JP2008051688A - Automatic measurement device of vehicle, automatic measurement system of vehicle, and automatic measurement method of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic measurement device, system, and method of vehicle facilitating installation of equipment. <P>SOLUTION: The automatic measurement system 1 of vehicle includes an axle load measurement device 10 installed on a road 2 and measuring axle load of a vehicle, an imaging apparatus 20 including a plurality of cameras imaging a region including the axle load measurement device 10, and the automatic measurement device 30 of vehicle for measuring specifications of the traveling vehicle on the basis of information from the axle load measurement device 10 and the imaging apparatus 20. The automatic measurement device 30 measures three-dimensional information in the imaging area, recognizes the traveling vehicle, and acquires its traveling position. The automatic measurement device 30 measures the weight of the recognized vehicle as the vehicle specifications on the basis of the acquired traveling position, the installation position of the axle load measurement device, and the axle load measured by the axle load measurement device. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle automatic measurement device, a vehicle automatic measurement system, and a vehicle automatic measurement method that automatically measure specifications of a vehicle traveling on a road.

  For example, Patent Document 1 discloses a passing vehicle automatic measurement system that measures vehicles on a road and measures vehicle information of individual vehicles. FIG. 10 is an explanatory diagram showing the passing vehicle automatic measurement system described in Patent Document 1. As shown in FIG.

  As shown in FIG. 10, this passing vehicle automatic measurement system includes a vehicle detection device 101 that detects the entry of a vehicle when the vehicle passes a predetermined measurement area, and the first portal column 103. A vehicle dimension measuring device 104 that measures the vehicle dimensions of the vehicle, a vehicle dimension measuring device 106 that measures the vehicle dimensions of the vehicle installed on the second portal column 105, and a vehicle to the second portal column 105 A vehicle detection device 107 that detects an approach, an axle weight measurement device 102 that measures each axle weight of the vehicle, an axis number calculation unit that calculates the number of axes of the vehicle based on the measurement results, A vehicle passage information generation unit that generates vehicle passage information and a monitoring camera 108 that monitors a traveling state of the vehicle are configured.

  When the vehicle passes through a predetermined measurement area and the vehicle detection device 101 detects the entry of the vehicle, measurement at the installation position of the first portal column 103 is started, and the vehicle is installed on the first portal column 103. While the vehicle dimension measuring apparatus 104 detects the vehicle, the number of axes measured by the axle weight measuring apparatus 102 is calculated to calculate the vehicle weight, and the vehicle dimension measuring apparatus 104 measures the dimensions of the vehicle.

  When the vehicle detection device 107 installed on the second portal column 105 detects the entry of the vehicle, the vehicle dimension measurement device 106 installed on the second portal column 105 measures the dimensions of the vehicle. Then, based on each measurement result, the vehicle passage information generation unit generates the passage information of the vehicle, and when the abnormal numerical value is measured, the image captured by the monitoring camera 108 to grasp the state of the vehicle Is recorded.

JP 2002-230104 A

  However, in the above passing vehicle automatic measurement system, it is necessary to embed a loop coil type vehicle detector under the road in order to detect a passing vehicle, and there is a situation that installation is difficult.

  This invention is made | formed in view of said situation, Comprising: It aims at providing the automatic vehicle measuring device, the automatic vehicle measuring system, and the automatic vehicle measuring method which enabled installation of an installation easily.

  In the present invention, first, an image captured by an imaging device having a plurality of cameras that capture an area including the axle load measurement device on a road provided with an axle load measurement device that measures the axle load of the vehicle. Based on the three-dimensional information, a three-dimensional information measuring unit that measures three-dimensional information in the imaging region, a vehicle recognition unit that recognizes a vehicle traveling in the imaging region based on the measured three-dimensional information, and A travel position acquisition unit that acquires the travel position of the recognized vehicle, the acquired travel position and the installation position of the axle load measurement device, and the axle weight measured by the axle load measurement device, There is provided an automatic vehicle measurement device including a vehicle specification measurement unit that measures the weight of the recognized vehicle and acquires it as a vehicle specification.

