JP2020041824A - Movement measurement device and movement measurement method - Google Patents

Abstract

To provide a movement measurement device for suppressing a measurement error caused by a flow of air generated around a moving body during movement measurement.SOLUTION: A mobile measurement device 800 comprises a mobile body 700 and a measurement device 100 attached to the mobile body, the measurement device being attached to the moving body, so as to be arranged within a surface defined by an upper surface 301 which is a plane including the upper end of the moving body and to intersect with the direction of gravity, within a space 300 in a rear direction of the mobile body in a movement direction F of the mobile body, a lower surface 302 which is a plane including the lower end of the moving body and to intersect with the direction of gravity, a first side surface that is a plane including one end of the moving body in the width direction intersecting with each of the movement direction and the gravity direction and intersecting the width direction, and a second side surface that is a plane including the other end of the moving body in the width direction and intersecting said width direction.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a movement measurement device and a movement measurement method.

  A mobile measuring device that attaches measuring devices such as cameras and laser-based distance measuring devices to mobile objects (vehicles, drones, etc.) to measure the state of the external environment (surrounding vehicles, road conditions, tunnel conditions, etc.) It has been known. As a measuring device for measuring the state of the external environment, a camera having a wide-angle lens, a plurality of cameras (stereo cameras), a measurement configuration using a laser device, and the like are already known (for example, see Patent Document 1). ).

  In such a mobile measuring device, the pressure (wind pressure) of the air flowing along the shape of the moving object after colliding with the front surface of the moving object is applied to the measuring device attached to the moving object at the time of the moving measurement. The position may fluctuate, and an error may occur in measuring the distance between an object such as a road surface and a measuring device.

  However, the configuration disclosed in Patent Literature 1 does not disclose measures against the flow of air generated around a moving body such as a vehicle at the time of movement measurement. Therefore, the problem that the position of the measuring device fluctuates due to the pressure of the air and an error occurs in the measurement of the distance between the measuring device and an object such as a road surface cannot be solved.

  The present invention has been made in view of the above point, and an object of the present invention is to suppress a measurement error caused by a flow of air generated around a moving body during movement measurement.

  A moving measurement device according to one aspect of the disclosed technology is a moving measurement device including a moving object and a measuring device attached to the moving object, wherein the measuring device is configured to move the moving object in a moving direction of the moving object. In the space in the backward direction of the moving body, an upper surface which is a plane including the upper end of the moving body and intersects with the direction of gravity; a lower surface which is a plane including the lower end of the moving body and intersects with the direction of gravity; And a first side surface that is a plane that includes one end of the moving body in the width direction that intersects each of the gravity directions and is a plane that intersects with the width direction, and that includes the other end of the moving body in the width direction and intersects with the width direction. And a second side surface, which is a flat surface, and is attached to the moving body so as to be disposed in a plane defined by the second side surface.

  ADVANTAGE OF THE INVENTION According to this invention, the measurement error resulting from the flow of air which arises around a moving body at the time of movement measurement can be suppressed.

It is a figure explaining an example of composition of a movement measuring device concerning a 1st embodiment, (a) is a side view, (b) is a perspective view seen from the backside, and (c) is a rear view. It is. FIG. 3 is a diagram illustrating a measurement state of the movement measurement device according to the first embodiment. It is a figure showing an example of a flow of air around a moving body under movement. It is a sectional view of the measuring equipment with which the movement measuring device concerning a 1st embodiment is provided. FIG. 5 is a partially enlarged perspective view in the vicinity of a portion C in FIG. 4. It is the perspective view which looked at the measuring equipment with which the movement measuring device concerning a 1st embodiment is provided from the lower side. It is a figure explaining an example of composition of a fixed frame with which a movement measuring device concerning a 1st embodiment is provided, (a) It is a rear view, (b) is a perspective view seen from the back, (c) FIG. 7 is a view as viewed from below, and FIG. 7D is a partially enlarged view in the vicinity of a portion E in FIG. It is a figure explaining an example of an effect of a fixing method of a fixed frame. It is a figure explaining the measuring state of the movement measuring device concerning a 2nd embodiment.

  An embodiment for carrying out the present invention will be described below. Note that the same members and the like are denoted by the same reference numerals and description thereof is omitted.

