JP2016145715A - Moving imaging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an image of an imaging surface while reducing an effect of natural light.SOLUTION: A moving imaging device 3 is installed in a mobile body, and images an imaging surface 4 in a moving path when the mobile body moves. An illumination part 12 applies illumination light of a wavelength region lower than a reference value of a wavelength region of illuminance around spectroscopic radiation distribution of natural light on the ground surface, on an imaging surface 4 from an oblique direction. An imaging part 11 acquires reflected light which the imaging surface 4 reflects the illumination light applied by the illumination part 12, and images the imaging surface 4.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an apparatus for imaging while moving by a moving body.

  In Patent Document 1, a CCD camera and a distance meter are mounted on a vehicle, and road surface photographing and distance data acquisition are simultaneously performed, and a plurality of road surface images photographed by the CCD camera are connected to obtain a continuous road surface image. Is described. Patent Document 1 describes that a crack location is specified together with a road surface image and accompanying distance data.

  Japanese Patent Application Laid-Open No. H10-260707 discloses a vehicle for a sunny area adjusted for shooting a sunny area, a shaded area camera adjusted for shooting a shaded area, and an intermediate camera adjusted for intermediate between the sunny and shaded areas. And, it is described that the same road surface is photographed, three images are compared, and a crack on the road surface is detected.

JP-A-9-96515 JP 2011-90367 A

In the technique described in Patent Document 1, since a road surface illuminated with natural light is imaged by a CCD camera, it is affected by natural light, and the resolution and contrast of the image are lowered.
The technique described in Patent Document 2 is affected by natural light in the same manner as the technique described in Patent Document 1. In addition, it is necessary to adjust the camera for the sunlit area, the camera for the shaded area, and the intermediate camera in accordance with the situation of natural light, which reduces the work efficiency of the operator.
An object of the present invention is to obtain an image such as a groove on an imaging surface by reducing the influence of natural light.

The mobile imaging device according to the present invention is:
A moving imaging apparatus that is installed on a moving body and images an imaging surface in a moving path when the moving body moves,
In the spectral radiation distribution on the ground surface of natural light, the illumination unit that illuminates illumination light in a wavelength region that is lower than a reference value compared to the front and back wavelength regions by an oblique direction to the imaging surface;
An imaging unit configured to acquire reflected light reflected by the imaging surface with the illumination light applied by the illumination unit and to image the imaging surface.

  In the present invention, illumination light in a wavelength region with low illuminance is applied in the spectral radiation distribution on the ground surface of natural light. Therefore, it is possible to obtain an image on the imaging surface while reducing the influence of natural light. Further, since the illumination light is applied obliquely, it is possible to obtain an image with a large luminance difference such as a groove on the imaging surface.

1 is a configuration diagram of a mobile imaging system 1 according to Embodiment 1. FIG. 1 is a configuration diagram of a mobile imaging device 3 according to Embodiment 1. FIG. The figure which drawn typically the image which imaged the imaging surface 4 about the case where irradiation light is irradiated to the imaging surface 4 with an unevenness | corrugation perpendicularly | vertically, and the case where it irradiates diagonally. The figure which shows the relationship between the incident angle (theta) of illumination light, and the groove | channel of the imaging surface. The figure which shows the spectral irradiation distribution of natural light. The figure which shows the shape of illumination light. Explanatory drawing of arrangement | positioning with the line sensor 111 and the light source part 121. FIG. 5 is a flowchart showing the operation of the mobile imaging device 3 according to the first embodiment. The figure which shows the relationship between the movement time and movement distance of a moving body in the case of making the resolution of a moving direction high. Explanatory drawing of the image obtained with the control method shown in FIG. The figure which shows the relationship between the movement time and movement distance of a moving body in the case of making the resolution of a brightness direction high. Explanatory drawing of the image obtained with the control method shown in FIG. FIG. 3 is a configuration diagram of a mobile imaging device 3 according to a second embodiment. FIG. 4 is a configuration diagram of a TDI sensor 112 according to a second embodiment. Explanatory drawing of the drive principle of the TDI sensor 112. FIG. Explanatory drawing of the drive principle of the TDI sensor 112. FIG. The figure which shows the relationship between the imaging area at the time of using the TDI sensor 112, and linear illumination light. FIG. 6 is a configuration diagram of a mobile imaging device 3 according to a third embodiment. FIG. 6 is a configuration diagram of a measurement unit 16 according to a third embodiment. The figure which illustrates the mode of the movement of the TDI sensor. The figure which shows the movement route of the mobile body 2. FIG. FIG. 4 is a diagram illustrating a hardware configuration example of a mobile imaging device 3 according to the first to third embodiments.

