CN115668962A - Stereo camera - Google Patents

Stereo camera Download PDF

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Publication number
CN115668962A
CN115668962A CN202180040508.2A CN202180040508A CN115668962A CN 115668962 A CN115668962 A CN 115668962A CN 202180040508 A CN202180040508 A CN 202180040508A CN 115668962 A CN115668962 A CN 115668962A
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CN
China
Prior art keywords
threshold value
temperature difference
stereo camera
image pickup
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202180040508.2A
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Chinese (zh)
Inventor
藤原直树
市毛敦
名越广人
盐见惠史
中川优
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Astemo Ltd
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Hitachi Astemo Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Publication of CN115668962A publication Critical patent/CN115668962A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B43/00—Testing correct operation of photographic apparatus or parts thereof
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/31—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing stereoscopic vision
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/55—Details of cameras or camera bodies; Accessories therefor with provision for heating or cooling, e.g. in aircraft
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B30/00—Camera modules comprising integrated lens units and imaging units, specially adapted for being embedded in other devices, e.g. mobile phones or vehicles

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Optical Distance (AREA)
  • Studio Devices (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

The object of the present invention is to provide a stereo camera capable of specifying a part in which an abnormality or a failure has occurred without being affected by an ambient temperature. The stereo camera of the present invention includes: a first image pickup element that picks up an external image and outputs first image data; a second image pickup element that picks up an image of the outside and outputs second image data; an image processing circuit that processes the first image data and the second image data to acquire external information; a first temperature sensor provided in the vicinity of the first image pickup element; a second temperature sensor provided in the vicinity of the second image pickup element; a third temperature sensor disposed near the image processing circuit; and a control microcomputer that determines an abnormality of the first image pickup element, the second image pickup element, or the image processing circuit based on a temperature difference of the measured temperatures of the respective temperature sensors.

