CN114697494B - Camera device, mobile body, supporting device and supporting method - Google Patents
Camera device, mobile body, supporting device and supporting method Download PDFInfo
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- CN114697494B CN114697494B CN202110404458.3A CN202110404458A CN114697494B CN 114697494 B CN114697494 B CN 114697494B CN 202110404458 A CN202110404458 A CN 202110404458A CN 114697494 B CN114697494 B CN 114697494B
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- 238000000034 method Methods 0.000 title claims abstract description 7
- 238000003384 imaging method Methods 0.000 claims abstract description 102
- 238000005286 illumination Methods 0.000 description 38
- 230000008878 coupling Effects 0.000 description 18
- 238000010168 coupling process Methods 0.000 description 18
- 238000005859 coupling reaction Methods 0.000 description 18
- 230000003287 optical effect Effects 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229910044991 metal oxide Inorganic materials 0.000 description 2
- 150000004706 metal oxides Chemical class 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 229910001507 metal halide Inorganic materials 0.000 description 1
- 150000005309 metal halides Chemical class 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Human Computer Interaction (AREA)
- Studio Devices (AREA)
- Stroboscope Apparatuses (AREA)
- Accessories Of Cameras (AREA)
Abstract
本发明涉及摄像装置、移动体、支承装置及支承方法，用于降低由振动引起的多个摄像部的位置偏移。摄像装置(100)在与车辆(500)的移动方向交叉的方向上，设有对分别拍摄隧道(600)的内壁面上的不同范围的第1照相机(310)及第2照相机(320)进行支承的支承部件(210)，和在车辆的移动方向上与支承部件相向而对的对置部件(230)，支承部件具有安装了第1照相机的第1安装部(315)，和在与车辆的移动方向交叉的方向上离开第1安装部配置并安装了第2照相机的第2安装部(325)，以及连结位于支承部件中的第1安装部和第2安装部之间的中间部(210M)和对置部件中的与中间部相向而对的对置部(230M)的连结部件(283)。
The present invention relates to an imaging device, a moving body, a supporting device and a supporting method for reducing positional deviation of a plurality of imaging parts caused by vibration. The imaging device (100) is provided with a first camera (310) and a second camera (320) for photographing different ranges on the inner wall surface of the tunnel (600) in a direction intersecting with the moving direction of the vehicle (500). A supporting member (210) for supporting, and an opposing member (230) facing the supporting member in the moving direction of the vehicle, the supporting member having a first mounting portion (315) for mounting the first camera, and an opposite member (230) connected to the vehicle. The second mounting part (325) on which the second camera is mounted is arranged away from the first mounting part in a direction intersecting the moving direction, and an intermediate part (325) connecting the first mounting part and the second mounting part in the support member. 210M) and the connecting member (283) of the opposing portion (230M) of the opposing components that faces the middle portion.
Description
Technical Field
The invention relates to an imaging device, a moving body, a supporting device and a supporting method. -
Background
The imaging device described in patent document 1 includes a plurality of illumination imaging units that each image a different range on a subject in a direction intersecting a moving direction of a moving object.
Japanese patent laid-open publication No. 2020-155902
Disclosure of Invention
The invention aims to reduce the position deviation of a plurality of image pickup units caused by vibration.
The present invention relates to an imaging apparatus for capturing an object in a state of being mounted on a moving object, the imaging apparatus including: a plurality of imaging units that respectively capture different ranges on the object in a direction intersecting the moving direction of the moving body; the imaging device further includes a coupling member that couples the 1 st imaging unit and the 2 nd imaging unit located in the support member to each other, and that couples the opposing member to each other in the opposing member.
According to the present invention, positional displacement of a plurality of imaging units due to vibration can be reduced.
Drawings
Fig. 1 (a) -1 (b) are explanatory views of a moving body provided with an imaging device according to an embodiment of the present invention.
Fig. 2 is a block diagram showing a hardware configuration of the imaging device according to the present embodiment.
Fig. 3 is a perspective view showing the 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 image pickup apparatus shown in fig. 3.
Fig. 6 is a perspective view seen from the opposite direction of the image pickup apparatus shown in fig. 3.
