9] The determination process corresponds to the processes of S50 and S52 in FIG. 7. The warning process corresponds to the process of S54. The predetermined area corresponds to the predetermined area Ar in FIG.

[0056] <Other embodiments> This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0057] "About distance measurement point data" It is not essential that the distance measurement point data include data indicating the irradiation time variable tr(i). Even if the distance measurement point data does not include data indicating the irradiation time variable tr(i), if the distance measurement unit 10 irradiates the laser light at a constant period, the PU 42 can determine the irradiation time of the laser light from the elapsed time from the start time of irradiation of the laser light and the number of irradiations.

[0058] "About the distance measurement point data acquisition process" The ranging point data acquisition process is not limited to a process of acquiring data for each frame. For example, if the signal output device continuously outputs ranging point data, the ranging point cloud data acquisition process may be a process of acquiring ranging point data output each time.

[0059] "About correction processing" The correction process does not necessarily have to be a process of correcting the directional variables of the ranging point data. For example, the PU42 may convert the ranging point data into 3D point cloud data and then correct the 3D point cloud data according to the rotation angle θm, etc. Even in this case, the 3D point cloud data is data determined by values ​​obtained by correcting the directional variables of the ranging point data as input according to the rotation angle θm, etc.

[0060] "Regarding the specified area" Instead of the predetermined area Ar, the predetermined area Ad shown in FIG. 4 may be used. "Motor Control" It is not essential that the motor be controlled in accordance with the manipulated variable of feedback control, in which the rotational angular velocity ωm is the controlled variable and the target rotational angular velocity ωm* is the target value of the controlled variable.

[0061] "About the distance measurement unit" In the above embodiment, an example was shown in which the distance measuring unit was capable of scanning the laser light in three mutually different directions in the horizontal direction, but this is not limited to this. In other words, the irradiation direction of the laser light was capable of rotationally scanning in three mutually different directions extending radially from the second rotation center line L2, but this is not limited to this. For example, the distance measuring unit may be capable of scanning the laser light in two mutually different directions in the horizontal direction. Furthermore, for example, the distance measuring unit may be capable of scanning the laser light in four or more mutually different directions in the horizontal direction.

[0062] When scanning the laser beam irradiation direction of the distance measuring unit in directions extending radially from each of the two rotation center lines, it is not necessary for the two rotation center lines to be orthogonal to each other. For example, the two rotation center lines may be in two directions forming a 45° angle with each other. Even in such a case, it is desirable to position the rotation axis parallel to the rotation center line with the smaller area of ​​the scannable areas in the directions extending radially from each of the two intersecting rotation center lines.

[0063] "About fixing parts" The rotation axis does not necessarily have to rotate horizontally. For example, the rotation axis may be parallel to the x-axis shown in FIG. 2.

[0064] The fixing member is not limited to the member illustrated in FIG. 1. For example, as shown in FIG. 11, a configuration without a slip ring 24 may be used. The configuration shown in FIG. 11 is based on the premise that the rotation angle θm of the motor 30 is controlled to be limited to a predetermined angle range. That is, when the rotation angle θm reaches the end of the predetermined angle range, the motor 30 is controlled to rotate in reverse. This configuration can prevent the cable from being wrapped around the rotating shaft 22. Furthermore, since the slip ring 24 is not provided, interference of the fixing member 20 with the laser light irradiation area of ​​the distance measuring unit 10 is prevented. The predetermined angle range may be, for example, a range of 360° or less, such as a range from -180° to 180°. The predetermined angle range may also be, for example, between 180° and 360°.

