JP2018059896A - Load measuring device, load measuring method, load measuring program, displacement coefficient calculating device, displacement coefficient calculating method, displacement coefficient calculating program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a load measuring device capable of reducing the labor and time and the cost required for installation or removal.SOLUTION: A load measuring device 10 includes a displacement amount detection part 130, a storage part 160 and a load calculation part 170. The displacement amount detection part 130 detects a displacement amount in a pick-up image corresponding to a displacement generated by the vehicle positioned on the travel lane on a travel lane being applied with a load of the vehicle by using pick-up image. The storage part 160 stores a piece of first information which represents a relationship between the load and the displacement amount. The load calculation part 170 calculates the load based on the displacement amount and the first information.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to a load measuring device, a load measuring method, and a load measuring program for measuring a load of a vehicle. The present disclosure also relates to a displacement coefficient calculation device, a displacement coefficient calculation method, and a displacement coefficient calculation program for calculating a displacement coefficient that specifies a relationship between a load on a vehicle and a displacement amount generated on a travel path due to the load.

  Conventionally, a load measuring device for measuring a load of a vehicle or the like is known. For example, Patent Document 1 discloses a load measuring device that measures the load of a vehicle passing on a traveling road. This load measuring device measures the load of the vehicle using a load sensor embedded in the travel path.

Japanese Patent No. 5424787

  In the conventional load measuring apparatus, it is necessary to embed a load sensor for measuring a load in the travel path. For this reason, when installing or removing the conventional load measuring device, a certain amount of cost and labor are required.

  Then, this indication provides the load measuring device which can reduce the effort and cost which are spent when installing or removing compared with the past.

  A load measurement device according to an aspect of the present disclosure includes a displacement amount detection unit, a storage unit, and a load calculation unit. The displacement amount detection unit detects the displacement amount in the captured image corresponding to the displacement that occurs on the traveling path when a vehicle load is applied, using the captured image obtained by capturing the traveling road and the vehicle existing on the traveling path. To do. The storage unit stores first information indicating a relationship between the load and the displacement amount. The load calculation unit calculates a load based on the displacement amount and the first information.

  According to the load measuring device according to the present disclosure, it is possible to reduce labor and cost required for installation or removal compared to the related art.

FIG. 1 is an external view schematically showing an example of how a load is measured. FIG. 2 is a block diagram showing the configuration of the load measuring device. FIG. 3 is a data configuration diagram of the displacement coefficient. FIG. 4 is a flowchart of the first measurement process. FIG. 5 is a diagram illustrating an example of the captured image A. As illustrated in FIG. FIG. 6 is a diagram illustrating an example of the captured image B. As illustrated in FIG. FIG. 7 is a flowchart of the first displacement coefficient update process. FIG. 8 is a diagram illustrating an example of a histogram generated by the calculation unit. FIG. 9 is a diagram illustrating an example of a histogram generated by the calculation unit. FIG. 10 is a block diagram illustrating a configuration of the load measuring device. FIG. 11 is a flowchart of the second measurement process. FIG. 12 is a block diagram illustrating a configuration of the load measuring device. FIG. 13 is a flowchart of the third measurement process. FIG. 14 is a block diagram illustrating a configuration of the load measuring device. FIG. 15 is a flowchart of the second displacement coefficient update process. FIG. 16 is a block diagram illustrating a configuration of a displacement coefficient calculation apparatus. FIG. 17 is a diagram illustrating an example of a superimposed image. FIG. 18 is a flowchart of the superimposed display process. FIG. 19 is a block diagram illustrating a configuration of a displacement coefficient calculation apparatus.

  A load measuring device according to an aspect of an embodiment includes a displacement amount detection unit, a storage unit, and a load calculation unit. The displacement amount detection unit detects the displacement amount in the captured image corresponding to the displacement that occurs on the traveling path when a vehicle load is applied, using the captured image obtained by capturing the traveling road and the vehicle existing on the traveling path. To do. The storage unit stores first information indicating a relationship between the load and the displacement amount. The load calculation unit calculates a load based on the displacement amount and the first information stored in the storage unit.

  Thereby, this load measuring device can measure the load of a vehicle without contact. For this reason, when installing this load measuring device, it is not necessary to embed sensors required for load measurement in a runway. Therefore, according to this load measuring device, it is possible to reduce labor and cost required for installation or removal compared to the conventional case.

  For example, the load measuring device may further include a load storage unit and a calculation unit. The load storage unit stores second information related to the load, and the calculation unit calculates the load and the displacement amount based on the displacement amount detected by the displacement amount detection unit and the second information stored in the load storage unit. A displacement coefficient that specifies the relationship between the first and second information may be calculated as the first information.

  Thereby, the displacement coefficient used for calculation of a load can be calculated in the own apparatus. For this reason, even when the displacement coefficient is not known, the load can be measured.

  For example, the load measuring device may further include a totaling unit. The totaling unit totals a plurality of displacement amounts detected by the displacement amount detection unit using a plurality of captured images, and the calculation unit calculates a displacement coefficient based on the totaling result totaled by the totaling unit. It is also good.

  Thereby, the displacement coefficient can be calculated using the displacement amount detected in the past.

  For example, the calculation unit may calculate the displacement coefficient by using the characteristics of the displacement amount distribution corresponding to the plurality of displacement amounts tabulated by the tabulation unit as the tabulation result.

  Thereby, the displacement coefficient can be calculated with a certain degree of accuracy.

  For example, the feature of the displacement amount distribution may be a mode value of the displacement amount distribution, and the second information may be a load of a vehicle type (vehicle type) having the largest amount of traffic on the travel path.

  Thereby, the displacement coefficient can be calculated with a relatively small amount of calculation.

  For example, the load measuring device may further include a recognition unit. The recognizing unit recognizes the specific vehicle using the captured image, the second information is the load of the specific vehicle, and the calculating unit is the travel path when the load of the specific vehicle is applied by the displacement detection unit. The displacement coefficient may be calculated based on the displacement amount and the second information when a displacement amount corresponding to the displacement generated in the above is detected.

  As a result, the displacement coefficient can be calculated using a specific vehicle with a known load.

  For example, the load measuring device may further include a load position specifying unit. The load position specifying unit specifies the load position of the vehicle in the captured image, and the displacement amount detection unit picks up an image corresponding to the displacement at the specified load position when the load position is specified by the load position specifying unit. The amount of displacement in the image may be detected.

  Thereby, the amount of displacement at the actual load position can be detected. For this reason, it is possible to measure the load with higher accuracy.

  For example, the displacement coefficient stored by the storage unit has a numerical value associated with each of a plurality of positions that can be specified as the load position by the load position specifying unit, and the load calculating unit When the load position of the vehicle is specified by the unit, the load may be calculated based on a numerical value associated with the specified load position.

  Thereby, a load can be measured using the numerical value of the displacement coefficient matched with the actual load position. For this reason, it is possible to measure the load with higher accuracy.

  For example, when the load position of the vehicle is specified by the load position specifying unit, the displacement amount detection unit detects the amount of displacement in the captured image corresponding to the displacement at the non-load position other than the specified load position, The load calculation unit may calculate the load using the displacement amount corresponding to the non-load position detected by the displacement amount detection unit.

  As a result, the load can be measured by correcting the influence of camera shake used for imaging. For this reason, it is possible to measure the load with higher accuracy.

  For example, the load measuring device may further include a tracking recognition unit. The tracking recognition unit recognizes a vehicle captured as the second captured image at a time different from the time when the vehicle is captured as the first captured image, and the load calculation unit recognizes the vehicle in the second captured image by the tracking recognition unit. When recognized, it corresponds to the first displacement amount in the first captured image corresponding to the displacement generated in the travel path when the vehicle load is applied and the displacement generated in the travel path due to the vehicle load being applied. The load may be calculated based on the second displacement amount in the second captured image.

  Thereby, with respect to one vehicle, the load of the vehicle can be measured using two displacement amounts. For this reason, it is possible to measure the load with higher accuracy.

  For example, the load measuring device may further include an output unit. The output unit may output that the load deviating from the predetermined range is calculated when the load deviating from the predetermined range is calculated by the load calculating unit.

  Thereby, it can be notified to the user who uses this load measuring device that there is a high possibility that the vehicle is overloaded.

