WO2023182515A1 - Passing vehicle detection device and passing vehicle detection method - Google Patents

Passing vehicle detection device and passing vehicle detection method Download PDF

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Publication number
WO2023182515A1
WO2023182515A1 PCT/JP2023/011997 JP2023011997W WO2023182515A1 WO 2023182515 A1 WO2023182515 A1 WO 2023182515A1 JP 2023011997 W JP2023011997 W JP 2023011997W WO 2023182515 A1 WO2023182515 A1 WO 2023182515A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
passing
optical sensor
predetermined area
laser beam
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PCT/JP2023/011997
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French (fr)
Japanese (ja)
Inventor
慶太郎 水流
洋介 永村
知久 辻
Original Assignee
Ｔｏｐｐａｎエッジ株式会社
トヨタ自動車株式会社
慶太郎 水流
洋介 永村
知久 辻
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Application filed by Ｔｏｐｐａｎエッジ株式会社, トヨタ自動車株式会社, 慶太郎 水流, 洋介 永村, 知久 辻 filed Critical Ｔｏｐｐａｎエッジ株式会社
Publication of WO2023182515A1 publication Critical patent/WO2023182515A1/en

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors

Definitions

  • the present invention relates to a passing vehicle detection device and a passing vehicle detection method.
  • a vehicle detection device that detects a vehicle passing through the entrance is provided at the entrance of a vehicle storage facility such as a parking lot or a motor pool (for example, Patent Document 1).
  • Patent Document 1 discloses a gate control device that detects vehicles passing through a gate of a parking lot.
  • the gate control device disclosed in Patent Document 1 detects the vehicle using a detection signal of an optical sensor including a light emitter and a light receiver, and a detection signal of a loop sensor arranged at a predetermined distance from the optical sensor. ing.
  • a wide variety of vehicles may be stored in the same storage area. Therefore, a wide variety of vehicles can pass through a predetermined area such as the entrance/exit of this type of vehicle storage facility or a vehicle monitoring location provided on a route connecting the vehicle storage facility and a transport ship.
  • the gate control device disclosed in Patent Document 1 does not specify at what irradiation position the light emitting device forming the optical sensor irradiates the vehicle with light. Therefore, in the gate control device disclosed in Patent Document 1, depending on the type of vehicle passing through a predetermined area such as the entrance/exit of a vehicle storage lot, the light emitted from the light emitting device constituting the optical sensor may illuminate the window of the vehicle. It may pass through the vehicle and the vehicle may not be detected. In the gate control device disclosed in Patent Document 1, in order to comprehensively detect a wide variety of vehicles, it is conceivable to change the arrangement of the optical sensor and the loop sensor depending on the type of the vehicle. However, in the gate control device disclosed in Patent Document 1, the optical sensor consists of a light emitter and a light receiver arranged on both sides of the vehicle, and the loop sensor is buried underground. Changing sensor placement is not easy.
  • the present invention has been made in view of the above, and provides a passing vehicle detection device and a passing vehicle that can accurately and easily detect passing vehicles even when a wide variety of vehicles coexist and pass through a predetermined area.
  • the purpose is to provide a vehicle detection method.
  • a passing vehicle detection device of the present invention includes an optical sensor that irradiates a side surface of a vehicle passing through a predetermined area with a laser beam and detects the reflected light of the laser beam reflected from the side surface. and an arithmetic processing device that detects the vehicle passing through the predetermined area based on the detection result of the optical sensor, and the height of the optical sensor from the ground is determined by the irradiation of the laser beam in the height direction.
  • the vehicle is characterized in that the position is set at a height within a range from the center of a wheel provided on the vehicle to the top of the wheel.
  • the laser light emitted from the optical sensor will be reliably reflected by the body frame on the side of the vehicle.
  • the optical sensor can then detect the reflected light once per vehicle. Therefore, even if a wide variety of vehicles coexist and pass through a predetermined area, the arithmetic processing device can easily distinguish the reflected light detected by the optical sensor on a vehicle-by-vehicle basis. Therefore, even if a wide variety of vehicles coexist and pass through a predetermined area, the passing vehicle detection device can accurately and easily detect passing vehicles.
  • the optical sensor is attached to a support member connected to an adjustment mechanism that adjusts the height from the ground, and the adjustment mechanism adjusts the irradiation position of the laser beam within the range.
  • the height of the optical sensor from the ground is adjusted so as to be at the position.
  • the passing vehicle detection device can adjust the irradiation position to a position within the range. I can do it. Therefore, even if a wide variety of vehicles coexist and pass through a predetermined area, the passing vehicle detection device can accurately, easily, and stably detect passing vehicles.
  • the optical sensor, the arithmetic processing unit, and the support member are installed on a moving body.
  • the passing vehicle detection device can immediately install the optical sensor, the arithmetic processing unit, and the support member in an unspecified outdoor location and immediately remove them. Therefore, the passing vehicle detection device can accurately and easily detect passing vehicles even when a wide variety of vehicles coexist, and can be easily applied to various locations.
  • the optical sensor emits the laser beam such that the irradiation range is linear along the horizontal direction with respect to the side surface, and the arithmetic processing unit performs a process based on the detection result of the optical sensor.
  • a length in the horizontal direction of an object passing through the predetermined area is calculated, and based on the calculated length, it is detected that the object is the vehicle.
  • the processing unit can accurately and easily detect objects other than vehicles, such as workers, in a predetermined area where a wide variety of vehicles pass together. can. Therefore, even if an object other than a vehicle passes through the predetermined area, the passing vehicle detection device can accurately and easily detect the passing vehicle.
  • the arithmetic processing device calculates the number of vehicles passing through the predetermined area from the calculated length.
  • the arithmetic processing device can manage the number of vehicles passing through the predetermined area. Therefore, the passing vehicle detection device can not only accurately and easily detect vehicles passing through a predetermined area, but also appropriately manage the number of vehicles.
  • the passing vehicle detection method of the present invention includes: irradiating a side surface of a vehicle passing through a predetermined area with a laser beam, detecting the reflected light of the laser beam reflected from the side surface, and detecting the reflected light. and detecting the vehicle passing through the predetermined area based on the results, and determining the irradiation position of the laser beam in the height direction from the center of a wheel provided on the vehicle to the top of the wheel.
  • the laser beam is irradiated to a position within the range.
  • the passing vehicle detection method can easily distinguish the detected reflected light on a vehicle-by-vehicle basis even if a wide variety of vehicles coexist and pass through a predetermined area. Therefore, the passing vehicle detection method can accurately and easily detect passing vehicles even when a wide variety of vehicles coexist and pass through a predetermined area.
  • the range from the center of a wheel installed on a vehicle to the top of the wheel is a range in the height direction that can be satisfied for all wheels installed on all types of vehicles that are expected to pass through a predetermined area. range.
  • FIG. 2 is a diagram illustrating a predetermined area to which a passing vehicle detection device according to the present embodiment is applied.
  • FIG. 2 is a schematic diagram showing the configuration of the passing vehicle detection device shown in FIG. 1.
  • FIG. 3 is a diagram illustrating the irradiation position of laser light by the optical sensor shown in FIG. 2;
  • FIG. 4 is a diagram showing verification results of the laser beam irradiation position explained in FIG. 3;
  • 3 is a flowchart showing a passing vehicle detection process performed by the arithmetic processing device shown in FIG. 2.
  • FIG. 2 is a diagram illustrating a predetermined area to which a passing vehicle detection device according to the present embodiment is applied.
  • FIG. 2 is a schematic diagram showing the configuration of the passing vehicle detection device shown in FIG. 1.
  • FIG. 3 is a diagram illustrating the irradiation position of laser light by the optical sensor shown in FIG. 2;
  • FIG. 4 is a diagram showing verification results of the laser beam irradiation position explained
  • FIG. 1 is a diagram illustrating a predetermined area A to which a passing vehicle detection device 1 of this embodiment is applied.
  • FIG. 2 is a schematic diagram showing the configuration of the passing vehicle detection device 1 shown in FIG. 1. As shown in FIG.
  • vehicle storage areas such as motor pools are set up to store vehicles that are loaded onto land transportation vehicles that transport vehicles to sales offices and wharves.
  • a vehicle storage area such as a motor pool is installed at a wharf where a transport ship that transports vehicles is anchored, such as a motor pool for storing vehicles that are loaded onto the transport ship or vehicles that are unloaded from the transport ship.
  • the passing vehicle detection device 1 detects a vehicle passing through a predetermined area A, such as an entrance/exit of a vehicle storage area or a vehicle monitoring location provided on a route connecting a land transport vehicle or a transport ship to a vehicle storage area. It is a device.
  • a vehicle monitoring location provided on a route connecting a transport ship and a vehicle storage yard will be exemplified as the predetermined area A to which the passing vehicle detection device 1 is applied.
  • FIG. 1 shows how vehicles are loaded onto a transport ship (symbol S in FIG. 1) from a vehicle storage area installed at a wharf.
  • Objects that pass through the predetermined area A include vehicles to be transported (labeled V in Figure 1) to be loaded onto a transport ship or unloaded, and workers (labelled W in Figure 1) who work around the prescribed area A. be.
  • the vehicle to be transported may be equipped with an RFID tag that stores identification information of the vehicle.
  • the model, shape, size, color, etc. of the vehicle to be transported are not particularly limited.
  • the timing at which an object passes through the predetermined area A is irregular.
  • the speed of the object passing through the predetermined area A may be greater than or equal to 0 km/h and less than or equal to approximately 40 km/h, and is not constant.
  • the distance between vehicles passing through the predetermined area A may be 70 cm or more and is not constant.
  • the passing vehicle detection device 1 is arranged on one side of the predetermined area A extending in the passing direction, but not on both sides.
  • the passing vehicle detection device 1 can be used in all weather conditions.
  • the passing vehicle detection device 1 is installed on a moving object 10 such as a vehicle or a robot. In this embodiment, a vehicle will be described as an example of the moving body 10, as shown in FIG.
  • the passing vehicle detection device 1 includes an optical sensor 20, a reading device 30, a computer 40, and a notification device 50.
