CN114697494A - Imaging device, moving body, support device, and support method - Google Patents
Imaging device, moving body, support device, and support method Download PDFInfo
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- CN114697494A CN114697494A CN202110404458.3A CN202110404458A CN114697494A CN 114697494 A CN114697494 A CN 114697494A CN 202110404458 A CN202110404458 A CN 202110404458A CN 114697494 A CN114697494 A CN 114697494A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 7
- 238000005286 illumination Methods 0.000 claims description 46
- 230000008878 coupling Effects 0.000 claims description 20
- 238000010168 coupling process Methods 0.000 claims description 20
- 238000005859 coupling reaction Methods 0.000 claims description 20
- 230000003287 optical effect Effects 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 229910001507 metal halide Inorganic materials 0.000 description 1
- 150000005309 metal halides Chemical class 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
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Abstract
The invention relates to an imaging device, a movable body, a support device, and a support method for reducing positional deviation of a plurality of imaging units caused by vibration. The imaging device (100) is provided with a support member (210) for supporting a 1 st camera (310) and a 2 nd camera (320) which respectively shoot different ranges on the inner wall surface of a tunnel (600) in a direction intersecting the moving direction of a vehicle (500), and an opposite member (230) which faces the support member in the moving direction of the vehicle, wherein the support member is provided with a 1 st mounting part (315) on which the 1 st camera is mounted, a 2 nd mounting part (325) which is arranged apart from the 1 st mounting part in the direction intersecting the moving direction of the vehicle and on which the 2 nd camera is mounted, and a connecting member (283) for connecting an intermediate part (210M) between the 1 st mounting part and the 2 nd mounting part in the support member and the opposite part (230M) facing the intermediate part in the opposite direction in the opposite member.
Description
Technical Field
The invention relates to an imaging device, a movable body, a support device, and a support method. -
Background
The imaging apparatus described in patent document 1 includes a plurality of illumination imaging units that respectively image different ranges on an object in a direction intersecting with a moving direction of a moving object.
[ patent document 1 ] Japanese patent application laid-open No. 2020 and 155902
Disclosure of Invention
The invention aims to reduce the position deviation of a plurality of image pick-up parts caused by vibration.
The present invention relates to an image pickup apparatus for picking up an image of an object in a state of being mounted on a moving body, comprising: a plurality of image pickup units that respectively pick up different ranges on an object in a direction intersecting a moving direction of the moving body; the imaging apparatus includes a support member that supports a 1 st imaging section and a 2 nd imaging section included in the plurality of imaging sections, and an opposing member that opposes the support member in a moving direction of the moving body, the support member having a 1 st mounting section to which the 1 st imaging section is mounted, and a 2 nd mounting section that is disposed apart from the 1 st mounting section in a direction intersecting the moving direction of the moving body and to which the 2 nd imaging section is mounted, and further having a connecting member that connects an intermediate section between the 1 st mounting section and the 2 nd mounting section in the support member, and an opposing section opposing the intermediate section in the opposing member.
According to the present invention, it is possible to reduce positional displacement of the plurality of image pickup units due to vibration.
Drawings
Fig. 1(a) to 1(b) are explanatory views of a mobile body including an imaging device according to an embodiment of the present invention.
Fig. 2 is a block diagram showing a hardware configuration of the imaging apparatus according to the present embodiment.
Fig. 3 is a perspective view showing a configuration of the imaging device according to the present embodiment.
Fig. 4 is a side view of the image pickup apparatus shown in fig. 3.
Fig. 5(a) -5 (c) are exploded perspective views of the imaging apparatus shown in fig. 3.
Fig. 6 is a perspective view of the imaging apparatus shown in fig. 3 viewed from the opposite direction.
Detailed Description
Fig. 1(a) to 1(b) are explanatory views of a mobile body including an imaging device according to an embodiment of the present invention. Fig. 1(a) is a diagram showing a vehicle 500 as an example of a moving body viewed from a moving direction, and fig. 1(b) is a diagram showing a state where the vehicle 500 moves (travels) inside a tunnel 600. The imaging apparatus 100 is installed in the vehicle 500 and images an inner wall surface of the tunnel 600 as an example of an object.
In fig. 1(a), the imaging device 100 is fixed to the roof of a vehicle 500. The portion of the vehicle on which the image pickup apparatus 100 is mounted is not limited to the roof. The vehicle may be a hood or the like in front or rear of the vehicle, or may be a loading platform or the like when the vehicle is a truck. In addition, when the imaging device 100 is mounted on the roof of the vehicle, it is only necessary to use a hook member or the like, as in the case of a roof frame or the like for the vehicle.
