JP2020077077A - Facility management device, facility management method, and facility management program - Google Patents

Abstract

To provide a technique for appropriately determining whether a road auxiliary facility has been moved in a space.SOLUTION: An object detection section 21 processes an image of a management object area input to an image input section 12, and detects a reference target and a road auxiliary facility that are projected on an image. A reference setting section 22 sets reference based on a reference target detected by the object detection section 21 on an image input to the image input section 12. A first determination section 24 determines whether supporters 5 and 6 are appropriate, based on a relative position relation between the detected supporters 5 and 6 and reference on an image.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technique for managing road incidental equipment to which road signs, illuminating lights, signal lights, etc. are attached.

  2. Description of the Related Art Conventionally, a sensor is attached to a road auxiliary equipment, and the state of the road auxiliary equipment is managed by using a detection output of the sensor. The road auxiliary equipment mentioned here is a pillar installed on the roadside, or a gantry installed so as to straddle the road in the width direction (vehicle width direction of a vehicle traveling on the road). Road accessories such as road signs, lighting, signal lights, and vehicle detection sensors are attached to the road auxiliary equipment. For example, Patent Document 1 describes a system in which a card sensor is attached to the surface of a steel structure (corresponding to road incidental equipment) such as an illumination column to manage the state of the steel structure.

  Note that some road auxiliary equipment has road accessories integrally formed.

JP, 2018-71986, A

  However, the conventional system described in Patent Document 1 or the like is not affected by a natural disaster such as an earthquake or a typhoon even if the road auxiliary equipment moves in real space and the relative positional relationship with the road changes. I could not detect that.

  An object of the present invention is to provide a technique capable of appropriately determining whether or not a road auxiliary equipment has moved in a real space.

  The facility management device of the present invention is configured as described below to achieve the above object.

  The detection unit processes the image of the management target area defined on the road, which is input to the image input unit, and detects the reference target and the road auxiliary equipment projected on the image. The road auxiliary equipment is, for example, a road sign (guidance sign, traffic sign, etc.), a pillar for attaching road accessories such as a lighting lamp, a signal lamp, a vehicle detection sensor, or a gantry.

  The reference setting unit sets a reference based on the reference target detected by the detection unit on the image input to the image input unit. This reference target can be any target that can be detected at approximately the same position in the real space as long as there is no damage (road bumps, depressions, etc.) that hinders the running of the vehicle on the road. It may be. For example, the reference target may be a guide line (white line, yellow line) indicating the traveling lane of the vehicle drawn on the road surface. When the guide line is used as a reference target, a line along the guide line may be used as a reference. Also, many drivers drive the vehicle in compliance with the key left (which is a relatively left side of the driving lane), which is one of the traffic rules. The driving position is almost the same. Therefore, the vehicle traveling on the traveling lane may be the reference target. When a vehicle is used as a reference target, the vehicle width (overall width) differs depending on the type of vehicle. Therefore, the left side trajectory of the vehicle traveling on the road or the vehicle width direction of the vehicle traveling on the road It is preferable to refer to the center line.

  The first determination unit determines whether or not the road auxiliary equipment is appropriate based on the relative positional relationship between the road auxiliary equipment detected by the detection unit and the reference on the image input to the image input unit.

  This makes it possible to properly determine whether or not the road auxiliary equipment has moved in the real space.

  Further, a second determination unit that determines whether or not the mounting state of the image sensor that has captured the image of the management target area is appropriate may be provided based on the position on the reference image determined by the reference setting unit. .. According to this structure, it is possible to determine whether or not the road auxiliary equipment to which the image sensor is attached and the attachment state of the image sensor are appropriate.

  The image sensor may be a video camera capable of capturing a visible light image, or a radio wave radar or a laser sensor capable of capturing a distance image.

  The detection unit may also detect the outer shape of the detected road auxiliary equipment, and the first determination unit may determine whether or not the road auxiliary equipment is appropriate based on the outer shape of the road auxiliary equipment.

