JP2019101000A - Distance measurement point group data measurement system and control program - Google Patents

Abstract

To integrate a plurality of distance measurement point group data differing in coordinate system into one coordinate system stably with high precision without reference to shapes and kinds of objects to be measured in a measurement space.SOLUTION: When a plurality of distance measurement group data measurement devices 10a, 10b are used, an index of coordinate conversion is calculated from distance measurement point group data on a solid body 931, installed in an overlap region 601 where measurement spaces 61, 62 of the plurality of distance measurement point group data measurement devices 10a, 10b overlap with each other, which is obtained by measuring the solid body 931 whose shape information is already known, and shape information on the solid body 931, and the index is used to integrate the plurality of distance measurement point group data into one coordinate system.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a ranging point group data measurement system for detecting an object by scanning and projecting, for example, a laser beam or the like, and a control program.

  As an object detection apparatus for detecting movement of a person in a measurement space, one using ranging point group data (also referred to as a distance image) has been proposed. Here, the distance measurement point group data is composed of a large number of measurement points having distance information. Specifically, an object detection apparatus is known which sends laser light toward a measurement space and measures the distance from the time it is sent to reception of reflected light to an object in the measurement space. In such an object detection apparatus, it is possible to obtain distance information on a plurality of directions directed to the measurement space by sequentially changing the sending direction of the laser light and scanning the inside of the measurement space two-dimensionally, whereby the distance measurement point is obtained. Form group data.

  Such an object detection apparatus can be used for behavior analysis of passers-by in a space where people move and stay. By analyzing the distance measurement point cloud data, it is possible to perform tracking processing even when a passerby crosses, and comprehensively analyze the speed, direction, and density of the passerby. Furthermore, by arranging a plurality of object detection devices so that a part of the measurement space overlaps, and integrating range-finding point group data obtained from these object detection devices, behavior in a wider measurement space is achieved. Analysis is possible. In addition, in a single object detection device, behavior analysis can be performed by compensating for the distance measurement point cloud data of another object detection device even in a region where shadowing of a shield can not be obtained. It becomes possible.

  Patent Document 1 discloses a passer-by behavior analysis system using a plurality of distance image acquisition devices. In this passing person behavior analysis system, the coordinate systems of distance images acquired by a plurality of distance image acquiring devices are integrated into one coordinate system, and from position coordinates of each passing person passing in the space and data of time change thereof Analyzes the behavior of passers-by.

  In the method of integrating a plurality of two-dimensional images disclosed in Non-Patent Document 1, a camera captures a plurality of two-dimensional images by photographing the same characteristic shape (such as a building) from a plurality of different positions and directions. I have acquired. Then, a characteristic common corresponding point corresponding to the shape / contour serving as an index of association is extracted from the plurality of two-dimensional images, and the plurality of images are associated using conversion parameters obtained from the corresponding points. An approach is disclosed.

JP, 2005-346617, A

Bay, H., Ess, A., Tuytelaars, T. and Gool, L .: SURF: Speeded-up Robust Features, Computer Vision and Image Understanding, Elsevier, Vol. 110, No. 3, pp. 346-359, 2008

  However, Patent Document 1 does not disclose any method of integrating a plurality of distance images into one coordinate system.

  Further, in the method of matching a two-dimensional image disclosed in Non-Patent Document 1, in order to calculate conversion parameters used when integrating a plurality of images, a plurality of common correspondences that it is obvious that the same position is photographed It must contain points. Therefore, when measuring the same object from a plurality of measurement positions, in a plurality of two-dimensional images, such as the back side of the object, a part that can not be captured simultaneously occurs, and the number of corresponding points available for association decreases. As a result, the accuracy of image association is reduced. In addition, the number of effective corresponding points differs depending on the imaging target, and the accuracy of image association is not secured as well. Furthermore, since it is known only after photographing, which part in the photographed two-dimensional image there is a corresponding point that can be used for association, there is a problem that the process of searching for the corresponding point becomes complicated.

  The present invention has been made in view of the above circumstances, and a plurality of distance measurement point group data having different coordinate systems can be stably and precisely regardless of the shape and type of the measurement object in the measurement space. The purpose is to integrate into one coordinate system.

  The above object of the present invention is achieved by the following means.

(1) A plurality of ranging point group data measuring devices for acquiring ranging point group data indicating a distribution of distance values to an object in a measurement space to be measured;
A coordinate system integration unit that integrates the respective ranging point group data acquired by the plurality of ranging point group data measurement devices into one coordinate system;
The coordinate system integration unit measures a three-dimensional object whose shape information is known, which is installed in an overlapping area where the measurement spaces of a plurality of distance measurement point group data measurement devices overlap, with a plurality of distance measurement point group data measurement devices An index of coordinate conversion is calculated from the distance measurement point group data of the three-dimensional object obtained by performing the measurement and the shape information of the three-dimensional object, and a plurality of the measurement for measuring the overlapping area using the index A range-finding point group data measurement system that integrates a plurality of range-finding point group data acquired from a range-point group data measurement device into one coordinate system.

  (2) The ranging point group data measurement system according to (1), further including: an input unit configured to receive the shape information of the three-dimensional object by a user.

(3) The display unit is further provided,
Displaying an image of the three-dimensional object disposed in the measurement space on the display unit;
The ranging point group data measurement system according to (2), wherein the specification of the outline of the part of the three-dimensional object displayed on the display unit is received from the input unit.

(4) In the measurement space, three or more markers are further arranged on the ground on which the three-dimensional object is arranged,
The ranging point group data measurement system according to any one of (1) to (3), wherein the position of the ground on which the three-dimensional object is arranged is calculated according to the position of the marker.

  (5) The ranging point group data measurement system according to any one of (1) to (4), wherein the three-dimensional object is a rectangular parallelepiped or a polyhedron having two planes parallel to each other.

(6) The range-finding point group data measurement device is three or more, and the measurement spaces of all the range-finding point group data measurement devices are not continuous through one overlapping region, Measuring the three-dimensional objects respectively placed in a plurality of the overlapping regions when measuring the three-dimensional objects respectively arranged in the overlapping regions, using a plurality of distance measuring point group data measuring devices that measure any of the plurality of overlapping regions; Calculating a plurality of the indices from the distance-measuring point group data of the three-dimensional object obtained by the above-mentioned method and the shape information of the three-dimensional object, and setting designation information describing a procedure for integrating coordinates;
The plurality of ranging point group data acquired from the plurality of ranging point group data measurement devices are integrated into one coordinate system using the plurality of indices and the designation information, and the above (1) to (5) The ranging point group data measurement system according to any one of the above 2).