In fig. 1(b), there is a lane 710 on the left side and a lane 720 on the right side with respect to the center of the road 700. Vehicle 500 moves in the direction to the front of the paper in lane 720.
In this example, the sidewalk 730 is located on the side of the lane 710 (the opposite lane of the vehicle 500). Since there is no pedestrian lane on the lane 720 side, the vehicle 500 moves on the wall surface of the tunnel 600 on the side closer to the vehicle 500 than in the case where there is a pedestrian lane.
A broken line 100A in fig. 1(b) indicates an imaging range of the imaging apparatus 100. That is, the imaging apparatus 100 images a region 600A (region indicated by a thick line) within the imaging range indicated by a broken line 100A among the wall surfaces of the tunnel 600. As shown by a thick line, in the embodiment, the image is taken to the boundary between the tunnel wall surface (lining) and the ground.
When the image is captured by the image capturing device 100 while the vehicle 500 is moving, the right half wall surface of fig. 1(b) is captured from the entrance to the exit of the tunnel 600.
Then, by moving the vehicle 500 in the opposite direction while moving the vehicle in the opposite lane to the lane in fig. 1(b), the image is captured by the image capturing device 100, and the left half wall surface of fig. 1(b) is captured with respect to the paper surface from the entrance to the exit of the tunnel 600.
By joining the image of the wall surface photographed in the state of fig. 1(b) and the image of the wall surface photographed while moving the vehicle 500 in the opposite direction to the lane on the opposite side as in the case of fig. 1(b), the photographed image of the entire wall surface from the entrance to the exit of the tunnel 600 can be acquired.
In order to stitch the images to generate one unfolded image, it is preferable that the images of the wall surfaces are captured so that the ceiling portions overlap. In other words, when imaging the wall surface of the tunnel 600 in a reciprocating manner, in order not to generate an area not to be imaged on the wall surface of the tunnel 600, it is preferable to image the forward imaging area and the backward imaging area so as to overlap in a direction intersecting the traveling direction of the vehicle 500.
The vehicle 500 is not limited to a vehicle that travels on a road but may be a vehicle that travels on a railroad, and is not limited to a vehicle that has power but may be a vehicle that has no power, such as a bogie or a cart. The moving object is not limited to a vehicle, and may be an unmanned aerial vehicle moving in the air. Further, the tunnel is not limited to a traffic tunnel, and may be a tunnel such as an aqueduct.
In the present embodiment, the vehicle follows the rule of traveling to the left. Therefore, the imaging device is configured to take a picture of the left side in the direction of travel. For countries or situations that drive to the right, the imaging device is configured to take images to the right in the direction of travel. In this case, the camera unit 300 and the illumination unit 400 are mounted on the vehicle with their orientations rotated by 180 degrees.
Fig. 2 is a block diagram showing a hardware configuration of the imaging apparatus according to the present embodiment. The image pickup apparatus 100 includes a camera Unit 300, an illumination Unit 400, an image pickup control section 110, a TOF (time of flight) sensor 141, an IMU (Inertial Measurement Unit) 160, and a speedometer/rangefinder 170.
As shown in fig. 1(a) to 1(b), the camera unit 300 images the wall surface inside the tunnel, and the illumination unit 400 irradiates light onto the wall surface inside the tunnel for the imaging by the camera unit 300.
The TOF sensor 141 measures a distance from the wall surface of the tunnel 600 to the TOF sensor 141. Specifically, the TOF sensor 141 irradiates light to the wall surface of the tunnel 600, and measures the distance to the wall surface of the tunnel 600 from the time when the reflected light is received. If the TOF sensor 141, which is an area sensor, is used as the light receiving element, a two-dimensional contour image having different display colors depending on the distance can be obtained.
The IMU160 measures the angular/angular velocity and acceleration of the 3-axis responsible for the motion of the vehicle 500, and in addition, the speedometer/rangefinder 170 can measure the velocity/moving distance of the vehicle 500.
The data measured by the IMU160 and the speedometer/rangefinder 170 is output to the HDD114 via the imaging control unit 110, stored, and used for geometric correction of the size, inclination, and the like of the wall surface image in the image processing thereafter.
The camera unit 300 is an example of an imaging unit, and includes a lens 331-1 and a line CCD 331-2. The line CCD331-2 is a CCD in which pixels are arranged in a one-dimensional shape (linear shape), and the camera unit 300 is fixed to the vehicle 500 so that the arrangement direction of the pixels of the line CCD331-2 intersects with the moving direction of the vehicle 500.