  With this configuration, the three-dimensional information is measured from the captured image, and the weight is measured when the vehicle is recognized. Therefore, it is not necessary to embed a loop coil type vehicle detector under the road, and the equipment can be easily installed. Can do.

  Secondly, the present invention is the vehicle automatic measuring device according to the first aspect, wherein the three-dimensional information measuring unit is installed on a plane substantially perpendicular to a traveling direction defined on the road and travels. The three-dimensional information is measured based on images from the plurality of cameras that capture the entire vehicle, and the vehicle specification measuring unit is recognized based on the measured three-dimensional information. An automatic vehicle measurement device that measures at least one of the length, width, and height of a vehicle and obtains it as the vehicle specifications is provided.

  With this configuration, it is possible to measure the vehicle specifications based on the image from the imaging device installed on the portal column provided substantially perpendicular to the traveling direction, so the vehicle specifications such as the length of the vehicle are measured. Therefore, installation of equipment can be facilitated.

  Thirdly, the present invention provides the vehicle automatic measurement device according to the first or second aspect, wherein the three-dimensional information measurement unit is based on images from the plurality of cameras that capture a plurality of lanes. 3D information is measured, the travel position acquisition unit determines in which lane the recognized vehicle is traveling, and the vehicle specification measurement unit has a plurality of recognized vehicles. When it is determined that the vehicle travels across a lane, an automatic vehicle measuring device is provided that measures the weight based on the axial weight measured in the plurality of lanes by the axle load measuring device.

  With this configuration, since the weight is measured after determining which lane the vehicle is traveling on, the vehicle weight can be accurately measured even on a vehicle traveling across the lane.

  Fourthly, the present invention provides the vehicle automatic measurement device according to any one of the first to third aspects, wherein at least one of the vehicle specifications measured by the vehicle specification measurement unit is predetermined. Vehicle information that stores information on the vehicle when it is determined that the recognized vehicle is a violation vehicle, and a violation vehicle determination unit that determines whether the recognized vehicle is a violation vehicle An automatic vehicle measurement device further provided with an accumulation unit is provided.

  With this configuration, it is possible to warn the owner or the like of the violating vehicle by accumulating information on the vehicle determined to be a violating vehicle that violates laws and the like based on the measured vehicle specifications.

  Fifth, the present invention provides the vehicle automatic measurement device according to the fourth aspect, wherein the vehicle information accumulation unit accumulates an image of the violating vehicle imaged by the imaging device. It is what is done.

  With this configuration, there is no need to separately install an imaging device for monitoring the violating vehicle, so measurement of vehicle specifications and image storage of the violating vehicle based on an image from the imaging device installed on one portal column It can be performed.

  Sixthly, the present invention provides an axle load measuring device that is provided on a road and measures the axle load of a vehicle, an imaging device having a plurality of cameras that capture an area including the axle load measuring device, and the imaging device A three-dimensional information measuring unit that measures three-dimensional information in the imaging region from a captured image, a vehicle recognition unit that recognizes a vehicle traveling in the imaging region based on the measured three-dimensional information, and the tertiary Based on the original information, a travel position acquisition unit that acquires the travel position of the recognized vehicle, the acquired travel position, the installation position of the axle load measurement device, and the axis measured by the axle load measurement device An automatic vehicle measurement system is provided that includes a vehicle specification measurement unit that measures the weight of the recognized vehicle based on the weight and acquires it as vehicle specifications.

  With this configuration, 3D information is measured from the captured image, and the weight is measured when the vehicle is recognized, so there is no need to embed a loop coil type vehicle detector under the road and the vehicle can be easily installed on the road. A measurement system can be provided.

