JP2012007972A - Vehicle dimension measuring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle dimension measuring device capable of precisely measuring the dimensions of a vehicle, according only to an image obtained by shooting a vehicle in which a plurality of targets equipped with reflecting material is installed with a stereo camera.SOLUTION: The vehicle dimension measuring device 1 comprises a vehicle length target 3 installed according to the length of a vehicle 2, and set at height already known; a vehicle width target 4 installed according to the width of the vehicle 2, and set at the same height as the vehicle length target 3; a vehicle height target 5 installed at the highest position of the vehicle 2; an axle target 6 installed along an axle direction of the vehicle 2, and set at the already known height which is different from the vehicle length target 3 and the vehicle width target 4; a stereo camera 7 shooting the vehicle 2 in which the targets 3-6 are set; and a computing device calculating the dimensions of the vehicle 2 on the basis of the image obtained from the stereo camera 7.

Description

  The present invention relates to a vehicle dimension measuring device that measures a dimension of a vehicle from an image obtained by photographing a vehicle to be measured with a stereo camera.

  2. Description of the Related Art Conventionally, in automobile inspections called so-called vehicle inspections, vehicle dimensions are measured in order to inspect whether or not the dimensions of a vehicle to be inspected satisfy dimensional standards defined by law. As a means for measuring the dimensions of the vehicle, for example, the number of pixels photographed by one TV camera is calculated in consideration of distortion aberration related to the distance from the TV camera to the vehicle, and the length per one pixel interval is stored in memory. In addition, the entire length of the vehicle is shot with a plurality of TV cameras, from the start point of the image where the start point of this vehicle is shot to the end of the image, and from the end point of the image where the end point of the vehicle is shot to the end of the image, Further, the total number of pixels of the image obtained by photographing the intermediate portion of the vehicle is obtained, the length is obtained from the memory value obtained by correcting the distortion aberration, and the number of pixels of the overlapping image portion photographed by the television camera is obtained. A dimension measuring method for obtaining the length of a vehicle by pulling the length has been proposed (for example, see Patent Document 1).

  Further, as a means for measuring the dimensions of the vehicle, there is a device that uses a three-dimensional coordinate measuring apparatus that measures the three-dimensional coordinates of the vehicle based on a plurality of images taken from different angles of the vehicle. In this three-dimensional coordinate measuring apparatus, a plurality of photographing devices are installed around the vehicle, and each photographing device photographs each vehicle while rolling a strobe. At this time, a member called a target is attached to each measurement point of the vehicle, and a retroreflecting material is provided on the surface of each target. As a result, strobe light reflected by the retroreflecting material appears whitish in each photographed image. Then, for each image, an area in which strobe light is projected as white is extracted as a feature point of the image, and feature points are associated with each other for a plurality of images obtained by photographing the same target from different angles. Thereby, the three-dimensional coordinates of the retroreflecting material can be specified for each target, and the three-dimensional coordinates of the vehicle can be calculated based on the three-dimensional coordinates (see, for example, Patent Document 2).

Japanese Patent Laid-Open No. 06-288719 Japanese Patent No. 3637416

  However, in the dimension measuring method of Patent Document 1, only the vehicle length of the vehicle is measured, and the vehicle width and height of the vehicle are not simultaneously measured. In the conventional three-dimensional coordinate measuring apparatus, it is necessary to install a plurality of cameras around the vehicle in order to measure the dimensions of the vehicle.

  The present invention has been made in view of the above problems, and can accurately measure the dimensions of a vehicle based only on an image obtained by photographing a vehicle on which a plurality of targets each having a reflective material are installed with a stereo camera. An object is to provide a vehicle dimension measuring device.

  In order to achieve the above object, the vehicle dimension measuring device according to claim 1 is installed in accordance with the vehicle length of the vehicle to be measured, and is set to a known height higher than the vehicle height of the vehicle. A plurality of vehicle length targets provided with a material, a plurality of vehicle width targets provided with a reflective material installed in accordance with the vehicle width of the vehicle and set to the same height as the vehicle length target, and the vehicle A vehicle height target provided with a reflective material installed at the highest position in the height direction of the vehicle, and installed along the axle direction of the vehicle, higher than the vehicle height of the vehicle, the vehicle length target and the vehicle A plurality of axle targets including a reflector set at a known height different from the vehicle width target, a stereo camera that captures an image of the vehicle on which each of the targets is set, and an image obtained from the stereo camera In Accordingly, a vehicle dimension measuring device including a computing device for measuring the dimensions of the vehicle, wherein the computing device calculates a three-dimensional coordinate of each target from an image obtained from the stereo camera. Calculation means; and target search means for searching for the vehicle length target, the vehicle width target, and the axle target based on the three-dimensional coordinates of each target calculated by the three-dimensional coordinate calculation means; Reference plane setting means for setting a reference plane based on the vehicle length target and the vehicle width target on the same plane searched by the target search means, and the axle target searched by the target search means Correction means for correcting the inclination of the vehicle based on the vehicle, the vehicle length target corrected by the correction means, and the Vehicle length / vehicle width calculation means for calculating the vehicle length and vehicle width of the vehicle based on the three-dimensional coordinates of the width target, and the vehicle height of the vehicle based on the distance from the reference plane to the vehicle height target. Vehicle height calculating means for calculating the vehicle height.

