Laser area sensor
First Claim
1. A laser area sensor, comprising:
- a first laser range finder that emits pulsed laser light, measures a period of time for light reflected by at least one object that is present in a laser light emitting direction to return thereby to obtain distance information to the object and light-reception level information of the reflected light;
a scanning mechanism portion that changes a measurement direction of the first laser range finder;
an information acquiring portion that defines a detection area and acquires distance information and light-reception level information in each measurement direction in the detection area in a time-series manner, by the first laser range finder periodically performing measurement while the scanning mechanism portion changes the measurement direction;
a first information correcting portion that, if there is a discontinuous change exceeding a predetermined amount when the distance information and light-reception level information acquired by the information acquiring portion in each measurement direction are compared with distance information and light-reception level information of preceding and succeeding measurement periods of the measurement period, removes distance information corresponding to the discontinuous change in the measurement period in the measurement direction and corrects light-reception level information of a portion that does not correspond to the discontinuous change;
a human body judging portion that extracts a portion that is presumed to correspond to a human body, from the distance information corrected by the first information correcting portion, and judges whether or not the extracted portion matches a human body based on a time-series moving status of the extracted portion; and
a human body detection signal output portion that outputs a human body detection signal if the human body judging portion judges that a human body is present.
1 Assignment
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Accused Products
Abstract
One embodiment includes: A laser range finder that obtains a distance to an object and a light-reception level of reflected light: a scanning mechanism that changes the measurement direction; a data acquiring portion that periodically performs measurement while changing the measurement direction; a data correcting portion that removes distance information of a portion corresponding to a discontinuous change and corrects light-reception level information of a portion that does not correspond to the discontinuous change after the obtained distance information and light-reception level information are compared with distance information and light-reception level information of preceding and succeeding measurement periods in each direction; a human body judging portion that extracts a portion that is presumed to correspond to a human body, and judges whether or not the extracted portion matches a human body based on a time-series moving status of the extracted portion; and an alert output control portion.
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Citations
20 Claims
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1. A laser area sensor, comprising:
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a first laser range finder that emits pulsed laser light, measures a period of time for light reflected by at least one object that is present in a laser light emitting direction to return thereby to obtain distance information to the object and light-reception level information of the reflected light; a scanning mechanism portion that changes a measurement direction of the first laser range finder; an information acquiring portion that defines a detection area and acquires distance information and light-reception level information in each measurement direction in the detection area in a time-series manner, by the first laser range finder periodically performing measurement while the scanning mechanism portion changes the measurement direction; a first information correcting portion that, if there is a discontinuous change exceeding a predetermined amount when the distance information and light-reception level information acquired by the information acquiring portion in each measurement direction are compared with distance information and light-reception level information of preceding and succeeding measurement periods of the measurement period, removes distance information corresponding to the discontinuous change in the measurement period in the measurement direction and corrects light-reception level information of a portion that does not correspond to the discontinuous change; a human body judging portion that extracts a portion that is presumed to correspond to a human body, from the distance information corrected by the first information correcting portion, and judges whether or not the extracted portion matches a human body based on a time-series moving status of the extracted portion; and a human body detection signal output portion that outputs a human body detection signal if the human body judging portion judges that a human body is present.
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2. A laser area sensor, comprising:
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a first laser range finder that emits pulsed laser light, measures a period of time for light reflected by at least one object that is present in a laser light emitting direction to return thereby to obtain distance information to the object and light-reception level information of the reflected light; a scanning mechanism portion that changes a measurement direction of the first laser range finder; an information acquiring portion that defines a detection area and acquires distance information and light-reception level information in each measurement direction in the detection area in a time-series manner, by the first laser range finder periodically performing measurement while the scanning mechanism portion changes the measurement direction; an information correcting portion that, if there is a discontinuous change exceeding a predetermined amount when the distance information and light-reception level information acquired by the information acquiring portion in each measurement period are compared with distance information and light-reception level information of measurement directions adjacent to the measurement direction, removes distance information corresponding to the discontinuous change in the measurement direction in the measurement period; a human body judging portion that extracts a portion that is presumed to correspond to a human body, from the distance information corrected by the information correcting portion, and judges whether or not the extracted portion matches a human body based on a time-series moving status of the extracted portion; and a human body detection signal output portion that outputs a human body detection signal if the human body judging portion judges that a human body is present.