  (7) Behavior of a moving body in a plurality of the measurement spaces using the ranging point group data acquired from the plurality of ranging point group data measurement devices integrated by the coordinate system integration unit into one coordinate system The range-finding point cloud data measurement system according to any one of (1) to (6) above, further including: a behavior analysis unit that analyzes.

(8) A range-finding point group data measurement system comprising a plurality of range-finding point group data measuring devices for acquiring range-finding point group data indicating a distribution of distance values to an object in a measurement space to be measured A control program executed by a computer that controls
Measuring a three-dimensional object of which shape information is known, which is installed in an overlapping area where measurement spaces of a plurality of distance measuring point group data measuring devices overlap, with a plurality of the distance measuring point group data measuring devices;
Calculating an index of coordinate conversion from the distance measurement point group data of the solid object obtained in the step (a) and the shape information of the solid object;
Integrating a plurality of distance measurement point group data acquired from the plurality of distance measurement point group data measurement devices whose measurement target is the overlapping region using the index into one coordinate system;
A control program for causing the computer to execute.

  (9) The control program according to (8), further causing the computer to execute step (d) of receiving the shape information of the three-dimensional object before step (b).

(10) The number of distance measurement point group data measurement devices is three or more, and the measurement spaces of all the distance measurement point group data measurement devices are not continuous through one overlapping region, and a plurality of overlapping Continuous through the area,
In the step (a), the three-dimensional object installed in each of the plurality of overlapping regions is measured by the plurality of distance measuring point group data measuring devices which measure any one of the plurality of overlapping regions;
In the step (b), a plurality of indices related to coordinate integration are calculated from the distance measurement point group data of the solid object obtained in the step (a) and the shape information of the solid object, and coordinates are calculated. Set specification information that describes the integration procedure,
In the step (c), the plurality of distance measurement point group data acquired from the plurality of distance measurement point group data measurement devices are integrated into one coordinate system using the plurality of indexes and the designation information. (8) or the control program according to (9) above.

  According to the ranging point group data measurement system according to the present invention, in the case of using a plurality of ranging point group data measuring devices, it is installed in an overlapping area where the measurement spaces of the plurality of ranging point group data measuring devices overlap. The index of coordinate conversion is calculated from the ranging point group data of the three-dimensional object obtained by measuring the three-dimensional object whose shape information is known, and the three-dimensional object shape information, and a plurality of ranging points are calculated using the index Integrate group data into one coordinate system. By doing this, it is possible to stably integrate a plurality of distance measurement point group data having different coordinate systems into one coordinate system with high accuracy, regardless of the shape and type of the measurement object in the measurement space.

It is a sectional view showing a ranging point group data measuring device concerning this embodiment. It is a block diagram which shows the main structures of a ranging point-group data measurement system. It is a schematic diagram which shows the state which scans the inside of measurement space by the ranging point cloud data measurement apparatus. It is a schematic diagram which shows the overlap state of measurement space in a ranging point group data measurement system provided with two ranging point group data measurement apparatuses. It is a flowchart which shows the coordinate integrated process which the ranging point-group data measurement system which concerns on 1st Embodiment performs. It is a figure which shows the example of GUI for three-dimensional object shape information input. It is a flowchart which shows the coordinate integration process performed with the ranging point-group data measurement system which concerns on 2nd Embodiment. It is a figure which shows the example of GUI for designating the outline of a solid object. It is a figure which shows the example of GUI for designating the outline of a solid object. It is a schematic diagram which shows the ground-ground marker used with the ranging point-group data measurement system which concerns on the modification 1. FIG. In 3rd Embodiment, it is a schematic diagram which shows the state which three measurement space continued through two overlapping area | regions. It is a flowchart which shows the coordinate integrated process performed with the ranging point-group data measurement system which concerns on 3rd Embodiment. FIG. 13 is a schematic view showing a plurality of three-dimensional objects used in a distance measuring point group data measurement system according to a modification 2;

  Hereinafter, embodiments of the present invention will be described with reference to the attached drawings. In the description of the drawings, the same elements will be denoted by the same reference symbols, without redundant description. Also, the dimensional proportions of the drawings are exaggerated for the convenience of the description, and may differ from the actual proportions.

  FIG. 1 is a cross-sectional view showing a range-finding point group data measurement apparatus 10 (hereinafter, also simply referred to as “the measurement apparatus 10”) according to this embodiment, and FIG. 2 is a main part of the range-finding point group data measurement system 1 It is a block diagram showing composition.

  As shown in FIGS. 1 and 2, the distance measurement point group data measurement system 1 includes measurement devices 10 a and 10 b, a control unit 20, a memory 30, and an input / output I / F (interface) 40. Hereinafter, the measuring devices 10a and 10b are collectively referred to as "measuring device 10".

(Measurement device 10)
Each measuring device 10 includes a light emitting and receiving unit 11 and a distance measurement point group data generation unit 12. Referring to FIG. 1, the light emitting / receiving unit 11 has a semiconductor laser 51, a collimating lens 52, a mirror unit 53, a lens 54, a photodiode 55, a motor 56, and a housing 57 for housing these components. The light emitting / receiving unit 11 outputs the light reception signal of each pixel obtained by scanning the inside of the measurement space of the distance measurement point group data measurement apparatus 10 with the laser spot light 500 as described later. The distance measurement point group data generation unit 12 generates, based on the light reception signal, distance measurement point group data composed of a plurality of pixels indicating the distribution of the distance value to the object in the measurement space. The distance measurement point cloud data is also referred to as a distance image or a distance map.

  The semiconductor laser 51 emits a pulsed laser beam. The collimator lens 52 converts divergent light from the semiconductor laser 51 into parallel light. The mirror unit 53 scans and projects the laser light collimated by the collimating lens 52 toward the measurement space (also referred to as a monitoring area or monitoring space) by the rotating mirror surface, and reflects the reflected light from the object Let The lens 54 condenses the reflected light from the object reflected by the mirror unit 53. The photodiode 55 receives the light collected by the lens 54, and has a plurality of pixels arranged in the Z direction. The motor 56 rotationally drives the mirror unit 53.