Embodiment 1 FIG.
*** Explanation of configuration ***
FIG. 1 is a configuration diagram of a mobile imaging system 1 according to the first embodiment.
The moving imaging system 1 includes a moving body 2 and a moving imaging device 3.

  The moving body 2 is a moving device such as a car, a train, a carriage, a robot, a remote control vehicle, and an elevator car. The moving body 2 may be another device as long as it moves.

  The moving imaging device 3 is installed on the moving body 2 and images the imaging surface 4 on the moving path when the moving body 2 moves. The mobile imaging device 3 may be separable from the moving body 2 or may be integrated and inseparable.

FIG. 2 is a configuration diagram of the mobile imaging device 3 according to the first embodiment.
The mobile imaging device 3 includes a central control unit 10, an imaging unit 11, an illumination unit 12, a storage unit 13, a movement distance measurement unit 14, and a control unit 15.
The central control unit 10 controls other components of the mobile imaging device 3.
The imaging unit 11 images the imaging surface 4. The imaging unit 11 includes a plurality of line sensors 111 that photoelectrically convert light reflected by the imaging surface 4, and images the imaging surface 4 by each line sensor 111. Here, the imaging unit 11 includes two line sensors 111.
The illumination unit 12 illuminates the imaging surface 4 with illumination light. The illumination unit 12 has a light source unit 121 for each line sensor 111. Here, the illumination unit 12 includes two light source units 121 that are paired with the two line sensors 111, respectively. Each light source unit 121 includes a light source 122 and a cylindrical lens 123. The light source 122 is an LED (Light Emitting Diode) light source or an LD (Laser Diode) light source.
The storage unit 13 is a storage device that stores an image captured by the imaging unit 11.
The moving distance measuring unit 14 measures the moving distance of the moving body 2.
The control unit 15 refers to the movement distance measured by the movement distance measurement unit 14 and controls at least one of the movement speed of the moving body 2 and the imaging timing of each line sensor 111.

FIG. 3 is a diagram schematically illustrating images obtained by imaging the imaging surface 4 when the illumination surface is irradiated with illumination light vertically and when it is irradiated obliquely.
As shown to (a), when illumination light is irradiated perpendicularly, illumination light is reflected by the imaging surface 4 front, and the image according to the perpendicular distance is obtained.
As shown in (b), when the illumination light is irradiated obliquely, the irradiation light is reflected at the edge of the imaging surface 4, becomes a shadow at the edge of the imaging surface 4, and is reflected at the surface of the imaging surface 4. There is something to do. For this reason, in the obtained image, the difference in the brightness of the groove portion is larger than when the illumination light is irradiated vertically.

FIG. 4 is a diagram illustrating a relationship between the incident angle θ of the illumination light and the groove of the imaging surface 4.
The groove of the imaging surface 4 has a height H and a length L. In this case, when the incident angle θ of the illumination light is H · tan θ <L, the incident illumination light reaches the bottom of the groove. Assuming the height H and length L of the groove, the illumination light is irradiated so that the incident angle θ reaches the bottom of the groove, thereby imaging the unevenness of the imaging surface 4 with the brightness difference emphasized. be able to.

  Therefore, the illumination unit 12 irradiates the illumination light to the imaging surface 4 from an oblique direction so that the incident angle θ of the illumination light satisfies H · tan θ <L. That is, the illumination unit 12 sets the incident angle of the illumination light to the imaging surface 4 as an angle at which the illumination light reaches the bottom of the groove formed on the imaging surface 4.

