Detection system and detection method

Abstract

This invention provides a detection system and detection method that can improve the accuracy of the positional information of an object. [Solution] A detection system 1 comprises a sensor 3 that measures an object and acquires object data D1 including location information, a control mechanism 4 that acquires object data D1 from the sensor 3, and an auxiliary sensor 12 that acquires state data D2 indicating the state of the sensor 3. The sensor 3 and the auxiliary sensor 12 perform measurements, and an acquisition unit 13 acquires the object data D1 along with the state data D2 corresponding to the object data D1. An extraction unit 14 extracts state data D2 that does not exceed a preset first threshold range, and a setting unit 15 sets the object data D1 corresponding to the extracted state data D2 as an instantaneous value D3. Based on the set value, a determination unit 16 determines the object's location information D4.

Description

Technical Field

[0001] The present invention relates to a detection system and a detection method for acquiring position information of an object by measuring with a sensor installed in equipment such as a crane, and more particularly to a detection system and a detection method capable of improving the accuracy of the position information of the object.

Background Art

[0002] When a crane performs a cargo handling operation, various detection systems for measuring the position information of the cargo handling object have been proposed (see, for example, Patent Document 1). The crane described in Patent Document 1 measures the position of a coil, which is the object of cargo handling, by a sensor installed on a trolley with the suspension part in a stopped or slow-speed state.

[0003] Even when the suspension part is in a stopped or slow-speed state, vibrations may occur in the crane or the trolley. Specifically, when a traveling crane stops, the upper end of the crane may swing greatly along the traveling direction due to inertia. When the crane or the like is vibrating, the sensor installed on the trolley also vibrates in the same way. The sensor acquires the position information of the object by measuring the distance from the position of the sensor itself to the object. Therefore, when measuring the object with a vibrating sensor, there is a problem that the accuracy of the acquired position information is significantly reduced. In this case, the position information contains a lot of noise generated by the influence of vibration.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] This invention was made in view of the above-mentioned problems, and its purpose is to provide a detection system and detection method that can improve the accuracy of the positional information of an object. [Means for solving the problem]

[0006] A detection system for achieving the above objectives comprises a sensor that measures an object and acquires object data including position information, and a control mechanism that acquires the object data from the sensor, wherein the system is further equipped with an auxiliary sensor that acquires state data indicating the state of the sensor when the object data is acquired by the sensor, and the control mechanism comprises an acquisition unit that acquires the object data along with the state data corresponding to the object data, an extraction unit that extracts the state data that does not exceed a preset first threshold range, a setting unit that sets the object data corresponding to the extracted state data as an instantaneous value, and a determination unit that determines the position information of the object based on the value set by the setting unit.

[0007] A detection method for achieving the above objective is a detection method in which a sensor measures an object and acquires object data including position information, and a control mechanism determines at least the position information of the object based on the object data, wherein an auxiliary sensor is provided in advance to acquire state data indicating the state of the sensor, and the method comprises a measurement step in which the sensor and the auxiliary sensor perform measurements; an acquisition step in which the control mechanism acquires the object data along with the object data and the state data corresponding to the object data; an extraction step in which the state data that does not exceed a preset range of a first threshold is extracted; a setting step in which the object data corresponding to the extracted state data is set as an instantaneous value; and a determination step in which the position information of the object is determined based on the value set in the setting step. [Effects of the Invention]

[0008] According to the present invention, by utilizing state data acquired by the auxiliary sensor, object data heavily influenced by sensor vibrations can be excluded. This is advantageous for improving the accuracy of the object's position information. [Brief explanation of the drawing]

[0009] [Figure 1] This is an explanatory diagram illustrating a crane on which a detection system is installed, viewed from the front. [Figure 2] This is an explanatory diagram showing the configuration of the detection system. [Figure 3] This is an explanatory diagram illustrating object data and state data. [Figure 4] This is an explanatory diagram illustrating the flow of the detection method. [Figure 5] This is an explanatory diagram illustrating a modified example of the control mechanism. [Modes for carrying out the invention]

[0010] The detection system and detection method will be described below based on the embodiment shown in the figure. In the figure, the direction of travel of the crane is indicated by arrow y, the lateral direction perpendicular to this direction of travel is indicated by arrow x, and the vertical direction is indicated by arrow z.