  For example, the load measuring device may further include an image generation unit and a display unit. The image generation unit may generate an image based on the displacement coefficient calculated by the calculation unit, and the display unit may display the image generated by the image generation unit superimposed on the captured image.

  Thereby, the user using this load measuring device can visually recognize the relationship between the travel path and the displacement coefficient.

  The load measuring method according to one aspect of the embodiment corresponds to a displacement that occurs on the travel path by applying a load of the vehicle using a captured image obtained by capturing the travel path and the vehicle existing on the travel path. Based on the displacement amount detection step for detecting the displacement amount in the captured image, the displacement amount detected in the displacement amount detection step, and information indicating the relationship between the load and the displacement amount stored in the storage unit, And a load calculating step for calculating.

  Thereby, the load measuring device using this load measuring method can measure the load of the vehicle in a non-contact manner. For this reason, when installing the load measuring device using this load measuring method, it is not necessary to embed sensors necessary for measuring the load in the travel path. Therefore, according to this load measuring method, it is possible to reduce labor and cost when installing or removing the load measuring device as compared with the conventional case.

  A load measurement program according to an aspect of an embodiment is a load measurement program for causing a computer to execute a load measurement process. The load measurement process detects the amount of displacement in the captured image corresponding to the displacement that occurs on the travel path when a vehicle load is applied, using the captured image obtained by capturing the travel path and the vehicle existing on the travel path. A displacement amount detection step, and a load calculation step for calculating a load based on the displacement amount detected in the displacement amount detection step and information indicating a relationship between the load and the displacement amount stored in the storage unit. .

  Thereby, the load measuring device using this load measuring program can measure the load of the vehicle without contact. For this reason, when installing the load measuring apparatus using this load measuring program, it is not necessary to embed the sensors required for measuring the load in the travel path. Therefore, according to this load measurement program, it is possible to reduce labor and cost for installing or removing the load measurement device as compared with the conventional case.

  A displacement coefficient calculation apparatus according to an aspect of an embodiment includes a displacement amount detection unit, a totaling unit, a load storage unit, and a calculation unit. The displacement amount detection unit detects the displacement amount in the captured image corresponding to the displacement that occurs in the travel path by applying a load of the vehicle, using the captured image obtained by capturing the travel path and the vehicle existing on the travel path. To do. The totaling unit totals the plurality of displacement amounts detected by the displacement amount detection unit using the plurality of captured images. The load storage unit stores information related to the load. The calculation unit calculates a displacement coefficient that specifies the relationship between the load and the displacement amount based on the aggregation result aggregated by the aggregation unit and the information stored in the load storage unit.

  Thereby, this displacement coefficient calculation apparatus can calculate a displacement coefficient without contact. For this reason, when installing this displacement coefficient calculation apparatus, it is not necessary to embed sensors required for calculation of a displacement coefficient in a runway. Therefore, according to this displacement coefficient calculation device, it is possible to reduce labor and cost when installing or removing the displacement coefficient calculation device, compared to the conventional case.

  For example, the calculation unit may calculate the displacement coefficient by using the characteristics of the displacement amount distribution corresponding to the plurality of displacement amounts tabulated by the tabulation unit as the tabulation result.

  Thereby, the displacement coefficient can be calculated with a certain degree of accuracy.

  For example, the feature of the displacement amount distribution may be the mode value of the displacement amount distribution, and the information stored by the load storage unit may be a load of a vehicle type having the largest traffic amount on the travel path.

  Thereby, the displacement coefficient can be calculated with a relatively small amount of calculation.

  For example, the displacement coefficient calculated by the calculation unit may have a numerical value associated with each of a plurality of different regions in the captured image.

  Thereby, it is possible to calculate a displacement coefficient reflecting the characteristics of a plurality of different positions.

  For example, the displacement coefficient calculation device may further include an output unit. The output unit may output that the displacement coefficient deviating from the reference range is calculated when the displacement coefficient deviating from the reference range is calculated by the calculating unit.

  Thereby, it can be notified to the user who uses this displacement coefficient calculation device that the road surface may be in an abnormal state.

  For example, the displacement coefficient calculation device may further include an image generation unit and a display unit. The image generation unit may generate an image based on the displacement coefficient calculated by the calculation unit, and the display unit may display the image generated by the image generation unit superimposed on the captured image.

  Thereby, the user using this displacement coefficient calculation device can visually recognize the relationship between the travel path and the displacement coefficient.

  The displacement coefficient calculation method according to one aspect of the embodiment corresponds to the displacement that occurs on the travel path when a vehicle load is applied using the captured image obtained by capturing the travel path and the vehicle existing on the travel path. A displacement amount detection step for detecting a displacement amount in the captured image, a summation step for summing up the plurality of displacement amounts detected in the displacement amount detection step using a plurality of captured images, and a summation result summed in the summation step And a calculation step of calculating a displacement coefficient for specifying a relationship between the load and the displacement amount based on the information related to the load stored in the load storage unit.

  Thereby, the displacement coefficient calculation apparatus using this displacement coefficient calculation method can calculate a displacement coefficient without contact. For this reason, when installing the displacement coefficient calculation apparatus using this displacement coefficient calculation method, it is not necessary to embed sensors necessary for calculating the displacement coefficient in the travel path. Therefore, according to this displacement coefficient calculation method, it is possible to reduce the labor and cost required for installing or removing the displacement coefficient calculation device as compared with the conventional method.

  Note that these comprehensive or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, and the system, method, integrated circuit, and computer program. Alternatively, it may be realized by any combination of recording media.

  Hereinafter, specific examples of the load measurement device and the displacement coefficient calculation device according to one aspect of the present disclosure will be described. Note that each of the embodiments described below shows a preferred specific example of the present disclosure. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. The present disclosure is limited only by the claims. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present disclosure are not necessarily required to achieve the object of the present disclosure. It will be described as constituting a preferred form.

(Embodiment 1)
Here, as one aspect of the present disclosure, a load measuring device that measures the load of a vehicle existing on a traveling road will be described.

  The load measuring device receives a plurality of picked-up images picked up from a specific traveling road from an external image pickup device. The load measuring device detects a displacement amount corresponding to the displacement generated in the travel path from the captured images, and based on the detected displacement amount, the load of the vehicle that causes the displacement amount is detected. calculate.

  For this reason, this load measuring device can measure the load of the vehicle without contact with the travel path and the vehicle.

  Hereinafter, details of the load measuring device will be described with reference to the drawings.

[1-1. Constitution]
FIG. 1 is an external view schematically showing an example of a state in which the load of the vehicle 40 is measured using the load measuring device 10 according to the first embodiment. Here, for example, the load measuring device 10 is connected to the imaging device 20 that captures an image of a traveling path 30 that is, for example, an asphalt road on which a vehicle 40 such as a truck travels. The load measuring device 10 receives a plurality of captured images captured by the imaging device 20.

  FIG. 2 is a block diagram illustrating a configuration of the load measuring device 10. As shown in FIG. 2, the load measuring device 10 includes an image input unit 110, a load position specifying unit 120, a displacement amount detection unit 130, a totaling unit 140, a calculation unit 150, a storage unit 160, and a load calculation. Part 170 and load storage part 180.

  The load measuring device 10 is, for example, a computer (not shown) provided with a microprocessor (not shown) and a memory (not shown), and the microprocessor executes a program stored in the memory. Realized.

  The image input unit 110 receives an input of a plurality of captured images captured by the imaging device 20. For example, the image input unit 110 receives an input of a digital image of 4096 × 2160 pixels. The input of the captured image is performed via wireless or wired communication or a recording medium.

  When the captured image received by the image input unit 110 includes a vehicle, the load position specifying unit 120 specifies the load position of the vehicle in the captured image. More specifically, the load position specifying unit 120 performs image recognition processing on the captured image, and determines whether the captured image includes a vehicle. When the load position specifying unit 120 determines that the vehicle is included, the load position specifying unit 120 recognizes the tire of the vehicle by further image recognition processing, and sets the region on the traveling road corresponding to the lowest point of the tire to the load position. As specified.

