ANOMALYSIS DETECTION DEVICE, ANOMALYSIS DETECTION METHOD, AND PROGRAM

Abstract

In the present invention, a measurement device (10) is provided with a light source (110), a control unit (120), a light-receiving unit (130), and a data generation unit (140). The control unit (120) repeatedly scans light from the light source (110) within a prescribed range. The light-receiving unit (130) detects reflected light of the light scanned by the control unit (120). The data generation unit (140) calculates the distance to the reflection point of the reflected light by using the reflected light. An abnormality detection unit (210) acquires measurement data generated by the data generation unit (140). The abnormality control unit (210) also assesses whether there is an abnormality in the control unit (120) by using the distance to the reflection point and / or the intensity of the reflected light, these items of information being included in each of a plurality of items of the measurement data.

Description

[Technical field]

[0001] The present invention relates to an abnormality detection device, an abnormality detection method, and a program for detecting an abnormality in a measuring device. [Background technology]

[0002] In recent years, the use of measuring devices that measure the distance to an object using optical techniques has expanded. For example, a method for inspecting such measuring devices is described in Patent Document 1. The method described in Patent Document 1 is a method for measuring the deviation of the optical axis of the measuring device, and describes the use of an optical axis adjustment device having a front plate and a rear plate. The front plate is located in front of the rear plate and has a hole for transmitting light irradiated from the measuring device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-56662 A Summary of the Invention [Problem to be solved by the invention]

[0004] An optical measurement device has a control unit that controls the direction of light irradiation. If an abnormality occurs in this control unit, the measurement device will not be able to control the direction of light irradiation. One example of the problem that the present invention aims to solve is to detect an abnormality in the control unit that controls the direction of light irradiation in a measurement device that uses an optical method. [Means for solving the problem]

[0005] The invention described in claim 1 comprises a light source, A control unit that repeatedly scans the light from the light source within a predetermined range; A light receiving unit that detects reflected light of the light; A data generating unit that calculates a distance to a reflection point of the reflected light using the reflected light; An abnormality detection device for detecting an abnormality in a measuring device comprising: an abnormality detection unit that determines whether or not there is an abnormality in the control unit using at least one of the intensity of the reflected light and the distance; The abnormality detection device includes:

[0006] The invention described in claim 10 is A light source; From the light source Light A control unit that repeatedly scans within a predetermined range; A light receiving unit that detects reflected light of the light; A data generating unit that calculates a distance to a reflection point of the reflected light using the reflected light; An abnormality detection method for detecting an abnormality in a measuring device comprising: This is an abnormality detection method in which a computer determines whether or not there is an abnormality in the control unit using at least one of the intensity of the reflected light and the distance within one scan.

[0007] The invention described in claim 11 comprises a light source, From the light source Light A control unit that repeatedly scans within a predetermined range; A light receiving unit that detects reflected light of the light; A data generating unit that calculates a distance to a reflection point of the reflected light using the reflected light; A program for causing a computer to function as an abnormality detection device for detecting an abnormality in a measuring device comprising: The program provides the computer with an abnormality detection function for determining whether or not there is an abnormality in the control unit by using at least one of the intensity of the reflected light and the distance within one scan. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing the configuration of an abnormality detection device according to an embodiment together with the configuration of a measurement device. [Diagram 2] 13 is a diagram showing an example of a light irradiation range when a control unit of the measurement device is operating normally; FIG. [Diagram 3]FIG. 13 is a diagram showing an example of measurement data when the control unit of the measurement device is operating normally. [Figure 4] 13 is a diagram showing a first example of the light irradiation range when a control unit of the measurement device becomes abnormal. FIG. [Diagram 5] 5 is a diagram showing an example of measurement data when the measurement device is in the state shown in FIG. 4. FIG. [Figure 6] 13 is a diagram showing a second example of the light irradiation range when a control unit of the measurement device becomes abnormal. FIG. [Figure 7] 13 is a diagram showing a second example of the light irradiation range when a control unit of the measurement device becomes abnormal. FIG. [Figure 8] 8 is a diagram showing an example of measurement data when the measurement device is in the state shown in FIG. 6 or FIG. 7. [Figure 9] 13 is a diagram for explaining other conditions for determining that the control unit of the measurement device is abnormal. FIG. [Figure 10] FIG. 2 illustrates an example of a hardware configuration of an abnormality detection device. [Figure 11] 13 is a flowchart illustrating an example of a process performed by an abnormality detection unit. [Figure 12] FIG. 2 is a diagram showing a modification of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same components are given the same reference numerals and the description will be omitted as appropriate.

