JP2021081942A - Submergence detection device and submergence detection program - Google Patents

Abstract

To provide a submergence detection device capable of detecting a submergence degree on a road to which an underpass structure is applied without depending on a traveling state of a vehicle.SOLUTION: There are provided an image acquisition unit for acquiring a picked-up image obtained by imaging an underpass with an imaging device fixedly arranged at a position capable of imaging at least a slope part of the underpass; a water surface detection unit for detecting a water surface line connecting the underpass and a contact point with a water surface in a submergence area in the underpass on the picked-up image, based on the picked-up image acquired by the image acquisition unit; and a water depth determination unit for determining a water depth on the submergence area, based on the water surface line detected by the water surface detection unit.SELECTED DRAWING: Figure 1

Description

The present invention relates to a flood detection device and a flood detection program for detecting flooding on a road to which an underpass structure is applied.

On a road to which an underpass structure is applied, flooding occurs on the road due to precipitation or the like, and depending on the degree of flooding, it may be difficult for a vehicle to travel on the road.
As a technique for grasping the degree of flooding when a road is flooded, for example, Patent Document 1 describes the presence or absence of a flooded portion based on an image taken by a camera installed in the vehicle in front of the vehicle. An information processing device that performs determination of the above and calculation of the water depth of the flooded portion is disclosed.

Japanese Unexamined Patent Publication No. 2018-18424

In the prior art disclosed in Patent Document 1, the presence or absence of a flooded portion and the calculation of the water depth of the flooded portion are performed based on the image captured by the camera installed in the vehicle. Therefore, even if the technique disclosed in Patent Document 1 is applied when detecting the degree of flooding on a road to which the underpass structure is applied, the water depth of the flooded portion is appropriate depending on the traveling state of the vehicle. As a result, there is a problem that the degree of flooding may not be appropriately detected.

The present invention has been made to solve the above problems, and provides a flood detection device capable of detecting the degree of flooding on a road to which an underpass structure is applied, regardless of the running state of the vehicle. The purpose is to provide.

The submersion detection device according to the present invention includes an image acquisition unit and an image acquisition unit that acquire an image captured by an image pickup device fixedly installed at a position where at least a slope portion of the underpass can be imaged. On the captured image, the water surface detection unit that detects the water surface line connecting the underpass and the contact point between the water surface of the submerged region in the underpass, and the water surface detected by the water surface detection unit It is provided with a water depth determination unit that determines the water depth of the submerged area based on the line.

According to the present invention, it is possible to detect the degree of flooding on a road to which an underpass structure is applied, regardless of the traveling state of the vehicle.

It is a figure which shows the configuration example of the submergence detection device which concerns on Embodiment 1. FIG. It is a figure which shows an example of the image of the installation position of the image pickup apparatus in Embodiment 1. It is a figure which shows an example of the image of the captured image which the imaging apparatus imaged the underpass in Embodiment 1. It is a figure which shows an example of the water surface line in Embodiment 1. FIG. FIG. 5 is a diagram for explaining an example of an image in which the water depth determination unit determines the water depth in the submerged region of the underpass based on the similarity reference image specified by the comparison unit in the first embodiment. It is a flowchart for demonstrating operation of the flood detection apparatus which concerns on Embodiment 1. FIG. It is a flowchart for demonstrating the specific operation of step ST604 of FIG. 6 by the water depth determination part in Embodiment 1. FIG. It is a figure which shows the configuration example of the submergence detection device which concerns on Embodiment 2. FIG. FIG. 2 is a diagram for explaining an example of an image in which the water depth determination unit determines the water depth of the submerged region in the underpass based on the length of the water depth determination line measured by the distance measuring unit in the second embodiment. .. It is a flowchart for demonstrating the specific operation of step ST604 of FIG. 6 by the water depth determination part in Embodiment 2. It is a figure which shows the structural example of the submergence detection device which concerns on Embodiment 3. In the submerged detection device according to the third embodiment, an image in which the water surface movement direction determination unit determines the movement direction of the water surface line, and the image pickup direction control unit controls the image pickup direction of the image pickup device according to the movement direction of the water surface line. It is a figure for demonstrating an example. It is a flowchart for demonstrating operation of the flood detection apparatus which concerns on Embodiment 3. FIG. 5 is a diagram showing an image of a method in which the alarm output control unit determines that there is a vehicle actually trying to travel underpass based on the captured image captured by the imaging device in the first embodiment. FIG. 5 is a diagram showing an image of a method in which the alarm output control unit determines that there is a vehicle actually trying to travel underpass based on an image captured by an image pickup device other than the image pickup device in the first embodiment. In the first embodiment, the alarm output control unit determines that there is a vehicle that is actually trying to travel underpass based on the image captured by the image pickup device and the image captured by the image pickup device other than the image pickup device. It is a figure which shows the image of the method of doing. 17A and 17B are diagrams showing an example of the hardware configuration of the flood detection device according to the first to third embodiments.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1.
FIG. 1 is a diagram showing a configuration example of the flood detection device 1 according to the first embodiment.
In the first embodiment, it is assumed that the submersion detection device 1 is provided in, for example, a server (not shown).
The submersion detection device 1 is connected to the image pickup device 2 via a network. More specifically, the submersion detection device 1 is connected to the image pickup device 2 via a switching hub (not shown).
The flood detection device 1 acquires an image (hereinafter referred to as "captured image") of a section of the road where the height of the road is lower than that of the front-rear section, and based on the acquired image, the section is described. And the degree of flooding are detected. In the following description, a section of a road whose height is lower than that of the front and rear sections is referred to as an "underpass". In the first embodiment, the term "detecting flooding" includes not only detecting whether or not flooding has occurred, but also detecting the degree of flooding when flooding has occurred. The "degree of flooding" refers to the water depth of the water area submerged in the underpass (hereinafter referred to as "flooding area").
The imaging device 2 images the underpass. The submersion detection device 1 acquires an image captured by the image pickup device 2 from the image pickup device 2. The image pickup device 2 is assumed to be, for example, a surveillance camera that monitors the vicinity of the area where the image pickup device 2 is installed.

