Optical sensing device, optical sensing system, and optical sensing method

Abstract

Occlusion is suppressed in this optical sensing system, in which a plurality of optical sensing devices are linked by means of optical wireless communication. An optical sensing device (1) comprises a light transmitting and receiving means (11) for transmitting and receiving first light (L1) used for first LiDAR measurement, and for transmitting or receiving second light (L2) used for optical wireless communication with another optical sensing device (1), and a control means (12) for switching between a first operating mode in which the first LiDAR measurement is executed, and a second operating mode in which the optical wireless communication is executed, wherein the first LiDAR measurement performed by the optical sensing device (1) and second LiDAR measurement performed by the other optical sensing device (1) are executed with respect to the same target object (O).

Description

[Technical Field]

[0001] The present disclosure relates to optical sensing devices and the like. [Background technology]

[0002] There is known a technology that uses LiDAR (Light Detection and Ranging) to detect objects or measure distances. Hereinafter, such a technology will be referred to as "LiDAR measurement" or "optical sensing." There is also known a technology in which multiple LiDAR devices perform mutual optical wireless communication using laser light emitted by each LiDAR device (see, for example, Patent Document 1).

[0003] In the system described in Patent Document 1, for example, two vehicles are each equipped with a LiDAR device. Each LiDAR device performs LiDAR measurements to acquire information about the surrounding environment of the corresponding vehicle. The acquired information is used for collision avoidance and automatic control of each vehicle (see paragraphs

[0074] to

[0076] and FIG. 6 of Patent Document 1). Furthermore, in the system described in Patent Document 1, the two LiDAR devices perform mutual optical wireless communication. As a result, information acquired by one LiDAR device is transmitted to the other LiDAR device (see paragraph

[0077] and FIG. 6 of Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Special Publication No. 2020-506402 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology described in Patent Document 1 assumes that in LiDAR measurement, each LiDAR device irradiates a different object with laser light (see FIGS. 2 and 3 of Patent Document 1). As a result, areas on the surface of each object that do not face the LiDAR device are not irradiated with laser light (see FIG. 2 of Patent Document 1). In other words, so-called "occlusion" occurs. As a result, for example, when generating a three-dimensional model of these objects, there is a problem in that missing parts corresponding to the occlusion occur in the three-dimensional model.

[0006] In view of the above-described problems, an object of the present disclosure is to suppress the occurrence of occlusion in an optical sensing system in which multiple optical sensing devices cooperate with each other via optical wireless communication. [Means for solving the problem]

[0007] An optical sensing device according to one aspect of the present disclosure includes an optical transmitting / receiving means for transmitting and receiving a first light used for a first LiDAR measurement and for transmitting or receiving a second light used for optical wireless communication with another optical sensing device, and a control means for switching between a first operating mode for performing the first LiDAR measurement and a second operating mode for performing optical wireless communication, wherein the first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object.

[0008] An optical sensing system according to one aspect of the present disclosure is an optical sensing system including an optical sensing device, wherein the optical sensing device comprises an optical transmitting / receiving means for transmitting and receiving a first light used for a first LiDAR measurement and for transmitting or receiving a second light used for optical wireless communication with another optical sensing device, and a control means for switching between a first operating mode for performing the first LiDAR measurement and a second operating mode for performing optical wireless communication, wherein the first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object.

[0009] An optical sensing method according to one aspect of the present disclosure includes an optical sensing device that transmits and receives a first light used for a first LiDAR measurement and transmits or receives a second light used for optical wireless communication with another optical sensing device, the optical sensing device switches between a first operating mode in which the first LiDAR measurement is performed and a second operating mode in which the optical wireless communication is performed, and the first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to suppress the occurrence of occlusion in an optical sensing system in which a plurality of optical sensing devices cooperate with each other via optical wireless communication. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing an optical sensing system according to the first embodiment. [Figure 2] FIG. 2 is a block diagram showing the light-sensing device according to the first embodiment. [Figure 3] FIG. 3 is a block diagram showing the light-sensing device according to the first embodiment. [Figure 4] FIG. 4 is a block diagram showing the optical transmitting and receiving unit of the optical sensing device according to the first embodiment. [Figure 5] FIG. 5 is a block diagram showing a control unit of the light-sensing device according to the first embodiment. [Figure 6] FIG. 6 is a block diagram showing a signal processing unit of the light-sensing device according to the first embodiment. [Figure 7] FIG. 7 is a block diagram showing the hardware configuration of the light-sensing device according to the first embodiment. [Figure 8] FIG. 8 is a block diagram showing the hardware configuration of the light-sensing device according to the first embodiment. [Figure 9] FIG. 9 is a block diagram showing the hardware configuration of the light-sensing device according to the first embodiment. [Figure 10A] FIG. 10A is a flowchart showing the operation of the control unit of the light-sensing device according to the first embodiment. [Figure 10B] FIG. 10B is a flowchart showing the operation of the control unit of the light-sensing device according to the first embodiment. [Figure 11] FIG. 11 is a flowchart showing the operation of the signal processing unit of the light-sensing device according to the first embodiment. [Figure 12] FIG. 12 is a block diagram showing the light-sensing device according to the second embodiment. [Figure 13] FIG. 13 is a block diagram showing an optical sensing system according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0013] [First embodiment] FIG. 1 is a block diagram showing an optical sensing system according to a first embodiment. FIG. 2 is a block diagram showing an optical sensing device according to the first embodiment. FIG. 3 is a block diagram showing an optical sensing device according to the first embodiment. FIG. 4 is a block diagram showing an optical transmitting and receiving unit of the optical sensing device according to the first embodiment. FIG. 5 is a block diagram showing a control unit of the optical sensing device according to the first embodiment. FIG. 6 is a block diagram showing a signal processing unit of the optical sensing device according to the first embodiment. The optical sensing system according to the first embodiment will be described with reference to FIGS. 1 to 6.

[0014] 1, the optical sensing system 100 includes a plurality of optical sensing devices 1. Specifically, for example, the optical sensing system 100 includes two optical sensing devices 1_1 and 1_2.

[0015] Multiple optical sensing devices 1 perform optical sensing of the same object (O in the figure). Hereinafter, this object may be referred to as the "target object." In the figure, L1 indicates light used for optical sensing. Hereinafter, this light may be referred to as the "first light." Optical sensing performed by each optical sensing device 1 is based on the LiDAR principle. Hereinafter, the multiple optical sensing devices 1 are installed around a predetermined area that may include the target object O. Hereinafter, this area may be referred to as the "target area." Furthermore, the multiple optical sensing devices 1 are installed so that laser light emitted from each optical sensing device 1 is irradiated onto the target area. In other words, the multiple optical sensing devices 1 are installed to surround the target area. That is, the multiple optical sensing devices 1 are installed to surround the target object O. As a result, as described above, the multiple optical sensing devices 1 perform optical sensing of the same target object O.

[0016] In addition, when the object O is a powder or granular material, the "same object" does not mean the individual grains that make up the powder or granular material, but may mean the entire powder or granular material. For example, when the object O is a pile of raw materials in a raw material yard, the "same object" does not mean the individual grains that make up the pile of raw materials, but means the pile of raw materials.

[0017] Furthermore, each optical sensing device 1 performs optical wireless communication with other optical sensing devices 1. In the figure, L2 indicates light used in optical wireless communication. Hereinafter, this light may be referred to as "second light." Furthermore, each optical sensing device 1 performs optical searching to search for other optical sensing devices 1 with which to perform optical wireless communication. In the figure, L3 indicates light used in optical searching. Hereinafter, this light may be referred to as "third light."

[0018] 2 and 3, each optical sensing device 1 includes an optical transceiver 11 and a control unit 12. In addition, at least one optical sensing device 1 among the plurality of optical sensing devices 1 includes a signal processing unit 13 and an output unit 14 (see FIG. 2). Specifically, for example, the optical sensing device 1_1 among the optical sensing devices 1_1 and 1_2 shown in FIG. 1 includes the optical transceiver 11, the control unit 12, the signal processing unit 13, and the output unit 14 (see FIG. 2). In contrast, the optical sensing device 1_2 among the optical sensing devices 1_1 and 1_2 shown in FIG. 1 includes the optical transceiver 11 and the control unit 12 (see FIG. 3).

[0019] 4, the optical transceiver 11 includes a light emitting unit 21 and a light receiving unit 22. The light emitting unit 21 is configured, for example, by an optical transmitter. The light receiving unit 22 is configured, for example, by an optical receiver. Note that the light emitting unit 21 and the light receiving unit 22 may be physically separated from each other.

[0020] First, the optical transmitter / receiver 11 is used for optical sensing based on the LiDAR principle. That is, the light emitter 21 emits laser light for optical sensing. The emitted laser light is irradiated onto a target area. Herein, the orientation of the optical transmitter / receiver 11 in each optical sensing device 1 is variable. Specifically, for example, the optical axis of the beam formed by the optical transmitter / receiver 11 is freely rotatable within a predetermined angular range (e.g., ±5°) in the azimuth direction or in both the azimuth direction and the elevation direction. As a result, the light emitter 21 sequentially emits laser light for optical sensing in multiple directions. As a result, the laser light is irradiated so as to scan the target area. The irradiated laser light is scattered and reflected by objects (including the target O) present in the target area. Hereinafter, the reflected light may be referred to as "reflected light." The light receiver 22 receives the backscattered component of the reflected light. Hereinafter, the reflected light received by the light receiver 22 may be referred to as "received light."

[0021] In this way, the first light L1 for optical sensing includes laser light emitted by each optical sensing device 1 (see FIG. 1). The first light L1 for optical sensing also includes reflected light received by each optical sensing device 1 (see FIG. 1). That is, in each optical sensing device 1, the optical transmitter / receiver 11 transmits and receives the first light L1.

[0022] Second, the optical transmitter / receiver 11 is used for optical wireless communication between multiple optical sensing devices 1. That is, by performing optical searching, which will be described later, a state occurs in which the optical transmitter / receiver 11 of the transmitting optical sensing device 1 and the optical transmitter / receiver 11 of the receiving optical sensing device 1 face each other. In this state, the optical emitter 21 of the transmitting optical sensing device 1 emits laser light for optical wireless communication. On the other hand, the light receiver 22 of the receiving optical sensing device 1 receives the emitted laser light.

