Sensor system and control method thereof

Abstract

To provide a technique which enables the grasping of the presence or absence of a high reflection background and its influence range easily and objectively.SOLUTION: A processing device includes: a high reflector detection part for determining whether a high reflector, which is an object whose reflection intensity is higher than a predetermined standard, exists within a measurement area of a sensor, based on the measurement data; a caution area setting part for setting the caution area in a position between the high reflector and the sensor, which is a range where the measurement accuracy of the sensor may decrease due to the influence of the high reflector, when the high reflector is detected; and an information display part for superimposing and displaying the caution area on a distance image displayed on a display device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a reflective distance measuring sensor. [Background technology]

[0002] Reflective sensors are known that measure the distance to an object by irradiating it with electromagnetic waves such as light or radio waves and observing the electromagnetic waves reflected by the object. Such reflective sensors have the problem that their measurement accuracy is prone to fluctuating depending on the environment (see, for example, Patent Document 1). In particular, when a highly reflective object is located immediately behind the object (i.e., when the object is located in front of a highly reflective background (hereinafter referred to as a "highly reflective background") as seen from the sensor), it becomes difficult to separate the object from the highly reflective background in the detection process, and many algorithms will mistakenly recognize the object as being further back than its actual location. In this specification, this phenomenon is referred to as "far-side misrecognition." [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-196342 Summary of the Invention [Problem to be solved by the invention]

[0004] Reflective sensors are also widely used in the field of factory automation (FA) to detect people and objects. For example, a sensor system called a safety laser scanner is a type of safety sensor that detects the intrusion of a person or object into a specified monitoring area and outputs a signal to stop the equipment. If such a sensor system mistakenly recognizes a person or object at a distant location due to a highly reflective background, even though the person or object is in a position where the equipment should be stopped, the issuance of the signal to stop the equipment may be delayed, which could pose a risk of danger.

[0005] Due to the principles of reflective sensors, it is difficult to solve this problem, so the current practice is to avoid the risk by changing how they are used (operational rules).For example, the user's manual for the sensor system warns that measurement accuracy may be affected in places with a highly reflective background, and recommends that monitoring areas in such places should be set up taking measurement error into consideration.

[0006] When a highly reflective background exists in a factory, users generally choose one of two solutions: (1) Move the highly reflective object, add a shield in front of the highly reflective object, or change the sensor installation angle. These measures will prevent the detection light from hitting the highly reflective object. (2) Follow the manufacturer's instructions and set up a monitoring area taking into account measurement errors in areas where highly reflective objects are present.

[0007] For both measures (1) and (2) above, it is not possible to take appropriate measures unless one correctly understands where within the sensor's measurement area there is a highly reflective background that may affect the measurement, and the extent of the error caused by that highly reflective background. However, in the past, there was no way to objectively grasp the presence or absence of a highly reflective background or the extent of its influence, so measures had to be implemented by repeated trial and error, or by relying on the experience or intuition of skilled or knowledgeable personnel. In particular, with regard to measure (2), it is difficult for beginners to correctly install the sensor, as the distance that should be kept away from the highly reflective background varies depending on the material (reflectivity), relative position and angle of the highly reflective object, and the size of the object to be detected. This is difficult and often takes time even for experienced and knowledgeable people.

[0008] The present invention has been made in consideration of the above-mentioned circumstances, and its purpose is to provide a technique that makes it possible to easily and objectively grasp the presence or absence of a highly reflective background and the extent of its influence. [Means for solving the problem]

[0009] The present disclosure includes a sensor system including a sensor capable of measuring a distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object, a processing device capable of generating a distance image indicating the distance to objects around the sensor based on measurement data obtained by measuring a plurality of azimuths with the sensor, and a display device capable of displaying the distance image generated by the processing device. The processing device may include a high reflector detection unit that determines, based on the measurement data, whether a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present within a measurement area of ​​the sensor, an attention area setting unit that, when a high reflector is detected by the high reflector detection unit, sets a caution area between the high reflector and the sensor, the attention area being an area where the measurement accuracy of the sensor may be reduced due to the influence of the high reflector, and an information display unit that superimposes the caution area set by the attention area setting unit on the distance image displayed on the display device.