  According to a second aspect of the present invention, there is provided a vehicle dimension measuring apparatus including a strobe device that irradiates the respective targets with strobe light.

  The vehicle dimension measuring device according to claim 3 is rotated with respect to a pedestal portion placed on the ground, a support member extending upward from an upper surface of the pedestal portion, and a horizontal rotation shaft provided on the support member. A plurality of target mounting members each including a pole member that is freely pivotally supported and a weight provided at a lower end of the pole member; the vehicle length target, the vehicle width target, and the axle target; It is attached to each said pole member, It is characterized by the above-mentioned.

  The vehicle dimension measuring device according to claim 4 includes a long tire contact member that is installed so as to be parallel to the axle by contacting the left and right tires of the vehicle. Yes.

  The vehicle dimension measuring device according to claim 5 is provided with a caster for movement on the tire contact member, and a pair of long left and right pole members extending vertically upward. The axle target is attached.

  According to the vehicle dimension measuring apparatus of claim 1, the vehicle length target installed in accordance with the vehicle length of the vehicle to be measured, the vehicle width target installed in accordance with the vehicle width of the vehicle, the vehicle height By using the vehicle height target installed at the highest position in the vertical direction and the vehicle axle target installed along the vehicle axle direction, based on the image taken by one stereo camera, Dimensions can be measured.

  The vehicle length target, vehicle width target, and axle target are set to known heights, and the axle target is set to a height different from the vehicle length target and vehicle width target. Thus, it is possible to prevent erroneous detection of the target and to easily recognize the role of each target. In addition, since these targets are set at positions higher than the vehicle height, it is possible to avoid the targets from being hidden by the movement of a person or the vehicle body when shooting with a stereo camera.

  In addition, since the inclination of the vehicle is corrected by using the axle target, the measurement error of the vehicle width and the vehicle length caused by the inclination of the vehicle can be reduced, and the dimensions of the vehicle can be accurately measured. it can. In addition, since the reference plane is defined based on the vehicle length target and the vehicle width target that are set to a known and the same height, there is no need to make adjustments in advance. No need to make adjustments.

  According to the vehicle dimension measuring apparatus of the second aspect, the strobe light is irradiated to the reflecting material of each target. Thereby, in the image image | photographed with the stereo camera, since the reflective material of a target is projected more whitish by strobe light, the detection accuracy of a target can be improved.

  According to the vehicle dimension measuring apparatus of the third aspect, the pole member to which the target is attached is rotatable with respect to the horizontal rotation shaft provided on the support member extending upward from the pedestal portion placed on the ground. It is pivotally supported and a weight is provided at the lower end of the pole member. Therefore, since the pole member can always define the vertical direction with respect to the ground surface, in order to measure the dimensions of the vehicle, if each pole member to which the target is attached is brought into contact with the vehicle body surface of the vehicle, Since each target is set at a position perpendicular to the contact point on the surface of the vehicle body, it is possible to reduce the measurement error due to the displacement of the target position and accurately measure the vehicle length and vehicle width. it can.

  According to the vehicle dimension measuring apparatus of the fourth aspect of the present invention, the long tire contact member is provided so as to be parallel to the axle by contacting both the left and right tires of the vehicle. Therefore, by installing the axle target along the tire contact member, the axle target can be installed more reliably in parallel with the axle, so that the vehicle inclination can be accurately understood and the vehicle can be accurately obtained. Can be corrected.

  According to the vehicle dimension measuring device of claim 5, since the pole member to which the tire contact member and the axle target are attached is configured as a single body, by bringing the tire contact member into contact with both the left and right tires, Since the axle target is also automatically installed so as to be parallel to the axle, the work can be simplified.