  Further, the detection unit may be configured to have a counting function of detecting a vehicle traveling on a road and counting the number of detected vehicles. With this configuration, it can also be used as a traffic counter that measures traffic volume. In addition, a function of detecting a vehicle whose traveling state on the road is not appropriate may be provided. The vehicle whose traveling state is not appropriate is, for example, a vehicle traveling backward on the traveling road (reverse traveling vehicle) or a vehicle traveling on the traveling road while meandering (meandering vehicle).

  Furthermore, when the first determination unit determines that the road auxiliary equipment is not appropriate, an output unit that outputs that effect may be provided.

  According to the present invention, it is possible to properly determine whether or not the road auxiliary equipment has moved in the real space.

FIG. 1 is a schematic view of a road to which an equipment management device according to this example is applied, FIG. 1 (A) is a plan view of a road surface viewed from above, and FIG. 1 (B) is a traveling lane viewed in the vehicle width direction. It is a top view of a road. It is a block diagram which shows the structure of the principal part of the equipment management apparatus concerning this example. FIG. 3 is a diagram for explaining the outline of the process of setting the reference on the distance image of the facility management apparatus according to this example, and FIG. 3A is a diagram showing the distance image in a plan view for convenience. Yes, FIG. 3B is a diagram showing the detected frequency of the traveling locus of the left side surface of the vehicle. It is a flowchart which shows a vehicle counting process. It is a flow chart which shows equipment state management processing.

  Embodiments of the present invention will be described below.

<1. Application example>
FIG. 1 is a schematic diagram of a road to which the facility management device according to this example is applied. FIG. 1A is a plan view of the road surface as viewed from above. FIG. 1B is a plan view of the traveling lane as viewed in the vehicle width direction. A guide line 110 (white line, yellow line) indicating a traveling lane is written on the road surface. Here, a two-lane road in which the vehicle 100 (100a, 100b, 100c) has two traveling lanes will be described as an example, but the number of traveling lanes may be any number as long as it is one or more. Good.

  In this example, the columns 5 and 6 to which the illuminating lamps are attached are installed in the target area (area indicated by hatching in FIG. 1A) defined for the road. The radio wave radar 2 is attached to the column 7. The pillars 5, 6, and 7 correspond to the road auxiliary equipment according to the present invention. The radio wave radar 2 corresponds to the image sensor referred to in the present invention.

  The radio wave radar 2 scans an area including the entire target area (hereinafter, referred to as a scanning area) with an electric wave that is a search wave, and captures (acquires) a distance image and a reflection intensity image of the scanning area. Since the radio wave radar 2 is publicly known, detailed description is omitted here. The radio wave radar 2 detects the intensity of the reflected wave and the time from the irradiation of the radio wave to the detection of the reflected wave (hereinafter referred to as the flight time) for each irradiation direction of the radio wave. In this example, the frame rate of the radio wave radar 2 is about 10 frames / sec (one scan for the scanning area is about 100 msec).

  As for the reflected wave detected by the radio wave radar 2, the reflected wave reflected by the vehicle 100 or the columns 5, 6 has a higher intensity than the reflected wave reflected by the road surface. Further, even with respect to the reflected wave reflected on the road surface, the reflected wave reflected by the guide line 110 has a higher intensity than the reflected wave reflected at the position where the guide line 110 is not marked. In addition, the radio wave radar 2 is a position of a reflection surface that reflects the emitted search wave according to the irradiation direction of the search wave and the flight time (position in the real space relative to the detection element of the reflected wave of the radio wave radar 2). To get

  In this example, the radio wave radar 2 outputs the acquired distance image to the equipment management device 1 (in this example, the radio wave radar 2 does not have to output the acquired intensity image of the reflected wave to the equipment management device 1). That is, in this example, the radio wave radar 2 may be configured not to acquire the intensity image of the reflected wave.).