The lens 331-1 forms an image of the subject in the optical axis direction of the lens 331-1 on an image pickup surface of the line CCD 331-2. The line CCD331-2 captures an image of the imaged subject. The lens 331-1 is an example of an "imaging optical system".
In addition, the lens 331-1 has a diaphragm 331-1a in the inside thereof. The diaphragm 331-1a is an iris diaphragm having diaphragm blades and is an aperture with a variable diameter. The aperture diameter can be changed by connecting a driving source such as a motor to the aperture blade and driving the motor based on a control signal. This enables the light quantity of light passing through the lens 331-1 to be changed, and the brightness of the image of the subject formed by the lens 331-1 to be changed.
The above-described camera unit 300 is an example having a line CCD, but is not limited thereto, and the camera unit 300 may also have an area CCD in which pixels are two-dimensionally arranged. Further, instead of the CCD, a CMOS (Complementary Metal Oxide Semiconductor) or the like may be used.
The illumination unit 400 is an example of an illumination unit, and includes a lens 431-1 and a light source 431-2. The light source 431-2 may use a metal halide lamp or an LED (light emitting diode) or the like, and illuminates the subject in the optical axis direction of the lens 431-1 via the lens 431-1. Further, the lens 431-1 has a diaphragm 431-1a in the inside thereof.
The diaphragm 431-1a is an aperture with a variable diameter, and by changing the diameter of the aperture, the light quantity (brightness) of illumination light illuminated by the lens 431-1 can be changed.
The image pickup control Unit 110 includes a CPU (Central Processing Unit) 111, a ROM (Read Only Memory) 112, a RAM (Random Access Memory) 113, an HDD (Hard Disk Drive) 114, an external I/F (interface/interface) 115, and a buzzer 116, and is electrically connected to each other via a system bus 117.
The ROM112 stores various programs and data, various setting information, and the like, and the RAM113 temporarily stores the programs and data. The CPU111 reads programs, data, setting information, and the like from the ROM112 and the like to the RAM113 and executes the processing, thereby realizing control of the entire imaging apparatus 100 and processing of image data. Here, the processing of the image data refers to processing for stitching line-type images captured by the plurality of cameras 310 to 350, which will be described later, and processing for stitching line-type images captured continuously at predetermined time intervals by the plurality of cameras 310 to 350 while moving the vehicle in the moving direction of the vehicle. In addition, the CPU111 can implement various functions.
Part or all of the control, image data processing, and various functions implemented by the CPU111 may be implemented by an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).
The HDD114 stores image data input from the camera unit 300, sensor data input from the TOF sensor 141, the IMU160, and the speedometer/rangefinder 170, and the like.
The external I/F115 realizes a function for a user to operate a user interface of the image pickup apparatus 100 and a function as an interface for exchanging data and signals between the image pickup apparatus 100 and an external apparatus such as a PC (Personal Computer). Buzzer 116 produces beeps to alert the user.
Fig. 3 is a perspective view showing a configuration of the imaging device according to the present embodiment. The X direction in the figure indicates the moving direction of the vehicle 50, and the Y direction indicates a direction intersecting the moving direction of the vehicle 500. The imaging apparatus 100 includes a plurality of cameras 310, 320, 330, 340, 350, and a plurality of illumination units 410, 420, 430, 440, 450. Each of the plurality of cameras 310, 320, 330, 340, and 350 is composed of the camera unit 300 shown in fig. 2, and captures images of different ranges on the inner wall surface of the tunnel 600 in a direction intersecting the moving direction of the vehicle 500. The plurality of illumination units 410, 420, 430, 440, and 450 are each constituted by the illumination unit 400 shown in fig. 2, and illuminate the range on the inner wall of the tunnel 600 imaged by the plurality of cameras 310, 320, 330, 340, and 350.
The imaging apparatus 100 includes a support member 210 that supports the 1 st camera 310 and the 2 nd camera 320, a 2 nd support member 220 that is disposed apart from the support member 210 in the moving direction of the vehicle 500 and supports the 3 rd camera 330, the 4 th camera 340, and the 5 th camera 350, a facing member 230 that faces the support member 210 and the 2 nd support member 220 in the moving direction of the vehicle 500, and a base member 200 that is fixed to the roof of the vehicle 500 and supports the support member 210, the 2 nd support member 220, and the facing member 230.
The support member 210, the 2 nd support member 220, the opposed member 230, and the base member 200 constitute a support device that supports a plurality of imaging portions.