Detailed Description
Fig. 1 (a) -1 (b) are explanatory views of a moving body provided with an imaging device according to an embodiment of the present invention. Fig. 1 (a) is a diagram of a vehicle 500 as an example of a moving body as seen from the moving direction, and fig. 1 (b) is a state diagram in which the vehicle 500 moves (travels) inside a tunnel 600. The imaging device 100, in a state of being mounted on the vehicle 500, images an inner wall surface of a tunnel 600 as an example of an object.
In fig. 1 (a), the image pickup device 100 is fixed to the roof of a vehicle 500. The portion of the vehicle to which the image pickup device 100 is mounted is not limited to the roof. The vehicle may be a front or rear hood or the like, or a loading table or the like when the vehicle is a truck. In addition, the imaging device 100 may be mounted on a vehicle, and may be mounted on a roof by using a hooking member or the like, similarly to a roof rack or the like for a 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. The vehicle 500 moves in the lane 720 in the forward direction with respect to the paper surface.
In this example, the pavement 730 is located on the side of the lane 710 (the opposite lane of the vehicle 500). Since there is no sidewalk on the side of the lane 720, the vehicle 500 moves on the wall surface of the tunnel 600 on the side close to the vehicle 500, compared with the case of the sidewalk.
The broken line 100A in fig. 1 (b) represents the imaging range of the imaging apparatus 100. That is, the imaging device 100 images an area 600A (an area indicated by a thick line) within an imaging range indicated by a broken line 100A among the wall surfaces of the tunnel 600. As shown by the thick line, in the embodiment, a boundary between the tunnel wall surface (lining portion) and the ground is photographed.
By imaging by the imaging device 100 while moving the vehicle 500, the wall surface of the right half of fig. 1 (b) is imaged from the entrance to the exit of the tunnel 600 with respect to the paper surface.
Then, the imaging device 100 performs imaging while moving the vehicle 500 in the opposite direction to the lane on the opposite side of fig. 1 (b), and the left half of the wall surface of fig. 1 (b) is imaged with respect to the paper surface from the entrance to the exit of the tunnel 600.
By concatenating the image of the wall surface captured in the state of fig. 1 (b) and the image of the wall surface captured while moving the vehicle 500 in the opposite direction to the lane on the opposite side from the case of fig. 1 (b), it is possible to acquire the captured image of the entire wall surface from the entrance to the exit of the tunnel 600.
To stitch the images to generate a single expanded image, the images of the walls are preferably captured with the ceiling portions overlapping. In other words, when the wall surface of the tunnel 600 is photographed in a round trip, it is preferable to photograph the image capturing area to be taken and the image capturing area to be returned so as to overlap each other in a direction intersecting the traveling direction of the vehicle 500 so as not to generate an area that is not photographed on the wall surface of the tunnel 600.
The vehicle 500 is not limited to a vehicle that travels on a road, but may be a vehicle that travels on a railway, or may be a vehicle that is not powered, such as a dolly or a cart. The mobile body is not limited to a vehicle, and may be moved in the air as in an unmanned aerial vehicle. Further, the tunnel is not limited to the traffic tunnel, and may be a tunnel such as an intake canal.
In the present embodiment, the vehicle follows the rule of running on the left. Thus, the imaging device is configured to take an image of the left side in the traveling direction. For right-of-way countries or conditions, the camera is configured to take a picture of the right side of the direction of travel. In this case, the orientations of the camera unit 300 and the illumination unit 400 are rotated 180 degrees to be mounted on the vehicle.
Fig. 2 is a block diagram showing a hardware configuration of the imaging device 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: inertial measurement unit) 160, and a speedometer/rangefinder 170.
As shown in fig. 1 (a) -1 (b), the camera unit 300 photographs the wall surface inside the tunnel, and the illumination unit 400 irradiates light toward the wall surface inside the tunnel for photographing by the camera unit 300.
The TOF sensor 141 measures the distance from the wall of the tunnel 600 to the TOF sensor 141. Specifically, light is irradiated from the TOF sensor 141 to the wall surface of the tunnel 600, and the distance to the wall surface of the tunnel 600 is measured from the time when the reflected light is received. If the TOF sensor 141 of the area sensor is used as the light receiving element, a two-dimensional contour image having different display colors according to 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 is able to measure the speed/distance traveled by the vehicle 500.