[0010] 1 is a diagram showing the configuration of an abnormality detection device 20 according to an embodiment, together with the configuration of a measurement device 10. The abnormality detection device 20 is a device that detects an abnormality in a control unit 120 that the measurement device 10 has.

[0011] First, there will be described the configuration of the measurement device 10. The measurement device 10 has a light source 110, a light emission control unit 112, a control unit 120, a light receiving unit 130, and a data generating unit 140.

[0012] The light source 110 has a light emitting element such as a laser diode. The light emission control unit 112 controls the timing at which the light source 110 emits light.

[0013] The control unit 120 controls the irradiation direction of the light from the light source 110. Specifically, the control unit 120 has a movable reflector 122 and a drive control unit 124. The movable reflector 122 reflects the light from the light source 110. The orientation of the movable reflector 122 is variable. For example, the movable reflector 122 can control the irradiation direction of the light in two dimensions. The drive control unit 124 controls the orientation of the movable reflector 122. The movable reflector 122 has, for example, a MEMS. In this case, the movable reflector 122 may be movable in two directions that intersect with each other. Then, the control unit 120 repeatedly scans the light from the light source 110 within a predetermined range.

[0014] The light receiving unit 130 converts the light irradiated by the control unit 120 and reflected by a reflection point (hereinafter referred to as reflected light) into an electrical signal. This electrical signal indicates the intensity of the reflected light by, for example, the magnitude of the voltage value (or current value).

[0015] The data generating unit 140 calculates the distance from the measuring device 10 to the reflection point using the timing of light emission by the light source 110 and the timing of light reception by the light receiving unit 130. The data generating unit 140 then generates measurement data. This measurement data includes information indicating the direction of light irradiation by the control unit 120, as well as the distance to the reflection point in that direction and the intensity of the reflected light.

[0016] Next, the abnormality detection device 20 will be described. The abnormality detection device 20 has an abnormality detection unit 210. The abnormality detection unit 210 acquires the measurement data generated by the data generation unit 140. Then, the abnormality detection unit 210 judges the presence or absence of an abnormality in the control unit 120 by using at least one of the distance to the reflection point and the intensity of the reflected light contained in each of the multiple measurement data.

[0017] FIG. 2 is a diagram showing an example of the light irradiation range when the control unit 120 of the measuring device 10 is operating normally. As described above, the control unit 120 can control the light irradiation direction in two dimensions (horizontal and vertical directions). Therefore, the light irradiation range of the measuring device 10 is two-dimensional (hereinafter referred to as a predetermined range). The measuring device 10 then repeatedly scans the light within this predetermined range. At this time, the measuring device 10 irradiates the light discretely. The measurement data is composed of data for a plurality of pixels. Here, each of the multiple light irradiation directions corresponds to a pixel.

[0018] 3 is a diagram showing an example of measurement data when control unit 120 of measuring device 10 is operating normally. The measurement data includes data indicating the light irradiation direction for each of a plurality of pixels (hereinafter referred to as pixel orientation information), the distance from measuring device 10 to the reflection point in that pixel, and the intensity of the reflected light received by light receiving unit 130. The pixel orientation information includes information indicating the irradiation angle in the horizontal direction (hereinafter referred to as horizontal azimuth angle information) and information indicating the irradiation angle in the vertical direction (hereinafter referred to as vertical azimuth angle information).

