Patent ID: 9182489
Filing Date: 2015-11-10
Classification: G01S,G08B

Abstract:
1. A laser scan sensor, comprising: a laser range finder configured to measure a distance to an object based on a time after a laser beam emits before a reflected light returns from the object present in a direction of the emission; a scanning mechanism unit configured to change a measurement direction of the laser range finder; a distance-information acquiring unit configured to periodically perform measurement using the laser range finder while changing the measurement direction using the scanning mechanism unit, so as to form a detection area and acquire distance information for each measurement direction within the detection area in chronological order; an installation-state storage unit configured to store installation state information of the laser range finder; a detection area-information storage unit configured to store distance information to be a reference for each measurement direction as detection-area information; a human-body determining unit configured to: a detection area-information updater configured to update the detection-area information for each measurement direction under a predetermined condition; and an alert-signal output unit configured to output an alert signal in a case where a human body is determined to be present by the human-body determining unit, wherein the detection area-information updater gradually updates the detection-area information of the measurement direction at a predetermined proportion in a case where a height calculated from the distance information for each measurement direction based on the installation state information is equal to or less than a predetermined height.