  The distance image acquired by the radio wave radar 2 is input to the equipment management device 1 according to this example. As shown in FIG. 1, the facility management device 1 may be installed around the support 7 to which the radio wave radar 2 is attached, or may be installed in a place away from the support 7. The facility management apparatus 1 according to this example selects a range image to be processed from the range images input from the radio wave radar 2. The distance image of the processing target selected this time is the distance image acquired after the set number of frames with respect to the distance image of the processing target selected last time. The number of set frames may be one frame or a plurality of frames (two or more frames).

  The frame rate of the radio wave radar 2 may be adjusted without setting the number of set frames to a plurality of frames (fixing the number of set frames to one frame).

  The equipment management device 1 processes the selected distance image of the processing target to detect an object (vehicle 100, road incidental equipment (posts 5, 6 in this example), etc.) located in the target area. The equipment management device 1 associates the detected object between the distance images to be processed that are temporally continuous. Accordingly, when the object is a moving body such as a vehicle, the moving body can be tracked. Therefore, the movement locus of the moving body can be obtained. For example, when the moving body is the vehicle 100, the traveling locus of the vehicle 100 can be obtained.

  The facility management device 1 according to this example sets a reference on the distance image based on the traveling locus of the vehicle 100. Since many drivers are driving the vehicle 100 in compliance with one of the traffic rules, namely, the key left (the vehicle keeps traveling on the relatively left side of the driving lane), the driving of the vehicle 100 on the road is prohibited. If no obstructing damage (road surface bulge, depression, etc.) occurs, the positions in the real space corresponding to the reference set on the distance image are substantially the same. Details of the process of setting the reference on the distance image will be described later.

The equipment management device 1
(1) Whether the columns 5 and 6 have moved in space,
(2) Whether the pillars 5 and 6 are damaged due to tilting or bending,
(3) Whether the mounting state of the radio wave radar 2 is proper,
To judge.

  The determination according to (1) above is performed based on the relative positional relationship between the columns 5 and 6 on the distance image and the reference set on the distance image. Further, the determination according to (2) above is performed based on the outer shapes of the columns 5 and 6 obtained from the distance image. Furthermore, the determination according to (3) above is performed based on the reference position (reference position on the distance image) set between the distance images.

  Elements that are determined to be not properly attached to the radio wave radar 2 include movement of the support column 7 on which the radio wave radar 2 is attached in the real space, occurrence of the support column 7, inclination, or bending. Damage is included.

  The facility management device 1 according to this example also has a function as a traffic counter that counts the number of detected vehicles 100 for each traveling lane.

  Further, the facility management device 1 according to this example may be provided with a function of detecting the vehicle 100 in which the traveling state on the road is not appropriate. The vehicle 100 in an improper traveling state is, for example, a vehicle 100 traveling backward in a traveling lane (reverse traveling vehicle), or a vehicle 100 traveling meandering on a road (meandering vehicle).

<2. Configuration example>
FIG. 2 is a block diagram showing the configuration of the main part of the equipment management apparatus according to this example. The facility management apparatus 1 according to this example includes a control unit 11, an image input unit 12, and an output unit 13. The facility management device 1 determines, for each traveling line in the target area, a vehicle counting process for counting the number of vehicles 100 traveling on the traveling line and whether or not the states of the columns 5, 6, 7 are appropriate. Performs equipment status management processing.

  The control unit 11 controls the operation of each part of the main body of the equipment management device 1. The control unit 11 also includes an object detection unit 21, a reference setting unit 22, a storage unit 23, a first determination unit 24, and a second determination unit 25. The object detection unit 21, the reference setting unit 22, the storage unit 23, the first determination unit 24, and the second determination unit 25 included in the control unit 11 will be described later.

  The image input unit 12 receives the distance image of the scanning area acquired by the radio wave radar 2 at the set frame rate. In this example, the frame rate of the range image in the radio wave radar 2 is 10 frames / sec.