[First Embodiment]
The movement measuring device 800 according to the first embodiment will be described with reference to FIGS. FIGS. 1A and 1B are diagrams illustrating an example of the configuration of a movement measuring device 800 according to the present embodiment, in which FIG. 1A is a side view, FIG. 1B is a perspective view seen from the rear side, and FIG. Is a rear view.

  FIG. 2 is a diagram illustrating a measurement state of the mobile measurement device 800. 1 and 2 and the following description, the moving direction of the vehicle 700 is a forward direction (forward direction), the reverse direction is a backward direction (reverse direction), the gravity direction is a downward direction, and the reverse direction is an upward direction. A horizontal right direction is referred to as a right direction, a reverse direction is referred to as a left direction, and a direction intersecting each of the moving direction of the vehicle 700 and the gravity direction is referred to as a width direction (lateral direction).

  1A is a vehicle (an example of a moving body) 700, a fixed frame 750 fixed to the vehicle 700, and attached to the vehicle 700 via the fixed frame 750. And a measuring device 100 provided. Vehicle 700 includes a vehicle body 701 and tires 702 attached to vehicle body 701.

  In the mobile measurement device 800 shown in FIGS. 1 and 2, the fixed frame 750 is fixed to the rear of the vehicle 700 so that the shooting range S of the stereo camera 130 included in the measurement device 100 is downward as shown in FIG. Installed. The measuring device 100 is attached to the vehicle body 701 via the fixed frame 750 so as to be arranged in the space of the arrangement space 300 shown by a thick broken line in FIGS. 1 and 2. The measuring device 100 is attached to the vehicle body 701 via the fixed frame 750 so as to be arranged in the arrangement plane in the arrangement space 300.

  The placement space 300 is a space in the rear direction of the vehicle 700, and includes an upper surface 301 that includes the upper end of the vehicle body 701 and intersects in the direction of gravity (vertical direction), and a plane that includes the lower end of the vehicle body 701 and intersects in the direction of gravity. , A first side surface 303 (see FIG. 1 (c)), which is a plane including one end in the width direction of the vehicle body 701 and intersecting the width direction, and including the other end in the width direction of the vehicle body 701 in the width direction. This is a space defined by a second side surface 304 (see FIG. 1C) which is an intersecting plane.

  Further, in the space in the rear direction of the vehicle 700, the arrangement surface includes an upper surface 301 which is a plane including the upper end of the vehicle body 701 and intersects with the direction of gravity, and a lower surface 302 which is a plane including the lower end of the vehicle body 701 and intersects with the direction of gravity. The first side surface 303 is a plane including one end in the width direction of the vehicle body 701 and intersects in the width direction, and the second side surface 304 is a plane including the other end in the width direction of the vehicle body 701 and intersects in the width direction. Face.

  The length Lx in FIG. 1C is the length (width) of the vehicle body 701 in the width direction, and is the distance between the first side surface 303 and the second side surface 304. The length Ly is the length (height) of the vehicle body 701 in the direction of gravity, and is the distance between the upper surface 301 and the lower surface 302.

  With such a configuration, the movement measuring device 800 captures an image of the road surface 900 with the stereo camera 130 while moving in the forward direction (moving direction) F. Whether it has disappeared). More specifically, it is possible to measure the flatness of the road (unevenness in the moving direction), the amount of rutting, and the crack rate. Thereafter, an MCI (Maintenance Control Index) can be obtained based on these three road surface property values. The MCI may be obtained by transmitting measurement data to an external device such as a PC or a tablet terminal after measurement, or may be obtained while the PC is mounted on the vehicle 700 and the measurement is performed.

  Here, the arrangement position of the measuring device 100 with respect to the vehicle 700 will be described in more detail.

  First, the flow of air generated around the vehicle body 701 in accordance with the movement of the vehicle 700 during movement measurement by the movement measurement device 800 will be described with reference to FIG. FIG. 3 is a diagram showing an example of the flow of air around the moving vehicle body 701 in such a manner that the vehicle 700 moves at a speed of 60 (km) while a wind having a wind speed of 30 (m / s) blows backward. / H) is an example of the result of simulating the flow of air generated around the vehicle body 701 when moving at / h).