Description

Stereo camera
Technical Field
The present invention relates to a stereo camera capable of specifying an abnormal portion inside.
Background
In-vehicle devices mounted in automobiles and the like, a safety mechanism for avoiding a dangerous phenomenon generated when a certain component is broken down is required. As one of the vehicle-mounted devices, there is a vehicle-mounted camera that provides external information for driving assistance or automatic driving to a vehicle control device. A general vehicle-mounted camera includes an image pickup device for picking up an image of the outside, an image processing circuit for processing image data picked up by the image pickup device to obtain outside information, and a control microcomputer for transmitting the outside information to a vehicle control device. When a specific part of such an onboard camera fails and normal external information cannot be output any more, a dangerous phenomenon may occur if a vehicle control device that has received abnormal external information mistakenly controls the vehicle and performs steering, acceleration, braking, and the like that do not correspond to the actual external environment.
Therefore, the conventional vehicle-mounted camera of patent document 1 or the like takes the following measures: a temperature sensor is disposed near the main component, and when the measured temperature of the temperature sensor exceeds a predetermined threshold, it is determined that there is an abnormality or a failure, and the power supply is cut off to stop the function of the vehicle-mounted camera.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open No. 2001-88609
Disclosure of Invention
Problems to be solved by the invention
However, in patent document 1, even if an abnormal temperature rise due to a component failure occurs when the ambient temperature is low, if the measured temperature of the temperature sensor is equal to or lower than the threshold value, the abnormality or the failure may not be detected. On the other hand, when the ambient temperature is high, even if a failure of a component does not actually occur, if the measured temperature of the temperature sensor exceeds the threshold value, an abnormality or a failure may be erroneously detected.
Accordingly, an object of the present invention is to provide a stereo camera capable of specifying a part in which an abnormality or malfunction has occurred without being affected by an ambient temperature.
Means for solving the problems
In order to solve the above problem, a stereo camera according to the present invention includes: a first image pickup element that picks up an external image and outputs first image data; a second image pickup element that picks up an image of the outside and outputs second image data; an image processing circuit that processes the first image data and the second image data to acquire external information; a first temperature sensor provided in the vicinity of the first image pickup element; a second temperature sensor provided in the vicinity of the second image pickup element; a third temperature sensor disposed near the image processing circuit; and a control microcomputer that determines an abnormality of the first image pickup element, the second image pickup element, or the image processing circuit based on a temperature difference between the measured temperatures of the respective temperature sensors.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the stereo camera of the present invention, it is possible to determine a part in which an abnormality or malfunction has occurred without being affected by the ambient temperature.
Drawings
Fig. 1 is a schematic configuration diagram of a stereo camera according to embodiment 1.
Fig. 2A shows an example of increase in the internal temperature of the stereo camera when the ambient temperature is low.
Fig. 2B shows an example of increase in the internal temperature of the stereo camera when the ambient temperature is high.
Fig. 3 shows an example of the abnormality detection threshold value of the temperature difference Δ T.
Fig. 4 shows an example of a fault detection method using the temperature difference Δ T.
Fig. 5 is an example of a Halt mode start/stop threshold value based on the temperature difference Δ T of embodiment 2.
Fig. 6 is an example of setting a plurality of determination threshold values for the temperature difference Δ T in embodiment 3.
Fig. 7 is an example of the embodiment 4 in which the threshold value is corrected based on the past information of the temperature difference Δ T.
Fig. 8 is an example of predicting a future failure from the transition (change) of the temperature difference Δ T of embodiment 5.
Detailed Description
Embodiments of a stereo camera according to the present invention will be described in detail with reference to the accompanying drawings. The present invention is not limited to the following embodiments, and various modifications and applications are also included in the technical concept of the present invention.
Example 1
First, a stereo camera 1 according to embodiment 1 of the present invention will be described with reference to fig. 1 to 4. In the present embodiment, the stereo camera 1 used for driving assistance or automatic driving of an automobile is described as an example, but the stereo camera 1 may be a stereo camera mounted on an autonomous mobile robot, an industrial robot, or the like, for example.
As shown in fig. 1, the stereo camera 1 of the present embodiment includes a left image pickup device 2L, a right image pickup device 2R, an image processing circuit 3, a left temperature sensor 4L, a right temperature sensor 4R, a main temperature sensor 4M, a control microcomputer 5, a power supply circuit 6, and a storage unit 7.
The left image pickup device 2L and the right image pickup device 2R are CCD image sensors or the like that take images of the outside world and output image data. The image processing circuit 3 processes the image data to acquire external information in front of the host vehicle (for example, a preceding vehicle, a pedestrian, a white line, a traffic signal, and the like in front of the host vehicle).
The left temperature sensor 4L is provided near the left image pickup element 2L, and measures the temperature T around the left temperature sensor 4L L . The right temperature sensor 4R is provided near the right image pickup element 2R, and measures the temperature T around the right temperature sensor 4R R . The main temperature sensor 4M is provided in the vicinity of the image processing circuit 3, and measures the temperature T around the image processing circuit 3 M 。