[0023] Here, the optical sensing device 1 on the receiving side is an optical sensing device 1 among a plurality of optical sensing devices 1 that has a signal processing unit 13 and an output unit 14. For example, in the example shown in FIG. 1, the optical sensing device 1 on the receiving side is the optical sensing device 1_1 among the optical sensing devices 1_1 and 1_2. On the other hand, in the example shown in FIG. 1, the optical sensing device 1 on the transmitting side is the optical sensing device 1_2 among the optical sensing devices 1_1 and 1_2.

[0024] In this way, the second light L2 for optical wireless communication includes laser light transmitted by the optical sensing device 1 on the transmitting side (see FIG. 1). In other words, the second light L2 for optical wireless communication includes laser light received by the optical sensing device 1 on the receiving side (see FIG. 1). That is, in each of the optical sensing device 1 on the transmitting side and the optical sensing device 1 on the receiving side, the optical transmitting and receiving unit 11 transmits or receives the second light L2. In other words, in each optical sensing device 1, the optical transmitting and receiving unit 11 transmits or receives the second light L2.

[0025] In the mutual optical wireless communication, the transmitting optical sensing device 1 and the receiving optical sensing device 1 can be interchangeable. Therefore, in each optical sensing device 1, the optical transmitting / receiving unit 11 may transmit and receive the second light L2.

[0026] Third, the optical transceiver 11 is used for optical searching to search for an optical sensing device 1 that will be the other party in optical wireless communication. That is, as described above, the orientation of the optical transceiver 11 is variable in each optical sensing device 1. Therefore, in the searching optical sensing device 1, the optical sensing device 1 changes the orientation of the optical transceiver 11, causing the light emitting unit 21 to sequentially emit laser light for optical searching in multiple directions. On the other hand, in the searched optical sensing device 1, the optical sensing device 1 also changes the orientation of the optical transceiver 11. Here, the variable range of the orientation of the optical transceiver 11 in optical searching may be set to a value larger than the variable range of the orientation of the optical transceiver 11 in optical sensing. Specifically, for example, in optical searching, the rotation range of the optical axis of the beam formed by the optical transceiver 11 may be set to a value larger than ±5°.

[0027] When the optical sensing device 1 on the searching side changes the orientation of its optical transmitter / receiver 11 and the optical sensing device 1 on the searched side changes the orientation of its optical transmitter / receiver 11, a state can occur in which these optical transmitters / receivers 11 face each other. In this state, the laser light for optical searching emitted by the light emitting unit 21 of the optical sensing device 1 on the searching side is received by the light receiving unit 22 of the optical sensing device 1 on the searched side. In response to this reception, the light emitting unit 21 of the optical sensing device 1 on the searched side emits laser light in response to the laser light for optical searching. The light receiving unit 22 of the optical sensing device 1 on the searching side receives the emitted laser light.

[0028] Here, the response laser light may be laser light for optical wireless communication. That is, the optical sensing device 1 on the searched side in optical searching may become the optical sensing device 1 on the transmitting side in optical wireless communication when it receives the laser light for optical searching. That is, in the example shown in FIG. 1, the optical sensing device 1 on the searched side is, for example, the optical sensing device 1_2 of the optical sensing devices 1_1 and 1_2. On the other hand, in the example shown in FIG. 1, the optical sensing device 1 on the searching side is, for example, the optical sensing device 1_1 of the optical sensing devices 1_1 and 1_2.

[0029] Alternatively, the response laser light may be a dedicated laser light (for example, a laser light similar to the laser light for optical probing). That is, the response laser light may be a laser light used for optical probing, or may be a laser light used for optical wireless communication. In other words, the response laser light may be included in the second light L2, or may be included in the third light L3.

[0030] In this way, the third light L3 for optical search includes laser light emitted by the optical sensing device 1 on the searching side (see FIG. 1). In other words, the third light L3 for optical search includes laser light received by the optical sensing device 1 on the searched side (see FIG. 1). That is, in each of the optical sensing device 1 on the searching side and the optical sensing device 1 on the searched side, the optical transceiver 11 transmits or receives the third light L3. In other words, in each optical sensing device 1, the optical transceiver 11 transmits or receives the third light L3.

[0031] As described above, the third light L3 may include a response laser light in addition to the optical search laser light. Therefore, in each optical sensing device 1, the optical transceiver 11 may transmit and receive the third light L3.

[0032] Note that with respect to the wavelength λ1 of the laser light for optical sensing, the wavelength λ2 of the laser light for optical wireless communication, the wavelength λ3 of the laser light for optical searching, and the wavelength λ4 of the laser light for response, any two of these values ​​(λ1, λ2, λ3, λ4) may be values ​​in the same wavelength band. Alternatively, any two of these values ​​(λ1, λ2, λ3, λ4) may be values ​​in different wavelength bands. It is preferable that the light emitting unit 21 uses an optical transmitter compatible with these wavelengths (λ1, λ2, λ3, λ4). It is also preferable that the light receiving unit 22 uses an optical receiver compatible with these wavelengths (λ1, λ2, λ3, λ4).

[0033] However, from the viewpoint of realizing optical sensing, it is preferable that the wavelength λ1 be set to a value used for LiDAR. Specifically, for example, the wavelength λ1 is set to a value in the 905 nanometer band or a value in the 1550 nanometer band. In contrast, from the viewpoint of realizing optical wireless communication, it is preferable that the wavelength λ2 be set to a value used for optical wireless communication. Specifically, for example, the wavelength λ2 is set to a value in the 800 nanometer band. That is, from the viewpoint of realizing both optical sensing and optical wireless communication, it is preferable that the wavelengths λ1 and λ2 be set to values ​​in different wavelength bands. Note that each of the wavelengths λ3 and λ4 is set to, for example, a value in a wavelength band selected from these wavelength bands. That is, from the viewpoint of reducing the number of wavelength bands used, each of the wavelengths λ3 and λ4 may be set to a value in the same wavelength band as the wavelength λ1 or the wavelength λ2.

[0034] 5, the control unit 12 includes an operation mode setting unit 31, a measurement mode execution unit 32, a communication mode execution unit 33, a search mode execution unit 34, and a standby mode execution unit 35. In the following description of each functional unit of each optical sensing device 1, the optical sensing device 1 provided with this functional unit may be referred to as the "corresponding optical sensing device" or "the optical sensing device."

[0035] The operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1. Here, as will be described later, each light sensing device 1 has a plurality of operation modes. The operation mode setting unit 31 selects one of the plurality of operation modes and sets the operation mode of the corresponding light sensing device 1 to the selected operation mode. In other words, the operation mode setting unit 31 switches the operation mode of the corresponding light sensing device 1. A specific example of a method for setting the operation mode by the operation mode setting unit 31 will be described later. Specific examples of the plurality of operation modes will be described below.

[0036] <Measurement mode (first operation mode)> First, each light-sensing device 1 has an operation mode in which it performs light sensing based on the LiDAR principle. Hereinafter, this operation mode may be referred to as a "measurement mode" or a "first operation mode." The operation of each light-sensing device 1 in the measurement mode is as follows.

[0037] That is, as described above, in each light sensing device 1, the light emitting unit 21 emits laser light for light sensing. Furthermore, when the emitted laser light is reflected by the object O, the light receiving unit 22 receives the reflected light. These operations are performed in each light sensing device 1 under the control of the measurement mode executing unit 32. In other words, in each light sensing device 1, the measurement mode executing unit 32 executes control to emit laser light for light sensing and control to receive the corresponding reflected light.

[0038] Furthermore, the measurement mode execution unit 32 measures the distance D based on the laser light emitted by the light emission unit 21 and the reflected light received by the light reception unit 22. Here, the laser light emitted by the light emission unit 21 is the laser light that is irradiated onto the object O. Furthermore, the reflected light received by the light reception unit 22 is the light reflected by the object O. The distance D is measured using, for example, a ToF (Time of Flight) method or an FMCW (Frequency Modulated Continuous Wave) method.

[0039] When the ToF method is used, the light emitting unit 21 emits pulsed laser light in each direction under the control of the measurement mode executing unit 32. The measurement mode executing unit 32 acquires information indicating the timing t1 at which the light emitting unit 21 emits laser light in each direction, and information indicating the timing t2 at which the light receiving unit 22 receives the corresponding reflected light (i.e., the corresponding pulsed light). The measurement mode executing unit 32 uses this information to calculate the time difference Δt between the timings t1 and t2. The time difference Δt corresponds to the round-trip propagation time of the laser light emitted in each direction and the corresponding reflected light. The measurement mode executing unit 32 calculates the one-way propagation distance (i.e., distance D) corresponding to this round-trip propagation time. In this manner, the distance D is measured.

[0040] When the FMCW system is used, each optical sensing device 1 has the function of performing frequency modulation for FMCW and the function of performing coherent detection. By performing frequency modulation for FMCW, the light emitting unit 21 emits chirp-shaped laser light in each direction. Furthermore, by performing coherent detection on the reflected light (i.e., received light) received by the light receiving unit 22, the frequency and phase of the received light are detected. The measurement mode executing unit 32 acquires information indicating the frequency f1 of the laser light emitted in each direction and information indicating the frequency f2 of the corresponding received light. Using this information, the measurement mode executing unit 32 calculates the frequency difference Δf between the frequencies f1 and f2 (the so-called "beat frequency") Δf. Based on the calculated beat frequency Δf, the measurement mode executing unit 32 calculates the distance D using a predetermined formula related to FMCW. In this manner, the distance D is measured.

[0041] The method for measuring the distance D is not limited to these specific examples. Various known techniques can be used to measure the distance D. A detailed description of these techniques will be omitted. For example, the measurement mode execution unit 32 may calculate the distance D based on the phase difference between the laser light emitted in each direction and the corresponding received light. In other words, the measurement mode execution unit 32 may use an indirect ToF method.

[0042] In this way, optical sensing based on the principle of LiDAR is realized. That is, the measurement mode execution unit 32 executes optical sensing when the operation mode of the corresponding optical sensing device 1 is set to the measurement mode. In other words, the measurement mode execution unit 32 executes the measurement mode when the operation mode of the corresponding optical sensing device 1 is set to the measurement mode.

[0043] The measurement mode execution unit 32 generates data indicating the results of the optical sensing. Hereinafter, such data may be referred to as "measurement data." The measurement data includes each of the calculated distances D. The measurement data also includes information indicating the emission direction of the laser light corresponding to each of the calculated distances D. The emission direction indicated by the measurement data is expressed, for example, by a difference value with respect to a predetermined reference direction. The reference direction is, for example, the installation direction of the corresponding optical sensing device 1.