  The displacement amount detection unit 130 uses the captured image obtained by capturing the traveling road and the vehicle existing on the traveling path, and the displacement in the captured image corresponding to the displacement generated in the traveling path when the vehicle load is applied. Detect the amount. In particular, when the load position is specified by the load position specifying unit 120, the displacement amount detection unit 130 detects the displacement amount in the captured image with respect to the displacement at the specified load position. In other words, the displacement amount detection unit 130 compares the captured image in which the displacement is not generated on the traveling path and the captured image in which the displacement is generated among the plurality of captured images received by the image input unit 110. A displacement amount corresponding to the displacement is detected.

  The detection of the displacement amount corresponding to the displacement in the comparison between the plurality of captured images can be realized by using block matching, a correlation method, or an optical flow. This amount of displacement is calculated, for example, as the number of pixels indicating the difference in pixel position corresponding to the same point on the travel path between a plurality of captured images to be compared. Moreover, the captured image in which no displacement has occurred may be a captured image that has been captured in a state where there is no load target in advance. In a plurality of captured images that have been captured continuously in time, the amount of image change is large. It may be a captured image that is below a certain level, or may be a captured image that has been determined by the image recognition process that there is no load target.

  The totaling unit 140 totals a plurality of displacement amounts detected by the displacement amount detection unit 130 for a plurality of captured images. In particular, when the load position is specified by the load position specifying unit 120, the totaling unit 140 adds up the specified load position and the amount of displacement in association with each other.

  The storage unit 160 stores first information indicating the relationship between the load and the displacement amount. More specifically, the storage unit 160 includes a relational expression indicating a relationship between a load and a displacement amount corresponding to the displacement when a displacement occurs in the traveling road due to a load applied to the traveling road, and The displacement coefficient, which is the coefficient used in this relational expression, is stored as the first information.

  In general, the load w (kg) is expressed by the equation w = f (d) as a function f of the displacement d (number of pixels). Here, it is assumed that the function f is approximated by a linear expression. Therefore, the storage unit 160 stores a linear expression (w = αd) expressed as a variable d and a coefficient α as a relational expression, and stores the coefficient α as a displacement coefficient.

  The displacement coefficient α has a displacement coefficient value associated with each of a plurality of positions that can be specified as load positions by the load position specifying unit 120. Thereby, it can be reflected in the calculation of the load that the displacement coefficient value is different for each region on the traveling road. The displacement coefficient value differs for each area on the road. The distance from the imaging position to each area is different from each other, the composition of the asphalt etc. of the road is different, the road surface temperature is different, the road surface is deteriorated. This is because the states are different from each other. Here, the displacement coefficient α is local for each region (hereinafter referred to as “local region”) of, for example, 10 pixels in the horizontal direction (x direction) and 10 pixels in the vertical direction (y direction) in the captured image. It has a displacement coefficient value corresponding to the region.

  An example of the displacement coefficient α stored by the storage unit 160 is shown in FIG. The storage unit 160 stores a predetermined relational expression and a predetermined displacement coefficient in the initial state. When the displacement coefficient is newly calculated by the calculation unit 150, the stored displacement coefficient is updated with the newly calculated displacement coefficient.

  The load calculation unit 170 calculates the load of the vehicle existing on the travel path based on the displacement amount detected by the displacement amount detection unit 130 and the first information stored in the storage unit 160. In particular, when the load position is specified by the load position specifying unit 120, the load calculating unit 170 calculates the load based on the displacement amount corresponding to the displacement at the specified load position. More specifically, the load calculation unit 170 multiplies the displacement amount d detected by the displacement amount detection unit 130 by the displacement coefficient value corresponding to the region including the load position specified by the load position specifying unit 120. Then, the load w is calculated.

  The load storage unit 180 stores second information related to the load. More specifically, the load storage unit 180 stores the load of the vehicle type with the largest traffic volume on the travel path 30 as the second information. The load storage unit 180 may be realized by a memory (not shown) constituting the load measuring device 10 or may be realized by a database of a communicable external device.

  Based on the displacement amount detected by the displacement amount detection unit 130 and the second information stored in the load storage unit 180, the calculation unit 150 determines a displacement coefficient that specifies the relationship between the load and the displacement amount as the first information. Calculate as Then, the calculation unit 150 overwrites the displacement coefficient stored in the storage unit 160 using the calculated displacement coefficient. Details of the method of calculating the displacement coefficient will be described in the first displacement coefficient update process described later.

  The operation performed by the load measuring apparatus 10 having the above configuration will be described below with reference to the drawings.

[1-2. Operation]
The load measuring device 10 performs a first measurement process and a first displacement coefficient update process as its characteristic operation.

[1-2-1. First measurement process]
The first measurement process is a process of calculating the load of the vehicle when a captured image including the vehicle is input to the load measuring device 10.

  FIG. 4 is a flowchart of the first measurement process. The first measurement process is started when the image input unit 110 acquires a captured image including a vehicle (hereinafter, this captured image is referred to as “captured image A”).

  When the first measurement process is started, the image input unit 110 acquires the captured image A input from the imaging device 20 (step S10).

  FIG. 5 is a diagram illustrating an example of the acquired captured image A. As illustrated in FIG. The captured image A includes a vehicle 40 that travels on the travel path 30. The vehicle 40 is in contact with the traveling road 30 at the lowest point 510 of the tire. A region 520 corresponds to a region 620 (see FIG. 6) of a captured image B described later.

  When the captured image A is acquired in the process of step S <b> 10, the load position specifying unit 120 performs image recognition processing, specifies the lowest point 510 of the tire of the vehicle 40, and corresponds to the specified lowest point 510. An area on the traveling path 30 to be specified is specified as a load position (step S20).

  Here, the specified load position is not necessarily one point (one pixel), and may be specified as a local image region including a plurality of adjacent pixels. It should be noted that the load detection range that is the target of load detection may be limited to the area of the travel path 30 or may be limited to a part of the travel path 30 as in the area 630 of FIG. The load detection range may be specified by the user, or may be specified in cooperation with the specification by the user and the image recognition of the color or texture of the traveling road. By limiting the load detection range, there is an effect of suppressing the image processing amount. For this reason, the processing amount for detecting a load position can be suppressed. In addition, when a plurality of tires are in contact with the traveling road 30 in the captured image, the load position specifying unit 120 detects a load position corresponding to each of the plurality of contact positions.

  When the load position is specified, the displacement amount detection unit 130 detects a displacement amount corresponding to the displacement generated on the travel path at the specified load position (step S30). For the detection of the displacement amount, the captured image A and the captured image acquired by the image input unit 110 are not displaced (hereinafter, this captured image is referred to as “captured image B”). And are used. If the captured image B is not acquired by the image input unit 110 until the load position is specified, the displacement amount detection unit 130 waits until the captured image B is acquired by the image input unit 110, and then The displacement amount is detected.

  FIG. 6 is a diagram illustrating an example of the acquired captured image B. As illustrated in FIG. This captured image B is an image captured from the same viewpoint at the same place as the captured image A (see FIG. 5). A region 610 on the traveling road 30 in the captured image B is the same region as the region on the traveling road 30 corresponding to the lowest point 510 of the tire in the captured image A. In addition, the area 620 on the travel path 30 in the captured image B is the same area as the area 520 on the travel path 30 in the captured image A.

  The displacement amount detection unit 130 detects the amount of displacement generated between the region on the travel path 30 corresponding to the lowest point 510 in the captured image A and the region 610 in the captured image B. Here, since the amount of displacement of the traveling road due to a general vehicle load is very small, it is desirable to suppress the influence of the shaking of the imaging device 20 due to the vibration of the vehicle traveling on the traveling road.

  As an example, the load position specifying unit 120 is the same point that is not specified as the load position in both the captured image A and the captured image B (for example, the region 520 in the captured image A and the region 620 in the captured image B). Is elected. Then, the displacement amount detection unit 130 calculates a displacement amount between the selected regions (hereinafter, this displacement amount is referred to as “non-load position displacement amount”). That is, the non-load position displacement amount is a displacement amount in the captured image corresponding to a displacement at a non-load position other than the load position. Then, the load calculation unit 170 calculates the non-load position displacement amount from the displacement amount generated between the region on the traveling road 30 corresponding to the lowest point 510 of the tire in the captured image A and the region 610 in the captured image B. The amount of displacement is corrected by subtracting. Thereby, it becomes possible to suppress the influence of the shaking of the imaging device 20. In addition, the influence of the shaking of the imaging device 20 can be suppressed by a method using an optical image stabilization technique, a method using a mechanical mechanism such as a sensor shift method, or the like.