Here, an example of an image of the installation position of the imaging device 2 and an example of an image of the captured image obtained by the imaging device 2 with an underpass will be described with reference to the drawings.
FIG. 2 is a diagram showing an example of an image of an installation position of the image pickup apparatus 2 in the first embodiment. In FIG. 2, for the sake of simplicity, the illustration of the image pickup device 2 and the structures other than the road is omitted.
The image pickup apparatus 2 is fixedly installed, for example, at a position where at least the slope portion 101 of the underpass can be imaged. In the first embodiment, the image pickup device 2 is fixedly installed at a position where at least the slope portion of the underpass can be imaged, that is, at a position where the image pickup device 2 can image at least the slope portion 101 of the underpass. It means that it is attached to an existing structure. The image pickup device mounted on the moving body is not included in the image pickup device 2 which is fixedly installed.
In the first embodiment, the slope portion 101 refers to the underpass between the road in the section before and after the underpass whose road height is higher than that of the underpass and the deepest point 102 of the underpass. Refers to a part. The slope portion 101 is inclined. In the underpass, the point where the height of the road is the lowest is called the deepest point 102. The height of the road shall be represented by, for example, the altitude.
FIG. 3 is a diagram showing an example of an image of a captured image in which the imaging device 2 has captured an underpass in the first embodiment. In FIG. 3, for the sake of simplicity, the road and the structures on both sides of the road other than the wall surface in contact with the road are not shown.

Returning to the description of FIG.
The image pickup device 2 can record the captured image on a stream recorder (not shown) via a switching hub. The submersion detection device 1 may acquire the captured image recorded on the stream recorder.
Further, the image pickup device 2 is connected to an operation PC (Personal Computer; not shown) via a network. The operation PC acquires an captured image from the imaging device 2 via a switching hub, and reproduces the acquired captured image. The operation PC can control the image pickup device 2.

As shown in FIG. 1, the flood detection device 1 includes an image acquisition unit 11, a weather determination unit 12, a water surface detection unit 13, a water depth determination unit 14, and an alarm output control unit 15. The water depth determination unit 14 includes a comparison unit 141.
The image acquisition unit 11 acquires an captured image in which the image pickup device 2 has captured the underpass.
The image acquisition unit 11 outputs the acquired captured image to the water surface detection unit 13.

The weather determination unit 12 determines whether or not flood detection is necessary based on the weather in the area including the underpass. Specifically, the weather determination unit 12 determines whether or not there is rainfall in the area based on the information on the weather in the area including the underpass. The weather determination unit 12 determines that flood detection is necessary when there is rainfall in the area including the underpass.
The weather determination unit 12 may acquire information on the weather by using, for example, a well-known technique (see, for example, Japanese Patent Application Laid-Open No. 2002-157676). Further, for example, the operation PC may acquire the information on the weather by referring to the weather server (not shown) that stores the information on the weather. The weather determination unit 12 may acquire information on the weather acquired from the operation PC and determine the weather. Further, for example, the weather determination unit 12 may acquire the captured image acquired by the image acquisition unit 11 and acquire information on the weather from the captured image by using a well-known image analysis technique.
The weather determination unit 12 outputs information on whether or not flood detection is necessary (hereinafter referred to as “detection necessity information”) to the water surface detection unit 13.

When the weather determination unit 12 outputs the detection necessity information indicating that the flood detection is necessary, the water surface detection unit 13 underpasses the captured image based on the captured image acquired by the image acquisition unit 11. The water surface line connecting the and the contact point with the water surface of the submerged region in the underpass is detected.
FIG. 4 is a diagram showing an example of a water surface line in the first embodiment. FIG. 4 shows, for example, an image of an captured image in which the underpass is captured when flooding occurs in the underpass captured in the captured image shown in FIG. In FIG. 4, the water surface line is indicated by 402. Further, in FIG. 4, the submerged region on the captured image is indicated by 401.
The water surface detection unit 13 detects the water surface line on the captured image by extracting the edge on the captured image using, for example, a well-known image analysis technique.
The water surface detection unit 13 adds information about the detected water surface line to the captured image and outputs the information to the water depth determination unit 14. The information about the water surface line is, for example, a line on the captured image representing the water surface line.

The water depth determination unit 14 determines the water depth of the submerged region in the underpass based on the water surface line detected by the water surface detection unit 13.
Specifically, the comparison unit 141 of the water depth determination unit 14 compares the captured image to which the information regarding the water surface line detected by the water surface detection unit 13 is given with the plurality of reference images. The water depth determination unit 14 determines the water depth of the submerged region in the underpass based on the comparison result performed by the comparison unit 141.
The reference image is an image in which the underpass is shown at the same angle of view as when the image pickup device 2 images the underpass from the installation position of the image pickup device 2, and the underpass is submerged to a certain height of the slope portion 101. It is an image which shows the water surface line when it is assumed that it was done. The reference image is associated with information that can identify the depth of the flooded area. For example, the manager or the like assumes that flooding has occurred, and prepares a reference image showing an underpass with a white line showing the water surface line of the flooded area on the slope portion 101. The administrator or the like stores the prepared reference image in a storage unit (not shown) in association with information indicating the water depth of the flooded area. The administrator or the like generates a plurality of reference images as described above in advance in association with various water depths and stores them in the storage unit.
The comparison unit 141 compares the captured image output from the water surface detection unit 13 with the plurality of reference images, and among the plurality of reference images, the degree of similarity between the position of the water surface line in the captured image and the position of the white line in the reference image. Identifyes the highest reference image (hereinafter referred to as "similar reference image").
The comparison unit 141 outputs the information regarding the specified similar reference image to the water depth determination unit 14.
The water depth determination unit 14 determines the water depth associated with the similar reference image specified by the comparison unit 141 as the water depth of the submerged region in the underpass.

FIG. 5 is a diagram for explaining an example of an image in which the water depth determination unit 14 determines the water depth in the underpass submerged region based on the similar reference image specified by the comparison unit 141 in the first embodiment. is there. In FIG. 5, for convenience of explanation, the white line showing the water surface line in the reference image is shown by the black line 502. Further, in FIG. 5, the water surface line on the captured image is shown by 402 as in FIG.
In the example shown in FIG. 5, the degree of similarity between the position of the water surface line in the captured image and the position of the black line 502 in the reference image shown by 501 is the highest. Therefore, the comparison unit 141 specifies the reference image shown by 501 as a similar reference image. The water depth determination unit 14 determines that the water depth of 15 cm associated with the similar reference image shown by 501 is the water depth of the submerged region in the underpass imaged in the captured image.
The water depth determination unit 14 outputs the determined water depth in the submerged region in the underpass to the alarm output control unit 15.

The alarm output control unit 15 controls the alarm output based on the water depth determined by the water depth determination unit 14. Specifically, the alarm output control unit 15 is trying to travel underpass when the water depth determined by the water depth determination unit 14 is equal to or higher than a preset threshold value (hereinafter referred to as "water depth determination threshold value"). Output an alarm to the vehicle.
The alarm output control unit 15 may output an alarm so that the occupant of the vehicle trying to travel in the underpass can grasp that the underpass is flooded. For example, the alarm output control unit 15 warns the display device installed near the entrance of the underpass when viewed from a vehicle traveling on the road, such as "Caution for flooding" to the effect that the vehicle is flooded. Is displayed. Further, for example, the alarm output control unit 15 receives a message or an alarm as described above from a voice output device installed near the entrance of the underpass when viewed from a vehicle traveling on the road. The sound may be output.