  Seventhly, the present invention provides an image captured by an imaging device having a plurality of cameras for imaging an area including the axle load measuring device on a road provided with an axle load measuring device for measuring the axle load of the vehicle. From the step of measuring three-dimensional information in the imaging region, the step of recognizing a vehicle traveling in the imaging region based on the measured three-dimensional information, and the recognized vehicle based on the three-dimensional information The travel position of the vehicle is acquired, the weight of the recognized vehicle is measured based on the travel position acquired, the installation position of the axle load measuring device, and the axle weight measured by the axle load measuring device. Thus, there is provided an automatic vehicle measurement method having a step of acquiring as vehicle specifications.

  By this method, 3D information is measured from the captured image, and the weight is measured when the vehicle is recognized. Therefore, it is not necessary to embed a loop coil type vehicle detector under the road, and equipment can be easily installed. Can do.

  Eighthly, the present invention provides a vehicle automatic measurement program that causes a computer to execute each step of the vehicle automatic measurement method described in the seventh aspect.

  With this program, three-dimensional information is measured from the captured image, and the weight is measured when the vehicle is recognized. Therefore, it is not necessary to embed a loop coil type vehicle detector under the road, and equipment can be easily installed. Can do.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle automatic measuring device, the vehicle automatic measuring system, and the vehicle automatic measuring method which can install an installation easily can be provided.

  FIG. 1 is an explanatory diagram showing an automatic vehicle measurement system according to an embodiment of the present invention. The automatic vehicle measurement system 1 of the present embodiment automatically measures the specifications of a vehicle 3 traveling on a road 2. In the present embodiment, the road 2 will be described as an example in which the traveling direction is a two-lane road having the lanes 2a and 2b with the traveling direction set in the direction T illustrated.

  In the present embodiment, the vehicle specification means at least one of the weight of the vehicle, the length of the vehicle, the width of the vehicle, and the height of the vehicle.

  As shown in FIG. 1, the automatic vehicle measurement system 1 includes an axle load measuring device 10 that measures each axle load of a vehicle traveling on a road 2, an imaging device 20 that images the road 2, and an axle load measuring device 10. And an automatic vehicle measuring device 30 that measures the specifications of the traveling vehicle based on information from the imaging device 20.

  The axle weight measuring device 10 includes an axle weight meter 11 and a measuring instrument 12, and has a configuration capable of measuring the axle weight of a traveling vehicle for each lane 2a, 2b. The axle weight meter 11 is installed embedded in each lane 2a, 2b of the road 2, and has a load converter that converts a load into a voltage and outputs it as an electric signal. The measuring instrument 12 measures the axle weight of the vehicle based on the electric signal output from the axle weight meter 11, and outputs the axle weight value measured every time the axle passes to the vehicle automatic measuring device 30 for each lane. .

  The imaging device 20 is installed on the portal column 21 and has a plurality of cameras capable of stereo image processing, and outputs the captured images to the vehicle automatic measurement device 30. The portal column 21 is provided in front of the axle load meter 11 in a direction substantially perpendicular to the traveling direction T with respect to the traveling direction T of the road 2 and has a shape straddling the road 2. That is, the plurality of cameras included in the imaging device 20 are installed on a plane that is substantially perpendicular to the traveling direction T, and are arranged at predetermined intervals.

  Moreover, the imaging device 20 images the imaging region 2c shown in FIG. 1, for example. The imaging area 2c has an area on the road 2 where at least the axle weight meter 11 is provided. When the vehicle length needs to be measured as a vehicle specification, the imaging area 2c is on the road 2 including the entire traveling vehicle. Has a region.

  The vehicle automatic measurement device 30 is connected to the axle load measurement device 10 and the imaging device 20 via a wired or wireless communication line. FIG. 2 is a block diagram showing a schematic configuration of the automatic vehicle measurement device according to the embodiment of the present invention.

  As shown in FIG. 2, the automatic vehicle measurement device 30 includes a three-dimensional information measurement unit 31, a vehicle recognition unit 32, a travel position acquisition unit 33, a vehicle weight measurement unit 34, a violation vehicle determination unit 35, a vehicle And an information storage unit 36.