  In FIG. 3, a number of small arrows shown around the vehicle body 701 indicate the flow of air. The direction of the arrow indicates the direction in which the air flows, and the size of the arrow indicates the size of the air flow. The density of the arrows indicates the density of the air flow.

  As shown in FIG. 3, around the running vehicle body 701, the air flows rearward along the shape of the vehicle body 701 after colliding with the front portion of the vehicle body 701. For example, the air collides with the front panel of the vehicle body 701 in the space area 31 and changes its direction obliquely upward and downward, and then flows backward along the shape of the vehicle body 701. In the space area 32, after colliding with the windshield of the vehicle body 701 and changing its direction obliquely upward, it flows backward along the shape of the vehicle body 701. As described above, the air that has collided with the front portion of the vehicle body 701 flows backward, so that a larger air flow is generated in the space region 33 or the space region 34 as compared with the space region 35 or the like that is separated from the vehicle body 701. It occurs behind.

  For example, when the measuring device 100 is mounted on the vehicle 700 such that the measuring device 100 is disposed in a space such as the space region 33 or the space region 34 where the air flow is large, the position of the measuring device 100 due to the pressure (wind pressure) of the air accompanying the flow is determined. The posture may fluctuate, and a measurement error of the distance between the measurement device 100 and the road surface 900 may occur. In addition, when the stereo camera 130 shakes due to wind pressure, an image obtained by the stereo camera 130 is blurred, and a distance measurement error based on the image blur occurs, or an attachment portion of the measuring device 100 to the fixed frame 750 is damaged. In some cases.

  In the present embodiment, the measuring device 100 is attached to the vehicle 700 via the fixed frame 750 so as to be arranged in the space of the arrangement space 300 as described above. As shown in FIG. 3, in the space of the arrangement space 300, the number of arrows is sparse and small, and the size of the arrows is small. This indicates that the air flow is smaller than in the space region 33 or the space region 34. Therefore, by arranging the measurement device 100 in the space of the arrangement space 300, the influence of the air flow is suppressed, and the measurement device 100 and the road surface 900 due to the air flow generated around the moving body at the time of the movement measurement are generated. Distance measurement errors can be suppressed. In addition, it is possible to prevent damage to the mounting portion of the measuring device 100 with respect to the fixed frame 750.

  1 to 3, for convenience, the arrangement space 300 is shown as a space defined also in the front direction and the rear direction. The direction is not specified. Therefore, the measuring device 100 may be arranged at a position away from the vehicle 700 in the rearward direction in the space of the arrangement space 300. However, in consideration of the stability of the posture and position of the measuring device 100, it is preferable to arrange the measuring device 100 as close as possible to the vehicle 700 in the arrangement space 300.

  Next, the measuring device 100 provided in the mobile measuring device 800 according to the first embodiment will be further described with reference to FIG. FIG. 4 is a cross-sectional view of the measuring device 100 included in the mobile measuring device 800 according to the first embodiment.

  The measuring device 100 includes a base frame 110, a camera mount 120, a stereo camera 130, and a protective cover unit 200. One end of the base frame 110 is fixed to the fixed frame 750 (see FIG. 1), and the camera mount 120 is attached to the other end. The camera mount 120 fixes the stereo camera 130. Note that the camera mount 120 may include an angle adjustment mechanism for adjusting the imaging angle of the stereo camera 130.

  The stereo camera 130 is a camera having two lenses 131a and 131b, and can measure a distance to an object by processing obtained image data. The measurement device 100 is described as having the stereo camera 130, but is not limited to this. For example, the measuring device 100 may include a distance measuring device using a laser, and measure the distance between the measuring device and the measurement target. Further, the number of distance measuring devices such as the stereo camera 130 is not limited to one, and a plurality of distance measuring devices may be provided. With a configuration including a plurality, measurement data in a wider range can be acquired. Further, by using the lenses 131a and 131b of the stereo camera 130 as wide-angle lenses, measurement data over a wider range may be obtained.

  The protection cover unit 200 includes a protection member main body 210 having openings 211, 212 a, and 212 b, movable protection members 220 a and 220 b movable in the direction of the opening 211, and an opening protection member 230 protecting the opening 211. It has.