It is a schematic diagram showing an example of composition of a vehicle size measuring device concerning a 1st embodiment of the present invention. 1 is a schematic side view showing an example of a configuration of a vehicle dimension measuring device according to a first embodiment of the present invention. It is a schematic front view which shows a mode that each target was installed in the vehicle used as a measuring object. It is a schematic diagram for demonstrating the measurement of the dimension of a vehicle, (a) shows the coordinate system at the time of the three-dimensional coordinate calculation of a target, (b) shows the coordinate system after the inclination correction | amendment of an axle. It is shown. It is a schematic front view which shows an example of a structure of a target, Comprising: (a) is a schematic front view at the time of being formed in circular shape, (b) is a schematic front view at the time of being formed in circular arc shape. . It is the sectional view on the aa line in FIG. It is a schematic block diagram which shows an example of the calculating device which performs the measurement process of a vehicle dimension. It is a flowchart which shows an example of the measurement process of the vehicle dimension by a calculating device. It is a schematic side view which shows an example of a structure of the vehicle dimension measuring apparatus which concerns on the 2nd Embodiment of this invention. It is a schematic front view for demonstrating an example of a structure of a target attachment member. It is a schematic front view for demonstrating an example at the time of using a tire contact member. It is a schematic plan view for demonstrating an example at the time of using a tire contact member.

  Hereinafter, a vehicle dimension measuring apparatus 1 according to a first embodiment of the present invention will be described with reference to the drawings. This vehicle dimension measuring device 1 is a device for measuring the dimensions of the vehicle 2 to be measured, that is, the vehicle length, the vehicle width, and the vehicle height of the vehicle 2, as shown in FIGS. A pair of vehicle length targets 3 installed in accordance with the vehicle length of the vehicle 2, a pair of vehicle width targets 4 installed in accordance with the vehicle width of the vehicle 2, and the highest position of the roof 2 a of the vehicle 2. An installed vehicle height target 5, a pair of axle targets 6 installed along the axle A of the vehicle 2, and a stereo camera 7 for photographing the vehicle 2 on which the respective targets 3 to 6 are installed; A strobe device 8 that irradiates strobe light onto the targets 3 to 6 and a computer (arithmetic device) 9 that measures the dimensions of the vehicle 2 based on an image taken by the stereo camera 7 are provided.

  Each of the targets 3 to 6 serves as a mark indicating a measurement point in measuring the three-dimensional coordinates of the vehicle 2. As shown in FIGS. 5 and 6, each of the targets 3 to 6 includes a thin plate-like plate 10 having a substantially circular shape or a substantially arc shape, and a reflecting material 11 provided at a substantially central position of the plate 10. It consists of. A substantially circular concave groove 10a is formed at a substantially central position of the plate 10, and a reflective material 11 is provided in the concave groove 10a. In addition, the shape of the plate 10 is not limited to this embodiment, and a design change is possible suitably. Further, the shape of the concave groove 10a and the formation position thereof are not limited to this embodiment, and can be changed as appropriate. Further, the reflecting material 11 may be provided on the flat surface of the plate 10 without forming the concave groove 10 a in the plate 10.

  The reflecting material 11 is for reflecting the strobe light emitted from the strobe device 8, and for example, a retroreflecting material that always reflects light incident from any direction in the incident direction is used. As the reflective material, it is preferable to use a so-called exposed lens type, which has a high reflection efficiency, but instead, a recursive property such as an encapsulated lens type, a capsule lens type, a filter pasting type, a micro prism type, etc. It is also possible to use a reflective material. The material of the reflecting material 11 is not limited to the retroreflecting material as long as it can reflect the irradiated strobe light toward the stereo camera 7. Further, a color filter (not shown) that transmits only light of a specific color from the strobe light may be provided so as to cover the surface of the reflecting material 11. As a result, the light emitted from the strobe device 8 and reflected by the reflecting material 11 is transmitted only by a specific color light by the color filter. Therefore, in the image taken by the stereo camera 7, the reflecting material is reflected. It becomes easy to distinguish between the light reflected by 11 and the light reflected in a whitish reflected by the vehicle body or the glass surface. As the color filter, it is preferable to use a color filter that transmits only red or blue light.