[0019] In many cases, the light scanning range (the above-mentioned predetermined range) of the measuring device 10 includes different objects (which may be people). Most objects have uneven surfaces. For this reason, in most cases, at least one pixel in one scan has a different value of the reflected light intensity and / or the distance from the remaining pixels.

[0020] Furthermore, when the measuring device 10 is moving and when moving objects such as people and vehicles enter and exit the measurement range of the measuring device 10, when the measurement data from a scan performed at a first timing is compared with the measurement data from a scan performed at a second timing, at least one of the intensity of reflected light and the distance in at least one pixel takes a value different from the at least one of the values ​​in the remaining pixels.

[0021] The abnormality detection unit 210 of the abnormality detection device 20 uses at least one of the intensity and distance of the reflected light within one scan to determine whether or not there is an abnormality in the control unit 120. The abnormality detection unit 210 also determines whether or not there is an abnormality in the control unit 120 by comparing the measurement data obtained from each of the multiple scans. Specific examples of these will be described below.

[0022] Fig. 4 is a diagram showing a first example of the light irradiation range when control unit 120 of measurement device 10 becomes abnormal. Fig. 5 is a diagram showing an example of measurement data when measurement device 10 is in the state shown in Fig. 4.

[0023] When the control unit 120 of the measuring device 10 is unable to change the light irradiation direction at all (for example, when the movable reflecting unit 122 is unable to move in either the horizontal or vertical direction), the light irradiation direction from the measuring device 10 is fixed in a certain direction even though the drive control unit 124 is attempting to two-dimensionally scan the light irradiation direction. In this case, as shown in FIG. 4, at least one of the reflected light intensity and the distance in one scan (both in the example shown in FIG. 4) becomes approximately the same value for all pixels. Therefore, when the variation in at least one of the distance and the reflected light intensity in one scan is within a first reference range, the abnormality detection unit 210 of the abnormality detection device 20 determines that the control unit 120 is abnormal. Here, the "variation" is, for example, the difference between the maximum value and the minimum value, but may be indicated by other statistical indicators.

[0024] In addition, the control unit 120 may determine that there is an abnormality when at least one of the distance and the intensity of the reflected light (including both) in one scan is within the second reference range. In such a case, for example, the measuring device 10 is fixed, and the distance and the intensity of the reflected light when the irradiation direction of the measuring device 10 is fixed in a certain direction are known. Then, the second reference range is set so as to include this known value.

[0025] 6 and 7 are diagrams showing a second example of the light irradiation range when the control unit 120 of the measurement device 10 becomes abnormal. Fig. 8 is a diagram showing an example of measurement data when the measurement device 10 is in the state shown in Fig. 6 or Fig. 7.

[0026] There are also cases where the control unit 120 of the measurement device 10 is unable to control the light irradiation direction only in the horizontal direction (corresponding to FIG. 6(A)) or the vertical direction (corresponding to FIG. 6(B)). The control unit 120 may narrow the light scanning range in the vertical direction (corresponding to FIG. 7(A)) or the horizontal direction (corresponding to FIG. 7(B)). In such a case, as shown in FIG. 8, when the measurement data of each of the multiple scans are compared, these measurement data become similar (or almost the same) to each other. In other words, similar measurement data are repeatedly obtained. Therefore, the abnormality detection unit 210 of the abnormality detection device 20 judges that the control unit 120 is abnormal when the difference between the measurement data of each of the multiple scans falls within a third reference range.

[0027] More specifically, in the example shown in Fig. 6, in the measurement data obtained by each scan, the distance and intensity change only in the horizontal direction (corresponding to Fig. 6(A)) or the vertical direction (corresponding to Fig. 6(B)), but in the vertical direction (corresponding to Fig. 6(A)) or horizontal direction (corresponding to Fig. 6(B)), the distance and intensity have almost the same value (in other words, the variation falls within a first reference range). This may also be included in the conditions for the control unit 120 to determine that there is an abnormality.