  The protective member main body 210 is formed of, for example, a resin plate and an aluminum frame supporting the resin plate, and forms a box having an opening 211 on the lower surface side (that is, on the photographing direction side of the measuring instrument). Incidentally, the stereo camera 130 is arranged in the internal space of the protection member main body 210. The protection member main body 210 has a side opening 212a formed from the lower end of the right side, and a side opening 212b formed from the lower end of the left side. The opening 211 and the side opening 212a communicate with each other, and the opening 211 and the side opening 212b communicate with each other. The side opening 212b and the side opening 212a differ only in the left and right formation positions in the protective member main body 210, and therefore, the illustration of the side opening 212b is omitted in FIG.

  In this manner, the opening formed in the protection member main body 210 is formed as a whole of the openings 211, 212a, and 212b that open from the right side to the lower side and open to the left side. Further, the protection member main body 210 has second opening protection member holding portions 215a and 215b that hold the opening protection member 230 in the open state. Note that the second opening protection member holding portion 215b and the second opening protection member holding portion 215a are different only in the left and right formation positions in the protection member main body 210, and thus the illustration of the protection member holding portion 215b is omitted in FIG.

  The movable protection member 220a is made of, for example, a resin plate and an aluminum frame supporting the resin plate, and is attached to the protection member main body 210 via a linear component 221a such as a linear slider. The movable protection member 220a is a protection member movable in the vertical direction, and can open and close a side opening 212a formed on a right side surface of the protection member main body 210. That is, the movable protection member 220 a can close the side opening 212 a formed at the lower end of the right side surface of the protection member main body 210 and protect the lower end portion of the right side surface of the protection cover unit 200. ing. Further, a first opening protection member holding portion 225a that holds the opening protection member 230 in the closed state is provided below the movable protection member 220a. The movable protection member 220a has a fixing mechanism (not shown) that can be fixed at a predetermined upper position, and is configured not to drop by its own weight. Further, the movable protection member 220a is configured so as not to go below a predetermined lower position.

  The movable protection member 220b has the same configuration as the movable protection member 220a. That is, the movable protection member 220b is a protection member movable in the vertical direction, and is capable of opening and closing the side opening 212b formed on the left side surface of the protection member main body 210. In addition, a first opening protection member holding portion 225b that holds the opening protection member 230 in the closed state is provided below the movable protection member 220b. Note that the movable protection member 220b and the movable protection member 220a are different only in the left and right mounting positions in the protection member main body 210, and thus the illustration of the movable protection member 220b is omitted in FIG.

  The opening protection member 230 is formed of, for example, a resin plate having flexibility. The opening protection member 230 carries left and right ends of the opening protection member 230 so as to be movable in the front-rear direction, and opens and closes the opening 211 formed on the lower surface side of the protection member main body 210 by moving in the front-rear direction. You can do it. Note that the opening protection member 230 is preferably white. Since the sunlight traveling in the direction of the stereo camera 130 is reflected by the white opening protection member 230, an increase in the internal temperature can be suppressed. Further, the material is preferably made of polycarbonate which is excellent in impact resistance and heat resistance in order to protect the stereo camera 130 when the door is closed.

  The right side of the opening protection member 230 is supported by the second opening protection member holding portion 215a of the protection member main body 210, the first opening protection member holding portion 225a of the movable protection member 220a, or both. The left side of the opening protection member 230 is supported by the second opening protection member holding portion 215b of the protection member main body 210, the first opening protection member holding portion 225b of the movable protection member 220b, or both.

  In the measuring device 100 shown in FIG. 4, the second opening protection member supporting portions 215a and 215b are provided on the frame of the protection member main body 210 and open to the inside in the left-right direction as shown in FIG. Is configured as Further, as shown in FIG. 5, the first opening protection member supporting portions 225a and 225b are configured as grooves provided on the lower frame of the movable protection member 220 and opening inward in the left-right direction. . The opening protection member 230 is supported by the left and right ends inserted into these grooves. The method of supporting the opening protection member 230 is not limited to this.

  According to the measurement device 100, the measurement range can be widened in the left-right direction by raising the movable protection member 220 and opening the side opening portions 212a and 212b in the open state at the time of measurement. In addition, the optical part such as the lens 131 of the stereo camera 130 can be prevented from being stained by the external environment by setting the closed state at the time of non-measurement.

  The color of the exterior of the protective cover unit 200 is preferably white. Since the sunlight toward the exterior is reflected white by the exterior, the temperature rise of the stereo camera 130 disposed inside the protective cover unit 200 due to the sunlight can be suppressed.