FIG. 5 is a diagram showing a spectral irradiation distribution of natural light.
Natural light is sunlight. Natural light is absorbed by the atmosphere before reaching the ground. Therefore, natural light on the ground has a wavelength region with a low spectral irradiation distribution. If illumination light in such a wavelength region is used, the influence of natural light can be reduced. Since LED light and LD light are light with a limited wavelength region, the influence of natural light can be suppressed by selecting a light source having a wavelength suitable for the purpose.

Therefore, the illumination unit 12 applies a wavelength region whose illuminance is lower than the reference wavelength region by a reference value or more in the spectral radiation distribution on the ground surface of natural light to the imaging surface 4. The reference value is, for example, 0.1 to 0.3 [Wm ⁻² nm ⁻¹ ]. For example, a wavelength region of around 950 nm, that is, a wavelength region of 930 nm to 970 nm is a wavelength region in which the illuminance is lower than the reference value in the spectral radiation distribution by more than a reference value. That is, here, the illumination unit 12 irradiates the imaging surface 4 with illumination light in a wavelength region included in a range from 930 nm to 970 nm.

FIG. 6 is a diagram showing the shape of illumination light.
In order to image the imaging surface 4 with the line sensor 111, linear illumination is required. The LED light source and the LD light source are point light sources. Therefore, the illuminating unit 12 irradiates the imaging surface 4 with illumination light that is converted into linear light by the cylindrical lens 123 that condenses the light output from the light source 122 in one direction.
In addition, when the illumination intensity of the imaging surface 4 is insufficient, the illumination unit 12 uses a plurality of light sources 122 and performs adjustment so that the irradiation positions of the respective light sources 122 coincide with each other.

FIG. 7 is an explanatory diagram of the arrangement of the line sensor 111 and the light source unit 121.
The line sensor 111 and the light source unit 121 form a pair. Here, since there are two line sensors 111 and two light source units 121, there are two pairs of pair 1 and pair 2.
Each pair is arranged at a distance L along the moving direction of the moving body 2. Here, the line sensors 111 of the pair 1 and the pair 2 are arranged at a distance L along the moving direction of the moving body 2. And it arrange | positions so that the irradiation direction of illumination light may differ with the light source parts 121 of each pair. Here, the light sources 121 of the pair 1 and the pair 2 are arranged so that the illumination light is applied to the imaging surface 4 from opposite directions.

*** Explanation of operation ***
FIG. 8 is a flowchart showing the operation of the mobile imaging device 3 according to the first embodiment.
The operation of the mobile imaging device 3 according to the first embodiment corresponds to the mobile imaging method according to the first embodiment. The operation of the mobile imaging device 3 according to the first embodiment corresponds to the processing of the mobile imaging program according to the first embodiment.

The moving imaging device 3 starts operation when the moving body 2 starts moving, or when the moving body 2 starts moving and an operation start signal is input.
When the mobile imaging device 3 starts operating, the illumination unit 12 starts irradiating illumination light to the imaging surface 4 by each light source unit 121 in the illumination process of S1, and the travel distance measurement is performed in the travel distance measurement process of S2. The unit 14 starts measuring the moving distance of the moving body 2.
In the control process in S3, the control unit 15 refers to the movement distance measured in S2 and controls at least one of the movement speed of the moving body 2 and the imaging timing of each line sensor 111. Here, it is assumed that the imaging timing of each line sensor 111 is controlled. In the imaging process of S4, the imaging unit 11 images the imaging surface 4 with the line sensor 111 according to the imaging timing controlled in S3, and stores the obtained image in the storage unit 13.

The control process of S3 will be described.
The control process in S3 includes two control methods: a control method for increasing the resolution in the moving direction and a control method for increasing the resolution in the luminance direction.