[0011] As illustrated in Figure 1, the detection system 1 is installed and used on the crane 2. The detection system 1 comprises a sensor 3 and a control mechanism 4. In this embodiment, the crane 2 is a gantry crane. The crane 2 is not limited to a gantry crane; it may also be a quay crane, an unloader, an overhead crane, or the like.

[0012] The crane 2, which is a gantry crane, comprises a leg structure 5 and a traveling device 6 that supports the leg structure 5 from below. The leg structure 5 has four leg members 5a extending in the vertical direction z and an upper girder 5b extending in the horizontal direction x and connecting the upper ends of the corresponding leg members 5a. The traveling device 6 has multiple wheels and is configured to move the crane 2 along the travel direction y. The crane 2 also comprises a trolley 7 configured to be able to travel along the upper girder 5b and a lifting device 8 suspended from the trolley 7 by a wire.

[0013] Sensor 3 is configured to measure an object and acquire object data D1 including position information. In this embodiment, Sensor 3 is installed on the leg member 5a and measures a transport device 9 such as a chassis as the object. The transport device 9 is not limited to a chassis, but may consist of, for example, an AGV (Automatic Guided Vehicle), a top lifter, a reach stacker, or a forklift. Sensor 3 acquires the position information of the transport device 9 as object data D1. The location where Sensor 3 is installed is not limited to the leg member 5a, but may also be installed on other parts of the crane 2 such as the upper girder 5b, trolley 7, or lifting device 8. Furthermore, Sensor 3 is not limited to being installed on the crane 2, but may also be installed on the travel surface 10 on which the crane 2 travels. Sensor 3 installed on the travel surface 10 may vibrate due to the influence of transport devices 9 passing nearby or due to wind.

[0014] Sensor 3 is composed of, for example, a two-dimensional laser scanner that scans laser light along the lateral direction x. In Figure 1, the laser light emitted from Sensor 3 is shown as a dashed line for illustrative purposes. Sensor 3 may also be composed of LiDAR (Light Detection And Ranging), a three-dimensional laser scanner, or a laser rangefinder that emits laser light in one dimension. Sensor 3 may have a configuration that combines a sensor that emits laser light with a support base that supports the sensor so that it can tilt. Specifically, Sensor 3 may be composed of a laser rangefinder that emits laser light in one dimension and have a configuration that allows it to tilt along the lateral direction x with the travel direction y as the central axis, for example, by the support base. Alternatively, Sensor 3 may be composed of, for example, a two-dimensional laser scanner that scans laser light along the travel direction y and have a configuration that allows it to tilt along the lateral direction x with the travel direction y as the central axis by the support base. Furthermore, Sensor 3 may be composed of a camera that acquires images.

[0015] The detection system 1 may be configured to include multiple sensors 3. For example, the detection system 1 may include a two-dimensional laser scanner installed on the leg member 5a of the crane 2 and a camera installed on the trolley 7. In addition to the above, the detection system 1 may also be configured to include a two-dimensional laser scanner installed on the travel surface 10.

[0016] The objects measured by sensor 3 are not limited to transport equipment 9 such as chassis. Containers 11, which are handled by crane 2, may also be the objects. Furthermore, coils or slabs, or pallets on which coils or slabs are placed, may also be the objects.

[0017] Object data D1 includes at least the object's location information. This location information refers to the object's three-dimensional coordinates and two-dimensional coordinates acquired by sensor 3. The identification numbers of transport equipment such as chassis 9, containers 11, and pallets may also be included in object data D1.

[0018] The control mechanism 4 is configured to acquire the object data D1 from the sensor 3. In this embodiment, the control mechanism 4 is installed on the trolley 7 of the crane 2. In FIG. 1, the control mechanism 4 is shown by a dashed line for the sake of explanation. At this time, the sensor 3 and the control mechanism 4 are connected by a wired or wireless signal line. The control mechanism 4 is composed of, for example, a known PC or PLC (Programmable Logic Controller). Without being limited to this, the control mechanism 4 may be configured to be incorporated into the control device of the sensor 3 or the crane 2.