  The output unit 13 outputs the traffic information related to the number of vehicles counted in the vehicle counting process, the information related to the columns 5, 6, and 7 determined to be in an inappropriate state in the equipment state management process to a higher-level device (not shown). Output to.

  Next, the object detection unit 21, the reference setting unit 22, the storage unit 23, the first determination unit 24, and the second determination unit 25 included in the control unit 11 will be described.

  The object detection unit 21 selects a distance image to be processed from the distance images input to the image input unit 12. The distance image of the processing target selected this time is the distance image acquired after the set number of frames with respect to the distance image of the processing target selected last time. The number of set frames may be one frame or a plurality of frames (two or more frames).

  The frame rate of the radio wave radar 2 may be adjusted without setting the number of set frames to a plurality of frames (fixing the number of set frames to one frame).

  The object detection unit 21 processes the selected range image of the processing target and detects the vehicle 100 and the objects such as the columns 5 and 6 located in the target region. The object detection unit 21 detects the type of the detected object (vehicle 100, support columns 5, 6, etc.). The type of object can be detected based on its size, shape and the like. In this example, the object detection unit 21 corresponds to the detection unit referred to in the present invention.

  The reference setting unit 22 acquires the traveling locus of the vehicle 100 by associating the detected vehicle 100 between the time-sequential processing target distance images. The reference setting unit 22 sets a reference on the distance image based on the traveling locus. In this example, the vehicle 100 corresponds to the reference target referred to in the present invention.

  Since many drivers drive the vehicle 100 in compliance with one of the traffic rules, namely, the key left (the vehicle keeps traveling on the relatively left side of the driving lane), the driving of the vehicle 100 in the vehicle width direction of the driving lane is performed. The driving position is almost the same. In this example, considering that the vehicle width (total width) of the vehicle 100 differs depending on the type, the reference is set on the distance image based on the locus of the left side surface of the vehicle 100 traveling on the road. The positions in the real space corresponding to the reference set by the reference setting unit 22 on the distance image are substantially the same.

  FIG. 3 is a diagram illustrating an outline of a process of setting a reference on a distance image of the facility management device according to this example. FIG. 3A is a plan view of the range image for convenience. FIG. 3B is a diagram showing the detected frequency of the traveling locus of the left side surface of the vehicle. The reference setting unit 22 sets, as the reference line, the locus of the left side surface that has the highest frequency in the vehicle 100 traveling on the road. The reference setting unit 22 sets the distance from the radio wave radar 2 on the reference line based on the position on the road surface that is the set distance (for example, 80 m) (see FIG. 3A).

  The reference line may be set on the distance image based on the locus of the center line of the vehicle 100 traveling on the road in the vehicle width direction.

  The storage unit 23 has a working area for temporarily storing data and the like generated when the facility management apparatus 1 main body operates. The storage unit 23 also has a storage area for the traffic counter 23a and the determination data 23b. The traffic counter 23a is a counter that counts the number of vehicles for each traveling lane.

  The determination data 23b is data used to determine whether the states of the columns 5, 6, and 7 are proper. The determination data 23b includes the first determination data used for determining whether the props 5 and 6 installed in the target area are in the proper state, and whether the mounting state of the radio wave radar 2 is proper. The second determination data used to determine whether or not it is included.

  The first determination data has position determination data and outer shape determination data for each of the columns 5 and 6. The position determination data is data indicating a relative positional relationship between the support columns 5 and 6 and the reference set by the reference setting unit 22 on the distance image. For example, the position determination data is a vector whose starting point is the position of the columns 5 and 6 and whose end point is the reference set by the reference setting unit 22. The outer shape determination data is data indicating the outer shapes of the columns 5 and 6. The second determination data is data indicating the reference initial position on the distance image. The first determination data and the second determination data are set at the time of installation or maintenance of the facility management device 1.