  • the optical sensor 20, the reading device 30, the computer 40, and the notification device 50 are installed on the moving body 10. Thereby, the passing vehicle detection device 1 can immediately install the optical sensor 20, the reading device 30, the computer 40, and the notification device 50 in an unspecified outdoor location and immediately remove them. Therefore, the passing vehicle detection device 1 can accurately and easily detect passing vehicles even when a wide variety of vehicles coexist, and can be easily applied to various locations.
  • the optical sensor 20 is a sensor that irradiates a side surface of an object passing through a predetermined area A with a laser beam and detects the reflected light of the laser beam reflected from the side surface.
  • the optical sensor 20 is configured by, for example, a two-dimensional LiDAR.
  • the optical sensor 20 is attached to a support member 13 of a hitch carrier 12 fixed to the rear of the moving body 10.
  • the optical sensor 20 is attached to the support member 13 in such a position that laser light is horizontally irradiated toward the predetermined region A from one side of the predetermined region A.
  • the optical sensor 20 does not require a reflective plate that reflects laser light to be installed on the other side of the predetermined area A.
  • the optical sensor 20 irradiates a side surface of the vehicle whose irradiation range passes through the predetermined area A with a linear laser beam along the horizontal direction. That is, when viewed from one side of the predetermined area A, the side surface of the vehicle is irradiated with a linear laser beam along the horizontal direction.
  • the laser beam irradiation method by the optical sensor 20 may be a mechanical method such as a line scan method or a flash method without scanning, a MEMS mirror method, or an OPA (Optical Phased Array) method, and is not particularly limited. Note that details of the irradiation position of the laser beam by the optical sensor 20 will be described later using FIGS. 3 and 4.
  • the reading device 30 is a device that reads information from RFID tags mounted on vehicles passing through the predetermined area A.
  • the reading device 30 includes an antenna 31 and a reader 32.
  • Antenna 31 receives radio waves transmitted from the RFID tag.
  • the antenna 31 is attached to the support member 13 so as to face the predetermined region A from one side of the predetermined region A.
  • the reader 32 reads the information of the RFID tag from the radio waves received by the antenna 31.
  • the reader 32 transmits the result of reading the information of the RFID tag to the computer 40 .
  • the leader 32 may be placed inside the moving body 10 or may be attached to the hitch carrier 12.
  • the computer 40 controls the operations of the optical sensor 20, the reading device 30, and the notification device 50 to realize the functions of the passing vehicle detection device 1.
  • the computer 40 is configured by a mobile PC or a PC built into the mobile object 10.
  • Computer 40 has an arithmetic processing unit 41 .
  • the arithmetic processing unit 41 is composed of a CPU, ROM, RAM, etc., and realizes the functions of the computer 40 by the CPU executing a program stored in the ROM.
  • the arithmetic processing unit 41 can transmit the information of the RFID tag read by the reading device 30 to a server device that manages the vehicle to be transported via the wireless communication device of the computer 40.
  • the server device Based on the information of the RFID tag, the server device updates the information in the database in which the identification information of the vehicle to be transported is registered, and the location and status of the vehicle during the transportation process, as well as the information at the vehicle storage area. Manage the number of stored units, etc. Note that the database in which identification information of vehicles to be transported is registered may be integrated with the computer 40.
  • the arithmetic processing unit 41 detects an object passing through the predetermined area A based on the detection result of the optical sensor 20. Specifically, the arithmetic processing unit 41 calculates the length of the object passing through the predetermined area A in the horizontal direction (passing direction) based on the detection result of the optical sensor 20, and based on the calculated length, Detects that the object is a vehicle. Specifically, the arithmetic processing unit 41 detects that the object is a vehicle when the calculated length is equal to or greater than a threshold (for example, 700 mm), and when the calculated length is less than the threshold , detects that the object is other than a vehicle.
  • a threshold for example, 700 mm
  • the processing unit 41 can accurately and easily detect objects other than vehicles, such as workers, passing in the predetermined area A where a wide variety of vehicles pass together. . Therefore, even if an object other than a vehicle passes through the predetermined area A, the passing vehicle detection device 1 can accurately and easily detect the passing vehicle.
  • the arithmetic processing unit 41 calculates the number of vehicles passing through the predetermined area A from the calculated horizontal length.
  • the arithmetic processing device 41 can manage the number of vehicles passing through the predetermined area A. Therefore, the passing vehicle detection device 1 can not only accurately and easily detect vehicles passing through the predetermined area A, but also appropriately manage the number of vehicles.
  • the notification device 50 notifies the surroundings of the predetermined area A of the processing results of the arithmetic processing device 41 and the like.
  • the notification device 50 can notify the detection result of a vehicle passing through the predetermined area A, or the result of reading information from an RFID tag.
  • the configuration and notification mode of the notification device 50 are not particularly limited.
  • the notification device 50 of this embodiment is attached to a roof carrier 11 fixed to the upper part of the moving body 10.
  • FIG. 3 is a diagram illustrating the irradiation position of laser light by the optical sensor 20 shown in FIG. 2.
  • FIG. 4 is a diagram showing the verification results of the laser beam irradiation position explained in FIG. 3.
  • the height of the optical sensor 20 from the ground (sign G in FIG. 3) is determined when the irradiation position of the laser beam in the height direction passes through a predetermined area A (sign V in FIG. 3), as shown in FIG.
  • the height is set in advance to be within the range Rh from the center (Vb in FIG. 3) of the wheel (Va in FIG. 3) provided to the wheel (Vc in FIG. 3) to the top of the wheel (Vc in FIG. 3).
  • This range Rh is a range in the height direction that can be satisfied for all wheels installed on all types of vehicles that are expected to pass through the predetermined area A.
  • the position in the height direction indicating the lower limit of the range Rh may be the height position from the ground at the center of the wheel with the largest diameter among all the wheels.
  • the position in the height direction indicating the upper limit of the range Rh may be the height position from the ground at the top of the wheel with the smallest diameter among all the wheels. That is, the range Rh may be a range in the height direction from the center of the wheel with the largest diameter among all the types of wheels to the top of the wheel with the smallest diameter among all the types of wheels.
  • the wheel diameters of vehicles that are expected to pass through the predetermined area A do not differ greatly depending on the type of vehicle, and can be considered to be substantially the same regardless of the type of vehicle.
  • the laser beam may pass through the window of the vehicle, and the optical sensor 20 may detect the reflected light. There are things I can't do. If the irradiation position of the laser beam in the height direction is below the range Rh, the optical sensor 20 may detect the reflected light twice for each vehicle if the vehicle is a four-wheeled vehicle; When the number of wheels is greater than four, the optical sensor 20 can detect reflected light three or more times per vehicle.
  • the arithmetic processing unit 41 (described later) may not be able to easily distinguish between the reflected lights detected by the optical sensor 20 on a vehicle-by-vehicle basis. There is sex. Therefore, when a mixture of vehicles with different numbers of wheels passes through the predetermined area A, special means may be required to accurately detect the vehicles passing through the predetermined area A.
  • the irradiation position of the laser beam in the height direction is within the range Rh, even if a wide variety of vehicles coexist and pass through the predetermined area A, the laser beam irradiated from the optical sensor 20 will not reach the vehicle concerned. is reliably reflected by the body frame on the sides.
  • the optical sensor 20 can detect the reflected light once for each vehicle. Thereby, even if a wide variety of vehicles coexist and pass through the predetermined area A, the processing unit 41 can easily distinguish the reflected light detected by the optical sensor 20 on a vehicle-by-vehicle basis. Therefore, even if a wide variety of vehicles coexist and pass through the predetermined area A, the passing vehicle detection device 1 can accurately and easily detect passing vehicles.
  • FIG. 4 shows that when the irradiation position of the laser beam in the height direction is set to each of the positions (1) to (4), the passing vehicle detection device 1 can accurately detect a wide variety of vehicles ranging from small cars to large cars. This shows the results of testing to see if it can be detected.
  • the position (3) shown in FIG. 4 is within the range Rh.
  • the circle mark in FIG. 4 indicates that the passing vehicle detection device 1 was able to accurately detect the vehicle.
  • the ⁇ mark in FIG. 4 indicates that the optical sensor 20 detected the reflected light twice for each vehicle, and it was not easy for the passing vehicle detection device 1 to accurately detect the vehicle.
  • the cross mark in FIG. 4 indicates that the passing vehicle detection device 1 could not accurately detect the vehicle.
  • FIG. 4 it can be seen that when the irradiation position of the laser beam in the height direction is within the range Rh, the passing vehicle detection device 1 can accurately and easily detect a wide variety of vehicles.
  • the optical sensor 20 of this embodiment is attached to a support member 13 connected to an adjustment mechanism 14 that adjusts the height of the optical sensor 20 from the ground.
  • the passing vehicle detection device 1 can adjust the irradiation position to a position within the range Rh. can. Therefore, even if a wide variety of vehicles coexist and pass through the predetermined area A, the passing vehicle detection device 1 can accurately, easily, and stably detect passing vehicles.
  • the support member 13 has a holding mechanism for the optical sensor 20 and the antenna 31, and may be constituted by a shaft member such as a frame or a rod that extends in the height direction (vertical direction).
  • the support member 13 has an upper part 13a extending above the connection position of the support member 13 to the adjustment mechanism 14, and a lower part 13b extending below the connection position.
  • An antenna 31 is attached to the upper portion 13a.
  • An optical sensor 20 is attached to the lower part 13b.
  • the adjustment mechanism 14 may be configured by a direct-acting electric actuator or the like that is fixed to the main body 12a of the hitch carrier 12 and moves the support member 13 upward or downward.
  • the adjustment mechanism 14 adjusts the height of the optical sensor 20 from the ground by moving the support member 13 so that the irradiation position of the laser beam on the side of the vehicle passing through the predetermined area A is within the range Rh. can do.
  • the operation of the adjustment mechanism 14 is controlled by the arithmetic processing unit 41 of the computer 40.
  • the support member 13 may be configured such that the upper part 13a and the lower part 13b are made of separate members, and the lower part 13b is formed by a telescopic rod or a piston cylinder, etc., which moves forward and backward with respect to the upper part 13a.
  • the adjustment mechanism 14 may be configured by an electric motor or the like that moves the lower part 13b upward or downward relative to the upper part 13a.