[0010] The sensor may include a light source, a scanning unit for irradiating light output from the light source in the plurality of directions, and a light receiving unit for receiving light reflected by an object.

[0011] The processing device may have a monitoring area setting unit that sets a monitoring area to be monitored by the sensor within the measurement area of ​​the sensor, and the information display unit may superimpose and display the monitoring area on the distance image.

[0012] The information display unit may superimpose the attention area on the distance image if the monitoring area exists between the attention area and the sensor, and may not display the attention area if the monitoring area does not exist between the attention area and the sensor.

[0013] The information display unit may display a warning on the distance image when at least a part of the monitoring area overlaps the caution area.

[0014] When at least a part of the monitoring area overlaps the attention area, the information display unit may recommend a modification of the monitoring area to avoid overlapping with the attention area.

[0015] The attention area setting unit may set the attention area to a range of a predetermined width from the high reflector toward the sensor.

[0016] The attention area setting unit may determine the predetermined width based on the reflection intensity of the high reflector.

[0017] The information processing device may further include a report output unit that outputs information indicating the calculation process when the attention area setting unit determined the predetermined width.

[0018] The attention area setting unit may allow a user to set the predetermined width.

[0019] The present disclosure provides a method for measuring a plurality of directions using a sensor that can measure a distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object; a step of generating a distance image showing the distance to objects around the sensor based on measurement data obtained by the above method; a step of displaying the distance image on a display device; a step of determining whether a high reflector, which is an object with a reflection intensity higher than a predetermined standard, is present within the measurement area of ​​the sensor based on the measurement data; a step of setting, when a high reflector is detected, a caution area between the high reflector and the sensor, which is an area where the measurement accuracy of the sensor may be reduced due to the influence of the high reflector; and a step of superimposing the set caution area on the distance image displayed on the display device.

[0020] The present disclosure includes a program for causing a processor of a processing device to execute the following steps: acquiring measurement data obtained by measuring multiple directions using a sensor that can measure the distance to an object by irradiating electromagnetic waves and observing the reflected electromagnetic waves reflected by the object; generating a distance image indicating the distance to objects around the sensor based on the measurement data; displaying the distance image on a display device; determining whether a high reflector, which is an object with a reflection intensity higher than a predetermined standard, is present within the measurement area of ​​the sensor based on the measurement data; when a high reflector is detected, setting a caution area at a position between the high reflector and the sensor, which is an area where the measurement accuracy of the sensor may be reduced due to the influence of the high reflector; and superimposing the set caution area on the distance image displayed on the display device.

[0021] The present invention may be understood as a sensor system having at least some of the above means or functions, or as a safety system or FA system having this sensor system. The present invention may also be understood as a control method or setting method for a sensor system including at least some of the above processes, or as a method for displaying highly reflective objects or setting a monitoring area. Furthermore, the present invention may also be understood as a program for implementing such a method or a computer-readable recording medium on which such a program is non-temporarily recorded. The above means and processes may be combined with each other to the greatest extent possible to constitute the present invention. [Effects of the Invention]

[0022] According to the present invention, it is possible to easily and objectively grasp the presence or absence of a highly reflective background and the extent of its influence. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a diagram illustrating an application example of a sensor system. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a sensor system. [Figure 3] FIG. 3 is a functional block diagram of the controller. [Figure 4] FIG. 4 is a flowchart of a first processing example of the sensor system. [Figure 5] FIG. 5 is an example of a distance image. [Figure 6] FIG. 6 is an example of a distance image display. [Figure 7] FIG. 7 is a flowchart of a second processing example of the sensor system. [Figure 8] FIG. 8 shows an example of a warning display in the second processing example. [Figure 9] FIG. 9 is a flowchart of a processing example 3 of the sensor system. [Figure 10] FIG. 10 shows an example of a recommendation display in the processing example 3. DETAILED DESCRIPTION OF THE INVENTION

[0024] <Application example> An application example of the present invention will be described with reference to FIG.

[0025] The sensor system 1 includes a reflective sensor 10, a processing device 11, and a display device 12. The sensor system 1 may be an integrated configuration in which the sensor 10, the processing device 11, and the display device 12 are provided in a single housing, or may be a configuration in which the sensor 10, the processing device 11, and the display device 12, which are separate devices, are connected by wire or wirelessly, or may be a configuration in which the sensor 10 is connected by wire or wirelessly to a computer (such as a PC, tablet terminal, pendant terminal, or controller) that functions as the processing device 11 and the display device 12.