  When the amount of displacement is detected in the process of step S30, the load calculating unit 170 specifies a displacement coefficient value corresponding to the load position specified by the load position specifying unit 120 (step S40). That is, the load calculation unit 170 refers to the displacement coefficient α (see FIG. 3) stored in the storage unit 160, and identifies the displacement coefficient value corresponding to the load position identified by the load position identification unit 120.

  When the displacement coefficient value is specified, the load calculation unit 170 calculates the load by multiplying the specified displacement coefficient value by the displacement amount detected by the displacement amount detection unit 130 (step S50).

  When the load is calculated, the load calculation unit 170 outputs the calculated numerical value of the load to the outside (step S60). Here, instead of outputting the calculated load numerical value to the outside, the load calculating unit 170 notifies the user of the fact when the calculated load numerical value is larger than a predetermined reference value. Also good. At this time, the reference value may be an absolute reference value or a relative reference value. Furthermore, when the reference value is, for example, 30 times or more of a representative value of a histogram described later, the load calculation unit 170 may store the corresponding captured image and notify the user to that effect. . Thereby, the load calculation unit 170 can notify the user that the possibility that the vehicle included in the corresponding captured image is overloaded is relatively high.

  When the process of step S60 ends, the load measuring device 10 ends the first measurement process.

[1-2-2. First displacement coefficient update process]
The first displacement coefficient update process is a process for updating the displacement coefficient stored in the storage unit 160.

  FIG. 7 is a flowchart of the first displacement coefficient update process. The first displacement coefficient updating process is started when the load measuring device 10 is activated. When the first displacement coefficient update process is started, the counting unit 140 is specified each time the displacement amount is detected by the displacement amount detection unit 130 when the load position is specified by the load position specifying unit 120. The load position and the detected displacement amount are associated and tabulated (step S110).

  Here, the totaling unit 140 totals the detected displacement amount for each local region associated with the displacement coefficient value in the displacement coefficient stored in the storage unit 160.

  The load measuring apparatus 10 repeats the processing from No in Step S120 to Step S110 until the predetermined condition is satisfied in the processing in Step S120. Here, the predetermined condition corresponds to, for example, a predetermined date and time, a case where a predetermined number of displacements are totaled, a case where a predetermined operation by the user is performed on the load measuring device 10, and the like.

  In the process of step S120, when a predetermined condition is satisfied (Yes in step S120), the calculation unit 150 determines, for each local region, within the past certain period based on the aggregation result calculated by the aggregation unit 140. A histogram (displacement amount distribution) of the aggregated displacement amounts is generated (step S130).

  8 and 9 are diagrams each illustrating an example of a histogram for each local region generated by the calculation unit 150. FIG. Each of FIG. 8 and FIG. 9 is an example of a histogram of the same local region having a different aggregation period. The reason why the shapes of these histograms are different is, for example, that the road surface temperatures are different from each other and the road surface deterioration states are different from each other in these counting periods.

  When the histogram for each local region is generated, the calculation unit 150 calculates the displacement coefficient value of the corresponding local region based on the characteristics of the histogram and the second information stored in the load storage unit 180 (step S140). Here, the characteristic of the histogram means a representative value of the displacement obtained from the shape of the histogram, such as the average value, mode value, maximum value, minimum value, average value of the lower fixed ratio, etc. of the histogram. Here, the case where the mode value of the histogram is used as the histogram feature will be described as an example.

  The load storage unit 180 stores the load of the vehicle type having the largest traffic volume on the travel path 30 as the second information.

  The calculation unit 150 calculates the displacement coefficient value by dividing the load of the vehicle type with the largest traffic amount on the travel road 30 by the mode value that is a representative value of the displacement amount obtained from the shape of the histogram.

  For example, when the load of the vehicle model with the largest traffic volume is w1 and the histogram generated by the calculation unit 150 is the histogram shown in FIG. 8, the calculation unit 150 calculates the displacement factor based on the following formula 1. A numerical value α1 is calculated.

α1 = w1 / d1 (Formula 1)
Here, d1 is the mode value of the displacement amount in the histogram of FIG.

  In addition, for example, when the load of a passing vehicle having the highest vehicle type ratio is w1 and the histogram generated by the calculation unit 150 is the histogram shown in FIG. 9, the calculation unit 150 is based on the following Expression 2. To calculate the displacement coefficient value α2.

α2 = w1 / d2 (Formula 2)
Here, d2 is the mode value in the histogram of FIG.

  In addition, when the accuracy of the histogram is low, for example, when the number of passing vehicles is small (for example, a certain number or less), or when there are a plurality of mode values, when the assumed histogram feature cannot be obtained appropriately, the calculation unit 150 The displacement coefficient value may be calculated using the alternative value. The calculation unit 150 may use, for example, a displacement coefficient value in a past time zone as an alternative value, or may continue to use a displacement coefficient value used before updating the histogram.

  When the displacement coefficient α depends on the vehicle speed, the calculation unit 150 calculates the vehicle speed v of the vehicle from the amount of movement of the vehicle in the captured images captured continuously in time series, and the vehicle speed The displacement coefficient α (v) may be calculated for each v. The calculation unit 150 may update the histogram and calculate the displacement coefficient value only when the vehicle speed is within a certain range (for example, when the vehicle speed v <20 Km / h).

  When the displacement coefficient value is calculated in the process of step S140, the calculation unit 150 updates the displacement coefficient by overwriting the displacement coefficient stored in the storage unit 160 using the calculated displacement coefficient value. (Step S150).

  When the process of step S150 ends, the load measuring device 10 proceeds to the process of step S110 again, and repeats the processes after step S110.

[1-3. Effect]
As described above, the load measuring device 10 calculates the load of the vehicle 40 traveling on the traveling road 30 from the captured image captured by the external imaging device 20 in a non-contact manner.

  For this reason, when installing the load measuring apparatus 10, it is not necessary to embed the sensors required for measuring the load in the travel path 30. Therefore, by using this load measuring device 10, installation, removal, and updating of a measurement system that measures the load of the vehicle can be realized relatively easily.

  In addition, it is possible to measure the load with relatively high accuracy by using the image in consideration of the influence of the vehicle speed.

  Furthermore, since the calculation unit 150 automatically updates the displacement coefficient stored in the storage unit 160, it is possible to reduce costs and labor in maintenance and management of the measurement system using the load measuring device 10.

(Embodiment 2)
Here, as one aspect of the present disclosure, a load measuring device according to the second embodiment in which a part of the configuration is changed from the load measuring device 10 according to the first embodiment will be described.

  The load measuring device 10 according to the first embodiment is an example of a configuration in which the displacement amount detection unit 130 detects a displacement amount corresponding to a displacement that occurs in any place on the travel path 30. On the other hand, in the load measuring device according to the second embodiment, the displacement amount detection unit limits the detection range to the designated range specified in advance in the travel path 30 and corresponds to the displacement generated in the range. This is an example of a configuration for detecting the amount of displacement.

  Hereinafter, details of the load measuring device will be described with reference to the drawings, centering on differences from the load measuring device 10 according to the first embodiment.

[2-1. Constitution]
FIG. 10 is a block diagram showing the configuration of the load measuring apparatus 1010 according to the second embodiment. As shown in FIG. 10, the load measuring device 1010 is different from the load measuring device 10 (see FIG. 2) in the first embodiment in the following points. The load measuring device 1010 does not include the load position specifying unit 120. The load measuring device 1010 includes a displacement amount detection unit 1130 instead of the displacement amount detection unit 130. Therefore, here, the displacement amount detection unit 1130 will be mainly described.

  The displacement amount detection unit 1130 falls within a designated range (for example, a region 630 shown in FIG. 6) specified in advance in the travel path from a plurality of captured images obtained by capturing the travel path of the vehicle. A displacement amount corresponding to the generated displacement is detected. That is, the displacement amount detection unit 1130 includes a picked-up image in which no displacement is generated within a predetermined range specified in the traveling path among a plurality of picked-up images received by the image input unit 110, and a displacement is generated. A displacement amount corresponding to the displacement is detected by comparing the captured image.

  The operation performed by the load measuring apparatus 1010 having the above configuration will be described below with reference to the drawings.

[2-2. Operation]
As a characteristic operation, the load measuring device 1010 performs a second measurement process in which a part of the process is changed from the first measurement process in the first embodiment.

