Position detection system, position detection method, and three-dimensional shape measurement system

Abstract

To make it possible to identify a position of an object even when an obstacle exists in front of the object targeted for identifying the position.SOLUTION: A position detection system 1 has: a plurality of distance detection devices 11 that detect light reflected from an object in a prescribed three-dimensional space to thereby create distance data indicative of distances to a plurality of positions in the object; an object identification unit 124 that identifies the object included in one or more pieces of distance data, of the plurality of pieces of distance data created by the plurality of distance detection devices 11; and a position identification unit 125 that identifies a position of the object in the three-dimensional space on the basis of a position in the three-dimensional space of the distance detection device 11 which creates the distance data with which the object identification unit 124 identifies the object, and a position of the object in the distance data.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a position detection system for detecting the position of an object, a position detection method, and a three-dimensional shape measuring system for measuring the shape of an object. [Background technology]

[0002] There is known a technique for measuring the position of an object in a space by using a LiDAR device or a stereo camera. Patent Document 1 discloses a technique for measuring the position of an object by calculating three-dimensional coordinates indicating the position of the object based on the result of measuring the distance to the object by using a LiDAR device or a stereo camera. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-205060 A Summary of the Invention [Problem to be solved by the invention]

[0004] When there is another object between the LiDAR device or the stereo camera and the measured object, the position of which is to be detected, the light reflected from the measured object does not enter the LiDAR device or the stereo camera, resulting in a problem that the LiDAR device or the stereo camera cannot measure the distance to the measured object and cannot identify the position of the measured object.

[0005] The present invention has been made in consideration of these points, and has an object to make it possible to identify the position of an object even when there is an obstacle in front of the object whose position is to be identified. [Means for solving the problem]

[0006] A first aspect of the position detection system of the present invention is a position detection system that detects the position of an object, and includes a plurality of distance detection devices that create distance data indicating distances to multiple positions of an object by detecting light reflected by an object in a specified three-dimensional space, an object identification unit that identifies the object contained in one or more of the distance data created by the plurality of distance detection devices, and a position identification unit that identifies the position of the object in the three-dimensional space based on the position in the three-dimensional space of the distance detection device that created the distance data in which the object identification unit identified the object, and the position of the object in the distance data.

[0007] Each of the multiple distance detection devices creates multiple time-specific distance data, which is the distance data associated with multiple times while the object is moving, and the object identification unit identifies the object in one or more of the multiple time-specific distance data created by the multiple distance detection devices at the same time, and the position identification unit may identify the position of the object corresponding to each of the multiple times in the three-dimensional space based on the position in the three-dimensional space of the distance detection device that created the time-specific distance data in which the object identification unit identified the object and the position of the object in the time-specific distance data.

[0008] The position identifying unit may identify the position of the object on the condition that positions of the object in the three-dimensional space corresponding to each of the plurality of time-specific distance data corresponding to a same time coincide with each other.

[0009] The image capturing apparatus may further include a storage unit that stores shape data indicating a three-dimensional shape of the object, and the object identifying unit may identify the object by detecting an area in the distance data that corresponds to the shape data.

[0010] The position identification unit may identify the position of the object using the multiple distance data created by the multiple distance detection devices, on the condition that the relationship between multiple orientations of the object corresponding to the multiple shape data used by the object identification unit to identify the object matches the relationship between multiple orientations of the multiple distance detection devices.

[0011] The object may be a probe attached to a stylus that moves and contacts multiple positions on a measured object, the shape data being data indicating the shape of the probe to which the stylus is attached, the object identification unit identifying the probe corresponding to the shape data in the distance data, and the position identification unit identifying the position of the tip of the stylus in the three-dimensional space by identifying the position of the probe in the distance data based on the position of the probe in the distance data and the relationship between the position of the probe and the position of the stylus indicated by the shape data.

[0012] A second aspect of the position detection system of the present invention is a position detection system that detects the position of an object, and includes a distance data acquisition unit that acquires a plurality of distance data created by a plurality of distance detection devices that create distance data indicating the distance to the position of the object by detecting light reflected by an object in a specified three-dimensional space, an object identification unit that identifies the object contained in one or more of the plurality of distance data, and a position identification unit that identifies the position of the object in the three-dimensional space based on the position in the three-dimensional space of the distance detection device that created the distance data for which the object identification unit identified the object, and the position of the object in the distance data.

[0013] The distance data acquisition unit may acquire position information indicating the positions of the multiple distance detection devices from the multiple distance detection devices that are moving, associating it with the distance data, and the position identification unit may identify the position of the object in the three-dimensional space based on the position of the distance detection device in the three-dimensional space indicated by the position information and the position of the object in the distance data.

[0014] The position detection system further has an integrated data creation unit that creates integrated distance data corresponding to a three-dimensional space that is larger than the three-dimensional spaces corresponding to each of the multiple distance data by integrating and placing the multiple distance data in relative positions that correspond to the positional relationship of the multiple distance detection devices indicated by the position information, and the position identification unit may identify the position of the object included in the integrated distance data.

[0015] The object identification unit may further include an integrated data creation unit that identifies a common object that is commonly included in the multiple distance data created by the multiple distance detection devices, and creates integrated distance data that corresponds to a space larger than the spaces corresponding to each of the multiple distance data by arranging and integrating the multiple distance data so that the positions of the common object overlap, and the position identification unit may identify the position of the object in the three-dimensional space by identifying the position of the object in the integrated distance data.

[0016] A three-dimensional shape measuring system of a third aspect of the present invention is a three-dimensional shape measuring system having a probe for measuring the three-dimensional shape of a measured object, and comprises: a plurality of distance detection devices that create distance data indicating a distance to a position of the probe by detecting light reflected by the probe in a three-dimensional space in which the probe can move; an object identification unit that identifies the probe included in one or more of the plurality of distance data created by the plurality of distance detection devices; a position identification unit that identifies the position of the probe in the three-dimensional space based on the position in the three-dimensional space of the distance detection device that created the distance data in which the object identification unit identified the measured object and the position of the probe in the distance data; and a shape identification unit that outputs three-dimensional shape data indicating a plurality of positions of the measured object that are separated from the plurality of positions of the probe identified by the position identification unit by a difference between the position of the probe and the position of the measured object.

[0017] A stylus that contacts multiple positions on the object to be measured is connected to the probe, and the shape identification unit may output three-dimensional shape data indicating the multiple positions at which the stylus contacts the object to be measured, the relationship between the position of the probe and the position of the tip of the stylus being identified based on the relationship between the position of the probe and the position of the object to be measured.

[0018] The three-dimensional shape measurement system may further include a data acquisition unit that acquires contact data indicating that the stylus is in contact with the object to be measured, and the shape identification unit may output three-dimensional shape data indicating a plurality of positions of the object to be measured corresponding to the plurality of positions of the probe identified by the position identification unit while the contact data indicates that the stylus is in contact with the object to be measured.

[0019] The shape identification unit may output three-dimensional shape data indicating a plurality of positions of the object to be measured corresponding to the plurality of positions of the probe identified by the position identification unit in a state in which the position of the probe identified by the position identification unit has not changed for a predetermined period of time or more.

[0020] The probe may detect the object to be measured at a position that has a predetermined relationship with the position of the probe, and the shape identification unit may output three-dimensional shape data indicating multiple positions of the object to be measured by correcting the position of the probe based on the predetermined relationship.

[0021] The three-dimensional shape measurement system may have a plurality of probes each having a different shape, the object identification unit may identify the plurality of probes included in the distance data, the position identification unit may identify a position of each of the plurality of probes, and the shape identification unit may output three-dimensional shape data indicating a plurality of positions of the object to be measured corresponding to the positions of each of the plurality of probes.