The support member 210 has a 1 st mounting portion 315 to which the 1 st camera 310 and the 1 st illumination portion 410 are mounted, and a 2 nd mounting portion 325 which is disposed apart from the 1 st mounting portion 315 in a direction intersecting with a moving direction of the vehicle 500 and to which the 2 nd camera 320 and the 2 nd illumination portion 420 are mounted. In addition, each camera captures a different image capture area, so that an unfolded image can be created by connecting images captured by each camera.
The 2 nd support member 220 includes a 3 rd mounting part 335 to which the 3 rd camera 330 and the 3 rd illumination part 430 are mounted, a 4 th mounting part 335 arranged apart from the 3 rd mounting part 335 in a direction intersecting the moving direction of the vehicle 500 and to which the 4 th camera 340 and the 4 th illumination part 440 are mounted, and a 5 th mounting part 355 arranged below the 3 rd mounting part 335 and to which the 5 th camera 350 and the 5 th illumination part 450 are mounted.
The imaging apparatus 100 further includes coupling portions 261, 262, and 263 that couple the support member 210 and the 2 nd support member 220 in the moving direction of the vehicle 500, a coupling portion 271 that couples the 2 nd support member 220 and the opposed member 230 in the moving direction of the vehicle 500, and coupling portions 281, 282, and 283 that couple the support member 210 and the opposed member 230 in the moving direction of the vehicle 500.
Fig. 4 is a side view of the image pickup apparatus shown in fig. 3. As shown in fig. 1(a) -1 (b), the tunnel 600 has a semicircular shape in cross section intersecting the moving direction of the vehicle 500. In contrast, as shown in fig. 4, the optical axes 310L to 350L of the 1 st to 5 th cameras 310 to 350 are radially arranged so as to intersect with the wall surface of the tunnel 600. In other words, the 1 st to 5 th cameras 310 to 350 shown in fig. 3 are arranged in a radial shape so as to face the wall surface 600 of the tunnel.
The line images captured by the 1 st to 5 th cameras 310 to 350 are combined in the arrangement direction of the cameras, whereby the line images of the wall surface of the tunnel 600 can be captured along the shape of the tunnel 600. The images captured by the 1 st to 5 th cameras 310 to 350 are preferably overlapped in the imaging regions.
Then, the line-type images are continuously captured at predetermined time intervals while the vehicle 500 is moving, and the captured line-type images are stitched together in a direction orthogonal to the arrangement direction of the pixels of the line-type images, thereby obtaining a surface image (two-dimensional image) of the wall surface of the tunnel 600. The predetermined time interval is an acquisition cycle of line images obtained by the line CCD.
Here, although the example in which the number of cameras is 5 is described above, the present invention is not limited to this. The number of cameras may be increased or decreased according to conditions such as the size of the channel 600. The imaging magnification, field of view, F-number, and the like of the lens 331-1 may be determined according to the conditions desired to be imaged.
Fig. 3 shows a configuration in which the 1 st to 5 th cameras 310 to 350 are shifted back and forth in the optical axis direction in order to prevent physical interference between the cameras.
Here, the direction intersecting the moving direction of the vehicle, that is, "the direction facing the wall surface of the tunnel" is supplemented. As described above, the tunnel has a semicircular shape in cross section orthogonal to the moving direction of the vehicle. Therefore, among the wall surfaces of the tunnel, the wall surface near the floor faces vertically downward, and the wall surface near the ceiling faces horizontally. The "direction facing the wall surface of the tunnel" means a direction facing the wall surface whose orientation differs depending on the position. The "direction facing the wall surface of the tunnel" near the ground is a substantially horizontal direction. On the other hand, the "direction facing the wall surface of the tunnel" near the ceiling is a substantially vertical upward direction.
As described above, the cross section of the tunnel 600 intersecting the moving direction of the vehicle 500 has a semicircular shape. Accordingly, the optical axes of the 1 st to 5 th illumination units 410 to 450 are radially arranged so as to intersect the wall surface of the tunnel 600, similarly to the optical axes 310L to 350L of the 1 st to 5 th cameras 310 to 350 shown in fig. 4. In other words, the 1 st to 5 th illumination units 410 to 450 are arranged in a radial shape so as to face the wall surface of the tunnel 600.
The 1 st to 5 th illumination units 410 to 450 may irradiate linear light along a direction (an arrangement direction of pixels of the line CCD) intersecting with a moving direction of the vehicle 500 onto a wall surface of the tunnel 600.