[0044] In the transmitting-side optical sensing device 1, the measurement mode execution unit 32 outputs the generated measurement data to the communication mode execution unit 33. Here, the transmitting-side optical sensing device 1 is an optical sensing device 1 that does not have the signal processing unit 13 and the output unit 14. In FIG. 5, the connection line between the measurement mode execution unit 32 and the communication mode execution unit 33 in this case is omitted. Hereinafter, the measurement data indicating the result of optical sensing in the transmitting-side optical sensing device 1 may be referred to as "first measurement data." The output first measurement data is transmitted to the receiving-side optical sensing device 1, as described below.

[0045] On the other hand, in the receiving-side optical sensing device 1, the measurement mode execution unit 32 outputs the generated measurement data to the signal processing unit 13. Here, as described above, the receiving-side optical sensing device 1 is an optical sensing device 1 having the signal processing unit 13 and the output unit 14. Hereinafter, the measurement data indicating the result of optical sensing in the receiving-side optical sensing device 1 may be referred to as "second measurement data." The output second measurement data is used to generate point cloud data, as will be described later.

[0046] <Communication mode (second operation mode)> Second, each optical sensing device 1 has an operation mode in which it performs optical wireless communication with other optical sensing devices 1. Hereinafter, this operation mode may be referred to as the "communication mode" or the "second operation mode." The operation of each optical sensing device 1 in the communication mode is as follows.

[0047] That is, as described above, in the transmitting-side optical sensing device 1, the light emitting unit 21 emits laser light for optical wireless communication. This operation is executed under the control of the communication mode executing unit 33 in the transmitting-side optical sensing device 1. In other words, in the transmitting-side optical sensing device 1, the communication mode executing unit 33 executes control to emit laser light for optical wireless communication.

[0048] On the other hand, in the receiving-side optical sensing device 1, the light receiving unit 22 receives the emitted laser light. This operation is executed under the control of the communication mode executing unit 33 in the receiving-side optical sensing device 1. In other words, in the receiving-side optical sensing device 1, the communication mode executing unit 33 executes control to receive laser light for optical wireless communication.

[0049] In this way, the communication mode includes an operation mode corresponding to the transmitting optical sensing device 1 and an operation mode corresponding to the receiving optical sensing device 1. Hereinafter, the operation mode of the communication mode corresponding to the transmitting optical sensing device 1 may be referred to as the "transmission mode." Also, the operation mode of the communication mode corresponding to the receiving optical sensing device 1 may be referred to as the "reception mode."

[0050] Here, in the transmitting-side optical sensing device 1, the communication mode execution unit 33 executes optical wireless communication to notify the receiving-side optical sensing device 1 of information indicating the position and orientation of the transmitting-side optical sensing device 1. In other words, in the receiving-side optical sensing device 1, the communication mode execution unit 33 executes optical wireless communication to acquire information indicating the position and orientation of the transmitting-side optical sensing device 1 from the transmitting-side optical sensing device 1.

[0051] Hereinafter, information indicating the position and orientation of the transmitting optical sensing device 1 may be referred to as "first position information." The first position information is, for example, stored in advance in the transmitting optical sensing device 1. In contrast, information indicating the position and orientation of the receiving optical sensing device 1 may be referred to as "second position information." The second position information is, for example, stored in advance in the receiving optical sensing device 1. Furthermore, at least one of the first position information and the second position information may be collectively referred to as "position information."

[0052] The position indicated by the first position information is, for example, the installation position of the transmitting-side optical sensing device 1. More specifically, the first position information includes coordinate values ​​(for example, latitude value ψ1, longitude value γ1, and altitude value h1) indicating the installation position of the transmitting-side optical sensing device 1. In other words, the position indicated by the first position information may be a so-called "absolute position."

[0053] The orientation indicated by the first position information is the installation direction of the transmitting-side optical sensing device 1. Specifically, for example, a first axis is set, which is a virtual axis corresponding to the front-to-back direction of the transmitting-side optical sensing device 1. A second axis is set, which is a virtual axis corresponding to the left-to-right direction of the transmitting-side optical sensing device 1. A third axis is set, which is a virtual axis corresponding to the up-to-down direction of the transmitting-side optical sensing device 1. The installation direction of the transmitting-side optical sensing device 1 is represented by the tilt value of each axis with respect to a state in which the transmitting-side optical sensing device 1 is hypothetically installed on a horizontal plane.

[0054] The position indicated by the second position information is, for example, the installation position of the receiving-side optical sensing device 1. More specifically, the second position information includes coordinate values ​​(for example, latitude value ψ2, longitude value γ2, and altitude value h2) indicating the installation position of the receiving-side optical sensing device 1. In other words, the position indicated by the second position information may be a so-called "absolute position."

[0055] The orientation indicated by the second position information is the installation direction of the receiving-side light sensing device 1. Specifically, for example, a first axis is set, which is a virtual axis corresponding to the front-to-back direction of the receiving-side light sensing device 1. A second axis is set, which is a virtual axis corresponding to the left-to-right direction of the receiving-side light sensing device 1. A third axis is set, which is a virtual axis corresponding to the up-to-down direction of the receiving-side light sensing device 1. The installation direction of the receiving-side light sensing device 1 is represented by the tilt value of each axis with respect to a state in which the receiving-side light sensing device 1 is hypothetically installed on a horizontal plane.

[0056] Furthermore, the transmitting optical sensing device 1 performs optical wireless communication to notify the receiving optical sensing device 1 of the first measurement data. In other words, the receiving optical sensing device 1 acquires the first measurement data from the transmitting optical sensing device 1 by performing optical wireless communication.

[0057] In this way, optical wireless communication is realized between the optical sensing devices 1. That is, the communication mode execution unit 33 executes optical wireless communication when the operation mode of the corresponding optical sensing device 1 is set to the communication mode. In other words, the communication mode execution unit 33 executes the communication mode when the operation mode of the corresponding optical sensing device 1 is set to the communication mode.

[0058] In the receiving-side optical sensing device 1, the communication mode execution unit 33 outputs the acquired first position information to the signal processing unit 13. In addition, in the receiving-side optical sensing device 1, the communication mode execution unit 33 outputs the acquired first measurement data to the signal processing unit 13. The output first position information and the output first measurement data are used to generate point cloud data, as will be described later.

[0059] Search mode (third operating mode) Third, each optical sensing device 1 has an operation mode in which it performs optical search to search for other optical sensing devices 1 with which to communicate with optical wirelessly. Hereinafter, this operation mode may be referred to as the "search mode" or the "third operation mode." The operation of each optical sensing device 1 in the search mode is as follows.

[0060] That is, as described above, the searching-side optical sensing device 1 sequentially emits optical search laser light in multiple directions by changing the orientation of the optical transceiver 11. Furthermore, when the searched-side optical sensing device 1 emits a response laser light, the searching-side optical sensing device 1 receives the emitted response laser light. These operations are performed in the searching-side optical sensing device 1 under the control of the search mode execution unit 34. In other words, in the searching-side optical sensing device 1, the search mode execution unit 34 executes control to change the orientation of the optical transceiver 11, control to emit optical search laser light, and control to receive the response laser light.

[0061] Furthermore, the optical sensing device 1 on the searched side changes the orientation of the optical transmitter / receiver 11. This can cause a state in which the optical sensing device 1 on the searching side and the optical transmitter / receiver 11 on the searched side face each other. In this state, the light receiving unit 22 of the optical sensing device 1 on the searched side receives the emitted laser light for optical search. In response to this reception, the light emitting unit 21 of the optical sensing device 1 on the searched side emits a response laser light. These operations are performed in the optical sensing device 1 on the searched side under the control of the search mode executing unit 34. In other words, in the optical sensing device 1 on the searched side, the search mode executing unit 34 executes control to change the orientation of the optical transmitter / receiver 11, control to receive the laser light for optical search, and control to emit the response laser light.

[0062] In this way, the search mode includes an operation mode corresponding to the searching-side optical sensing device 1 and an operation mode corresponding to the searched-side optical sensing device 1. Hereinafter, the search mode corresponding to the searching-side optical sensing device 1 may be referred to as the "narrowly defined search mode." Furthermore, the search mode corresponding to the searched-side optical sensing device 1 may be referred to as the "searched-side mode."

[0063] In this way, optical wireless search is realized. That is, the search mode execution unit 34 executes optical search when the operation mode of the corresponding optical sensing device 1 is set to the search mode. In other words, the search mode execution unit 34 executes the search mode when the operation mode of the corresponding optical sensing device 1 is set to the search mode.

[0064] <Standby mode (fourth operating mode)> Fourth, each optical sensing device 1 has an operation mode in which none of optical sensing, optical wireless communication, and optical probing is performed. In other words, this operation mode is a mode in which the optical sensing device 1 waits to perform any of optical sensing, optical wireless communication, and optical probing. Hereinafter, this operation mode may be referred to as a "standby mode" or a "fourth operation mode."

[0065] The standby mode may be defined as an operation mode in which none of the laser light for optical sensing, the laser light for optical wireless communication, and the laser light for optical search is emitted. That is, the reception mode may be included in the standby mode instead of or in addition to being included in the communication mode. Furthermore, the searched mode may be included in the standby mode instead of or in addition to being included in the search mode.

[0066] The following description focuses on an example where the receiving mode is included in the communication mode, and also on an example where the searched mode is included in the search mode. In this case, the standby mode is an operating mode in which the corresponding optical sensing device 1 does not change the orientation of the optical transmitting and receiving unit 11.

[0067] Such standby is realized under the control of the standby mode execution unit 35. For example, when the operation mode of the corresponding light sensing device 1 is set to the standby mode, the search mode execution unit 34 sets the state of the corresponding light sensing device 1 to the standby state. In other words, when the operation mode of the corresponding light sensing device 1 is set to the search mode, the standby mode execution unit 35 executes the standby mode. In this way, such standby is realized.

[0068] Information indicating the execution conditions for each operation mode (hereinafter, sometimes referred to as "execution condition information") is stored in advance in the operation mode setting unit 31. The operation mode setting unit 31 sets the corresponding operation mode of the light-sensing device 1 using the stored execution condition information.