[0026] Due to its principle, the reflective sensor 10 may have reduced accuracy in measuring the distance to an object O located in front of it in a location where a high reflector HR is present. Therefore, when installing or configuring the sensor system 1, it is necessary to understand whether or not there is a high reflector HR within the measurement area (field of view) of the sensor 10 and the resulting measurement errors, and take necessary measures. However, it is difficult for humans to accurately understand how this will affect the measurement by the sensor 10.

[0027] Therefore, in the sensor system 1, the processing device 11 generates a distance image 13 showing the distance to objects around the sensor 10 based on measurement data obtained by measuring multiple directions using the sensor 10, and displays the distance image 13 on the display device 12. Furthermore, the processing device 11 determines whether a high reflector HR is present within the measurement area of ​​the sensor 10 based on the measurement data, and if a high reflector HR is detected, sets a range where the measurement accuracy of the sensor 10 may be reduced due to the influence of the high reflector HR (this range is referred to as a "caution area"), and displays this caution area CA superimposed on the distance image 13. Furthermore, if a monitoring area PA to be monitored by the sensor system 1 is set, the monitoring area PA may be displayed superimposed on the distance image 13.

[0028] This type of information display visualizes the presence or absence of high reflectors HR, the caution area CA that is their range of influence, and the relative positions of the caution area CA and the monitoring area PA, allowing the user to easily and objectively grasp whether or not countermeasures against high reflectors HR are necessary and where they should be taken, thereby enabling anyone to properly install and configure the sensor system 1.

[0029] In this specification, a "reflective sensor" refers to a sensor that can measure the distance to an object by observing electromagnetic waves reflected by the object, and includes, for example, a ranging sensor that uses laser light (such as LiDAR) and a ranging sensor that uses radio waves (such as millimeter-wave radar). Any measurement method may be used for a reflective sensor, such as the ToF (Time of Flight) method or triangulation method. To measure objects in multiple directions, an area sensor with a two-dimensional measurement area (field of view) or a three-dimensional measurement area (field of view) is used.

[0030] A "distance image" is an image that shows the distance to the nearest object in each direction with the sensor position as the reference (center). If the sensor has a two-dimensional measurement area, it is easy to understand if you use a distance image that is a plan view (two-dimensional map) of that measurement area. If the sensor has a three-dimensional measurement area, it is easy to understand if you use a distance image that is, for example, a cross-sectional view of the three-dimensional measurement area or a projection of the three-dimensional measurement area onto a plane. However, the format of the distance image is not limited to those described here and any format is acceptable. For example, it may be a distance image in which the brightness or color of each pixel represents the distance, or a distance image that represents three-dimensional space using CG (computer graphics).

[0031] A "high reflector" is an object whose reflection intensity is higher than a predetermined standard. The "predetermined standard" depends on the sensor type, performance, and electromagnetic wave transmission intensity, and can be set appropriately depending on the sensor. For example, the reflection intensity at which measurement accuracy significantly deteriorates can be experimentally determined using a sensor, and the predetermined standard can be set based on that reflection intensity. Examples of high reflectors found in factories include acrylic panels, stainless steel equipment, reflective tape, and mirrors.

[0032] "Measurement area" refers to the entire field of view of the sensor, i.e., the range within which the sensor can measure based on its performance. "Monitoring area" refers to the range monitored by the sensor, that is, the range within which predetermined control (output of detection signal, output of alert, stopping or slowing down of other devices, etc.) is performed when an object is detected within the range. The monitoring area is set within (part of) the measurement area.

[0033] <Embodiment> An embodiment of the present invention will be described with reference to FIG.

[0034] The sensor system 1 of this embodiment is configured to include a safety laser scanner 20, which is a type of reflective sensor, and a controller 21. The safety laser scanner 20 (hereinafter also simply referred to as a "laser scanner" or "sensor") and the controller 21 are connected via a USB cable or a LAN cable.

[0035] The laser scanner 20 is a safety sensor that complies with safety standards such as ISO13849-1, and is used for a variety of purposes, such as safety monitoring of industrial equipment in factories, and as the eyes of automatic guided vehicles and mobile robots.