In the above description, the number of the illumination units is 5, but the present invention is not limited thereto and may be increased or decreased. The number of illumination units does not have to be equal to the number of cameras, and the number may be determined according to conditions such as brightness. Further, the angle of view, the F-number, and the like of the lens may also be determined according to the conditions of the intended image capturing.
Fig. 3 shows a configuration in which the positions of the 1 st to 5 th illumination units 410 to 450 are shifted back and forth in the optical axis direction, in order to prevent the illumination units from physically interfering with each other.
Fig. 5(a) -5 (c) are exploded perspective views of the imaging apparatus shown in fig. 3. As shown in fig. 5(a), the support member 210 has leg portions 210A, 210B, and 210C attached to the base member 200, as shown in fig. 5(B), the 2 nd support member 220 has leg portions 220A and 220B attached to the base member 200, and as shown in fig. 5(C), the counter member 230 has a leg portion 230A attached to the base member 200.
Here, as shown in fig. 3 and 5(a), the 1 st camera 310 and the 2 nd camera 320 are attached to the support member 210 from the rear side in the moving direction of the vehicle 500 through the 1 st attaching part 315 and the 2 nd attaching part 325.
As shown in fig. 3 and 5(b), the 3 rd camera 330, the 4 th camera 340, and the 5 th camera 350 are also mounted on the 2 nd support member 220 via the 3 rd mounting portion 335, the 4 th mounting portion 345, and the 5 th mounting portion 355 from the rear side in the moving direction of the vehicle 500.
That is, in the moving direction of the vehicle 500, the direction in which the 1 st camera 310 and the 2 nd camera 320 are attached to the support member 210 by the 1 st attaching part 315 and the 2 nd attaching part 325 is the same as the direction in which the 3 rd camera 330, the 4 th camera 340, and the 5 th camera 350 are attached to the 2 nd support member 220.
Thus, since the vibrations of the 1 st camera 310 and the 2 nd camera 320 and the vibrations of the 3 rd camera 330, the 4 th camera 340, and the 5 th camera 350 can be made in the same direction, the positional shift of the imaging position due to the vibrations of the 3 rd camera 330, the 4 th camera 340, and the 5 th camera 350 with respect to the 1 st camera 310 and the 2 nd camera 320 is suppressed in the moving direction of the vehicle 500, compared with the case where the direction in which the 1 st camera 310 and the 2 nd camera 320 are attached to the support member 210 by the 1 st attaching part 315 and the 2 nd attaching part 325 and the direction in which the 3 rd camera 330, the 4 th camera 340, and the 5 th camera 350 are attached to the 2 nd support member 220 are opposite.
Fig. 5(a) -5 (c) are perspective views seen from the opposite direction of the imaging apparatus shown in fig. 3. As a configuration that cannot be visually recognized in fig. 3, the imaging apparatus 100 includes a coupling portion 264 that couples the support member 210 and the 2 nd support member 220 in the moving direction of the vehicle 500, and a coupling portion 272 that couples the 2 nd support member 220 and the opposing member 230 in the moving direction of the vehicle 500.
A coupling portion 283 that couples the support member 210 and the opposing member 230 in the moving direction of the vehicle 500 is an example of a coupling member that couples an intermediate portion 210M between the 1 st mounting portion 315 and the 2 nd mounting portion 325 in the support member 210 and an opposing portion 230M in the opposing member 230 that faces the intermediate portion 210M.
By providing such a coupling portion 283, it is possible to suppress flexure due to vibration of the intermediate portion 210M and suppress positional displacement of the 1 st camera 310 and the 2 nd camera 320 due to flexure of the intermediate portion 210M. This suppresses the positional shift between the image of the inner wall surface of the tunnel 600 captured by the 1 st camera 310 and the image of the inner wall surface of the tunnel 600 captured by the 2 nd camera 320.
Further, as an example of the 2 nd coupling member, a coupling portion 272 that couples the 2 nd support member 220 and the opposing member 230 in the moving direction of the vehicle 500 couples a 2 nd intermediate portion 220m between the 3 rd mounting portion 335 and the 4 th mounting portion 345 in the 2 nd support member 220 and a 2 nd opposing portion 230m facing the 2 nd intermediate portion 220m in the opposing member 230.
By providing such a connecting portion 272, it is possible to suppress flexure due to vibration of the 2 nd intermediate portion 220m, and to suppress positional displacement of the 3 rd camera 330 and the 4 th camera 340 due to flexure of the 2 nd intermediate portion 220 m. Thereby, the positional shift of the image of the inner wall surface of the tunnel 600 captured by the 3 rd camera 330 and the image of the inner wall surface of the tunnel 600 captured by the 4 th camera 340 is suppressed.