[0069] That is, the execution condition information includes information indicating the execution conditions of the measurement mode. Hereinafter, the execution conditions of the measurement mode may be referred to as "measurement conditions" or "first conditions." The execution condition information also includes information indicating the execution conditions of the communication mode. Hereinafter, the execution conditions of the communication mode may be referred to as "communication conditions" or "second conditions." The execution condition information also includes information indicating the execution conditions of the search mode. Hereinafter, the execution conditions of the search mode may be referred to as "search conditions" or "third conditions." The execution condition information also includes information indicating the execution conditions of the standby mode. Hereinafter, the execution conditions of the standby mode may be referred to as "standby conditions" or "fourth conditions."

[0070] Here, the second condition includes an execution condition for the transmission mode and an execution condition for the reception mode. Hereinafter, the execution condition for the transmission mode may be referred to as a "transmission condition." Also, the execution condition for the reception mode may be referred to as a "reception condition." Also, the third execution condition includes an execution condition for the narrow search mode and an execution condition for the searched mode. Hereinafter, the execution condition for the narrow search mode may be referred to as a "narrow search condition." Also, the execution condition for the searched mode may be referred to as a "searched condition."

[0071] A specific example of a method for setting the operation mode will be described below.

[0072] <First example of how to set the operation mode> In the first specific example, the first, second, third, and fourth conditions are set to be mutually exclusive. In other words, the first, second, third, and fourth conditions are set to be mutually exclusive. In this case, the operation mode setting unit 31 determines whether each of the first, second, third, and fourth conditions is satisfied.

[0073] If it is determined that the first condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light-sensing device 1 to the measurement mode, which causes the measurement mode execution unit 32 to execute the measurement mode.

[0074] If it is determined that the second condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the communication mode, which causes the communication mode executing unit 33 to execute the communication mode.

[0075] More specifically, in this case, the operation mode setting unit 31 determines whether the transmission condition or the reception condition is satisfied. If it is determined that the transmission condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the transmission mode. As a result, the communication mode execution unit 33 executes the transmission mode. On the other hand, if it is determined that the reception condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the reception mode. As a result, the communication mode execution unit 33 executes the reception mode.

[0076] If it is determined that the third condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the search mode, which causes the search mode execution unit 34 to execute the search mode.

[0077] More specifically, in this case, the operation mode setting unit 31 determines whether the narrow search condition or the searched condition is satisfied. If it is determined that the narrow search condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the narrow search mode. As a result, the search mode execution unit 34 executes the narrow search mode. On the other hand, if it is determined that the searched condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the searched mode. As a result, the search mode execution unit 34 executes the searched mode.

[0078] If it is determined that the fourth condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light-sensing device 1 to the standby mode, which causes the standby mode execution unit 35 to execute the standby mode.

[0079] Note that because these operation modes are switched at high speed, it may appear to the human eye that multiple operation modes are being executed simultaneously (in parallel). For example, it may appear that another operation mode is being executed while scanning an individual line in the measurement mode.

[0080] <Second example of how to set the operation mode> In the second specific example, the operation mode setting unit 31 has preset priorities for execution in the measurement mode, communication mode, search mode, and standby mode. In other words, the priorities for determination in the first condition, the second condition, the third condition, and the fourth condition are preset.

[0081] The operation mode setting unit 31 sequentially determines whether or not each execution condition is satisfied in descending order of priority. When it is determined that any execution condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light-sensing device 1 to the operation mode corresponding to the determined execution condition.

[0082] Specifically, for example, the priorities are set as follows:

[0083] Priority: (High) 1st condition - 2nd condition - 3rd condition - 4th condition (Low)

[0084] In this case, the operation mode setting unit 31 first determines whether or not the first condition is satisfied. If it is determined that the first condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light-sensing device 1 to the measurement mode. As a result, the measurement mode execution unit 32 executes the measurement mode.

[0085] If it is determined that the first condition is not satisfied, the operation mode setting unit 31 then determines whether the second condition is satisfied. If it is determined that the second condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the communication mode. As a result, the communication mode execution unit 33 executes the communication mode.

[0086] More specifically, in this case, the operation mode setting unit 31 determines whether the transmission condition or the reception condition is satisfied. If it is determined that the transmission condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the transmission mode. As a result, the communication mode execution unit 33 executes the transmission mode. On the other hand, if it is determined that the reception condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the reception mode. As a result, the communication mode execution unit 33 executes the reception mode.

[0087] If it is determined that the second condition is not satisfied, the operation mode setting unit 31 then determines whether or not the third condition is satisfied. If it is determined that the third condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the search mode. As a result, the search mode execution unit 34 executes the search mode.

[0088] More specifically, in this case, the operation mode setting unit 31 determines whether the narrow search condition or the searched condition is satisfied. If it is determined that the narrow search condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the narrow search mode. As a result, the search mode execution unit 34 executes the narrow search mode. On the other hand, if it is determined that the searched condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the searched mode. As a result, the search mode execution unit 34 executes the searched mode.

[0089] If it is determined that the third condition is not satisfied, the operation mode setting unit 31 determines whether the fourth condition is satisfied. If it is determined that the fourth condition is satisfied, the operation mode setting unit 31 sets the operation mode of the corresponding light-sensing device 1 to the standby mode. As a result, the standby mode execution unit 35 executes the standby mode.

[0090] The priority order is not limited to the above example. The priority order may be set to any order. The priority order may also be changed by the user.

[0091] Note that because these operation modes are switched at high speed, it may appear to the human eye that multiple operation modes are being executed simultaneously (in parallel). For example, it may appear that another operation mode is being executed while scanning an individual line in the measurement mode.

[0092] In this way, the operation mode of the light-sensing device 1 is set.

[0093] Here, specific examples of the first condition, the second condition, the third condition, and the fourth condition will be described. As described below, each of the first condition, the second condition, the third condition, and the fourth condition includes at least one condition.

[0094] <Example of the first condition> The first condition includes, for example, a condition that the current time reaches a predetermined time. In this case, the operation mode setting unit 31 has a clock function. The operation mode setting unit 31 compares the current time indicated by the clock with the predetermined time. In this way, the operation mode setting unit 31 determines whether the condition is met.

[0095] Alternatively, for example, the first condition may include a condition that the elapsed time since the previous light sensing has been performed exceeds a predetermined time. In this case, the operation mode setting unit 31 has a timer for measuring the elapsed time since each light sensing has been performed. The operation mode setting unit 31 uses the timer to measure the elapsed time since the previous light sensing was performed. The operation mode setting unit 31 compares the measured elapsed time with a predetermined time. In this way, the operation mode setting unit 31 determines whether the condition is satisfied.

[0096] The conditions included in the first condition are not limited to the specific examples described above. The first condition may include any conditions that allow light sensing to be performed at an appropriate timing. These conditions may be preset or may be set by the user.

[0097] <Example of the second condition> The second condition includes, for example, a condition that optical search is completed. In other words, the second condition includes, for example, a condition that the optical transceiver 11 of the searching optical sensing device 1 and the optical transceiver 11 of the searched optical sensing device 1 are facing each other. In this case, in the searching optical sensing device 1, when the search mode execution unit 34 receives a response laser beam, it outputs information indicating that to the operation mode setting unit 31. On the other hand, in the searched optical sensing device 1, when the search mode execution unit 34 receives an optical search laser beam, it outputs information indicating that to the operation mode setting unit 31. The operation mode setting unit 31 uses this information to determine whether or not the condition is satisfied.

[0098] Here, the transmission condition includes, for example, a condition that the searched mode was executed in the immediately preceding search mode. Furthermore, the reception condition includes, for example, a condition that the narrow-sense search mode was executed in the immediately preceding search mode. In this case, in each optical sensing device 1, the search mode execution unit 34 outputs information indicating whether the narrow-sense search mode or the searched mode was executed to the operation mode setting unit 31 when optical search is completed. The operation mode setting unit 31 uses this information to determine whether the condition is satisfied.

[0099] Alternatively, the transmission condition may include, for example, a condition that the narrow-sense search mode was executed in the immediately preceding search mode. The reception condition may include, for example, a condition that the searched mode was executed in the immediately preceding search mode. In this case, in each optical sensing device 1, the search mode execution unit 34 outputs information indicating whether the narrow-sense search mode or the searched mode was executed to the operation mode setting unit 31 when optical search is completed. The operation mode setting unit 31 uses this information to determine whether the condition is satisfied.

[0100] Alternatively, for example, information indicating whether the transmission mode or the reception mode should be executed is stored in advance in each optical sensing device 1. More specifically, when optical wireless communication is performed multiple times, information indicating whether the transmission mode or the reception mode should be executed in each optical wireless communication is stored in advance. The transmission condition includes a condition that such information indicates the transmission mode. Furthermore, the reception condition includes a condition that such information indicates the reception mode. In this case, the operation mode setting unit 31 uses such information to determine whether these conditions are satisfied. However, such information may be input by the user instead of being stored in advance.

[0101] The conditions included in the second condition are not limited to the specific examples above. The second condition may include any condition as long as the condition allows optical sensing to be performed at an appropriate timing. Furthermore, the transmission condition and the reception condition are not limited to the specific examples above. The transmission condition and the reception condition may include any condition as long as the condition allows normal transmission and reception of laser light for optical wireless communication. Furthermore, these conditions may be set in advance or may be set by the user.

[0102] <Example of the third condition> The third condition includes, for example, a condition that the search mode has not been executed or has not been completed. In other words, the third condition includes, for example, a condition that another optical sensing device 1 with which to communicate with optical wirelessly has not been discovered. In this case, in each optical sensing device 1, when the optical search is completed (i.e., when another optical sensing device 1 is discovered), the search mode execution unit 34 outputs information indicating this to the operation mode setting unit 31. The operation mode setting unit 31 stores this information. The operation mode setting unit 31 determines whether or not this condition is met based on the presence or absence of this information.

[0103] Here, for example, information indicating whether the narrow search mode or the searched mode should be executed is pre-stored in each optical sensing device 1. More specifically, when multiple optical searches are performed, information indicating whether the narrow search mode or the searched mode should be executed in each optical search is pre-stored. The narrow search condition includes a condition that such information indicates the narrow search mode. Furthermore, the searched condition includes a condition that such information indicates the searched mode. In this case, the operating mode setting unit 31 uses such information to determine whether these conditions are satisfied. However, such information may be input by the user instead of being pre-stored.