[0019] As illustrated in FIG. 2, the detection system 1 includes an auxiliary sensor 12. The auxiliary sensor 12 acquires state data D2 indicating the state of the sensor 3 when the object data D1 is acquired. The auxiliary sensor 12 is composed of, for example, an inertial measurement unit (IMU) and is installed near the sensor 3. The installation position of the auxiliary sensor 12 is not limited to the vicinity of the sensor 3. Any position where the state of the sensor 3, such as the amplitude and frequency of the vibration generated in the sensor 3, can be measured is acceptable.

[0020] The auxiliary sensor 12 is used to measure the vibration generated in the sensor 3. The auxiliary sensor 12 is not limited to an inertial measurement unit and may be composed of, for example, an acceleration sensor, an inclination sensor, an angular velocity sensor, or a wind speed meter. Further, the auxiliary sensor 12 may be composed of a combination of the aforementioned sensors.

[0021] The auxiliary sensor 12 may be composed of a speed sensor or an acceleration sensor installed on the traveling device 6 of the crane 2 or the trolley 7. At this time, the auxiliary sensor 12 estimates the vibration state of the sensor 3 installed on the leg member 5a, etc. based on the acceleration of the crane 2, etc. by calculation.

[0022] The state data D2 is composed of acceleration, speed, wind speed, etc. at the portion where the sensor 3 is installed. The state data D2 may be composed of the amplitude of the vibration generated in the sensor 3, the direction of the vibration, the frequency of the vibration, or a combination of these. The detection system 1 can grasp the vibration generated in the sensor 3 based on the state data D2.

[0023] As illustrated in Figure 2, the control mechanism 4 includes an acquisition unit 13, an extraction unit 14, a setting unit 15, and a determination unit 16. The acquisition unit 13 is configured to acquire object data D1 along with state data D2 corresponding to this object data D1. As illustrated in Figure 3, the object data D1 acquired by the sensor 3 at a predetermined time tn and the state data D2 acquired by the auxiliary sensor 12 at the same time tn are combined in the acquisition unit 13. The object data D1 and state data D2 at the same time tn will correspond to each other.

[0024] The object data D1 is composed of (θn,Ln), which is a combination of the irradiation angle θn [deg] of the laser beam emitted from a two-dimensional laser scanner and the distance Ln [m] to the reflection point where the laser beam is reflected. As illustrated in Figure 3, the two-dimensional laser scanner repeats a period in which the irradiation angle of the laser beam changes from θ1 to θn.

[0025] State data D2 is, for example, the acceleration an[m / sec[m / sec] measured by an inertial measuring device. 2 The system consists of [ ]. The inertial measuring device may acquire acceleration an for each direction, such as the lateral direction x, the travel direction y, and the vertical direction z. In this case, the state data D2 consists of (axn, ayn, azn). The format of the object data D1 and state data D2 is not limited to the above. It is changed as appropriate depending on the configuration of the sensor 3 and auxiliary sensor 12 used.

[0026] As illustrated in Figure 2, the extraction unit 14 has a configuration that extracts state data D2 that does not exceed a preset first threshold range. For example, the range of specific values ​​of acceleration an that constitutes the state data D2 is preset as the first threshold. The first threshold is, for example, ±0.05 m / sec 2 ±0.2 m / sec 2The range is set to have upper and lower limits, such as the above. The value set as the first threshold is not limited to the above. For example, the range of amplitude values ​​calculated using acceleration an may be set as the first threshold. In this case, the first threshold is set to, for example, ±0.01m, ±0.1m, or ±0.5m. State data D2 that exceeds the range of the first threshold is discarded, for example, along with the corresponding object data D1. The range of the first threshold can be set appropriately according to the measurement accuracy required of the detection system 1.