A control method for increasing the resolution in the moving direction will be described.
FIG. 9 is a diagram illustrating the relationship between the moving time and the moving distance of the moving body when the resolution in the moving direction is increased.
In FIG. 9, Tn indicates the imaging timing. L1n is an imaging position of pair 1 at imaging timing Tn, and L2n is an imaging position of pair 2 at imaging timing Tn. The pair 1 line sensor 111 and the pair 2 line sensor 111 are separated by a distance L.
At time T1, an image at position L11 is obtained by pair 1 and an image at position L21 is obtained by pair 2. At time T2, an image at position L12 is obtained by pair 1 and an image at position L22 is obtained by pair 2.

The control unit 15 controls at least one of the moving speed of the moving body 2 and the imaging timing of each line sensor 111 so that the imaging position of the pair 2 comes to the center of the imaging positions of the pair 1 before and after.
For example, at the position L22, the control unit 15 controls at least one of the moving speed of the moving body 2 and the imaging timing of each line sensor 111 so as to be the center between the position L14 and the position L15.

FIG. 10 is an explanatory diagram of an image obtained by the control method shown in FIG.
As shown to (a), the image imaged by the pair 1 and the image imaged by the pair 2 are discrete images. The imaging position of the image captured by the pair 2 is controlled to be the center of the imaging positions of the two images captured by the pair 1. Therefore, as shown in (b), when the image picked up by pair 1 and the image picked up by pair 2 are combined, an image having a double line density, that is, an image having a high resolution in the moving direction is obtained. .

A control method for increasing the resolution in the luminance direction will be described.
FIG. 11 is a diagram illustrating the relationship between the moving time and the moving distance of the moving body when the resolution in the luminance direction is increased.
In FIG. 11, T1n is the imaging timing of pair 1 and T2n is the imaging timing of pair 2. Ln is the imaging position of pair 1 and pair 2. The pair 1 line sensor 111 and the pair 2 line sensor 111 are separated by a distance L.
At time T21, an image at position L1 is obtained by pair 2, and at time T13, an image at position L1 is obtained by pair 1. At time T22, an image at position L2 is obtained by pair 2, and at time T14, an image at position L2 is obtained by pair 1.

The control unit 15 controls at least one of the moving speed of the moving body 2 and the imaging timing of each line sensor 111 so that the imaging position of the pair 1 matches the imaging position of the pair 2.
For example, in the case of the position L1, the control unit 15 sets the moving speed of the moving body 2 and the imaging timing of each line sensor 111 so that the imaging position at time T13 of pair 1 = the imaging position at time T21 of pair 2. And at least one of them.

FIG. 12 is an explanatory diagram of an image obtained by the control method shown in FIG.
As shown to (a), the image imaged by the pair 1 and the image imaged by the pair 2 are discrete images. Control is performed so that the imaging position of the image captured by pair 1 matches the imaging position of the image captured by pair 2. Then, as shown in FIG. 7, in the pair 1 and the pair 2, the light source unit 121 is arranged so as to irradiate the imaging light 4 with the illumination light from the opposite direction. Therefore, as shown in (b), when the image picked up by pair 1 and the image picked up by pair 2 are combined, an image in which the luminance difference is emphasized, that is, an image with high luminance direction resolution is obtained. It is done.

*** Explanation of effects ***
As described above, the mobile imaging system 1 according to Embodiment 1 applies a wavelength region whose illuminance is lower than the front and back wavelength regions by a reference value or more to the imaging surface 4 in the spectral radiation distribution on the ground surface of natural light. Therefore, it is possible to obtain an image on the imaging surface while reducing the influence of natural light. As a result, stable imaging can be performed regardless of day or night.

  In addition, the mobile imaging system 1 according to Embodiment 1 applies illumination light to the imaging surface 4 from an oblique direction so that the incident angle θ of illumination light satisfies H · tan θ <L. Therefore, the unevenness of the imaging surface 4 can be imaged with the brightness difference emphasized.

  In addition, the moving imaging system 1 according to the first embodiment illuminates the imaging surface 4 with illumination light in which a point light source is linear light by the cylindrical lens 123, and images the imaging surface 4 by the line sensor 111 using the reflected light. Therefore, a clear linear image can be obtained.