The control microcomputer 5 transmits the external information processed by the image processing circuit 3 to the vehicle control device 10 or based on the temperature T measured by each temperature sensor L 、T R 、T M To determine whether the stereo camera 1 is abnormal or to determine abnormal parts. Details of the processing here will be described later.
The power supply circuit 6 supplies power to the left image pickup device 2L, the right image pickup device 2R, the image processing circuit 3, and the like, or temporarily stops the supply of power to each part, in accordance with an instruction from the control microcomputer 5. Hereinafter, the function of partially stopping the power supply is referred to as "Halt".
The storage unit 7 is an EEPROM or the like that stores the state of the stereo camera 1 in the past determined by the control microcomputer 5, the measured temperature T of each temperature sensor, and the like.
The vehicle Control device 10 is a Control device that controls a steering system, a driving system, and a braking system of the vehicle based on external information transmitted from the stereo camera 1 to realize driving assistance or automatic driving, and is generally called an ECU (Electronic Control Unit).
Example of increase in internal temperature of stereo camera 1
Next, an example of the increase in the internal temperature of the stereo camera 1 will be described with reference to fig. 2A and 2B. Further, since the arrangement of the heat generating components around each temperature sensor is not the same, if there is no abnormality or failure, the sequence of the measured temperatures T of each temperature sensor is fixed in a constant state after a certain time has elapsed from the start-up, for example, T is always maintained L ＞T R ＞T M The relationship (2) of (c).
FIG. 2A shows a low temperature T at ambient temperature 1 In the case of (1), an example of the rise of the internal temperature when the normal stereo camera 1 is started, and fig. 2B shows a case where the ambient temperature is a high temperature T 2 The case of (2) is an example of the rise in the internal temperature when the same stereo camera 1 is activated. As is clear from a comparison of the two figures, the temperature T increases when the ambient temperature increases L (dotted line), T R (solid line), T M The relative relationship (the one-dot chain line) is maintained. This means that the temperature T is dependent on the ambient temperature L 、T R 、T M It is difficult to detect abnormality or failure of the left image pickup element 2L, the right image pickup element 2R, and the image processing circuit 3.
Here, the temperature T is measured L And temperature T R Is set as a temperature difference Δ T LR Temperature T of R And temperature T M Is set as the temperature difference Δ T MR Temperature T of L And temperature T M Is set as the temperature difference Δ T ML . In this case, as is clear from comparison of the two graphs, each temperature difference Δ T is kept at a substantially fixed value regardless of the ambient temperature. Thus, at the temperature difference Δ T LR 、ΔT MR 、ΔT ML When an abnormality occurs, it can be estimated that some kind of abnormality has occurred in the stereo camera 1.
Abnormality determination method based on control microcomputer 5
Next, a method of determining an abnormality in each temperature difference Δ T will be described with reference to fig. 3. FIG. 3 (a) shows the temperature difference Δ T LR The calculated value (white circle) of (c), and the upper threshold value and the lower threshold value (black circle) for abnormality determination. FIG. 3 (b) shows the temperature difference Δ T MR The calculated value (white circle) of (c), and the upper threshold value and the lower threshold value (black circle) for abnormality determination. FIG. 3 (c) shows the temperature difference Δ T ML The operation value (white circle) of (c), and the upper threshold value and the lower threshold value (black circle) for abnormality determination. The temperature differences Δ T are calculated by the control microcomputer 5 based on the measured temperatures T of the temperature sensors, and the threshold values are assumed temperature differences registered in the storage unit 7 by the designer or the like in consideration of the measured temperatures T of the temperature sensorsAnd (4) a threshold value.
The control microcomputer 5 calculates the temperature difference delta T LR 、ΔT MR 、ΔT ML The determination unit determines that the state is normal when the state is within a normal region between the upper and lower thresholds, and determines that the state is abnormal when the state is maintained for a predetermined time or longer within an abnormal region located above the upper threshold or below the lower threshold, by comparing the state with the upper threshold and the lower threshold set for each.
In the example of FIG. 3, the temperature difference Δ T LR Calculated value of (e.g. 1.3 ℃) and temperature difference Δ T MR Is within the normal range (e.g., 1.2 deg.C), so that the control microcomputer 5 determines the temperature difference DeltaT LR And temperature difference Δ T MR And (4) normal. On the other hand, the temperature difference Δ T ML Is located in the abnormal region, so that the temperature difference Δ T is within ML When the abnormal area staying time reaches a predetermined time, the microcomputer 5 is controlled to determine the temperature difference Δ T ML And (6) abnormal.
After determining whether or not there is an abnormality in each temperature difference Δ T by the above method, the microcomputer 5 is controlled to determine a failure portion of the stereo camera 1 based on a combination of the normality and the abnormality. Fig. 4 shows an example of a failure detection method.
As shown in fig. 4 (a), when all the temperature differences Δ T are normal, the control microcomputer 5 determines that the stereo camera 1 is not defective. On the other hand, as shown in (e) to (g) of fig. 4, when any 2 temperature differences Δ T are abnormal, the control microcomputer 5 specifies an abnormal portion or a failure portion of the stereo camera 1 based on a combination of the abnormal temperature differences Δ T. In any case where 1 temperature difference Δ T is abnormal (fig. 4 (b) to (d)) or where all temperature differences Δ T are abnormal (fig. 4 (h)), the occurrence of an abnormality or a failure itself can be determined, but the location cannot be specified.
When the control microcomputer 5 detects an abnormality or a failure, it controls the power supply circuit 6 according to the state of the abnormality or failure, and starts a Halt mode in which the power supply to the abnormal portion is stopped or notifies the vehicle control device 10 of the abnormality.