[0027] The setting unit 15 has a configuration that sets the object data D1 corresponding to the state data D2 extracted by the extraction unit 14 as the instantaneous value D3. The object data D1 measured by the sensor 3 in a state that is relatively unaffected by vibration will be set as the instantaneous value D3.

[0028] The determination unit 16 has a configuration that determines the object's position information D4 based on the value set in the setting unit 15. Here, the object's position information D4 is determined based on the instantaneous value D3. This position information D4 utilizes object data D1 that is relatively unaffected by vibration. Therefore, the position information D4 determined by the determination unit 16 is a value with less noise compared to the position information obtained by measurement by the sensor 3. Here, noise refers to an undesirable effect on the position information caused by the vibration of the sensor 3.

[0029] The detection method will be explained with reference to the flow diagram illustrated in Figure 4. First, sensor 3 and auxiliary sensor 12 perform measurements (measurement step S01). Sensor 3 measures the position of the object, and auxiliary sensor 12 measures the state of sensor 3, such as vibration. Next, the acquisition unit 13 of the control mechanism 4 acquires the object data D1 obtained from sensor 3 and the state data D2 obtained from auxiliary sensor 12 (acquisition step S02). The acquisition unit 13 combines the object data D1 and state data D2 measured at the same time, for example, based on time tn. The combined object data D1, etc., are sent to the next stage in the format (D1, D2), for example. This combination of object data D1 and state data D2 is performed in acquisition step S02.

[0030] Next, state data D2 that does not exceed the range of a pre-set first threshold is extracted (extraction step S03). In extraction step S03, the extraction unit 14 extracts state data D2 that falls within the range of the first threshold from among multiple (D1, D2) data. Using the value of state data D2 as an indicator, the extraction unit 14 can extract object data D1 that does not contain much noise generated by the vibration of sensor 3. Object data D1 that does not contain much noise can be said to have relatively accurate positional information for the object. On the other hand, the extraction unit 14 discards object data D1 that contains a lot of noise and does not have accurate positional information for the object.

[0031] The object data D1 paired with the state data D2 extracted in extraction step S03 is set as the instantaneous value D3 (setting step S04). The setting unit 15 sets the value of the object data D1 that is less affected by noise as the instantaneous value D3.

[0032] The object's position information D4 is determined based on the value set in setting step S04 (determination step S05). In this embodiment, the determination unit 16 determines the object's position information D4 based on the instantaneous value D3. It can be said that the object is located at the location indicated by the instantaneous value D3. This position information D4 is output from the control mechanism 4 and sent, for example, to the control device of the crane 2 or to the operator of the crane 2.

[0033] With this configuration, the state data D2 acquired by the auxiliary sensor 12 can be used to exclude object data D1, which is heavily influenced by noise such as vibrations from sensor 3. Since the object's position information D4 can be determined based on object data D1, which is less affected by noise, it is advantageous for improving the accuracy of the object's position information. Because the detection system 1 can accurately detect the position of the object, the crane 2 can accurately guide transport equipment 9, such as a chassis, to a preset stopping position. Furthermore, the crane 2 can be automated to realize automated handling of containers 11, coils, and other materials.

[0034] When measuring the position of an object, the detection system 1 may be configured to repeat the above steps S01-05 multiple times, or it may be configured to execute it once and then terminate.

[0035] As illustrated in Figure 2, the setting unit 15 may have a configuration that sets a value based on multiple object data D1 corresponding to the extracted state data D2 as the average value D5.

[0036] If the measurement frequency of sensor 3 is, for example, 50 Hz, then 50 measurements are performed per second. In this case, the value of distance L1 at the laser beam irradiation angle θ1 is measured 50 times per second. For example, the average of the five previous distances L1 can be set as the current distance L1. In other words, the distance Ln at a predetermined irradiation angle θn is the average over the previous 0.1 seconds. In this embodiment, the moving average value of distance Ln is set as the average value D5 in the setting unit 15.