  The first determination unit 24 compares the relative positional relationship between the columns 5, 6 on the distance image and the reference set by the reference setting unit 22 with the position determination data of the first determination data, It is determined whether the position of 6 is proper. In addition, the first determination unit 24 compares the outer shapes of the columns 5 and 6 with the outer shape determination data of the first data, and determines the presence or absence of damage caused by the inclination and bending of the columns 5 and 6.

  The second determination unit 25 compares the reference position determined by the reference setting unit 22 on the distance image with the second determination data, and determines whether the mounting state of the radio wave radar 2 is proper.

  Further, the reference setting unit 22 causes the storage unit 23 to store, for each detected vehicle 100, vehicle detection data in which the imaging time of the distance image in which the vehicle 100 is detected and the detection position are associated with each other. The traveling locus of each vehicle 100 can be obtained from this vehicle detection data.

  The control unit 11 of the equipment management device 1 is composed of a hardware CPU, a memory, and other electronic circuits. When the hardware CPU executes the facility management program according to the present invention, it operates as the object detection unit 21, the reference setting unit 22, the first determination unit 24, and the second determination unit 25. In addition, the storage unit 23 may be configured by a memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like. Further, the memory has an area for developing the equipment management program according to the present invention and an area for temporarily storing data and the like generated when the equipment management program is executed. The control unit 11 may be an LSI in which a hardware CPU, a memory and the like are integrated. The hardware CPU is a computer that executes the facility management method according to the present invention.

<3. Operation example>
The operation of the facility management device 1 according to this example will be described. The equipment management device 1 according to this example executes vehicle counting processing and equipment state management processing. First, the vehicle counting process will be described. FIG. 4 is a flowchart showing the vehicle counting process. The facility management device 1 constantly executes this vehicle counting process.

  The object detection unit 21 selects a distance image to be processed (s1) and executes vehicle detection processing for detecting the vehicle 100 imaged in the selected distance image (s2). The object detection unit 21 detects the position on the distance image for each detected vehicle 100.

  The reference setting unit 22 performs a vehicle identification process for associating the vehicle 100 detected in the current distance image to be processed with the vehicle 100 detected in the last distance image to be processed (s3). This vehicle identification processing is performed using the outer shape of the vehicle 100 and the position of the vehicle 100. In this vehicle identification processing, the vehicle 100 detected in the distance image to be processed this time, which is not associated with the vehicle 100 detected in the distance image to be processed last time, is detected for the first time this time. The vehicle 100 is determined. Further, in this vehicle identification processing, the vehicle 100 detected in the distance image of the previous processing target, which is not associated with the vehicle 100 detected in the distance image of the current processing target, is set as the target area. It is determined that the vehicle 100 has passed. The reference setting unit 22 stores the vehicle detection data in the storage unit 23 based on the processing result of the vehicle identification processing.

  Furthermore, if there is the vehicle 100 detected this time for the first time, the reference setting unit 22 increments the traffic counter 23a corresponding to the traveling lane in which the vehicle 100 is traveling (s4, s5), and proceeds to s6 shown below.

  If there is no vehicle 100 detected this time for the first time, the reference setting unit 22 proceeds to s6 without performing the process of s5.

  Further, as described above, the reference setting unit 22 can obtain the traveling locus of each vehicle 100 based on the vehicle detection data stored in the storage unit 23. The reference setting unit 22 determines the presence / absence of the vehicle 100 whose traveling state is not appropriate (s6). The vehicle 100 in an improper traveling state is, for example, a vehicle 100 traveling backward in a traveling lane (reverse traveling vehicle), or a vehicle 100 traveling meandering on a road (meandering vehicle). When the standard setting unit 22 detects the vehicle 100 in which the traveling state is not appropriate, the facility management device 1 outputs the fact to the output unit 13 (s7), and returns to s1.