[0036] The laser scanner 20 generally has a structure in which an inverted truncated cone-shaped window 202 is provided on top of a scanner body 201. The scanner body 201 is equipped with a light source, an optical system, a light receiving unit, a control circuit, an indicator light, etc. The window 202 is made of a material that transmits laser light and is a component that protects the optical system, such as a polygon mirror. The laser light output from the light source is reflected by a polygon mirror (scanning unit) that rotates at high speed inside the window 202, allowing it to scan a 270-degree azimuth around the object. The light reflected by an object is guided to the light receiving unit via the optical system and undergoes photoelectric conversion. The dashed line in Figure 2 indicates the scanning range of the laser light.

[0037] The controller 21 is a device that functions as a processing device and a display device. It may be configured as a dedicated device or a general-purpose computer. In this embodiment, the controller 21 is configured by installing a setting tool (software program) for the laser scanner 20 on a general-purpose personal computer. In this case, the controller 21 includes hardware resources such as a processor (CPU), memory, storage, a communication I / F, an input device, and a display device, and the functions of the processing device described below are realized by loading a program stored in the storage into the memory and executing it with the processor. However, the configuration of the controller 21 is not limited to this. For example, all or part of the functions may be configured using circuits such as ASICs or FPGAs, or all or part of the functions may be executed by a cloud server or other devices.

[0038] FIG. 3 is a functional block diagram of the controller 21.

[0039] The controller 21 has the following main functions: a laser scanner control unit 30, a measurement data acquisition unit 31, a distance image generation unit 32, a high reflector detection unit 33, a warning area setting unit 34, an information display unit 35, a monitoring area setting unit 36, a data storage unit 37, and a report output unit 38.

[0040] The laser scanner control unit 30 has a function of controlling the measurement operation of the laser scanner 20. The measurement data acquisition unit 31 has a function of acquiring measurement data from the laser scanner 20. The distance image generation unit 32 has a function of generating a distance image based on measurement data in multiple directions. The high reflector detection unit 33 has a function of determining whether or not a high reflector is present within the measurement area of ​​the laser scanner 20 based on the measurement data. The attention area setting unit 34 has a function of setting an attention area. The information display unit 35 displays the information obtained by the laser scanner 20. The laser scanner 20 has a function to output various information such as the laser scanner 20 setting information and the laser scanner 20 setting information to a display device. The monitoring area setting unit 36 ​​has a function to set a monitoring area within a measurement area. The data storage unit 37 has a function to store measurement data acquired from the laser scanner 20, the detection results of high reflectors, setting information such as caution areas and monitoring areas, distance images, etc. The report output unit 38 has a function to output various information related to the setting of caution areas and monitoring areas. Details of information processing based on these functions are described below.

[0041] <Processing example 1> FIG. 4 is a flowchart showing an example of processing performed by the sensor system 1.

[0042] In step S40, the laser scanner control unit 30 of the controller 21 controls the laser scanner 20 to scan the measurement area and measure multiple azimuths with the laser scanner 20 as the reference (center). In step S41, the measurement data acquisition unit 31 acquires measurement data for each azimuth (each angle) from the laser scanner 20. The measurement data may include information on the distance to the object (closest reflector) for each azimuth and information on the reflection intensity of the laser light. Alternatively, instead of the reflection intensity information, the measurement data may include a high reflector determination result that determines whether or not the object is a high reflector. The acquired measurement data is associated with azimuth (angle) information and stored in the data storage unit 37. For example, if the laser scanner 20 has a measurement area of ​​approximately 270 degrees and an angular resolution of approximately 0.4 degrees, measurement data for approximately 670 points can be obtained in one scan.

[0043] In step S42, the distance image generator 32 generates a distance image based on the measurement data for multiple directions acquired in step S41. Specifically, based on distance information in the measurement data for a certain direction, the distance image generator 32 calculates the position of an object in that direction as viewed from the laser scanner 20, i.e., its coordinates on the distance image. The distance image generator 32 then plots points representing the object (hereinafter referred to as "reflection points") at the object's position coordinates in the distance image. By repeating this process for all measurement data in all directions, approximately 670 reflection points are plotted around the laser scanner 20 in the distance image. In this embodiment, adjacent reflection points are connected by line segments, and the reflection points and line segments are drawn in the same color (e.g., blue). Reference numeral 50 in FIG. 5 denotes an example of a distance image. Mark 51 in the distance image 50 indicates the position of the laser scanner 20, and reference numerals 52a to 52e indicate reflection points. For ease of explanation, only five reflection points 52a to 52e are depicted in FIG. 5, but in an actual distance image, several hundred or more reflection points (approximately 670 in this embodiment) are depicted.