  The distance measurement point group data generation unit 12 obtains distance information (distance value) according to the time difference between the emission timing of the semiconductor laser 51 and the light reception timing of the photodiode 55. The distance measurement point group data generation unit 12 is composed of a CPU (Central Processing Unit) and a memory, and by executing a program stored in the memory, the distance measurement point group data is obtained by the actual execution of various processes. Although required, a dedicated hardware circuit may be provided for distance measurement point cloud data generation. Further, the distance measurement point group data generation unit 12 may be integrated into the control unit 20 as one function of the control unit 20 described later.

  In the present embodiment, the semiconductor laser 51 and the collimator lens 52 constitute an emitting unit 501, and the lens 54 and the photodiode 55 constitute a light receiving unit 502. It is preferable that the optical axes of the emitting unit 501 and the light receiving unit 502 be orthogonal to the rotation axis 530 of the mirror unit 53.

  A box-like housing 57 fixedly installed on the rigid wall 91 or the like has an upper wall 57a, a lower wall 57b opposite thereto, and a side wall 57c connecting the upper wall 57a and the lower wall 57b. Have. An opening 57d is formed in part of the side wall 57c, and a transparent plate 58 is attached to the opening 57d.

  The mirror unit 53 has a shape in which two square pyramids are joined in an opposite direction and integrated, that is, four pairs (but not limited to four pairs) of mirror surfaces 531a and 531b inclined in a direction facing each other in pairs. ) Have. The mirror surfaces 531a and 531b are preferably formed by depositing a reflective film on the surface of a resin material (for example, PC (polycarbonate)) in the shape of a mirror unit.

  The mirror unit 53 is connected to the shaft 56 a of the motor 56 fixed to the housing 57 so as to be rotationally driven. In the present embodiment, for example, in the state of being installed on the wall 91, the axis (rotational axis) of the shaft 56a extends in the Z direction, which is the vertical direction, and is formed by the X and Y directions orthogonal to the Z direction. Although the XY plane is a horizontal plane, the axis of the shaft 56a may be inclined relative to the vertical direction.

  Next, the object detection principle of the measuring device 10 will be described. In FIG. 1, divergent light intermittently emitted in a pulse form from the semiconductor laser 51 is converted into a parallel light beam by the collimator lens 52, and is incident on the first mirror surface 531a of the rotating mirror unit 53. Thereafter, the light is reflected by the first mirror surface 531a and further reflected by the second mirror surface 531b, and then transmitted through the transparent plate 58 toward the external measurement space, for example, as a laser spot light having a longitudinally elongated rectangular cross section It is lighted. The direction in which the emitted laser spot light is reflected by the object and returns as the reflected light is referred to as a light transmission / reception direction. The laser spot light traveling in the same light emitting and receiving direction is detected by the same pixel.

  FIG. 3 is a view showing a state in which the inside of the measurement space of the measurement apparatus 10 is scanned with the laser spot light 500 (indicated by hatching) emitted in response to the rotation of the mirror unit 53. Here, in the combination of the pair of mirrors (the first mirror surface 531a and the second mirror surface 531b) of the mirror unit 53, the four pairs have different crossing angles. The laser light is sequentially reflected by the rotating first mirror surface 531a and the second mirror surface 531b. First, the laser light reflected by the first mirror surface 531a and the second mirror surface 531b of the first pair moves from the left to the right in the horizontal region Ln1 of the measurement space according to the rotation of the mirror unit 53. Is scanned. Next, the laser light reflected by the first mirror surface 531a and the second mirror surface 531b of the second pair is horizontal from the left of the second region Ln2 from the top of the measurement space according to the rotation of the mirror unit 53. It is scanned to the right. Next, according to the rotation of the mirror unit 53, the laser light reflected by the third mirror surface 531a and the second mirror surface 531b from the left in the first region Ln3 from the top of the measurement space It is scanned to the right. Next, according to the rotation of the mirror unit 53, the laser light reflected by the fourth mirror surface 531a and the second mirror surface of the fourth pair horizontally from the left to the right in the lowermost region Ln4 of the measurement space It is scanned. This completes one scan of the entire measurement space that can be measured by the measurement device 10. One frame 900 is obtained by combining the images obtained by scanning the regions Ln1 to Ln4. Then, after the mirror unit 53 makes one rotation, it returns to the first mirror surface 531a and the second mirror surface 531b of the first pair again, and thereafter, from the top area Ln1 to the bottom area Ln4 of the measurement space Are repeated to obtain the next frame 900.

  In FIG. 1, a part of the scanned and projected light flux that has hit and reflected on the object passes through the transparent plate 58 again and is incident on the second mirror surface 531b of the mirror unit 53 in the housing 57, Here, the light is reflected by the first mirror surface 531a, condensed by the lens 54, and detected on the light receiving surface of the photodiode 55 for each pixel. Furthermore, a distance measurement point group data generation unit (described later) obtains distance information according to the time difference between the emission timing of the semiconductor laser 51 and the light reception timing of the photodiode 55. As a result, it is possible to detect an object in the whole area in the measurement space, and obtain a frame 900 (see FIG. 3) as distance measurement point group data having distance information for each pixel. The ranging point group data is transmitted to a remote monitor via a network (not shown) or the like and displayed, or stored in the memory 30 (see FIG. 2). Further, the obtained ranging point group data may be stored as background image data.

  As described above, in the measuring apparatus 10, the position resolution has direction dependency. Specifically, distance information in the depth direction (Z direction) is calculated according to the time difference between light emission and light reception, and distance information in other directions (XY direction) is calculated according to the scanning direction and angle. There is. As such, the resolution in the depth direction tends to be lower than the resolution in the other directions. For example, the position resolution in the depth direction in the horizontal plane is about a fraction of that in the other directions, and the distance measurement accuracy at a distance of 10 m from the measuring apparatus 10 is about a dozen cm. As will be described later, in the present embodiment, by using coordinates obtained by measuring a three-dimensional object 931 (see FIG. 4 described later) whose shape information is known, the position resolution in the depth direction is reduced to the position resolution in the other direction. Make up for.