  The three-dimensional information measuring unit 31 measures the three-dimensional information in the imaging region 2c from the image captured by the imaging device 20. The vehicle recognition unit 32 recognizes a vehicle traveling in the imaging region 2c based on the three-dimensional information measured by the three-dimensional information measurement unit 31. The travel position acquisition unit 33 acquires the travel position of the vehicle recognized by the vehicle recognition unit 32 based on the three-dimensional information.

  The vehicle weight measurement unit 34 is recognized by the vehicle recognition unit 32 based on the travel position acquired by the travel position acquisition unit 33, the installation position of the axle weight measurement device, and the axle weight measured by the axle weight measurement device 10. Measure the vehicle specifications of the selected vehicle. The violation vehicle determination unit 35 compares at least one of the vehicle specifications measured by the vehicle specification measurement unit 34 with a predetermined value, and determines whether the vehicle recognized by the vehicle recognition unit 32 is a violation vehicle. judge. When it is determined that the recognized vehicle is a violation vehicle, the vehicle information accumulation unit 36 accumulates information on the vehicle, for example, vehicle specifications and an image captured by the imaging device 20.

  Next, the operation of the vehicle automatic measurement system of this embodiment will be described. FIG. 3 is a flowchart showing an operation procedure of the automatic vehicle measurement system according to the embodiment of the present invention.

  The imaging device 20 images the traveling vehicle using the imaging region 2c as an imaging range (step S1). Then, the three-dimensional information measuring unit 31 measures three-dimensional information by stereo image processing from images captured by a plurality of cameras of the imaging device 20 (step S2).

  Here, a method for measuring three-dimensional information by stereo image processing will be described with reference to FIGS. 4 and 5 are explanatory diagrams illustrating an example of a stereo image processing method.

  As shown in FIG. 4, description will be made using (x, y, z) as coordinates representing the real space coordinate system and (X, Y) as coordinates representing the camera coordinate system. The imaging apparatus 20 has two cameras (left camera and right camera).

  The left camera and the right camera are installed so that their optical axes are parallel to each other and on the same plane. The left camera has an imaging surface 41 with a projection distance f at the projection center FL, and the right camera has an imaging surface 42 with a projection distance f at the projection center FR. The distance between the projection centers FL and FR is 2a. Further, (XL, YL) is used as coordinates on the imaging surface 41 of the left camera, and (XR, YR) is used as coordinates on the imaging surface 42 of the right camera.

  The origin O of the real space coordinate system (x, y, z) is located at the midpoint between the projection center FL of the left camera and the projection center FR of the right camera. The x axis is an axis passing through the projection centers FL and FR, and the z axis is an axis parallel to the optical axis.

  Furthermore, the XL axis and the XR axis of the camera coordinate system are axes parallel to the x axis. That is, the axis is z = f on the xz plane. In addition, the YL axis and YR axis of the camera coordinate system are axes parallel to the y axis.

  The point P1 (x1, y1, z1) in the real space forms an image at a point PL1 (XL1, YL1) on the left image plane 41 and a point PR1 (XR1, YR1) on the right image plane 42, respectively. In the three-dimensional measurement by stereo image processing, a point corresponding to a point PL on the image plane (image plane 41 of the left camera) is set with reference to one image plane (here, the image plane 41 of the left camera). Find from the other image plane (image plane 42 of the right camera). Then, the three-dimensional information is measured by obtaining the spatial coordinates (x1, y1, z1) of the point P1 based on the principle of triangulation.

  As described above, since the optical axes of the two cameras are set so as to be parallel to each other (parallel to the z axis) and on the same plane (xz plane), YR = YL.

And the relationship between the coordinates on the image plane and the coordinates on the real space is
x1 = a (XL1 + XR1) / (XL1-XR1)
y1 = 2aYL1 / (XL1-XR1)
z1 = 2af / (XL1-XR1)
It becomes. Here, d = XL1-XR1 is called parallax.