[0104] The conditions included in the third condition are not limited to the specific examples above. The third condition may include any condition as long as it is a condition under which optical search can be performed at an appropriate time. Furthermore, the narrow search condition and the searched condition are not limited to the specific examples above. The narrow search condition and the searched condition may include any condition as long as it is a condition under which optical search laser light can be transmitted and received normally. Furthermore, the narrow search condition and the searched condition may include any condition as long as it is a condition under which response laser light can be transmitted and received normally. Furthermore, these conditions may be set in advance or may be set by the user.

[0105] <Example of the fourth condition> The fourth condition includes, for example, a condition that none of the first, second, and third conditions is satisfied. In this case, the operation mode setting unit 31 determines whether or not such a condition is satisfied based on the most recent determination result of the first condition, the most recent determination result of the second condition, and the most recent determination result of the third condition.

[0106] The conditions included in the fourth condition are not limited to the specific examples described above. The fourth condition may include any conditions that allow each light-sensing device 1 to enter a standby state at an appropriate time. These conditions may be set in advance or may be set by the user.

[0107] As shown in FIG. 6, the signal processing unit 13 includes a point cloud data generating unit 41 and a three-dimensional model generating unit .

[0108] As described above, in the receiving-side optical sensing device 1 (i.e., the optical sensing device 1 having the signal processing unit 13), the communication mode execution unit 33 acquires the first position information and the first measurement data from the transmitting-side optical sensing device 1. The communication mode execution unit 33 outputs the acquired first position information and first measurement data to the signal processing unit 13. Also, in the receiving-side optical sensing device 1, the measurement mode execution unit 32 generates second measurement data. The measurement mode execution unit 32 outputs the generated second measurement data to the signal processing unit 13. Also, in the receiving-side optical sensing device 1, the second position information is stored in advance.

[0109] The point cloud data generator 41 acquires the output first position information, the output first measurement data, the stored second position information, and the output second measurement data. The point cloud data generator 41 performs so-called "point cloud synthesis" using the position information and measurement data. As a result, the point cloud data generator 41 generates point cloud data corresponding to the position and shape of the object O.

[0110] That is, based on the first position information and the first measurement data, the point cloud data generation unit 41 calculates the positions of points (hereinafter sometimes referred to as "first reflection points") where the laser light for optical sensing emitted in each direction by the transmitting-side optical sensing device 1 is reflected by an object (including the target object O). The point cloud data generation unit 41 plots points corresponding to the calculated individual positions in a virtual three-dimensional space.

[0111] Furthermore, based on the second position information and the second measurement data, the point cloud data generation unit 41 calculates the positions of points (hereinafter sometimes referred to as "second reflection points") where the laser light for optical sensing emitted in each direction by the receiving-side optical sensing device 1 is reflected by an object (including the target object O). The point cloud data generation unit 41 plots points corresponding to the calculated individual positions in a virtual three-dimensional space.

[0112] At this time, the point cloud data generation unit 41 uses the first position information and the second position information to convert the absolute positions indicated by these pieces of information into relative positions. Based on these relative positions, the point cloud data generation unit 41 plots points corresponding to the positions of the individual first reflection points and points corresponding to the positions of the individual second reflection points in the same three-dimensional space. That is, the point cloud data generation unit 41 executes point cloud synthesis for multiple optical sensing devices 1 (for example, two optical sensing devices 1_1 and 1_2). As a result, point cloud data is generated.

[0113] In addition to being irradiated onto the target object O, the optical sensing laser light may also be irradiated onto another object (hereinafter, sometimes referred to as a "non-target object") O' present in the target area. As a result, the generated point cloud data may include a point cloud corresponding to the non-target object O' in addition to a point cloud corresponding to the target object O. In this case, the point cloud data generation unit 41 may extract a point cloud corresponding to the non-target object O' from the point clouds included in the generated point cloud data and exclude the extracted point cloud from the generated point cloud data. Alternatively, the point cloud data generation unit 41 may extract a point cloud corresponding to the target object O from the point clouds included in the generated point cloud data and exclude the remaining point cloud from the generated point cloud data.

[0114] Various known techniques are used to extract such point clouds. Specifically, for example, the point cloud data generation unit 41 performs processes such as calculating distances between points and detecting individual surfaces (which may include flat surfaces and curved surfaces) that make up individual objects on the generated point cloud data. Based on the results of these processes, the point cloud data generation unit 41 divides the point clouds included in the generated point cloud data into point clouds corresponding to individual objects.

[0115] The point cloud data generation unit 41 acquires information indicating a pattern corresponding to the expected shape and position of the non-target object O' and the position of the non-target object O' in the target space. This information is, for example, stored in advance in the receiving-side optical sensing device 1. The point cloud data generation unit 41 performs pattern matching on the pattern for the shape and position of each of the divided point clouds. Based on the result of this pattern matching, the point cloud data generation unit 41 determines whether each of the divided point clouds is a point cloud corresponding to the non-target object O'. Based on the result of this determination, the point cloud data generation unit 41 extracts a point cloud corresponding to the non-target object O'.

[0116] Alternatively, the point cloud data generation unit 41 acquires information indicating a pattern corresponding to the expected shape and position of the object O and the position of the object O in the object space. Such information is, for example, stored in advance in the receiving-side optical sensing device 1. The point cloud data generation unit 41 performs pattern matching on the pattern for the shape and position of each of the divided point clouds. Based on the result of this pattern matching, the point cloud data generation unit 41 determines whether each of the divided point clouds is a point cloud corresponding to the object O. Based on the result of this determination, the point cloud data generation unit 41 extracts a point cloud corresponding to the object O.

[0117] In this way, point cloud data corresponding to the position and shape of the object O is generated.

[0118] A specific example of a method for converting an absolute position into a relative position is as follows.

[0119] That is, the point cloud data generation unit 41 calculates a difference value between the coordinate value (ψ1, γ1, h1) indicated by the first position information and the coordinate value (ψ2, γ2, h2) indicated by the second position information. Based on the calculated difference value, the point cloud data generation unit 41 calculates a coordinate value (r1, θ1, φ1) indicating the relative position of the transmitting-side optical sensing device 1 with respect to the receiving-side optical sensing device 1. Here, the coordinate values ​​(r1, θ1, φ1) are coordinate values ​​in a spherical coordinate system. This spherical coordinate system has an origin corresponding to the installation position of the receiving-side optical sensing device 1. Furthermore, this spherical coordinate system has a first axis corresponding to the installation direction of the receiving-side optical sensing device 1. In this way, the absolute position indicated by the first position information is converted into a relative position.

[0120] Alternatively or additionally, the point cloud data generation unit 41 calculates a difference value between the coordinate values ​​(ψ1, γ1, h1) indicated by the first position information and the coordinate values ​​(ψ2, γ2, h2) indicated by the second position information. Based on the calculated difference value, the point cloud data generation unit 41 calculates coordinate values ​​(r2, θ2, φ2) indicating the relative position of the receiving-side optical sensing device 1 with respect to the transmitting-side optical sensing device 1. Here, the coordinate values ​​(r2, θ2, φ2) are coordinate values ​​in a spherical coordinate system. This spherical coordinate system has an origin corresponding to the installation position of the transmitting-side optical sensing device 1. Furthermore, this spherical coordinate system has a first axis corresponding to the installation direction of the transmitting-side optical sensing device 1. In this way, the absolute position indicated by the second position information is converted into a relative position.

[0121] The point cloud data generating unit 41 outputs the generated point cloud data (that is, point cloud data corresponding to the position and shape of the object O) to the three-dimensional model generating unit .

[0122] The three-dimensional model generation unit 42 acquires the point cloud data output by the point cloud data generation unit 41. The three-dimensional model generation unit 42 uses the acquired point cloud data to generate a three-dimensional model of the object O. Specifically, for example, the three-dimensional model generation unit 42 converts the acquired point cloud data into plane data (e.g., mesh data or surface data). As a result, a three-dimensional model is generated.

[0123] In addition, various known techniques related to 3D LiDAR can be used to generate point cloud data and 3D models, and detailed descriptions of these techniques will be omitted.

[0124] Thus, the processing executed by the signal processing unit 13 includes processing for generating point cloud data and processing for generating a three-dimensional model. The signal processing unit 13 generates information indicating the results of such processing (hereinafter, sometimes referred to as "result information"). The signal processing unit 13 outputs the generated result information to the output unit 14 (see FIG. 2). The result information is, for example, information including the three-dimensional model generated by the three-dimensional model generation unit 42.

[0125] The output unit 14 acquires the result information output by the signal processing unit 13. The output unit 14 outputs the acquired result information to the outside of the corresponding optical sensing device 1. Specifically, for example, the output unit 14 outputs the acquired result information to an external system 200 (see FIG. 2). The external system 200 is, for example, a higher-level system relative to the optical sensing system 100. The external system 200 is provided outside the optical sensing system 100. Note that the external system 200 may also be a system of a user of the optical sensing system 100.

[0126] In this case, an optical sensing device 1 (for example, the optical sensing device 1_1 of the optical sensing devices 1_1 and 1_2 shown in FIG. 1) having an output unit 14 is communicably connected to an external system 200 via a network NW. The network NW is configured, for example, by an LTE (Long Term Evolution) line or a 5G (5th Generation) line. The output unit 14 transmits the acquired result information to the external system 200 via the network NW.

[0127] The output result information can be used for various purposes in the external system 200. Specifically, for example, the output result information is used in a process of estimating the volume of the object O.

[0128] In this manner, the optical sensing system 100 is configured.

[0129] Next, a description will be given of the hardware configuration of each light sensing device 1. More specifically, a description will be given of the hardware configuration of the light sensing device 1_1 of the light sensing devices 1_1 and 1_2 shown in FIG.

[0130] The optical sensing device 1_1 has a function F1 of the optical transceiver 11, a function F2 of the control unit 12, a function F3 of the signal processing unit 13, and a function F4 of the output unit 14 (see FIG. 2). On the other hand, as shown in FIG. 7, the optical sensing device 1_1 includes an optical transmitter 51, an optical receiver 52, an output interface ("output I / F" in the figure) 53, a processor 54, and a memory 55. In this case, the function F1 is realized by the optical transmitter 51 and the optical receiver 52. The memory 55 stores programs corresponding to the functions F2 and F3. The processor 54 reads and executes the program stored in the memory 55. This realizes the functions F2 and F3. The function F4 is realized by the output interface 53.