  • the adjustment mechanism 14 adjusts the height of the optical sensor 20 from the ground by moving the lower part 13b so that the laser beam irradiation position on the side of the vehicle passing through the predetermined area A is within the range Rh. be able to.
  • the adjustment mechanism 14 may be configured by a manual mechanism instead of the electric mechanism as described above. Further, the support member 13 may be fixed to the main body 12a of the hitch carrier 12 without using the adjustment mechanism 14. In any case, if the support member 13 and adjustment mechanism 14 can set and adjust the height of the optical sensor 20 from the ground so that the irradiation position of the laser beam in the height direction is within the range Rh, , not particularly limited.
  • FIG. 5 is a flowchart showing a passing vehicle detection process performed by the arithmetic processing unit 41 shown in FIG. 2.
  • the arithmetic processing unit 41 repeatedly performs the process shown in FIG. 5 at a predetermined period. Note that when the irradiation position of the laser beam in the height direction is outside the range Rh, the arithmetic processing unit 41 may perform the following processing before performing the processing shown in FIG. can. That is, in this case, the processing unit 41 operates the adjustment mechanism 14 to adjust the height of the optical sensor 20 from the ground so that the irradiation position of the laser beam in the height direction is within the range Rh. It is possible to perform processing to control the
  • step S1 the processing unit 41 controls the optical sensor 20 to irradiate the side surface of an object passing through the predetermined area A with laser light.
  • the optical sensor 20 irradiates the laser beam with the irradiation position of the laser beam in the height direction within the range Rh.
  • step S2 the arithmetic processing unit 41 controls the optical sensor 20 to determine whether or not the reflected light of the laser beam reflected from the side surface of the object passing through the predetermined area A is detected.
  • the arithmetic processing unit 41 moves to step S3. If the optical sensor 20 does not detect reflected light, the arithmetic processing unit 41 ends the process shown in FIG. 5.
  • step S3 the arithmetic processing unit 41 calculates the horizontal length of the object passing through the predetermined area A from the detection result of the reflected light by the optical sensor 20.
  • step S4 the arithmetic processing unit 41 determines whether the calculated horizontal length of the object is greater than or equal to a threshold value. If the calculated horizontal length of the object is equal to or greater than the threshold value, the arithmetic processing device 41 moves to step S6. If the calculated horizontal length of the object is less than the threshold value, the arithmetic processing device 41 moves to step S5.
  • step S5 the processing unit 41 detects that the object passing through the predetermined area A is other than a vehicle. Thereafter, the arithmetic processing unit 41 ends the process shown in FIG.
  • step S6 the processing unit 41 detects that the object passing through the predetermined area A is a vehicle.
  • step S7 the arithmetic processing unit 41 calculates the number of vehicles passing through the predetermined area A, and stores it in a predetermined storage area of the computer 40. Thereafter, the arithmetic processing unit 41 ends the process shown in FIG.
  • the passing vehicle detection device 1 of the present embodiment includes an optical sensor 20 that irradiates a side surface of a vehicle passing through a predetermined area A with a laser beam and detects the reflected light of the laser beam reflected from the side surface. Equipped with The passing vehicle detection device 1 includes an arithmetic processing device 41 that detects a vehicle passing through a predetermined area A based on the detection result of the optical sensor 20.
  • the height of the optical sensor 20 from the ground is set to such a height that the irradiation position of the laser beam in the height direction is within the range Rh from the center of the wheel provided on the vehicle to the top of the wheel. ing.
  • the laser light emitted from the optical sensor 20 will be reliably reflected by the body frame on the side of the vehicle.
  • the optical sensor 20 can detect the reflected light once for each vehicle. Therefore, even if a wide variety of vehicles coexist and pass through the predetermined area A, the processing unit 41 can easily distinguish the reflected light detected by the optical sensor 20 on a vehicle-by-vehicle basis. Therefore, even if a wide variety of vehicles coexist and pass through the predetermined area A, the passing vehicle detection device 1 can accurately and easily detect passing vehicles.
  • the passing vehicle detection method of this embodiment can be realized by the arithmetic processing unit 41 performing the processing shown in FIG.
  • the passing vehicle detection method of this embodiment includes irradiating a laser beam onto the side surface of a vehicle passing through a predetermined area A, and detecting the reflected light of the laser beam reflected from the side surface (step S1 and step S2). ).
  • the passing vehicle detection method includes detecting a vehicle passing through the predetermined area A based on the detection result of reflected light (step S6).
  • a laser beam is irradiated with the irradiation position of the laser beam in the height direction within a range Rh from the center of a wheel provided on the vehicle to the top of the wheel.
  • the passing vehicle detection method of the present embodiment can easily distinguish the detected reflected light on a vehicle-by-vehicle basis even if a wide variety of vehicles coexist and pass through the predetermined area A. Therefore, the passing vehicle detection method can accurately and easily detect passing vehicles even if a wide variety of vehicles coexist and pass through the predetermined area A.
  • the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention as set forth in the claims. It can be carried out.
  • the present invention does not include adding the configuration of one embodiment to the configuration of another embodiment, replacing the configuration of one embodiment with another embodiment, or deleting a part of the configuration of one embodiment. You can

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Abstract

The present invention enables accurate and easy detection of a vehicle that passes through a prescribed area even when various vehicles pass through the prescribed area in a mixed manner. A passing vehicle detection device (1) comprises: an optical sensor (20) for irradiating the side surface of a vehicle passing through a prescribed area (A) with laser light, and detecting the reflected light of the laser light which was reflected by said side surface; and a computation processing device (41) for detecting a vehicle passing through the prescribed area (A) on the basis of the detection results from the optical sensor (20). The height of the optical sensor (20) from the ground is set such that the irradiation location in the height direction of the laser light is a height that is positioned within a range (Rh) from the center of a wheel provided to the vehicle to the apex of the vehicle.

Description

通過車両検知装置及び通過車両検知方法Passing vehicle detection device and passing vehicle detection method
　本発明は、通過車両検知装置及び通過車両検知方法に関する。 The present invention relates to a passing vehicle detection device and a passing vehicle detection method.
　駐車場又はモータープール等の車両保管場の出入口には、当該出入口を通過する車両を検知する車両検知装置が設けられている（例えば特許文献１）。 A vehicle detection device that detects a vehicle passing through the entrance is provided at the entrance of a vehicle storage facility such as a parking lot or a motor pool (for example, Patent Document 1).
　特許文献１には、駐車場のゲートを通過する車両を検知するゲート制御装置が開示されている。特許文献１に開示されたゲート制御装置は、発光器及び受光器から成る光センサの検出信号と、光センサから所定距離をもって配置されたループセンサの検出信号とを用いて、当該車両を検知している。 Patent Document 1 discloses a gate control device that detects vehicles passing through a gate of a parking lot. The gate control device disclosed in Patent Document 1 detects the vehicle using a detection signal of an optical sensor including a light emitter and a light receiver, and a detection signal of a loop sensor arranged at a predetermined distance from the optical sensor. ing.
特許第３０００２６７号公報Patent No. 3000267
　車両の輸送船が停泊する埠頭に設置された車両保管場では、多種多様な車両が同じ保管場内に保管されることがある。したがって、この種の車両保管場の出入口、又は、車両保管場と輸送船とを繋ぐ経路上に設けられた車両監視場所のような所定領域では、多種多様な車両が通過し得る。 In vehicle storage areas installed at wharves where vehicle transport ships dock, a wide variety of vehicles may be stored in the same storage area. Therefore, a wide variety of vehicles can pass through a predetermined area such as the entrance/exit of this type of vehicle storage facility or a vehicle monitoring location provided on a route connecting the vehicle storage facility and a transport ship.
　特許文献１に開示されたゲート制御装置は、光センサを構成する発光器がどのような照射位置で車両に光を照射するのかを特定していない。したがって、特許文献１に開示されたゲート制御装置は、車両保管場の出入口等の所定領域を通過する車両の種類によっては、光センサを構成する発光器から照射された光が当該車両のウインドウを透過し、当該車両を検知できないことがある。特許文献１に開示されたゲート制御装置において、多種多様な車両を網羅的に検知するためには、光センサ及びループセンサの配置を当該車両の種類に応じて変更することも考えられる。しかしながら、特許文献１に開示されたゲート制御装置において、光センサは当該車両の両側方にそれぞれ配置される発光器及び受光器から成り、ループセンサは地中に埋設されるので、光センサ及びループセンサの配置を変更することは容易ではない。 The gate control device disclosed in Patent Document 1 does not specify at what irradiation position the light emitting device forming the optical sensor irradiates the vehicle with light. Therefore, in the gate control device disclosed in Patent Document 1, depending on the type of vehicle passing through a predetermined area such as the entrance/exit of a vehicle storage lot, the light emitted from the light emitting device constituting the optical sensor may illuminate the window of the vehicle. It may pass through the vehicle and the vehicle may not be detected. In the gate control device disclosed in Patent Document 1, in order to comprehensively detect a wide variety of vehicles, it is conceivable to change the arrangement of the optical sensor and the loop sensor depending on the type of the vehicle. However, in the gate control device disclosed in Patent Document 1, the optical sensor consists of a light emitter and a light receiver arranged on both sides of the vehicle, and the loop sensor is buried underground. Changing sensor placement is not easy.
　本発明は、上記に鑑みてなされたものであり、多種多様な車両が混在して所定領域を通過しても、通過する車両を正確且つ容易に検知することが可能な通過車両検知装置及び通過車両検知方法を提供することを目的とする。 The present invention has been made in view of the above, and provides a passing vehicle detection device and a passing vehicle that can accurately and easily detect passing vehicles even when a wide variety of vehicles coexist and pass through a predetermined area. The purpose is to provide a vehicle detection method.
　上記課題を解決するために、本発明の通過車両検知装置は、所定領域を通過する車両の側面にレーザ光を照射し、前記側面にて反射された前記レーザ光の反射光を検出する光センサと、前記光センサの検出結果に基づいて前記所定領域を通過する前記車両を検知する演算処理装置と、を備え、前記光センサの地面からの高さは、前記レーザ光の高さ方向の照射位置が、前記車両に設けられた車輪の中心から前記車輪の頂部までの範囲以内の位置となる高さに設定されていることを特徴とする。 In order to solve the above problems, a passing vehicle detection device of the present invention includes an optical sensor that irradiates a side surface of a vehicle passing through a predetermined area with a laser beam and detects the reflected light of the laser beam reflected from the side surface. and an arithmetic processing device that detects the vehicle passing through the predetermined area based on the detection result of the optical sensor, and the height of the optical sensor from the ground is determined by the irradiation of the laser beam in the height direction. The vehicle is characterized in that the position is set at a height within a range from the center of a wheel provided on the vehicle to the top of the wheel.
