# US 11,112,504 B2 · Measurement monitoring device and computer readable medium

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- Number: US 11,112,504 B2
- Document ID: US11112504B2
- Status: Granted
- Kind: B2
- Application number: 16/963,016
- Filed: 2018-02-20
- Published: 2020-10-29
- Granted: 2021-09-07
- Earliest claimed: 2018-02-20
- Assignees: Mitsubishi Electric Corporation
- Applicants: Mitsubishi Electric Corporation
- Inventors: Mitsunobu Yoshida
- Web page: https://patentgrep.com/patent/US11112504B2

## CPC

- G01S 17/89: for mapping or imaging
- G01S 17/894: Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
- B60R 11/02: for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
- G01B 11/00: Measuring arrangements characterised by the use of optical techniques
- G01C 15/002: {Active optical surveying means (optical plumbing G01C15/105)}
- G01S 7/4808: {Evaluating distance, position or velocity data}
- G01S 7/4814: {of transmitters alone}
- G01S 7/4817: {relating to scanning}
- G01S 7/51: Display arrangements
- G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48)
- G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46)
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- B60R 2011/004: {outside the vehicle}
- G01C 21/3804: {Creation or updating of map data}
- G01S 2007/4975: {of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen}
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

An acquisition unit acquires laser measurement data every time a laser measurement is performed. Based on the acquired laser measurement data, a first detection unit detects an attention angle, which is an irradiation angle corresponding to a measurement distance not included in a standard distance range. A second detection unit detects a warning angle, which is an irradiation angle matching the attention angle for a time longer than an allowable time. A warning unit issues a warning when the warning angle is detected.

## Claims

### Claim 1

A measurement monitoring device mounted on a measuring vehicle having a laser scanner mounted thereon, wherein the laser scanner repeatedly performs a laser measurement to acquire laser measurement data, and the laser measurement data indicates a measurement distance for each irradiation angle of laser light, the measurement monitoring device comprising:
an input/output interface to acquire the laser measurement data every time the laser measurement is performed and display a measurement state screen indicating a plurality of lanes; and
processing circuitry to
detect an attention angle, which is an irradiation angle corresponding to a measurement distance not included in a standard distance range, based on the acquired laser measurement data;
detect a warning angle, which is an irradiation angle matching the attention angle for a time longer than an allowable time; and
in response to detecting the warning angle, determine a warning lane, of the plurality of lanes, corresponding to the warning angle, issue a first warning, and highlight the determined warning lane on the measurement state screen when the determined warning lane is determined to be a valid lane.

### Claim 2 (depends on 1)

The measurement monitoring device of claim 1, wherein the input/output interface accepts, from a user, a designation of the warning lane as valid or invalid, and the processing circuitry highlights the warning lane, only when the warning lane is designated as valid.

### Claim 3 (depends on 1)

The measurement monitoring device according to claim 1, wherein
the measurement state screen has a lane selection interface for designating each of the plurality of lanes as valid or invalid,
the input/output interface accepts a lane selection result via the lane selection interface, and
the processing circuitry is further configured to determine, based on the lane selection result, whether the warning lane is the valid lane.

### Claim 4 (depends on 3)

The measurement monitoring device according to claim 3, wherein the processing circuitry is further configured to not highlight the warning lane on the measurement state screen when the warning lane is determined to be an invalid lane.

### Claim 5 (depends on 1)

The measurement monitoring device according to claim 1, wherein when the attention angle is detected, the processing circuitry is further configured to issue a second warning different from the first warning.

### Claim 6 (depends on 5)

The measurement monitoring device according to claim 5, wherein
the processing circuitry is further configured to select an attention lane, which is a lane corresponding to the attention angle, from the plurality of lanes on the measurement state screen and highlight the attention lane on the measurement state screen.

### Claim 7 (depends on 6)

The measurement monitoring device according to claim 6, wherein
the measurement state screen has a lane selection interface for designating each of the plurality of lanes as valid or invalid,
the input/output interface accepts a lane selection result via the lane selection interface, and
the processing circuitry is further configured to determine, based on the lane selection result, whether the attention lane is the valid lane and highlight the attention lane on the measurement state screen when the attention lane is determined to be the valid lane.

### Claim 8 (depends on 7)

The measurement monitoring device according to claim 7, wherein the processing circuitry is further configured to not highlight the attention lane on the measurement state screen when the attention lane is determined to be an invalid lane.

### Claim 9 (depends on 5)

The measurement monitoring device according to claim 5, wherein
when the warning angle is detected, the processing circuitry is further configured to issue a warning sound.

### Claim 10 (depends on 1)

The measurement monitoring device according to claim 1, wherein the processing circuitry is further configured to
detect a suspicious angle, which is an irradiation angle with a measurement distance not changed from a previous one, based on the acquired laser measurement data,
detect an abnormal angle, which is an irradiation angle matching the suspicious angle for a time longer than a retention time, and
issue the first warning when the abnormal angle is detected.

### Claim 11

A non-transitory computer-readable medium storing a measurement monitoring program of a computer mounted on a measuring vehicle having a laser scanner mounted thereon, wherein the laser scanner repeatedly performs a laser measurement to acquire laser measurement data, and the laser measurement data indicates a measurement distance for each irradiation angle of laser light, the measurement monitoring program causing the computer to:
acquire laser measurement data every time the laser measurement is performed;
display a measurement state screen indicating a plurality of lanes;
detect an attention angle, which is an irradiation angle corresponding to a measurement distance not included in a standard distance range, based on the acquired laser measurement data;
detect a warning angle, which is an irradiation angle matching the attention angle for a time longer than an allowable time; and
in response to detecting the warning angle, determine a warning lane, of the plurality of lanes, corresponding to the warning angle, issue a warning, and highlight the determined warning lane on the measurement state screen when the determined warning lane is determined to be a valid lane.