[0131] 8, the optical sensing device 1_1 includes an optical transmitter 51, an optical receiver 52, an output interface 53, and a processing circuit 56. In this case, the function F1 is realized by the optical transmitter 51 and the optical receiver 52. The processing circuit 56 executes processing corresponding to the functions F2 and F3, thereby realizing the functions F2 and F3. The function F4 is realized by the output interface 53.

[0132] 9, the optical sensing device 1_1 includes an optical transmitter 51, an optical receiver 52, an output interface 53, a processor 54, a memory 55, and a processing circuit 56. In this case, the function F1 is realized by the optical transmitter 51 and the optical receiver 52. Some of the functions F2 and F3 are realized by the processor 54 and the memory 55, and the remaining functions of the functions F2 and F3 are realized by the processing circuit 56. The function F4 is realized by the output interface 53.

[0133] The hardware configuration of the light sensing device 1_2 is the same as the examples shown in FIGS. 7 to 9. Therefore, detailed description will be omitted. However, the light sensing device 1_2 does not have the function of the signal processing unit 13 (see FIG. 3). Therefore, in the light sensing device 1_2, the function realized by the processor 54, memory 55, and processing circuit 56 is only function F2 out of functions F2 and F3. Furthermore, the light sensing device 1_2 does not have the function of the output unit 14 (see FIG. 3). Therefore, the output interface 53 is not necessary in the light sensing device 1_2.

[0134] Next, a description will be given of the operation of the light-sensing system 100. More specifically, the operation of the control unit 12 in each light-sensing device 1 will be described with reference to the flowcharts shown in Figures 10A and 10B.

[0135] In the example shown in FIGS. 10A and 10B, the operation mode setting unit 31 sets the corresponding operation mode of the light-sensing device 1 based on the second specific example.

[0136] First, the operation mode setting unit 31 determines whether or not the execution information of the measurement mode (i.e., the first condition) is satisfied (step ST1). Specific examples of the first condition and a specific method for determining whether or not the first condition is satisfied have already been described. Therefore, a repeated description will be omitted.

[0137] If it is determined that the first condition is satisfied (step ST1 "YES"), then the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the measurement mode (step ST2). Next, the measurement mode execution unit 32 executes the measurement mode (step ST3). This executes light sensing based on the principle of LiDAR. Note that the details of the operation of each light sensing device 1 in the measurement mode have already been explained. Therefore, a repeated explanation will be omitted.

[0138] If it is determined that the first condition is not satisfied (step ST2 "NO"), then the operation mode setting unit 31 determines whether or not the execution condition of the communication mode (i.e., the second condition) is satisfied (step ST4). Specific examples of the second condition and a specific example of a method for determining whether or not the second condition is satisfied have already been described. Therefore, a repeated description will be omitted.

[0139] If it is determined that the second condition is satisfied (step ST4 "YES"), then the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the communication mode (step ST5). More specifically, the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to the transmission mode or the reception mode. Next, the communication mode execution unit 33 executes the communication mode (step ST6). More specifically, the communication mode execution unit 33 executes the transmission mode or the reception mode. This executes optical wireless communication between the light sensing devices 1. Note that the details of the operation of each light sensing device 1 in the communication mode have already been explained. Therefore, a repeated explanation will be omitted.

[0140] If it is determined that the second condition is not satisfied (step ST4 "NO"), then the operation mode setting unit 31 determines whether or not the execution condition for the search mode (i.e., the third condition) is satisfied (step ST7). A specific example of the third condition and a specific example of the method for determining whether or not the third condition is satisfied have already been described. Therefore, a repeated description will be omitted.

[0141] If it is determined that the third condition is satisfied (step ST7 "YES"), then the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the search mode (step ST8). More specifically, the operation mode setting unit 31 sets the operation mode of the corresponding optical sensing device 1 to the narrow search mode or the searched mode. Next, the search mode execution unit 34 executes the search mode (step ST9). More specifically, the search mode execution unit 34 executes the narrow search mode or the searched mode. This executes optical search to search for other optical sensing devices 1 with which to communicate with optical wireless communication. Note that the details of the operation of each optical sensing device 1 in the search mode have already been explained. Therefore, a repeated explanation will be omitted.

[0142] If it is determined that the third condition is not satisfied (step ST7 "NO"), then the operation mode setting unit 31 determines whether or not the execution condition for the standby mode (i.e., the fourth condition) is satisfied (step ST10). A specific example of the fourth condition and a specific example of the method for determining whether or not the fourth condition is satisfied have already been described. Therefore, a repeated description will be omitted.

[0143] If it is determined that the fourth condition is satisfied (step ST10 "YES"), then the operation mode setting unit 31 sets the operation mode of the corresponding light sensing device 1 to standby mode (step ST11). Next, the standby mode execution unit 35 executes the standby mode (step ST12). As a result, the corresponding light sensing device 1 enters a standby state.

[0144] Next, a description will be given of other operations of the optical sensing system 100. More specifically, with reference to the flowchart shown in Fig. 11, a description will be given of operations of the signal processing unit 13 and the output unit 14 in the optical sensing device 1_1 of the optical sensing devices 1_1 and 1_2 shown in Fig. 1.

[0145] It is assumed that optical sensing has been performed by each of the optical sensing devices 1_1 and 1_2. As a result, the first measurement data and the second measurement data have been generated. It is also assumed that optical wireless communication between the optical sensing devices 1_1 and 1_2 has been performed. As a result, the first position information and the first measurement data have been transmitted (i.e., received).

[0146] First, the point cloud data generation unit 41 acquires first position information, first measurement data, second position information, and second measurement data (step ST21). Next, the point cloud data generation unit 41 uses this information and data to generate point cloud data corresponding to the position and shape of the object O (step ST22). Next, the three-dimensional model generation unit 42 uses the generated point cloud data to generate a three-dimensional model of the object O (step ST23). Specific examples of the method for generating point cloud data and the method for generating a three-dimensional model have already been described. Therefore, repeated description will be omitted.

[0147] Next, the output unit 14 outputs information indicating the results of the processing executed by the signal processing unit 13 (i.e., the processing of steps ST21 to ST23) to the outside (step ST24). That is, the output unit 14 outputs the result information to the outside. The result information is, for example, information including the three-dimensional model generated in step ST23.

[0148] Next, a modification of the optical sensing system 100 will be described.

[0149] First, the signal processing unit 13 may not have the three-dimensional model generating unit 42. In this case, the result information is, for example, information including the point cloud data generated by the point cloud data generating unit 41. The external system 200 may generate a three-dimensional model of the object O using the result information.

[0150] Secondly, the first position information may indicate the relative position of the transmitting optical sensing device 1 with respect to the receiving optical sensing device 1, instead of or in addition to the absolute position of the transmitting optical sensing device 1. Furthermore, the second position information may indicate the relative position of the receiving optical sensing device 1 with respect to the transmitting optical sensing device 1, instead of or in addition to the absolute position of the receiving optical sensing device 1.

[0151] Specifically, for example, in optical searching, when the optical sensing device 1 on the searched side receives laser light for optical searching, it calculates a distance value r1 based on the reception intensity of the laser light, and calculates angle values ​​θ1 and φ1 based on the orientation of the optical transmitter / receiver 11. As a result, coordinate values ​​(r1, θ1, φ1) indicating the relative position of the optical sensing device 1 on the searched side with respect to the optical sensing device 1 on the searching side are calculated. On the other hand, when the optical sensing device 1 on the searching side receives laser light for reply, it calculates a distance value r2 based on the reception intensity of the laser light, and calculates angle values ​​θ2 and φ2 based on the orientation of the optical transmitter / receiver 11. As a result, coordinate values ​​(r2, θ2, φ2) indicating the relative position of the optical sensing device 1 on the searching side with respect to the optical sensing device 1 on the searched side are calculated. Thereafter, optical wireless communication is performed between the optical sensing devices 1, and position information indicating these relative positions is shared.

[0152] The distance value r1 (or distance value r2) may be calculated using the ToF method. For example, when a laser beam for optical search is incident on the lens of the light receiving unit 22 of the optical sensing device 1 on the searched side, a portion of the beam is reflected, and the reflected light may be received by the light receiving unit 22 of the optical sensing device 1 on the searching side. Similarly, when a laser beam for response is incident on the lens of the light receiving unit 22 of the optical sensing device 1 on the searching side, a portion of the beam is reflected, and the reflected light may be received by the light receiving unit 22 of the optical sensing device 1 on the searched side. Therefore, the distance value r1 (or distance value r2) can be calculated using the ToF method.

[0153] Alternatively, for example, the laser light for optical searching may include a signal indicating the time when the laser light was emitted. In this case, the optical sensing device 1 on the searched side calculates the distance value r1 based on the time difference between the time indicated by the signal and the time when the laser light was received (i.e., the one-way propagation time). Similarly, the laser light for replying may include a signal indicating the time when the laser light was emitted. In this case, the optical sensing device 1 on the searching side calculates the distance value r2 based on the time difference between the time indicated by the signal and the time when the laser light was received (i.e., the one-way propagation time).

[0154] Third, when executing the transmission mode, if the relative position as described above has been calculated, the communication mode execution unit 33 may change the intensity of the laser light for optical wireless communication according to the distance value (r1, r2) included in the relative position. Specifically, for example, the communication mode execution unit 33 may set the intensity of the laser light for optical wireless communication to a higher value as the distance value (r1, r2) increases. In other words, the communication mode execution unit 33 may set the intensity of the laser light for optical wireless communication to a higher value as the distance value (r1, r2) decreases. This allows laser light with an appropriate intensity to be used for optical wireless communication according to the distance between the optical sensing devices 1.

[0155] Fourth, the position indicated by the position information is not limited to the installation position of the corresponding optical sensing device 1. Furthermore, the reference position (i.e., origin) in the three-dimensional space where individual points are plotted in the process of generating point cloud data is not limited to the installation position of any one of the optical sensing devices 1. These positions may be a third position that is different from the installation position of the optical sensing device 1_1 and different from the installation position of the optical sensing device 1_2. Furthermore, these positions may be positions in a global coordinate system.