  If the standard setting unit 22 does not detect the vehicle 100 in which the traveling state is not appropriate, the equipment management device 1 returns to s1 without performing the process of s7.

  The equipment management device 1 can count the number of vehicles 100 that have traveled for each traveling lane by repeating the above-described processing of s1 to s7. Further, the facility management device 1 stores vehicle detection data indicating the traveling locus of the traveling vehicle 100 in the storage unit 23 for each traveling lane.

  It should be noted that the number of vehicles 100 may be counted for each vehicle type (large, medium, small) in which the vehicle 100 is classified by size. The vehicle type may be determined using at least one of the vehicle width (total width), vehicle length (total length), and vehicle height (total height) obtained from the distance image.

  Next, the equipment state management process will be described. FIG. 5 is a flowchart showing the equipment state management process. This facility state management may be executed at a predetermined timing such as 0:00 am every day, 0:00 am every Sunday, 0:00 am on the first day of every month, or from a host device or the like. It may be executed when instructed or when a natural disaster such as an earthquake or typhoon occurs. The equipment state management processing is executed in conjunction with the vehicle counting processing described above, as shown below.

  After reaching the execution timing of the equipment state management process, the object detection unit 21 detects not only the vehicle 100 but also the support column 5, with respect to the distance image of the processing target initially selected in the vehicle counting process described above. 6 is also detected. The distance image in which the support columns 5 and 6 have been detected becomes the distance image to be processed in this equipment state management processing. The object detection unit 21 detects the positions and outer shapes of the columns 5 and 6.

  The reference setting unit 22 sets a reference on the distance image to be processed (s11). The reference setting unit 22 reads from the storage unit 23 the vehicle detection data of the set number (for example, several hundreds) of vehicles 100 that have traveled in the leftmost travel lane of the road. The vehicle 100 that reads out the vehicle detection data from the storage unit 23 is the vehicle 100 that has been detected most recently, and is the set number of vehicles 100 that is continuous with the first vehicle 100. The reference setting unit 22 generates travel locus frequency data (see FIG. 3B) for the set number of vehicles 100 that read the vehicle detection data. The reference setting unit 22 sets a reference line on the distance image to be processed based on the generated travel locus frequency data, and sets a reference on this reference line (see FIG. 3A).

  The second determination unit 25 determines whether the reference position (position on the distance image) set on the distance image to be processed in s11 is appropriate (s12). In s12, the reference position set in s11 on the distance image is compared with the reference initial position on the distance image indicated by the second determination data. If the deviation amount (distance) between the reference position set this time and the reference initial position on the distance image is larger than the preset reference judgment threshold value, the second judgment unit 25 sets it this time. It is determined that the criteria are not appropriate. On the contrary, if the deviation amount (distance) between the reference position set this time and the reference initial position on the distance image is smaller than the preset reference judgment threshold value, It is determined that the standard set this time is appropriate.

  When the second determination unit 25 determines in s12 that the reference set this time is appropriate, the first determination unit 24 makes a relative positional relationship with the reference set this time on the distance image for each of the columns 5 and 6. It is determined whether or not is appropriate (s13). The first determination unit 24 determines, for each of the columns 5 and 6, the relative positional relationship between the positions of the columns 5 and 6 and the reference to be the relative positional relationship indicated by the position determination data of the first determination data. It is judged whether or not it is appropriate. For example, the first determination unit 24 calculates, as a relative positional relationship between the positions of the columns 5 and 6 and the reference, a determination vector having the positions of the columns 5 and 6 as the start points and the reference set this time as the end point. To do. The position determination data of the first determination data is a reference vector indicating the relative positional relationship between the positions of the columns 5 and 6 and the reference. The first determination unit 24 compares the determination vector and the reference vector for each of the columns 5 and 6, and performs the determination of s13 based on the amount of difference in size and the amount of difference in direction. If the difference between the determination vector and the reference vector is large, the first determination unit 24 determines that the relative positional relationship with the reference set this time on the distance image is not appropriate.