  In addition, the mobile imaging system 1 according to the first embodiment arranges a plurality of pairs of the line sensor 111 and the light source unit 121, and controls at least one of the moving speed of the moving body 2 and the imaging timing of each line sensor 111. To do. For this reason, it is possible to obtain an image in which the resolution in the moving direction or the resolution in the luminance direction is increased.

In the above description, the case where there are two pairs of the line sensor 111 and the light source unit 121 has been described. However, there may be three or more pairs.
In this case, in order to increase the resolution in the moving direction, at least one of the moving speed of the moving body 2 and the imaging timing of each line sensor 111 so that the positions imaged by each line sensor 111 are equally spaced. What is necessary is just to control. In order to increase the resolution in the luminance direction, at least one of the moving speed of the moving body 2 and the imaging timing of each line sensor 111 is controlled so that the positions imaged by each line sensor 111 coincide. That's fine.

  If three or more pairs are used, it is possible to increase the resolution in the luminance direction while increasing the resolution in the moving direction.

Embodiment 2. FIG.
The second embodiment is different from the first embodiment in that a TDI (Time Delay Integration) sensor 112 is used instead of the line sensor 111. In the second embodiment, this different point will be described.

*** Explanation of configuration ***
FIG. 13 is a configuration diagram of the mobile imaging device 3 according to the second embodiment.
The moving imaging apparatus 3 shown in FIG. 13 differs from the moving imaging apparatus 3 shown in FIG.
The imaging unit 11 includes a TDI sensor 112, and the TDI sensor 112 converts reflected light of the illumination light applied to the imaging surface 4 by the illumination unit 12 and images the imaging surface 4.

FIG. 14 is a configuration diagram of the TDI sensor 112 according to the second embodiment.
The TDI sensor 112 has a configuration in which a plurality of sensors 113 such as a line sensor 111 that photoelectrically converts light reflected by the imaging surface 4 are connected. Here, the TDI sensor 112 is configured by connecting a plurality of sensors 113 along the moving direction of the moving body 2.

*** Explanation of operation ***
15 and 16 are explanatory diagrams of the driving principle of the TDI sensor 112. FIG.
As shown in FIG. 15, the TDI sensor 112 captures an image of a document 114 on which “EDCBAZYXW” is written. It is assumed that the character spacing in the document 114 corresponds to the sensors 113 in the TDI sensor 112 and 1: 1. That is, when a sensor 113 is imaging the letter “E”, the adjacent sensor 113 is imaging the letter “D”.

As shown in FIG. 16, at position 1, the TDI sensor 112 images five characters “ABCDE” and accumulates electric charges. While the TDI sensor 112 moves from the position 1 to the position 2, no charge is accumulated, and the charge accumulated at the position 1 is transferred to the adjacent sensor. At this time, the electrification of the sensor 113 that images the character “E” is output as an imaging signal outside the sensor.
At position 2, since the position to be imaged has moved to the next, five characters “ZABCD” are imaged. Since the charge imaged at the position 1 is transferred, the sensor 113 that images the character “A” accumulates the charge imaged at the position 2 in addition to the charge imaged at the position 1. The same applies to the characters “B”, “C”, and “D”.

  In this way, by capturing an image of a document while changing its position, the same effect can be obtained as when the same character is exposed multiple times and captured. In the example of FIG. 16, the same effect can be obtained as when the exposure is performed five times. As a result, noise during imaging can be reduced.

In order to obtain this effect, it is necessary to control the moving distance of the moving body 2 and the imaging timing of the sensor 113 so that the positions imaged by the sensors 113, that is, the characters in the examples of FIGS. There is. That is, it is necessary to satisfy the relationship of “moving speed × imaging time difference = sensor pitch × C” (Equation 1).
Here, the moving speed is the speed at which the moving body 2 moves, in other words, the speed at which the sensor 113 moves. The imaging time difference is a difference in imaging timing between adjacent sensors 113. As shown in FIG. 14, the sensor pitch is a distance between the center positions in the moving direction of the sensors 113. C is a constant and is an integer.
The control unit 15 controls at least one of the moving speed of the moving body 2 and the imaging timing of each sensor 113 so as to satisfy the above relationship. Since the right side of Equation 1 is a constant, if the moving speed changes, the imaging time difference must be changed accordingly.