[0022] A position identification method of a fourth aspect of the present invention is a position detection method executed by a computer to detect the position of an object, and includes the steps of acquiring a plurality of distance data created by a plurality of distance detection devices that create distance data indicating distances to a plurality of positions on the object by detecting light reflected by an object in a specified three-dimensional space, identifying the object contained in one or more of the plurality of distance data, and identifying the position of the object in the three-dimensional space based on the position in the three-dimensional space of the distance detection device that created the distance data that identified the object and the position of the object in the distance data. Effect of the Invention

[0023] The present invention has an effect of being able to specify the position of an object even when there is an obstacle in front of the object whose position is to be specified. [Brief description of the drawings]

[0024] [Figure 1] FIG. 1 is a diagram for explaining an overview of a position detection system 1. [Diagram 2] FIG. 11 is a diagram for explaining a method for creating integrated distance data. [Diagram 3] 1 is a diagram showing a configuration of a position detection system 1. FIG. [Figure 4] 1 is a diagram showing a configuration of a three-dimensional shape measuring system 100 that uses a position specifying method according to an embodiment of the present invention. [Diagram 5] FIG. 1 is a functional configuration diagram of a three-dimensional shape measuring system 100. [Figure 6] 1 is a diagram showing a schematic diagram of a plurality of time-specific distance data created by a plurality of distance detection devices 11 at the same time. [Figure 7] 4 is a flowchart showing an example of a processing flow in the three-dimensional shape measuring system 100. [Figure 8] FIG. 1 is a diagram showing an overview of a driving assistance system 200 that uses a position specifying method according to the present embodiment. [Figure 9]2 is a diagram showing a configuration of a data processing device 12B in a driving assistance system 200. FIG. [Figure 10] 4 is a sequence diagram showing a processing flow in the driving assistance system 200. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] [Outline of location detection system 1] 1 is a diagram for explaining an overview of a position detection system 1. The position detection system 1 includes a plurality of distance detection devices 11 (distance detection devices 11-1, 11-2, 11-3) and a data processing device 12.

[0026] The distance detection device 11 is a LiDAR device or a stereo camera, and creates distance data indicating the distance to the position of an object (e.g., object B in FIG. 1) by detecting light reflected by an object B in a predetermined space. The predetermined space is a space in which an object to be located exists. A position in the predetermined space is represented by three-dimensional coordinates with a reference position in the predetermined space as the origin. The three-dimensional coordinates may be either Cartesian coordinates or polar coordinates, but the three-dimensional coordinates in this specification are Cartesian coordinates (x, y, z).

[0027] When the distance detection device 11 is a LiDAR device, the distance detection device 11 emits laser light while sequentially changing the direction to at least a part of a region in a predetermined space based on the control of the data processing device 12, for example, and detects the light reflected by an object in the predetermined space. The distance detection device 11 creates distance data indicating the distance to the object in the direction in which the laser light was emitted based on the time from when the laser light was emitted to when the reflected light was detected. The multiple distance detection devices 11 create distance data indicating the three-dimensional coordinates of the position where the laser light was reflected, with the reference position of each distance detection device 11 (hereinafter referred to as "local reference position") as the origin. The distance detection device 11 notifies the data processing device 12 of the created distance data.

[0028] The ranges in which the multiple distance detection devices 11 can detect the distance to an object (hereinafter referred to as "distance detection ranges") are different from one another. In the example shown in Fig. 1, the distance detection range of the distance detection device 11-1 is the area R1 indicated by the solid line, the distance detection range of the distance detection device 11-2 is the area R2 indicated by the dashed line, and the distance detection range of the distance detection device 11-3 is the area R3 indicated by the dashed line.

[0029] The distance detection devices 11 each create distance data indicating three-dimensional coordinates of a position where the laser light is reflected by an object existing within the distance detection range. The distance detection device 11-1 creates distance data at a predetermined time interval, which is composed of a point cloud corresponding to a plurality of three-dimensional coordinates (x1, y1, z1) with the emission position of the laser light in the distance detection device 11-1 as the origin. The distance detection device 11-2 creates distance data composed of a point cloud corresponding to a plurality of three-dimensional coordinates (x2, y2, z2) with the emission position of the laser light in the distance detection device 11-2 as the origin. The distance detection device 11-3 creates distance data composed of a point cloud corresponding to a plurality of three-dimensional coordinates (x3, y3, z3) with the emission position of the laser light in the distance detection device 11-3 as the origin.

[0030] The data processing device 12 identifies the position of an object existing in a three-dimensional space corresponding to the distance data notified from the multiple distance detection devices 11. The data processing device 12 is, for example, a computer that identifies the position of an object by executing a program.

[0031] The data processing device 12, for example, matches shape data formed by connecting the points included in the distance data with pre-stored three-dimensional shape data of the object to determine whether or not the object B to be searched for exists in the three-dimensional space corresponding to the integrated distance data. The shape data is, for example, data indicating the relative positions of the feature points of the object. The positions of the feature points of the object B are, for example, the positions of the sides, vertices, or positions where the curvature of the object B changes. When the data processing device 12 determines that the object B exists, it determines three-dimensional coordinates corresponding to the positions of the feature points of the object B in the three-dimensional space coordinate system.

[0032] The data processing device 12 searches for object B in the multiple distance data. Since multiple distance detection devices 11 installed at different positions create multiple distance data, even if object B is not included in some of the distance data, the data processing device 12 can identify the position of object B in three-dimensional space as long as object B is included in at least other parts of the distance data. Therefore, the data processing device 12 can identify the position of object B even if there is an obstacle in front of object B, the position of which is to be identified.

[0033] Incidentally, the multiple distance data notified from the multiple distance detection devices 11 are composed of three-dimensional coordinates with different local reference positions as references. The data processing device 12 corrects the three-dimensional coordinates corresponding to the position of the object B indicated by the distance data notified from each of the multiple distance detection devices 11 based on the positional relationship of the multiple distance detection devices 11. The data processing device 12 corrects the three-dimensional coordinates indicating the position of the object B notified from each of the multiple distance detection devices 11, and calculates the three-dimensional coordinates indicating the position of the object B with the reference position (hereinafter referred to as the "global reference position") in the three-dimensional space in which the multiple distance detection devices 11 exist as the origin, thereby specifying the position of the object in the three-dimensional space. The global reference position in the three-dimensional space is arbitrary, but the orientations of the multiple distance detection devices 11 relative to the global reference position and the distances between the global reference position and the multiple distance detection devices 11 (i.e., the positional relationship between the reference position and each of the multiple distance detection devices 11) are known and are required to be stored in the data processing device 12.

[0034] The data processing device 12 may integrate the multiple distance data using the positional relationship between the global reference position and each of the multiple distance detection devices 11, to generate one integrated distance data in one three-dimensional space including multiple distance detection ranges corresponding to the multiple distance detection devices 11. In this case, the data processing device 12 identifies the position of the object B included in the three-dimensional space by analyzing the created integrated distance data.

[0035] The data processing device 12 may create integrated distance data using the position of an object commonly included in the plurality of distance data notified from the plurality of distance detection devices 11. Fig. 2 is a diagram for explaining a method in which the data processing device 12 creates integrated distance data using the position of an object commonly included in the plurality of distance data. Objects M1 and M2 are commonly included in the regions R1 and R2 shown in Fig. 2. Therefore, the plurality of distance data created by the distance detection device 11-1 and the distance detection device 11-2 include objects M1 and M2.

[0036] The data processing device 12 creates integrated distance data by overlaying the distance data created by the distance detection device 11-1 and the distance data created by the distance detection device 11-2 so that the positions of the objects M1 and M2 in the distance data created by the distance detection device 11-1 match the positions of the objects M1 and M2 in the distance data created by the distance detection device 11-2. By operating in this manner, the data processing device 12 can create integrated distance data even when the positional relationship between the multiple distance detection devices 11 is unknown or when the multiple distance detection devices 11 are moving.

[0037] [Configuration of location detection system 1] Fig. 3 is a diagram showing the configuration of the position detection system 1. In the example shown in Fig. 3, the data processing device 12 has a communication unit 121, a storage unit 122, and a control unit 123. The control unit 123 has an object identification unit 124 and a position identification unit 125.