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3. A laser area sensor, comprising:
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a first laser range finder that emits pulsed laser light, measures a period of time for light reflected by at least one object that is present in a laser light emitting direction to return thereby to obtain distance information to the object and light-reception level information of the reflected light; a scanning mechanism portion that changes a measurement direction of the first laser range finder; an information acquiring portion that defines a detection area and acquires distance information and light-reception level information in each measurement direction in the detection area in a time-series manner, by the first laser range finder periodically performing measurement while the scanning mechanism portion changes the measurement direction; a first information correcting portion that, if there is a discontinuous change exceeding a predetermined amount when the distance information and light-reception level information acquired by the information acquiring portion in each measurement direction are compared with distance information and light-reception level information of preceding and succeeding measurement periods of the measurement period, removes distance information corresponding to the discontinuous change in the measurement period in the measurement direction and corrects light-reception level information of a portion that does not correspond to the discontinuous change; a second information correcting portion that, if there is a discontinuous change exceeding a predetermined amount when the distance information and light-reception level information acquired by the information acquiring portion in each measurement period are compared with distance information and light-reception level information of measurement directions adjacent to the measurement direction, removes distance information corresponding to the discontinuous change in the measurement direction in the measurement period; a human body judging portion that extracts a portion that is presumed to correspond to a human body, from the distance information corrected by the first information correcting portion and the second information correcting portion, and judges whether or not the extracted portion matches a human body based on a time-series moving status of the extracted portion; and a human body detection signal output portion that outputs a human body detection signal if the human body judging portion judges that a human body is present.
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4. A laser area sensor, comprising:
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a laser range finder that emits pulsed laser light, measures a period of time for light reflected by at least one object that is present in a laser light emitting direction to return thereby to obtain distance information to the object and light-reception level information of the reflected light and time width information along the time axis of the reflected light; a scanning mechanism portion that changes a measurement direction of the laser range finder; an information acquiring portion that defines a detection area and acquires distance information, light-reception level information and time width information in each measurement direction in the detection area in a time-series manner, by the laser range finder periodically performing measurement while the scanning mechanism portion changes the measurement direction; an information correcting portion that performs correction with a first information correcting function that, if there is a discontinuous change exceeding a predetermined amount when the distance information and light-reception level information acquired by the information acquiring portion in each measurement period are compared with distance information and light-reception level information of measurement directions adjacent to the measurement direction, removes distance information corresponding to the discontinuous change in the measurement direction in the measurement period, and with a second information correcting function that, when a measurement direction range in which an amount of change between adjacent measurement directions all falls within a predetermined range is referred to as a detection angle width when the distance information, light-reception level information and time width information acquired by the information acquiring portion in each measurement period are compared with distance information, light-reception level information and time width information of a plurality of measurement directions adjacent to the measurement direction, removes specific distance information if light-reception level information, time width information and detection angle width that correspond to the specific distance information in the measurement direction satisfies a predetermined relationship; a human body judging portion that extracts a portion that is presumed to correspond to a human body, from the distance information corrected by the information correcting portion, and judges whether or not the extracted portion matches a human body based on a time-series moving status of the extracted portion; and a human body detection signal output portion that outputs a human body detection signal if the human body judging portion judges that a human body is present. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A laser area sensor, comprising:
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a laser range finder that emits pulsed laser light, measures a period of time for light reflected by at least one object that is present in a laser light emitting direction to return thereby to obtain distance information to the object and light-reception level time integration information in which the light-reception level of the reflected light is time-integrated; a scanning mechanism portion that changes a measurement direction of the laser range finder; an information acquiring portion that defines a detection area and acquires distance information and light-reception level time integration information in each measurement direction in the detection area in a time-series manner, by the laser range finder periodically performing measurement while the scanning mechanism portion changes the measurement direction; an information correcting portion that, when a measurement direction range in which an amount of change between adjacent measurement directions all falls within a predetermined range is referred to as a detection angle width when the distance information and light-reception level time integration information acquired by the information acquiring portion in each measurement period are compared with distance information and light-reception level time integration information of a plurality of measurement directions adjacent to the measurement direction, removes first distance information of the measurement period if first light-reception level time integration information and a first detection angle width that correspond to the first distance information of the measurement direction satisfies a predetermined relationship; a human body judging portion that extracts a portion that is presumed to correspond to a human body, from the distance information corrected by the information correcting portion, and judges whether or not the extracted portion matches a human body based on a time-series moving status of the extracted portion; and a human body detection signal output portion that outputs a human body detection signal if the human body judging portion judges that a human body is present. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification