JP2022027268A - Determination system and mobile body - Google Patents

Abstract

To provide a determination system capable of efficiently determining a state of an object by suppressing a defect due to a positional relation between the object and a measurement device, and a moving body.SOLUTION: A determination system that is mounted on a moving body and determines a state of an object, includes: a first measurement device 30a for measuring a first direction; a second measurement device 30b for measuring a second direction different from the first direction; and a processing unit 40 for determining the state of the object based on information obtained by the first measurement device 30a and the second measurement device 30b. The processing unit 40 includes a first pattern for determining the state of the object based on information obtained by the first measurement device 30a, and a second pattern for determining the state of the object based on information obtained by the second measurement device 30b.SELECTED DRAWING: Figure 1

Description

The present invention relates to a determination system and a mobile body.

A determination system is known in which a measuring device such as a camera is attached to a moving body (vehicle, drone, etc.) to determine the state of the external environment (vehicles around, road state, tunnel state, etc.). As a measuring device for measuring the state of the external environment, a camera having a wide-angle lens, a plurality of cameras (stereo camera), LiDAR, and the like are known.

Patent Document 1 describes a first image pickup device mounted on a moving body to image a road surface on which the moving body moves, and a progress of the moving body with respect to the moving body mounted on the moving body and the first image pickup device. An image pickup system including a second image pickup device that images the road surface on the direction side and an image pickup control unit that determines the image pickup conditions of the first image pickup device based on the image pickup image captured by the second image pickup device. Is disclosed.

By the way, when trying to measure the state (for example, unevenness) of an object such as a crack on the road surface by a measuring device, it depends on the direction of the light source (sun, lighting device, etc.) irradiating the object (subject) such as the road surface. There was a risk that measurement would be difficult. Further, when LiDAR is used as the measuring device, there is a possibility that a problem may occur depending on the relationship between the state of the object (for example, unevenness) and the angle of LiDAR. For this reason, in the conventional measurement system, the object is measured a plurality of times by changing the measurement direction.

Therefore, an object of the present invention is to provide a determination system and a moving body that efficiently determine the state of an object by suppressing defects due to the positional relationship between the object and the measuring device.

According to one aspect of the present embodiment, the first measuring device, which is a determination system mounted on a moving body and determines the state of an object and measures the first direction, and the first direction are the same. A second measuring device that measures a second direction in a different direction, and a processing unit that determines the state of the object based on the information obtained by the first measuring device and the second measuring device. The processing unit is provided with the target based on the first pattern for determining the state of the object based on the information obtained by the first measuring device and the information obtained by the second measuring device. It is a determination system having a second pattern for determining the state of an object.

According to the present invention, it is possible to provide a determination system and a moving body that efficiently determine the state of an object by suppressing defects due to the positional relationship between the object and the measuring device.

It is a side view explaining the movement measuring apparatus provided with the determination system which concerns on this embodiment. It is sectional drawing which looked at the image pickup apparatus from the side. It is a perspective view which looked at the image pickup apparatus from the lower side. It is a block diagram explaining the processing apparatus. It is a schematic diagram explaining the inspection method by the mobile measuring apparatus provided with the determination system which concerns on this embodiment. It is a partially enlarged view of the concave part formed on the road surface. It is a figure which shows an example of the image which took the image by the measuring apparatus. It is a figure explaining the measurement state of the mobile measuring apparatus.

The embodiment for carrying out the present invention will be described below. The same members and the like are designated by the same reference numerals and the description thereof will be omitted.

The movement measuring device 10 including the determination system according to the present embodiment will be described with reference to FIGS. 1 to 4.

FIG. 1 is a side view illustrating a mobile measurement device 10 including a determination system according to the present embodiment. In the following description, the traveling direction of the vehicle 20 is the forward direction (forward direction), the opposite direction is the backward direction (reverse direction), the gravity direction is the downward direction, the reverse direction is the upward direction, and the horizontal right when viewed in the traveling direction. The direction is referred to as the right direction, and the opposite direction is referred to as the left direction. Further, the traveling direction of the vehicle 20 is indicated by a white arrow. Further, the imaging direction (measurement direction) of the measuring devices 30a and 30b is indicated by a alternate long and short dash line. Further, the imaging range (measurement range) of the measuring devices 30a and 30b is shown by a broken line.

The movement measuring device 10 is a device that measures the state of the road surface (object) 100 while traveling on the road surface 100. The movement measuring device 10 includes a vehicle (moving body) 20, measuring devices 30a and 30b attached to the vehicle 20, and a processing device 40. Further, the measuring devices 30a and 30b and the processing device 40 mounted on the vehicle 20 constitute a determination system.

The vehicle 20 is configured to be able to travel (move) on the road surface 100.