  The pair of vehicle length targets 3 are installed at the front and rear of the vehicle 2 so as to match the vehicle length of the vehicle 2, respectively, and indicate measurement points for measuring the vehicle length. As shown in FIGS. 1 to 3, the vehicle length target 3 includes a pedestal portion 13 with casters 12 placed on the ground and a long pole member 14 provided vertically from the pedestal portion 13. The center portion of the reflector 11 is attached to the target attachment member 15 so as to have a predetermined height H1, and the vehicle length targets 3 installed in front and rear of the vehicle 2 are the same. It is set to become the height of. The height to which the axle target 3 is attached may be set to be higher than the vehicle height of the vehicle 2, and the set height can be changed as appropriate according to the type of the vehicle 2. Is possible. Further, when the vehicle 2 is a light vehicle, a sedan, or the like, the vehicle height does not exceed 2000 mm. Therefore, considering the mobility of the axle target 3, the height to the center of the reflector 11 is It is preferable that the height is set to about 2100 to 2200 mm. At this time, as shown in FIG. 2, the pole member 14 positioned in front of the vehicle 2 is in contact with the most forwardly protruding portion of the vehicle 2, and the pole member 14 positioned rearward is 2 is in contact with the most rearwardly projecting portion.

  The pair of vehicle width targets 4 are respectively installed on the left and right sides of the vehicle 2 so as to match the vehicle width of the vehicle 2 and indicate measurement points for measuring the vehicle width. As shown in FIGS. 1 to 3, the vehicle width target 4 is also attached to the pole member 14 so as to be set at the same height as the vehicle length target 3, similarly to the vehicle length target 3. Accordingly, the pair of vehicle length targets 3 and the pair of vehicle width targets 4 are all located on the same plane. Further, at this time, as shown in FIG. 3, the respective pole members 13 to which the pair of vehicle width targets 4 are attached are in contact with the most protruding vehicle body surfaces on the left and right sides of the vehicle, respectively.

  The vehicle height target 5 is installed at the highest position of the vehicle 2 and indicates a measurement point for measuring the vehicle height. As shown in FIGS. 2 and 3, the vehicle height target 5 is provided with a vehicle attachment portion 16 below the plate 10 so as to be installed on the roof 2 a of the vehicle 2. The vehicle mounting portion 16 is a member formed in a rectangular parallelepiped shape made of a permanent magnet, for example, and the upper surface thereof is fixed to the plate 10. Thereby, the vehicle height target 5 provided with the vehicle attachment portion 16 is magnetically attached to the roof 2 a of the vehicle 2. In addition, the shape of this vehicle attachment part 16 is not limited to this embodiment, A design change is possible suitably. The means for attaching the vehicle height target 5 to the vehicle 2 is not limited to the magnetizing force of the permanent magnet. For example, the vehicle attachment portion 16 is formed of an adhesive sheet, and the vehicle attachment portion 16 is mounted on the roof 2 a of the vehicle 2. You may make it attach the target 5 for vehicle heights by affixing.

  As shown in FIG. 4, the pair of axle targets 6 are respectively installed along the direction of the axle A, and are used to correct the inclination α of the vehicle 2 in the image taken by the stereo camera 7. It is what As shown in FIGS. 2 and 3, the axle target 6 is attached to the target attachment member 15 a so as to be set at a predetermined height higher than the vehicle length target 3 and the vehicle width target 4. It has been. Therefore, the height H2 from the center of the reflector 11 of the vehicle length target 3 or the vehicle width target 4 to the center of the reflector 11 of the axle target 6 is known in advance. Further, the target mounting member 15a for the axle target 6 is similar to the target mounting member 15 for the vehicle length target 3 and the vehicle width target 4, and the pedestal portion 13 with casters 12 placed on the ground, The pole member 14a includes a long pole member 14a provided in the vertical direction from the pedestal portion 13, and the pole member 14a is longer than the pole member 14 of the target mounting member 15a.

  The stereo camera 7 is for acquiring images necessary for performing the three-dimensional coordinate measurement of the vehicle 2 on which the respective targets 3 to 6 are installed. As shown in FIGS. The imaging units 7a and 7b are provided while maintaining the positional relationship necessary for stereo measurement. The stereo camera 7 is installed at a position higher than the axle target 6 set at the highest position so that the entire vehicle 2 on which the targets 3 to 6 are installed can be photographed. The imaging units 7a and 7b are provided with imaging elements such as CCDs and CMOSs having the same performance functions, and the vehicle 2 is imaged from the imaging units 7a and 7b to acquire image data. The stereo camera 7 is attached to a guide rail that can be slid in the vertical direction so that the height and direction of the stereo camera 7 can be adjusted according to the height and position of each of the targets 3 to 6, and is supported rotatably. You may comprise so that it may do.

  The strobe device 8 is for irradiating each of the targets 3 to 6 with strobe light when photographing with the stereo camera 7. As shown in FIGS. 1 and 2, the strobe device 8 is installed, for example, so as to be positioned between the two imaging units 7 a and 7 b. As with the stereo camera 7, the strobe device 8 is attached to a guide rail that can be slid in the vertical direction so that the height and direction of irradiation with the strobe light can be changed according to the height and position of each of the targets 3 to 6. Moreover, you may comprise so that it may support so that rotation is possible.