FIG. 17 is a diagram illustrating the relationship between the imaging area and the linear illumination light when the TDI sensor 112 is used.
The TDI sensor 112 is a combination of a plurality of sensors 113. Therefore, compared with the single sensor 113, the imaging area is widened in the connecting direction.
Ideally, the linear illumination light and the TDI sensor 112 are aligned 1 so that the linear illumination light and the imaging area are parallel to each other, as shown in FIG. However, as shown in (b) and (c), the linear illumination light and the imaging area may become alignments 2 and 3 which are not parallel to each other. However, since the TDI sensor 112 has a wide imaging area in the connecting direction, it can cover a slight misalignment.

*** Explanation of effects ***
As described above, the mobile imaging system 1 according to the second embodiment uses the TDI sensor 112 to control the moving speed and the imaging timing. Therefore, it is possible to obtain the effect of performing exposure exposure imaging of the same position on the imaging surface a plurality of times. As a result, the contrast of the image is enhanced, and an image with high contrast can be obtained. Moreover, it is possible to reduce natural light noise by performing multiple exposure.

  In addition, since the mobile imaging system 1 according to Embodiment 2 uses the TDI sensor 112 to expand the imaging area, the tolerance for alignment with the linear illumination light increases. In addition, if the reflected light from the imaging surface can be exposed once or more during multistage exposure, the imaging surface can be imaged. From this point as well, the alignment tolerance with the linear illumination light increases. This is advantageous in terms of cost.

Embodiment 3 FIG.
The third embodiment is different from the second embodiment in that the moving body 2 is automatically operated. In the third embodiment, this different point will be described.

*** Explanation of configuration ***
FIG. 18 is a configuration diagram of the mobile imaging device 3 according to the third embodiment.
The mobile imaging device 3 is different from the mobile imaging device 3 shown in FIG. 13 in that the mobile imaging device 3 includes a measurement unit 16 and an operation unit 17.
The measuring unit 16 measures the position of the moving body 2 and the like. The driving unit 17 moves the moving body 2 based on the moving speed controlled by the control unit 15 and the position measured by the measuring unit 16.

FIG. 19 is a configuration diagram of the measurement unit 16 according to the third embodiment.
The measurement unit 16 includes a position measurement unit 161, a posture measurement unit 162, a travel sensor 163, and a travel path acquisition unit 164.
The position measuring unit 161 measures the position of the moving body 2 using signals such as GPS (Global Positioning System) and QZS (Quasi-Zenith Satellite).
The posture measuring unit 162 measures the inclination of the moving body 2.
The traveling sensor 163 monitors the traveling state of the moving body 2.
The travel path acquisition unit 164 acquires a planned route that the mobile body 2 travels input by a driver or the like.

The driving unit 17 refers to the position measured by the position measuring unit 161, the inclination measured by the posture measuring unit 162, and the traveling state measured by the traveling sensor 163, and the planned route acquired by the traveling road acquiring unit 164, The moving body 2 is caused to travel at a moving speed controlled by the control unit 15.
The imaging unit 11 can appropriately capture the imaging surface 4 with reference to the position measured by the position measurement unit 161, the inclination measured by the posture measurement unit 162, and the traveling state measured by the traveling sensor 163. In addition, the TDI sensor 112 may be controlled. Similarly, the illumination unit 12 appropriately illuminates the imaging surface 4 with reference to the position measured by the position measurement unit 161, the inclination measured by the posture measurement unit 162, and the travel state measured by the travel sensor 163. You may control to apply.