[0037] Depending on the state data D2, the object data D1 may be excluded. In this case, the configuration may be set to use the most recent value. Specifically, if, for example, the third distance L1 of the five most recent distances L1 is discarded due to noise, the third distance L1 cannot be obtained. In this case, the average value D5 is calculated using the most recent value, the second distance L1, as the third distance L1. Alternatively, if, for example, the third distance L1 cannot be obtained, the configuration may be set to calculate the average value D5 using the remaining four values. The determination unit 16 may determine the object's position information D4 based on the average value D5 set in the setting unit 15. Alternatively, the configuration may be set so that either the instantaneous value D3 or the average value D5 is used by the determination unit 16 based on button operation by the crane operator 2, etc.

[0038] According to the configuration described above, the effects of noise can be suppressed by processing multiple object data D1, which contain some noise, and setting the average value D5. If the vibration is within the range of the first threshold, the object data D1 is used. The average value D5 is a value that suppresses the effects of vibrations within this first threshold range. This is advantageous for improving the accuracy of the object position information D4 acquired by the detection system 1.

[0039] The average value D5 can be composed of values ​​calculated using multiple object data D1. The average value D5 is not limited to a moving average; it can also be composed of values ​​calculated using filtering processes such as low-pass filters or notch filters. If a value that deviates significantly from the value that should be obtained is acquired, the influence of filtering is suppressed to set an average value D5.

[0040] As illustrated in Figure 2, the control mechanism 4 may have a determination unit 17 that determines the vibration state D6 of the sensor 3 based on state data D2. In this case, the determination unit 16 determines the position information D4 of the object based on either the instantaneous value D3 or the average value D5, according to the result of the determination unit 17. In Figure 2, the determination unit 17 is shown with a dashed line for illustrative purposes. The determination unit 17 is not an essential component of the detection system 1.

[0041] Vibration state D6 is determined based on a second threshold, which is set to a narrower range than the first threshold range, for example, ±0.01m, where the amplitude of the vibration is set. The second threshold is set to, for example, ±0.005m. The first and second thresholds are set appropriately according to the measurement accuracy required of the detection system 1. In this case, the second threshold only needs to be set to a range that is inside the first threshold. Vibration state D6 is set as, for example, static state D6-1 when the vibration of sensor 3 is within the range of the second threshold, and quasi-static state D6-2 when it is within the range of the first threshold but outside the range of the second threshold.

[0042] The determination unit 17 determines whether the object is in a stationary state D6-1 or a semi-stationary state D6-2 based on the state data D2 acquired from the auxiliary sensor 12 (determination step S06). The decision unit 16 can be configured to determine the object's position information D4 based on an instantaneous value D3 when the object is in a stationary state D6-1, and to determine the object's position information D4 based on an average value D5 when the object is in a semi-stationary state D6-2.

[0043] This configuration allows for improved accuracy of the object's position information D4 while suppressing a decrease in the responsiveness of the detection system 1. Specifically, it allows for a configuration where instantaneous value D3 is used in the case of a stationary state D6-1 with almost no noise influence, and average value D5 is used in the case of a quasi-stationary state D6-2 where noise influence is present.

[0044] The instantaneous value D3 may contain noise from vibrations within the first threshold range. In the stationary state D6-1, where this noise is significantly reduced, the noise included in the instantaneous value D3 is greatly suppressed. Furthermore, by utilizing the instantaneous value D3, the control mechanism 4 can output the object's position information D4 in a relatively short time without performing calculations using multiple object data D1. As a result, the control mechanism 4 can output highly accurate and responsive position information D4.

[0045] The average value D5 is effective in suppressing noise because it smooths out the noise, which is the effect of vibrations within the first threshold range. In the quasi-stationary state D6-2, where the effect of noise is greater than in the stationary state D6-1, using the average value D5 rather than the instantaneous value D3 can suppress the effect of noise. The control mechanism 4 can output highly accurate position information D4.

[0046] As illustrated in Figure 2, the control mechanism 4 may have an adjustment unit 18 for adjusting the measurement frequency of the sensor 3. The measurement frequency of the sensor 3 is controlled by the adjustment unit 18 of the control mechanism 4. The adjustment unit 18 may be operated by the operator of the crane 2, etc. In Figure 2, the adjustment unit 18 is shown with a dashed line for illustrative purposes. The adjustment unit 18 is not an essential component of the detection system 1.