  As shown in FIG. 7, the computer (arithmetic unit) 9 calculates the dimensions (vehicle length, vehicle width, vehicle height) of the vehicle 2 based on the images acquired by the imaging units 7a and 7b of the stereo camera 7, respectively. ), For example, an image memory 17, a hard disk 18, a RAM (Random Access Memory) 19, a CPU (Central Processing Unit) 20, an operation unit 21, a display unit 22, An interface 23 and the like are provided. As shown in FIG. 7, these units are mutually connected to a system bus 24, and various data and the like are input / output via the system bus 24, and various processes are executed under the control of the CPU 20.

  The image memory 17 stores image data taken by the stereo camera 7 and the like. The hard disk 18 stores a processing program and the like for measuring the dimensions of the vehicle 2 based on the image data photographed by the stereo camera 7. In this embodiment, an example in which a processing program for measuring the dimensions of the vehicle 2 is stored in the hard disk 18 is shown, but instead, it is stored in a computer-readable storage medium (not shown). In addition, the processing program can be read from the recording medium. The RAM 19 temporarily stores a processing program read from the hard disk 18 and is used as a work area for the CPU 20. CPU20 performs the dimension measurement process of the vehicle 2, etc. based on image data according to this processing program.

  The operation unit 21 includes a mouse, a keyboard, and the like, and is used by an operator to input various data and operation commands. The display unit 22 includes a liquid crystal display, a CRT (Cathode Ray Tube), and the like, and displays image data stored in the image memory 17, a result of the dimension measurement processing of the vehicle 2 by the CPU 20, and the like. is there. The interface 23 is connected to the stereo camera 7 via a cable or the like, and an image captured by the stereo camera 7 is input to the arithmetic device 9 via the interface 23.

  Hereinafter, the flow of processing for measuring the dimensions of the vehicle 2 by the arithmetic unit 9 will be described with reference to FIGS. 7 and 8. The process shown in FIG. 8 is executed by the CPU 20 in accordance with a processing program stored in the hard disk 18.

  As shown in FIG. 8, when an image captured by the stereo camera 7 is input to the arithmetic unit 9, the three-dimensional coordinate calculation means 20a calculates the three-dimensional coordinates of the respective targets 3 to 6 (S101). Specifically, in the three-dimensional coordinate calculation unit 20a, when image data obtained by photographing the same targets 3 to 6 from different angles is input by the imaging units 7a and 7b, the reflecting material 11 of the targets 3 to 6 is used. A position where the reflected strobe light is projected in each image is extracted as a feature point of each image. Thereafter, the three-dimensional coordinate calculation means 20a specifies the three-dimensional coordinates of each reflector 11 by associating the feature points of each image. Here, the association between the feature points is based on the conventionally known triangulation principle, and a straight line is drawn from the focus of each imaging unit 7a, 7b to the feature point of each image, and the same targets 3-6 are used. This means that the intersection point where the straight lines drawn in the images taken of the images intersect is the position where the reflecting material 11 of each of the targets 3 to 6 exists. As shown in FIG. 4A, the coordinate system for calculating the three-dimensional coordinates is based on the imaging unit 7a, the horizontal direction of the image is the X axis, the vertical direction is the Y axis, and the back direction is the Z axis. Become.

  When the three-dimensional coordinates of the reflecting material 11 of each of the targets 3 to 6 are thus calculated, the target search means 20b then searches for the vehicle length target 3 and the vehicle width target 4 (S102). ). As described above, since the vehicle length target 3 and the vehicle width target 4 are set to the same height, the target search unit 20b selects 4 from the targets 3 to 6 in which the three-dimensional coordinates are calculated. A plane is created by selecting a point, and the reflector 11 of the vehicle length target 3 and the vehicle width target 4 is specified by searching for the four points on the same plane. If the coordinate system is set in advance with the stereo camera 7 fixed, the Z coordinate of the vehicle length target 3 and the vehicle width target 4 will match, so in that case It is also possible to specify the reflector 11 of the vehicle length target 3 and the vehicle width target 4 by searching for a point where the Z coordinate values are the same.

  Then, the target search means 20b searches for the axle target 6 (S103). The axle target 6 is also set at a predetermined height higher than the vehicle length target 3 and the vehicle width target 4. Accordingly, the target searching means 20b searches for a target at a predetermined distance from the plane composed of the vehicle length target 3 and the vehicle width target 4 searched in the processing of S102, thereby reflecting the reflector 11 of the axle target 6. Is identified.