*** Explanation of operation ***
FIG. 20 is a diagram illustrating how the TDI sensor 112 moves.
In order to obtain the multiple exposure effect described in the second embodiment, it is desirable that the TDI sensor 112 move linearly as shown in FIG. However, in reality, although there is a size, it is often bent and moved as shown in (b). It is desirable that the moving speed does not fluctuate. However, in practice, the moving speed often varies.
Therefore, the driver of the moving body 2 needs to drive the moving body 2 with great care.

FIG. 21 is a diagram illustrating a moving route of the moving body 2.
As described based on FIG. 20, when the driver drives the moving body 2, the driver often turns when trying to move linearly. Therefore, as shown in (a), the movement route often draws a curved locus. In addition, even if the direction is changed by the route 2 and the route advanced by the route 1 is tried to be turned back by the route 3, the route 3 is often slightly deviated from the route 1 in practice.

  Therefore, the travel path acquisition unit 164 acquires a planned route to travel. Here, route 4, route 5, route 6 and a planned route to travel are acquired. The route 4 and the route 6 are linear routes. Then, when the moving body 2 reaches the starting point of the route 4, the driving unit 18 refers to the position measured by the position measuring unit 161, the inclination measured by the posture measuring unit 162, and the traveling state measured by the traveling sensor 163. Then, the moving body 2 is moved along the planned route. At this time, both the imaging unit 11 and the illumination unit 12 appropriately control the TDI sensor 112 and the light source unit 121 to image the imaging surface 4.

*** Explanation of effects ***
As described above, in the mobile imaging system 1 according to Embodiment 3, the moving body 2 can be stably moved by automatically driving the moving body 2. Therefore, the quality of the captured image is improved. Further, since the load on the driver of the moving body 2 can be reduced, it contributes to maintaining the health of the driver and also to reducing the imaging cost.

  The moving imaging system 1 according to Embodiments 1 to 3 can capture an image of a surrounding structure or the like with high definition while moving. Therefore, the moving imaging system 1 can be used for state observation and position grasping of surrounding structures. Furthermore, since the moving imaging system 1 can perform imaging while moving, the moving imaging system 1 can be used for state observation and position grasping of surrounding structures without blocking traffic.

FIG. 22 is a diagram illustrating a hardware configuration example of the mobile imaging device 3 according to the first to third embodiments.
The mobile imaging device 3 is a computer.
The mobile imaging device 3 includes hardware such as a processor 901, an auxiliary storage device 902, a memory 903, a communication device 904, an input interface 905, and a display interface 906.
The processor 901 is connected to other hardware via the signal line 910, and controls these other hardware.
The input interface 905 is connected to the input device 907 by a cable 911.
The display interface 906 is connected to the display 908 by a cable 912.

The processor 901 is an IC (Integrated Circuit) that performs processing. The processor 901 is, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit).
The auxiliary storage device 902 is, for example, a ROM (Read Only Memory), a flash memory, or an HDD (Hard Disk Drive).
The memory 903 is, for example, a RAM (Random Access Memory).
The communication device 904 includes a receiver 9041 that receives data and a transmitter 9042 that transmits data. The communication device 904 is, for example, a communication chip or a NIC (Network Interface Card).
The input interface 905 is a port to which the cable 911 of the input device 907 is connected. The input interface 905 is, for example, a USB (Universal Serial Bus) terminal.
The display interface 906 is a port to which the cable 912 of the display 908 is connected. The display interface 906 is, for example, a USB terminal or an HDMI (registered trademark) (High Definition Multimedia Interface) terminal.
The input device 907 is, for example, a mouse, a keyboard, or a touch panel.
The display 908 is, for example, an LCD (Liquid Crystal Display).