For example, as shown in fig. 4 (e) and (f), when it can be determined that one of the left image pickup device 2L and the right image pickup device 2R is normal and the other is abnormal, the external information can be continuously acquired from the image data of the normal one of the image pickup devices, and therefore, as long as the vehicle control device 10 is notified from the control microcomputer 5 that the stereo camera 1 is being used as a monocular camera, the vehicle control device 10 can continue the driving assistance or the automatic driving while recognizing a certain degree of deterioration of the external information.
According to the stereo camera of the present embodiment described above, it is possible to specify a part in which an abnormality or a failure has occurred without being affected by the ambient temperature. As a result, the stereoscopic camera or the vehicle control device can continue the control according to the abnormality or the failure.
Example 2
Next, the stereo camera 1 according to embodiment 2 of the present invention will be described with reference to fig. 5. Note that, the description will not be repeated in common with embodiment 1.
In embodiment 1, the control microcomputer 5 immediately stops the power supply to the specified abnormal portion (Halt mode) when it is determined that the temperature difference Δ T is abnormal, and immediately resumes the power supply when it is determined that the temperature difference Δ T is normal, but when the temperature difference Δ T is in the vicinity of the threshold value, the determination by the control microcomputer 5 is switched in a short time, and there is a possibility that the continuity of the processing in the stereo camera 1 or the vehicle control device 10 cannot be maintained.
Therefore, as shown in fig. 5, in the present embodiment, hysteresis is provided for the Halt start threshold and the Halt release threshold, and fluctuation in the state where Halt start/release is repeated is suppressed. Thus, the stereo camera 1 can be switched to the Halt mode only when the state in which the temperature difference Δ T exceeds the Halt start threshold value continues for a certain time or longer, and can be released from the Halt mode only when the time elapses from the Halt mode state and the temperature difference Δ T decreases to become within the Halt release threshold value. Furthermore, only the temperature difference Δ T is illustrated in FIG. 5 LR For a temperature difference Δ T MR Or a temperature difference Δ T ML The same can be applied.
Example 3
Next, a stereo camera 1 according to embodiment 3 of the present invention will be described with reference to fig. 6. Note that, the description of the common points with the above embodiments will be omitted.
In example 1, when the temperature difference Δ T is within the abnormal region, it is uniformly determined as abnormal or faulty, but the degree of the abnormal or faulty cannot be grasped.
Therefore, as shown in fig. 6, in the present embodiment, failure regions of a plurality of stages are set for each temperature difference Δ T to grasp the degree of abnormality or failure. Thus, when the temperature difference Δ T is within the light failure region for a certain period of time or longer, the control microcomputer 5 can notify the vehicle control device 10 of the occurrence of the light failure. On the other hand, when the temperature difference Δ T is within the major failure region and continues for a predetermined time or longer, the control microcomputer 5 may turn off the power supply circuit 6 and notify the vehicle control device 10 of the occurrence of the major failure. Further, only the temperature difference Δ T is illustrated in FIG. 6 LR For a temperature difference Δ T MR Or temperature difference DeltaT ML The same can be applied.
Example 4
Next, a stereo camera 1 according to embodiment 4 of the present invention will be described with reference to fig. 7. Note that, the description of the common points with the above embodiments will be omitted.
In embodiment 1, the designer or the like of the stereo camera 1 needs to register an appropriate threshold value in the storage unit 7, but it is also conceivable that the threshold value registered by the designer or the like is inappropriate, or that the magnitude of the appropriate threshold value changes due to the influence of the aged deterioration or the like of the stereo camera 1.
Therefore, in the present embodiment, the respective threshold values may be corrected in accordance with the actually measured temperature difference Δ T. For example, if the storage unit 7 of the present embodiment stores a plurality of past data of the temperature difference Δ T at the time when a certain time has elapsed since the stereoscopic camera was started, the control microcomputer 5 can correct the threshold value so as to be narrower than the initial threshold value when the maximum value and the minimum value of the past temperature difference Δ T fall within the initial threshold value range, thereby improving the sensitivity of abnormality detection. Further, only the temperature difference Δ T is illustrated in FIG. 7 LR For a temperature difference Δ T MR Or a temperature difference Δ T ML The same can be applied.
Example 5
Next, the stereo camera 1 according to embodiment 5 of the present invention will be described with reference to fig. 8. Note that, the description of the common points with the above embodiments will be omitted.
In embodiment 1, whether or not there is an abnormality at present is determined based on the current temperature difference Δ T, but in the present embodiment, the occurrence timing of an abnormality can be predicted based on the change in the temperature difference Δ T from the past to the present. For example, if the storage unit 7 of the present embodiment stores past data of the temperature difference Δ T at the time when a certain period of time has elapsed since the stereoscopic camera was started, the control microcomputer 5 can predict the future temperature difference Δ T from the transition of the past temperature difference Δ T. Thus, even if the temperature difference Δ T at the present time point is within the normal range, when a future abnormality or failure is predicted from the prediction curve, the future occurrence of the abnormality or failure can be predicted to the vehicle control device 10.
Description of the symbols
The stereo camera includes a main temperature sensor 1, 8230, a stereo camera 2L, a left image pickup element 2R, a right image pickup element 3, an image processing circuit 4L, a left temperature sensor 4R, a right temperature sensor 4M, a main temperature sensor 5, a control microcomputer 6, a power supply circuit 7, a storage unit 10, a control unit 8230and a vehicle control device.