(Control unit 20, memory 30)
As shown in FIG. 2, the control unit 20 is constituted by a CPU, and executes various processes by executing programs stored in the memory 30. The memory 30 is configured of a semiconductor recording medium such as a read only memory (ROM) or a random access memory (RAM), a magnetic recording medium such as a hard disk drive (HDD), or the like. The control unit 20 functions as a coordinate system integration unit 211 and an action analysis unit 212. The memory 30 stores an index of coordinate conversion, three-dimensional object shape information, designation information, and various control programs. The details of the index of coordinate conversion, the three-dimensional object shape information, and the designation information will be described later, but the outline will be described below.

  The “three-dimensional object shape information” is information indicating the type and size of a standard three-dimensional object used to calculate an index of coordinate conversion. As the three-dimensional object, for example, a rectangular parallelepiped, in particular, a rectangular parallelepiped whose surface shape is not uniform is used. In this case, the shape information of the three-dimensional object is a rectangular solid and the dimensions of its width, depth and height (mm).

  The “coordinate conversion index” is a parameter for integrating ranging point group data obtained from a plurality of measuring devices 10 into one coordinate system. For example, when the ranging point group data of two measuring devices 10 are integrated, it is the correction amount of the coordinate system between both measuring devices 10. The index of this coordinate conversion is described by, for example, the difference value (deg) of Roll angle, Pitch angle, and Yaw angle. Here, the Roll angle, the Pitch angle, and the Yaw angle are rotation angles around the Z axis, the X axis, and the Y axis, respectively (see FIG. 10 described later). Further, the index of coordinate conversion may be described by using XYZ difference values (mm) instead of the Roll angle, the Pitch angle, and the Yaw angle.

  "Specification information" designates an integration procedure (order) to be used when measurement spaces are not continuous through one overlapping area but are continuous through multiple overlapping areas when using three or more measurement devices 10 Information. For example, in the case where three or more measuring devices 10 are arranged in a line, and only adjacent measuring spaces are arranged such that a part of the measuring spaces overlap (see FIG. 11 etc. described later), this designation information is used The distance measurement point group data of three or more measurement devices 10 are sequentially integrated into one coordinate system with distance measurement point cloud data having adjacent measurement spaces, and finally integrated into one coordinate system.

  Here, a detection algorithm of the measurement object of the measurement apparatus 10 using the background subtraction method will be described. In the background subtraction method adopted in the present embodiment, a background image (also referred to as a reference image) generated and stored in advance is used. Specifically, as a preparation for measurement (pre-processing), the laser spot light 500 is scanned from the measuring device 10 in the state where there is no moving object such as a human or an animal. Thus, a background image can be obtained based on the reflected light obtained from the background object 92. At the time of actual measurement, when an object 93 such as a passerby who is a target person of behavior analysis appears in front of the background object 92, reflected light from the object 93 is newly generated.

  The behavior analysis unit 212 compares the background image held in the memory 30 with the distance measurement point cloud data at the current time, and if there is a difference, some object such as some passersby appears in the measurement space Can recognize. Specifically, foreground data is extracted by comparing background data with ranging point group data (distance image data) at the current time using the background subtraction method. Then, the pixels (pixel group) of the extracted foreground data are divided into clusters according to the distance value of the pixels, for example. Then, the size of each cluster is calculated. For example, the vertical dimension, the horizontal dimension, the total area, etc. are calculated. Note that "size" as used herein is an actual size, which differs from an apparent size (angle of view, that is, the spread of pixels), and a block of pixel groups is determined according to the distance to the object. For example, the behavior analysis unit 212 determines whether or not the calculated size is equal to or less than a predetermined size threshold for identifying an object to be analyzed to be extracted. The size threshold can be arbitrarily set depending on the measurement place, the behavior analysis target, and the like. In order to track the passers and analyze the behavior, the minimum value of the normal person's size may be used as the size threshold for clustering. Conversely, if all objects are to be tracked, the size threshold may be a smaller value than this, and if the object is limited to a large object such as a vehicle, the size threshold may be a larger value.

  The behavior analysis unit 212 obtains the moving direction and speed of the object 93 (performs moving object tracking), and performs behavior analysis. Motion tracking is a technology for identifying and tracking a moving object 93 moving within a plurality of frames from a plurality of ranging point data (frames) arranged in time series, and various known techniques Is applicable. In the present embodiment, in particular, the plurality of measurement spaces in which the coordinate system integration unit 211 is continuous are integrated into one coordinate system, and the behavior analysis unit 212 analyzes the moving body in the continuous measurement space in the integrated coordinate system. Do.

(Input / output I / F 40)
The input / output I / F 40 is a user interface or a network interface. The input / output I / F 40 includes, for example, a display, a keyboard, buttons, and the like. The input / output I / F 40 functions as a “display unit”, and based on GUI (Graphical User Interface) data transmitted from the control unit 20, the status information of the distance measuring point group data measuring device 10, etc. Various information is displayed, and an operation screen for inputting three-dimensional object shape information of a three-dimensional object is displayed. The input / output I / F 40 also functions as an “input unit”, and receives from the user an instruction to start measurement for generating an index of coordinate conversion, an instruction to acquire background data, and the like. Also, the network interface function is provided to the input / output I / F 40, and wired communication (for example, Ethernet (registered trademark), USB (Universal Serial Bus)) or wireless communication (for example, Bluetooth (registered trademark), IEEE 802.11) It may be configured to communicate with a terminal such as a PC (Personal Computer) used by the user, and the operation screen may be displayed through this PC to perform various types of input / output.

((First Embodiment) Control Method of Coordinate System Integration Processing)
The coordinate integration processing will be described below with reference to FIGS. FIG. 4 is a schematic view showing an overlapping state of two measurement spaces in the ranging point group data measurement system 1 including the two measurement devices 10. As shown in FIG. FIG. 5 is a flowchart showing coordinate integration processing performed by the distance measuring point group data measurement system 1 according to the first embodiment.

As shown in FIG. 4, the measuring devices 10 a and 10 b respectively measure the measurement spaces 61 and 62 as measurement targets, and scan to generate ranging point group data. As shown in the figure, the measuring device 10a is an X ₁ , Y ₁ , Z ₁ coordinate system, and the measuring device 10 b is an X ₂ , Y ₂ , Z ₂ coordinate system. In each coordinate system, the Z direction is the depth direction, the X direction is the horizontal direction, and the Y direction is the vertical direction. The two measurement spaces 61 and 62 overlap in the overlapping area 601 and continue through the overlapping area 601. Then, a rectangular solid object 931 is installed in the overlapping area 601 by the user.