[0038] The communication unit 121 has a communication interface for transmitting and receiving data to and from the multiple distance detection devices 11. The communication unit 121 has, for example, a wireless communication controller or a wired communication controller. The communication unit 121 transmits control data for controlling the multiple distance detection devices 11, and receives distance data transmitted by the multiple distance detection devices 11. The communication unit 121 stores the received distance data in the storage unit 122. The communication unit 121 may input the received distance data to the control unit 123 and the object identification unit 124.

[0039] The storage unit 122 has storage media such as a read only memory (ROM), a random access memory (RAM), and a solid state drive (SSD). The storage unit 122 stores a program executed by the control unit 123. The storage unit 122 also stores distance data transmitted by each of the distance detection devices 11 in association with identification information for identifying each of the distance detection devices 11. The storage unit 122 may store three-dimensional coordinate data indicating the positions of the distance detection devices 11 in three-dimensional space. Furthermore, the storage unit 122 may store shape data indicating the three-dimensional shape of an object to be identified by the control unit 123.

[0040] The control unit 123 includes, for example, a CPU (Central Processing Unit). The control unit 123 executes a program stored in the storage unit 122, thereby functioning as an object identification unit 124 and a position identification unit 125.

[0041] The object identification unit 124 identifies an object included in one or more of the distance data created by the distance detection devices 11. The object identification unit 124, for example, detects an area in the distance data that corresponds to the shape data stored in the storage unit 122, thereby identifying an object having a shape indicated by the shape data. The area corresponding to the shape data is, for example, an area that includes a point group having the same positional relationship as the positional relationship of the multiple feature points included in the shape data. The object identification unit 124 may determine that an object having a shape indicated by the shape data is included in the distance data when the positional relationship of some feature points in the shape data matches the positional relationship of some point groups included in the distance data.

[0042] The object identification unit 124 notifies the position identification unit 125 of three-dimensional coordinates indicating the position where the object is identified in the distance data. The object identification unit 124 notifies the position identification unit 125 of three-dimensional coordinates indicating the position in the distance data of a feature point of the object defined in, for example, the shape data.

[0043] The position identifying unit 125 identifies the position of an object in a three-dimensional space in which the object exists, based on the position in the three-dimensional space of the distance detection device 11 that created the distance data in which the object is identified by the object identifying unit 124 and the position of the object in the distance data. For example, when an object is identified in the distance data created by the distance detection device 11-1, the position identifying unit 125 calculates the three-dimensional coordinates of the object in the three-dimensional space by correcting the position of the object identified by the object identifying unit 124 using a difference value (Δx, Δy, Δz) between the global reference position in the three-dimensional space and the position of the distance detection device 11-1.

[0044] Specifically, the position identification unit 125 calculates a plurality of three-dimensional coordinates indicating the positions of a plurality of feature points of an object in a three-dimensional space by adding a difference value (Δx, Δy, Δz) between a global reference position in the three-dimensional space in which the position detection system 1 identifies the position of the object and the position of the distance detection device 11-1 to each of a plurality of three-dimensional coordinates (x1, y1, z1) indicating the positions of a plurality of feature points of the object in the distance data created by the distance detection device 11-1 and notified from the object identification unit 124. The position identification unit 125 stores the calculated three-dimensional coordinates in the storage unit 122. The position identification unit 125 may transmit the calculated three-dimensional coordinates to an external device via the communication unit 121, or display the three-dimensional coordinates on a display.

[0045] The position identification method described above can be applied to various applications that require identifying the position of an object in a three-dimensional space. Hereinafter, an embodiment in which the position identification method is applied to a three-dimensional shape measurement system for measuring the three-dimensional shape of an object, and an embodiment in which the position identification method is applied to a driving assistance system for automatically driving a plurality of vehicles will be described.

[0046] [Configuration of three-dimensional shape measuring system 100] Fig. 4 is a diagram showing the configuration of a three-dimensional shape measuring system 100 that uses the position specifying method according to this embodiment. The three-dimensional shape measuring system 100 has a plurality of distance detection devices 11 shown in Fig. 1, a data processing device 12A, and an object detection device 13. The data processing device 12A has the same functions as the data processing device 12 shown in Fig. 3, but differs from the data processing device 12 in that it further has a function for measuring the three-dimensional shape of a measurement target W (hereinafter referred to as "workpiece W").

[0047] The object exploration device 13 has an arm 131, a probe 132, and a stylus 133. The arm 131 has an arm 131A, an arm 131B, and an arm 131C, and the arm 131A is fixed to a base D.

[0048] The arm 131 has a plurality of joints, and a probe 132 is connected to the tip of the arm 131C. A stylus 133 is connected to the probe 132, which contacts a plurality of positions of the workpiece W, the shape of which is to be measured. The object detection device 13 moves the position of the arm 131 based on control data input from the data processing device 12. The object detection device 13 can move the stylus 133 to any position in a three-dimensional space where the three-dimensional shape measuring system 100 can measure the shape of the workpiece W, and can bring the stylus 133 into contact with the workpiece W.

[0049] In the three-dimensional shape measuring system 100, at least one of the probe 132 and the stylus 133 is an object whose position is to be detected by the data processing device 12. The multiple distance detection devices 11 create distance data by emitting laser light in an area in which the probe 132 can move while the object detection device 13 repeats the operation of moving the probe 132 and bringing the stylus 133 into contact with multiple positions on the workpiece W. Each of the multiple distance detection devices 11 creates multiple time-specific distance data, which is distance data associated with multiple times, while the probe 132, which is an object whose position is to be detected, is moving. The multiple distance detection devices 11 notify the data processing device 12 of the created time-specific distance data in association with a time.

[0050] Fig. 5 is a functional configuration diagram of the three-dimensional shape measuring system 100. As in the example shown in Fig. 3, the data processing device 12 has a communication unit 121, a storage unit 122, and a control unit 123. The control unit 123 in the three-dimensional shape measuring system 100 shown in Fig. 5 further has a data acquisition unit 126 and a shape identification unit 127 in addition to the object identification unit 124 and position identification unit 125 shown in Fig. 3.

[0051] The storage unit 122 in the three-dimensional shape measurement system 100 stores shape data indicating the shape of the probe 132 coupled to the stylus 133. The storage unit 122 may store the shape data of the probe 132 and offset data indicating the relationship between the position of the probe 132 and the position of the stylus 133. The position of the probe 132 is the position of a feature point of the probe 132, and is, for example, the position of the probe 132 to which the stylus 133 is coupled, the position of the apex of the probe 132, or the position of a marker provided on the probe 132.

[0052] The offset data indicating the relationship between the position of the probe 132 and the position of the stylus 133 is data indicating an offset position of the tip of the stylus 133 with respect to the positions of one or more characteristic points of the probe 132. The offset position is represented, for example, by the direction of a line connecting the characteristic point of the probe 132 and the tip of the stylus 133 with respect to a predetermined direction (for example, the longitudinal direction) of the probe 132, and the distance from the characteristic point to the tip of the stylus 133. The storage unit 122 may store shape data of the stylus 133, or shape data of the probe 132 and the stylus 133 in a coupled state.

[0053] The object identification unit 124 identifies the probe 132 in the distance data by searching for an area in the distance data whose shape matches the shape data of the probe 132. The object identification unit 124 identifies the probe 132 in one or more pieces of time-based distance data among the multiple pieces of time-based distance data created by the multiple distance detection devices 11 at the same time. The object identification unit 124 identifies the probe 132, for example, by matching multiple point groups included in the time-based distance data with shape data indicating the three-dimensional shape of the probe 132 stored in the storage unit 122.

[0054] The object identification unit 124 identifies three-dimensional coordinates indicating the position of the probe 132 in the distance data. The object identification unit 124 identifies the position of the probe 132 based on a plurality of time-based distance data created by a plurality of distance detection devices 11. For example, the object identification unit 124 identifies the probe 132 in the time-based distance data created by a distance detection device 11 in which no workpiece W exists between the distance detection device 11 and the probe 132.