[0044] In step S43, the high reflector detection unit 33 detects a high reflector based on the measurement data. Specifically, the high reflector detection unit 33 compares the reflection intensity included in the measurement data with a predetermined standard, and if the reflection intensity is higher than the predetermined standard, determines that a high reflector exists in that direction (i.e., the reflection point in that direction is a reflection point made of a high reflector (hereinafter also referred to as a "high reflection point")).

[0045] If a high reflection point is detected, in step S44, the high reflector detection unit 33 replaces the points among the multiple reflection points plotted on the distance image that correspond to the high reflection points and the line segments connecting the high reflection points with a different color (for example, red). Reference numeral 53 in Fig. 5 is an example of a distance image depicting high reflection points 54b and 54c (for convenience of illustration, normal reflection points 52a, 52d, and 52e are depicted as white circles, and high reflection points 54b and 54c are depicted as black squares, but in an actual distance image, they should be depicted in different colors). In this example, the two reflection points 52b and 52c are determined to be high reflection points 54b and 54c.

[0046] In step S45, the attention area setting unit 34 sets an attention area CA at a position between the highly reflective object and the laser scanner 20. Specifically, first, the attention area setting unit 34 sets an attention area CA at a position between the highly reflective object and the laser scanner 20. The amount of offset is calculated for each of the high-reflection points 54b and 54c. The offset amount corresponds to the width of the attention area to be secured on the front side (sensor side) of the high-reflection points, i.e., the range where the measurement accuracy of the laser scanner 20 may be reduced due to the influence of a high reflector. Next, the attention area setting unit 34 sets offset points 55b and 55c at positions moved from each of the high-reflection points 54b and 54c toward the laser scanner 20 (mark 51) by the amount of offset. The attention area setting unit 34 then defines an area whose vertices are the high-reflection points 54b and 54c and the offset points 55b and 55c, and sets this area as the attention area CA. Reference numeral 56 in FIG. 5 is an example of a distance image in which the attention area CA is drawn. To enhance the visibility of the attention area CA, it is recommended to draw the attention area CA using a different highlight color from the others.

[0047] Various methods can be used to determine the offset amount. For example, the attention area setting unit 34 may adaptively determine the offset amount based on the reflection intensity of the high-reflection point. Since measurement errors tend to increase as the reflection intensity increases (the reflectivity of the highly reflective surface increases), the offset amount corresponding to the reflection intensity of each high-reflection point may be calculated using, for example, a lookup table (LUT) or function designed to monotonically increase the offset amount according to the reflection intensity. Furthermore, considering that reflection intensity values ​​may contain variations and errors, the offset amounts for high-reflection point groups with similar orientations (i.e., point groups that can be considered to exist on the same reflecting surface) may be individually calculated, and then a representative value (such as the average, maximum, or median) may be selected from these to align the offset amounts for high-reflection point groups with similar orientations to the same or similar values.

[0048] Alternatively, instead of making the offset amount variable, a fixed value may be used. For example, the caution area setting unit 34 may display a setting input screen and request the user to input an offset value, thereby allowing the user to set the offset value. Such a user setting option is useful when an experienced person or knowledgeable person can set an appropriate offset value according to the situation at the site. Alternatively, the offset value (fixed value) recommended by the manufacturer of the laser scanner 20 may be automatically applied. Such a recommended value setting option is useful when an experienced person or knowledgeable person is not available, when safety is more important than accuracy, or when simple setting is desired.

[0049] In step S46, the information display unit 35 displays a distance image on the display device. At this time, it is preferable that high reflectors HR and caution areas CA are superimposed on the distance image. FIG. 6 shows an example of a distance image displayed on the display device. Two high reflectors HR are present, with caution areas CA drawn in front of each. This information display visualizes the presence or absence of high reflectors HR relative to the position SP of the laser scanner 20 and the caution areas CA, which are the range of their influence. This allows the user to easily and objectively grasp whether or not countermeasures against the high reflectors HR are necessary and where countermeasures should be taken.