Than this,
XL1 = (x1 + a) f / z
XR1 = (x1-a) f / z
YL1 = YR1 = y1f / z
So,
XL1> XR1 and YL1 = YR1
It becomes.

  This indicates that a point PR on the other image plane corresponding to one point PL on one image plane exists on the same scanning line and in a range of XL> XR. Therefore, a point on the other image plane corresponding to one point on one image plane corresponds to a block of a predetermined size along a straight line (same scanning line) where the corresponding point may exist. It can be found by examining the similarity.

  Next, a method for evaluating similarity will be described. As an example, Miyoshi et al., “Driving support system using 3D image recognition technology”, Automobile Engineering Society Academic Lecture Preprints 924, pp. 169-172 (1992-10) will be described with reference to FIG. In the present embodiment, the three-dimensional information measurement unit 31 evaluates similarity.

  The three-dimensional information measuring unit 31 divides the left image 51 in units of blocks 53 having a size of n × m pixels with the left camera image 51 (hereinafter referred to as a left image) as a reference, and the right of each divided block. A corresponding area is searched from the camera image (hereinafter referred to as the right image) 52 to obtain the parallax d.

In addition, as a similarity evaluation formula for determining the corresponding area,
C = Σ | Li-Ri |
Is used. Here, Li and Ri represent the luminance in the i-th pixel in the left block 53 and the right block 54, respectively.

  The three-dimensional information measurement unit 31 calculates the similarity evaluation value C while moving the right block 54 pixel by pixel over the search range 55, and determines the position where the similarity evaluation value C is the minimum as the corresponding region. By performing such similarity evaluation for each block 11 of the left image 9, three-dimensional information such as the parallax of all the blocks of the left image 9 or the distance z converted by the above formula can be obtained.

  As described above, the three-dimensional information measuring unit 31 can measure the three-dimensional information of the monitoring space by stereo image processing. Various methods other than the above-described methods have been proposed as a three-dimensional information measurement method using stereo image processing, and the present invention is not limited to the above-described three-dimensional information measurement method.

  Returning to FIG. 3, next, in the vehicle automatic measurement device 30, the vehicle recognition unit 32 detects a three-dimensional object in the monitoring space based on the three-dimensional information calculated by the three-dimensional information measurement unit 31, and detects the vehicle. Recognize (step S3).

  As a method of detecting a three-dimensional object, for example, there is a method of detecting a changed block as a three-dimensional object by comparing three-dimensional information at a reference time with three-dimensional information at each time. Furthermore, a labeling process is performed on the block detected as having a three-dimensional object, and when the number of three-dimensional object blocks is larger than a predetermined value, the three-dimensional object is determined to be a vehicle.

  When the vehicle recognition unit 32 does not detect a vehicle in the monitoring space (NO in step S4), the process returns to step S1.

  On the other hand, when a vehicle is detected in the monitoring space, the vehicle specification measuring unit 34 measures the length of the vehicle, the width of the vehicle, and the height of the vehicle from the measured three-dimensional information (step S5). This method will be described with reference to FIGS. 6 and 7 are explanatory views showing a vehicle specification measuring method according to the embodiment of the present invention.

  As shown in FIG. 6, the origin of the camera coordinate system 61 is arranged on the H axis of the real space coordinate system 62, and the X axis and the U axis are arranged in parallel. Further, as shown in FIG. 7, the camera 71 is installed at a height Hcam from a reference plane 72 (for example, a road surface of a road) existing in the monitoring space. Here, a method of calculating the real space coordinates of each block when the object 73 having the height h has a distance in the optical axis Z direction at Z1 will be described.

  The object 73 is imaged at the point (X, Y), and the distance in the optical axis direction to the reference plane 18 imaged at the point (X, Y) when the object 73 does not exist is z0.

At this time, the height h of the object 73 is
h = Hcam × (1−Z1 / Z0)
Can be calculated as From this equation, the vehicle specification measurement unit 34 calculates the height h for all the blocks determined to be vehicles by the vehicle recognition unit 32, and sets the maximum height as the height of the vehicle.