The operation of the flood detection device 1 according to the first embodiment will be described.
FIG. 6 is a flowchart for explaining the operation of the flood detection device 1 according to the first embodiment.
The image acquisition unit 11 acquires an captured image obtained by the imaging device capturing the underpass (step ST601).
The image acquisition unit 11 outputs the acquired captured image to the water surface detection unit 13.

The weather determination unit 12 determines whether or not flood detection is necessary based on the weather in the area including the underpass (step ST602). Specifically, the weather determination unit 12 determines whether or not there is rainfall in the area based on the information on the weather in the area including the underpass. The weather determination unit 12 determines that flood detection is necessary when there is rainfall in the area including the underpass.
The weather determination unit 12 outputs the detection necessity information to the water surface detection unit 13.

When the weather determination unit 12 outputs the detection necessity information indicating that the flood detection is necessary in step ST602, the water surface detection unit 13 determines that the water surface detection unit 13 is based on the captured image acquired by the image acquisition unit 11 in step ST601. The water surface line is detected on the captured image (step ST603).
The water surface detection unit 13 adds information about the detected water surface line to the captured image and outputs the information to the water depth determination unit 14.
When the weather determination unit 12 outputs the detection necessity information indicating that the flood detection is unnecessary in step ST602, the flood detection device 1 ends the operation shown in the flowchart of FIG.

The water depth determination unit 14 determines the water depth of the submerged region in the underpass based on the water surface line detected by the water surface detection unit 13 in step ST603 (step ST604).

Here, FIG. 7 is a flowchart for explaining the specific operation of step ST604 of FIG. 6 by the water depth determination unit 14 in the first embodiment.
The comparison unit 141 of the water depth determination unit 14 compares the captured image to which the information regarding the water surface line detected by the water surface detection unit 13 is given with the plurality of reference images (step ST701).
Then, the comparison unit 141 identifies a similar reference image among the plurality of reference images (step ST702). The comparison unit 141 outputs the information regarding the specified similar reference image to the water depth determination unit 14.
The water depth determination unit 14 determines the water depth associated with the similar reference image specified by the comparison unit 141 as the water depth of the submerged region in the underpass (step ST703).
The water depth determination unit 14 outputs the determined water depth in the submerged region in the underpass to the alarm output control unit 15.

Return to the flowchart of FIG.
The alarm output control unit 15 controls the alarm output based on the water depth determined by the water depth determination unit 14 in step ST604 (step ST605).

In the first embodiment, the flood detection device 1 operates in the order of step ST601 and step ST602. However, the order of the operation of step ST601 and the operation of step ST602 may be reversed, or the operation of step ST601 and the operation of step ST602 may be performed in parallel. When the flood detection device 1 operates in the order of step ST602 and step ST601, if the weather determination unit 12 determines that the flood detection is unnecessary, the operation after step ST601 may not be performed.

As described above, the submersion detection device 1 is based on the image captured by the image pickup device 2 fixedly installed at a position where at least the slope portion 101 of the underpass can be imaged, and the submerged area in the underpass is captured. Judge the water depth of.
In the conventional technique as described above, the presence or absence of the flooded portion is determined and the water depth of the flooded portion is calculated based on the image captured by the camera installed in the vehicle. Therefore, when detecting flooding on a road to which an underpass structure is applied, even if the prior art is applied, the water depth of the flooded portion cannot be calculated appropriately depending on the running condition of the vehicle, and as a result, , There is a problem that flooding may not be detected properly. Specifically, for example, when the vehicle body is vibrating due to rattling on the road surface, the camera installed in the vehicle cannot properly image the underpass. As a result, even if the prior art is applied, the water depth of the flooded portion cannot be calculated appropriately. Further, when the vehicle is moving at high speed, it may be difficult to obtain the analysis result before traveling in the flooded area.

On the other hand, in the submersion detection device 1 according to the first embodiment, as described above, the image pickup device 2 fixedly installed at a position where at least the slope portion 101 of the underpass can be imaged captures the underpass. Based on the image, the water depth of the submerged area in the underpass is determined. Therefore, the flood detection device 1 can detect flooding on the road to which the underpass structure is applied, regardless of the traveling state of the vehicle.

Further, the submersion detection device 1 according to the first embodiment determines based on an image captured by the image pickup device 2 fixedly installed at a position where at least the slope portion 101 of the underpass can be imaged. When the water depth in the flooded area is equal to or greater than the water depth determination threshold value, an alarm is output to the vehicle trying to travel underpass. The submersion detection device 1 can appropriately warn a vehicle that is about to travel underpass.

Further, the flood detection device 1 according to the first embodiment determines whether or not flood detection is necessary based on the weather around the underpass. When it is determined that the flood detection is necessary, the flood detection device 1 determines the water depth in the flooded region, and controls the output of an alarm to the vehicle trying to travel underpass based on the determined water depth. As a result, the flood detection device 1 can prevent the shadow generated in the underpass from being erroneously detected as the flooded region.

Further, when the water depth of the submerged region fluctuates, the fluctuation amount of the boundary of the submerged region with the water surface on the slope portion 101 of the underpass is larger than the fluctuation amount of the water depth. The submersion detection device 1 according to the first embodiment detects the water surface line and determines the water depth of the submerged region based on the water surface line, thereby directly determining the water depth from the depth from the deepest point 102 to the water surface of the submerged region. The water depth can be determined more accurately than in the case of determination.

In the above-described first embodiment, the flood detection device 1 is provided with the weather determination unit 12, but the flood detection device 1 is not essential to include the weather determination unit 12. The flood detection device 1 may be configured not to include the weather determination unit 12.
Further, in the above-described first embodiment, the alarm output control unit 15 is provided in the flood detection device 1, but this is only an example. The alarm output control unit 15 is not provided in the flood detection device 1, but the function of the alarm output control unit 15 is provided in an external device of the flood detection device 1, such as an alarm output device. You may. In that case, in the submersion detection device 1, when the water depth determination unit 14 determines the water depth of the submerged region in the underpass, the information regarding the determined water depth is output to an external device.

As described above, according to the first embodiment, the submersion detection device 1 is an image captured by the image pickup device 2 fixedly installed at a position where at least the slope portion 101 of the underpass can be imaged. On the captured image, the water surface line connecting the underpass and the contact point between the water surface of the submerged region in the underpass, based on the image acquired by the image acquisition unit 11 and the image acquisition unit 11 to acquire the image. It is configured to include a water surface detection unit 13 for detection and a water depth determination unit 14 for determining the water depth in the submerged region based on the water surface line detected by the water surface detection unit 13. Therefore, the flood detection device 1 can detect flooding on the road to which the underpass structure is applied, regardless of the traveling state of the vehicle.