The auxiliary storage device 902 includes the above-described central control unit 10, imaging unit 11, illumination unit 12, storage unit 13, movement distance measurement unit 14, control unit 15, measurement unit 16, and operation unit 17. (Hereafter, the central control unit 10, the imaging unit 11, the illumination unit 12, the storage unit 13, the movement distance measurement unit 14, the control unit 15, the measurement unit 16, and the operation unit 17 are collectively referred to as “ A program that realizes the function of “part” is stored.
This program is loaded into the memory 903, read into the processor 901, and executed by the processor 901.
Further, the auxiliary storage device 902 also stores an OS (Operating System).
Then, at least a part of the OS is loaded into the memory 903, and the processor 901 executes a program that realizes the function of “unit” while executing the OS.
Although one processor 901 is illustrated in FIG. 22, the mobile imaging device 3 may include a plurality of processors 901. A plurality of processors 901 may execute a program for realizing the function of “unit” in cooperation with each other.
In addition, information, data, signal values, and variable values indicating the results of the processing of “unit” are stored as files in the memory 903, the auxiliary storage device 902, or a register or cache memory in the processor 901.

  The “part” may be provided as “circuitry”. Further, “part” may be read as “circuit”, “process”, “procedure”, or “processing”. “Circuit” and “Circuitry” include not only the processor 901 but also other types of processing circuits such as a logic IC or GA (Gate Array) or ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array). It is a concept to include.

  DESCRIPTION OF SYMBOLS 1 Mobile imaging system, 2 Mobile body, 3 Mobile imaging device, 4 Imaging surface, 10 Central control part, 11 Imaging part, 111 Line sensor, 112 TDI sensor, 113 Sensor, 114 Original, 12 Illumination part, 121 Light source part, 122 Light source, 123 cylindrical lens, 13 storage unit, 14 moving distance measurement unit, 15 control unit, 16 measurement unit, 17 operation unit.

Claims (11)

A moving imaging apparatus that is installed on a moving body and images an imaging surface in a moving path when the moving body moves,
In the spectral radiation distribution on the ground surface of natural light, the illumination unit that illuminates illumination light in a wavelength region that is lower than a reference value compared to the front and back wavelength regions by an oblique direction to the imaging surface;
A moving imaging apparatus comprising: an imaging unit that obtains reflected light reflected by the imaging surface with illumination light applied by the illumination unit and images the imaging surface. The moving imaging apparatus according to claim 1, wherein the illumination unit sets an incident angle of the illumination light to the imaging surface to an angle at which the illumination light reaches a bottom of a groove formed on the imaging surface. The moving imaging apparatus according to claim 1, wherein the illumination unit applies illumination light in a wavelength region included in a range from 930 nm to 970 nm. 4. The illumination unit according to claim 1, wherein the illumination unit applies the illumination light, which is linear light from a light emitted from an LED (Light Emitting Diode) light source or an LD (Laser Diode) light source, to the imaging surface. 5. The moving imaging device according to claim 1. The illumination unit has a plurality of light source units,
The imaging unit has a line sensor that acquires and captures reflected light obtained by reflecting illumination light from a corresponding light source unit for each light source unit,
The moving imaging apparatus according to any one of claims 1 to 4, wherein a pair of each light source unit and a line sensor corresponding to the light source unit is sequentially arranged along a moving direction of the moving body. The mobile imaging device further includes:
The movement according to claim 5, further comprising: a control unit that controls at least one of a moving speed of the moving body and an imaging timing of each line sensor so that the positions imaged by each line sensor are equally spaced. Imaging device. The mobile imaging device further includes:
The mobile imaging apparatus according to claim 5, further comprising a control unit that controls at least one of a moving speed of the moving body and an imaging timing of each line sensor so that positions captured by the line sensors coincide with each other. . The moving imaging apparatus according to claim 5, wherein an irradiation direction of illumination light differs depending on the light source unit. The movement according to any one of claims 1 to 4, wherein the imaging unit images the imaging surface by a TDI (Time Delayed Integration) sensor in which a plurality of sensors are arranged along a moving direction of the moving body. Imaging device. The mobile imaging device further includes:
In the TDI sensor, control for controlling at least one of a moving speed of the moving body and an imaging timing of each sensor so that positions captured by the respective sensors arranged along the moving direction coincide with each other. The moving imaging apparatus according to claim 9, further comprising a unit. The mobile imaging device further includes:
A measuring unit for measuring the position of the moving body;
The mobile imaging device according to claim 1, further comprising an operation unit that moves the moving body based on the position measured by the measurement unit.

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