A mount 50a is attached to the front of the vehicle 20. A measuring device 30a is attached to the mount 50a so that the imaging direction is substantially downward. The imaging direction (first direction) of the measuring device 30a is inclined toward the traveling direction side at an angle θ1.

A mount 50b is attached to the rear of the vehicle 20. A measuring device 30b is attached to the mount 50b so that the imaging direction is substantially downward. The imaging direction (second direction) of the measuring device 30b is inclined to the side opposite to the traveling direction at an angle θ2.

With such a configuration, the mobile measuring device 10 measures by taking an image of the road surface 100 with a stereo camera 31 (see FIG. 2 described later) in the measuring devices 30a and 30b while traveling on the road surface 100 in the traveling direction. It is possible to measure the unevenness of the road surface 100, which is an object, and the state of the road (whether the white line has disappeared, etc.). More specifically, it is possible to measure road surface property values such as road flatness (unevenness in the traveling direction), rut digging amount, and crack rate. After that, MCI (Maintenance Control Index) can be obtained based on these three road surface property values. The MCI may be obtained by transmitting the measurement data to an external device such as a PC or a tablet terminal after the measurement, or may be obtained by equipping the vehicle 20 with a PC and performing the measurement movement.

The processing device 40 is input with information (imaging data) of the road surface 100 imaged by the measuring devices 30a and 30b, and determines the state of the road surface 100.

Next, the measuring devices 30a and 30b will be further described. Here, the measuring device 30a and the measuring device 30b have the same structure except that the imaging directions are different. Therefore, the rear side measuring device 30b will be described with reference to FIGS. 2 and 3, and the overlapping description of the front side measuring device 30a will be omitted. FIG. 2 is a cross-sectional view of the measuring device 30b as viewed from the side. FIG. 3 is a perspective view of the measuring device 30b as viewed from below.

The measuring device 30b includes a stereo camera (measuring instrument, imaging device) 31 having lenses 32a and 32b, a camera mount (measuring instrument fixing portion) 33 for fixing the stereo camera 31, and a protective cover 34 for covering the stereo camera 31. Has.

The stereo camera 31 is a camera having two lenses 32a and 32b, and can measure the distance to the measurement target by processing the obtained image data. The image pickup device included in the measuring device 30b will be described as being a stereo camera 31, but is not limited thereto. For example, when it is desired to check the state of the subject, a camera having a monocular lens may be provided as an image pickup device. Further, the number of image pickup devices included in the measuring device 30b is not limited to one, and may be two or more. By providing a plurality of image pickup devices, it is possible to acquire a wider range of measurement data. Further, by using the lenses 32a and 32b of the stereo camera 31 as wide-angle lenses having a focal length of 35 mm or less, it may be possible to acquire a wider range of measurement data. Further, the measuring instrument of the measuring device 30b may be configured to include LiDAR.

The stereo camera 31 is attached to the mount 50b (see FIG. 1) via the camera mount (measurement measuring instrument fixing portion) 33. The camera mount 33 may have an angle adjusting function for adjusting the angle θ2.

As shown in FIG. 2, the image pickup direction of the stereo camera 31 of the measuring device 30b has a predetermined angle with respect to the traveling direction of the vehicle 20 (see FIG. 1). In other words, when the measuring device 30b is viewed from the width direction, the imaging direction of the stereo camera 31 indicated by the alternate long and short dash line is opposite to the vertical direction (vertical direction) indicated by the alternate long and short dash line. It is tilted toward (rear) at a predetermined angle θ2. The image pickup direction of the stereo camera of the measuring device 30a attached to the front of the vehicle 20 is inclined at a predetermined angle θ1 toward the traveling direction (front) of the vehicle 20 with respect to the vertical direction (vertical direction). ..

The angle θ1 and the angle θ2 may be different or the same (the tilting directions are opposite to each other and the absolute values of the angles are the same).

The protective cover 34 is composed of, for example, a resin plate and an aluminum frame that supports the resin plate, and forms a box having an opening on the lower surface side (that is, on the image pickup direction side of the image pickup apparatus). The stereo camera 31 is arranged in the internal space of the protective cover 34. The protective cover 34 prevents light from the light source 200 (see FIG. 5 described later) from directly incident on the lenses 32a and 32b. Further, the protective cover 34 protects the stereo camera 31 from rain and wind.

FIG. 4 is a block diagram illustrating the processing device 40. An image captured by the measuring device 30a and an image captured by the measuring device 30b are input to the processing device 40.

The processing device 40 has a determination unit 41 as a function of determining the state of the measurement target based on the images captured by the measurement device 30a and / or the measurement device 30b.

Further, the determination unit 41 has a first determination unit 411, a second determination unit 412, and a third determination unit 413 as functions.

In addition, the determination in the present specification not only determines whether or not the measurement target is in a predetermined state, but also what values are the parameters representing the state of the measurement target such as the above-mentioned road surface property value and MCI. It also means determining whether or not it is.

The first determination unit 411 determines the state of the object based on the information obtained by the measuring device 30a. The second determination unit 412 determines the state of the object based on the information obtained by the measuring device 30b. The third determination unit 413 determines the state of the object based on the information obtained by the measuring device 30a and the information obtained by the measuring device 30b.

The determination unit 41 may have a configuration including a first determination unit 411 and a second determination unit 412. Further, the determination unit 41 may have a configuration having only the third determination unit 413.

Next, the mobile measuring device 10 including the determination system according to the present embodiment will be described with reference to FIGS. 5 to 7. FIG. 5 is a schematic diagram illustrating an inspection method by the mobile measuring device 10 including the determination system according to the present embodiment. FIG. 6 is a partially enlarged view of the recess 110 formed on the road surface 100.

The movement measuring device 10 captures an image of the road surface 100 with the measuring devices 30a and 30b while traveling on the road surface 100 in the traveling direction. Here, as shown in FIG. 5, it is assumed that the road surface 100 is formed with a recess 110. The movement measuring device 10 travels to the position of the movement measuring device 10 shown by the solid line, and the concave portion 110 of the road surface 100 is imaged by the measuring device 30a in front of the movement measuring device 10. Then, the movement measuring device 10 further travels from the position of the movement measuring device 10 shown by the solid line to the position of the moving measuring device 10 shown by the alternate long and short dash line, and the concave portion 110 of the road surface 100 is imaged by the measuring device 30b behind.

Further, the road surface 100 is illuminated by a light source 200 such as the sun and a lighting device. Therefore, inside the recess 110, a dark portion 110a that is not irradiated with the light from the light source 200 and a bright portion 110b that is irradiated with the light from the light source 200 are formed. Further, as shown in FIG. 6, in the measuring devices 30a and 30b, the imaging direction when imaging the recess 110 of the road surface 100 is different.

FIG. 7 is a diagram showing an example of images captured by the measuring devices 30a and 30b. (A) is an image captured by the measuring device 30a, and (b) is an image captured by the measuring device 30b.

In FIG. 5, the light source 200 is located on the side of the moving measuring device 10 in the traveling direction with respect to the recess 110. In the movement measuring device 10 (indicated by a solid line) before passing through the recess 110, the measuring device 30a and the light source 200 are located in opposite directions with respect to the recess 110. Therefore, as shown in FIG. 7A, the proportion of the dark portion 111 is larger than that of the bright portion 112. Therefore, the measuring device 30a can suitably measure the recess 110.

On the other hand, in the movement measuring device 10 (indicated by a two-dot chain line) after passing through the recess 110, the measuring device 30a and the light source 200 are located in the same direction with respect to the recess 110. Therefore, as shown in FIG. 7B, the proportion of the dark portion 113 is smaller than that of the bright portion 114. Therefore, it is difficult for the measuring device 30b to measure the recess 110.

Although not shown, when the light source 200 is located on the side of the moving measuring device 10 in the traveling direction with respect to the recess 110, it becomes difficult for the measuring device 30a to measure the recess 110, and the measuring device 30b is suitable. The recess 110 can be measured.

The determination unit 41 determines the object based on the information obtained by the measuring device 30a, the first determination unit 411, and the second determination unit 412, which determines the object based on the information obtained by the measuring device 30b. By determining the recess 110 using the above, the recess 110 can be suitably determined regardless of the positional relationship between the recess 110 and the light source 200.

Further, the determination unit 41 determines the recess 110 using the third determination unit 413. The third determination unit 413 of the determination unit 41 determines the state of the object based on the information obtained by the measuring device 30a and the information obtained by the measuring device 30b. For example, the average value of the light / dark information obtained by the measuring device 30a and the light / dark information obtained by the measuring device 30b is calculated. As a result, the difference in brightness between the dark portion and the bright portion becomes clear, and the recess 110 can be suitably determined.

Here, the movement measuring device according to the reference example will be described. The mobile measuring device according to the reference example is different from the mobile measuring device 10 according to the present embodiment in that it does not have the front measuring device 30a. That is, the movement measuring device according to the reference example includes only the rear measuring device 30b.

When the recess 110 is imaged while traveling on the road surface 100 with the movement measuring device according to the reference example, an image having a small dark area as shown in FIG. 7B can be obtained depending on the direction of the light source 200. Therefore, in the determination unit 41 of the processing device 40, the detection accuracy of the recess 110 may decrease.

Further, in the movement measuring device according to the reference example, when improving the detection accuracy of the recess 110, the road surface 100 is imaged while traveling on the road surface 100 in the traveling direction, and then the vehicle travels back and forth on the same road surface 100 again. By imaging the road surface 100, an image having a small dark area as shown in FIG. 7 (b) and an image having a large dark area as shown in FIG. 7 (a) can be obtained. However, in the movement measuring device according to the reference example, it is necessary to reciprocate on the same road surface 100, which increases the working time.