[0065] The place where the fixing member is fixed is not limited to the bucket 60 of the aerial work platform. For example, it may be a marine patrol vessel. "About the arithmetic unit" The arithmetic device is not limited to one that executes software processing. For example, it may include a dedicated hardware circuit, such as an ASIC, that executes at least part of the processing executed in the above embodiments. That is, the arithmetic device may include a processing circuit having any of the following configurations (a) to (c): (a) A processing circuit that includes a processing device that executes all of the above processing in accordance with a program, and a program storage device, such as a memory device, that stores the program. (b) A processing circuit that includes a processing device and program storage device that executes part of the above processing in accordance with a program, and a dedicated hardware circuit that executes the remaining processing. (c) A processing circuit that includes a dedicated hardware circuit that executes all of the above processing. Here, there may be multiple software execution devices that include a processing device and a program storage device. Also, there may be multiple dedicated hardware circuits. [Explanation of symbols]

[0066] 10…Distance measuring section 20...Fixing member 22...Rotation axis 24...Slip ring 26…Cable 30...Motor 32...Signal output device 34...Clamp 40...Terminal 60...Bucket 70...Worker

Claims

1. A distance measuring system including a distance measuring unit configured to be able to scan a laser beam along a scanning direction and having an optical sensor configured to receive reflected light of the irradiated laser beam, A fixing member is provided, the fixing member includes a fixing portion for fixing the fixing member to a predetermined member, a rotating shaft rotatable relative to the fixing portion, and a motor for rotating the rotating shaft relative to the fixing member; A ranging system in which the ranging unit is configured to rotate integrally with the rotation shaft.

2. A ranging system as described in claim 1, wherein the scanning direction of the laser light by the ranging unit is a direction extending radially from the first rotation center line in a plane perpendicular to the first rotation center line, and a direction extending radially from the second rotation center line in a plane perpendicular to a second rotation center line that intersects the first rotation center line.

3. A computing device is provided, the arithmetic unit is configured to execute a distance measurement point data acquisition process and a correction process; the ranging point data acquisition process is a process of acquiring ranging point data output by the ranging unit, the distance measurement point data is data in which a distance variable is linked to a direction variable, the distance variable is a variable indicating the distance between the object that reflected the laser light and the distance measuring unit, the direction variable is a variable indicating an irradiation direction of the laser light with respect to the distance measuring unit, The correction process is a process in which the distance measurement point data is input and data relating to the reflected object is output, 3. A distance measuring system according to claim 1, wherein the data output by the correction process is determined by the value of the direction variable corrected to compensate for deviation in the irradiation direction of the laser light caused by rotation of the rotation axis.

4. The distance measurement system according to claim 3, wherein the correction process includes a process of outputting data regarding the reflected object using information regarding the irradiation time of the laser light corresponding to the distance measurement point data as an input variable indicating the rotation of the rotation axis.

5. the correction process includes a rotation angle information storage process and a synchronization process, the rotation angle information storage process is a process of storing time series data of the rotation angle of the rotation shaft and time, the synchronization process is a process of identifying a value of the rotation angle stored in the rotation angle information storage process at a time when the laser light is emitted, the value corresponding to the range-finding point data; 4. The distance measuring system according to claim 3, wherein the correction process includes a process of outputting data relating to the reflected object using the identified rotation angle as an input variable.

6. the correction process includes a three-dimensional data generation process, The distance measurement system according to claim 3, wherein the three-dimensional data generation process is a process of outputting data in which the position of the reflected object is converted into components on three mutually perpendicular axes, and the data is determined by the value of the directional variable corrected according to the rotation of the rotation axis.

7. the computing device is configured to perform velocity feedback processing; 4. The distance measuring system according to claim 3, wherein the velocity feedback processing is processing for operating the motor by feedback control in which the rotational angular velocity of the rotary shaft is a controlled variable and a target rotational angular velocity is a target value of the controlled variable.

8. the computing device is configured to execute a determination process and an alarm process; the determination process is a process of determining whether or not an object exists within a predetermined area based on data output by the correction process; 4. The distance measuring system according to claim 3, wherein the warning process is a process of issuing a warning to that effect by operating an interface when it is determined that an object exists within the predetermined area.

9. The fixing member is attached to a bucket of a high-altitude work vehicle, 9. The distance measuring system according to claim 8, wherein the predetermined area is an area in the vicinity of the bucket and excluding at least a part of the area inside the bucket.

10. 4. The computing device in the distance measuring system according to claim 3.

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