[2-2-1. Second measurement process]
FIG. 11 is a flowchart of the second measurement process. In the second measurement process, the image input unit 110 includes a captured image including a vehicle that causes a displacement within a designated range specified in advance in the travel path (hereinafter, this captured image is referred to as “captured image C”). .) Is entered.

  In FIG. 11, the second measurement process is different from the first measurement process (see FIG. 4) in the first embodiment in the following points. The second measurement process does not include the process of step S20. The second measurement process includes the process of step S1030 instead of the process of step S30, and includes the process of step S1040 instead of the process of step S40. Therefore, here, the processing in step S1030 and the processing in step S1040 will be mainly described.

  When the process of step S10 is completed, the displacement amount detection unit 1130 detects a displacement amount corresponding to the displacement that has occurred within the designated range specified in advance in the travel path (step S1030). The detection of the displacement amount is performed using the captured image C and the captured image B in which no displacement is generated among the captured images acquired by the image input unit 110. If the captured image B is not acquired by the image input unit 110 until the load position is specified, the displacement amount detection unit 1130 waits until the captured image B is acquired by the image input unit 110 and then the displacement. Perform quantity detection.

  Here, when the displacement amount is not normally detected due to concealment by a passing vehicle in front of the designated range specified in advance in the travel path, the displacement amount detection unit 1130 cannot detect the displacement amount. Assuming there is no need to detect the amount of displacement. The displacement amount detection unit 1130 may determine that the displacement cannot be detected when the matching evaluation value or the correlation value does not satisfy a predetermined criterion, for example, by block matching or a correlation method. Further, the displacement amount detection unit 1130 may determine that the specified range is concealed based on the difference from the background image. Furthermore, when the detected displacement amount exceeds the limit value, the displacement amount detection unit 1130 may determine that normal detection has not been performed and may not perform subsequent processing.

  In the process of step S1030, when the amount of displacement is detected, the load calculation unit 170 specifies a displacement coefficient value corresponding to the position of the designated range specified in advance in the travel path (step S1040). That is, the load calculation unit 170 refers to the displacement coefficient α (see FIG. 3) stored in the storage unit 160, and specifies the displacement coefficient value corresponding to the position of the designated range specified in advance in the travel path. .

  When the displacement coefficient value is specified, the load measuring device 1010 proceeds to the process of step S50 and performs the subsequent processes.

[2-3. Effect]
As described above, the load measuring apparatus 1010 detects the amount of displacement corresponding to the displacement generated in the region by limiting the detection range to the designated range specified in advance in the travel path. On the other hand, the load measuring device 1010 does not specify the load position.

  For this reason, the load measuring device 1010 can execute the second measurement process with a smaller processing amount than the first measurement process performed by the load measuring device 10 according to the first embodiment.

  For these reasons, it is effective that the load measuring device 1010 is used when a region on a captured image that is a target of load measurement is relatively narrow.

(Embodiment 3)
Here, as one aspect of the present disclosure, a load measuring device according to Embodiment 3 in which a part of the configuration is changed from the load measuring device 10 according to Embodiment 1 will be described.

  The load measuring device 10 according to the first embodiment is an example of a configuration that measures the load of a vehicle using the single captured image when the captured image including a certain vehicle is one. . On the other hand, the load measuring device according to the third embodiment is configured to measure the load of the vehicle using the plurality of captured images when there are a plurality of captured images including a certain vehicle. It is an example.

  Hereinafter, details of the load measuring device will be described with reference to the drawings, centering on differences from the load measuring device 10 according to the first embodiment.

[3-1. Constitution]
FIG. 12 is a block diagram showing the configuration of the load measuring device 1210 in the third embodiment.

  As shown in FIG. 12, the load measuring device 1210 differs from the load measuring device 10 (see FIG. 2) in the first embodiment in the following points. The load measuring device 1210 further includes a tracking recognition unit 1280. The load measuring device 1210 includes a load calculation unit 1270 instead of the load calculation unit 170. Therefore, here, the tracking recognition unit 1280 and the load calculation unit 1270 will be mainly described.

  The tracking recognition unit 1280 recognizes the vehicle imaged as the second captured image at a time different from the time when the vehicle was imaged as the first captured image. More specifically, the tracking recognition unit 1280 recognizes the same vehicle included in a plurality of captured images that are continuously captured with a time interval by performing image recognition processing.

  The load calculation unit 1270 has the following additional functions in addition to the functions of the load calculation unit 170 in the first embodiment. The load calculating unit 1270 uses both the first displacement amount and the second displacement amount when the tracking recognition unit 1280 recognizes the vehicle captured in the first captured image as the second captured image, Calculate the load. Here, the first displacement amount is a displacement amount in the first captured image corresponding to the displacement generated in the travel path when the vehicle load is applied. The second displacement amount is a displacement amount in the second captured image corresponding to a displacement that occurs on the travel path when a vehicle load is applied.

  More specifically, when the same vehicle is recognized in a plurality of captured images, the load calculation unit 1270 detects a displacement that is detected in each image and is caused by applying the vehicle load. Is used to calculate the load of the vehicle (hereinafter, this load is referred to as “statistical weight”) by a predetermined statistical method.

  The operation performed by the load measuring device 1210 will be described below with reference to the drawings.

[3-2. Operation]
As a characteristic operation, the load measuring device 1210 performs a third measurement process in which a part of the process is changed from the first measurement process in the first embodiment.

[3-2-1. Third measurement process]
FIG. 13 is a flowchart of the third measurement process. The third measurement process is started by inputting a plurality of captured images that are continuously captured at intervals, including the same vehicle, to the image input unit 110.

  Here, a description will be given assuming that the number of captured images including the same vehicle and continuously captured with time is n (n is an integer of 2 or more). Each of the plurality of captured images is also referred to as a captured image D (i) corresponding to the variable “i”.

  In FIG. 13, the process from step S1320 to the process from step S1350 is a process for performing the process from step S20 to step S50 in the first embodiment on the captured image D (i). Therefore, here, the processing from step S1310 to step S1314 and the processing from step S1360 to step S1370 will be mainly described.

  When the third measurement process is started, the image input unit 110 acquires n captured images that are input from the imaging device 20 and that are continuously captured at intervals, including the same vehicle ( Step S1310).

  When n captured images are acquired, the load calculation unit 1270 substitutes the initial value “0” for the variable “i” (step S1312). Then, the load calculation unit 1270 determines whether or not the value of the variable “i” is smaller than “n” (step S1314).

  In the process of step S1320, when the value of the variable “i” is smaller than “n” (Yes in step S1314), the load measuring device 1210 performs the process from step S1320 to step S1350 on the captured image D (i). Perform the process.

  When the process of step S1350 ends, the load calculation unit 1270 adds “1” to the variable “i” and returns to the process of step S1314 again.

  In the process of step S1320, when the value of the variable “i” is not smaller than “n” (No in step S1314), the load calculation unit 1270 integrates the loads calculated for each of the n captured images. Then, the statistical weight of the vehicle is calculated (step S1360). As a specific example of the integration method, for example, an average value, a media value, a mode value, and the like can be considered.

  When the statistical weight is calculated, the load calculation unit 1270 outputs the calculated numerical value of the statistical weight as the vehicle load to the outside (step S1370).

  When the process of step S1370 ends, the load measuring device 1210 ends the third measurement process.

[3-3. Effect]
As described above, the load measuring device 1210 calculates n loads for the same vehicle. Then, the load measuring device 1210 calculates the statistical weight by integrating the n loads. For this reason, the load calculation accuracy can be improved. In addition, it is possible to reduce detection omissions caused by concealment. It is also possible to obtain information on the number of passing vehicles.

(Embodiment 4)
Here, as one aspect of the present disclosure, a load measuring device according to the fourth embodiment in which a part of the configuration is changed from the load measuring device 10 according to the first embodiment will be described.

  Example of a configuration in which the load measurement device 10 according to the first embodiment calculates a displacement coefficient value based on the total amount of displacement, and updates the displacement coefficient stored in the storage unit 160 using the calculated displacement coefficient value. Met. In contrast, the load measuring device according to the fourth embodiment calculates a displacement coefficient value based on a displacement amount corresponding to a predetermined displacement caused by the specific vehicle and a load of the specific vehicle stored in advance. This is an example of a configuration that calculates and updates the displacement coefficient stored in the storage unit 160 using the calculated displacement coefficient value.