  The three-dimensional object 931 may be fixed or may simply be placed on the floor (ground). The three-dimensional object 931 is preferably made of a rigid body because the dimensions of corners and sides are required to be constant. The three-dimensional object 931 does not have to be solid. As long as there are sides having a predetermined width or more and corners having a predetermined size or more, they may be hollow or may be made of a frame. In order to change the shape depending on the direction in which the three-dimensional object 931 is viewed, a cuboid in which the size of each surface is not constant is preferable to a cube. Thus, the orientation of the three-dimensional object 931 disposed in the overlapping area 601 can be specified. However, the three-dimensional object 931 may be a cube as long as the direction can be specified by the user's designation or the like. Moreover, it is not restricted to a rectangular parallelepiped (cube), It may be a polyhedron having two planes parallel to each other. For example, it may be a regular hexahedron, or may be a truncated icosahedron obtained by cutting the apex of a regular icosahedron, such as a soccer ball. The color of the three-dimensional object 931 may be any color as long as it has a predetermined reflectance. The size is preferably in the range of about a soccer ball to several times this size.

  In FIG. 5, the left column is processing performed by the control unit 20 of the distance measurement point group data measurement system 1, and the right column is processing performed by the user. The coordinate system integration process shown in FIG. 5 is performed when the distance measurement point group data measurement system 1 or the measurement apparatus 10 is installed (installed) or every predetermined period (for example, every month, every year). By this coordinate system integration processing, a "coordinate conversion index" is newly generated or updated to the latest state. Then, thereafter, the behavior analysis unit 212 uses the “index of coordinate conversion” between the plurality of measuring devices 10 obtained by performing the coordinate integrated system processing, to measure the entire object in the plurality of measurement spaces. Perform detection and behavior analysis of moving bodies.

(Step S301)
The user first places the three-dimensional object 931 in the overlapping area.

(Step S101)
The control unit 20 causes the input / output I / F 40 to display GUI data for shape information input.

(Step S302)
The user inputs the shape information of the arranged three-dimensional object 931. FIG. 6 is a diagram showing an example of a GUI for three-dimensional object shape information input. In the operation screen 401 shown in the figure, the user selects the type of three-dimensional object with the pull-down button 411 in accordance with the shape of the three-dimensional object 931 installed in step S301. Also, the user inputs numerical values of width, depth and height in the input area 412, respectively. Further, the user also inputs the identification number of the measuring device 10 to be subjected to coordinate integration in the input area 413.

(Step S102)
The control unit 20 stores the input shape information of the three-dimensional object 931 in the memory 30.

(Step S303)
After inputting the shape information of the three-dimensional object 931, the user operates the measurement start button to give an instruction to start the measurement.

(Step S103)
The control unit 20 controls the plurality of measurement devices 10a and 10b to start measurement in the measurement space.

(Step S104)
The coordinate system integration unit 211 of the control unit 20 detects an object in the measurement space by analyzing the distance measurement point group data acquired from each of the measurement devices 10a and 10b. Then, the coordinate system integration unit 211 searches for and identifies a three-dimensional object 931 whose shape information is stored in the memory 30 from the detected objects. At this time, only the overlapping area may be searched among the measurement spaces.

(Step S105)
The coordinate system integration unit 211 is used to integrate two coordinate systems from the coordinates of the three-dimensional object 931 in the measurement space of the measurement device 10a and the coordinates of the same three-dimensional object 931 in the measurement space of the measurement device 10b. Calculate the conversion index. Specifically, the coordinate system integration unit 211 is connected to four points on the outline of the three-dimensional object 931 extracted from the ranging point group data in each measurement space, for example, one corner on the rectangular parallelepiped and its corner From the coordinates of each arbitrary point on the three sides, the coordinates of multiple axes of the three-dimensional object 931 in each coordinate system are specified. Alternatively, a plurality of distance measurement points on each side may be averaged to calculate the extending direction of each side. If the coordinates of at least four points of the three-dimensional object 931 are known, all the coordinates including the sides, corners, and planes of the three-dimensional object 931 in each coordinate system can be easily calculated because the shape information is known. Then, the coordinate system integration unit 211 uses the coordinates of the three-dimensional object 931 as a common corresponding point between a plurality of coordinate systems to calculate an index of coordinate conversion. The index of this coordinate transformation is described by the Roll angle, the Pitch angle, and the Yaw angle, as described above.

(Step S106)
The control unit 20 stores the calculated coordinate conversion index in the memory 30, and ends the process. Thereafter, the control unit 20 integrates the ranging point group data of the plurality of measuring devices 10a and 10b into one coordinate system using the coordinates of the coordinate conversion stored in the memory 30, and performs a plurality of continuous measurements. Conduct behavioral analysis of moving objects in space.

  As described above, in the first embodiment, in the case of using a plurality of distance measurement point group data measurement devices, a three-dimensional object 931 whose shape information is known and which is installed in an overlapping area where a plurality of measurement spaces overlap is used. Then, an index for coordinate conversion is calculated from the distance measurement point group data of the three-dimensional object 931 obtained by the measurement and the shape information of the three-dimensional object 931, and a plurality of distance measurement point group data Integrate into By doing this, regardless of the shape and type of the measurement object in the measurement space, it is possible to stably and accurately obtain the coordinate system acquired from the distance measurement point group data measurement device that sets the overlapping region as the measurement object. A plurality of different ranging point group data can be integrated into one coordinate system.

  In particular, when a plurality of distance measurement point group data measurement devices are arranged such that they can not measure a common place, for example, one distance measurement point group data measurement device measures the front of the object and the other In the case of measurement, the same position can not be measured by both measurement devices, and it is not possible to find a corresponding point used to calculate the index. Therefore, it becomes difficult to calculate the index. In the present embodiment, by using the three-dimensional object 931 whose shape information is known, even in such an arrangement, it is possible to easily calculate the measurement value on the back side from the measurement value (coordinates) on the front. As a result, common corresponding points can be easily obtained, and the index can be calculated accurately.