[0050] In step S47, the monitoring area setting unit 36 ​​performs a monitoring area setting process. If a monitoring area has already been set, or if the coordinate data of the monitoring area is to be imported from an external file, the monitoring area setting unit 36 ​​reads the coordinate data of the monitoring area from the data storage unit 37 or an external device, and displays the monitoring area PA superimposed on the distance image. If there is no monitoring area already set or to be imported, a default monitoring area PA may be initially displayed. The monitoring area setting unit 36 ​​then prompts the user to set the monitoring area PA. For example, it is preferable to provide an editing tool (GUI) for editing the coordinate points and shape of the monitoring area PA on the distance image, so that the monitoring area PA can be set in the desired shape within the desired range using an input device such as a mouse or touch panel. However, since the monitoring area PA needs to be set within the measurement area of ​​the laser scanner 20, it is preferable to provide a function to restrict or check that the monitoring area PA does not extend outside the measurement area. Figure 6 shows an example of setting a monitoring area PA. When a monitoring area PA is set on a distance image showing a caution area CA, This allows the user to set the monitoring area PA so as to avoid the caution area CA, or to set the monitoring area PA to a range that includes the caution area CA, understanding that it is a caution area CA (i.e., that there is a measurement error).

[0051] In step S48, the report output unit 38 creates a document that describes various information related to the setting of the caution area CA and the monitoring area PA. For example, information such as the calculation process used to determine the offset value, the presence or absence of high reflectors HR and caution areas CA, the presence or absence of overlap between the caution area CA and the monitoring area PA, and measurement errors in the monitoring area PA may be described. The created document may be output as electronic data in, for example, PDF or CSV format, or may be printed or displayed. This document can be used as evidence when verifying whether the laser scanner 20 is properly set up.

[0052] <Processing example 2> Processing example 2 is a process for verifying whether the setting of the monitoring area PA is appropriate after generating a distance image, setting high reflectors HR and attention areas CA, and setting the monitoring area PA are completed. Fig. 7 shows a flowchart of processing example 2. This process is executed for each high reflector HR detected within the measurement area, for example, after step S47 of the flowchart in Fig. 4. Note that if no high reflectors HR exist within the measurement area, the process in Fig. 7 is not executed.

[0053] The information display unit 35 first determines whether the high reflector HR requires attention in relation to the monitoring area PA (step S70). The high reflector HR becomes a problem only when measuring an object in front of the high reflector HR. Therefore, if there is no monitoring area PA between the attention area CA of the high reflector HR and the laser scanner 20, the high reflector HR and the attention area CA do not require attention. The information display unit 35 hides the high reflector HR and the attention area CA that do not require attention (step S71). By hiding unnecessary information, user convenience can be improved. On the other hand, if the high reflector HR is a high reflector HR that requires attention, the information display unit 35 displays a warning that a high reflector HR is present (step S72).

[0054] In step S73, the information display unit 35 determines whether the caution area CA and the monitoring area PA overlap. If at least a portion of the monitoring area PA overlaps the caution area CA, the information display unit 35 displays a warning on the distance image (step S74) to alert the user. FIG. 8 shows an example of a warning display. A warning display 80 is overlaid near the high-reflector HR requiring attention to notify the user of the presence of the high-reflector HR. In addition, the intersection area IA where the monitoring area PA and the caution area CA overlap is highlighted, and a warning display 81 is overlaid to notify the user of the existence of the intersection area IA. These warning displays 80 and 81 may preferably include hyperlinks to documents describing countermeasures. In the example of FIG. 8, clicking the "Display Countermeasures" button displays countermeasures for high-reflectors and countermeasures for when the caution area CA overlaps the monitoring area PA.

[0055] By adjusting the settings of the monitoring area PA while viewing the information display as described above, an appropriate monitoring area PA can be easily set.

[0056] <Processing example 3> Processing example 3 is a process for recommending an appropriate monitoring area PA. A flowchart of processing example 3 is shown in Fig. 9. This process is executed for each high reflector HR detected within the measurement area, for example, after step S47 of the flowchart in Fig. 4. Note that if no high reflector HR exists within the measurement area, the process in Fig. 9 is not executed.