  The reference of the vector difference used for the determination of s13 may be set in advance.

  When the first determination unit 24 determines that the columns 5 and 6 have an appropriate relative positional relationship with the reference set this time on the distance image, whether or not each column 5 and 6 has an appropriate shape. Is determined (s14). The first determination unit 24 makes a determination regarding s14 by collating the outer shape detected this time with the outer shape indicated by the outer shape determination data of the first determination data for each of the columns 5 and 6.

  When the first determination unit 24 determines in s14 that the outer shapes of the columns 5, 6 are appropriate, it determines that the columns 5, 6, 7 are appropriate (s15), and ends this processing.

  When the second determination unit 25 determines in s12 that the reference position set on the distance image to be processed this time is not appropriate, it determines that the mounting state of the radio wave radar 2 is not appropriate (s16). At s16, not only the mounting state of the radio wave radar 2 on the support column 7 is changing, but also the support column 7 may be moving in a real space, or damage such as tilting or breaking may occur.

  In addition, the first determination unit 24 determines that the installation position of each of the columns 5 and 6 is determined if the columns 5 and 6 are determined to have an inappropriate relative positional relationship with the reference set this time on the distance image in s13. It is determined that it has moved (s17), and the process proceeds to s15. However, in this case, it is not necessary to determine the appropriateness of the shape of s15 for the columns 5 and 6 that are determined to have moved to the installation position.

  In addition, the first determination unit 24 determines that, if there is the stanchions 5 and 6 determined to have an improper shape in s14, the pillars 5 and 6 are damaged such as tilting or falling (s18), and the present process To finish.

  When the equipment state management process ends, the equipment management device 1 outputs the determination result of this time to a higher-level device. When it is determined that all the columns 5, 6, 7 are appropriate, the equipment management device 1 may not output the determination result of this time to the host device. That is, the equipment management device 1 may output the determination result of this time to the higher-level device only when it is determined that any one of the columns 5, 6, and 7 is not appropriate.

  As described above, according to the equipment management device 1 according to this example, it is possible to appropriately determine that the installation positions in the real space have moved for the pillars 5 and 6 located on the road installed in the target area. it can. In addition, the facility management device 1 can appropriately determine damage such as tilting and bending of the columns 5 and 6 installed in the target area. Further, the equipment management device 1 can also determine whether or not the mounting state of the radio wave radar 2 is appropriate.

  Further, since the equipment management device 1 according to this example has a function as a traffic counter, it can be replaced with a traffic counter using the existing radio wave radar 2 without losing the function of the traffic counter, and the support 5 , 6, 7 can be managed.

  The order of the steps shown in FIG. 5 can be changed. For example, s13 and s14 are the order of determination. Further, the facility management device 1 may have a configuration that does not have at least one of the traffic function and the traveling state determination function (the function of detecting the vehicle 100 whose traveling state is not appropriate) described above.

<4. Modification>
In the above example, the traveling locus of the vehicle 100 is used to set the reference on the distance image, but the guide line 110 written on the road surface may be used to set the reference on the distance image. Good. With such a configuration, the process of generating the reference line shown in FIG. 3 from the traveling locus of the vehicle 100 can be eliminated, so that the processing load of the apparatus main body can be suppressed.

  In this case, in order to detect the guide line, the reflection intensity image may be input from the radio wave radar 2 as needed (when the equipment state management process is executed). Even for the reflected wave reflected on the road surface, the reflected wave reflected by the guide line 110 has higher intensity than the reflected wave reflected at the position where the guide line 110 is not marked. Therefore, the guide line 110 can be detected from the reflection intensity image.

  The facility management device 1 may also be configured to detect and manage damage to the road surface due to upheaval, subsidence, etc. based on the distance to the road surface in the distance image.

  Further, the facility management device 1 may be configured to use a laser sensor or a video camera instead of the radio wave radar 2. The above-described processing can be executed not only for the range image but also for the two-dimensional image.