[0156] Fifth, the optical wireless communication between the optical sensing devices 1 may use so-called "optical digital coherent communication." In this case, each optical sensing device 1 has a function of performing digital signal processing. The transmitting optical sensing device 1 converts information to be transmitted (e.g., first position information and first measurement data) into a digital signal (so-called "encoding") and emits laser light having an amplitude, phase, or frequency corresponding to the converted digital signal. On the other hand, the receiving optical sensing device 1 detects the digital signal contained in the received laser light and converts the detected digital signal back into the original information (e.g., first position information and first measurement data) (so-called "decoding"). In this way, optical digital coherent communication is realized.

[0157] Sixth, the optical sensing system 100 may have a function of using a global positioning system (GPS) or low-capacity wireless communication (e.g., BLUETOOTH (registered trademark) communication) to detect the approximate position of each optical sensing device 1. Each optical sensing device 1 may use such a function to detect the approximate position of another optical sensing device 1, and then execute a search mode to detect the exact position of the other optical sensing device 1.

[0158] That is, in this case, the third condition may include a condition that such a function has been used to detect the approximate position of the other light sensing device 1. In other words, the third condition may include a condition that information indicating the presence of the other light sensing device 1 has been obtained based on the result of detection by such a function.

[0159] Seventh, the control unit 12 may not have the search mode execution unit 34. In other words, the operation mode of each optical sensing device 1 may not include the search mode. In this case, from the viewpoint of realizing optical wireless communication and point cloud synthesis, each optical sensing device 1 may store information indicating the position and orientation of other optical sensing devices 1 in advance.

[0160] Furthermore, the control unit 12 may not have the standby mode execution unit 35. In other words, the operation modes of the individual light sensing devices 1 may not include the standby mode. That is, the operation modes of the individual light sensing devices 1 may include at least the measurement mode and the communication mode. Furthermore, the operation modes of the individual light sensing devices 1 may include the measurement mode, the communication mode, and the standby mode.

[0161] Next, the effects of the optical sensing system 100 will be described.

[0162] Hereinafter, in the description of each light sensing device 1, the light sensing performed by this light sensing device 1 may be referred to as a "first LiDAR measurement." Also, in the description of each light sensing device 1, the light sensing performed by another light sensing device 1 may be referred to as a "second LiDAR measurement."

[0163] As described above, the optical sensing system 100 includes the optical sensing device 1. The optical sensing device 1 includes an optical transceiver 11 and a control unit 12. The optical transceiver 11 transmits and receives a first light L1 used for optical sensing based on the LiDAR principle (first LiDAR measurement), and transmits or receives a second light L2 used for wireless optical communication with another optical sensing device 1. The control unit 12 switches between a measurement mode (first operation mode) in which optical sensing (first LiDAR measurement) is performed, and a communication mode (second operation mode) in which wireless optical communication is performed. The optical sensing (first LiDAR measurement) by the optical sensing device 1 and the optical sensing (second LiDAR measurement) by the other optical sensing device 1 are performed on the same target object O.

[0164] In this way, the optical sensing system 100 is a system in which multiple optical sensing devices 1 cooperate with each other through optical wireless communication. In such a system, the following effects are obtained by multiple optical sensing devices 1 performing optical sensing of the same object O. That is, compared to the case in which multiple optical sensing devices 1 perform optical sensing of different objects, the occurrence of occlusion in the object O can be suppressed.

[0165] As a result, for example, when a three-dimensional model of the object O is generated based on the results of optical sensing, it is possible to suppress the occurrence of missing parts due to occlusion. Also, for example, when the generated three-dimensional model is used to estimate the volume of the object O, it is possible to suppress the occurrence of estimation errors due to missing parts in the three-dimensional model. This allows the volume of the object O to be estimated accurately.

[0166] Next, other effects of the optical sensing system 100 will be described.

[0167] The optical transceiver 11 transmits or receives a third light L3 used for optical searching to search for other optical sensing devices 1 with which to communicate wirelessly. The controller 12 switches between a measurement mode (first operation mode), a communication mode (second operation mode), and a search mode (third operation mode) in which optical searching is performed. This allows the search mode to be realized in addition to the measurement mode and communication mode. As a result, even if the position of each optical sensing device 1 is unknown to the other optical sensing devices 1, optical wireless communication between the optical sensing devices 1 can be realized.

[0168] Furthermore, by performing optical wireless communication, the optical sensing device 1 acquires first position information indicating the position and orientation of the other optical sensing device 1 from the other optical sensing device 1. This allows for the realization of a receiving-side optical sensing device 1. Furthermore, by using the acquired first position information, the receiving-side optical sensing device 1 can realize point cloud synthesis between the optical sensing devices 1.

[0169] Furthermore, by performing optical wireless communication, the optical sensing device 1 acquires first measurement data indicating the results of optical sensing (second LiDAR measurement) in the other optical sensing device 1 from the other optical sensing device 1. By using the acquired first measurement data, the receiving optical sensing device 1 can realize point cloud synthesis between the optical sensing devices 1.

[0170] Furthermore, the optical sensing device 1 generates point cloud data corresponding to the position and shape of the object O using the first position information, the first measurement data, second position information indicating the position and orientation of the optical sensing device 1, and the second measurement data indicating the results of optical sensing (first LiDAR measurement) by the optical sensing device 1. By using this position information and measurement data, it is possible to realize point cloud synthesis between the optical sensing devices 1. This makes it possible to generate point cloud data of the object O.

[0171] Furthermore, by performing optical wireless communication, the optical sensing device 1 notifies the other optical sensing devices 1 of first position information indicating the position and orientation of the optical sensing device 1. This allows the optical sensing device 1 on the transmitting side to be realized. Furthermore, by using the notified first position information, the optical sensing device 1 on the receiving side can realize point cloud synthesis between the optical sensing devices 1.

[0172] Furthermore, by performing optical wireless communication, the optical sensing device 1 notifies the other optical sensing devices 1 of first measurement data indicating the result of optical sensing (first LiDAR measurement) in the optical sensing device 1. By using the notified first measurement data, the receiving optical sensing device 1 can realize point cloud synthesis between the optical sensing devices 1.

[0173] Furthermore, the other optical sensing device 1 generates point cloud data corresponding to the position and shape of the object O using the first position information, the first measurement data, second position information indicating the position and orientation of the other optical sensing device 1, and second measurement data indicating the results of optical sensing (second LiDAR measurement) in the other optical sensing device 1. By using this position information and measurement data, it is possible to realize point cloud synthesis between the optical sensing devices 1. This makes it possible to generate point cloud data of the object O.

[0174] In this way, in the optical sensing system 100, before point cloud data is generated, information used to generate the point cloud data (i.e., position information and measurement data) is shared among the optical sensing devices 1. In addition, point cloud synthesis is performed by any of the optical sensing devices 1.

[0175] Here, the following system is considered as an optical sensing system for comparison with the optical sensing system 100. That is, in the comparative optical sensing system, each optical sensing device uses a GPS to acquire location information indicating the position and orientation of the optical sensing device. Furthermore, each optical sensing device generates point cloud data based on the optical sensing results of the optical sensing device. Each optical sensing device transmits the acquired location information and the generated point cloud data to an external system using a wireless local area network (LAN). The external system performs point cloud synthesis using the generated point cloud data based on the generated location information. That is, the point cloud synthesis in the comparative optical sensing system is post-processing of point cloud data generated by multiple optical sensing devices.

[0176] In contrast, in the optical sensing system 100, as described above, information used to generate point cloud data is shared between the optical sensing devices 1 via wireless optical communication, and point cloud synthesis is performed by one of the optical sensing devices 1. This makes it possible to achieve so-called "real-time" point cloud synthesis compared to the comparative optical sensing system. Furthermore, point cloud synthesis is performed when the point cloud data is generated, instead of being performed as post-processing after the point cloud data is generated. This makes it possible to prevent errors caused by distortion in post-processing from being mixed into the point cloud synthesis results, compared to a method in which point cloud synthesis is performed as post-processing. As a result, it is possible to achieve highly accurate point cloud synthesis.

[0177] [Second embodiment] Fig. 12 is a block diagram showing an optical sensing device according to a second embodiment. The optical sensing device according to the second embodiment will be described with reference to Fig. 12. Fig. 13 is a block diagram showing an optical sensing system according to the second embodiment. The optical sensing system according to the second embodiment will be described with reference to Fig. 13. In Figs. 12 and 13, blocks similar to those shown in Figs. 1 to 6 are designated by the same reference numerals, and description thereof will be omitted.

[0178] Here, the light sensing device 1 according to the first embodiment is an example of the light sensing device 1a according to the second embodiment, and the light sensing system 100 according to the first embodiment is an example of the light sensing system 100a according to the second embodiment.

[0179] As shown in FIG. 12, the optical sensing device 1 a includes an optical transmitter / receiver 11 and a controller 12 .

[0180] 13, the optical sensing system 100a includes an optical sensing device 1a. The optical sensing device 1a includes an optical transmitter / receiver 11 and a controller 12.

[0181] Even in these cases, the same effects as those described in the first embodiment can be obtained as follows.

[0182] That is, the optical sensing system 100a includes an optical sensing device 1a. The optical sensing device 1a includes an optical transceiver 11 and a control unit 12. The optical transceiver 11 transmits and receives a first light L1 used for optical sensing based on the LiDAR principle (first LiDAR measurement) and transmits or receives a second light L2 used for optical wireless communication with another optical sensing device 1a (not shown). The control unit 12 switches between a first operation mode in which optical sensing (first LiDAR measurement) is performed and a second operation mode in which optical wireless communication is performed. The optical sensing (first LiDAR measurement) by the optical sensing device 1a and the optical sensing (second LiDAR measurement) by the other optical sensing device 1a (not shown) are performed on the same target O (not shown).

[0183] In this way, the optical sensing system 100a is a system in which multiple optical sensing devices 1a cooperate with each other via optical wireless communication. In such a system, the multiple optical sensing devices 1a perform optical sensing of the same object O, thereby achieving the following effects: That is, compared to a case in which the multiple optical sensing devices 1a perform optical sensing of different objects, the occurrence of occlusion in the object O can be suppressed.

[0184] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure.

[0185] Some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0186] Hereinafter, the optical transmitting and receiving unit 11 will be referred to as "optical transmitting and receiving means," and the control unit 12 will be referred to as "control means."