The data measured by the IMU160 and the speedometer/rangefinder 170 are output to the HDD114 via the imaging control section 110 and stored, and are used later for geometric correction of the size, inclination, and the like of the wall image in image processing.
The camera unit 300 is an example of an imaging section, and includes a lens 331-1 and a line CCD331-2. The line-type CCD331-2 is a CCD in which pixels are arranged in a one-dimensional shape (line-type), and the camera unit 300 is fixed to the vehicle 500 in such a manner that the arrangement direction of the pixels of the line-type 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 the image pickup surface of the line CCD331-2. The line CCD331-2 photographs 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 an aperture 331-1a inside thereof. The diaphragm 331-1a is an iris diaphragm having diaphragm blades, and is an opening of variable diameter. By connecting a driving source such as a motor to the diaphragm blades and driving the motor based on a control signal, the diameter of the aperture can be changed. Thereby, the light quantity of the light passing through the lens 331-1 can be changed, and the brightness of the image of the subject imaged through the lens 331-1 can be changed.
The camera unit 300 described above is an example having a line type CCD, but is not limited thereto, and the camera unit 300 may have a plane type CCD in which pixels are two-dimensionally arranged. Further, instead of the CCD, a CMOS (Complementary Metal Oxide Semiconductor: complementary metal oxide semiconductor) or the like may be used.
The illumination unit 400 is an example of an illumination section, and includes a lens 431-1 and a light source 431-2. The light source 431-2 may use a metal halide lamp, an LED (light emitting diode), or the like, and illuminate the object in the optical axis direction of the lens 431-1 via the lens 431-1. In addition, the lens 431-1 has an aperture 431-1a inside thereof.
The diaphragm 431-1a is an opening of variable diameter, and by changing the diameter of the opening, the light quantity (brightness) of illumination light illuminated by the lens 431-1 can be changed.
The imaging 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) 115, and a buzzer 116, and is electrically connected to each other via a system bus 117.
The ROM112 stores various programs or data, various setting information, and the like, and the RAM113 temporarily stores the programs or data. The CPU111 reads out programs, data, setting information, and the like from the ROM112 and the like to the RAM113 and executes processing, thereby realizing control of the entire image capturing apparatus 100 and processing of image data. Here, the processing of the image data refers to processing of stitching line images captured by a plurality of cameras 310 to 350, which will be described later, and processing of stitching line images captured by a plurality of cameras 310 to 350 continuously at predetermined time intervals while moving the vehicle in the moving direction of the vehicle. In addition, the CPU111 can realize various functions.
The control, image data processing, and some or all of the various functions performed by the CPU111 may be implemented by an FPGA (Field-Programmable Gate Array: field programmable gate array) or an ASIC (Application Specific Integrated Circuit: application specific integrated circuit).
The HDD114 stores image data input from the camera unit 300, sensor data input from the TOF sensor 141, IMU160, and speedometer/rangefinder 170, and the like.
The external I/F115 realizes a function of a user for operating a user interface of the image pickup apparatus 100 and a function of an interface for exchanging data and signals between the image pickup apparatus 100 and an external apparatus such as a PC (Personal Computer: personal computer). The buzzer 116 generates a beep sound to alert the user of the notification.
Fig. 3 is a perspective view showing the configuration of the imaging device according to the present embodiment. The X direction in the drawing indicates the movement direction of the vehicle 50, and the Y direction indicates a direction intersecting the movement direction of the vehicle 500. The image pickup apparatus 100 has a plurality of cameras 310, 320, 330, 340, 350, and a plurality of illumination sections 410, 420, 430, 440, 450. The plurality of cameras 310, 320, 330, 340, 350 are each constituted by the camera unit 300 shown in fig. 2, and capture 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, 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 captured by the plurality of cameras 310, 320, 330, 340, 350, respectively.
The imaging device 100 further 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, an opposing member 230 that opposes 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 opposing member 230.
The support member 210, the 2 nd support member 220, the opposing member 230, and the base member 200 constitute a support device that supports a plurality of imaging units.