  Further, it is preferable that the second opening protection member supporting portions 215a and 215b of the protection member main body 210 have an arc-shaped bent portion. The second opening protection member supporting portions 215a and 215b are formed so as to extend forward from the opening 211 and then extend upward through the bent portion. Accordingly, the width of the second opening protection member supporting portions 215a and 215b in the front-rear direction can be reduced, so that the size of the measuring device 100 can be reduced.

  Next, FIG. 6 is a perspective view of the measuring device 100 as viewed from below. The measurement device 100 includes three stereo cameras 130a, 130b, and 130c. The opening on the lower surface side is partitioned by frames 216a and 216b, and three openings 211a, 211b and 211c are formed. The three openings 211a, 211b, 211c are provided with opening protection members 230a, 230b, 230c for opening and closing protection.

  A side opening 212a is provided on the right side surface of the protection member main body 210A, and is opened and closed by a movable protection member 220a. A side opening 212b is provided on the left side surface of the protection member main body 210A, and is opened and closed by a movable protection member 220b.

  The support structure on the right side of the opening protection member 230a is the same as the support structure on the right side of the opening protection member 230 of the first embodiment. The support structure on the left side of the opening protection member 230a is supported by a fixed opening protection member holding portion 217a which is a groove provided on the right side surface of the frame 216a.

  The support structure on the right side of the opening protection member 230b is supported by a fixed opening protection member holding portion 217b, which is a groove provided on the left side surface of the frame 216a. The support structure on the left side of the opening protection member 230b is supported by a fixed opening protection member holding portion 217c which is a groove provided on the right side surface of the frame 216b.

  The support structure on the right side of the opening protection member 230c is supported by a fixed opening protection member support portion 217d, which is a groove provided on the left side surface of the frame 216b. The support structure on the left side of the opening protection member 230c is the same as the support structure on the left side of the opening protection member 230 of the first embodiment.

  With such a configuration, the measuring device 100 can open and close the protective member in accordance with the usage status of the stereo cameras 130a, 130b, and 130c. For example, when using only the stereo camera 130b, only the opening protection member 230b is moved to the position of the opening state, and the movable protection members 220a and 220b and the opening protection members 230a and 230c are kept at the position of the closing state. Thereby, the stereo cameras 130a and 130c not used for measurement can be protected.

  In the present embodiment, a configuration including three stereo cameras 130a, 130b, and 130c is shown as an example. However, as described above, the number of distance measuring devices such as stereo cameras is not limited. May be provided.

  Next, the fixed frame 750 provided in the movement measuring device 800 according to the present embodiment will be described with reference to FIG. 7A and 7B are diagrams illustrating an example of the configuration of the fixed frame 750. FIG. 7A is a rear view, FIG. 7B is a perspective view as viewed from the rear side, and FIG. 7C is a view as viewed from below. (D) is a partially enlarged view of the vicinity of the portion E in FIG. 7 (b).

  The fixing frame 750 includes upper and lower support members 751a and 751b, horizontal support members 752a and 752b, a bottom connection member 753, a fixing plate 754, and L-shaped fastening members 755a and 755b. It is fixed to a traction pole fixing portion 781 and a spare tire fixing portion (spare tire carrier) 782.

  Here, the tow pole fixing portion 781 is provided at the bottom of the vehicle body 701 and is a portion where the tow pole can be inserted and fixed. However, in the present embodiment, the traction pole is not fixed to the traction pole fixing portion 781, but a bottom connection member 753 (described later) is fixed instead.

  The traction pole fixing portion 781 is formed of a metal prism having a longitudinal length in the width direction, and is provided with a rectangular through hole 781a at a central portion in the width direction, into which the traction pole can be inserted and fixed in the moving direction. ing. The center of the tow pole fixing portion 781 in the width direction is arranged at the center of the vehicle body 701 in the width direction.

  The spare tire fixing portion 782 is provided at a central portion of the rear portion of the vehicle body 701, and is a portion where the spare tire can be fixed. However, in the present embodiment, the spare tire is not fixed to the spare tire fixing portion 782, but a fixing plate 754 (described later) is fixed instead.