Claims (8)

1. A stereo camera is characterized by comprising:
a first image pickup element that picks up an external image and outputs first image data;
a second image pickup element that picks up an image of the outside and outputs second image data;
an image processing circuit that processes the first image data and the second image data to acquire external information;
a first temperature sensor provided in the vicinity of the first image pickup element;
a second temperature sensor provided in the vicinity of the second image pickup element;
a third temperature sensor disposed near the image processing circuit; and
and a control microcomputer that determines an abnormality of the first image pickup element, the second image pickup element, or the image processing circuit based on a temperature difference between the measured temperatures of the respective temperature sensors.
2. The stereo camera according to claim 1,
when the temperature difference is equal to or greater than an upper threshold or equal to or less than a lower threshold and the state continues for a predetermined time or longer, the control microcomputer determines that the temperature difference is abnormal.
3. The stereo camera according to claim 2,
the upper threshold value is composed of two values of a Halt start threshold value and a Halt release threshold value which specify a hysteresis region,
the lower threshold value is composed of two values, namely a Halt start threshold value and a Halt release threshold value, which specify a hysteresis region.
4. The stereo camera according to claim 2,
the upper threshold value is composed of two values of the boundary of the normal area and the slight fault area, namely the 1 st upper threshold value, and the boundary of the slight fault area and the major fault area, namely the 2 nd upper threshold value,
the lower threshold value is composed of two values, namely a 1 st lower threshold value which is the boundary between the normal area and the slight fault area, and a 2 nd lower threshold value which is the boundary between the slight fault area and the major fault area.
5. The stereo camera according to claim 1,
the control microcomputer determines an abnormal portion based on a combination of the abnormal determination results for each temperature difference.
6. The stereo camera according to claim 5,
when the control microcomputer determines that one image pickup device is normal and the other image pickup device is abnormal,
the image processing circuit processes only image data of a normal image pickup element to acquire the external information.
7. The stereo camera according to claim 2,
further comprising a storage unit for storing a plurality of past data of the temperature difference after a certain time has elapsed from the start,
the control microcomputer corrects the upper threshold value and the lower threshold value according to a maximum value and a minimum value of the past data of the temperature difference stored in the storage unit.
8. The stereo camera according to claim 1,
the temperature sensor further comprises a storage unit for storing past data of the temperature difference after a certain period of time has elapsed from the start-up,
the control microcomputer predicts a future change in the temperature difference based on the past transition of the temperature difference stored in the storage unit, thereby predicting the occurrence of an abnormality.
CN202180040508.2A 2020-06-15 2021-02-05 Stereo camera Pending CN115668962A (en)

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PCT/JP2021/004275 WO2021255991A1 (en) 2020-06-15 2021-02-05 Stereo camera

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JP3462812B2 (en) 1999-09-22 2003-11-05 富士重工業株式会社 Power supply control method and device for vehicle-mounted camera
WO2017154847A1 (en) * 2016-03-11 2017-09-14 富士フイルム株式会社 Imaging apparatus
CN210270567U (en) * 2019-08-08 2020-04-07 新疆利丰智能科技股份有限公司 Remote monitoring and maintaining device of terminal monitoring equipment

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