  Hereinafter, details of the load measuring device will be described with reference to the drawings, centering on differences from the load measuring device 10 according to the first embodiment.

[4-1. Constitution]
FIG. 14 is a block diagram illustrating a configuration of a load measuring device 1410 according to the fourth embodiment. As shown in FIG. 14, the load measuring device 1410 differs from the load measuring device 10 (see FIG. 2) in the first embodiment in the following points. The load measuring device 1410 does not include the counting unit 140 but further includes a recognition unit 1460. The load measuring device 1410 includes a calculation unit 1450 instead of the calculation unit 150, and includes a load storage unit 1470 instead of the load storage unit 180. Therefore, here, the recognition unit 1460, the load storage unit 1470, and the calculation unit 1450 will be mainly described.

  The recognition unit 1460 recognizes the specific vehicle using the captured image. More specifically, the recognizing unit 1460 stores the characteristics of specific vehicles, and recognizes specific vehicles included in these captured images by performing image recognition processing using the stored characteristics on the captured images. To do. Here, it is desirable that the specific vehicle is a vehicle of a vehicle type in which a load variation due to a load or the like is small. In addition, it is desirable that the recognition unit 1460 can store the characteristics of a plurality of types of specific vehicles having different loads and can recognize the plurality of types of specific vehicles. Moreover, it is desirable that the specific vehicle is a vehicle of a vehicle type that has a relatively high frequency of passing through the target travel path.

  The load storage unit 1470 stores the load of the specific vehicle as second information. The load storage unit 1470 may be realized by a memory (not shown) constituting the load measuring device 1410, or may be realized by a database of an external device that can communicate.

  When the recognition unit 1460 recognizes the specific vehicle, the calculation unit 1450 detects a displacement amount corresponding to the displacement generated on the travel path due to the load of the specific vehicle being applied by the displacement amount detection unit 130. When this is done, the displacement coefficient is calculated based on the amount of displacement and the load of the specific vehicle stored in the load storage unit 1470. Then, the calculation unit 1450 updates the displacement coefficient by overwriting the displacement coefficient stored in the storage unit 160 using the calculated displacement coefficient. Specifically, when the displacement amount is d2 and the load of the specific vehicle is w2, the calculation unit 1450 calculates the displacement coefficient value α2 of the displacement coefficient based on the following Equation 3.

α2 = w2 / d2 (Formula 3)
Then, the calculation unit 1450 overwrites the displacement coefficient stored in the storage unit 160 using the calculated displacement coefficient value α2.

  The operation performed by the load measuring device 1410 having the above configuration will be described below with reference to the drawings.

[4-2. Operation]
As a characteristic operation, the load measuring device 1410 performs a second displacement coefficient update process in which a part of the process is changed from the first displacement coefficient update process in the first embodiment.

[4-2-1. Second displacement coefficient update process]
FIG. 15 is a flowchart of the second displacement coefficient update process. The second displacement coefficient updating process is started when a captured image including the specific vehicle (hereinafter, this captured image is referred to as “captured image F”) is input to the image input unit 110.

  When the second displacement coefficient update process is started, the image input unit 110 acquires the captured image F input from the imaging device 20 (step S1510). When the captured image F is acquired, the recognition unit 1460 recognizes the specific vehicle from the captured image F (step S1520).

  When the specific vehicle is recognized, the load position specifying unit 120 specifies the load position for the specific vehicle (step S1530). When the load position is specified, the displacement amount detection unit 130 detects a displacement amount corresponding to the displacement generated in the travel path at the specified load position (step S1540).

  When the amount of displacement is detected, calculation unit 1450 refers to the load of the specific vehicle stored in load storage unit 1470 (step S1550). Then, the calculating unit 1450 calculates a displacement coefficient value corresponding to the load position specified by the load position specifying unit 120 based on the detected displacement amount and the referenced load (step S1560).

  When the displacement coefficient value is calculated, the calculation unit 1450 updates the displacement coefficient by overwriting the displacement coefficient stored in the storage unit 160 using the calculated displacement coefficient value (step S1570).

  When the process of step S1570 ends, the load measuring device 1410 ends the second displacement coefficient update process.

[4-3. Effect]
As described above, the load measuring device 1410 updates the displacement coefficient using a captured image including the specific vehicle. Accordingly, if a captured image including a specific vehicle can be acquired, the displacement coefficient can be updated even when the number of vehicles traveling on the target traveling path is relatively small. Moreover, since accurate use of the load becomes possible, the load calculation accuracy can be improved.

(Embodiment 5)
Here, as one aspect of the present disclosure, a displacement coefficient calculation apparatus according to Embodiment 5 in which a part of the configuration is changed from the load measurement apparatus 10 according to Embodiment 1 will be described.

  Example of a configuration in which the load measurement device 10 according to the first embodiment calculates a displacement coefficient value based on the total amount of displacement, and updates the displacement coefficient stored in the storage unit 160 using the calculated displacement coefficient value. Met. On the other hand, when the displacement coefficient calculation apparatus according to the fifth embodiment updates the displacement coefficient, it determines whether the displacement coefficient is normal or abnormal, generates an image indicating the determination result, and captures the image. This is an example of a configuration in which the image is displayed superimposed on the image.

  Hereinafter, the details of the displacement coefficient calculating device will be described with reference to the drawings, centering on differences from the load measuring device 10 according to the first embodiment.

[5-1. Constitution]
FIG. 16 is a block diagram showing a configuration of a displacement coefficient calculation device 1610 in the fifth embodiment.

  As shown in FIG. 16, the displacement coefficient calculation device 1610 is different from the load measurement device 10 (see FIG. 2) in the first embodiment in the following points. The displacement coefficient calculation device 1610 does not include the load calculation unit 170. Displacement coefficient calculation device 1610 further includes an image generation unit 1680 and a display unit 1690. Therefore, here, the description will focus on the image generation unit 1680 and the display unit 1690.

  The image generation unit 1680 generates an image based on the displacement coefficient calculated by the calculation unit 150. More specifically, when the calculation unit 150 newly updates the displacement coefficient stored in the storage unit 160, the image generation unit 1680 determines whether each displacement coefficient value included in the updated displacement coefficient is normal / abnormal. Determination is performed, and an image indicating the determination result, and an image to be displayed superimposed on the captured image (hereinafter, this image is referred to as “superimposition image”) is generated.

  For example, the image generation unit 1680 determines whether each displacement coefficient value is normal or not depending on whether or not a predetermined amount or a predetermined ratio deviates from the reference displacement coefficient value by comparison with a predetermined reference displacement coefficient value. An abnormality may be determined. In addition, for example, the image generation unit 1680 deviates from the displacement coefficient value by a predetermined amount or a predetermined ratio or more by comparing with each displacement coefficient value of the displacement coefficient updated in the same period or the same time period in the past. The normality / abnormality of each displacement coefficient may be determined depending on whether or not it exists. In addition, for example, the image generation unit 1680 determines whether each displacement coefficient is normal depending on whether or not it deviates by a predetermined amount or more from a variation range of each displacement coefficient during a certain period (for example, one day or one week). / Abnormality may be determined. Further, the image generation unit 1680 compares the displacement coefficient value, the average value of the displacement coefficient values, or the mode value of the displacement coefficients with a predetermined amount or more or a predetermined ratio or more by comparing with the displacement coefficient values of the surrounding areas. The normality / abnormality of each displacement coefficient may be determined depending on whether or not there is a deviation.

  FIG. 17 is a diagram illustrating an image in which the image for superimposition generated by the image generation unit 1680 is superimposed on the captured image B illustrated in FIG. 6 (hereinafter, this image is referred to as “superimposed image”). It is.

  In FIG. 17, the image for superimposition is an image in which a color exists only in a region 1710 and the other regions are transparent. Therefore, the superimposed image 1700 is an image in which the color of the area 1710 is overcoated with respect to the captured image B.

  Here, the region 1710 is a collection of local regions corresponding to the displacement coefficient values determined to be abnormal by the image generation unit 1680. This area 1710 is filled with, for example, red so as to attract the user's attention.