  The spare tire fixing portion 782 is formed of a U-shaped bracket having a U-shaped cross section, and a tap hole for screwing the spare tire is provided on a rear surface of the U-shaped. The open side of the U-shape is fixed to the back of the vehicle body 701.

  On the other hand, the upper and lower support members 751a are members configured by connecting a first aluminum frame and a short second aluminum frame to the first aluminum frame so as to form an L-shape. The upper and lower support members 751a are arranged such that the length of the first aluminum frame is oriented in the vertical direction and the length of the second aluminum frame is oriented in the moving direction, and the second aluminum frame is fixed to the traction pole via the L-shaped fastening member 755a. It is fixed to the vehicle body 701 by being fixed to the left end surface of the portion 781 (see FIG. 7D). The upper and lower support members 751b have the same configuration, and are fixed to the vehicle body 701 by fixing the second aluminum frame to the right end surface of the tow pole fixing portion 781 via an L-shaped fastening member 755b (not shown). I have. The measuring device 100 is attached to the upper and lower support members 751a and 751b by screws or the like.

  The horizontal support member 752a is formed of an aluminum frame. The longitudinal direction is the width direction, and they are arranged so as to intersect the upper and lower support members 751a and 751b, respectively, and are joined to the upper and lower support members 751a and 751b at the intersections.

  The horizontal strut member 752b is similarly arranged at a position shifted downward with respect to the horizontal strut member 752a so as to extend in the horizontal direction and to intersect with the upper and lower strut members 751a and 751b, respectively. 751a and 751b.

  The bottom connection member 753 is made of an aluminum frame, and is inserted into and fixed to the through hole 781a of the tow pole fixing portion 781. A rearward end surface of the bottom connection member 753 is provided with a tapped hole for screwing.

  The fixing plate 754 is a metal flat plate, and is disposed so that the plane portion intersects the moving direction. The front side flat portion is abutted against the U-shaped back portion of the spare tire fixing portion 782 and is screwed. Fixed. In addition, the flat portion on the front side of the fixing plate 754 abuts against the end surface of the bottom connecting member 753 and is fixed by screws. Further, the flat portion on the rear side of the fixing plate 754 contacts the horizontal support member 752b and is fixed by screws.

  The spare tire cover 790 is a cover that protects the spare tire when the spare tire is mounted on the vehicle body 701. As described above, since the spare tire is not mounted in the present embodiment, the spare tire cover portion 790 has no spare tire protection function, and covers the portion where the fixing plate 754 is fixed to the spare tire fixing portion 782. Has functions. The spare tire cover portion 790 can be opened and closed by turning around a vertical axis including a left end portion as a turning axis, for example.

  As described above, in the present embodiment, the fixed frame 750 fixes the center portion of the rear portion of the vehicle body 701 through the spare tire fixing portion 782 and fixes the bottom of the vehicle body 701 through the traction pole fixing portion 781. The portion is fixed to the vehicle body 701. More specifically, the fixed frame 750 is fixed at two positions of the right end face and the left end face of the tow pole fixing portion 781. In other words, the fixed frame 750 is fixed to the bottom of the vehicle body 701 at two positions symmetrical with respect to the center of the vehicle 700 in the width direction. Then, as described above, measuring device 100 is attached to vehicle 700 via fixed frame 750.

  Here, along with the movement of the vehicle 700, the measuring device 100 moves the pitch axis (the axis along the width direction), the yaw axis (the axis along the gravity direction), or / and the roll axis (the axis along the movement direction). May rotate around. Specifically, for example, when the fixed frame 750 is fixed at one position in the center of the rear portion of the vehicle body 701, the fixed frame 750 is applied by a force such as wind pressure acting on a position where the measuring device 100 is attached to the fixed frame 750. May rotate around the fixed portion as the center of rotation.

  The position and orientation of the measuring device 100 fluctuate with such rotation, and a measurement error of the distance between the measuring device 100 and the road surface 900 may occur. Further, when the stereo camera 130 shakes, an image acquired by the stereo camera 130 may be blurred, and a distance measurement error based on the image blur may be generated. Furthermore, when rotation around the pitch axis (pitching) and rotation around the yaw axis (yawing) occur, so-called trapezoidal distortion may occur in an image acquired by the stereo camera 130. When the rotation angles of pitching and yawing are unknown, such trapezoidal distortion cannot be corrected by image processing or the like, and the trapezoidal distortion of the image acquired by the stereo camera 130 causes a distance measurement error.

