Laser scanning device, laser scanning method, and laser scanning program

Abstract

To set scanning conditions appropriate for laser scanning.SOLUTION: A laser scanning device 200 for performing laser scanning by laser scanning light acquires distances from the laser scanning device 200 to target reflecting prisms 300 and 400 and sets conditions for acquiring laser scanning data limited to the reflecting prisms 300 and 400. At this time, the laser scanning data limited to the reflecting prisms 300 and 400 are laser scanning data in a specific angular range seen from the laser scanning device 200, and the specific angular range is set to be relatively narrow when the distance is relatively large and set to be relatively wide when the distance is relatively small.SELECTED DRAWING: Figure 1

Claims

1. A laser scanning device, A distance acquisition unit that acquires the distance from the laser scanning device to the target, A scan condition setting unit sets conditions for acquiring limited laser scan data focused on the direction of the target. Equipped with, The limited laser scan data focused on the direction of the target is laser scan data within a specific angular range as viewed from the laser scanning device. The scan condition setting unit, according to the distance acquired by the distance acquisition unit, The aforementioned specific angular range is If the aforementioned distance is relatively long, it is set to be relatively narrow. If the aforementioned distance is relatively short, it is set to be relatively wide. The distance acquisition unit acquires the vertical angle from the laser scanning device to the target, The scan condition setting unit, according to the vertical angle acquired by the distance acquisition unit, Regarding the horizontal angular range within the aforementioned specific angular range, The higher the vertical angle, the wider the area should be set. The lower the vertical angle, the narrower the setting should be. A laser scanning device that acquires laser scan data based on the conditions set by the scan condition setting unit.

2. A horizontally rotating part that rotates horizontally, A vertical rotating section is provided, which is located in the horizontal rotating section, rotates vertically with the horizontal direction as the axis of rotation, and is equipped with an optical section that emits laser scan light to the outside, A light-emitting unit, a light-receiving unit, a distance-measuring unit, a direction-acquiring unit, and a drive control unit. Equipped with, The laser scanning apparatus according to claim 1.

3. The laser scanning device performs a laser scan to search for a target and acquires scan data. The distance acquisition unit of the laser scanning device performs the step of acquiring the distance from the scan data to the target, The scanning condition setting unit of the laser scanning device includes the step of setting a specific angular range for performing a limited scan focused on the direction of the target, according to the distance. The greater the distance, the narrower the angle range is set. The closer the aforementioned distance, the wider the aforementioned angular range should be set. The distance acquisition unit includes the step of acquiring the vertical angle from the scan data to the target, The scan condition setting unit includes the step of setting a horizontal angular range for performing a limited scan focused on the direction of the target, according to the vertical angle. The higher the vertical angle, the wider the horizontal angle range is set. The lower the vertical angle, the narrower the horizontal angle range is set. Laser scanning method.

4. The laser scanning method according to claim 3, wherein the limited laser scan focused in the direction of the target is performed by inserting an attenuator in the optical path.

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