The support member 210 includes 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 to which the 2 nd camera 320 and the 2 nd illumination portion 420 are mounted, which is disposed apart from the 1 st mounting portion 315 in a direction intersecting the moving direction of the vehicle 500. In addition, each camera captures a different image capturing area, so that a developed image can be created by connecting images captured by each camera.
The 2 nd support member 220 has a 3 rd mounting portion 335 to which the 3 rd camera 330 and the 3 rd illumination portion 430 are mounted, a 4 th mounting portion 335 to which the 4 th camera 340 and the 4 th illumination portion 440 are mounted and which is disposed apart from the 3 rd mounting portion 335 in a direction intersecting the moving direction of the vehicle 500, and a 5 th mounting portion 355 to which the 5 th camera 350 and the 5 th illumination portion 450 are mounted and which is disposed below apart from the 3 rd mounting portion 335.
The imaging device 100 further includes coupling portions 261, 262, 263 for coupling the support member 210 and the 2 nd support member 220 in the moving direction of the vehicle 500, coupling portions 271 for coupling the 2 nd support member 220 and the opposing member 230 in the moving direction of the vehicle 500, and coupling portions 281, 282, 283 for coupling the support member 210 and the opposing 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 cross section of the tunnel 600 intersecting the moving direction of the vehicle 500 is in the shape of a semicircle. In response to this, 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 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 radially so as to face the 600 wall surface of the tunnel.
By stitching the line images photographed by the 1 st to 5 th cameras 310 to 350 in the arrangement direction of the cameras, the line images of the wall surface of the tunnel 600 can be photographed along the shape of the tunnel 600. The images captured by the cameras 310 to 350 of the 1 st to 5 th cameras are preferably superimposed on each other in each imaging region.
Then, the line images are continuously captured at predetermined time intervals while the vehicle 500 is moving, and the captured line images are stitched in a direction orthogonal to the arrangement direction of the pixels of the line images, whereby a plane image (two-dimensional image) of the wall surface of the tunnel 600 can be obtained. The predetermined time interval is a period of acquiring a line image obtained by the line CCD, or the like.
Here, the number of cameras is 5, but the present invention is not limited to this. The number of cameras may be increased or decreased depending on the 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 desired imaging conditions.
Fig. 3 shows a configuration in which the positions of the 1 st to 5 th cameras 310 to 350 are shifted in the front-rear direction in the optical axis direction, in order to prevent the cameras from physically interfering with each other.
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 cross section perpendicular to the moving direction of the vehicle. Therefore, of the wall surfaces of the tunnel, the wall surface near the ground faces in the vertical downward direction, and the wall surface near the ceiling faces in the horizontal direction. The term "direction opposite to the wall surface of the tunnel" means a direction opposite to the wall surface facing the different 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" in the vicinity of 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 is in the shape of a semicircle. In response to this, the optical axes of the 1 st to 5 th illumination sections 410 to 450 are arranged radially so as to intersect the wall surface of the tunnel 600, as in 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 portions 410 to 450 are arranged radially so as to face the wall surface of the tunnel 600.
The 1 st to 5 th illumination portions 410 to 450 may irradiate linear light in a direction (arrangement direction of pixels of the line CCD) intersecting the moving direction of the vehicle 500 onto the wall surface of the tunnel 600.
The number of illumination units is 5 in the above description, but the number is not limited to this 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 based on conditions such as brightness. Further, the angle of view, F number, etc. of the lens may be determined according to the conditions under which photographing is desired.
Fig. 3 shows a configuration in which the positions of the 1 st to 5 th illumination portions 410 to 450 are shifted in the optical axis direction in the front-rear direction, in order to prevent the illumination portions from physically interfering with each other.
Fig. 5 (a) -5 (c) are exploded perspective views of the image pickup apparatus shown in fig. 3. As shown in fig. 5 (a), the support member 210 has legs 210A, 210B, and 210C attached to the base member 200, as shown in fig. 5 (B), the 2 nd support member 220 has legs 220A, 220B attached to the base member 200, and as shown in fig. 5 (C), the opposing member 230 has a leg 230A attached to the base member 200.