　このような構成により、多種多様な車両が混在して所定領域を通過しても、光センサから照射されたレーザ光が当該車両の側面のボディフレームによって確実に反射される。そして、光センサは、反射光を１台の車両につき１回検出し得る。したがって、演算処理装置は、多種多様な車両が混在して所定領域を通過しても、光センサで検出された反射光を車両単位で容易に区別することができる。よって、通過車両検知装置は、多種多様な車両が混在して所定領域を通過しても、通過する車両を正確且つ容易に検知することができる。 With such a configuration, even if a wide variety of vehicles coexist and pass through a predetermined area, the laser light emitted from the optical sensor will be reliably reflected by the body frame on the side of the vehicle. The optical sensor can then detect the reflected light once per vehicle. Therefore, even if a wide variety of vehicles coexist and pass through a predetermined area, the arithmetic processing device can easily distinguish the reflected light detected by the optical sensor on a vehicle-by-vehicle basis. Therefore, even if a wide variety of vehicles coexist and pass through a predetermined area, the passing vehicle detection device can accurately and easily detect passing vehicles.
　更に好ましい態様として、前記光センサは、前記地面からの前記高さを調整する調整機構に接続された支持部材に取り付けられており、前記調整機構は、前記レーザ光の前記照射位置を前記範囲以内の前記位置とするよう前記光センサの前記地面からの前記高さを調整する。 In a further preferred embodiment, the optical sensor is attached to a support member connected to an adjustment mechanism that adjusts the height from the ground, and the adjustment mechanism adjusts the irradiation position of the laser beam within the range. The height of the optical sensor from the ground is adjusted so as to be at the position.
　このような態様により、通過車両検知装置は、レーザ光の高さ方向の照射位置が不測の事態によって上記範囲外の位置になったとしても、当該照射位置を当該範囲以内の位置に調整することができる。よって、通過車両検知装置は、多種多様な車両が混在して所定領域を通過しても、通過する車両を正確、容易且つ安定的に検知することができる。 With this aspect, even if the irradiation position of the laser beam in the height direction falls outside the above range due to an unexpected situation, the passing vehicle detection device can adjust the irradiation position to a position within the range. I can do it. Therefore, even if a wide variety of vehicles coexist and pass through a predetermined area, the passing vehicle detection device can accurately, easily, and stably detect passing vehicles.
　更に好ましい態様として、前記光センサ、前記演算処理装置及び前記支持部材は、移動体に設置されている。 As a further preferred embodiment, the optical sensor, the arithmetic processing unit, and the support member are installed on a moving body.
　このような態様により、通過車両検知装置は、光センサ、演算処理装置及び支持部材を、屋外の不特定な場所に即時設置し即時撤去することができる。よって、通過車両検知装置は、多種多様な車両が混在しても通過する車両を正確且つ容易に検知可能であると共に、様々な場所に容易に適用可能とすることができる。 With this aspect, the passing vehicle detection device can immediately install the optical sensor, the arithmetic processing unit, and the support member in an unspecified outdoor location and immediately remove them. Therefore, the passing vehicle detection device can accurately and easily detect passing vehicles even when a wide variety of vehicles coexist, and can be easily applied to various locations.
　更に好ましい態様として、前記光センサは、照射範囲が前記側面に対して水平方向に沿った線状となる前記レーザ光を照射し、前記演算処理装置は、前記光センサの前記検出結果に基づいて前記所定領域を通過する物体の前記水平方向の長さを算出し、算出された前記長さに基づいて前記物体が前記車両であることを検知する。 In a further preferred embodiment, the optical sensor emits the laser beam such that the irradiation range is linear along the horizontal direction with respect to the side surface, and the arithmetic processing unit performs a process based on the detection result of the optical sensor. A length in the horizontal direction of an object passing through the predetermined area is calculated, and based on the calculated length, it is detected that the object is the vehicle.
　このような態様により、演算処理装置は、多種多様な車両が混在して通過する所定領域において、作業員のような車両以外の物体が通過しても、これらを正確且つ容易に検知することができる。よって、通過車両検知装置は、車両以外の物体が所定領域を通過しても、通過する車両を正確且つ容易に検知することができる。 With this aspect, the processing unit can accurately and easily detect objects other than vehicles, such as workers, in a predetermined area where a wide variety of vehicles pass together. can. Therefore, even if an object other than a vehicle passes through the predetermined area, the passing vehicle detection device can accurately and easily detect the passing vehicle.
　更に好ましい態様として、前記演算処理装置は、算出された前記長さから前記所定領域を通過する前記車両の台数を算出する。 As a further preferred aspect, the arithmetic processing device calculates the number of vehicles passing through the predetermined area from the calculated length.
　このような態様により、演算処理装置は、所定領域を通過する車両の台数を管理することができる。よって、通過車両検知装置は、所定領域を通過する車両を正確且つ容易に検知することができるだけでなく、当該車両の台数管理を適切に行うことができる。 With such an aspect, the arithmetic processing device can manage the number of vehicles passing through the predetermined area. Therefore, the passing vehicle detection device can not only accurately and easily detect vehicles passing through a predetermined area, but also appropriately manage the number of vehicles.
　また、本発明の通過車両検知方法は、所定領域を通過する車両の側面にレーザ光を照射し、前記側面にて反射された前記レーザ光の反射光を検出することと、前記反射光の検出結果に基づいて前記所定領域を通過する前記車両を検知することと、を有し、前記レーザ光の高さ方向の照射位置を、前記車両に設けられた車輪の中心から前記車輪の頂部までの範囲以内の位置として、前記レーザ光を照射する。 Further, the passing vehicle detection method of the present invention includes: irradiating a side surface of a vehicle passing through a predetermined area with a laser beam, detecting the reflected light of the laser beam reflected from the side surface, and detecting the reflected light. and detecting the vehicle passing through the predetermined area based on the results, and determining the irradiation position of the laser beam in the height direction from the center of a wheel provided on the vehicle to the top of the wheel. The laser beam is irradiated to a position within the range.
　このような構成により、通過車両検知方法は、多種多様な車両が混在して所定領域を通過しても、検出された反射光を車両単位で容易に区別することができる。よって、通過車両検知方法は、多種多様な車両が混在して所定領域を通過しても、通過する車両を正確且つ容易に検知することができる。 With such a configuration, the passing vehicle detection method can easily distinguish the detected reflected light on a vehicle-by-vehicle basis even if a wide variety of vehicles coexist and pass through a predetermined area. Therefore, the passing vehicle detection method can accurately and easily detect passing vehicles even when a wide variety of vehicles coexist and pass through a predetermined area.
　なお、車両に設けられた車輪の中心から車輪の頂部までの範囲とは、所定領域を通過することが想定される全種類の車両に設けられた全車輪に対して満足され得る高さ方向の範囲である。 Note that the range from the center of a wheel installed on a vehicle to the top of the wheel is a range in the height direction that can be satisfied for all wheels installed on all types of vehicles that are expected to pass through a predetermined area. range.
　本発明によれば、多種多様な車両が混在して所定領域を通過しても、通過する車両を正確且つ容易に検知することができる。 According to the present invention, even if a wide variety of vehicles coexist and pass through a predetermined area, it is possible to accurately and easily detect passing vehicles.
本実施形態の通過車両検知装置が適用される所定領域を説明する図。FIG. 2 is a diagram illustrating a predetermined area to which a passing vehicle detection device according to the present embodiment is applied. 図１に示す通過車両検知装置の構成を示す模式図。FIG. 2 is a schematic diagram showing the configuration of the passing vehicle detection device shown in FIG. 1. FIG. 図２に示す光センサによるレーザ光の照射位置を説明する図。FIG. 3 is a diagram illustrating the irradiation position of laser light by the optical sensor shown in FIG. 2; 図３にて説明されたレーザ光の照射位置の検証結果を示す図。FIG. 4 is a diagram showing verification results of the laser beam irradiation position explained in FIG. 3; 図２に示す演算処理装置によって行われる通過車両検知処理を示すフローチャート。3 is a flowchart showing a passing vehicle detection process performed by the arithmetic processing device shown in FIG. 2. FIG.
　以下、本発明の実施形態について図面を用いて説明する。各実施形態において同一の符号を付された構成については、特に言及しない限り、各実施形態において同様の機能を有し、その説明を省略する。 Hereinafter, embodiments of the present invention will be described using the drawings. Structures designated by the same reference numerals in each embodiment have the same functions in each embodiment unless otherwise mentioned, and their explanation will be omitted.
　図１は、本実施形態の通過車両検知装置１が適用される所定領域Ａを説明する図である。図２は、図１に示す通過車両検知装置１の構成を示す模式図である。 FIG. 1 is a diagram illustrating a predetermined area A to which a passing vehicle detection device 1 of this embodiment is applied. FIG. 2 is a schematic diagram showing the configuration of the passing vehicle detection device 1 shown in FIG. 1. As shown in FIG.
　車両の製造工場の近隣には、車両を販売所や埠頭に輸送する陸送車に積み込まれる車両等を保管するモータープール等の車両保管場が設置されている。また、車両を輸送する輸送船が停泊する埠頭には、輸送船に船積みされる車両、又は、輸送船から陸揚げされる車両を保管するモータープール等の車両保管場が設置されている。 In the vicinity of vehicle manufacturing plants, vehicle storage areas such as motor pools are set up to store vehicles that are loaded onto land transportation vehicles that transport vehicles to sales offices and wharves. In addition, a vehicle storage area such as a motor pool is installed at a wharf where a transport ship that transports vehicles is anchored, such as a motor pool for storing vehicles that are loaded onto the transport ship or vehicles that are unloaded from the transport ship.