[0055] Note that the object identification unit 124 may identify the probe 132 based on the distance data created at the time when the stylus 133 contacts the workpiece W, and may not identify the probe 132 based on other distance data. The object identification unit 124 determines whether or not to identify the probe 132 based on a result of determining whether or not the stylus 133 contacts the workpiece W based on contact data acquired by the data acquisition unit 126 described later, for example.

[0056] The object identification unit 124 notifies the position identification unit 125 of the identified three-dimensional coordinates. The three-dimensional coordinates are based on the local reference position of the distance detection device 11, and are different coordinates for each of the time-specific distance data created by each of the multiple distance detection devices 11.

[0057] The position identifying unit 125 identifies the positions of the probe 132 corresponding to each of a plurality of times in a three-dimensional space in which the three-dimensional shape measuring system 100 can measure the shape of the workpiece W, based on the position in space of the distance detection device 11 at which the object identifying unit 124 created the time-specific distance data at which the probe 132 was identified, and the position of the probe 132 in the time-specific distance data. The three-dimensional space in which the three-dimensional shape measuring system 100 can measure the shape of the workpiece W is a space including a range in which the tip of the stylus 133 can move as the arm 131 moves.

[0058] The position identifying unit 125 identifies the position of the tip of the stylus 133 in space by identifying the position of the tip of the stylus 133 in the distance data based on the position of the probe 132 in the distance data and the relationship between the position of the probe 132 and the position of the stylus 133 indicated by the shape data. By identifying the position of the tip of the stylus 133 based on the position of the probe 132 and the relative positional relationship between the probe 132 and the stylus 133, the position identifying unit 125 can identify the position of the tip of the stylus 133 even when, for example, the stylus 133 is inside a recess of the workpiece W and the tip of the stylus 133 is not included in the distance data.

[0059] Furthermore, the position identification unit 125 calculates three-dimensional coordinates indicating the position of the tip of the stylus 133 in the three-dimensional space by adding or subtracting a difference value (Δx, Δy, Δz) indicating the relative position of the distance detection device 11 with respect to the global reference position in the three-dimensional space to the three-dimensional coordinates indicating the position of the tip of the stylus 133 in the time-based distance data. The global reference position in the three-dimensional space is arbitrary, but is, for example, the position where the rotation axis of the arm 131A intersects with the base D. The position identification unit 125 notifies the shape identification unit 127 of the three-dimensional coordinates of the position of the tip of the stylus 133 calculated in this manner. The position identification unit 125 notifies the shape identification unit 127 of the three-dimensional coordinates, for example, in association with the time at which the time-based distance data was created.

[0060] The position identifying unit 125 identifies the position of the probe 132 based on a plurality of distance data by time created by a plurality of distance detection devices 11. The position identifying unit 125 identifies the three-dimensional coordinates of the position of the tip of the stylus 133 based on the position of the probe 132 identified by the object identifying unit 124 in the distance data by time created by the distance detection device 11 in which no workpiece W exists between the distance detection device 11 and the probe 132, for example.

[0061] By using the multiple time-based distance data created by the multiple distance detection devices 11, even if the probe 132 is not included in the time-based distance data created by some of the multiple distance detection devices 11, the position identification unit 125 can identify the position of the probe 132 in three-dimensional space using the time-based distance data created by the other distance detection devices 11. Therefore, the position identification unit 125 can identify the position of the probe 132 even if there is a workpiece W that acts as an obstacle in front of the stylus 133, so that the three-dimensional shape measurement system 100 can identify the shape of all positions of the three-dimensional shape of the workpiece W.

[0062] Fig. 6 is a diagram showing a schematic diagram of multiple distance data by time created by multiple distance detection devices 11 at the same time. Fig. 6(a) shows the distance data by time created by distance detection device 11-1. Fig. 6(b) shows the distance data by time created by distance detection device 11-2. Fig. 6(c) shows the distance data by time created by distance detection device 11-3.

[0063] In the time-based distance data shown in Fig. 6(a), since the workpiece W is between the distance detection device 11-1 and the probe 132, the position identification unit 125 cannot identify the position of the stylus 133 using the time-based distance data created by the distance detection device 11-1. However, in the time-based distance data shown in Fig. 6(b), since the probe 132 is located between the distance detection device 11-2 and the workpiece W, the position identification unit 125 can calculate the three-dimensional coordinates (x2', y2', z2') of the position of the tip of the stylus 133 using the three-dimensional coordinates (x2, y2, z2) indicating the position of the probe 132 in the time-based distance data created by the distance detection device 11-2.

[0064] 6(c), since there is no workpiece W between the line connecting the distance detection device 11-3 and the probe 132, the position identification unit 125 can calculate the three-dimensional coordinates (x3', y3', z3') of the position of the tip of the stylus 133 using the three-dimensional coordinates (x3, y3, x3) indicating the position of the probe 132 in the time-based distance data created by the distance detection device 11-3. In this way, since the three-dimensional shape measurement system 100 has multiple distance detection devices 11, the position identification unit 125 can identify the position of the probe 132 based on the time distance data created by any of the multiple distance detection devices 11, regardless of the position of the probe 132.

[0065] Incidentally, in the absence of disturbance, the three-dimensional coordinates indicating the position of the stylus 133 identified by the position identifying unit 125 based on each of the multiple time-based distance data should match. On the other hand, if the positions of the stylus 133 corresponding to the multiple time-based distance data do not match, it is considered that the position of the probe 132 has been erroneously detected due to the influence of disturbance. Therefore, the position identifying unit 125 may identify the position of the probe 132 on the condition that the positions of the stylus 133 in space corresponding to each of the multiple time-based distance data created by the multiple distance detection devices 11 corresponding to the same time match.

[0066] If the multiple three-dimensional coordinates of the probe 132 identified by the position identifying unit 125 based on each of the multiple time-based distance data do not match, it is considered that an external disturbance is causing the influence, and therefore the position identifying unit 125 does not notify the shape identifying unit 127 of such three-dimensional coordinates. By the position identifying unit 125 not notifying the shape identifying unit 127 of such three-dimensional coordinates, the shape of the workpiece W is not identified based on data that is not appropriate for use in identifying the shape of the workpiece W, thereby improving the accuracy of the three-dimensional shape measurement.

[0067] Furthermore, the position specifying unit 125 may specify the position of the probe 132 using a plurality of distance data created by a plurality of distance detection devices 11, on the condition that the relationship between the plurality of orientations of the probe 132 corresponding to the plurality of shape data used by the object specifying unit 124 to specify the probe 132 matches the relationship between the plurality of orientations of the plurality of distance detection devices 11. If an object such as the probe 132 whose position is specified by the position specifying unit 125 is not a sphere, the object appears to have a different shape depending on the position from which the object is viewed. In other words, the shapes of the plurality of objects included in the plurality of distance data created by the plurality of distance detection devices 11 at different positions are different from each other, and the relationship between the plurality of orientations of the object specified by the object specifying unit 124 in the plurality of distance data should match the relationship between the plurality of orientations of the plurality of distance detection devices 11.

[0068] However, if the relationship between the multiple orientations of the object identified by the object identifying unit 124 in the multiple distance data does not match the relationship between the multiple orientations of the multiple distance detection devices 11, it is considered that the object identifying unit 124 has erroneously detected the object. Therefore, by making the position identifying unit 125 not use the position of the probe 132 identified by the object identifying unit 124 in such a case, the position identifying unit 125 can be prevented from erroneously identifying the position of the tip of the stylus 133, thereby improving the measurement accuracy.

[0069] The position identifying unit 125 may identify the position of the tip of the stylus 133 based on the distance data created at the time when the stylus 133 contacts the workpiece W, and may not identify the position of the tip of the stylus 133 based on other distance data. The position identifying unit 125 determines whether or not to identify the position of the tip of the stylus 133 based on a result of determining whether or not the stylus 133 contacts the workpiece W based on contact data acquired by the data acquiring unit 126 described later, for example. The position identifying unit 125 may identify the position of the tip of the stylus 133 on the condition that the position of the probe 132 identified by the object identifying unit 124 has not changed for a predetermined time or more (for example, is stationary).