Also, the distance v in the V-axis direction from the point directly under the camera 16 to the object 17 is
v = {Z1- (Hcam-h) cos θ} / sin θ
It becomes.

  From this equation, the vehicle specification measuring unit 34 calculates the distance v in the V-axis direction for all the blocks determined to be vehicles by the vehicle recognizing unit 32, and the difference between the maximum distance and the minimum distance is calculated as the length of the vehicle. Say it.

On the other hand, the coordinate position u in the U-axis direction of the object 17 is calculated from the camera coordinate systems X and Z. That is, if the horizontal imaging range at a position Z from the camera is W and the horizontal size of the imaging surface is XW,
u = X / XW × W
It becomes.

  From this equation, the vehicle specification measurement unit 34 calculates the coordinate position u in the U-axis direction for all the blocks determined to be vehicles by the vehicle recognition unit 32, and calculates the difference between the maximum coordinate position and the minimum coordinate position. The width of the vehicle.

  Returning to FIG. 3, next, in the automatic vehicle measurement device 30, the traveling position acquisition unit 33 measures the vehicle detection position based on the calculated three-dimensional information (step S <b> 6). FIG. 8 is an explanatory diagram showing a vehicle position determination method according to the embodiment of the present invention. As illustrated in FIG. 8, the draft position acquisition unit 33 sets a position Vj in the V-axis direction of the axle weight meter 11 in advance, and compares the position Vj with the distance in the V-axis direction of the vehicle 3 when a vehicle is detected.

Among all the blocks determined to be vehicles, the block having the smallest distance in the V-axis direction is set as the position Vmin of the vehicle head 3f, and the block having the maximum distance is set as the position Vmax of the vehicle tail 3r. At this time, the travel position acquisition unit 33
Vmin ≦ Vj ≦ Vmax
While it is, it is determined that the vehicle 3 is on the axle load scale 11 (YES in step S7).

  The vehicle specification measuring unit 34 determines whether or not the axle weight value is measured by the axle weight measuring device 10 (step S8), and if it is measured (YES in step S8), the process proceeds to step S9 and is measured. If not, the process proceeds to step S13.

  The travel position acquisition unit 33 determines the lane position where the vehicle recognized by the vehicle recognition unit 32 travels. FIG. 9 is an explanatory diagram illustrating a traveling lane determination method according to the embodiment of the present invention. As illustrated in FIG. 9, the travel position acquisition unit 33 sets lane positions 2a and 2b in the image in advance, and the lane positions that belong to all the blocks that are determined to be vehicles when the vehicle 21 is detected. To calculate the ratio of blocks belonging to each lane to all vehicle blocks.

  Then, the travel position acquisition unit 33 determines the lane to which blocks of a predetermined ratio or more belong as the travel lane of the vehicle. At this time, when the block ratio belonging to each lane does not exceed a predetermined value, it is determined that the vehicle travels across a plurality of lanes (hereinafter referred to as straddle travel). In this way, the vehicle travel position is calculated (step S9).

  In the vehicle specification measurement unit 34, when the travel position acquisition unit 33 determines that the vehicle is traveling across a plurality of lanes (YES in step S10), the axle load measurement device 10 uses both lanes. The weight of the vehicle is measured by adding the measured axle weight value (step S11). On the other hand, when it is determined that the vehicle is not straddling (NO in step S10), the axle weight value measured in the corresponding lane is added to the axle weight measuring device 10 to measure the weight of the vehicle ( Step S12). Thus, since the weight is measured after determining which lane the vehicle is traveling, the vehicle weight can be accurately measured even for a vehicle traveling across the lane.