　通過車両検知装置１は、車両保管場の出入口、又は、陸送車若しくは輸送船と車両保管場とを繋ぐ経路上に設けられた車両監視場所のような、所定領域Ａを通過する車両を検知する装置である。本実施形態では、通過車両検知装置１が適用される所定領域Ａとして、輸送船と車両保管場とを繋ぐ経路上に設けられた車両監視場所を例に挙げて説明する。 The passing vehicle detection device 1 detects a vehicle passing through a predetermined area A, such as an entrance/exit of a vehicle storage area or a vehicle monitoring location provided on a route connecting a land transport vehicle or a transport ship to a vehicle storage area. It is a device. In this embodiment, a vehicle monitoring location provided on a route connecting a transport ship and a vehicle storage yard will be exemplified as the predetermined area A to which the passing vehicle detection device 1 is applied.
　図１には、埠頭に設置された車両保管場から輸送船（図１の符号Ｓ）に車両が船積みされる様子が示されている。所定領域Ａを通過する物体としては、輸送船に船積み又は陸揚げされる輸送対象の車両（図１の符号Ｖ）と、所定領域Ａの周囲で作業する作業員（図１の符号Ｗ）とがある。この輸送対象の車両には、当該車両の識別情報等を格納するＲＦＩＤタグが搭載されていてもよい。この輸送対象の車両の車種、形状、大きさ及び色等は、特に限定されない。 FIG. 1 shows how vehicles are loaded onto a transport ship (symbol S in FIG. 1) from a vehicle storage area installed at a wharf. Objects that pass through the predetermined area A include vehicles to be transported (labeled V in Figure 1) to be loaded onto a transport ship or unloaded, and workers (labelled W in Figure 1) who work around the prescribed area A. be. The vehicle to be transported may be equipped with an RFID tag that stores identification information of the vehicle. The model, shape, size, color, etc. of the vehicle to be transported are not particularly limited.
　所定領域Ａを物体が通過する方向は、輸送船に向かう船積み方向と輸送船から離れる陸揚げ方向の２つがある。所定領域Ａを物体が通過するタイミングは、不定期である。所定領域Ａを通過する物体の速度は、０ｋｍ／ｈ以上約４０ｋｍ／ｈ以下であってもよく、一定ではない。所定領域Ａを通過する車両の車間距離は、７０ｃｍ以上であってもよく、一定ではない。 There are two directions in which an object passes through the predetermined area A: the loading direction toward the transport ship and the landing direction away from the transport ship. The timing at which an object passes through the predetermined area A is irregular. The speed of the object passing through the predetermined area A may be greater than or equal to 0 km/h and less than or equal to approximately 40 km/h, and is not constant. The distance between vehicles passing through the predetermined area A may be 70 cm or more and is not constant.
　通過車両検知装置１は、通過方向に延びる所定領域Ａの一側方に配置され、両方の側方には配置されない。通過車両検知装置１は、全天候に対応可能である。通過車両検知装置１は、車両又はロボット等の移動体１０に設置されている。本実施形態では、移動体１０として、図２に示すように車両を例に挙げて説明する。 The passing vehicle detection device 1 is arranged on one side of the predetermined area A extending in the passing direction, but not on both sides. The passing vehicle detection device 1 can be used in all weather conditions. The passing vehicle detection device 1 is installed on a moving object 10 such as a vehicle or a robot. In this embodiment, a vehicle will be described as an example of the moving body 10, as shown in FIG.
　通過車両検知装置１は、図２に示すように、光センサ２０と、読取装置３０と、コンピュータ４０と、報知装置５０と、を備える。 As shown in FIG. 2, the passing vehicle detection device 1 includes an optical sensor 20, a reading device 30, a computer 40, and a notification device 50.
　光センサ２０、読取装置３０、コンピュータ４０及び報知装置５０は、移動体１０に設置されている。これにより、通過車両検知装置１は、光センサ２０、読取装置３０、コンピュータ４０及び報知装置５０を、屋外の不特定な場所に即時設置し即時撤去することができる。よって、通過車両検知装置１は、多種多様な車両が混在しても通過する車両を正確且つ容易に検知可能であると共に、様々な場所に容易に適用可能とすることができる。 The optical sensor 20, the reading device 30, the computer 40, and the notification device 50 are installed on the moving body 10. Thereby, the passing vehicle detection device 1 can immediately install the optical sensor 20, the reading device 30, the computer 40, and the notification device 50 in an unspecified outdoor location and immediately remove them. Therefore, the passing vehicle detection device 1 can accurately and easily detect passing vehicles even when a wide variety of vehicles coexist, and can be easily applied to various locations.
　光センサ２０は、所定領域Ａを通過する物体の側面にレーザ光を照射し、当該側面にて反射されたレーザ光の反射光を検出するセンサである。光センサ２０は、例えば２次元ＬｉＤＡＲによって構成される。光センサ２０は、移動体１０の後部に固定されたヒッチキャリア１２の支持部材１３に取り付けられている。光センサ２０は、所定領域Ａの一側方から所定領域Ａに向けてレーザ光が水平に照射されるような姿勢で支持部材１３に取り付けられている。光センサ２０は、レーザ光を反射する反射板を所定領域Ａの他の側方に設置することを必要としない。 The optical sensor 20 is a sensor that irradiates a side surface of an object passing through a predetermined area A with a laser beam and detects the reflected light of the laser beam reflected from the side surface. The optical sensor 20 is configured by, for example, a two-dimensional LiDAR. The optical sensor 20 is attached to a support member 13 of a hitch carrier 12 fixed to the rear of the moving body 10. The optical sensor 20 is attached to the support member 13 in such a position that laser light is horizontally irradiated toward the predetermined region A from one side of the predetermined region A. The optical sensor 20 does not require a reflective plate that reflects laser light to be installed on the other side of the predetermined area A.
　光センサ２０は、照射範囲が所定領域Ａを通過する車両の側面に対して水平方向に沿った線状となるレーザ光を照射する。すなわち、所定領域Ａの一側方から視た場合、当該車両の側面には、水平方向に沿った線状のレーザ光が照射される。光センサ２０によるレーザ光の照射方式は、ラインスキャン方式若しくはスキャンを行わないフラッシュ方式等のメカニカル方式、ＭＥＭＳミラー方式、又は、ＯＰＡ（Optical Phased Array）方式等であってもよく、特に限定されない。なお、光センサ２０によるレーザ光の照射位置の詳細については、図３及び図４を用いて後述する。 The optical sensor 20 irradiates a side surface of the vehicle whose irradiation range passes through the predetermined area A with a linear laser beam along the horizontal direction. That is, when viewed from one side of the predetermined area A, the side surface of the vehicle is irradiated with a linear laser beam along the horizontal direction. The laser beam irradiation method by the optical sensor 20 may be a mechanical method such as a line scan method or a flash method without scanning, a MEMS mirror method, or an OPA (Optical Phased Array) method, and is not particularly limited. Note that details of the irradiation position of the laser beam by the optical sensor 20 will be described later using FIGS. 3 and 4.
　読取装置３０は、所定領域Ａを通過する車両に搭載されたＲＦＩＤタグの情報を読み取る装置である。読取装置３０は、アンテナ３１と、リーダ３２と、を有する。アンテナ３１は、ＲＦＩＤタグから発信された電波を受信する。アンテナ３１は、所定領域Ａの一側方から所定領域Ａを向く姿勢で支持部材１３に取り付けられている。リーダ３２は、アンテナ３１により受信された電波から、ＲＦＩＤタグの情報を読み取る。リーダ３２は、ＲＦＩＤタグの情報の読み取り結果をコンピュータ４０に送信する。リーダ３２は、移動体１０の内部に配置されていてもよいし、ヒッチキャリア１２に取り付けられていてもよい。 The reading device 30 is a device that reads information from RFID tags mounted on vehicles passing through the predetermined area A. The reading device 30 includes an antenna 31 and a reader 32. Antenna 31 receives radio waves transmitted from the RFID tag. The antenna 31 is attached to the support member 13 so as to face the predetermined region A from one side of the predetermined region A. The reader 32 reads the information of the RFID tag from the radio waves received by the antenna 31. The reader 32 transmits the result of reading the information of the RFID tag to the computer 40 . The leader 32 may be placed inside the moving body 10 or may be attached to the hitch carrier 12.
　コンピュータ４０は、光センサ２０、読取装置３０及び報知装置５０の各動作を制御して、通過車両検知装置１の機能を実現する。コンピュータ４０は、モバイル型のＰＣ又は移動体１０に組み込まれたＰＣによって構成される。コンピュータ４０は、演算処理装置４１を有する。 The computer 40 controls the operations of the optical sensor 20, the reading device 30, and the notification device 50 to realize the functions of the passing vehicle detection device 1. The computer 40 is configured by a mobile PC or a PC built into the mobile object 10. Computer 40 has an arithmetic processing unit 41 .
　演算処理装置４１は、ＣＰＵ、ＲＯＭ及びＲＡＭ等によって構成され、ＲＯＭに記憶されたプログラムをＣＰＵが実行することによって、コンピュータ４０の機能を実現する。演算処理装置４１は、読取装置３０により読み取れたＲＦＩＤタグの情報を、コンピュータ４０の無線通信装置を介して、輸送対象の車両を管理するサーバ装置に送信することができる。サーバ装置は、当該ＲＦＩＤタグの情報に基づいて、輸送対象の車両の識別情報が登録されたデータベースの情報を更新し、輸送過程における車両の所在位置及び車両の状態、並びに、車両保管場での保管台数等を管理する。なお、輸送対象の車両の識別情報が登録されたデータベースは、コンピュータ４０と一体的に組み込まれていてもよい。 The arithmetic processing unit 41 is composed of a CPU, ROM, RAM, etc., and realizes the functions of the computer 40 by the CPU executing a program stored in the ROM. The arithmetic processing unit 41 can transmit the information of the RFID tag read by the reading device 30 to a server device that manages the vehicle to be transported via the wireless communication device of the computer 40. Based on the information of the RFID tag, the server device updates the information in the database in which the identification information of the vehicle to be transported is registered, and the location and status of the vehicle during the transportation process, as well as the information at the vehicle storage area. Manage the number of stored units, etc. Note that the database in which identification information of vehicles to be transported is registered may be integrated with the computer 40.