[0028] In the example shown in FIG. 7, the distance and intensity change significantly in the horizontal direction (corresponding to FIG. 7(A)) or the vertical direction (corresponding to FIG. 7(B)) in the measurement data obtained by each scan, but the change is small in the vertical direction ( 7 (A)) or horizontal (Fig. 7 In the case of (B), the distance and intensity do not change much (in other words, the variation falls within a fourth reference range that is larger than the first reference range). This may also be included in the conditions for the control unit 120 to determine that there is an abnormality.

[0029] The measurement data obtained from one scan indicates the distribution of the reflected light intensity and distance. Therefore, the anomaly detection unit 210 can be said to determine that an anomaly has occurred when the comparison results of this distribution from each of multiple scans satisfy a criterion.

[0030] 4 to 8, if the distance indicated by the measurement data is equal to or less than a reference value (for example, 1 m or less, preferably 50 cm or less, and more preferably 20 cm or less), even if the abnormality detection unit 210 satisfies the above-mentioned conditions, the control unit 120 does not determine that there is an abnormality. The reason for this is that if the object constituting the reflection point is close to the measurement device 10, the entire range of light irradiation by the measurement device 10 may be occupied by the same object. In this case, even if the control unit 120 is normal, the measurement data may satisfy the above-mentioned conditions.

[0031] 9 is a diagram for explaining other conditions for the control unit 120 of the measurement device 10 to determine that there is an abnormality. By processing the measurement data, it is possible to estimate the outer shape and type of an object having a reflection point using the distribution of distances. The control unit 120 determines whether there is an abnormality in the control unit using the result of this type estimation and the shape of the object estimated based on the distribution of distances.

[0032] For example, FIG. 9(A) shows the outer shape of an object (a person in this example) when the control unit 120 is in a normal state. On the other hand, when the control unit 120 is in the state of FIG. 7(B), the outer shape of the object is distorted to a shape stretched horizontally. Therefore, the control unit 120 holds outer shape information indicating a reference outer shape for each type of object. The control unit 120 then compares the outer shape of the object indicated by the measurement data with the outer shape information for each type, and identifies the type having the closest shape. The control unit 120 then identifies the distortion of the outer shape of the object indicated by the measurement data relative to the outer shape information of the identified type, and uses the presence or absence of this distortion and the direction of the distortion to determine the presence or absence of an abnormality in the control unit 120 and the type of the abnormality. Specifically, when the outer shape of the object is distorted to a shape stretched horizontally, the control unit 120 determines that the light scanning range is narrowed in the horizontal direction (corresponding to FIG. 7(B)). When the outer shape of the object is distorted to a shape stretched vertically, the control unit 120 determines that the light scanning range is narrowed in the vertical direction (corresponding to FIG. 7(C)). A )), it is determined that the light scanning range is narrowed.

[0033] 10 is a diagram showing an example of a hardware configuration of the error detection device 20. The error detection device 20 includes a bus 1010, a processor 1020, a memory 1030, a storage device 1040, an input / output interface 1050, and a network interface 1060.

[0034] The bus 1010 is a data transmission path for transmitting and receiving data among the processor 1020, memory 1030, storage device 1040, input / output interface 1050, and network interface 1060. However, the method of connecting the processor 1020 and the like to each other is not limited to bus connection.

[0035] The processor 1020 is implemented by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or the like.

[0036] The memory 1030 is a main storage device realized by a RAM (Random Access Memory) or the like.

[0037] The storage device 1040 is an auxiliary storage device realized by a hard disk drive (HDD), a solid state drive (SSD), a memory card, a read only memory (ROM), etc. The storage device 1040 stores a program module that realizes the abnormality detection unit 210. The processor 1020 loads each of these program modules onto the memory 1030 and executes them, thereby realizing each function corresponding to the program module.

[0038] The input / output interface 1050 is an interface for connecting the abnormality detection device 20 to various input / output devices. For example, the abnormality detection device 20 communicates with the measurement device 10 via the input / output interface 1050.