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 by the 1 st attachment portion 315 and the 2 nd attachment portion 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 attached to the 2 nd support member 220 from the rear side in the moving direction of the vehicle 500 by the 3 rd attachment portion 335, the 4 th attachment portion 345, and the 5 th attachment portion 355.
That is, in the moving direction of the vehicle 500, the directions in which the 1 st camera 310 and the 2 nd camera 320 are mounted to the support member 210 by the 1 st mounting portion 315 and the 2 nd mounting portion 325 are the same as the directions in which the 3 rd camera 330, the 4 th camera 340, and the 5 th camera 350 are mounted to the 2 nd support member 220.
Accordingly, since the vibration of the 1 st camera 310 and the 2 nd camera 320 and the vibration of the 3 rd camera 330, the 4 th camera 340 and the 5 th camera 350 can be made to be in the same direction, the positional shift of the imaging position due to the vibration of the 3 rd camera 330, the 4 th camera 340 and the 5 th camera 350 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 attachment portion 315 and the 2 nd attachment portion 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 opposite directions of the image pickup apparatus shown in fig. 3. As a configuration that cannot be seen in fig. 3, the imaging device 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.
Then, as an example of the connecting member, the connecting portion 283 connecting the support member 210 and the opposing member 230 in the moving direction of the vehicle 500 connects the intermediate portion 210M located between the 1 st mounting portion 315 and the 2 nd mounting portion 325 in the support member 210 and the opposing portion 230M of the opposing member 230 opposing the intermediate portion 210M.
By providing such a coupling portion 283, it is possible to suppress deflection due to vibration of the intermediate portion 210M and to suppress positional displacement of the 1 st camera 310 and the 2 nd camera 320 due to deflection of the intermediate portion 210M. Thereby, the positional shift of 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 is suppressed.
Further, the coupling portion 272 that couples the 2 nd support member 220 and the opposing member 230 in the moving direction of the vehicle 500 is, as an example of the 2 nd coupling member, a 2 nd intermediate portion 220m located 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 of the opposing member 230 that opposes the 2 nd intermediate portion 220 m.
By providing such a coupling portion 272, it is possible to suppress deflection due to the 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 the deflection 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 device 100 according to the embodiment of the present invention is the imaging device 100 that photographs the inner wall surface of the tunnel 600 as an example of the object in a state of being mounted on the vehicle 500 as an example of the moving body, and is provided with a plurality of cameras (imaging units) that photograph different ranges on the inner wall surface of the tunnel 600, respectively, a support member 210 that supports the 1 st camera 310 and the 2 nd camera 320 of 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 having the 1 st mounting portion 315 on which the 1 st camera 310 is mounted, and the 2 nd mounting portion 325 that is disposed apart from the 1 st mounting portion 315 in a direction intersecting the moving direction of the vehicle 500 and on which the 2 nd camera 320 is mounted, and a connecting member 283 that connects the middle portion 210M located between the 1 st mounting portion 315 and the 2 nd mounting portion 325 in the support member 210 and the facing portion 230M facing the middle portion 210M.
By providing such a coupling member 283, it is possible to suppress deflection due to vibration of the intermediate portion 210M and to suppress positional displacement of the 1 st camera 310 and the 2 nd camera 320 due to deflection of the intermediate portion 210M. Thereby, the positional shift of 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 is suppressed.
The imaging device 100 includes a 1 st illumination unit 410 for illuminating a range on an inner wall surface of the tunnel 600 captured by the 1 st camera 310, and a 2 nd illumination unit 420 for illuminating a range on an inner wall surface of the tunnel 600 captured by the 2 nd camera 320, wherein the 1 st camera 310 and the 1 st illumination unit 410 are mounted on the 1 st mounting unit 315, and the 2 nd camera 320 and the 2 nd illumination unit 420 are mounted on the 2 nd mounting unit 325.
At this time, by providing the coupling member 283, the deflection due to the vibration of the intermediate portion 210M is suppressed, and the positional shift of 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 device 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 in the moving direction of the vehicle 500, the 1 st camera 310 and the 2 nd camera 320 are mounted to the support member 210 by the 1 st mounting portion 315 and the 2 nd mounting portion 325 in the same direction as the 3 rd camera 330 is mounted to the 2 nd support member 220.