　また、演算処理装置４１は、光センサ２０の検出結果に基づいて所定領域Ａを通過する物体を検知する。具体的には、演算処理装置４１は、光センサ２０の検出結果に基づいて所定領域Ａを通過する物体の水平方向（通過方向）の長さを算出し、算出された当該長さに基づいて当該物体が車両であることを検知する。詳細には、演算処理装置４１は、算出された当該長さが閾値（例えば７００ｍｍ）以上である場合、当該物体が車両であることを検知し、算出された当該長さが閾値未満である場合、当該物体が車両以外の物体であることを検知する。 Further, the arithmetic processing unit 41 detects an object passing through the predetermined area A based on the detection result of the optical sensor 20. Specifically, the arithmetic processing unit 41 calculates the length of the object passing through the predetermined area A in the horizontal direction (passing direction) based on the detection result of the optical sensor 20, and based on the calculated length, Detects that the object is a vehicle. Specifically, the arithmetic processing unit 41 detects that the object is a vehicle when the calculated length is equal to or greater than a threshold (for example, 700 mm), and when the calculated length is less than the threshold , detects that the object is other than a vehicle.
　これにより、演算処理装置４１は、多種多様な車両が混在して通過する所定領域Ａにおいて、作業員のような車両以外の物体が通過しても、これらを正確且つ容易に検知することができる。よって、通過車両検知装置１は、車両以外の物体が所定領域Ａを通過しても、通過する車両を正確且つ容易に検知することができる。 Thereby, the processing unit 41 can accurately and easily detect objects other than vehicles, such as workers, passing in the predetermined area A where a wide variety of vehicles pass together. . Therefore, even if an object other than a vehicle passes through the predetermined area A, the passing vehicle detection device 1 can accurately and easily detect the passing vehicle.
　また、演算処理装置４１は、算出された上記水平方向の長さから所定領域Ａを通過する車両の台数を算出する。 Furthermore, the arithmetic processing unit 41 calculates the number of vehicles passing through the predetermined area A from the calculated horizontal length.
　これにより、演算処理装置４１は、所定領域Ａを通過する車両の台数を管理することができる。よって、通過車両検知装置１は、所定領域Ａを通過する車両を正確且つ容易に検知することができるだけでなく、当該車両の台数管理を適切に行うことができる。 Thereby, the arithmetic processing device 41 can manage the number of vehicles passing through the predetermined area A. Therefore, the passing vehicle detection device 1 can not only accurately and easily detect vehicles passing through the predetermined area A, but also appropriately manage the number of vehicles.
　報知装置５０は、演算処理装置４１の処理結果等を、所定領域Ａの周囲に報知する。例えば、報知装置５０は、所定領域Ａを通過する車両の検知結果を報知したり、ＲＦＩＤタグの情報の読み取り結果を報知したりすることができる。報知装置５０の構成及び報知態様は、特に限定されない。本実施形態の報知装置５０は、移動体１０の上部に固定されたルーフキャリア１１に取り付けられている。 The notification device 50 notifies the surroundings of the predetermined area A of the processing results of the arithmetic processing device 41 and the like. For example, the notification device 50 can notify the detection result of a vehicle passing through the predetermined area A, or the result of reading information from an RFID tag. The configuration and notification mode of the notification device 50 are not particularly limited. The notification device 50 of this embodiment is attached to a roof carrier 11 fixed to the upper part of the moving body 10.
　図３は、図２に示す光センサ２０によるレーザ光の照射位置を説明する図である。図４は、図３にて説明されたレーザ光の照射位置の検証結果を示す図である。 FIG. 3 is a diagram illustrating the irradiation position of laser light by the optical sensor 20 shown in FIG. 2. FIG. 4 is a diagram showing the verification results of the laser beam irradiation position explained in FIG. 3.
　光センサ２０の地面（図３の符号Ｇ）からの高さは、レーザ光の高さ方向の照射位置が、図３に示すように、所定領域Ａを通過する車両（図３の符号Ｖ）に設けられた車輪（図３の符号Ｖａ）の中心（図３の符号Ｖｂ）から車輪の頂部（図３の符号Ｖｃ）までの範囲Ｒｈ以内の位置となる高さに予め設定されている。 The height of the optical sensor 20 from the ground (sign G in FIG. 3) is determined when the irradiation position of the laser beam in the height direction passes through a predetermined area A (sign V in FIG. 3), as shown in FIG. The height is set in advance to be within the range Rh from the center (Vb in FIG. 3) of the wheel (Va in FIG. 3) provided to the wheel (Vc in FIG. 3) to the top of the wheel (Vc in FIG. 3).
　この範囲Ｒｈは、所定領域Ａを通過することが想定される全種類の車両に設けられた全車輪に対して満足され得る高さ方向の範囲である。例えば、範囲Ｒｈの下限値を示す高さ方向の位置（図３の符号Ｐ１）は、当該全車輪のうち最大径の車輪の中心における地面からの高さ位置であってもよい。例えば、範囲Ｒｈの上限値を示す高さ方向の位置（図３の符号Ｐ２）は、当該全車輪のうち最小径の車輪の頂部における地面からの高さ位置であってもよい。すなわち、範囲Ｒｈは、当該全種類の車輪のうち最大径の車輪の中心から、当該全種類の車輪のうち最小径の車輪の頂部までの高さ方向の範囲であってもよい。もっとも、所定領域Ａを通過することが想定される車両の車輪径は、当該車両の種類毎に大きく異なるものではなく、当該車両の種類に依存せずに略同一とみなすことができる。 This range Rh is a range in the height direction that can be satisfied for all wheels installed on all types of vehicles that are expected to pass through the predetermined area A. For example, the position in the height direction indicating the lower limit of the range Rh (symbol P1 in FIG. 3) may be the height position from the ground at the center of the wheel with the largest diameter among all the wheels. For example, the position in the height direction indicating the upper limit of the range Rh (symbol P2 in FIG. 3) may be the height position from the ground at the top of the wheel with the smallest diameter among all the wheels. That is, the range Rh may be a range in the height direction from the center of the wheel with the largest diameter among all the types of wheels to the top of the wheel with the smallest diameter among all the types of wheels. However, the wheel diameters of vehicles that are expected to pass through the predetermined area A do not differ greatly depending on the type of vehicle, and can be considered to be substantially the same regardless of the type of vehicle.
　レーザ光の高さ方向の照射位置が範囲Ｒｈを上回る位置である場合、所定領域Ａを通過する車両の種類によっては、レーザ光が当該車両のウインドウを透過し、光センサ２０が反射光を検出できないことがある。レーザ光の高さ方向の照射位置が範囲Ｒｈを下回る位置である場合、当該車両が四輪車の際には光センサ２０が反射光を１台の車両につき２回検出し得るが、当該車両の車輪数が四輪より多い際には光センサ２０が反射光を１台の車両につき３回以上検出し得る。したがって、車輪数が異なる車両が混在して所定領域Ａを通過する場合には、後述の演算処理装置４１が、光センサ２０で検出された反射光を車両単位で容易に区別することができない可能性がある。よって、車輪数が異なる車両が混在して所定領域Ａを通過する場合には、所定領域Ａを通過する車両を正確に検知するには、特別な手段が必要となる可能性がある。 If the irradiation position of the laser beam in the height direction is above the range Rh, depending on the type of vehicle passing through the predetermined area A, the laser beam may pass through the window of the vehicle, and the optical sensor 20 may detect the reflected light. There are things I can't do. If the irradiation position of the laser beam in the height direction is below the range Rh, the optical sensor 20 may detect the reflected light twice for each vehicle if the vehicle is a four-wheeled vehicle; When the number of wheels is greater than four, the optical sensor 20 can detect reflected light three or more times per vehicle. Therefore, when a mixture of vehicles with different numbers of wheels passes through the predetermined area A, the arithmetic processing unit 41 (described later) may not be able to easily distinguish between the reflected lights detected by the optical sensor 20 on a vehicle-by-vehicle basis. There is sex. Therefore, when a mixture of vehicles with different numbers of wheels passes through the predetermined area A, special means may be required to accurately detect the vehicles passing through the predetermined area A.
　一方、レーザ光の高さ方向の照射位置が範囲Ｒｈ以内の位置である場合、多種多様な車両が混在して所定領域Ａを通過しても、光センサ２０から照射されたレーザ光が当該車両の側面のボディフレームによって確実に反射される。そして、光センサ２０は、反射光を１台の車両につき１回検出し得る。これにより、演算処理装置４１は、多種多様な車両が混在して所定領域Ａを通過しても、光センサ２０で検出された反射光を車両単位で容易に区別することができる。したがって、通過車両検知装置１は、多種多様な車両が混在して所定領域Ａを通過しても、通過する車両を正確且つ容易に検知することができる。 On the other hand, if the irradiation position of the laser beam in the height direction is within the range Rh, even if a wide variety of vehicles coexist and pass through the predetermined area A, the laser beam irradiated from the optical sensor 20 will not reach the vehicle concerned. is reliably reflected by the body frame on the sides. The optical sensor 20 can detect the reflected light once for each vehicle. Thereby, even if a wide variety of vehicles coexist and pass through the predetermined area A, the processing unit 41 can easily distinguish the reflected light detected by the optical sensor 20 on a vehicle-by-vehicle basis. Therefore, even if a wide variety of vehicles coexist and pass through the predetermined area A, the passing vehicle detection device 1 can accurately and easily detect passing vehicles.
　図４は、レーザ光の高さ方向の照射位置が（１）～（４）の各位置に設定された場合に、小型車から大型車に至るまで多種多様な車両を通過車両検知装置１が正確に検知できるのかを検証した結果を示している。図４に示す（３）の位置は、範囲Ｒｈ以内の位置である。図４の〇印は、通過車両検知装置１が当該車両を正確に検知できたことを示す。図４の△印は、光センサ２０が反射光を１台の車両につき２回検出し、通過車両検知装置１が当該車両を正確に検知することが容易ではなかったことを示す。図４の×印は、通過車両検知装置１が当該車両を正確に検知できなかったことを示す。図４に示すように、レーザ光の高さ方向の照射位置が範囲Ｒｈ以内の位置である場合、通過車両検知装置１は、多種多様な車両を正確且つ容易に検知できることが分かる。 FIG. 4 shows that when the irradiation position of the laser beam in the height direction is set to each of the positions (1) to (4), the passing vehicle detection device 1 can accurately detect a wide variety of vehicles ranging from small cars to large cars. This shows the results of testing to see if it can be detected. The position (3) shown in FIG. 4 is within the range Rh. The circle mark in FIG. 4 indicates that the passing vehicle detection device 1 was able to accurately detect the vehicle. The △ mark in FIG. 4 indicates that the optical sensor 20 detected the reflected light twice for each vehicle, and it was not easy for the passing vehicle detection device 1 to accurately detect the vehicle. The cross mark in FIG. 4 indicates that the passing vehicle detection device 1 could not accurately detect the vehicle. As shown in FIG. 4, it can be seen that when the irradiation position of the laser beam in the height direction is within the range Rh, the passing vehicle detection device 1 can accurately and easily detect a wide variety of vehicles.