[0039] The network interface 1060 is an interface for connecting the abnormality detection device 20 to a network. This network is, for example, a LAN (Local Area Network) or a WAN (Wide Area Network). The method for connecting the network interface 1060 to the network may be a wireless connection or a wired connection. The abnormality detection device 20 may communicate with the measurement device 10 via the network interface 1060.

[0040] 11 is a flow chart showing an example of processing performed by the abnormality detection section 210. For example, the measurement device 10 generates measurement data each time one scan is completed, and outputs the measurement data to the abnormality detection device 20. The abnormality detection section 210 of the abnormality detection device 20 then acquires the measurement data from the measurement device 10 (step S10), and processes the measurement data to determine whether or not an abnormality has occurred in the control section 120 of the measurement device 10 (step S20). Anomaly detection device 20When it is determined that an abnormality has occurred (step S20: Yes), it outputs a stop command to the measuring device 10 (step S30). Then, the measuring device 10 stops the measurement. Note that in step S30, warning information may be output instead of outputting the stop command.

[0041] Fig. 12 is a diagram showing a modified example of Fig. 1. In the example shown in this figure, the abnormality detection device 20 is not provided, and instead the measurement device 10 has an abnormality detection unit 150. The function of the abnormality detection unit 150 is similar to that of the abnormality detection unit 210. In other words, the light source 110, the control unit 120, the light receiving unit 130, the data generation unit 140, and the abnormality detection unit 150 are included in one device.

[0042] As described above, according to this embodiment, the abnormality detection section 210 of the abnormality detection device 20 (or the abnormality detection section 150 of the measuring device 10) can determine whether or not an abnormality has occurred in the control section 120 by using at least one of the intensity of reflected light and the distance to the reflection point contained in the measurement data of the measuring device 10.

[0043] Although the embodiments of the present invention have been described above with reference to the drawings, these are merely examples of the present invention, and various configurations other than those described above can also be adopted.

[0044] This application claims priority based on Japanese Patent Application No. 2021-015536, filed on February 3, 2021, the disclosure of which is incorporated herein in its entirety. [Explanation of symbols]

[0045] 10. Measuring Equipment 20 Anomaly detection device 110 Light source 120 Control section 122 Movable reflector 124 Drive control unit 130 Light receiving section 140 Data Generation Division 210 Abnormality detection unit

Claims

1. A light source; A control unit that repeatedly scans the light from the light source within a predetermined range; A light receiving unit that detects reflected light of the light from an object; a data generating unit that calculates a distance to a reflection point of the reflected light using the reflected light detected by the light receiving unit; An abnormality detection device for detecting an abnormality in a measuring device comprising: an abnormality detection unit that determines whether or not there is an abnormality in which the irradiation direction of the light is fixed or the scanning range of the light is narrowed, using at least one of the intensity of the reflected light detected by the light receiving unit and the distance; Equipped with The abnormality detection device, wherein the control unit determines that there is an abnormality when the variation in at least one of the light intensity and the distance within one scan is within a reference range, and the control unit does not determine that there is an abnormality when the distance is equal to or less than a reference value.

2. A light source; A control unit that repeatedly scans the light from the light source within a predetermined range; A light receiving unit that detects reflected light of the light from an object; a data generating unit that calculates a distance to a reflection point of the reflected light using the reflected light detected by the light receiving unit; An abnormality detection device for detecting an abnormality in a measuring device comprising: an abnormality detection unit that determines whether or not there is an abnormality in which the irradiation direction of the light is fixed or the scanning range of the light is narrowed, using at least one of the intensity of the reflected light detected by the light receiving unit and the distance; a type estimation unit that estimates a type of an object having a reflection point by using the distribution of the distances; Equipped with The abnormality detection unit determines whether or not there is an abnormality in the control unit using the type estimation result and the shape of the object estimated based on the distance distribution.

3. 2. The abnormality detection device according to claim 1, The abnormality detection unit determines that an abnormality has occurred when all values ​​within one scan of at least one of the intensity of the reflected light and the distance are within the reference range.