[0047] In some cases, the sensor 3 is installed on the travel device 6 of the crane 2 or on the travel surface 10, so the effect of vibrations on the sensor 3 is relatively small. In this case, the adjustment unit 18 can reduce the measurement frequency of the sensor 3. As the number of object data D1 and state data D2 acquired by the control mechanism 4 decreases, the computational load on the control mechanism 4 is suppressed. When the effect of vibrations on the sensor 3 is relatively large, the adjustment unit 18 can increase the measurement frequency of the sensor 3. This avoids the problem of not being able to output position information D4 due to a small number of object data D1, which are less affected by noise. In addition, by using multiple object data D1 to calculate the average value D5, it becomes easier to suppress the effect of vibrations within the range of the first threshold.

[0048] As illustrated in Figure 2, the adjustment unit 18 may have a function to adjust the number of object data D1 used to calculate the average value D5. In this case, a signal is sent from the adjustment unit 18 to the setting unit 15. If the effect of vibration on the sensor 3 is relatively small, the adjustment unit 18 can reduce the number of object data D1 used to calculate the average value D5. The control mechanism 4 can calculate the average value D5 and output the position information D4 in a relatively short time, thus improving responsiveness. If the effect of vibration on the sensor 3 is relatively large, the adjustment unit 18 can increase the number of object data D1 used to calculate the average value D5. The control mechanism 4's responsiveness decreases, but it becomes easier to suppress the effect of vibrations within the first threshold range. This is advantageous for improving the accuracy of the object's position information D4.

[0049] As illustrated in Figure 5, the control mechanism 4 may also be configured to include a prediction unit 19 that predicts the time period during which the state data D2 falls within a first threshold range, and a command unit 20 that causes the sensor 3 to perform measurements during the time period predicted by the prediction unit 19. In Figure 5, the acquisition unit 13 and other components shown in Figure 2 are omitted for illustrative purposes.

[0050] Let's explain using the case where the detection system 1 is installed on the crane 2 as an example. First, the prediction unit 19 predicts the time period in which the state data D2 is within the range of the first threshold (prediction step S07). This time period can be said to be a time period in which the vibrations that the sensor 3 is less affected by are minimal. Based on the cargo handling schedule D7 of the crane 2, the prediction unit 19 predicts time periods in which vibrations are less likely to occur in the sensor 3, such as the time period when the crane 2 is waiting for the arrival of transport equipment 9 such as the chassis.

[0051] Next, the command unit 20 instructs the sensor 3 to perform measurements during the time period predicted by the prediction step S07 (command step S08). Upon receiving the command from the command unit 20, the sensor 3 performs measurements of the object during this predicted time period.

[0052] This configuration is advantageous for improving the measurement accuracy of sensor 3 because measurements are taken during times when vibration does not occur or is unlikely to occur in sensor 3. Furthermore, since the amount of data excluded by extraction unit 14 is reduced, it is advantageous for improving the accuracy of position information D4. The prediction unit 19 may have a configuration that predicts the time period when the sensor is in a stationary state D6-1, or it may have a configuration that predicts the time period when the sensor is in a quasi-stationary state D6-2.

[0053] As illustrated in Figure 5, the control mechanism 4 may also have a correction unit 21 that corrects the operation command in equipment such as the crane 2 on which the sensor 3 is installed, so that the state data D2 is within the range of a first threshold.

[0054] The correction unit 21 corrects the operation commands in equipment such as a crane 2, where the sensor 3 is installed, so that the state data D2 is within the range of a first threshold (correction step S09). The crane 2 receives operation commands from the control device to the traveling device 6 and trolley 7. The correction unit 21 performs corrections to these operation commands to suppress sudden starts and sudden braking. For example, the correction unit 21 can be configured to set an upper limit on the acceleration of the traveling device 6. Alternatively, the deceleration control when stopping the travel of the traveling device 6 can be adjusted through correction to reduce vibration.