　本実施形態の光センサ２０は、図２に示すように、光センサ２０の地面からの高さを調整する調整機構１４に接続された支持部材１３に取り付けられている。 As shown in FIG. 2, the optical sensor 20 of this embodiment is attached to a support member 13 connected to an adjustment mechanism 14 that adjusts the height of the optical sensor 20 from the ground.
　これにより、通過車両検知装置１は、レーザ光の高さ方向の照射位置が不測の事態によって範囲Ｒｈ外の位置になったとしても、当該照射位置を当該範囲Ｒｈ以内の位置に調整することができる。よって、通過車両検知装置１は、多種多様な車両が混在して所定領域Ａを通過しても、通過する車両を正確、容易且つ安定的に検知することができる。 As a result, even if the irradiation position of the laser beam in the height direction falls outside the range Rh due to an unexpected situation, the passing vehicle detection device 1 can adjust the irradiation position to a position within the range Rh. can. Therefore, even if a wide variety of vehicles coexist and pass through the predetermined area A, the passing vehicle detection device 1 can accurately, easily, and stably detect passing vehicles.
　支持部材１３は、光センサ２０及びアンテナ３１の保持機構を有し、高さ方向（上下方向）に延びるフレーム又はロッド等の軸部材によって構成されてもよい。例えば、支持部材１３は、調整機構１４に対する支持部材１３の接続位置よりも上方に延びる上部１３ａと、当該接続位置よりも下方に延びる下部１３ｂと、を有する。上部１３ａにはアンテナ３１が取り付けられる。下部１３ｂには光センサ２０が取り付けられる。 The support member 13 has a holding mechanism for the optical sensor 20 and the antenna 31, and may be constituted by a shaft member such as a frame or a rod that extends in the height direction (vertical direction). For example, the support member 13 has an upper part 13a extending above the connection position of the support member 13 to the adjustment mechanism 14, and a lower part 13b extending below the connection position. An antenna 31 is attached to the upper portion 13a. An optical sensor 20 is attached to the lower part 13b.
　調整機構１４は、ヒッチキャリア１２の本体１２ａに固定され、支持部材１３を上方又は下方に移動させる直動型の電動アクチュエータ等によって構成されてもよい。調整機構１４は、支持部材１３を移動させることによって、所定領域Ａを通過する車両の側面に対するレーザ光の照射位置を範囲Ｒｈ以内の位置とするよう、光センサ２０の地面からの高さを調整することができる。調整機構１４の動作は、コンピュータ４０の演算処理装置４１によって制御される。 The adjustment mechanism 14 may be configured by a direct-acting electric actuator or the like that is fixed to the main body 12a of the hitch carrier 12 and moves the support member 13 upward or downward. The adjustment mechanism 14 adjusts the height of the optical sensor 20 from the ground by moving the support member 13 so that the irradiation position of the laser beam on the side of the vehicle passing through the predetermined area A is within the range Rh. can do. The operation of the adjustment mechanism 14 is controlled by the arithmetic processing unit 41 of the computer 40.
　また、支持部材１３は、上部１３ａ及び下部１３ｂが別体の部材から成り、下部１３ｂが上部１３ａに対して進退するテレスコピックロッド又はピストンシリンダ等によって構成されてもよい。調整機構１４は、上部１３ａに対して下部１３ｂを上方又は下方に移動させる電動モータ等によって構成されてもよい。調整機構１４は、下部１３ｂを移動させることによって、所定領域Ａを通過する車両の側面に対するレーザ光の照射位置を範囲Ｒｈ以内の位置とするよう、光センサ２０の地面からの高さを調整することができる。 Further, the support member 13 may be configured such that the upper part 13a and the lower part 13b are made of separate members, and the lower part 13b is formed by a telescopic rod or a piston cylinder, etc., which moves forward and backward with respect to the upper part 13a. The adjustment mechanism 14 may be configured by an electric motor or the like that moves the lower part 13b upward or downward relative to the upper part 13a. The adjustment mechanism 14 adjusts the height of the optical sensor 20 from the ground by moving the lower part 13b so that the laser beam irradiation position on the side of the vehicle passing through the predetermined area A is within the range Rh. be able to.
　なお、調整機構１４は、上記のような電動式の機構ではなく、手動式の機構によって構成されてもよい。また、支持部材１３は、調整機構１４を介さずに、ヒッチキャリア１２の本体１２ａに固定されていてもよい。何れにしても、支持部材１３及び調整機構１４は、レーザ光の高さ方向の照射位置が範囲Ｒｈ以内の位置となるよう、光センサ２０の地面からの高さを設定及び調整できるのであれば、特に限定されない。 Note that the adjustment mechanism 14 may be configured by a manual mechanism instead of the electric mechanism as described above. Further, the support member 13 may be fixed to the main body 12a of the hitch carrier 12 without using the adjustment mechanism 14. In any case, if the support member 13 and adjustment mechanism 14 can set and adjust the height of the optical sensor 20 from the ground so that the irradiation position of the laser beam in the height direction is within the range Rh, , not particularly limited.
　図５は、図２に示す演算処理装置４１によって行われる通過車両検知処理を示すフローチャートである。 FIG. 5 is a flowchart showing a passing vehicle detection process performed by the arithmetic processing unit 41 shown in FIG. 2.
　演算処理装置４１は、図５に示す処理を所定周期で繰り返し行う。なお、演算処理装置４１は、レーザ光の高さ方向の照射位置が範囲Ｒｈ外の位置となっている場合には、図５に示す処理を行う前に、次のような処理を行うことができる。すなわち、この場合、演算処理装置４１は、レーザ光の高さ方向の照射位置が範囲Ｒｈ以内の位置となるように、光センサ２０の地面からの高さを調整するべく、調整機構１４の動作を制御する処理を行うことができる。 The arithmetic processing unit 41 repeatedly performs the process shown in FIG. 5 at a predetermined period. Note that when the irradiation position of the laser beam in the height direction is outside the range Rh, the arithmetic processing unit 41 may perform the following processing before performing the processing shown in FIG. can. That is, in this case, the processing unit 41 operates the adjustment mechanism 14 to adjust the height of the optical sensor 20 from the ground so that the irradiation position of the laser beam in the height direction is within the range Rh. It is possible to perform processing to control the
　ステップＳ１において、演算処理装置４１は、所定領域Ａを通過する物体の側面にレーザ光を照射するよう光センサ２０を制御する。光センサ２０は、レーザ光の高さ方向の照射位置を範囲Ｒｈ以内の位置として、レーザ光を照射する。 In step S1, the processing unit 41 controls the optical sensor 20 to irradiate the side surface of an object passing through the predetermined area A with laser light. The optical sensor 20 irradiates the laser beam with the irradiation position of the laser beam in the height direction within the range Rh.
　ステップＳ２において、演算処理装置４１は、所定領域Ａを通過する物体の側面にて反射されたレーザ光の反射光を検出したか否かを判定するよう光センサ２０を制御する。光センサ２０が反射光を検出した場合、演算処理装置４１は、ステップＳ３に移行する。光センサ２０が反射光を検出していない場合、演算処理装置４１は、図５に示す処理を終了する。 In step S2, the arithmetic processing unit 41 controls the optical sensor 20 to determine whether or not the reflected light of the laser beam reflected from the side surface of the object passing through the predetermined area A is detected. When the optical sensor 20 detects reflected light, the arithmetic processing unit 41 moves to step S3. If the optical sensor 20 does not detect reflected light, the arithmetic processing unit 41 ends the process shown in FIG. 5.
　ステップＳ３において、演算処理装置４１は、光センサ２０による反射光の検出結果から、所定領域Ａを通過する物体の水平方向の長さを算出する。 In step S3, the arithmetic processing unit 41 calculates the horizontal length of the object passing through the predetermined area A from the detection result of the reflected light by the optical sensor 20.
　ステップＳ４において、演算処理装置４１は、算出された物体の水平方向の長さが閾値以上であるか否かを判定する。算出された物体の水平方向の長さが閾値以上である場合、演算処理装置４１は、ステップＳ６に移行する。算出された物体の水平方向の長さが閾値未満である場合、演算処理装置４１は、ステップＳ５に移行する。 In step S4, the arithmetic processing unit 41 determines whether the calculated horizontal length of the object is greater than or equal to a threshold value. If the calculated horizontal length of the object is equal to or greater than the threshold value, the arithmetic processing device 41 moves to step S6. If the calculated horizontal length of the object is less than the threshold value, the arithmetic processing device 41 moves to step S5.
　ステップＳ５において、演算処理装置４１は、所定領域Ａを通過する物体が車両以外であることを検知する。その後、演算処理装置４１は、図５に示す処理を終了する。 In step S5, the processing unit 41 detects that the object passing through the predetermined area A is other than a vehicle. Thereafter, the arithmetic processing unit 41 ends the process shown in FIG.
　ステップＳ６において、演算処理装置４１は、所定領域Ａを通過する物体が車両であることを検知する。 In step S6, the processing unit 41 detects that the object passing through the predetermined area A is a vehicle.
　ステップＳ７において、演算処理装置４１は、所定領域Ａを通過する車両の台数を算出し、コンピュータ４０の予め定められた記憶領域に記憶する。その後、演算処理装置４１は、図５に示す処理を終了する。 In step S7, the arithmetic processing unit 41 calculates the number of vehicles passing through the predetermined area A, and stores it in a predetermined storage area of the computer 40. Thereafter, the arithmetic processing unit 41 ends the process shown in FIG.