  Further, by using the three-dimensional object 931 having a known shape in advance, the three-dimensional object 931 can be easily searched from within each of the ranging point group data, so that the coordinate integration process becomes easy.

  Furthermore, in the present embodiment, by using multi-axial shape information that configures the distance measurement point group data of the three-dimensional object 931, common correspondence points are obtained even in the measurement apparatus 10 that has direction dependency on position resolution. Can be associated with high positional accuracy, which in turn enables highly accurate coordinate integration processing. More specifically, for example, in the case of using not a three-dimensional object 931 but a planar figure (planar object) whose shape information placed on a horizontal surface is known, this shape information may be two in the depth direction and in the horizontal direction. Since it is composed of elements, when the position measurement accuracy in the depth direction is low, the shape measurement accuracy of the plane figure is lowered, the position and the shape specification of the plane figure become insufficient, and the coordinate conversion accuracy is lowered. In this embodiment, by using the three-dimensional object 931 whose shape information is known, for example, coordinate information in the depth direction (Z direction) whose accuracy is lower than that can be compensated by coordinate information in a front view (XY direction). There is no problem.

  In the first embodiment, an example in which two measuring devices 10 are used is shown. However, the present invention is not limited to this and may be applied to three or more measuring devices 10. Specifically, when three measurement spaces overlap in one overlapping area, a three-dimensional object 931 is disposed in this overlapping area, and the measurement results of this three-dimensional object 931 indicate the index of coordinate conversion of the three measuring devices 10. May be calculated.

((Second Embodiment) Control Method of Coordinate System Integration Processing)
Hereinafter, coordinate integration processing executed by the distance measuring point group data measurement system 1 according to the second embodiment will be described. FIG. 7 is a flowchart showing coordinate integration processing. In the second embodiment, the user designates the outline of the three-dimensional object 931 using a GUI.

(Steps S101 to S104 and Steps S301 to S303)
Also in the second embodiment, the three-dimensional object 931 is disposed in the overlapping region 601 of the plurality of measuring devices 10 in the same relationship as FIG. 4, and this three-dimensional object 931 is measured. In the process shown in FIG. 7, the processes of steps S101 to S104 and the processes of steps S301 to S303 in the first half are the same processes as the process shown in the flowchart of FIG. Through the processing up to this point, the three-dimensional object 931 disposed in the overlapping area 601 is detected and identified by analyzing the distance measurement point group data.

(Step S111)
Next, the control unit 20 causes the input / output I / F 40 to display GUI data for contour line confirmation. FIG. 8 and FIG. 9 are diagrams showing examples of GUIs for specifying the outline of the three-dimensional object 931. In the operation screen 402 shown in FIG. 8, it displays an image viewed from the Z ₁ direction (front or side direction) in the measurement space 61 of the three-dimensional object 931 detected by the distance measurement point cloud data of the measurement device 10a in the display area 421 ing. Further, displaying the image viewed from Z ₂ direction in the measurement space 62 of the same three-dimensional object 931 detected by the distance measuring point cloud data similarly measuring device 10b in the display area 422.

(Step S311)
The user operates the input device such as a mouse to designate a part of the outline for each of the three-dimensional objects 931 displayed in the display areas 421 and 422 of the operation screen 402 in FIG. 8. In the example shown in FIG. 8, the outline of the base of the three-dimensional object 931 in contact with the floor surface (ground) is designated by the lines b1 and b2 input by the user. The specification is confirmed by operating the OK button. Further, the screen displayed by the operation of the OK button is switched to the operation screen 403 of FIG.

(Step S112)
The coordinate system integration unit 211 calculates the correction amount related to the Roll angle and the Pitch angle (or the coordinate in the Y direction) from the coordinates and the base position of the three-dimensional object 931, that is, an index of coordinate conversion. Specifically, in step S311, the offset amount in the height direction of the three-dimensional object 931, that is, the coordinate in the Y direction is set by the lines b1 and b2 designated by the user. Thereby, the positions of Y ₁ = 0 and Y ₂ = 0 in the coordinate system of the measuring devices 10 a and 10 b are determined. According to the determined position in the Y direction, correction amounts of the Roll angle and the Pitch angle in each coordinate system are set.

(Step S312)
In the operation screen 403 shown in FIG. 9, an image (top view) seen from the Y ₁ direction in the measurement space 61 of the three-dimensional object 931 detected by the distance measurement point group data of the measurement device 10a is displayed in the display area 423. ing. Similarly, an image viewed from the Y ₂ direction in the measurement space 62 of the same three-dimensional object 931 detected by the distance measurement point group data of the measurement device 10 b is displayed in the display area 424. The user operates the input device such as a mouse to designate a part of the outline for each of the three-dimensional objects 931 displayed in the display areas 423, 424 of the operation screen 403 of FIG. In the example shown in FIG. 9, the outlines surrounding the four sides of the three-dimensional object 931 are designated by the lines b3 and b4 input by the user. Thereby, the position and the direction (rotational direction) of the three-dimensional object 931 are set. The specification is confirmed by operating the OK button.

(Step S113)
The coordinate system integration unit 211 calculates the correction amount related to the Yaw angle (or the coordinate in the XZ direction) from the coordinates and the direction of the three-dimensional object 931, that is, an index of coordinate conversion. Specifically, in step S312, the position and rotation direction in top view of the three-dimensional object 931 are set by the lines b3 and b4 designated by the user. Thereby, all positions in the coordinate system of measuring device 10a, 10b are decided. The correction amount of the Yaw angle in each coordinate system is set according to the determined position.

(Step S114)
The control unit 20 stores the index of coordinate conversion calculated in steps S112 and S113 in the memory 30, and ends the process.

  As described above, also in the second embodiment, when using a plurality of distance measurement point group data measurement devices as in the first embodiment, the shape information provided in an overlapping area where a plurality of measurement spaces overlap is used. An index of coordinate conversion is calculated based on the measurement result of the known three-dimensional object 931. Thereby, the same effect as that of the first embodiment can be obtained. Furthermore, in the second embodiment, the image of the three-dimensional object 931 in each of the detected measurement spaces is displayed on the operation screen, and the user designates the outline of part of the three-dimensional object 931 by the user. The contour designation information is used to calculate the index of coordinate conversion. Thereby, even if the resolution in the depth direction of the measuring apparatus 10 is lower than the resolution in the other directions, the user can compensate for the capability by the designation of the outline. Thus, the coordinates of the three-dimensional object 931 used as a common corresponding point can be determined with high accuracy, and in turn, a plurality of ranging point group data with different coordinate systems can be integrated into one coordinate system with higher accuracy. In particular, in the second embodiment, the position in the height direction, that is, the position of Y = 0, is set by designating an outline on the operation screen (FIG. 8) on which the three-dimensional object 931 viewed from the Z direction is displayed. doing. As a result, since the offset amount in the height direction (vertical direction) can be determined using only the distance measurement point group data of the three-dimensional object 931, the calculation becomes simple.