  Next, the reference plane setting unit 20c sets a reference plane based on the reflector 11 of the vehicle length target 3 and the vehicle width target 4 specified by the target search unit 20b (S104). Since the reflecting material 11 of the vehicle length target 3 and the vehicle width target 4 is set at the same height H1, these three-dimensional coordinates exist on the same plane. The plane formed by connecting the three-dimensional coordinate points of the reflectors 11 of the vehicle length target 3 and the vehicle width target 4 is a plane parallel to the ground surface, and the height of the plane is measured. Set as a reference plane for

  Further, in the correcting means 20d, as shown in FIG. 4, the axle A direction and the Y axis direction formed by connecting the three-dimensional coordinate points of the respective reflectors 11 of the axle target 6 specified by the target searching means 20b. Is calculated. This angle α represents the inclination of the vehicle 2. As shown in FIG. 4, the correcting means 20d corrects the axle A and the Y axis to be parallel by rotating around the Z axis by this angle α in order to correct the inclination of the vehicle 2. It performs (S105). In the coordinate system after correcting the inclination of the axle A, as shown in FIG. 4B, the X axis is the traveling direction (vehicle length direction) of the vehicle 2, and the origin is the center of the vehicle length and the vehicle width. As described above, in this embodiment, the coordinate system is determined using the vehicle length target 3, the vehicle width target 4, and the axle target 6 without performing calibration in advance.

  Next, in the vehicle length / vehicle width calculation means 20e, the vehicle 2 based on the three-dimensional coordinates of the reflector 11 of the vehicle length target 3 and the vehicle width target 4 after being corrected by the correction means 20d as described above. The vehicle length and the vehicle width are calculated (S106). Specifically, as shown in FIG. 2, the vehicle length L of the vehicle 2 is represented by the distance between the pair of axle targets 3, and therefore, based on the three-dimensional coordinates of the vehicle length target 3, This value can be determined. In FIG. 2, the distance between the reflectors 11 of the vehicle length target 3 and the length L of the vehicle length target 3 are shortened by the thickness of the two vehicle length targets 3. The thickness of the vehicle length target 3 may be stored, and the thickness of the two vehicle length targets 3 may be added to the distance between the reflectors 11. Further, as shown in FIG. 3, the vehicle width W is obtained by subtracting the distance W2 from the end of the vehicle width target 4 to the center of the reflector 11 from the distance W1 between the reflectors 11 of the pair of vehicle width targets 4. Expressed in distance. Accordingly, the vehicle length / vehicle width calculating means 20e calculates the vehicle width W by subtracting two W2 from W1 obtained based on the three-dimensional coordinates of the vehicle width target 4.

  Further, in the vehicle height calculation unit 20f, the vehicle height of the vehicle 2 is determined based on the distance from the reference plane set by the reference plane setting unit 20c to the three-dimensional coordinates of the vehicle height target 5 calculated by the three-dimensional coordinate calculation unit 20a. The height is calculated (S106). Specifically, as shown in FIGS. 2 and 3, the distance H1 from the ground surface to the reference plane defined by the vehicle length target 3 and the vehicle width target 4 is known in advance. Further, since the center coordinates of the reflector 11 of the vehicle height target 5 are obtained by the three-dimensional coordinate calculation means 20a, the Z-axis coordinates of the reference surface and the Z-axis coordinates of the reflector 11 of the vehicle height target 5 are determined. Is obtained from the reference plane to the reflector 11 of the vehicle height target 5. Further, since the distance H4 from the lower end of the vehicle height target 5 to the center of the reflector 11 is a known value, the vehicle height calculation unit 20f calculates the distances H1 to H3 and H4 from the ground surface to the reference plane. The vehicle height H can be calculated by obtaining the subtracted value. In the present embodiment, the vehicle height H is calculated after correcting the inclination of the vehicle 2. However, the vehicle height H is configured to be calculated before the inclination of the vehicle 2 is corrected. Also good.

  In the present embodiment, the case where the axle target 6 is set to a predetermined height that is higher than the vehicle length target 3 and the vehicle width target 4 is described as an example. Even when the long target 3 and the vehicle width target 4 are configured to be set to a predetermined height higher than the axle target 6, it is possible to measure in the same manner. Moreover, although demonstrated using the example in case the vehicle length target 3, the vehicle width target 4, and the axle target 6 are provided in pairs, these numbers are not limited to a pair. It is also possible to provide a plurality separately.