[0055] This configuration makes it possible to suppress vibrations in equipment such as the crane 2 on which the sensor 3 is installed. Since vibrations generated in the sensor 3 can be suppressed, it is advantageous for improving the measurement accuracy of the sensor 3. Furthermore, when the movement of the trolley 7 is controlled by a sway suppression control to stop the swing of the lifting device 8, it is desirable that the sway suppression control take precedence over the correction by the correction unit 21. [Explanation of Symbols]

[0056] 1. Detection System 2 Cranes 3 sensors 4. Control mechanism 5 legged structure 5a Leg member 5b Upper digit 6. Traveling device 7 Trolley 8 Hanging equipment 9. Conveying equipment 10 Running surface 11 containers 12 Auxiliary sensors 13 Acquisition Department 14 Extraction part 15. Settings Section 16. Decision Section 17 Judgment section 18 Adjustment part 19 Prediction Section 20 Command Department 21 Correction section x transverse direction y Direction of travel z Vertical direction D1 Object Data D2 Status Data D3 Instantaneous Value D4 Location Information D5 Average Value D6 Vibration state D6-1 Stationary state D6-2 Near-Static State D7 Cargo Handling Schedule S01 Measurement Step S02 Acquisition Steps S03 Extraction Step S04 Setup Step S05 Decision Step S06 Determination Step S07 Prediction Step S08 Command Step S09 Correction Step

Claims

1. In a detection system comprising a sensor that measures an object and acquires object data including positional information, and a control mechanism that acquires the object data from the sensor, The system is equipped with an auxiliary sensor that acquires state data indicating the state of the sensor when the object data is acquired by the aforementioned sensor, The control mechanism is a detection system characterized by comprising: an acquisition unit that acquires object data along with the state data corresponding to the object data; an extraction unit that extracts state data that does not exceed a preset range of a first threshold; a setting unit that sets the object data corresponding to the extracted state data as an instantaneous value; and a determination unit that determines the position information of the object based on the value set by the setting unit.

2. The detection system according to claim 1, wherein the setting unit has a configuration that sets a value based on a plurality of object data corresponding to the extracted state data as an average value.

3. The control mechanism has a determination unit that determines the vibration state of the sensor based on the state data, The detection system according to claim 2, wherein the determination unit has a configuration that determines the position information of the object based on either the instantaneous value or the average value according to the result of the determination unit.

4. The detection system according to any one of claims 1 to 3, wherein the control mechanism comprises a prediction unit that predicts a time period in which the state data falls within the range of the first threshold, and a command unit that causes the sensor to perform measurement during the time period predicted by the prediction unit.

5. The detection system according to any one of claims 1 to 3, wherein the control mechanism has a correction unit that corrects the operation command in the device on which the sensor is installed so that the state data is within the range of the first threshold.

6. In a detection method in which a sensor measures an object and acquires object data including position information, and a control mechanism determines at least the position information of the object based on the object data, The system is equipped with an auxiliary sensor that acquires state data indicating the state of the aforementioned sensor, A measurement step in which the sensor and the auxiliary sensor perform measurements, The acquisition step involves the control mechanism acquiring the state data corresponding to the object data along with the object data, An extraction step of extracting the state data that does not exceed the range of a pre-set first threshold, A setting step of setting the object data corresponding to the extracted state data as an instantaneous value, A detection method characterized by comprising a determination step of determining the position information of the object based on the value set in the setting step.

7. The detection method according to claim 6, wherein the setting step is configured to set a value based on a plurality of object data corresponding to the extracted state data as an average value.

8. The system includes a determination step of determining the vibration state of the sensor based on the aforementioned state data, The detection method according to claim 7, wherein the determination step has a configuration that determines the position information of the object based on either the instantaneous value or the average value according to the result of the determination step.

9. A prediction step that predicts the time period during which the state data falls within the range of the first threshold, The detection method according to any one of claims 6 to 8, further comprising a command step that causes the sensor to perform measurement during the time period predicted by the prediction step.

10. The detection method according to any one of claims 6 to 8, further comprising a correction step of correcting an operation command in the device on which the sensor is installed so that the state data falls within the range of the first threshold.

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