[0070] In the above description, an example has been given in which the object identification unit 124 identifies the probe 132 based on the distance data, and the position identification unit 125 identifies the position of the stylus 133 based on the relationship between the position of the probe 132 and the position of the tip of the stylus 133. By operating the object identification unit 124 and the position identification unit 125 in this manner, even if it is difficult for the object identification unit 124 to identify the stylus 133 having a thin and small shape based on the distance data, the position identification unit 125 can identify the position of the tip of the stylus 133 based on the result of the object identification unit 124 identifying the probe 132. However, when the object identification unit 124 identifies the stylus 133 in the distance data, the position identification unit 125 may identify the position of the tip of the stylus 133 without identifying the position of the probe 132.

[0071] The data acquiring unit 126 acquires contact data indicating that the stylus 133 is in contact with the workpiece W. The data acquiring unit 126 notifies the shape identifying unit 127 of the acquired contact data. The data acquiring unit 126 may acquire the contact data directly from the distance detection device 11, or the contact data may be included in the distance data, and the data acquiring unit 126 may acquire the contact data included in the distance data.

[0072] The shape specifying unit 127 outputs three-dimensional shape data indicating multiple positions of the workpiece W that are separated from the multiple positions of the probe 132 specified by the position specifying unit 125 by a difference between the position of the probe 132 and the position of the workpiece W. When the stylus 133 is coupled to the probe 132, the shape specifying unit 127 outputs three-dimensional shape data indicating multiple positions where the stylus 133 has come into contact with the workpiece W, which is specified based on the relationship between the position of the probe 132 and the tip position of the stylus 133 and the position of the workpiece W. The shape specifying unit 127 outputs three-dimensional shape data indicating the positions where the stylus 133 has come into contact with the workpiece, which is specified based on the position of the tip of the stylus 133 notified from the position specifying unit 125.

[0073] The probe 132 can output contact data indicating that the stylus 133 has contacted the workpiece W, and when the data acquisition unit 126 acquires the contact data, the shape identification unit 127 outputs three-dimensional shape data indicating a plurality of positions of the workpiece W corresponding to the plurality of positions of the probe 132 identified by the position identification unit 125 while the contact data indicates that the stylus 133 is in contact with the workpiece W. By operating in this manner, the shape identification unit 127 does not use the position of the stylus 133 identified based on the position of the probe 132 at the time when the stylus 133 was not in contact with the workpiece W, and therefore can appropriately identify the shape of the workpiece W.

[0074] The shape specifying unit 127 may output three-dimensional shape data indicating a plurality of positions of the workpiece W corresponding to the plurality of positions of the probe 132 identified by the position specifying unit 125 in a state in which the position of the probe 132 identified by the position specifying unit 125 has not changed for a predetermined time or more. By operating the shape specifying unit 127 in this manner, even in a case in which the probe 132 cannot output contact data indicating that the stylus 133 has come into contact with the workpiece W, the shape specifying unit 127 can appropriately specify the shape of the workpiece W based on the position of the probe 132 at the time when the stylus 133 came into contact with the workpiece W.

[0075] Incidentally, when the probe 132 is a non-contact probe that detects the workpiece W at a position that has a predetermined relationship with the position of the probe 132, such as a white light interferometer probe, the stylus 133 does not need to be coupled to the probe 132. In such a case, the position identifying unit 125 does not identify the position of the tip of the stylus 133. In this case, the shape identifying unit 127 may output three-dimensional shape data indicating multiple positions of the workpiece W by correcting the position of the probe 132 based on the predetermined relationship. The predetermined relationship is represented by the distance from the tip of the probe 132 to the surface of the workpiece W in a predetermined direction.

[0076] For example, when the probe 132 outputs data indicating that the distance between the tip of the probe 132 and the surface of the workpiece W is 10 mm, the shape specifying unit 127 specifies, as the position of the workpiece W, a position shifted by 10 mm in a predetermined direction (for example, the longitudinal direction of the probe 132) from the position of the probe 132 at the time when the data acquiring unit 126 acquired the data. By operating in this manner, the shape specifying unit 127 can specify the shape of the workpiece W based on the position of the probe 132.

[0077] In the above description, the three-dimensional shape measuring system 100 has one object detection device 13, but the three-dimensional shape measuring system 100 may have multiple object detection devices 13. The multiple object detection devices 13 each have a probe 132 with a different shape, and the object identification unit 124 identifies the multiple probes 132 included in the distance data. The position identification unit 125 identifies the position of each of the multiple probes 132, and the shape identification unit 127 outputs three-dimensional shape data indicating multiple positions of the workpiece W corresponding to the positions of the multiple probes 132.

[0078] With the three-dimensional shape measuring system 100 configured in this manner, the multiple object detection devices 13 can simultaneously move the probes 132 to bring the styluses 133 into contact with multiple different positions on the workpiece W. Since the object identification unit 124 can simultaneously identify the positions of the multiple probes 132 or the positions of the multiple styluses 133, the three-dimensional shape measuring system 100 can reduce the time required to measure the shape of the workpiece W.

[0079] In the above description, the position identifying unit 125 identifies the position of the probe 132 included in each piece of distance data without integrating the multiple pieces of distance data, but the position identifying unit 125 may integrate the multiple pieces of distance data to create integrated distance data represented by three-dimensional coordinates in a three-dimensional spatial coordinate system, and identify the position of the probe 132 in the integrated distance data. In this case, the position identifying unit 125 integrates the multiple pieces of distance data using the positional relationship of the multiple distance detection devices 11, or the position of a common element commonly included in the distance data created by the multiple distance detection devices 11.

[0080] [Processing flow in three-dimensional shape measuring system 100] Fig. 7 is a flowchart showing an example of the flow of processing in the three-dimensional shape measuring system 100. The flowchart shown in Fig. 7 starts from the point in time when an operation for starting measurement of the shape of the workpiece W is performed.

[0081] The distance detection devices 11 generate distance data by emitting laser light (S11). The object identification unit 124 searches for the probe 132 in each of the distance data generated by the distance detection devices 11, and identifies the probe 132 in the distance data including the probe 132 (S12). The position identification unit 125 determines whether the stylus 133 coupled to the probe 132 has contacted the workpiece W based on the contact data acquired from the probe 132 via the shape identification unit 127 or based on the moving speed of the probe 132 (S13).

[0082] When the position identifying unit 125 determines that the stylus 133 has come into contact with the workpiece W, it identifies the position of the probe 132 in the three-dimensional coordinate system of the three-dimensional space in which the workpiece W is placed, based on the position of the probe 132 identified by the object identifying unit 124 in the distance data and the relative position of the distance detection device 11 with respect to the global reference position. The position identifying unit 125 identifies the position of the tip of the stylus 133 based on the identified position of the probe 132 and the relationship between the position of the probe 132 and the position of the tip of the stylus 133 (S14).

[0083] The position identification unit 125 judges whether the identified position of the stylus 133 is normal (S15). For example, the position identification unit 125 judges whether the position of the stylus 133 identified based on the position of the probe 132 included in the distance data created by the multiple distance detection devices 11 matches. If the multiple positions of the stylus 133 corresponding to the multiple distance data match, the position identification unit 125 judges that the identified multiple positions are normal (YES in S15) and stores the identified position of the stylus 133 in the storage unit 122 as a position where the stylus 133 contacted the workpiece W (S16). If the multiple positions of the stylus 133 corresponding to the multiple distance data do not match, the position identification unit 125 judges that the identified multiple positions are abnormal (NO in S15) and stores error information in the storage unit 122 (S17).

[0084] The position identifying unit 125 determines whether the probe 132 has moved to all positions to be measured and measurements have been completed at all measurement positions (S18). For example, when the probe 132 has been detected at all positions within a preset area, the position identifying unit 125 determines that the measurement has been completed (YES in S18) and notifies the shape identifying unit 127 that the measurement has been completed. If the position identifying unit 125 determines that measurements have not been completed at all measurement positions (NO in S18), the three-dimensional shape measuring system 100 repeats the processes from S11 to S18.