Specifically, in the flood detection device 1, the water depth determination unit 14 is an image captured by the image pickup device 2 fixedly installed at a position where at least the slope portion 101 of the underpass can be imaged, and detects the water surface. The water depth is determined by comparing the captured image to which the information on the water surface line detected by the unit 13 is added with the reference image to which the information capable of specifying the water depth of the submerged region in the underpass is given. Therefore, the flood detection device 1 can detect flooding on the road to which the underpass structure is applied, regardless of the traveling state of the vehicle.

Further, the submersion detection device 1 includes a weather determination unit 12 that determines whether or not submersion detection is necessary based on the weather in the area including the underpass, and the water depth determination unit 14 requires submersion detection by the weather determination unit 12. When it was determined, the water depth in the flooded area was determined. Therefore, the flood detection device 1 can prevent the shadow generated in the underpass from being erroneously detected as the flooded region.

Further, the flood detection device 1 is a water depth determined by the water depth determination unit 14 based on an image captured by the image pickup device 2 fixedly installed at a position where at least the slope portion 101 of the underpass can be imaged. Based on the above, the alarm output control unit 15 for outputting an alarm is provided. Therefore, the flood detection device 1 can appropriately warn the vehicle that is about to travel in the underpass.

Embodiment 2.
In the first embodiment, the submersion detection device 1 is an image captured by the image pickup device 2, and is an image to which information about the water surface line detected by the water surface detection unit 13 is added, and a plurality of pre-generated references. By comparing with the image, the water depth of the submerged area in the underpass was judged.
In the second embodiment, an embodiment in which the submersion detection device 1a determines the water depth of the submerged region in the underpass without using the reference image will be described.

In the second embodiment below, it is assumed that the image pickup apparatus 2 is fixedly installed, for example, at a position where at least the slope portion 101 and the deepest point 102 of the underpass can be imaged.
FIG. 8 is a diagram showing a configuration example of the flood detection device 1a according to the second embodiment.
In the second embodiment, it is assumed that the submersion detection device 1a is provided in, for example, a server, like the submersion detection device 1 according to the first embodiment.
In the submersion detection device 1a, the same reference numerals are given to the same configurations as those described with reference to FIG. 1 in the first embodiment, and duplicate description will be omitted.

The submersion detection device 1a according to the second embodiment is different from the submersion detection device 1 according to the first embodiment in that the water depth determination unit 14a includes a distance measuring unit 142 instead of the comparison unit 141.
The water depth determination unit 14a determines the water depth of the submerged region in the underpass based on the captured image to which the information regarding the water surface line detected by the water surface detection unit 13 is added.
Specifically, the distance measuring unit 142 of the water depth determination unit 14a measures the distance between the point on the water surface line detected by the water surface detection unit 13 and the deepest point 102 of the underpass in the captured image. In other words, the distance measuring unit 142 connects a point on the water surface line detected by the water surface detecting unit 13 with the deepest point 102 of the underpass in the captured image (hereinafter referred to as “water depth determination line”). Measure the length of. It is assumed that the position on the water surface line of the distance measuring unit 142 as one end of the water depth determination line is determined in advance. Further, when there are a plurality of deepest points 102 of the underpass, it is assumed that which deepest point 102 is to be the other end of the water depth determination line is determined in advance. The image pickup apparatus 2 is installed at a position where an image can be taken at the deepest point 102, which is predetermined as the end of the water depth determination line.

The water depth determination unit 14a determines the water depth of the submerged region in the underpass based on the length of the water depth determination line measured by the distance measuring unit 142. Specifically, water depth information indicating the relationship between the length of the water depth determination line and the water depth of the flooded region in the underpass is stored in the storage unit in advance. The water depth information is, for example, information in which the length of the water depth determination line and the water depth are associated with each other. The water depth determination unit 14a determines the water depth of the submerged region in the underpass with reference to the water depth information stored in the storage unit based on the length of the water depth determination line measured by the distance measuring unit 142.

FIG. 9 illustrates an example of an image in which the water depth determination unit 14a determines the water depth of the submerged region in the underpass based on the length of the water depth determination line measured by the distance measuring unit 142 in the second embodiment. It is a figure for doing. In FIG. 9, the water surface line on the captured image is shown by 402 as in FIGS. 4 and 5.
In the example shown in FIG. 9, the point on the water surface line as one end of the water depth determination line intersects the water surface line and a straight line passing through the deepest point 102 and substantially parallel to the direction in which the vehicle travels on the road. It is a point (indicated by 901 in FIG. 9).
The distance measuring unit 142 measures the length of the water depth determination line, with the line connecting the point indicated by 901 and the deepest point 102 in FIG. 9 as a water depth determination line (indicated by 902 in FIG. 9). The water depth determination unit 14a determines the water depth corresponding to the length of the water depth determination line with reference to the water depth information stored in the storage unit. Here, for example, it is assumed that the length of the water depth determination line measured by the distance measuring unit 142 is 1 cm. Further, in the water depth information, it is assumed that the water depth determination line 1 cm and the water depth 14 cm are associated with each other. In this case, the water depth determination unit 14a determines the water depth 14 cm as the water depth of the submerged region in the underpass imaged in the captured image.
The water depth determination unit 14a outputs the determined water depth in the submerged region in the underpass to the alarm output control unit 15.

The operation of the flood detection device 1a according to the second embodiment will be described.
The operation of the submersion detection device 1a is different from the operation of the submersion detection device 1 described with reference to the flowchart of FIG. 6 in the first embodiment in the specific operation in step ST604. Since the other operations of steps ST601 to ST603 and ST605 are the same as the operations described in the first embodiment, duplicate description will be omitted.
FIG. 10 is a flowchart for explaining the specific operation of step ST604 of FIG. 6 by the water depth determination unit 14a in the second embodiment.
In the first embodiment, in step ST604, the water depth determination unit 14 performed the operation described using the flowchart of FIG. 7, whereas in the second embodiment, the water depth determination unit 14a in step ST604 The operation described below is performed using the flowchart of FIG.

The ranging unit 142 of the water depth determination unit 14a measures the length of the water depth determination line connecting the point on the water surface line detected by the water surface detection unit 13 and the deepest point 102 of the underpass in the captured image (step ST1001). ..

The water depth determination unit 14a determines the water depth of the submerged region in the underpass based on the length of the water depth determination line measured by the distance measuring unit 142 in step ST1001 (step ST1002). Specifically, the water depth determination unit 14a corresponds to the water depth determination line by referring to the water depth information stored in the storage unit based on the length of the water depth determination line measured by the distance measuring unit 142. Determine the water depth in the submerged area.

The water depth determination unit 14a outputs the determined water depth in the submerged region in the underpass to the alarm output control unit 15.