4. A light source; A control unit that repeatedly scans the light from the light source within a predetermined range; A light receiving unit that detects reflected light of the light from an object; a data generating unit that calculates a distance to a reflection point of the reflected light using the reflected light detected by the light receiving unit; An abnormality detection device for detecting an abnormality in a measuring device comprising: an abnormality detection unit that determines whether or not there is an abnormality in which the irradiation direction of the light is fixed or the scanning range of the light is narrowed, using at least one of the intensity of the reflected light detected by the light receiving unit and the distance; Equipped with The abnormality detection unit determining a distribution of at least one of the reflected light intensity and the distance for each of the plurality of scans; The abnormality detection device determines whether or not there is an abnormality in the control unit using a comparison result of the distribution in each of the multiple scans, and does not determine that the control unit is abnormal if the distance is equal to or less than a reference value.

5. A light source; A control unit that repeatedly scans the light from the light source within a predetermined range; A light receiving unit that detects reflected light of the light from an object; a data generating unit that calculates a distance to a reflection point of the reflected light using the reflected light detected by the light receiving unit; An abnormality detection method for detecting an abnormality in a measuring device comprising: The computer execute a process of determining whether or not there is an abnormality in which the irradiation direction of the light is fixed or the scanning range of the light is narrowed, using at least one of the intensity of the reflected light detected by the light receiving unit and the distance; In the above process, when the variation in at least one of the intensity of the reflected light and the distance within one scan is within a reference range, the control unit judges that there is an abnormality, and when the distance is equal to or less than a reference value, the control unit does not judge that there is an abnormality.

6. A light source; A control unit that repeatedly scans the light from the light source within a predetermined range; A light receiving unit that detects reflected light of the light from an object; a data generating unit that calculates a distance to a reflection point of the reflected light using the reflected light detected by the light receiving unit; An abnormality detection method for detecting an abnormality in a measuring device comprising: The computer an abnormality detection process for determining whether or not there is an abnormality in which the irradiation direction of the light is fixed or the scanning range of the light is narrowed, using at least one of the intensity of the reflected light detected by the light receiving unit and the distance; A type estimation process for estimating a type of an object having a reflection point using the distribution of the distances; Run An anomaly detection method, in which, in the anomaly detection process, the computer determines whether or not there is an anomaly in the control unit using the type estimation result and the shape of the object estimated based on the distance distribution.

7. A light source; A control unit that repeatedly scans the light from the light source within a predetermined range; A light receiving unit that detects reflected light of the light from an object; a data generating unit that calculates a distance to a reflection point of the reflected light using the reflected light detected by the light receiving unit; A program for causing a computer to function as an abnormality detection device for detecting an abnormality in a measurement device comprising: The computer includes: A program that has an abnormality detection function that uses at least one of the intensity of the reflected light detected by the light receiving unit and the distance to determine whether or not there is an abnormality in which the irradiation direction of the light is fixed or the scanning range of the light is narrowed, and when the variation in at least one of the intensity of the reflected light and the distance within one scan is within a reference range, the control unit determines that there is an abnormality, and when the distance is equal to or less than a reference value, the control unit does not determine that there is an abnormality.

8. A light source; A control unit that repeatedly scans the light from the light source within a predetermined range; A light receiving unit that detects reflected light of the light from an object; a data generating unit that calculates a distance to a reflection point of the reflected light using the reflected light detected by the light receiving unit; A program for causing a computer to function as an abnormality detection device for detecting an abnormality in a measurement device comprising: The computer includes: an abnormality detection function that determines whether or not there is an abnormality in which the irradiation direction of the light is fixed or the scanning range of the light is narrowed, using at least one of the intensity of the reflected light detected by the light receiving unit and the distance; and A type estimation function that estimates a type of an object having a reflection point by using the distribution of the distances; Let them have The abnormality detection function is a program that determines whether or not there is an abnormality in the control unit using the type estimation result and the shape of the object estimated based on the distance distribution.

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