  In the second embodiment shown in FIG. 7 to FIG. 9, an example is shown in which the user designates the outline of the base of the three-dimensional object 931 and the outline surrounding four sides of the top view. There is no limitation, and it is also possible to designate only the bottom side or only the outline surrounding the four sides.

(Modification 1)
FIG. 10 is a schematic view showing a ground marker used in the distance measuring point group data measurement system 1 according to the first modification. In this modification 1, in addition to the above-described three-dimensional object 931, three ground markers 71, 72, 73 of which shape information is known are placed on the ground (floor surface) on which three-dimensional object 931 is disposed. The amount of offset in the height direction is determined according to the measurement result of this. The ground marker is, for example, a flat member whose sheet-like shape is known.

  In the second embodiment, the outline of the base is specified by the user. However, in the first modification, three ground markers 71, 72 arranged on the ground are used instead of the specification of the outline by the user. , 73 to set the offset amount in the height direction of the three-dimensional object 931, that is, the coordinate in the Y direction. As a result, the same effect as that of the second embodiment can be obtained without forcing the user to specify an outline.

Third Embodiment
In the first and second embodiments, two or more measurement devices 10 show an example in which a plurality of measurement spaces are continuous through one overlapping area. In the third embodiment described below, the measurement space of three or more measurement devices 10 is applied not to be continuous through one overlapping region but to be continuous through a plurality of overlapping regions. More specifically, in the third embodiment, a three-dimensional object placed in the overlapping area is measured by the plurality of measuring devices 10 which measure any of the plural overlapping areas, and the coordinate system is determined from the measurement result Integrate the coordinate systems of multiple measurement spaces using the index etc. regarding the integration of.

  FIG. 11 is a schematic view showing that three measurement spaces are continuous through two overlapping regions in the third embodiment. FIG. 12 is a flowchart showing coordinate integration processing executed by the distance measuring point group data measurement system 1 according to the third embodiment.

  As shown in FIG. 11, the measuring devices 10a, 10b and 10c respectively measure the measurement spaces 61, 62 and 63 as measurement targets, and generate ranging point group data by scanning. The measurement space 61 and the measurement space 62 overlap in the overlapping area 601, and the measurement space 61 and the measurement space 63 overlap in the overlapping area 602. The three measurement spaces 61, 62, 63 are continuous through the overlapping areas 601, 602.

(Control method of coordinate system integration process)
Hereinafter, with reference to FIG. 12, coordinate integration processing executed by the distance measuring point group data measurement system 1 according to the third embodiment will be described. Steps S501 to S506 in the figure basically correspond to steps S101 to S106 in the first embodiment of FIG. Therefore, the explanation is omitted about a part. Further, in FIG. 12, the user side also performs the same processing as in FIG. 5, but the description is omitted.

(Step S501)
The control unit 20 causes the input / output I / F 40 to display GUI data for shape information input. The user inputs the identification number of the target measuring device 10 (for example, 10a and 10b) in the input area 413 via the operation screen 401 (see FIG. 6). The shape information of the three-dimensional object 931 installed in the overlapping area (for example, the overlapping area 601) between the plurality of measuring devices 10 to be targets is input through the operation screen 401.

(Steps S502 to S506)
The control unit 20 performs the same processing as steps S101 to S106 in the first embodiment, and stores in the memory 30 an index of coordinate conversion between the target measuring devices 10 (for example, the measuring devices 10a and 10b).

(Step S507)
If the measurement in all the overlapping regions is not completed (NO), the control unit 20 repeats the processing of step S501 and the subsequent steps. For example, as shown in FIG. 11, the user moves the three-dimensional object 931 placed in the overlapping area 601 to the adjacent overlapping area 602, and then inputs the shape information of the three-dimensional object 931. Thereafter, by operating the measurement start button (see FIG. 6), the same processing is repeated thereafter, and the index of coordinate conversion between the target measuring devices 10 (for example 10a, 10c) is stored in the memory 30. When the same three-dimensional object 931 is used, the second and subsequent input of the shape information may be omitted.

  On the other hand, when the measurement in all the overlapping regions is completed (YES), that is, when the index of all the coordinate conversions is obtained, the control unit 20 advances the process to step S508.

(Step S508)
The coordinate system integration unit 211 sets specification information in which a procedure for integrating coordinates is described, and stores the specification information in the memory 30. For example, when the measuring device 10a is the main and the other measuring devices 10b and 10c are set to the sub, the coordinate systems of the measuring devices 10b and 10c are integrated into the measuring device 10a, respectively. Integrate into one. Moreover, if the measuring device 10c is the main and the other measuring devices 10a and 10b are sub, the coordinate system of the measuring device 10b is integrated into the coordinate system of the measuring device 10a, and then the integrated coordinate system is measured by the measuring device 10c. Integrate the coordinate system of all measurement space into one. Such integration procedure is set in the designated information. The main and sub settings may be performed by the user, or may be set automatically by the coordinate system integration unit 211.

  As described above, in the third embodiment, the distance measurement point cloud data of the three-dimensional object 931 obtained by measuring the three-dimensional object 931 with known shape information respectively installed in the plurality of overlapping regions by the plurality of measuring devices 10. And, from the shape information of the three-dimensional object, while calculating the index of the coordinate transformation of each measuring device 10, it also specifies the specification information that describes the procedure of integrating the coordinates. As a result, as shown in FIG. 11, the coordinate system of all measurement spaces can be integrated into one coordinate system in the case where the measurement spaces are not continuous through one overlapping region but are continuous through a plurality of overlapping regions.