  Next, a vehicle dimension measuring apparatus 1 according to the second embodiment will be described with reference to FIGS. The second embodiment uses a target mounting member 15b as shown in FIGS. 9 and 10 instead of the target mounting members 15 and 15a, and is the same as the vehicle dimension measuring apparatus 1 according to the first embodiment. The components and the like are denoted by the same reference numerals, and detailed description thereof is omitted.

  When the ground on which the pedestal portion 13 is placed is not flat or the like, the pole member 14 does not necessarily coincide with the vertical direction with respect to the ground surface, so the vehicle length target 3 installed in front of the vehicle 2 In some cases, the distance from the vehicle length target 3 installed at the rear does not match the vehicle length of the vehicle 2 and includes an error. This also applies to the vehicle width target 4. Therefore, in the second embodiment, a target mounting member 15b shown in FIGS. 9 and 10 is used. The target mounting member 15b includes a support member 25 that extends vertically upward from the upper surface of the pedestal portion 13 with the casters 12, and a pole that is rotatably supported with respect to a horizontal rotation shaft 26 provided on the support member. A member 14b and a weight 27 provided at the lower end of the pole member 14b are provided, and the respective targets 3, 4, 6 except for the vehicle height target 5 can be attached above the pole member 14b.

  The support member 25 has a lower end fixed to the upper surface of the pedestal portion 13 and an upper end bent into an L shape. In addition, a rotation shaft 26 that rotatably supports the pole member 14b is provided at the tip of the portion bent into the L shape. The rotation shaft 26 is provided in the horizontal direction and is rotatably supported by, for example, a bearing.

  The pole member 14b is made of resin, and a low resilience urethane 28 is provided on the side of the pole member 14b that contacts the vehicle 2. As a result, the resin-made pole member does not come into direct contact with the surface of the vehicle body, but the soft, low-resilience urethane having elasticity comes into contact with the vehicle body, so that contact damage to the vehicle body can be prevented. Further, the pole member 14b is provided with a small level 29 so that it can be confirmed at any time whether or not the pole member is oriented in the vertical direction. Further, as the weight provided at the lower end so that the pole member 14b faces in the vertical direction, it is preferable to use a weight of about 200 to 300 g in consideration of the mobility of the target mounting member 15b.

  Thus, by configuring the target mounting member 15b, the pole member 14b to which the target is mounted is a horizontal rotation shaft provided on the support member 25 even when the ground on which the pedestal portion 13 is placed is not flat. Since the weight 27 is provided at the lower end of the pole member 14b, the pole member 14b can always define a direction perpendicular to the ground surface. Therefore, in order to measure the dimensions of the vehicle 2, if the respective pole members 14b to which the targets are attached are brought into contact with the vehicle body surface of the vehicle 2, each of the targets will be in a position perpendicular to the contact point on the vehicle body surface. Therefore, the measurement error due to the displacement of the target position can be reduced, and the vehicle length and vehicle width dimensions can be measured with high accuracy. In FIG. 10, the axle target 6 is omitted for illustration, but the axle target 6 is attached to a similar configuration that is different in height from the target attachment member 15 b. Become.

  Next, as a third embodiment, a case where the tire contact member 30 is used will be described with reference to FIGS. 11 and 12. When the left and right projecting portions of the vehicle 2 are greatly deviated, the installation position of the vehicle width target 4 is different on the left and right as shown in FIG. In such a case, if there is a deviation of the installation position of the pair of axle targets 6 from the axle direction A, an error with respect to the vehicle width value of the vehicle 2 cannot be ignored. Therefore, in the third embodiment, as shown in FIGS. 11 and 12, in contact with both the left and right tires T of the vehicle 2, in the width direction installed so as to be parallel to the axle A. A long thin plate-like tire contact member 30 is used. Further, since a plurality of moving casters 31 are provided at the lower end of the tire contact member 30, the tire contact member 30 can be easily moved. Further, since a part of the tire contact member 30 enters under the vehicle 2 at the time of installation, the operation becomes difficult, so a pusher (not shown) with casters is provided at the center of the tire contact member 30. Thus, the tire contact member 30 may be configured to be movable without being directly operated.

  As described above, the tire contact member 30 is installed so as to be parallel to the axle A by contacting both the left and right tires T of the vehicle 2, so that the tire contact member 30 extends along the tire contact member 30. By installing the pair of axle targets 6, the pair of axle targets 6 is also automatically installed in parallel with the axle A. Therefore, since the inclination α of the vehicle 2 can be accurately calculated, the vehicle length and the vehicle width of the vehicle 2 can be measured with higher accuracy.