[0057] Steps S90 to S92 may be the same as steps S70 to S72 in FIG. 7. In step S93, the information display unit 35 determines whether there is an overlap between the attention area CA and the monitoring area PA. If at least a portion of the monitoring area PA overlaps the attention area CA, the information display unit 35 creates a revision proposal for the monitoring area PA that corrects the monitoring area PA so that it does not overlap with the attention area CA (step S94). Then, the information display unit 35 displays the revision proposal for the monitoring area PA and a warning on the distance image (step S95). FIG. 10 is an example of a recommendation display. The intersection area IA where the monitoring area PA and the attention area CA overlap is highlighted, and a warning display 85 is overlaid to notify the user of the existence of the intersection area IA. In addition, a revision proposal PA2 for the monitoring area is overlaid. Pressing the "Adopt revision proposal" portion of the warning display 85 replaces the monitoring area setting with the revision proposal PA2.

[0058] By using such a recommendation function, the user can easily set an appropriate monitoring area PA.

[0059] <Other> The above-described embodiments merely exemplify exemplary configurations of the present invention. The present invention is not limited to the specific embodiments described above, and various modifications are possible within the scope of the technical concept. For example, while the above-described embodiments assume a fixed sensor, it is also possible for the sensor to move, such as a laser scanner mounted on a mobile robot. When the sensor moves, it is preferable to generate a distance image and information on high-reflector objects and attention areas based on measurement data acquired sequentially, and update the display of the distance image at a predetermined refresh interval. In this case, only high-reflector objects and attention areas whose distance from the sensor is below a threshold may be displayed, and high-reflector objects and attention areas located farther away than the threshold may be hidden. Alternatively, rather than determining the distance from the sensor, display / hide may be switched based on whether the distance from the edge of the monitoring area is below a threshold.

[0060] <Additional Notes> 1. A sensor (10; 20) capable of measuring the distance to an object (O) by observing electromagnetic waves reflected by the object (O); a processing device (11; 21) capable of generating a distance image (13; 50, 53, 56) showing distances to objects around the sensor (10; 20) based on measurement data obtained by measuring a plurality of directions using the sensor (10; 20); a display device (12; 21) capable of displaying the distance image (13; 50, 53, 56) generated by the processing device (11; 21), The processing device (11; 21) a high reflector detection unit (33) that determines whether a high reflector (HR), which is an object having a reflection intensity higher than a predetermined standard, is present within a measurement area of ​​the sensor (10; 20) based on the measurement data; an attention area setting unit (34) that, when a high reflector (HR) is detected by the high reflector detection unit (33), sets an attention area (CA) at a position between the high reflector (HR) and the sensor (10; 20), the area being a range in which the measurement accuracy of the sensor (10; 20) may be reduced due to the influence of the high reflector (HR); an information display unit (35) that displays the attention area (CA) set by the attention area setting unit (34) superimposed on the distance image (13; 50, 53, 56) displayed on the display device (12; 21); Sensor system (1).

[0061] 2. A step (S40) of measuring a plurality of directions by a sensor (10; 20) capable of measuring the distance to an object (O) by observing electromagnetic waves reflected by said object (O); A step (S42) of generating a distance image (13; 50, 53, 56) showing distances to objects around the sensor (10; 20) based on measurement data obtained by the sensor (10; 20); a step (S46) of displaying the distance image (13; 50, 53, 56) on a display device (12; 21); a step (S43) of determining whether or not a high reflector (HR), which is an object having a reflection intensity higher than a predetermined standard, is present within the measurement area of ​​the sensor (10; 20) based on the measurement data; a step (S45) of setting a caution area (CA) at a position between the high reflector (HR) and the sensor (10; 20) when a high reflector (HR) is detected, the CA being a range in which the measurement accuracy of the sensor (10; 20) may be reduced due to the influence of the high reflector (HR); and a step (S45) of superimposing the set attention area (CA) on the distance image (13; 50, 53, 56) displayed on the display device (12; 21). A method for controlling a sensor system (1).