(Modification 2)
FIG. 13 is a schematic view showing a plurality of three-dimensional objects used in a distance measuring point group data measurement system 1 according to a second modification. In the third embodiment shown in FIG. 11 and the like, one solid object 931 is used, and this is sequentially moved to calculate an index of coordinate conversion. In the second modification, a plurality of three-dimensional objects 932 and 933 are arranged in advance in the overlapping area, and the index of coordinate conversion is calculated using this. Also in the second modification, the user can obtain the same effect as that of the third embodiment by inputting the shape information of each of the three-dimensional objects 932 and 933.

  The configuration of the distance measurement point group data measurement system described above is the main configuration described in describing the features of the above-described embodiment, and is not limited to the above-described configuration, and various modifications are possible within the scope of the claims. can do. Moreover, the configuration provided in a general ranging point group data measurement system is not excluded.

  For example, the second embodiment and the first modification may be combined with the third embodiment. In addition, although the input of the shape information of the three-dimensional object 931 shows an example of inputting the length by a numerical value (mm), the present invention is not limited to this. The user may omit the input of the shape information by selecting the identification number of the three-dimensional object 931.

  The means and method for performing various processes in the range-finding point group data measurement system according to the above-described embodiment can be realized by either a dedicated hardware circuit or a programmed computer. The program may be provided by a computer-readable recording medium such as a USB memory or a DVD (Digital Versatile Disc) -ROM, or may be provided online via a network such as the Internet. In this case, the program recorded on the computer readable recording medium is usually transferred to and stored in a storage unit such as a hard disk. Also, the above program may be provided as a single application software, or may be incorporated into the software of the range-finding point group data measurement device as a function of the device.

DESCRIPTION OF SYMBOLS 1 ranging point group data measurement system 10, 10a, 10b ranging point group data measurement apparatus 11 light emission / reception unit 12 ranging point group data generation part 20 control part 211 coordinate system integration part 212 action analysis part 30 memory 40 input / output I / F
61, 62, 63 Measurement space 601, 602 Overlap area 71, 72, 73 Ground marker 91 Wall 92 Background object 93 Object (Invasion)
931, 932, 933 Three-dimensional object 900 frame

Claims (10)

A plurality of distance measuring point group data measuring devices for acquiring distance measuring point group data indicating a distribution of distance values to an object in a measurement space to be measured;
A coordinate system integration unit that integrates the respective ranging point group data acquired by the plurality of ranging point group data measurement devices into one coordinate system;
The coordinate system integration unit measures a three-dimensional object whose shape information is known, which is installed in an overlapping area where the measurement spaces of a plurality of distance measurement point group data measurement devices overlap, with a plurality of distance measurement point group data measurement devices An index of coordinate conversion is calculated from the distance measurement point group data of the three-dimensional object obtained by performing the measurement and the shape information of the three-dimensional object, and a plurality of the measurement for measuring the overlapping area using the index A range-finding point group data measurement system that integrates a plurality of range-finding point group data acquired from a range-point group data measurement device into one coordinate system.   The ranging point cloud data measurement system according to claim 1, further comprising an input unit configured to receive the shape information of the three-dimensional object by a user. Furthermore, the display unit is provided,
Displaying an image of the three-dimensional object disposed in the measurement space on the display unit;
The range-finding point group data measurement system according to claim 2, wherein the designation of the outline of the part of the three-dimensional object displayed on the display unit is received from the input unit. In the measurement space, three or more markers are further disposed on the ground on which the three-dimensional object is disposed;
The distance measuring point group data measurement system according to any one of claims 1 to 3, wherein the position of the ground on which the three-dimensional object is arranged is calculated according to the position of the marker.   The ranging point group data measurement system according to any one of claims 1 to 4, wherein the three-dimensional object is a rectangular parallelepiped or a polyhedron having two planes parallel to each other. The range-finding point group data measurement apparatus is three or more, and the measurement spaces of all the range-finding point group data measurement apparatuses are not continuous through one overlapping area, but through a plurality of overlapping areas. When continuous, it is obtained by measuring the three-dimensional objects respectively installed in a plurality of the overlapping regions by a plurality of the distance measuring point group data measuring devices which measure any of the plurality of the overlapping regions. From the distance measurement point group data of the three-dimensional object and the shape information of the three-dimensional object, a plurality of indices are calculated, and specification information describing a procedure for integrating coordinates is set.
The plurality of ranging point group data acquired from the plurality of ranging point group data measuring devices are integrated into one coordinate system using the plurality of indices and the designation information. The ranging point cloud data measurement system according to any one.   The movement of the moving body in the plurality of measurement spaces is analyzed using the distance measurement point group data acquired from the plurality of distance measurement point group data measurement devices integrated by the coordinate system integration unit into one coordinate system. The ranging point-group data measurement system according to any one of claims 1 to 6, further comprising a behavior analysis unit. A ranging point group data measurement system comprising a plurality of ranging point group data measurement devices for acquiring ranging point group data indicating a distribution of distance values to an object in a measurement space to be measured is controlled A control program executed by a computer,
Measuring a three-dimensional object of which shape information is known, which is installed in an overlapping area where measurement spaces of a plurality of distance measuring point group data measuring devices overlap, with a plurality of the distance measuring point group data measuring devices;
Calculating an index of coordinate conversion from the distance measurement point group data of the solid object obtained in the step (a) and the shape information of the solid object;
Integrating a plurality of distance measurement point group data acquired from the plurality of distance measurement point group data measurement devices whose measurement target is the overlapping region using the index into one coordinate system;
A control program for causing the computer to execute.   The control program according to claim 8, further comprising the step of: (d) receiving the shape information of the three-dimensional object before the step (b). The number of distance measurement point group data measurement devices is three or more, and the measurement spaces of all the distance measurement point group data measurement devices are continuous through a plurality of overlapping regions without being continuous through one overlapping region. And
In the step (a), the three-dimensional object installed in each of the plurality of overlapping regions is measured by the plurality of distance measuring point group data measuring devices which measure any one of the plurality of overlapping regions;
In the step (b), a plurality of indices related to coordinate integration are calculated from the distance measurement point group data of the solid object obtained in the step (a) and the shape information of the solid object, and coordinates are calculated. Set specification information that describes the integration procedure,
In the step (c), a plurality of ranging point group data acquired from the plurality of ranging point group data measuring devices are integrated into one coordinate system using the plurality of indices and the designation information. The control program of Claim 8 or Claim 9.