[0085] When measurements at all measurement positions are completed, shape specifying section 127 creates three-dimensional shape data based on the positions of stylus 133 stored in storage section 122, and outputs the created three-dimensional shape data (S19).

[0086] [Calibration of the three-dimensional shape measurement system 100] In the above description, it has been assumed that the relative position of each of the distance detection devices 11 with respect to the global reference position in three-dimensional space (i.e., the positional relationship between the multiple distance detection devices 11) is known. However, if a change occurs in the position of the distance detection device 11, the relative position of each of the distance detection devices 11 with respect to the global reference position in three-dimensional space also changes, which may result in measurement errors.

[0087] Therefore, the three-dimensional shape measuring system 100 may perform a calibration to measure the relative positions of each of the multiple distance detection devices 11 before starting measurement of the shape of the workpiece W. Specifically, when an operation to perform the calibration is performed, the multiple distance detection devices 11 emit laser light toward a reference object, with the reference object having feature points within the range of the laser light emitted by the multiple distance detection devices 11 being fixed to the stage D. The object identification unit 124 identifies the three-dimensional coordinates of the reference object based on the local reference positions of each of the multiple distance detection devices 11, based on the distance data generated by the multiple distance detection devices 11.

[0088] The position identification unit 125 calculates a difference value of the three-dimensional coordinates corresponding to each of the multiple distance detection devices 11 as a relative position, and stores the calculation result in the memory unit 122. The position identification unit 125 stores, for example, the three-dimensional coordinates of the multiple distance detection devices 11 with the position of the reference object as a global reference position (i.e., the origin of the three-dimensional space). After the calibration, the position identification unit 125 corrects the three-dimensional coordinates of the workpiece W identified by the object identification unit 124 using the relative position stored in the memory unit 122, thereby identifying the position of the workpiece W in the three-dimensional space.

[0089] The three-dimensional shape measuring system 100 may use as a reference object an object that is always present, such as the position where the rotation axis of the arm 131A intersects with the stage D. In this case, the three-dimensional shape measuring system 100 can perform calibration every time the shape of the workpiece W is measured without the measurer placing the reference object on the stage D, thereby efficiently improving the measurement accuracy.

[0090] [Method of determining the positional relationship between the probe 132 and the stylus 133] In the above description, it is assumed that the position of the stylus 133 relative to the probe 132 is constant, but it is considered that there is variation in the position of the stylus 133 relative to the probe 132. Therefore, the three-dimensional shape measuring system 100 may calibrate the position of the stylus 133 relative to the probe 132 before measuring the shape of the workpiece W.

[0091] As an example, the three-dimensional shape measurement system 100 causes the multiple distance detection devices 11 to emit laser light in a state where the probe 132 and the stylus 133 are within the range of the laser light emitted by the multiple distance detection devices 11. The position identification unit 125 calculates the three-dimensional coordinates of the multiple characteristic points of the probe 132 and the three-dimensional coordinates of the tip of the stylus 133 by correcting the three-dimensional coordinates calculated by the object identification unit 124 based on the distance data. The position identification unit 125 stores data indicating the position of the tip of the stylus 133 relative to the positions of the multiple characteristic points of the probe 132 in the storage unit 122.

[0092] Incidentally, in the case where the variation in the position of the stylus 133 relative to the probe 132 can be ignored, the position specifying unit 125 can use offset data indicating the positional relationship between the probe 132 and the stylus 133, which is stored in advance in the storage unit 122. However, there may be a plurality of probes 132 and a plurality of styluses 133, and the combination of the probe 132 and the stylus 133 used for measurement may change.

[0093] Therefore, the three-dimensional shape measuring system 100 may execute a process for identifying the positional relationship between the probe 132 and the stylus 133 before starting measurement of the shape of the workpiece W. The multiple probes 132 and the multiple styluses 133 may be provided with marks for identifying the type of the probe 132 or the stylus 133, and the object identification unit 124 may identify the combination of the probe 132 and the stylus 133 based on the distance data or the captured image data. In this case, offset data indicating the positional relationship between the probe 132 and the stylus 133 for each combination of the probe 132 and the stylus 133 is stored in the storage unit 122, and the position identification unit 125 identifies the position of the tip of the stylus 133 based on the position of the probe 132 using the offset data corresponding to the combination of the probe 132 and the stylus 133 identified by the object identification unit 124.

[0094] Note that the method of identifying the combination of the probe 132 and the stylus 133 is not limited to the above method. At least one of the probe 132 and the stylus 133 may have a wireless communication function and transmit information indicating the combination of the probe 132 and the stylus 133 to the data processing device 12A. The position identification unit 125 may acquire the information via the communication unit 121 and identify the combination of the probe 132 and the stylus 133 based on the acquired information. At least one of the probe 132 and the stylus 133 may transmit information indicating the combination of the probe 132 and the stylus 133 to the distance detection device 11. In this case, the position identification unit 125 acquires information indicating the combination of the probe 132 and the stylus 133 from the distance detection device 11 via the communication unit 121.

[0095] As described above, by the position identification unit 125 identifying the positional relationship between the probe 132 and the stylus 133, the position of the tip of the stylus 133 can be identified based on the position of the probe 132 even if the positional relationship between the probe 132 and the stylus 133 is not known.

[0096] [Data acquisition from probe 132 and stylus 133] The data processing device 12A may acquire data on the usage status of at least one of the probe 132 or the stylus 133 from the object detection device 13 via the communication unit 121. The data on the usage status is data indicating the number of contacts or the timing of contact with the workpiece W when the probe 132 is a contact type probe, and is the number of times light was irradiated or the total time of light irradiation when the probe 132 is a non-contact type probe (e.g., a laser sensor). The data processing device 12A may store the data acquired in this manner in the storage unit 122 in association with identification information for identifying the object detection device 13, or may transmit the data to an external device accessible by the administrator of the object detection device 13. By configuring the data processing device 12A in this manner, the administrator of the object detection device 13 can easily grasp the state of the object detection device 13.

[0097] Furthermore, the shape identification unit 127 of the data processing device 12A may determine that an abnormality has occurred and output warning information when the difference between the shape of the workpiece W estimated based on the state of the probe 132 or stylus 133 indicated by the data acquired in this manner and the shape of the workpiece W identified based on the distance data acquired from the distance detection device 11 is equal to or greater than a threshold value. By configuring the data processing device 12A in this manner, the administrator can detect an error in the measurement results or detect an abnormality in the object exploration device 13 or the distance detection device 11.

[0098] [Effects of the three-dimensional shape measuring system 100] As described above, in the three-dimensional shape measuring system 100, the multiple distance detection devices 11 emit laser light toward the probe 132, and the position identifying unit 125 identifies the position of the probe 132 in three-dimensional space based on the reflected light from the probe 132. Furthermore, the position identifying unit 125 identifies the position of the surface of the workpiece W based on the position of the probe 132 identified in any of the multiple distance data. The position identifying unit 125 identifies the position of the surface of the workpiece W by identifying the position of the tip of the stylus 133 based on the position of the probe 132, for example.

[0099] By using multiple distance data to identify the position of the probe 132, even if the probe 132 is located on the opposite side of one distance detection device 11 with respect to the workpiece W and the distance data created by that distance detection device 11 does not include the probe 132, the position identification unit 125 can identify the position of the probe 132 based on the distance data created by the other distance detection device 11. As a result, the position identification unit 125 can identify the position of the surface of the workpiece W without omission, and the three-dimensional shape measurement system 100 can measure the shape of all sides of the workpiece W.

[0100] [Configuration of driving assistance system 200] 8 is a diagram showing an overview of a driving assistance system 200 that uses the position identification method according to this embodiment. The driving assistance system 200 is a system for identifying the positions of objects around a vehicle based on distance data created by a plurality of distance detection devices 11 mounted on a plurality of vehicles, and for assisting driving of the vehicle based on the identified object positions or for automatically driving the vehicle.