  In particular, while the vehicle 700 is moving (running) at the time of movement measurement, the wind direction and the wind speed are constantly changing, and the rotation angle is more likely to be unknown. In addition, when an oncoming vehicle passes the vehicle 700 when measuring the movement, or when passing through a tunnel entrance when entering a tunnel, a sudden change in wind pressure occurs, and the rotation angle becomes further unknown. Cheap.

  According to the present embodiment, the fixed frame 750 is fixed to the vehicle body 701 at two locations in the vertical direction, with the central portion of the back portion of the vehicle body 701 and the bottom portion of the vehicle body 701 being fixed locations. Accordingly, rotation such as pitching, yawing, and / or rotation (rolling) about the roll axis can be suppressed, and a measurement error of the distance between the measurement device 100 and the road surface 900 can be suppressed.

  In the present embodiment, the fixed frame 750 is fixed to the bottom of the vehicle body 701 at at least two positions symmetrical with respect to the center of the vehicle body 701 in the width direction, so that rolling can be suppressed. Fixation stability can be further increased. Thereby, the measurement error of the distance between the measuring device 100 and the road surface 900 as described above can be further suppressed.

  FIG. 8 is a diagram illustrating an example of an effect obtained by such a fixing method of the fixing frame 750. In FIG. 8, for example, when the fixed frame 750 is fixed to the vehicle body 701 at only one position of the central portion 81 on the rear surface of the vehicle 700, the wind pressure acting on the mounting portion 82 of the measuring device 100 to the fixed frame 750 and the like. Due to such forces, the fixed frame 750 may rotate in the direction of the arrow 83 around the central portion 81 as the center of rotation. In the present embodiment, since the central portion of the rear portion of the vehicle body 701 and the bottom portion of the vehicle body 701 are fixed portions, for example, a force for suppressing rotation acts on the fixed portion 84 at the bottom portion of the vehicle body 701, and thereby rotation such as pitching is performed. Can be suppressed.

  In FIG. 8, it is preferable that the fixing frame 750 is fixed to the vehicle body 701 in a state where a force is applied to the rearward side in order to prevent the fixing frame 750 from falling to the vehicle 700 side.

  In the present embodiment, an example is shown in which the fixed frame 750 is fixed to the vehicle body 701 by using the traction pole fixing portion 781 and the spare tire fixing portion 782 provided on the vehicle body 701, but is not limited thereto. Absent. The fixing frame 750 may be fixed to another part of the vehicle body 701.

  On the other hand, the vehicle 700 is specially modified by fixing the fixing frame 750 by using the existing parts and mechanisms of the vehicle 700 such as the traction pole fixing portion 781 and the spare tire fixing portion 782 as in the present embodiment. The fixing frame 750 and the measuring device 100 can be attached to the vehicle 700 without adding. If a special modification is made to the vehicle 700, the vehicle becomes a so-called "dedicated vehicle" and the vehicle license plate needs to be changed to that for the "dedicated vehicle". Can be omitted.

[Second embodiment]
Next, an example of the image forming apparatus according to the second embodiment will be described. The description of the same components as those of the above-described embodiment will be omitted.

  In the movement measuring device according to the first embodiment, the measuring device 100 has been described as being attached to the vehicle 700 traveling (moving) on land as a moving object, but is not limited to this. For example, as shown in FIG. 9, a mobile measurement device 800b may be configured by attaching a measuring device 100b to a flying object (drone) 700b moving in the air. FIG. 9 is a diagram illustrating a measurement state of the movement measurement device 800b according to the present embodiment. The mobile measurement device 800b has a flying object 700b and a measuring device 100b attached to the flying object 700b.

  By providing the flying object 700b, measurement (inspection) at a place where a person is difficult to access (for example, a bridge) becomes possible. Further, the present invention can be applied to a railway vehicle as a moving body. In this case, it is possible to measure not the state of the road but the state of the rail on which the railcar travels, the wall surface of the subway tunnel, the platform of the station, and the like.

  As described above, the embodiment and the like of the movement measuring device have been described, but the present invention is not limited to the above embodiment and the like, and various modifications and changes can be made within the scope of the present invention described in the claims. Improvements are possible.