  When it is determined that the vehicle is not positioned on the axle load meter 11 (NO in step S7), when the axle load is not measured by the axle load measuring device (NO in step S8), or in step S11 or S12 When the axle weight is measured, the vehicle specification measuring unit 34 passes the vehicle on which the specification is measured on the axle load meter 11 based on the travel position acquired by the travel position acquisition unit 33. It is determined whether or not. If the vehicle has not passed over the axle load meter 11 (NO in step S13), the process returns to step S1. That is, the vehicle specification measuring unit 34 adds the axle weight value measured by the axle weight measuring device 10 while the vehicle is detected on the axle weight meter 11.

And if the vehicle specification measurement part 34 determines with the vehicle used as the measurement object of a specification having passed on the axle weight meter 11 (NO of step S13), that is,
Vmax <Vj
Then, the addition of the axle weight value is finished and the weight for one vehicle is determined (step S14).

  The violation vehicle determination unit 35 detects whether the vehicle specification exceeds a predetermined value and detects a violation vehicle (step S35). A predetermined value is set in advance for each specification, and compared with the calculated value, when any one exceeds the predetermined value, the vehicle is detected as a violation vehicle.

  When the violation vehicle determination unit 35 determines that the recognized vehicle is a violation vehicle (YES in step S35), the vehicle information storage unit 36 stores information on the vehicle determined to be a violation vehicle (step S36). ). As information to be stored, at least one of the vehicle specification value measured by the vehicle specification measurement unit 34 and the vehicle travel position acquired by the travel position acquisition unit 33 is stored as vehicle information. In this way, by accumulating information on vehicles determined to be violating vehicles that violate laws and regulations based on the measured vehicle specifications, it is possible to warn the owners of violating vehicles and the like.

  Furthermore, when the vehicle recognition unit 32 stores an image captured by the imaging device 20 when the vehicle is detected on the axle load meter 11 and the violation vehicle determination unit 35 determines that the vehicle is a violation vehicle, the vehicle information storage is performed. The unit 36 stores the stored image of the vehicle as vehicle information.

  The imaging device 20 separately installs a camera that captures the vicinity of the front surface of the vehicle, the vehicle recognition unit 32 recognizes the license plate information of the vehicle, and the vehicle information storage unit 36 stores the license plate information of the vehicle. May be.

  According to such an embodiment of the present invention, the three-dimensional information is measured from the captured image and the weight is measured when the vehicle is recognized. Can be easily installed. In addition, by performing stereo image processing using an imaging device having a plurality of cameras, vehicle entry detection, vehicle specification measurement, travel lane determination, and accumulation of images captured as violating vehicle information are performed. It is possible to provide an automatic vehicle measurement device that can measure the weight of the vehicle, has an effect of detecting a violation vehicle, and is easy to install.

  The present invention has an effect that equipment can be easily installed, and is useful for a vehicle automatic measurement device, a vehicle automatic measurement system, a vehicle automatic measurement method, and the like.

Explanatory drawing which shows the vehicle automatic measurement system which concerns on embodiment of this invention The block diagram which shows schematic structure of the vehicle automatic measuring device which concerns on embodiment of this invention. The flowchart which shows the operation | movement procedure of the vehicle automatic measurement system which concerns on embodiment of this invention. Explanatory drawing which shows an example of a stereo image processing method Explanatory drawing which shows an example of a stereo image processing method Explanatory drawing which shows the vehicle item measuring method in embodiment of this invention. Explanatory drawing which shows the vehicle item measuring method in embodiment of this invention. Explanatory drawing which shows the vehicle position determination method in embodiment of this invention Explanatory drawing which shows the traveling lane determination method in embodiment of this invention Explanatory drawing showing a conventional vehicle automatic measurement system

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle automatic measurement system 2 Road 2a, 2b Lane 2c Imaging area 3 Vehicle 3f Car head position 3r Car tail position 10 Axle load measuring device 11 Axle weight meter 12 Measuring device 20 Imaging device 21 Portal column 30 Vehicle automatic measuring device 31 Three-dimensional Information measurement unit 32 Vehicle recognition unit 33 Traveling position acquisition unit 34 Vehicle weight measurement unit 35 Violation vehicle determination unit 36 Vehicle information storage unit 41, 42 Imaging surface 51, 52 Captured image 53, 54 Block 55 Search range 61 Camera coordinate system 62 Real Spatial coordinate system 71 Camera 72 Reference plane 73 Object