　以上のように、本実施形態の通過車両検知装置１は、所定領域Ａを通過する車両の側面にレーザ光を照射し、当該側面にて反射されたレーザ光の反射光を検出する光センサ２０を備える。通過車両検知装置１は、光センサ２０の検出結果に基づいて所定領域Ａを通過する車両を検知する演算処理装置４１を備える。光センサ２０の地面からの高さは、レーザ光の高さ方向の照射位置が、当該車両に設けられた車輪の中心から当該車輪の頂部までの範囲Ｒｈ以内の位置となる高さに設定されている。 As described above, the passing vehicle detection device 1 of the present embodiment includes an optical sensor 20 that irradiates a side surface of a vehicle passing through a predetermined area A with a laser beam and detects the reflected light of the laser beam reflected from the side surface. Equipped with The passing vehicle detection device 1 includes an arithmetic processing device 41 that detects a vehicle passing through a predetermined area A based on the detection result of the optical sensor 20. The height of the optical sensor 20 from the ground is set to such a height that the irradiation position of the laser beam in the height direction is within the range Rh from the center of the wheel provided on the vehicle to the top of the wheel. ing.
　これにより、多種多様な車両が混在して所定領域Ａを通過しても、光センサ２０から照射されたレーザ光が当該車両の側面のボディフレームによって確実に反射される。そして、光センサ２０は、反射光を１台の車両につき１回検出し得る。したがって、演算処理装置４１は、多種多様な車両が混在して所定領域Ａを通過しても、光センサ２０で検出された反射光を車両単位で容易に区別することができる。よって、通過車両検知装置１は、多種多様な車両が混在して所定領域Ａを通過しても、通過する車両を正確且つ容易に検知することができる。 Thereby, even if a wide variety of vehicles coexist and pass through the predetermined area A, the laser light emitted from the optical sensor 20 will be reliably reflected by the body frame on the side of the vehicle. The optical sensor 20 can detect the reflected light once for each vehicle. Therefore, even if a wide variety of vehicles coexist and pass through the predetermined area A, the processing unit 41 can easily distinguish the reflected light detected by the optical sensor 20 on a vehicle-by-vehicle basis. Therefore, even if a wide variety of vehicles coexist and pass through the predetermined area A, the passing vehicle detection device 1 can accurately and easily detect passing vehicles.
　本実施形態の通過車両検知方法は、演算処理装置４１が図５に示す処理を行うことによって実現され得る。 The passing vehicle detection method of this embodiment can be realized by the arithmetic processing unit 41 performing the processing shown in FIG.
　すなわち、本実施形態の通過車両検知方法は、所定領域Ａを通過する車両の側面にレーザ光を照射し、当該側面にて反射されたレーザ光の反射光を検出すること（ステップＳ１及びステップＳ２）を有する。通過車両検知方法は、反射光の検出結果に基づいて所定領域Ａを通過する車両を検知すること（ステップＳ６）を有する。通過車両検知方法は、レーザ光の高さ方向の照射位置を、当該車両に設けられた車輪の中心から当該車輪の頂部までの範囲Ｒｈ以内の位置として、レーザ光を照射する。 That is, the passing vehicle detection method of this embodiment includes irradiating a laser beam onto the side surface of a vehicle passing through a predetermined area A, and detecting the reflected light of the laser beam reflected from the side surface (step S1 and step S2). ). The passing vehicle detection method includes detecting a vehicle passing through the predetermined area A based on the detection result of reflected light (step S6). In the passing vehicle detection method, a laser beam is irradiated with the irradiation position of the laser beam in the height direction within a range Rh from the center of a wheel provided on the vehicle to the top of the wheel.
　これにより、本実施形態の通過車両検知方法は、多種多様な車両が混在して所定領域Ａを通過しても、検出された反射光を車両単位で容易に区別することができる。よって、通過車両検知方法は、多種多様な車両が混在して所定領域Ａを通過しても、通過する車両を正確且つ容易に検知することができる。 As a result, the passing vehicle detection method of the present embodiment can easily distinguish the detected reflected light on a vehicle-by-vehicle basis even if a wide variety of vehicles coexist and pass through the predetermined area A. Therefore, the passing vehicle detection method can accurately and easily detect passing vehicles even if a wide variety of vehicles coexist and pass through the predetermined area A.
　以上、本発明の実施形態について詳述したが、本発明は、上記の実施形態に限定されるものではなく、請求の範囲に記載された本発明の精神を逸脱しない範囲で、種々の変更を行うことができる。本発明は、或る実施形態の構成を他の実施形態の構成に追加したり、或る実施形態の構成を他の実施形態と置換したり、或る実施形態の構成の一部を削除したりすることができる。 Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention as set forth in the claims. It can be carried out. The present invention does not include adding the configuration of one embodiment to the configuration of another embodiment, replacing the configuration of one embodiment with another embodiment, or deleting a part of the configuration of one embodiment. You can
　１…通過車両検知装置、１０…移動体、１３…支持部材、１４…調整機構、２０…光センサ、４１…演算処理装置、Ａ…所定領域、Ｖ…車両、Ｖａ…車輪、Ｖｂ…中心、Ｖｃ…頂部、Ｒｈ…範囲 DESCRIPTION OF SYMBOLS 1... Passing vehicle detection device, 10... Moving body, 13... Support member, 14... Adjustment mechanism, 20... Optical sensor, 41... Arithmetic processing unit, A... Predetermined area, V... Vehicle, Va... Wheel, Vb... Center, Vc...Top, Rh...Range

Claims (6)

  1. 　所定領域を通過する車両の側面にレーザ光を照射し、前記側面にて反射された前記レーザ光の反射光を検出する光センサと、
    　前記光センサの検出結果に基づいて前記所定領域を通過する前記車両を検知する演算処理装置と、を備え、
    　前記光センサの地面からの高さは、前記レーザ光の高さ方向の照射位置が、前記車両に設けられた車輪の中心から前記車輪の頂部までの範囲以内の位置となる高さに設定されている
    　ことを特徴とする通過車両検知装置。     an optical sensor that irradiates a side surface of a vehicle passing through a predetermined area with a laser beam and detects the reflected light of the laser beam reflected from the side surface;
    an arithmetic processing device that detects the vehicle passing through the predetermined area based on the detection result of the optical sensor;
    The height of the optical sensor from the ground is set to such a height that the irradiation position of the laser beam in the height direction is within a range from the center of a wheel provided on the vehicle to the top of the wheel. A passing vehicle detection device characterized by:
  2. 　前記光センサは、前記地面からの前記高さを調整する調整機構に接続された支持部材に取り付けられており、
    　前記調整機構は、前記レーザ光の前記照射位置を前記範囲以内の前記位置とするよう前記光センサの前記地面からの前記高さを調整する
    　ことを特徴とする請求項１に記載の通過車両検知装置。     The optical sensor is attached to a support member connected to an adjustment mechanism that adjusts the height from the ground,
    The passing vehicle detection according to claim 1, wherein the adjustment mechanism adjusts the height of the optical sensor from the ground so that the irradiation position of the laser beam is at the position within the range. Device.
  3. 　前記光センサ、前記演算処理装置及び前記支持部材は、移動体に設置されている
    　ことを特徴とする請求項２に記載の通過車両検知装置。     The passing vehicle detection device according to claim 2, wherein the optical sensor, the arithmetic processing unit, and the support member are installed on a moving body.
  4. 　前記光センサは、照射範囲が前記側面に対して水平方向に沿った線状となる前記レーザ光を照射し、
    　前記演算処理装置は、前記光センサの前記検出結果に基づいて前記所定領域を通過する物体の前記水平方向の長さを算出し、算出された前記長さに基づいて前記物体が前記車両であることを検知する
    　ことを特徴とする請求項１に記載の通過車両検知装置。     The optical sensor irradiates the laser beam so that the irradiation range is linear along the horizontal direction with respect to the side surface,
    The arithmetic processing unit calculates the horizontal length of the object passing through the predetermined area based on the detection result of the optical sensor, and determines that the object is the vehicle based on the calculated length. The passing vehicle detection device according to claim 1, wherein the device detects a passing vehicle.
  5. 　前記演算処理装置は、算出された前記長さから前記所定領域を通過する前記車両の台数を算出する
    　ことを特徴とする請求項４に記載の通過車両検知装置。     The passing vehicle detection device according to claim 4, wherein the arithmetic processing device calculates the number of vehicles passing through the predetermined area from the calculated length.
  6. 　所定領域を通過する車両の側面にレーザ光を照射し、前記側面にて反射された前記レーザ光の反射光を検出することと、
    　前記反射光の検出結果に基づいて前記所定領域を通過する前記車両を検知することと、を有し、
    　前記レーザ光の高さ方向の照射位置を、前記車両に設けられた車輪の中心から前記車輪の頂部までの範囲以内の位置として、前記レーザ光を照射する
    　ことを特徴とする通過車両検知方法。     irradiating a side surface of a vehicle passing through a predetermined area with a laser beam, and detecting reflected light of the laser beam reflected from the side surface;
    detecting the vehicle passing through the predetermined area based on the detection result of the reflected light;
    A passing vehicle detection method, characterized in that the laser beam is irradiated with the irradiation position of the laser beam in the height direction being within a range from the center of a wheel provided on the vehicle to the top of the wheel.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH036799A (en) * 1989-06-05 1991-01-14 Mitsubishi Heavy Ind Ltd Traffic volume examining device
WO2016143849A1 (en) * 2015-03-12 2016-09-15 三菱重工メカトロシステムズ株式会社 Tire pattern assessment device, vehicle model determining device, tire pattern assessment method and program
JP2017040546A (en) * 2015-08-19 2017-02-23 株式会社デンソー Object detection device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH036799A (en) * 1989-06-05 1991-01-14 Mitsubishi Heavy Ind Ltd Traffic volume examining device
WO2016143849A1 (en) * 2015-03-12 2016-09-15 三菱重工メカトロシステムズ株式会社 Tire pattern assessment device, vehicle model determining device, tire pattern assessment method and program
JP2017040546A (en) * 2015-08-19 2017-02-23 株式会社デンソー Object detection device

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