Induction
As described above, the imaging apparatus 100 according to one embodiment of the present invention is an imaging apparatus 100 that is installed in a vehicle 500 as an example of a moving object and that images an inner wall surface of a tunnel 600 as an example of the moving object, and includes a plurality of cameras (imaging units) that respectively image different ranges on the inner wall surface of the tunnel 600 in a direction intersecting a moving direction of the vehicle 500, a support member 210 that supports a 1 st camera 310 and a 2 nd camera 320 among the plurality of cameras, and a facing member 230 that faces the support member 210 in the moving direction of the vehicle 500, the support member 210 including a 1 st installation unit 315 to which the 1 st camera 310 is installed, a 2 nd installation unit 325 that is arranged apart from the 1 st installation unit 315 in the direction intersecting the moving direction of the vehicle 500 and to which the 2 nd camera 320 is installed, and an intermediate unit 210M that connects the 1 st installation unit 315 and the 2 nd installation unit 325 in the support member 210 And a coupling member 283 of the opposing portion 230M facing the intermediate portion 210M, of the opposing member 230.
By providing such a coupling member 283, it is possible to suppress deflection due to vibration of the intermediate portion 210M and suppress positional displacement of the 1 st camera 310 and the 2 nd camera 320 due to deflection of the intermediate portion 210M. This suppresses the positional shift between the image of the inner wall surface of the tunnel 600 captured by the 1 st camera 310 and the image of the inner wall surface of the tunnel 600 captured by the 2 nd camera 320.
The imaging device 100 includes a 1 st illumination unit 410 that illuminates a range on an inner wall surface of the tunnel 600 imaged by the 1 st camera 310, and a 2 nd illumination unit 420 that illuminates a range on an inner wall surface of the tunnel 600 imaged by the 2 nd camera 320, and the 1 st camera 310 and the 1 st illumination unit 410 are attached to the 1 st attachment unit 315, and the 2 nd camera 320 and the 2 nd illumination unit 420 are attached to the 2 nd attachment unit 325.
In this case, by providing the coupling member 283, the deflection due to the vibration of the intermediate portion 210M is suppressed, and the positional shift between the illumination position of the 1 st illumination portion 410 and the illumination position of the 2 nd illumination portion 420 due to the deflection of the intermediate portion 210M is suppressed.
The imaging apparatus 100 is disposed apart from the support member 210 in the moving direction of the vehicle 500, and includes a 2 nd support member 220 that supports a 3 rd camera 330 included in the plurality of cameras, and the direction in which the 1 st camera 310 and the 2 nd camera 320 are attached to the support member 210 by the 1 st attaching part 315 and the 2 nd attaching part 325 and the direction in which the 3 rd camera 330 is attached to the 2 nd support member 220 are the same in the moving direction of the vehicle 500.
Thus, since the vibrations of the 1 st camera 310 and the 2 nd camera 320 and the vibrations of the 3 rd camera 330 can be made in the same direction in the moving direction of the vehicle 500, the positional shift of the imaging position due to the vibrations of the 1 st camera 310 and the 2 nd camera 320 by the 3 rd camera 330 is suppressed, compared to the case where the direction in which the 1 st camera 310 and the 2 nd camera 320 are attached to the support portion by the 1 st attaching portion 315 and the 2 nd attaching portion 325 and the direction in which the 3 rd camera 330 is attached to the 2 nd support portion are opposite.
The 2 nd support member 220 has a 3 rd mounting part 335 to which the 3 rd camera 330 is mounted, and a 4 th mounting part 345 which is disposed apart from the 3 rd mounting part 335 in a direction intersecting the moving direction of the vehicle 500 and to which a 4 th camera 320 included in the plurality of cameras is mounted, and the directions in which the 1 st camera 310 and the 2 nd camera 320 are mounted on the support member 210 via the 1 st mounting part 315 and the 2 nd mounting part 325 and the directions in which the 3 rd camera 330 and the 4 th camera 340 are mounted on the 2 nd support member 220 are the same in the moving direction of the vehicle 500.
This suppresses the positional displacement of the imaging position due to the vibrations of the 3 rd camera 330 and the 4 th camera 340 with respect to the 1 st camera 310 and the 2 nd camera 320.
The imaging apparatus 100 includes a 2 nd coupling member 272 that couples a 2 nd intermediate portion 220M positioned between a 3 rd mounting portion 335 and a 4 th mounting portion 345 of the 2 nd support member 220 and a 2 nd opposing portion 230M opposing the 2 nd intermediate portion 220M of the opposing member 230.