  Here, the image for superimposition is an image in which the region corresponding to the displacement coefficient value determined to be abnormal is filled with a single color (red). For example, the color is changed according to the degree of deviation. The image may be displayed as an image, or the image may be displayed with the luminance expressed in gradation according to the degree of deviation. Furthermore, the image generation unit 1680 converts the viewpoint of the superimposition image and the captured image superimposed on the superimposition image as if looking down from the top of the traveling road, the new superimposition image, and the new superimposition image. It is also possible to generate a new captured image to be superimposed on a new superimposition image. By doing in this way, the user who uses the displacement coefficient calculation device 1610 can grasp the position of the area determined to be abnormal relatively easily.

  In FIG. 16, the display unit 1690 displays the image generated by the image generation unit 1680 by superimposing it on at least one captured image. That is, the display unit 1690 includes, for example, a liquid crystal display (not shown) for displaying an image, and an image generated by the image generation unit 1680 is converted into at least one of the captured images acquired by the image input unit 110. The image is superimposed on one captured image (for example, captured image B) and displayed on the liquid crystal display.

  The operation performed by the displacement coefficient calculating apparatus 1610 having the above configuration will be described below with reference to the drawings.

[5-2. Operation]
As a characteristic operation, the displacement coefficient calculation device 1610 performs a superimposed display process in addition to the first measurement process in the first embodiment.

[5-2-1. Overlay display process]
In the superimposed display process, when the calculation unit 150 newly updates the displacement coefficient stored in the storage unit 160, the image generation unit 1680 determines whether each displacement coefficient value included in the updated displacement coefficient is normal or abnormal. In this process, an image indicating the determination result is displayed superimposed on the captured image.

  FIG. 18 is a flowchart of the superimposed display process. This superimposed display process is started by executing the process of step S150 in the first displacement coefficient update process (see FIG. 7).

  When the superimposed display process is started, the image generation unit 1680 determines normality / abnormality of each displacement coefficient value included in the displacement coefficient newly updated in the process of step S150 (step S1810).

  When normality / abnormality of each displacement coefficient value is determined, the image generation unit 1680 generates an image for superimposition that is an image indicating the determination result and is displayed to be superimposed on the captured image (step S1820). .

  When the superimposition image is generated, display unit 1690 selects one captured image from the captured images acquired by image input unit 110, and superimposes the generated superimposition image on the selected captured image. To display.

[5-3. Effect]
As described above, when updating the displacement coefficient, the displacement coefficient calculation device 1610 determines normality / abnormality of the displacement coefficient, and displays the determination result superimposed on the captured image. Thereby, the user using the displacement coefficient calculation device 1610 can visually grasp the deterioration state of the traveling road. Further, since the normality / abnormality of the displacement coefficient is automatically determined, it is possible to reduce costs and labor in road repair and maintenance.

(Other embodiments)
As described above, Embodiments 1 to 5 have been described as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to these, and can be applied to embodiments in which changes, replacements, additions, omissions, and the like are appropriately performed.

  (1) In the first embodiment, the load measuring device 10 has been described as an example of a configuration including the image input unit 110 that receives an input of a captured image captured by the imaging device 20. However, the load measuring device 10 is not necessarily configured to include the image input unit 110 as long as a captured image can be acquired. For example, the load measuring device 10 may include an imaging unit that captures a captured image instead of including the image input unit 110. The captured image used by the load position specifying unit 120 may be a captured image captured by the imaging unit. With such a configuration, an external imaging device is not necessary.

  (2) In the first embodiment, the load measuring device 10 is described as an example of a configuration realized by the microprocessor executing the program stored in the memory in the computer including the microprocessor and the memory. . However, as long as the load measuring device 10 has a function equivalent to that of the above-described implementation example, the load measurement device 10 is not necessarily limited to the configuration example that is implemented according to the implementation example. For example, a part or all of the constituent elements constituting the load measuring device 10 may be an example of a configuration realized by a dedicated circuit.

  (3) In the first embodiment, the load measuring device 10 is an example of a configuration that recognizes a tire of a vehicle by image processing and identifies an area on a traveling road corresponding to the lowest point of the tire as a load position. explained. However, the method for specifying the load position is not necessarily limited to the above method. For example, the load measuring device 10 may specify the position where the displacement amount is locally maximum as the load position.

  (4) In Embodiment 1, the local area | region in a displacement coefficient demonstrated as an area | region which consists of 10 pixels of vertical directions, and 10 pixels of horizontal directions. However, the size and shape of the local region need not be limited to the above size and shape. For example, the local area may be an area composed of 5 pixels in the vertical direction and 15 pixels in the horizontal direction.

  (5) In the first embodiment, the load measuring device 10 includes a region in which the load calculation unit 170 includes the load position specified by the load position specifying unit 120 in the displacement amount d detected by the displacement amount detection unit 130. It demonstrated as an example of the structure which calculates the load w by multiplying the corresponding displacement coefficient value. However, if the load can be calculated based on the displacement amount d detected by the displacement amount detection unit 130 and the information stored in the storage unit 160, the configuration need not necessarily calculate the load by the above calculation method. There is no. For example, the storage unit 160 stores a table indicating the relationship between the displacement amount d and the load w, and the load calculation unit 170 refers to the table from the displacement amount d detected by the displacement amount detection unit 130. Thus, an example of a configuration for calculating the load w may be used.

  (6) In the third embodiment, the load measuring device 1210 has been described as an example of a configuration in which n captured images are acquired in the process of step S1310 of the third measurement process. However, if the acquisition of the captured image D (i) to be processed is completed when the processing of each step S1320 in the loop is started, the processing of step S1312 is not necessarily performed in the processing of step S1310. The acquisition of n captured images does not have to be completed before the start. For example, the load measuring device 1210 starts the processing after step S1312, even if acquisition of all n captured images is not necessarily completed in the processing of step S1310, and the start time of the processing of each step S1320 in the loop In the above, an example of a configuration of waiting until the captured image D (i) to be processed is acquired may be used.

  (7) In the third embodiment, the load measuring device 1210 calculates the load of each vehicle once for each of the n captured images in the third measurement process, and then based on the calculated load. It has been described as an example of a configuration for calculating the statistical weight. However, if the statistical weight can be calculated, it is not always necessary to once calculate the vehicle load in each captured image for each of the n captured images. For example, the load measuring device 1210 directly uses the amount of displacement detected in each of the n captured images and the specified displacement coefficient value to directly calculate the load of the vehicle without calculating the load for each captured image. It may be an example of a configuration for calculating a statistical weight.

  (8) In the fifth embodiment, the displacement coefficient calculation device 1610 may further include an output unit 190 (see FIG. 19). When the calculation unit 150 calculates a displacement coefficient that deviates from the reference range, the output unit 190 outputs that the displacement coefficient that deviates from the reference range has been calculated. With such a configuration, it is possible to notify the user who uses the displacement coefficient calculation device 1610 that the road surface may be in an abnormal state. Note that the output unit 190 can notify the user, for example, by making a sound.

  Further, in the fifth embodiment, the displacement coefficient calculation device 1610 may use a captured image of a moving camera such as an in-vehicle camera instead of using a captured image of a fixed camera.

  In this case, the displacement coefficient calculation device 1610 can determine the displacement coefficient for different road surface positions by measuring the amount of displacement of the road surface with respect to a known load such as the load of a vehicle equipped with a moving camera. This makes it possible to detect a wide range of road surface conditions.

  (9) In each embodiment, the captured image may be a monochrome image, a color image, or a multispectral image. In addition to visible light, the wavelength band of light to be imaged may be ultraviolet light, near infrared light, or far infrared light.

  (10) Although each embodiment has been described using an example of asphalt pavement as a road surface, the present disclosure is not limited thereto. In each embodiment, the road surface may be a road surface made of other paving materials such as concrete. The paved surface may be partially covered with a plate material, a sheet material, a paint, or the like. In order to obtain the displacement due to the image more accurately and remarkably, the road surface may be covered using the material as described above, and the covered region may be set as a displacement detection target region.