As described above, the submersion detection device 1a is underpassed based on the image captured by the image pickup device 2 fixedly installed at a position where at least the slope portion 101 and the deepest point 102 of the underpass can be imaged. Determine the depth of the submerged area in the path.
Therefore, like the flood detection device 1 according to the first embodiment, the flood detection device 1a can detect flooding on the road to which the underpass structure is applied, regardless of the traveling state of the vehicle.
The submerged detection device 1a according to the second embodiment has a submerged region based on the length of a water depth determination line connecting a point on the water surface line in the captured image and the deepest point 102 of the underpass in the captured image. Determine the water depth. In the first embodiment, the submersion detection device 1a determines the water depth of the submerged region by comparing the captured image and the reference image in order to determine the water depth of the submerged region by measuring the distance of the water depth determination line on the image. Compared with the flood detection device 1 according to the above, the processing load for determining the water depth can be reduced.

Further, the submersion detection device 1a according to the second embodiment is an image captured by the image pickup device 2 fixedly installed at a position where at least the slope portion 101 and the deepest point 102 of the underpass can be imaged. When the water depth in the flooded area determined based on the above is equal to or greater than the water depth determination threshold value, an alarm is output to the vehicle trying to travel underpass. Similar to the submersion detection device 1 according to the first embodiment, the submersion detection device 1a can appropriately warn the vehicle that is about to travel on the underpass.

Further, the flood detection device 1a according to the second embodiment determines whether or not flood detection is necessary based on the weather around the underpass. Similar to the submergence detection device 1 according to the first embodiment, the submersion detection device 1a determines the water depth of the submerged region when it is determined that the submersion detection is necessary, and attempts to travel underpass based on the determined water depth. Controls the output of alarms for vehicles that are in. As a result, the flood detection device 1a can prevent the shadow generated in the underpass from being erroneously detected as the flooded region.
Further, the submersion detection device 1a according to the second embodiment detects the water surface line and determines the water depth of the submerged region based on the water surface line, so that the depth from the deepest point 102 to the water surface of the submerged region can be directly determined. The water depth can be determined more accurately than when the water depth is determined.

In the above second embodiment, the flood detection device 1a is provided with the weather determination unit 12, but the flood detection device 1a is not essential to include the weather determination unit 12. The flood detection device 1a may be configured not to include the weather determination unit 12.
Further, in the above second embodiment, the alarm output control unit 15 is provided in the flood detection device 1a, but this is only an example. The alarm output control unit 15 is not provided in the flood detection device 1a, but the function of the alarm output control unit 15 is provided in an external device of the flood detection device 1, such as an alarm output device. You may. In that case, in the flood detection device 1a, when the water depth determination unit 14a determines the water depth of the flooded region in the underpass, the information regarding the determined water depth is output to an external device.

As described above, according to the second embodiment, the submersion detection device 1a is an image captured by the image pickup device 2 fixedly installed at a position where at least the slope portion 101 of the underpass can be imaged. On the captured image, the water surface line connecting the underpass and the contact point between the water surface of the submerged region in the underpass, based on the image acquired by the image acquisition unit 11 and the image acquisition unit 11 to acquire the image. It is configured to include a water surface detection unit 13 for detection and a water depth determination unit 14a for determining the water depth in the submerged region based on the water surface line detected by the water surface detection unit 13. Therefore, the flood detection device 1a can detect flooding on the road to which the underpass structure is applied, regardless of the traveling state of the vehicle.

Specifically, in the submersion detection device 1a, the water depth determination unit 14a is the water surface detection unit 13 in the image captured by the image pickup device 2 fixedly installed at a position where at least the slope portion 101 of the underpass can be imaged. The water depth is determined based on the length of a line (water depth determination line) connecting the detected point on the water surface line and the deepest point 102 of the underpass in the captured image. Therefore, the flood detection device 1a can detect flooding on the road to which the underpass structure is applied, regardless of the traveling state of the vehicle.

Embodiment 3.
In the above-described first embodiment, it is premised that the image pickup apparatus 2 can image the water surface line when the underpass is flooded.
However, when the underpass is flooded, the image pickup device 2 may not be able to take an image of the water surface line depending on the current image pickup direction of the image pickup device 2.
In the third embodiment, the embodiment in which the submersion detection device 1b can control the image pickup direction of the image pickup device 2 will be described. In the third embodiment, the submersion detection device 1b controls the image pickup direction of the image pickup device 2 by controlling the operation of the image pickup device 2 in the pan direction or the tilt direction.

FIG. 11 is a diagram showing a configuration example of the submersion detection device 1b according to the third embodiment.
In the third embodiment, it is assumed that the submersion detection device 1b is provided in, for example, a server, like the submersion detection device 1 according to the first embodiment.
The submersion detection device 1b shown in FIG. 11 is different from the submersion detection device 1 according to the first embodiment in that it further includes a water surface movement direction determination unit 16 and an image pickup direction control unit 17.
Further, in the submersion detection device 1b according to the third embodiment, when the water surface detection unit 13 can detect the water surface line, the water surface movement direction determination unit 16 is provided with an captured image in which information on the detected water surface line is added. It shall be output. When the water surface detection unit 13 cannot detect the water surface line, the water surface detection unit 13 shall output information to the effect that the water surface line could not be detected to the imaging direction control unit 17.

When the water surface detection unit 13 can detect the water surface line, the water surface movement direction determination unit 16 determines the movement direction of the water surface line on the captured image based on the water surface line detected by the water surface detection unit 13.
In the third embodiment, it is assumed that the water surface movement direction determination unit 16 stores the captured image to which the information regarding the water surface line is added, which is output from the water surface detection unit 13, in the storage unit. The captured image stored in the storage unit is cleared by the control unit (not shown) of the flood detection device 1b, for example, when the power of the image pickup device 2 is turned off. The water surface movement direction determination unit 16 is based on the captured image stored in the storage unit, and the water surface line currently detected by the water surface detection unit 13 is on the captured image from the water surface line detected by the water surface detection unit 13 immediately before. , Determine in which direction it has moved.
The water surface movement direction determination unit 16 stores the determined information regarding the movement direction of the water surface line in the storage unit. The water surface movement direction determination unit 16 rewrites the information regarding the movement direction of the water surface line stored in the storage unit each time the water surface line movement direction is determined.
The water surface movement direction determination unit 16 does not determine the movement direction of the water surface line when the captured image is not stored in the storage unit.