  The present invention is not limited to the above embodiments as they are, and can be embodied by modifying the constituent elements within a range not departing from the gist of the invention in an implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, the constituent elements of different embodiments may be combined appropriately.

Furthermore, the correspondence relationship between the configuration according to the present invention and the configuration according to the above-described embodiment can be described as the following supplementary notes.
<Appendix>
An image input unit (12) for inputting an image of a management target area defined on the road;
A detection unit (21) that processes the image input to the image input unit (12) and detects a reference target and road incidental equipment projected on the image;
A reference setting unit (22) that determines a reference based on the reference target detected by the detection unit (21) on the image input to the image input unit (12);
On the image input to the image input unit (12), the road auxiliary equipment is determined by the relative positional relationship between the road auxiliary equipment (5, 6) detected by the detection unit (21) and the reference. A facility management device (1) comprising: a first determination unit (24) for determining whether (5, 6) is appropriate.

1 ... Facility management device 2 ... Radio wave radar 5, 6, 7 ... Post 11 ... Control unit 12 ... Image input unit 13 ... Output unit 21 ... Object detection unit 22 ... Reference setting unit 23 ... Storage unit 23a ... Traffic counter 23b ... Determination Data 24 ... First determination unit 25 ... Second determination unit 100 ... Vehicle 110 ... Guide line

Claims (10)

An image input unit for inputting an image of the management target area defined on the road,
A detection unit that processes the image input to the image input unit and detects a reference target and road auxiliary equipment projected on the image,
On the image input to the image input unit, a reference setting unit that determines a reference based on the reference target detected by the detection unit,
First determining whether or not the road auxiliary equipment is appropriate based on a relative positional relationship between the road auxiliary equipment detected by the detection unit and the reference on the image input to the image input unit A facility management device including a determination unit. The detection unit also detects the outer shape of the detected road incidental equipment,
The equipment management device according to claim 1, wherein the first determination unit also determines whether or not the road auxiliary equipment is appropriate based on the outer shape of the road auxiliary equipment.   A second determination unit that determines whether or not the mounting state of the image sensor capturing the image of the management target area is appropriate based on the position on the reference image determined by the reference setting unit, The facility management apparatus according to claim 1 or 2.   The facility management device according to claim 1, wherein the detection unit has a counting function of detecting a vehicle traveling on the road and counting the number of detected vehicles.   The facility management device according to claim 4, wherein the reference setting unit sets a reference on the image based on a traveling locus of each vehicle on the road detected by the detection unit.   The reference setting unit has a function of detecting a vehicle whose traveling state on the road is not appropriate, based on a traveling locus of each vehicle on the road detected by the detection unit. Equipment management device described in.   The facility management device according to claim 1, wherein the image is a distance image of the management target area.   The equipment management device according to any one of claims 1 to 7, further comprising an output unit that outputs a message to the effect that the first determination unit determines that the road auxiliary equipment is not appropriate. A detection step of processing the image of the management target area defined on the road, which is input to the image input unit, and detecting the reference target and the road auxiliary equipment projected on the image,
On the image input to the image input unit, a reference setting step of defining a reference based on the reference target detected in the detecting step,
A first determination is made as to whether or not the road auxiliary equipment is appropriate based on the relative positional relationship between the road auxiliary equipment detected in the detection step and the reference on the image input to the image input unit. A facility management method comprising a determination step. A detection step of processing the image of the management target area defined on the road, which is input to the image input unit, and detecting the reference target and the road auxiliary equipment projected on the image,
On the image input to the image input unit, a reference setting step of defining a reference based on the reference target detected in the detecting step,
A first determination is made as to whether or not the road auxiliary equipment is appropriate based on the relative positional relationship between the road auxiliary equipment detected in the detection step and the reference on the image input to the image input unit. An equipment management program that causes a computer to execute a determination step.

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