[0062] 3. The processor of the processing unit (11; 21) A step (S41) of acquiring measurement data obtained by measuring a plurality of directions using a sensor (10; 20) capable of measuring a distance to an object (O) by observing electromagnetic waves reflected by the object (O); A step (S42) of generating a distance image (13; 50, 53, 56) showing distances to objects around the sensor (10; 20) based on the measurement data; a step (S46) of displaying the distance image (13; 50, 53, 56) on a display device (12; 21); a step (S43) of determining whether or not a high reflector (HR), which is an object having a reflection intensity higher than a predetermined standard, is present within the measurement area of ​​the sensor (10; 20) based on the measurement data; a step (S45) of setting a caution area (CA) between the high reflector (HR) and the sensor (10; 20) when the high reflector (HR) is detected, the caution area (CA) being a range in which the measurement accuracy of the sensor (10; 20) may be reduced due to the influence of the high reflector (HR); and a step (S45) of superimposing the set attention area (CA) on the distance image (13; 50, 53, 56) displayed on the display device (12; 21); A program to execute. [Explanation of symbols]

[0063] 1: Sensor system 10: Sensor 11: Processing device 12:Display device 20: Laser scanner 21: Controller

Claims

1. a sensor capable of measuring a distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object; a processing device capable of generating a distance image showing distances to objects around the sensor based on measurement data obtained by measuring a plurality of directions using the sensor; a display device capable of displaying the distance image generated by the processing device, The processing device includes: a high reflector detection unit that determines whether a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present within the measurement area of ​​the sensor based on the measurement data; and an attention area setting unit that sets an attention area, which is an area where the measurement accuracy of the sensor may be reduced due to the influence of the high reflector, at a position between the high reflector and the sensor when the high reflector detection unit detects a high reflector; an information display unit that displays the attention area set by the attention area setting unit in a superimposed manner on the distance image displayed on the display device; Sensor system.

2. The sensor A light source and a scanning unit for irradiating light output from the light source in the plurality of directions; a light receiving unit that receives light reflected by an object; The sensor system of claim 1 .

3. the processing device has a monitoring area setting unit that sets a monitoring area to be monitored by the sensor within the measurement area of ​​the sensor, The information display unit displays the monitoring area superimposed on the distance image. The sensor system according to claim 1 or 2.

4. The information display unit superimposes the attention area on the distance image when the monitoring area exists between the attention area and the sensor, and does not display the attention area when the monitoring area does not exist between the attention area and the sensor. The sensor system of claim 3 .

5. The information display unit displays a warning on the distance image when at least a part of the monitoring area overlaps with the attention area. The sensor system according to claim 3 or 4.

6. When at least a part of the monitoring area overlaps the attention area, the information display unit recommends a modification of the monitoring area to avoid overlapping with the attention area. The sensor system according to any one of claims 3 to 5.

7. The attention area setting unit sets a range of a predetermined width from the high reflector toward the sensor as the attention area. The sensor system according to any one of claims 1 to 6.

8. The sensor system according to claim 7 , wherein the attention area setting unit determines the predetermined width based on the reflection intensity of the highly reflecting object.

9. The attention area setting unit outputs information indicating the calculation process when determining the predetermined width. Has a report output section The sensor system of claim 8 .

10. The attention area setting unit allows a user to set the predetermined width. The sensor system of claim 8 .

11. measuring a plurality of directions using a sensor capable of measuring a distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object; generating a distance image showing distances to objects around the sensor based on the measurement data obtained by the sensor; displaying the distance image on a display device; a step of determining whether or not a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present within a measurement area of ​​the sensor based on the measurement data; a step of setting a caution area, which is an area where the measurement accuracy of the sensor may be reduced due to the influence of the high reflector, at a position between the high reflector and the sensor when the high reflector is detected; and a step of superimposing the set attention area on the distance image displayed on the display device. A method for controlling a sensor system.

12. A processor of the processing device, a step of acquiring measurement data obtained by measuring a plurality of azimuths using a sensor capable of measuring a distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object; generating a distance image showing distances to objects around the sensor based on the measurement data; displaying the distance image on a display device; a step of determining whether or not a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present within the measurement area of ​​the sensor based on the measurement data; When a high reflector is detected, a caution area is set between the high reflector and the sensor, the caution area being a range in which the measurement accuracy of the sensor may be reduced due to the influence of the high reflector; and a step of superimposing the set attention area on the distance image displayed on the display device; A program to execute.

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