Claims (8)

3D in the imaging region from an image captured by an imaging device having a plurality of cameras that capture an area including the axle load measuring device on a road provided with an axle load measuring device for measuring the axle load of the vehicle A three-dimensional information measuring unit for measuring information;
A vehicle recognition unit for recognizing a vehicle traveling in the imaging region based on the measured three-dimensional information;
A travel position acquisition unit that acquires the travel position of the recognized vehicle based on the three-dimensional information;
A vehicle that measures the weight of the recognized vehicle based on the acquired travel position, the installation position of the axle weight measuring device, and the axle weight measured by the axle weight measuring device, and obtains it as a vehicle specification. Specifications measurement unit,
A vehicle automatic measuring device. The vehicle automatic measuring device according to claim 1,
The three-dimensional information measuring unit is installed on a plane substantially perpendicular to the traveling direction defined on the road, and measures the three-dimensional information based on images from the plurality of cameras that capture the entire traveling vehicle. Is what
The vehicle specification measuring unit measures at least one of the recognized length, width, and height of the vehicle based on the measured three-dimensional information, and obtains it as the vehicle specification. Automatic vehicle measurement device. The automatic vehicle measurement device according to claim 1 or 2,
The three-dimensional information measuring unit measures the three-dimensional information based on images from the plurality of cameras that capture a plurality of lanes,
The travel position acquisition unit determines in which lane the recognized vehicle is traveling,
When it is determined that the recognized vehicle travels across a plurality of lanes, the vehicle specification measuring unit is based on the axle weight measured in the plurality of lanes by the axle weight measuring device. Automatic vehicle measurement device that measures weight. The automatic vehicle measurement device according to any one of claims 1 to 3,
A violation vehicle determination unit that compares at least one of the vehicle specifications measured by the vehicle specification measurement unit with a predetermined value and determines whether the recognized vehicle is a violation vehicle;
When it is determined that the recognized vehicle is a violation vehicle, a vehicle information storage unit that stores information on the vehicle;
A vehicle automatic measuring device further comprising: The vehicle automatic measuring device according to claim 4,
The vehicle information accumulation unit is an automatic vehicle measurement device that accumulates images of the violating vehicles imaged by the imaging device. An axle load measuring device that is provided on the road and measures the axle load of the vehicle;
An imaging device having a plurality of cameras for imaging an area including the axial load measuring device;
A three-dimensional information measuring unit that measures three-dimensional information in the imaging region from an image captured by the imaging device;
A vehicle recognition unit for recognizing a vehicle traveling in the imaging region based on the measured three-dimensional information;
A travel position acquisition unit that acquires the travel position of the recognized vehicle based on the three-dimensional information;
A vehicle that measures the weight of the recognized vehicle based on the acquired travel position, the installation position of the axle weight measuring device, and the axle weight measured by the axle weight measuring device, and obtains it as a vehicle specification. Specifications measurement unit,
A vehicle automatic measurement system comprising: 3D in the imaging region from an image captured by an imaging device having a plurality of cameras that capture an area including the axle load measuring device on a road provided with an axle load measuring device for measuring the axle load of the vehicle Measuring information,
Recognizing a vehicle traveling in the imaging region based on the measured three-dimensional information;
Obtaining the recognized travel position of the vehicle based on the three-dimensional information;
A step of measuring the weight of the recognized vehicle based on the acquired travel position, the installation position of the axle weight measuring device, and the axle weight measured by the axle weight measuring device and obtaining it as vehicle specifications; When,
A vehicle automatic measuring method.   The vehicle automatic measurement program which makes a computer perform each step of the vehicle automatic measurement method described in Claim 7.

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