  In the present embodiment, an example in which the tire contact member 30 is in contact with the left and right tires T on the front wheel side of the vehicle 2 is described, but the tire contact is applied to the left and right tires T on the rear wheel side. The member 30 may be brought into contact, or two tire contact members 30 may be provided on both the front wheel and the rear wheel of the vehicle 2. Further, the left and right pole members 14a to which the axle target 6 is attached may be integrated with the tire contact member 30 in advance. Thus, by bringing the tire contact member 30 into contact with both the left and right tires T, the axle target 6 is automatically installed so as to be parallel to the axle A. Therefore, the work can be simplified. it can. When the tire contact member 30 is not used, a pair of axle targets 6 may be installed on both the front wheel side axle A and the rear wheel side axle A of the vehicle 2. Thereby, it is possible to prevent a large error from occurring even when the axle target 6 is installed to be shifted back and forth.

  Note that the embodiment of the present invention is not limited to the above-described embodiment, and it is needless to say that the embodiment can be appropriately changed without departing from the scope of the idea of the present invention.

  The vehicle dimension measuring device according to the present invention can be effectively used as a technique for measuring the dimensions of a vehicle mainly at a vehicle inspection place or the like. Further, in the present embodiment, the automobile inspection is described as an example of the vehicle inspection, but it can also be used in the inspection of a motorcycle, a motorbike and the like.

DESCRIPTION OF SYMBOLS 1, 1a Vehicle size measuring device 2 Vehicle 3 Vehicle length target 4 Vehicle width target 5 Vehicle height target 6 Axle target 7 Stereo camera 8 Strobe device 9 Computer (computing device)
11 Reflector 12 Caster 13 Pedestal part 14, 14a, 14b Pole members 15, 15a, 15b Target mounting member 20a Three-dimensional coordinate calculation means 20b Target search means 20c Reference surface setting means 20d Correction means 20e Vehicle length / vehicle width calculation means 20f Vehicle height calculation means 25 Support member 26 Rotating shaft 27 Weight 28 Low rebound urethane 29 Level 30 Tire contact member

Claims (5)

A plurality of vehicle length targets provided with reflectors that are installed in accordance with the vehicle length of the vehicle to be measured and set to a known height higher than the vehicle height of the vehicle;
A plurality of vehicle width targets provided with a reflector that is installed according to the vehicle width of the vehicle and set to the same height as the vehicle length target;
A vehicle height target comprising a reflective material installed at the highest position in the height direction of the vehicle;
For a plurality of axles provided with a reflector that is installed along the axle direction of the vehicle and is higher than the vehicle height of the vehicle and set to a known height different from the vehicle length target and the vehicle width target Target,
A stereo camera that captures an image of the vehicle on which each of the targets is set;
A vehicle dimension measuring device comprising an arithmetic device for measuring the dimensions of the vehicle based on an image obtained from the stereo camera,
The arithmetic device is based on a three-dimensional coordinate calculation unit that calculates a three-dimensional coordinate of each target from an image obtained from the stereo camera, and a three-dimensional coordinate of each target calculated by the three-dimensional coordinate calculation unit. Target searching means for searching the vehicle length target, the vehicle width target, and the axle target, and the vehicle length target and the vehicle width on the same plane searched by the target searching means. Reference plane setting means for setting a reference plane based on the target, correction means for correcting the inclination of the vehicle based on the axle target searched by the target search means, and the vehicle corrected by the correction means A vehicle length / vehicle that calculates the vehicle length and vehicle width of the vehicle based on the three-dimensional coordinates of the target for long and the vehicle width target A calculation unit, vehicle gage system, characterized in that it comprises a vehicle height calculating means for calculating a vehicle height of the vehicle based on the distance to the vehicle height for the target from the reference plane.   The vehicle dimension measuring device according to claim 1, further comprising a strobe device that irradiates the respective targets with strobe light. A pedestal portion placed on the ground; a support member extending upward from the upper surface of the pedestal portion; a pole member rotatably supported with respect to a horizontal rotation axis provided on the support member; A plurality of target mounting members having weights provided at the lower ends of the pole members;
The vehicle dimension measuring device according to claim 1, wherein the vehicle length target, the vehicle width target, and the axle target are attached to the respective pole members.   The long tire contact member installed so that it may become parallel with respect to an axle shaft by making it contact with the both tires of the said vehicle is provided in any one of Claim 1 thru | or 3 characterized by the above-mentioned. Vehicle dimension measuring device.   The tire contact member is provided with a caster for movement and a pair of long left and right pole members extending vertically upward, and the axle target is attached to the pole member. The vehicle dimension measuring device according to claim 4.

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