When the water surface detection unit 13 cannot detect the water surface line, the image pickup direction control unit 17 controls the image pickup direction of the image pickup device 2 so that the image pickup device 2 captures the water surface line.
Specifically, the image pickup direction control unit 17 controls the image pickup direction of the image pickup apparatus 2 according to the movement direction of the water surface line determined by the water surface movement direction determination unit 16. The moving direction of the water surface line determined by the water surface moving direction determining unit 16 is stored in the storage unit. The image pickup direction control unit 17 controls the operation in the pan direction or the operation in the tilt direction by the image pickup device 2. It is assumed that how much the image pickup direction control unit 17 moves the image pickup device 2 in the pan direction or the tilt direction with one control is set in advance.

In FIG. 12, in the flood detection device 1b according to the third embodiment, the water surface movement direction determination unit 16 determines the movement direction of the water surface line, and the image pickup direction control unit 17 determines the movement direction of the water surface line according to the movement direction of the water surface line. It is a figure for demonstrating an example of the image which controls the imaging direction of 2. In FIG. 12, the water surface line on the captured image is shown by 402 as in FIGS. 4, 5, and 9.
In the example shown in FIG. 12, for example, the captured image acquired by the image acquisition unit 11 has the contents shown in FIG. 12A, the contents shown in FIG. 12B, the contents shown in FIG. 12C, and the contents shown in FIG. 12D. It is supposed to change to.

When the captured image shown in FIG. 12A is acquired, the water surface detection unit 13 can detect the water surface line.
The water surface movement direction determination unit 16 determines the movement direction of the water surface line based on the captured image to which the information about the water surface line stored in the storage unit is added. Here, the water surface movement direction determination unit 16 determines the Y-axis direction as the movement direction of the water surface line on the captured image (see arrow 1201 in FIG. 12A).

After that, when the captured image shown in FIG. 12B is acquired, the water surface detection unit 13 can continue to detect the water surface line.
The water surface movement direction determination unit 16 is based on the captured image to which the information about the water surface line stored in the storage unit is added, in other words, the captured image to which the information about the water surface line is given shown in FIG. 12A. Judge the moving direction of. Here, the water surface movement direction determination unit 16 determines the Y-axis direction as the movement direction of the water surface line on the captured image (see arrow 1202 in FIG. 12B).

When the captured image shown in FIG. 12C is acquired, the water surface detection unit 13 cannot detect the water surface line.
The imaging direction control unit 17 controls the imaging direction of the imaging device 2 so that the imaging device 2 images the water surface line according to the moving direction of the water surface line stored in the storage unit. Here, since the moving direction of the horizon is the Y-axis direction, the imaging direction control unit 17 moves the imaging device 2 in the tilt direction by a preset amount.
Then, as shown in the captured image shown in FIG. 12D, the water surface detection unit 13 can detect the water surface line again.

As described above, the submersion detection device 1b includes the water surface movement direction determination unit 16 and the image pickup direction control unit 17, so that the image pickup direction of the image pickup device 2 can be imaged by following the movement of the water surface line. Can be controlled.
In the example described with reference to FIG. 12, the image pickup direction control unit 17 controls the image pickup direction of the image pickup apparatus 2 only in the tilt direction, but this is only an example. The image pickup direction control unit 17 can also control the image pickup direction of the image pickup apparatus 2 in the pan direction according to the moving direction of the water surface line.

FIG. 13 is a flowchart for explaining the operation of the submersion detection device 1b according to the third embodiment.
In FIG. 13, the specific operations of steps ST1301 to ST1303 and steps ST1307 to ST1308 are the same as the specific operations of steps ST601 to ST605 described with reference to FIG. 6 in the first embodiment, respectively. Therefore, duplicate explanations will be omitted.

In step ST1304, the water surface detection unit 13 determines whether or not the water surface line can be detected.
When the water surface line can be detected in step ST1304 (when "YES" in step ST1304), the water surface detection unit 13 outputs an image to which information about the detected water surface line is added to the water surface movement direction determination unit 16. ..

The water surface movement direction determination unit 16 stores the captured image output from the water surface detection unit 13 in step ST1303 in the storage unit, and based on the water surface line detected by the water surface detection unit 13 in step ST1303, the water surface line. , The moving direction on the captured image is determined (step ST1305). The water surface movement direction determination unit 16 stores the determined information regarding the movement direction of the water surface line in the storage unit.

On the other hand, when the water surface line cannot be detected in step ST1304 (when “NO” in step ST1304), the water surface detection unit 13 outputs information to the effect that the water surface line could not be detected to the imaging direction control unit 17. To do.

When the water surface detection unit 13 cannot detect the water surface line, the image pickup direction control unit 17 controls the image pickup direction of the image pickup device 2 so that the image pickup device 2 captures the water surface line. Specifically, the image pickup direction control unit 17 controls the image pickup direction of the image pickup apparatus 2 according to the movement direction of the water surface line determined by the water surface movement direction determination unit 16 (step ST1306).

In this way, the submersion detection device 1b can control the imaging direction of the imaging device 2 so as to capture the water surface line when the water surface line cannot be detected on the captured image. Therefore, the submersion detection device 1b can detect submersion in a wider range than when the image pickup direction of the image pickup device 2 is not controlled.

Here, for example, as described with reference to FIG. 12, the submersion detection device 1b follows the moving direction of the water surface line when the detected water surface line is out of the imaging range. , The imaging direction of the imaging device 2 is controlled.
Not limited to this, for example, it is assumed that the image pickup device 2 is a surveillance camera and normally monitors an area other than the underpass, and the flood detection device 1b is an image pickup device when it is determined that flood detection is necessary. It is also possible to control the imaging direction of the imaging device 2 so that 2 captures the underpass. In this case, for example, when the image pickup device 2 is monitoring an area other than the underpass and the weather determination unit 12 determines that flood detection is necessary, the image pickup direction control unit receives information indicating that flood detection is necessary. Output to 17. Whether or not the image pickup device 2 is monitoring an area other than the underpass may be determined, for example, by the control unit of the flood detection device 1b acquiring information on the image pickup direction from the image pickup device 2.
When the weather determination unit 12 outputs information that submersion detection is required, the image pickup direction control unit 17 moves the image pickup device 2 in the pan direction or the tilt direction so that the image pickup device 2 captures the underpass. .. For example, the initial value of the imaging direction in which the imaging device 2 images the underpass is predetermined, and the imaging direction control unit 17 pans the imaging device 2 so that the initial value of the imaging direction is determined in advance. Or move it in the tilt direction. After that, the submersion detection device 1b performs the operations after step ST1303 in FIG.

In the above-described third embodiment, the flood detection device 1b is provided with the water surface movement direction determination unit 16, but the flood detection device 1b may not be provided with the water surface movement direction determination unit 16. In this case, when the water surface detection unit 13 cannot detect the water surface line in the flood detection device 1b, the image pickup direction control unit 17 moves the image pickup direction of the image pickup device 2 in a predetermined direction by a predetermined amount. To control.
However, by providing the flood detection device 1b with the water surface movement direction determination unit 16, for example, when the water surface line cannot be detected even when the water surface is not submerged, unnecessary control of the image pickup direction of the image pickup device 2 is performed. It can be prevented from being stored.

Further, in the above-described third embodiment, the case where the submersion detection device 1 according to the first embodiment can control the operation of the image pickup device 2 in the pan direction or the tilt direction has been described. The submersion detection device 1a according to the second embodiment may have the same configuration. That is, the flood detection device 1a described with reference to FIG. 8 may include a water surface movement direction determination unit 16 and an image pickup direction control unit 17. Since the specific operations of the water surface movement direction determination unit 16 and the image pickup direction control unit 17 have already been described, duplicate description will be omitted.

As described above, according to the third embodiment, the submersion detection device 1b is configured to include an image pickup direction control unit 17 that controls the image pickup direction of the image pickup device 2 so that the image pickup device 2 captures the water surface line. .. Therefore, the submersion detection device 1b can detect submersion in a wider range than when the image pickup direction of the image pickup device 2 is not controlled.

Further, the submersion detection device 1b includes a water surface movement direction determination unit 16 that determines the movement direction of the water surface line on the captured image based on the water surface line detected by the water surface detection unit 13, and the image pickup direction control unit 17 includes. The image pickup direction of the image pickup apparatus 2 is controlled according to the movement direction of the water surface line determined by the water surface movement direction determination unit 16. As a result, the submersion detection device 1b can detect submersion in a wider range than when the image pickup direction of the image pickup device 2 is not controlled, and for example, when the water surface line cannot be detected even when not submerged. In addition, it is possible to prevent unnecessary control of the imaging direction of the imaging device 2.

In the above embodiments 1 to 3, the alarm output control unit 15 outputs an alarm so that the occupant of the vehicle trying to travel in the underpass can grasp that the underpass is flooded. And said. This is because the alarm output control unit 15 determines that the water depth determined by the water depth determination unit 14 is equal to or greater than the water depth determination threshold value, regardless of whether or not there is a vehicle actually trying to travel underpass. Was supposed to be output. That is, it was assumed that if a vehicle trying to drive underpass appears, an alarm is output so that the occupant of the vehicle can grasp that the underpass is flooded. .. However, this is only an example, and the alarm output control unit 15 determines whether or not there is a vehicle that is actually trying to drive underpass, and if there is a vehicle that is actually trying to drive underpass, an alarm is given. May be output.
Hereinafter, a case where the alarm output control unit 15 outputs an alarm after determining that there is a vehicle actually trying to travel underpass will be described with reference to a specific example.

For example, when the image pickup area of the image pickup device 2 is an image pickup area for capturing a straight road, the alarm output control unit 15 will actually travel underpass when a vehicle is imaged in the image pickup area. It may be determined that there is a vehicle that is supposed to be, and an alarm may be output.
FIG. 14 is a diagram showing an image of a method in which the alarm output control unit 15 determines that there is a vehicle actually trying to travel underpass based on the image captured by the image pickup device 2 in the first embodiment. is there. For convenience of explanation, FIG. 14 does not represent the height difference of the road from the front and rear sections in the underpass.
For example, the alarm output control unit 15 may acquire an captured image from the imaging device 2 and determine that the vehicle is captured in the captured image by using the existing image recognition technology.

Further, for example, when the image pickup area of the image pickup device 2 is an image pickup area for capturing a straight road, the alarm output control unit 15 is based on an image captured by an image pickup device other than the image pickup device 2. , It may be determined that there is a vehicle actually trying to drive underpass, and an alarm may be output.
FIG. 15 shows a vehicle in which the alarm output control unit 15 is actually trying to travel underpass based on an image captured by an image pickup device other than the image pickup device 2 (shown by 1501 in FIG. 15) in the first embodiment. It is a figure which shows the image of the method of determining that there is. For convenience of explanation, FIG. 15 does not represent the height difference of the road from the front and rear sections in the underpass.
The image pickup device other than the image pickup device 2 is installed so as to image the road in front of the underpass with respect to the traveling direction of the vehicle.
When the vehicle is imaged by an imaging device other than the imaging device 2, the alarm output control unit 15 may determine that there is a vehicle actually trying to travel underpass and output an alarm. For example, the alarm output control unit 15 may acquire an captured image from an imaging device other than the imaging device 2, and may determine that the vehicle is captured in the captured image by using the existing image recognition technology. ..

Further, for example, when the image pickup region of the image pickup device 2 is an image pickup region for capturing a road in which a plurality of vehicle traveling directions are assumed such as a crossroads, the alarm output control unit 15 takes an image. Based on the captured image and the captured image captured by an imaging device other than the imaging device 2, it may be determined that there is a vehicle actually trying to travel underpass, and an alarm may be output.
FIG. 16 shows an image captured by the image pickup device 2 and an image captured by an image pickup device other than the image pickup device 2 (shown by 1601 to 1603 in FIG. 16) by the alarm output control unit 15 in the first embodiment. It is a figure which shows the image of the method of determining that there is a vehicle which is actually trying to travel underpass based on. For convenience of explanation, FIG. 16 does not represent the height difference of the road from the front and rear sections in the underpass. Further, in FIG. 16, the image pickup device 2 images the crossroads, and it is assumed that one road in the crossroads has an underpass structure.
An imaging device other than the imaging device 2 is installed at a crossroads so as to image a road that the imaging device 2 has not imaged.
When the vehicle is imaged by either the image pickup device 2 or the image pickup device other than the image pickup device 2, the alarm output control unit 15 determines that there is a vehicle actually trying to travel underpass and outputs an alarm. It may be. For example, the alarm output control unit 15 acquires an image taken from an image pickup device 2 and an image pickup device other than the image pickup device 2, and the vehicle is imaged in one of the image pickup images by using the existing image recognition technology. You just have to determine that you are there.
When the alarm output control unit 15 outputs an alarm, the content of the alarm may be different depending on which imaging device 2 or an imaging device other than the imaging device 2 images the vehicle. .. Specifically, the alarm output control unit 15 gives an alarm by changing the content of notifying in which direction the flooding is occurring in the left turn, the right turn, or the straight direction, depending on which image pickup device imaged the vehicle. It can also be output.
For example, in FIG. 16, when the imaging device shown by 1603 images a vehicle, the alarm output control unit 15 outputs an alarm notifying that flooding is occurring in the right turn direction. At this time, it is assumed that the display device or the voice output device for outputting the alarm is installed near the entrance to the crossroads of each road forming the crossroads, for example.

As described above, when the alarm output control unit 15 outputs an alarm when there is a vehicle actually trying to travel underpass, the alarm output control unit 15 tries to actually travel underpass. An alarm may be output to a display device or a voice output device mounted on the vehicle.

