OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, OBJECT DETECTION PROGRAM, AND OBJECT DETECTION METHOD

Title:

OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, OBJECT DETECTION PROGRAM, AND OBJECT DETECTION METHOD

Document Type and Number:

WIPO Patent Application WO/2021/166656

Kind Code:

A1

Abstract:

Provided is a three-dimensional object detection device for which setting of an object sensing region is easy and which can be realized in real time without using an expensive CPU. The present invention comprises: a first position vector generation unit 31 that, on the basis of the physical relationship between measurement light and reflected light obtained from a light scanning device 10 and the scanning direction of the measurement light, generates a three-dimensional position vector indicating the distance and direction from a prescribed start point to the irradiation position of an object in a three-dimensional coordinate system; a second position vector generation unit 32 that generates a two-dimensional position vector obtained by projecting the three-dimensional position vector onto a two-dimensional coordinate system serving as a reference plane and calculates the vertical distance from the start point to the end point of the three-dimensional position vector, which is projected onto a vertical axis orthogonal to the reference plane; an object sensing region generation unit 34 that generates an object sensing region in the reference plane; and an object assessment unit 35 that assesses that an object is present when the end point of the two-dimensional position vector is positioned inside the object sensing region.

Inventors:

MORI TOSHIHIRO (JP)
KRISTOU MEHREZ (JP)

Application Number:

PCT/JP2021/004065

Publication Date:

August 26, 2021

Filing Date:

February 04, 2021

Export Citation:

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Assignee:

HOKUYO AUTOMATIC CO (JP)

International Classes:

G01C3/06; G01S7/497; G01S17/93; G02B26/10

Domestic Patent References:

WO2013051382A1

2013-04-11

Foreign References:

CN110008941A	2019-07-12
CN106530380A	2017-03-22
JP2015158772A	2015-09-03
JP2005024370A	2005-01-27
CN109085608A	2018-12-25

Attorney, Agent or Firm:

HASHIMOTO Kaoru (JP)

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