[0101] The distance detection devices 11 mounted on the vehicles (vehicle a and vehicle b) sequentially transmit the created distance data to the data processing device 12B. The driving assistance system 200 may further use the distance data created by the distance detection devices 11 installed on the road to identify the position of an object. Note that, although only two vehicles are shown in FIG. 8, the driving assistance system 200 may include distance detection devices 11 mounted on more vehicles.

[0102] The data processing device 12B identifies the position of an object using the position identification method described with reference to Figures 1 to 3, and provides each vehicle with data indicating the identified position. The data processing device 12B has the same functions as the data processing device 12 shown in Figure 3, but differs from the data processing device 12 in that it further has a function for assisting automatic driving of the vehicle.

[0103] In the driving assistance system 200, instead of the data processing device 12B identifying the position of the object, the data processing device possessed by each vehicle may have the function of the data processing device 12B. The data processing device possessed by each vehicle acquires distance data from a plurality of distance detection devices 11 mounted on other vehicles within a predetermined range from the vehicle, and identifies objects in the vicinity of the vehicle based on the acquired distance data. By operating the data processing device 12B in this manner, each vehicle can identify the position of an object that exists in a position that cannot be directly seen from the vehicle, and therefore can notify the driver of the presence of an object that cannot be directly seen, or can automatically drive taking into account an object that cannot be directly seen.

[0104] 9 is a diagram showing a configuration of a data processing device 12B in the driving assistance system 200. The data processing device 12B includes a communication unit 121, a storage unit 122, and a control unit 123, similar to the data processing device 12 shown in FIG.

[0105] The control unit 123 has an object identification unit 124, a position identification unit 125, a distance data acquisition unit 128, and an integrated data creation unit 129. The object identification unit 124 and the position identification unit 125 have functions equivalent to those of the object identification unit 124 and the position identification unit 125 of the data processing device 12 shown in Fig. 3. However, the position identification unit 125 provides object position data indicating the position of the identified object to a plurality of vehicles via the communication unit 121.

[0106] The distance data acquisition unit 128 acquires, via the communication unit 121, a plurality of distance data created by a plurality of distance detection devices 11 that create distance data indicating distances to a plurality of positions on an object by detecting light reflected by the object in a predetermined three-dimensional space. The distance data acquisition unit 128 may acquire the distance data in association with vehicle identification information (e.g., a vehicle number) for identifying a vehicle. In addition, the distance data acquisition unit 128 acquires, from a plurality of moving distance detection devices 11, position information indicating the positions of the plurality of distance detection devices 11 in association with the distance data. The distance data acquisition unit 128 inputs the acquired distance data to the object identification unit 124, and inputs the position information to the position identification unit 125.

[0107] The distance detection device 11 generates position information indicating the latitude and longitude of the distance detection device 11 based on radio waves received from a GPS satellite by a Global Positioning System (GPS) receiver mounted on the vehicle, for example. After identifying its own position, the distance detection device 11 may generate position information indicating the latitude and longitude of the distance detection device 11 based on the speed of the vehicle measured by a speed sensor mounted on the vehicle and the traveling direction of the vehicle measured by a gyro sensor. The distance data acquisition unit 128 can identify the positional relationship of the multiple distance detection devices 11 by periodically acquiring position information from the multiple distance detection devices 11.

[0108] The object identification unit 124 identifies an object included in one or more of the distance data input from the distance data acquisition unit 128. The object identified by the object identification unit 124 is an object whose shape data is stored in advance in the storage unit 122 as an object assumed to exist in an area in which the vehicle travels, and is an object that needs to be recognized for the vehicle to drive automatically, such as a vehicle, a person, a bicycle, a motorbike, a sign, and a guardrail. The object identification unit 124 identifies a common object commonly included in the multiple distance data created by the multiple distance detection devices 11, and notifies the integrated data creation unit 129 of the position of the identified common object in the distance data.

[0109] The integrated data creation unit 129 creates integrated distance data corresponding to a three-dimensional space larger than the three-dimensional space corresponding to each of the multiple distance data by arranging and integrating the multiple distance data acquired by the distance data acquisition unit 128 at relative positions corresponding to the positional relationship of the multiple distance detection devices 11 indicated by the position information input from the distance data acquisition unit 128. The three-dimensional space corresponding to each of the multiple distance data is a three-dimensional space within a range in which each of the multiple distance detection devices 11 can measure distances. The integrated data creation unit 129 creates the integrated distance data by the method described with reference to FIG. 2.

[0110] The integrated data creation unit 129 creates integrated distance data corresponding to a three-dimensional space larger than the three-dimensional space corresponding to each of the multiple distance data, for example, by arranging and integrating the multiple distance data so that the positions of common objects in the vicinity of the multiple vehicles overlap. The integrated data creation unit 129 inputs the created integrated distance data to the position identification unit 125.

[0111] The position identifying unit 125 identifies the position of the object in three-dimensional space based on the position in three-dimensional space of the distance detection device 11 that created the distance data in which the object was identified by the object identifying unit 124 and the position of the object in the distance data. The position identifying unit 125 identifies the position of the object in the integrated distance data input from the integrated data creating unit 129, thereby identifying the position of the object in the three-dimensional space including multiple vehicles.

[0112] The position identifying unit 125 identifies the position of the object in three-dimensional space based on the spatial position of the distance detection device 11 indicated by the position information acquired by the distance data acquisition unit 128 and the position of the object in the distance data. The position identifying unit 125 may identify the position of the object by, for example, adding coordinates indicating the position of the object in the distance data to the coordinates of the position of the distance detection device 11 indicated by the position information. The position identifying unit 125 provides each vehicle with object position data indicating the identified position of the object.

[0113] [Processing flow in the driving assistance system 200] Fig. 10 is a sequence diagram showing a flow of processing in the driving assistance system 200. The processing shown in the sequence diagram shown in Fig. 10 is repeatedly executed.

[0114] Distance detection device 11-1 mounted on vehicle a creates distance data at predetermined time intervals and transmits it to data processing device 12B (S21). Distance detection device 11-2 mounted on vehicle b also creates distance data at predetermined time intervals and transmits it to data processing device 12B (S22).

[0115] The object identification unit 124 identifies an object commonly included in the distance data received from the distance detection device 11-1 and the distance data received from the distance detection device 11-2 (S23). The integrated data creation unit 129 creates integrated distance data by overlapping the multiple distance data so that the positions of the objects commonly included in the multiple distance data match (S24). The position identification unit 125 identifies the position of the object in the three-dimensional space by identifying the position of the object included in the integrated distance data (S25).

[0116] The position identification unit 125 transmits object position data indicating the position of the identified object to the vehicles a and b. The vehicles a and b display the object position indicated by the received object position data on a map screen on the display (S26, S27), and control the traveling speed or traveling position based on the object position.

[0117] [Effects of Driving Assistance System 200] As described above, in the driving assistance system 200, the position identifying unit 125 identifies the position of an object around the vehicle based on a plurality of distance data created by a plurality of distance detection devices 11 mounted on a plurality of vehicles. Since the position identifying unit 125 can identify the position of an object included in any of the plurality of distance data, the vehicle can recognize the position of the surrounding object even if an obstacle exists between each vehicle and the object. The vehicle can assist the driver in driving or perform automatic driving by using the position of the object recognized in this way.

[0118] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination combines the effect of the original embodiment. [Explanation of symbols]

[0119] 1 Position Detection System 11 Distance detection device 12 Data Processing Device 13 Object detection device 100 Three-dimensional shape measurement system 121 Communications Department 122 Storage section 123 Control Unit 124 Object identification part 125 Location identification part 126 Data Acquisition Section 127 Shape identification part 128 Distance data acquisition unit 129 Integrated Data Creation Department 131 Arm 132 Probe 133 Stylus 200 Driving Assistance System

Claims

1. A position detection system for detecting a position of an object, comprising: A storage unit that stores shape data indicating a three-dimensional shape of the object; a plurality of distance detection devices that detect light reflected by an object in a predetermined three-dimensional space to generate distance data indicating distances to a plurality of positions on the object; an object identification unit that identifies the object included in one or more of the plurality of distance data created by the plurality of distance detection devices by detecting an area corresponding to the shape data in one or more of the plurality of distance data; a position identification unit that identifies a position of the object in the three-dimensional space based on a position in the three-dimensional space of one or more distance detection devices that have created one or more of the distance data used by the object identification unit to identify the object and a position of the object in one or more of the distance data, on the condition that a relationship between a plurality of orientations of the object corresponding to a plurality of the shape data used by the object identification unit to identify the object using the plurality of the distance data created by the plurality of distance detection devices matches a relationship between a plurality of orientations of the plurality of distance detection devices; A position detection system having:

2. each of the plurality of distance detection devices creates a plurality of time-based distance data, the distance data being associated with a plurality of times while the object is moving; the object identification unit identifies the object in one or more of the plurality of time-based distance data among the plurality of time-based distance data created by the plurality of distance detection devices at the same time; the position identification unit identifies a position of the object corresponding to each of the plurality of times in the three-dimensional space based on a position in the three-dimensional space of the distance detection device that created the time-based distance data in which the object identification unit identified the object, and a position of the object in the time-based distance data. The location detection system of claim 1 .

3. the position identifying unit identifies the position of the object on the condition that positions of the object in the three-dimensional space corresponding to each of the plurality of time-specific distance data corresponding to a same time coincide with each other. The location detection system according to claim 2 .

4. the object is a probe coupled to a stylus that moves and contacts a plurality of positions on the workpiece; the shape data is data indicating a shape of the probe to which the stylus is coupled; the object identification unit identifies the probe corresponding to the shape data in the distance data; the position identifying unit identifies the position of the tip of the stylus in the three-dimensional space by identifying the position of the probe in the distance data based on the position of the probe in the distance data and the relationship between the position of the probe and the position of the stylus indicated by the shape data; The location detection system of claim 1 .

5. A position detection system for detecting a position of an object, comprising: A storage unit that stores shape data indicating a three-dimensional shape of the object; a distance data acquisition unit that acquires a plurality of distance data created by a plurality of distance detection devices that create distance data indicating a distance to a position of the object by detecting light reflected by the object in a predetermined three-dimensional space; an object identifying unit that identifies the object included in one or more of the plurality of distance data by detecting an area corresponding to the shape data in one or more of the plurality of distance data; a position identification unit that identifies a position of the object in the three-dimensional space based on a position in the three-dimensional space of one or more distance detection devices that have created one or more of the distance data used by the object identification unit to identify the object and a position of the object in one or more of the distance data, on the condition that a relationship between a plurality of orientations of the object corresponding to a plurality of the shape data used by the object identification unit to identify the object using the plurality of the distance data created by the plurality of distance detection devices matches a relationship between a plurality of orientations of the plurality of distance detection devices; A position detection system having:

6. the distance data acquisition unit acquires, from the plurality of distance detection devices which are moving, position information indicating positions of the plurality of distance detection devices in association with the distance data; the position identification unit identifies a position of the object in the three-dimensional space based on a position of the distance detection device in the three-dimensional space indicated by the position information and a position of the object in the distance data. The position detection system according to claim 5 .

7. an integrated data creation unit that creates integrated distance data corresponding to a three-dimensional space larger than the three-dimensional space corresponding to each of the plurality of distance data by arranging and integrating the plurality of distance data at relative positions corresponding to the positional relationship of the plurality of distance detection devices indicated by the position information, The position identification unit identifies a position of the object included in the integrated distance data. The position detection system according to claim 6.

8. the object identification unit identifies a common object included in common in the plurality of distance data created by the plurality of distance detection devices; an integrated data creation unit that creates integrated distance data corresponding to a space larger than spaces corresponding to each of the plurality of distance data by arranging and integrating the plurality of distance data so that the position of the common object overlaps; the position identification unit identifies a position of the object in the integrated distance data, thereby identifying a position of the object in the three-dimensional space; The location detection system according to claim 7.

9. A three-dimensional shape measurement system having a probe for measuring a three-dimensional shape of a measurement object, A storage unit that stores shape data indicating a three-dimensional shape of the probe; a plurality of distance detection devices that detect light reflected from the probe within a three-dimensional space in which the probe can move, thereby generating distance data indicative of a distance to a position of the probe; an object identifying unit that identifies the probe included in one or more of the plurality of distance data created by the plurality of distance detection devices by detecting an area corresponding to the shape data in one or more of the plurality of distance data; a position identification unit that identifies a position of the probe in the three-dimensional space based on a position in the three-dimensional space of one or more distance detection devices that have created one or more of the distance data used by the object identification unit to identify the probe and a position of the probe in the one or more distance data, on the condition that a relationship between a plurality of orientations of the probe corresponding to a plurality of the shape data used by the object identification unit to identify the probe using the plurality of the distance data created by the plurality of distance detection devices matches a relationship between a plurality of orientations of the plurality of distance detection devices; a shape specifying unit that outputs three-dimensional shape data indicating a plurality of positions of the object to be measured that are separated from the plurality of positions of the probe specified by the position specifying unit by a difference between the position of the probe and the position of the object to be measured; A three-dimensional shape measuring system having

10. a stylus that contacts a plurality of positions of the object to be measured is coupled to the probe; the shape specifying unit outputs three-dimensional shape data indicating a plurality of positions where the stylus has come into contact with the workpiece, the relationship between the position of the probe and the position of the tip of the stylus being specified based on the relationship between the position of the probe and the position of the workpiece; The three-dimensional shape measuring system according to claim 9 .

11. a data acquisition unit that acquires contact data indicating that the stylus is in contact with the object to be measured, the shape specifying unit outputs three-dimensional shape data indicating a plurality of positions of the object to be measured corresponding to a plurality of positions of the probe specified by the position specifying unit while the contact data indicates that the stylus is in contact with the object to be measured. The three-dimensional shape measuring system according to claim 10.

12. the shape specifying unit outputs three-dimensional shape data indicating a plurality of positions of the object to be measured corresponding to the plurality of positions of the probe specified by the position specifying unit in a state where the position of the probe specified by the position specifying unit has not changed for a predetermined time or more. The three-dimensional shape measuring system according to claim 11.

13. the probe detects the object at a position that has a predetermined relationship with a position of the probe; the shape specifying unit corrects the position of the probe based on the predetermined relationship, and outputs three-dimensional shape data indicating a plurality of positions of the object to be measured. The three-dimensional shape measuring system according to claim 9 .

14. A plurality of the probes each having a different shape, The object identification unit identifies the plurality of probes included in the distance data, The position identifying unit identifies a position of each of the plurality of probes, the shape specifying unit outputs three-dimensional shape data indicating a plurality of positions of the object to be measured corresponding to the respective positions of the plurality of probes. The three-dimensional shape measuring system according to any one of claims 9 to 13.

15. 1. A computer-implemented method for detecting a position of an object, comprising: acquiring a plurality of distance data created by a plurality of distance detection devices that create distance data indicating distances to a plurality of positions on an object by detecting light reflected by the object in a predetermined three-dimensional space; a step of identifying the object included in one or more of the plurality of distance data by referring to shape data indicating a three-dimensional shape of the object and detecting an area corresponding to the shape data in one or more of the plurality of distance data; a step of identifying a position of the object in the three-dimensional space based on a position in the three-dimensional space of one or more distance detection devices that created one or more of the distance data used to identify the object and a position of the object in one or more of the distance data, on the condition that a relationship between a plurality of orientations of the object corresponding to a plurality of the shape data used to identify the object using the plurality of the distance data created by the plurality of distance detection devices matches a relationship between a plurality of orientations of the plurality of distance detection devices; A position detection method comprising:

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