  (11) Each component (functional block) in the load measuring devices 10, 1010, 1210, and 1410 and the displacement coefficient calculating device 1610 is individually 1 by a semiconductor device such as an IC (Integrated Circuit) or an LSI (Large Scale Integration). It may be made into a chip, or may be made into one chip so as to include a part or all of it. Further, the method of circuit integration is not limited to LSI's, and implementation using dedicated circuitry or general purpose processors is also possible. An FPGA (Field Programmable Gate Array) that can be programmed after manufacturing the LSI, or a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used. Furthermore, if integrated circuit technology that replaces LSI appears as a result of progress in semiconductor technology or other derived technology, functional blocks may be integrated using this technology. Biotechnology can be applied as a possibility.

  In addition, all or a part of the various processes may be realized by hardware such as an electronic circuit or may be realized by using software. Note that the processing by software is realized by a processor included in the load measuring device executing a program stored in the memory. Further, the program may be recorded on a recording medium and distributed or distributed. For example, by installing the distributed program in a device having another processor and causing the processor to execute the program, it is possible to cause the device to perform each of the above processes.

  In addition, forms realized by arbitrarily combining the components and functions described in the above-described embodiments are also included in the scope of the present disclosure.

  The present disclosure is widely applicable to a load measuring device that measures a load.

10, 1010, 1210, 1410 Load measurement device 110 Image input unit 120 Load position specifying unit 130, 1130 Displacement amount detection unit 140 Totaling unit 150, 1450 Calculation unit 160 Storage unit 170, 1270 Load calculation unit 180, 1470 Load storage unit 190 Output unit 1280 Tracking recognition unit 1460 Recognition unit 1610 Displacement coefficient calculation device 1680 Image generation unit 1690 Display unit

Claims (22)

Displacement for detecting a displacement amount in the captured image corresponding to a displacement generated in the travel path by applying a load of the vehicle, using a captured image obtained by capturing the travel path and a vehicle existing on the travel path A quantity detector;
A storage unit that stores first information indicating a relationship between the load and the displacement;
A load measurement device comprising: a load calculation unit configured to calculate the load based on the displacement amount and the first information. further,
A load storage unit for storing second information related to the load;
A calculation unit that calculates, as the first information, a displacement coefficient that specifies a relationship between the load and the displacement amount based on the displacement amount detected by the displacement amount detection unit and the second information. Item 1. The load measuring device according to Item 1. further,
Using a plurality of the captured images, and a totaling unit that totals the plurality of displacement amounts detected by the displacement amount detection unit,
The load measuring apparatus according to claim 2, wherein the calculation unit calculates the displacement coefficient based on a totaling result totaled by the totaling unit. The load measuring apparatus according to claim 3, wherein the calculation unit calculates the displacement coefficient by using, as the aggregation result, characteristics of a displacement distribution corresponding to the plurality of displacements aggregated by the aggregation unit. The feature of the displacement distribution is a mode value of the displacement distribution,
The load measuring device according to claim 4, wherein the second information is a load of a vehicle type having the largest amount of traffic on the travel path. further,
A recognition unit that recognizes a specific vehicle using the captured image,
The second information is a load of the specific vehicle,
The calculation unit detects the displacement amount and the second information when the displacement amount detection unit detects a displacement amount corresponding to a displacement generated in the travel path when a load of the specific vehicle is applied. The load measuring device according to claim 2, wherein the displacement coefficient is calculated based on the following. further,
A load position specifying unit for specifying a load position of the vehicle in the captured image;
The displacement amount detection unit detects a displacement amount in the captured image corresponding to the displacement at the specified load position when the load position of the vehicle is specified by the load position specifying unit. The load measuring device according to any one of? 6. The displacement coefficient has a numerical value associated with the position for each of a plurality of positions that can be specified as a load position by the load position specifying unit,
The load calculating unit calculates the load based on the numerical value associated with the specified load position when the load position of the vehicle is specified by the load position specifying unit. The load measuring device described. The displacement amount detection unit detects a displacement amount in the captured image corresponding to a displacement at a non-load position other than the specified load position when the load position of the vehicle is specified by the load position specifying unit. And
The load measurement device according to claim 7 or 8, wherein the load calculation unit calculates the load using a displacement amount at the non-load position. further,
A tracking recognition unit that recognizes the vehicle imaged as the second captured image at a time different from the time when the vehicle was imaged as the first captured image;
When the vehicle is recognized in the second captured image by the tracking recognizing unit, the load calculating unit is configured to correspond to a displacement that occurs in the travel path when a load of the vehicle is applied. The load is calculated on the basis of the first displacement amount in the second captured image and the second displacement amount in the second captured image corresponding to the displacement generated in the travel path when the vehicle load is applied. The load measuring device according to any one of? 9. further,
The output part which outputs that the load which deviated from the said predetermined range was calculated when the load which deviates from the predetermined range was calculated by the said load calculation part. Load measuring device. further,
An image generation unit that generates an image for superimposition based on the displacement coefficient calculated by the calculation unit;
The load measuring device according to any one of claims 2 to 10, further comprising: a display unit configured to display the superimposing image superimposed on the captured image. Displacement for detecting a displacement amount in the captured image corresponding to a displacement generated in the travel path by applying a load of the vehicle, using a captured image obtained by capturing the travel path and a vehicle existing on the travel path A quantity detection step;
A load measurement method comprising: a load calculation step of calculating the load based on the displacement amount and information indicating a relationship between the load and the displacement amount stored in a storage unit. A load measurement program for causing a computer to execute load measurement processing,
The load measurement process is
Displacement for detecting a displacement amount in the captured image corresponding to a displacement generated in the travel path by applying a load of the vehicle, using a captured image obtained by capturing the travel path and a vehicle existing on the travel path A quantity detection step;
A load measurement program comprising: a load calculating step for calculating the load based on the displacement and information indicating a relationship between the load and the displacement stored in a storage unit. Displacement for detecting a displacement amount in the captured image corresponding to a displacement generated in the travel path by applying a load of the vehicle, using a captured image obtained by capturing the travel path and a vehicle existing on the travel path A quantity detector;
Using a plurality of the captured images, a totaling unit that totals the plurality of displacement amounts detected by the displacement amount detection unit;
A load storage unit for storing information relating to the load;
A displacement coefficient calculation apparatus comprising: a calculation unit that calculates a displacement coefficient that specifies a relationship between the load and the displacement amount based on the aggregation result totaled by the aggregation unit and the information. The displacement coefficient calculation device according to claim 15, wherein the calculation unit calculates the displacement coefficient by using, as the aggregation result, characteristics of a displacement amount distribution corresponding to the plurality of displacement amounts aggregated by the aggregation unit. . The feature of the displacement distribution is a mode value of the displacement distribution,
The displacement coefficient calculation device according to claim 16, wherein the information is a load of a vehicle type having the largest amount of traffic on the travel path. The displacement coefficient calculation according to any one of claims 15 to 17, wherein the displacement coefficient calculated by the calculation unit has a numerical value associated with each of a plurality of different areas in the captured image. apparatus. further,
The output unit that outputs that the displacement coefficient that deviates from the reference range is calculated when the displacement coefficient that deviates from the reference range is calculated by the calculation unit. The displacement coefficient calculation apparatus described. further,
An image generation unit that generates an image for superimposition based on the displacement coefficient calculated by the calculation unit;
The displacement coefficient calculation device according to any one of claims 15 to 19, further comprising: a display unit configured to display the superimposition image superimposed on the captured image. Displacement for detecting a displacement amount in the captured image corresponding to a displacement generated in the travel path by applying a load of the vehicle, using a captured image obtained by capturing the travel path and a vehicle existing on the travel path A quantity detection step;
Using a plurality of the captured images, a counting step of counting the plurality of displacement amounts detected in the displacement amount detection step;
And a calculation step of calculating a displacement coefficient that specifies a relationship between the load and the displacement amount based on the aggregation result totaled in the aggregation step and information on the load stored in a load storage unit. Displacement coefficient calculation method. A displacement coefficient calculation program for causing a computer to execute a displacement coefficient calculation process,
The displacement coefficient calculation process includes:
Displacement for detecting a displacement amount in the captured image corresponding to a displacement generated in the travel path by applying a load of the vehicle, using a captured image obtained by capturing the travel path and a vehicle existing on the travel path A quantity detection step;
Using a plurality of the captured images, a counting step of counting the plurality of displacement amounts detected in the displacement amount detection step;
A calculation step of calculating a displacement coefficient that specifies a relationship between the load and the displacement amount based on the aggregation result aggregated in the aggregation step and information relating to the load stored in the load storage unit. Coefficient calculation program.

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