By providing such a 2 nd coupling member 272, the deflection due to the vibration of the 2 nd intermediate portion 220m is suppressed, and the positional displacement of the 3 rd camera 330 and the 4 th camera 340 due to the deflection of the 2 nd intermediate portion 220m is suppressed. Thereby, the positional shift of the image of the inner wall surface of the tunnel 600 captured by the 3 rd camera 330 and the image of the inner wall surface of the tunnel 600 captured by the 4 th camera 340 is suppressed.
The imaging apparatus 100 includes a 3 rd illumination unit 430 that illuminates a range on an inner wall surface of the tunnel 600 imaged by the 3 rd camera 330, and a 4 th illumination unit 440 that illuminates a range on an inner wall surface of the tunnel 600 imaged by the 4 th camera 340, and the 3 rd camera 330 and the 3 rd illumination unit 430 are attached to the 3 rd mounting unit 335, and the 4 th camera 340 and the 4 th illumination unit 440 are attached to the 4 th mounting unit 345.
At this time, by providing the 2 nd coupling member 272, the deflection due to the vibration of the 2 nd intermediate portion 220m is suppressed, and the positional shift between the illumination position of the 3 rd illumination portion 430 and the illumination position of the 4 th illumination portion 440 due to the deflection of the 2 nd intermediate portion 220m is suppressed.
The support device according to one embodiment of the present invention is a support device that is installed in a vehicle 500 and supports a plurality of imaging units that image an inner wall surface of a tunnel 600, a support member 210 for supporting the 1 st camera 310 and the 2 nd camera 320 which respectively take images of different ranges on the inner wall surface of the tunnel 600 is provided in a direction intersecting the moving direction of the vehicle 500, and an opposite member 230 facing the support member 210 in the moving direction of the vehicle 500, the support member 210 having a 1 st attaching part 315 to which the 1 st camera 310 is attached, and a 2 nd mounting part 325 which is disposed apart from the 1 st mounting part 315 in a direction crossing a moving direction of the vehicle 500 and to which the 2 nd camera 320 is mounted, and a coupling member 283 that couples the intermediate portion 210M between the 1 st mounting portion 315 and the 2 nd mounting portion 325 in the support member 210 and the opposing portion 230M in the opposing member 230 that faces the intermediate portion 210M.
A supporting method according to an embodiment of the present invention is a supporting method for supporting a plurality of imaging units that image an inner wall surface of a tunnel 600 in a state of being installed in a vehicle 500, the 1 st camera 310 and the 2 nd camera 320, which respectively take images of different ranges on the inner wall surface of the tunnel 600, are supported by the support member 210 in a direction intersecting the moving direction of the vehicle 500, and in the support member 210, the 1 st camera 310 is mounted on the 1 st mounting part 315, and the 2 nd camera 320 is mounted on the 2 nd mounting part 325 which is arranged apart from the 1 st mounting part 315 in a direction crossing the moving direction of the vehicle 500, and the middle part 210M between the 1 st mounting part 315 and the 2 nd mounting part 325 in the supporting member 210 is coupled by the coupling member 283, and an opposing portion 230M opposing the intermediate portion 210M, among the opposing members 230 opposing the support member 210 in the moving direction of the vehicle 500.
Claims (9)
1. An image pickup apparatus that picks up an image of an object in a state of being set on a moving body, characterized by comprising:
a plurality of image pickup units that respectively pick up different ranges on the object in a direction intersecting with a moving direction of the moving body;
a support member that supports a 1 st image pickup unit and a 2 nd image pickup unit included in the plurality of image pickup units, an
An opposing member that opposes the support member in a moving direction of the movable body,
the support member has a 1 st mounting portion to which a 1 st imaging portion is mounted, and a 2 nd mounting portion which is disposed apart from the 1 st mounting portion in a direction intersecting a moving direction of the movable body and to which a 2 nd imaging portion is mounted,
the imaging apparatus further includes a middle portion connecting the 1 st mounting portion and the 2 nd mounting portion of the support member, and a connecting member connecting an opposing portion of the opposing member opposing the middle portion.
2. The image pickup apparatus according to claim 1, characterized by comprising:
a 1 st illumination unit that illuminates a range on the subject imaged by the 1 st imaging unit, an
A 2 nd illumination unit configured to illuminate a range on the subject imaged by the 2 nd imaging unit,
the 1 st imaging unit and the 1 st illumination unit are mounted on the 1 st mounting unit,
the 2 nd imaging unit and the 2 nd illumination unit are mounted on the 2 nd mounting unit.