Further, in the above-described first to third embodiments, it is assumed that the flood detection devices 1, 1a and 1b are provided in the server, but this is only an example. For example, the submersion detection devices 1, 1a and 1b may be mounted on the image pickup device 2.

17A and 17B are diagrams showing an example of the hardware configuration of the flood detection devices 1, 1a and 1b according to the first to third embodiments.
In the first to third embodiments, the image acquisition unit 11, the weather determination unit 12, the water surface detection unit 13, the water depth determination units 14, 14a, the alarm output control unit 15, and the water surface movement direction determination unit 16 The function of the image pickup direction control unit 17 is realized by the processing circuit 1701. That is, the flood detection devices 1, 1a, 1b include a processing circuit 1701 for controlling the flooding in the underpass and the degree of the flooding.
The processing circuit 1701 may be dedicated hardware as shown in FIG. 17A, or may be a CPU (Central Processing Unit) 1705 that executes a program stored in the memory 1706 as shown in FIG. 17B.

When the processing circuit 1701 is dedicated hardware, the processing circuit 1701 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable). Gate Array) or a combination of these is applicable.

When the processing circuit 1701 is the CPU 1705, the image acquisition unit 11, the weather determination unit 12, the water surface detection unit 13, the water depth determination units 14, 14a, the alarm output control unit 15, the water surface movement direction determination unit 16, and the imaging The function of the direction control unit 17 is realized by software, firmware, or a combination of software and firmware. That is, the image acquisition unit 11, the weather determination unit 12, the water surface detection unit 13, the water depth determination units 14, 14a, the alarm output control unit 15, the water surface movement direction determination unit 16, and the imaging direction control unit 17 are It is realized by a processing circuit 1701 such as an HDD (Hard Disk Drive) 1702, a CPU 1705 that executes a program stored in a memory 1706, and a system LSI (Large-Scale Integration). The programs stored in the HDD 1702, the memory 1706, or the like include the image acquisition unit 11, the weather determination unit 12, the water surface detection unit 13, the water depth determination units 14, 14a, the alarm output control unit 15, and the water surface movement direction. It can also be said that the procedure or method of the determination unit 16 and the image pickup direction control unit 17 is executed by the computer. Here, the memory 1706 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Online Memory), or an EEPROM (Electric Disk Memory). , Non-volatile or volatile semiconductor memory, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versaille Disc) and the like.

Functions of the image acquisition unit 11, the weather determination unit 12, the water surface detection unit 13, the water depth determination units 14, 14a, the alarm output control unit 15, the water surface movement direction determination unit 16, and the imaging direction control unit 17. May be partially realized by dedicated hardware and partly realized by software or firmware. For example, the weather determination unit 12 realizes the function, and the image acquisition unit 11, the water surface detection unit 13, the water depth determination units 14, 14a, the alarm output control unit 15, the water surface movement direction determination unit 16, and the imaging direction are realized. The function of the control unit 17 can be realized by the processing circuit 1701 reading and executing the program stored in the memory 1706.
A memory 1706 is used as the storage unit (not shown). This is just an example, and the storage unit may be composed of an HDD 1702, an SSD (Solid State Drive), a DVD, or the like.
Further, the submersion detection devices 1, 1a and 1b include a device such as an image pickup device 2 or an operation PC, an input interface device 1703 and an output interface device 1704 that perform wired communication or wireless communication.

In the present invention, within the scope of the invention, it is possible to freely combine each embodiment, modify any component of each embodiment, or omit any component in each embodiment. ..

The flood detection device according to the present invention is configured to be able to detect the degree of flooding on a road to which the underpass structure is applied, regardless of the running state of the vehicle. It can be applied to a flood detection device that detects flooding.

1,1a, 1b Submersion detection device, 11 image acquisition unit, 12 weather determination unit, 13 water surface detection unit, 14,14a water depth determination unit, 141 comparison unit, 142 distance measurement unit, 15 alarm output control unit, 16 water surface movement direction Judgment unit, 17 Imaging direction control unit, 1701 processing circuit, 1702 HDD, 1703 input interface device, 1704 output interface device, 1705 CPU, 1706 memory.

Claims (9)

An image acquisition unit that acquires an image captured by an image pickup device that is fixedly installed at a position where at least a slope portion of the underpass can be imaged.
Based on the captured image acquired by the image acquisition unit, the water surface detection unit that detects the water surface line connecting the underpass and the contact point between the water surface of the submerged region in the underpass on the captured image, and the water surface detection unit.
A submersion detection device including a water depth determination unit that determines the water depth of the submerged region based on the water surface line detected by the water surface detection unit. The water depth determination unit compares the captured image to which the information about the water surface line detected by the water surface detection unit is given with the reference image to which the information capable of identifying the water depth of the flooded region is given, thereby flooding the water. The flood detection device according to claim 1, wherein the water depth of the region is determined. The image acquisition unit acquires an image captured by an imaging device fixedly installed at a position where at least a slope portion and the deepest point of the underpass can be imaged.
The water depth determination unit determines the water depth based on the length of a line connecting a point on the water surface line detected by the water surface detection unit in the captured image and the deepest point of the underpass in the captured image. The submersion detection device according to claim 1, wherein the submersion detection device is characterized. It is equipped with a weather determination unit that determines whether or not flood detection is necessary based on the weather in the area including the underpass.
Any one of claims 1 to 3, wherein the water depth determination unit determines the water depth of the flooded region when the weather determination unit determines that the flood detection is necessary. The described submersion detector. The submergence according to any one of claims 1 to 4, wherein the imaging device includes an imaging direction control unit that controls the imaging direction of the imaging device so that the imaging device captures the water surface line. Detection device. A water surface moving direction determining unit for determining the moving direction of the water surface line on the captured image based on the water surface line detected by the water surface detecting unit is provided.
The flood detection device according to claim 5, wherein the image pickup direction control unit controls the image pickup direction of the image pickup device according to the movement direction of the water surface line determined by the water surface movement direction determination unit. The flood detection device according to claim 5 or 6, wherein the image pickup direction control unit controls the operation of the image pickup device in the pan direction or the tilt direction. The flood detection device according to any one of claims 1 to 7, further comprising an alarm output control unit that outputs an alarm based on the water depth determined by the water depth determination unit. Computer,
An image acquisition unit that acquires an image captured by an image pickup device that is fixedly installed at a position where at least a slope portion of the underpass can be imaged.
Based on the captured image acquired by the image acquisition unit, the water surface detection unit that detects the water surface line connecting the underpass and the contact point between the water surface submerged in the underpass on the captured image, and the water surface detection unit.
A submersion detection program for functioning as a water depth determination unit for determining the depth of water submerged in the underpass based on the water surface line detected by the water surface detection unit.

Images