[0187] [Note] [Appendix 1] an optical transceiver that transmits and receives a first light used for a first LiDAR measurement and transmits or receives a second light used for optical wireless communication with another optical sensing device; a control means for switching between a first operation mode in which the first LiDAR measurement is performed and a second operation mode in which the optical wireless communication is performed; The first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object. An optical sensing device characterized by: [Appendix 2] the optical transmitting and receiving means transmits or receives a third light used for optical searching to search for the other optical sensing device that will be a partner in the optical wireless communication; The control means switches between the first operation mode, the second operation mode, and a third operation mode in which the optical search is performed. 2. The optical sensing device according to claim 1, [Appendix 3] The optical sensing device described in Appendix 1 or Appendix 2, characterized in that by performing the optical wireless communication, first position information indicating the position and orientation of the other optical sensing device is obtained from the other optical sensing device. [Appendix 4] The optical sensing device described in Appendix 3, characterized in that by performing the optical wireless communication, first measurement data indicating the result of the second LiDAR measurement in the other optical sensing device is obtained from the other optical sensing device. [Appendix 5] The optical sensing device described in Appendix 4, characterized in that point cloud data corresponding to the position and shape of the target object is generated using the first position information, the first measurement data, second position information indicating the position and orientation of the optical sensing device, and second measurement data indicating the results of the first LiDAR measurement in the optical sensing device. [Appendix 6] The optical sensing device according to claim 1 or 2, characterized in that by performing the optical wireless communication, first position information indicating the position and orientation of the optical sensing device is notified to the other optical sensing device. [Appendix 7] The optical sensing device described in Appendix 6, characterized in that by performing the optical wireless communication, first measurement data indicating the result of the first LiDAR measurement in the optical sensing device is notified to the other optical sensing device. [Appendix 8] The optical sensing device described in Appendix 7, characterized in that the other optical sensing device generates point cloud data corresponding to the position and shape of the object using the first position information, the first measurement data, second position information indicating the position and orientation of the other optical sensing device, and second measurement data indicating the results of the second LiDAR measurement of the other optical sensing device. [Appendix 9] An optical sensing system including an optical sensing device, The optical sensing device is an optical transceiver that transmits and receives a first light used for a first LiDAR measurement and transmits or receives a second light used for optical wireless communication with another optical sensing device; a control means for switching between a first operation mode in which the first LiDAR measurement is performed and a second operation mode in which the optical wireless communication is performed; The first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object. An optical sensing system comprising: [Appendix 10] the optical transmitting and receiving means transmits or receives a third light used for optical searching to search for the other optical sensing device that will be a partner in the optical wireless communication; The control means switches between the first operation mode, the second operation mode, and a third operation mode in which the optical search is performed. 10. The optical sensing system according to claim 9, [Appendix 11] The optical sensing system described in Appendix 9 or Appendix 10, characterized in that the optical sensing device acquires first position information indicating the position and orientation of the other optical sensing device from the other optical sensing device by performing the optical wireless communication. [Appendix 12] The optical sensing system described in Appendix 11, characterized in that the optical sensing device acquires first measurement data from the other optical sensing device, the first measurement data indicating the result of the second LiDAR measurement in the other optical sensing device, by performing the optical wireless communication. [Appendix 13] The optical sensing system of claim 12, wherein the optical sensing device generates point cloud data corresponding to the position and shape of the object using the first position information, the first measurement data, second position information indicating the position and orientation of the optical sensing device, and second measurement data indicating the results of the first LiDAR measurement in the optical sensing device. [Appendix 14] The optical sensing system described in Appendix 9 or Appendix 10, characterized in that the optical sensing device notifies the other optical sensing device of first position information indicating the position and orientation of the optical sensing device by performing the optical wireless communication. [Appendix 15] The optical sensing system described in Appendix 14, characterized in that the optical sensing device notifies the other optical sensing device of first measurement data indicating a result of the first LiDAR measurement in the optical sensing device by performing the optical wireless communication. [Appendix 16] The optical sensing system of claim 15, wherein the other optical sensing device generates point cloud data corresponding to the position and shape of the object using the first position information, the first measurement data, second position information indicating the position and orientation of the other optical sensing device, and second measurement data indicating the results of the second LiDAR measurement at the other optical sensing device. [Appendix 17] The optical sensing device transmits and receives a first light used for a first LiDAR measurement, and transmits or receives a second light used for optical wireless communication with another optical sensing device; the optical sensing device switches between a first operation mode in which the first LiDAR measurement is performed and a second operation mode in which the optical wireless communication is performed; The first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object. An optical sensing method comprising: [Appendix 18] the optical sensing device transmits or receives a third light used for optical searching to search for the other optical sensing device that will be a partner in the optical wireless communication; The optical sensing device switches between the first operation mode, the second operation mode, and a third operation mode in which the optical search is performed. 18. The optical sensing method according to claim 17, [Appendix 19] The optical sensing method described in Appendix 17 or Appendix 18, characterized in that the optical sensing device acquires first position information indicating the position and orientation of the other optical sensing device from the other optical sensing device by performing the optical wireless communication. [Appendix 20] The optical sensing method described in Appendix 19, characterized in that the optical sensing device acquires first measurement data from the other optical sensing device, the first measurement data indicating a result of the second LiDAR measurement in the other optical sensing device, by performing the optical wireless communication. [Appendix 21] The optical sensing method described in Appendix 20, characterized in that the optical sensing device generates point cloud data corresponding to the position and shape of the object using the first position information, the first measurement data, second position information indicating the position and orientation of the optical sensing device, and second measurement data indicating the results of the first LiDAR measurement in the optical sensing device. [Appendix 22] The optical sensing method described in Appendix 17 or Appendix 18, characterized in that the optical sensing device notifies the other optical sensing device of first position information indicating the position and orientation of the optical sensing device by performing the optical wireless communication. [Appendix 23] The optical sensing method described in Appendix 22, characterized in that the optical sensing device notifies the other optical sensing device of first measurement data indicating a result of the first LiDAR measurement in the optical sensing device by performing the optical wireless communication. [Appendix 24] The optical sensing method described in Appendix 23, characterized in that the other optical sensing device generates point cloud data corresponding to the position and shape of the object using the first position information, the first measurement data, second position information indicating the position and orientation of the other optical sensing device, and second measurement data indicating the result of the second LiDAR measurement at the other optical sensing device. [Explanation of symbols]

[0188] 1,1a Optical sensing device 11 Optical transmitter / receiver 12 Control Unit 13 Signal Processing Section 14 Output section 21 Light emitting part 22 Light receiving part 31 Operation mode setting section 32 Measurement mode execution unit 33 Communication mode execution unit 34 Search mode execution unit 35 Standby mode execution unit 41 Point cloud data generation unit 42 3D model generation unit 51 Optical transmitter 52 Optical receiver 53 Output Interface 54 processors 55 memory 56 Processing circuit 100,100a Optical Sensing System 200 External Systems

Claims

1. an optical transceiver that transmits and receives a first light used for a first LiDAR measurement, transmits or receives a second light used for optical wireless communication with another optical sensing device, and transmits and receives a third light used for optical searching to search for the other optical sensing device that will be the other party in the optical wireless communication; a control means for switching between a first operation mode in which the first LiDAR measurement is performed, a second operation mode in which the optical wireless communication is performed, and a third operation mode in which the optical search is performed; a condition for executing the second operation mode includes a condition that the optical search is completed; The first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object. An optical sensing device characterized by:

2. The condition that the optical search is completed includes a condition that the optical transmitting and receiving means is in a state facing the optical transmitting and receiving means of the other optical sensing device.

2. The optical sensing device according to claim 1, wherein the optical sensing device comprises:

3. acquiring, from the other optical sensing device, first position information indicating a position and an orientation of the other optical sensing device by performing the optical wireless communication; 3. The optical sensing device according to claim 1, wherein the orientation of the other optical sensing device is indicated by an inclination of the other optical sensing device relative to a state in which the other optical sensing device is installed on a horizontal plane.

4. The optical sensing device according to claim 3, characterized in that by performing the optical wireless communication, first measurement data indicating the result of the second LiDAR measurement in the other optical sensing device is obtained from the other optical sensing device.

5. generating point cloud data corresponding to the position and shape of the object using the first position information, the first measurement data, second position information indicating the position and orientation of the light sensing device, and second measurement data indicating the results of the first LiDAR measurement by the light sensing device; 5. The optical sensing device according to claim 4, wherein the orientation of the optical sensing device is indicated by an inclination of the optical sensing device relative to a state in which the optical sensing device is installed on a horizontal surface.

6. notifying the other optical sensing device of first position information indicating a position and an orientation of the optical sensing device by performing the optical wireless communication; 3. The optical sensing device according to claim 1, wherein the orientation of the optical sensing device is indicated by an inclination of the optical sensing device relative to a state in which the optical sensing device is installed on a horizontal surface.

7. The optical sensing device according to claim 6, characterized in that by performing the optical wireless communication, first measurement data indicating the result of the first LiDAR measurement in the optical sensing device is notified to the other optical sensing device.

8. the other light sensing device generates point cloud data corresponding to the position and shape of the object using the first position information, the first measurement data, second position information indicating the position and orientation of the other light sensing device, and second measurement data indicating a result of the second LiDAR measurement by the other light sensing device; The optical sensing device according to claim 7 , wherein the orientation of the other optical sensing device is indicated by an inclination of the other optical sensing device relative to a state in which the other optical sensing device is installed on a horizontal plane.

9. An optical sensing system including an optical sensing device, The optical sensing device is an optical transceiver that transmits and receives a first light used for a first LiDAR measurement, transmits or receives a second light used for optical wireless communication with another optical sensing device, and transmits and receives a third light used for optical searching to search for the other optical sensing device that will be the other party in the optical wireless communication; a control means for switching between a first operation mode in which the first LiDAR measurement is performed, a second operation mode in which the optical wireless communication is performed, and a third operation mode in which the optical search is performed; a condition for executing the second operation mode includes a condition that the optical search is completed; The first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object. An optical sensing system comprising:

10. an optical sensing device that transmits and receives a first light used for a first LiDAR measurement, transmits or receives a second light used for optical wireless communication with another optical sensing device, and transmits and receives a third light used for optical searching to search for the other optical sensing device that will be the partner of the optical wireless communication; the optical sensing device switches between a first operation mode in which the first LiDAR measurement is performed, a second operation mode in which the optical wireless communication is performed, and a third operation mode in which the optical search is performed; a condition for executing the second operation mode includes a condition that the optical search is completed; The first LiDAR measurement by the optical sensing device and the second LiDAR measurement by the other optical sensing device are performed on the same object. An optical sensing method comprising:

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