OBJECT MONITORING SYSTEM INCLUDING DISTANCE MEASURING DEVICE

• US 20200132846A1
• Filed: 09/11/2019
• Published: 04/30/2020
• Est. Priority Date: 10/31/2018
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: NAKAMURA, Minoru, WATANABE, Atsushi, TAKAHASHI, Yuuki
• Granted Patent: US 11,454,721 B2
• Time in Patent Office: Days
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/36 with phase comparison between the received signal and the contemporaneously transmitted signal
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/894 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• CPC Class Codes: G01S 7/487 Extracting wanted echo signals , e.g. pulse detection
• CPC Class Codes: G01S 7/493 Extracting wanted echo signals

Abstract

An object monitoring system includes means for calculating an arrangement of an external object in a target space based on a distance measurement value of the external object, and estimating a shift amount of the distance measurement value caused by the external object in accordance with the calculated arrangement, and means for correcting, based on the estimated shift amount, determination of whether or not a monitored object is present in a monitoring area set in the target space.

Claims

1. An object monitoring system including a distance measuring device configured to output a distance measurement value of a target space based on a phase difference between reference light emitted toward the target space and reflected light from the target space, wherein the system carries out determination of whether or net a monitored object, is present in a monitoring area set in the target space based on the distance measurement value, the system comprising:

means for calculating an arrangement of an external object outside the monitoring area in the target space based on the distance measurement value of the external object, and estimating a shift amount of the distance measurement value caused by the external object in accordance with the calculated arrangement, and

means for correcting the determination based on the estimated shift amount.

2. The object monitoring system according to claim 1, wherein the distance measuring device further outputs a light intensity value of the target space, and the shift amount is estimated from the light intensity value of the external object in addition to the arrangement.

3. The object monitoring system according to claim 1, wherein the shift amount is estimated for only a far side edge of the monitoring area.

4. The object monitoring system according to claim 1, wherein the correction of the determination is carried out by correcting the monitoring area.

5. The object monitoring system according to claim 1, wherein the determination is carried out based on a range value table representing a range of the monitoring area in a line-of-sight direction of the distance measuring device, and the correction of the determination is carried out by correcting the range value table.

6. The object monitoring system according to claim 1, wherein the correction of the determination is carried out by correcting the distance measurement value of the monitored object.

7. The object monitoring system according to claim 1, wherein the shift amount is estimated for only a monitored object which moves in the target space.

6-1. The object monitoring system according to claim 1, wherein the monitored object is detected as an object in an area in which the monitoring area is extended by a predefined extension distance.