3. The image pickup apparatus according to claim 1 or 2, wherein:
a 2 nd support member disposed apart from the support member in a moving direction of the movable body and supporting a 3 rd imaging unit included in the plurality of imaging units,
in the moving direction of the moving body, a direction in which the 1 st image pickup unit and the 2 nd image pickup unit are attached to the support member via the 1 st attachment unit and the 2 nd attachment unit is the same as a direction in which the 3 rd image pickup unit is attached to the 2 nd support member.
4. The image pickup apparatus according to claim 3, wherein:
the 2 nd support member includes a 3 rd mounting portion to which the 3 rd imaging portion is mounted, and a 4 th mounting portion to which a 4 th imaging portion included in the plurality of imaging portions is mounted, the 4 th mounting portion being disposed apart from the 3 rd mounting portion in a direction intersecting with a moving direction of the moving body,
in the moving direction of the moving body, the direction in which the 1 st imaging unit and the 2 nd imaging unit are attached to the support member by the 1 st attachment unit and the 2 nd attachment unit is the same as the direction in which the 3 rd imaging unit and the 4 th imaging unit are attached to the 2 nd support member by the 3 rd attachment unit and the 4 th attachment unit.
5. The image pickup apparatus according to claim 4, characterized by comprising:
and a 2 nd coupling member that couples a 2 nd intermediate portion between the 3 rd mounting portion and the 4 th mounting portion of the 2 nd supporting member and a 2 nd opposing portion opposing the 2 nd intermediate portion of the opposing member.
6. The image pickup apparatus according to claim 4 or 5, characterized by comprising:
a 3 rd illumination section that illuminates a range on the subject imaged by the 3 rd imaging section, an
A 4 th illumination unit configured to illuminate a range on the subject imaged by the 4 th imaging unit,
the 3 rd image pickup unit and the 3 rd illumination unit are mounted in the 3 rd mounting unit,
the 4 th image pickup unit and the 4 th illumination unit are mounted on the 4 th mounting unit.
7. A movable body characterized by comprising:
the image pickup device according to any one of claims 1 to 6.
8. A support device that supports a plurality of imaging units that image a subject in a state of being mounted on a moving body, comprising:
a support member that supports a 1 st image pickup unit and a 2 nd image pickup unit that respectively pick up different ranges on the object in a direction intersecting with a moving direction of the moving body, and
an opposing member that opposes the support member in a moving direction of the movable body,
the support member has a 1 st mounting portion to which a 1 st imaging portion is mounted, and a 2 nd mounting portion which is disposed apart from the 1 st mounting portion in a direction intersecting a moving direction of the movable body and to which a 2 nd imaging portion is mounted,
the imaging apparatus further includes a connecting member that connects an intermediate portion between the 1 st mounting portion and the 2 nd mounting portion of the support member and an opposing portion of the opposing member that opposes the intermediate portion.
9. A supporting method of supporting a plurality of image pickup units that pick up an image of an object in a state of being mounted on a moving body, characterized in that:
supporting the 1 st and 2 nd image pickup units, which respectively pick up different ranges on the object, by a supporting member in a direction intersecting with a moving direction of the moving body and supporting the image pickup units by a supporting member
In the support member, the 1 st imaging unit is attached by the 1 st attaching unit, and the 2 nd imaging unit is attached by a 2 nd attaching unit disposed apart from the 1 st attaching unit in a direction intersecting with a moving direction of the moving body,
and an intermediate portion between the 1 st mounting portion and the 2 nd mounting portion of the support member and an opposing portion opposing the intermediate portion of an opposing member opposing the support member in a moving direction of the moving body are coupled by a coupling member.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2020216294A JP2022101912A (en) | 2020-12-25 | 2020-12-25 | Imaging apparatus, movable body, support device, and support method |
| JP2020-216294 | 2020-12-25 |
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| Publication Number | Publication Date |
|---|---|
| CN114697494A true CN114697494A (en) | 2022-07-01 |
| CN114697494B CN114697494B (en) | 2024-03-05 |
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| CN202110404458.3A Active CN114697494B (en) | 2020-12-25 | 2021-04-15 | Imaging device, moving body, supporting device, and supporting method |
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| JP (1) | JP2022101912A (en) |
| CN (1) | CN114697494B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2022101912A (en) | 2022-07-07 |
| CN114697494B (en) | 2024-03-05 |
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