Accordingly, in the moving direction of the vehicle 500, since the vibration of the 1 st camera 310 and the 2 nd camera 320 and the vibration of the 3 rd camera 330 can be made to be in the same direction, the positional shift of the imaging position due to the vibration of the 3 rd camera 330 to the 1 st camera 310 and the 2 nd camera 320 is suppressed as 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 portion by the 1 st attachment portion 315 and the 2 nd attachment 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 portion 335 to which the 3 rd camera 330 is mounted, and a 4 th mounting portion 345 which is disposed apart from the 3 rd mounting portion 335 in a direction intersecting the moving direction of the vehicle 500 and to which the 4 th camera 320 included in the plurality of cameras is mounted, and in the moving direction of the vehicle 500, the directions in which the 1 st camera 310 and the 2 nd camera 320 are mounted to the support member 210 through the 1 st mounting portion 315 and the 2 nd mounting portion 325 are the same as the directions in which the 3 rd camera 330 and the 4 th camera 340 are mounted to the 2 nd support member 220.
Thereby, positional displacement of the imaging positions due to vibration 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 is suppressed.
The imaging device 100 includes a 2 nd coupling member 272 that couples the 2 nd intermediate portion 220M located between the 3 rd mounting portion 335 and the 4 th mounting portion 345 of the 2 nd support member 220 and the 2 nd opposing portion 230M of the opposing member 230 that faces the 2 nd intermediate portion 220M.
By providing such a 2 nd coupling member 272, deflection due to vibration of the 2 nd intermediate portion 220m is suppressed, and positional displacement of the 3 rd camera 330 and the 4 th camera 340 due to 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 device 100 includes a 3 rd illumination unit 430 that illuminates a range on an inner wall surface of the tunnel 600 captured 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 captured by the 4 th camera 340, wherein the 3 rd camera 330 and the 3 rd illumination unit 430 are mounted to the 3 rd mounting unit 335, and wherein the 4 th camera 340 and the 4 th illumination unit 440 are mounted 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 for supporting a plurality of imaging units on an inner wall surface of a photographing tunnel 600 in a state of being installed on a vehicle 500, wherein a support member 210 for supporting a 1 st camera 310 and a 2 nd camera 320 in different ranges on the inner wall surface of the photographing tunnel 600, respectively, and a facing member 230 facing the support member 210 in the moving direction of the vehicle 500 are provided in a direction intersecting the moving direction of the vehicle 500, the support member 210 has a 1 st mounting unit 315 on which the 1 st camera 310 is mounted, a 2 nd mounting unit 325 on which the 2 nd camera 320 is mounted in a direction intersecting the moving direction of the vehicle 500, and a connecting member 283 for connecting an intermediate portion 210M located between the 1 st mounting unit 315 and the 2 nd mounting unit 325 in the support member 210 and the facing portion 230M facing the intermediate portion 210M.
The supporting method according to the embodiment of the present invention is a supporting method for supporting a plurality of imaging units that are provided in a vehicle 500 and capture an inner wall surface of a tunnel 600, in which a 1 st camera 310 and a 2 nd camera 320 that capture different ranges on the inner wall surface of the tunnel 600 are supported by a supporting member 210 in a direction intersecting a moving direction of the vehicle 500, and in which the 1 st camera 310 is mounted by a 1 st mounting unit 315 and the 2 nd camera 320 is mounted by a 2 nd mounting unit 325 that is disposed apart from the 1 st mounting unit 315 in the direction intersecting the moving direction of the vehicle 500, and in which an intermediate portion 210M between the 1 st mounting unit 315 and the 2 nd mounting unit 325 in the supporting member 210 and an opposing portion 230M opposing the intermediate portion 210M in an opposing member 230 opposing the supporting member 210 in the moving direction of the vehicle 500 are connected by a connecting member 283.
Claims (7)
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| JP2020216294A JP7610790B2 (en) | 2020-12-25 | 2020-12-25 | Imaging device, moving body, supporting device and supporting method |
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| CN114697494B true CN114697494B (en) | 2024-03-05 |
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| JP7610790B2 (en) | 2025-01-09 |
| CN114697494A (en) | 2022-07-01 |
| JP2022101912A (en) | 2022-07-07 |
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