  Although the measuring devices 100 and 100b according to the first and second embodiments have been described as including a stereo camera, the present invention is not limited to this. For example, a laser distance measurement device that measures the distance to a measurement target using a laser may be used. Further, the measuring device is not limited to a device that measures a distance, and may be a device that measures other information.

  Embodiments also include a movement measurement method. For example, a movement measurement method is a movement measurement method using a movement measurement device having a moving object and a measurement device attached to the movement object, wherein the measurement device is connected to the movement object in a moving direction of the movement object. In the space in the backward direction, an upper surface that is a plane that includes the upper end of the moving body and intersects with the direction of gravity, a lower surface that is a plane that includes the lower end of the moving body and intersects with the direction of gravity, and A first side surface, which is a plane including one end of the moving body in the width direction intersecting with each other and is a plane intersecting in the width direction, and a first side surface including the other end of the moving body in the width direction, intersecting in the width direction. The method is a method of attaching to the moving body so as to be arranged in a plane defined by two side surfaces, and measuring the distance between the measuring device and the target object by the measuring device. With such a movement measuring method, the same effect as that of the above-described movement measuring device can be obtained.

Reference Signs List 100 measuring instrument 110 base frame 120 camera mount 130, 130a, 130b, 130c stereo camera 131, 131a, 131b lens 200, 200A protective cover unit 210, 210A protective member main body 211, 211a, 211b, 211c opening 212a, 212b side opening Parts 215a, 215b Second opening protection member holding parts 216a, 216b Frames 217a to 217d Fixed opening protection member holding parts 220a, 220b Movable protection member 221a Linear components 225a, 225b First opening protection member holding parts 230, 230a, 230b , 230c Opening protection member 300 Arrangement space 301 Upper surface 302 Lower surface 303 First side 304 Second side 700 Vehicle (an example of a moving body)
700b Flying object (example of moving object)
701 Body 702 Tire 750 Fixed frame 800, 800b Movement measuring device

Japanese Patent No. 5729164

Claims (6)

A mobile measuring device having a moving body and a measuring device attached to the moving body,
The measurement device includes an upper surface that is a plane including an upper end of the moving body and intersecting with the direction of gravity, and a lower surface of the moving body in a space in a rearward direction of the moving body in a moving direction of the moving body. A lower surface that is a plane intersecting the direction, a first side surface that is a plane that includes one end of the moving body in the width direction that intersects the moving direction and the gravity direction, and that is a plane that intersects the width direction. And a second side surface, which is a plane including the other end of the moving body and intersecting the width direction, and attached to the moving body so as to be arranged in a plane defined by the second side surface. The movement measurement device has a fixed frame fixed to the moving body, with a central portion of a back portion of the moving body and a bottom portion of the moving body as a fixed point,
The mobile measuring device according to claim 1, wherein the measuring device is attached to the moving body via the fixed frame. The movement measuring device according to claim 2, wherein the fixed frame is fixed to the bottom of the moving body at at least two positions symmetrical with respect to a center of the moving body in the width direction. The mobile measurement device according to claim 1, wherein the measurement device includes a stereo camera. The moving body is a vehicle including a vehicle body and a tire attached to the vehicle body,
The upper end of the moving body is the upper end of the vehicle body, the lower end of the moving body is the lower end of the vehicle body, one end of the moving body in the width direction is one end of the vehicle body in the width direction, and the width direction The movement measuring device according to any one of claims 1 to 4, wherein the other end of the moving body in (1) is the other end of the vehicle body in the width direction in the width direction. A moving body, a measuring device attached to the moving body, a movement measuring method by a mobile measuring device having,
The measuring device, in a space in the rear direction of the moving body in the moving direction of the moving body, an upper surface that is a plane including the upper end of the moving body and intersecting the direction of gravity, and including the lower end of the moving body in the direction of gravity. A lower surface that is a plane that intersects the first direction, a first side surface that is a plane that includes one end of the moving body in the width direction that intersects the movement direction and the gravity direction, and that is a plane that intersects the width direction. A second side surface which is a plane including the other end of the moving body and intersecting in the width direction, and attached to the moving body so as to be arranged in a plane defined by:
A movement measurement method for measuring a distance between the measurement device and an object by the measurement device.