On the other hand, in the movement measuring device 10 according to the present embodiment, the measuring direction of the measuring device 30a is tilted in the traveling direction of the vehicle 20 (angle θ1), and the measuring direction of the measuring device 30b is opposite to the traveling direction of the vehicle 20. By tilting to (angle θ2), the images shown in FIGS. 7 (a) and 7 (b) can be acquired in one run. As a result, the detection accuracy of the recess 110 can be improved in the determination unit 41 of the processing device 40. Further, in the movement measuring device 10 according to the present embodiment, it is not necessary to reciprocate on the same road surface 100, and the working time can be shortened.

The absolute value of the angle θ1 and the absolute value of the angle θ2 are preferably 0 ° or more and 25 ° or less. When the angle θ1 is 25 ° or more, another vehicle traveling in front of the vehicle 20 may enter the imaging range of the measuring device 30a, making it difficult to see the road surface 100. Similarly, when the angle θ2 is 25 ° or more, another vehicle traveling behind the vehicle 20 may enter the imaging range of the measuring device 30b, making it difficult to see the road surface 100.

Further, it is preferable that the absolute value of the angle θ1 and the absolute value of the angle θ2 are equal. As a result, the scale of the image of the measuring device 30a and the scale of the image of the measuring device 30b become equivalent, and it becomes easy to compare when detecting the recess 110. It is preferable that the resolution of the stereo camera 31 of the measuring device 30a and the resolution of the stereo camera 31 of the measuring device 30b are equal to each other. This facilitates comparison between the image of the measuring device 30a and the image of the measuring device 30b when detecting the recess 110.

Further, either one of the angle θ1 and the angle θ2 may be perpendicular to the road surface 100.

Although the embodiment of the mobile measuring device 10 has been described above, the present invention is not limited to the above-described embodiment and the like, and various modifications are made within the scope of the gist of the present invention described in the claims. , Improvement is possible.

Although the movement measuring device 10 has been described as using the vehicle 20 as a moving body, the movement measuring device 10 is not limited to this. The moving body may be, for example, a traveling body traveling on the inspection surface or a drone flying along the inspection surface.

Although the stereo camera 31 has been described as the measuring instrument of the measuring devices 30a and 30b, the present invention is not limited to this. The measuring instrument may be, for example, a monocular camera, a wide-angle camera, or a LiDAR. When LiDAR is used as a measuring instrument, a problem may occur depending on the relationship between the state of the object (for example, unevenness) and the angle of LiDAR. Since the measurement direction is different between the LiDAR of the measuring device 30a and the LiDAR of the measuring device 30b, it is possible to suppress a defect in the state of the object.

Although the processing device 40 has been described as being mounted on the vehicle 20, the processing device 40 is not limited to this, and may be provided outside the vehicle 20. For example, the images captured by the measuring devices 30a and 30b are recorded on a recording medium (not shown), the image stored on the recording medium is read by the processing device 40, and the unevenness of the road surface 100 is detected. May be good. Further, the images captured by the measuring devices 30a and 30b are transmitted to the processing device 40 provided outside the vehicle 20 via the communication device (not shown), and the processing device 40 detects the unevenness of the road surface 100 and the like. May be good.

The movement measuring device 10 has been described as inspecting the road surface 100, but the present invention is not limited to this. It may be applied to the configuration for inspecting the side wall of the road surface 100, the inner wall (side wall, ceiling wall) of the tunnel, and the like.

10 Mobile measuring device 20 Vehicle (moving body)
30a, 30b Measuring device 31 Stereo camera (measuring instrument)
32a, 32b Lens 33 Camera mount (Measuring instrument fixing part)
34 Protective cover 40 Processing device (processing unit)
41 Judgment unit 411 1st judgment unit 412 2nd judgment unit 413 3rd judgment unit 100 Road surface (object)
110 Recess 110a Dark part 110b Bright part 200 Light source

JP-A-2019-164018

Claims (9)

It is a judgment system that is mounted on a moving object and judges the state of an object.
The first measuring device that measures the first direction,
A second measuring device that measures a second direction different from the first direction,
A processing unit for determining the state of the object based on the information obtained by the first measuring device and the second measuring device is provided.
The processing unit
Based on the information obtained by the first measuring device, the first pattern for determining the state of the object and
It has a second pattern for determining the state of the object based on the information obtained by the second measuring device.
Judgment system. The processing unit
It has a third pattern of determining the state of the object based on the average of the information obtained by the first measuring device and the information obtained by the second measuring device.
The determination system according to claim 1. It is a judgment system that is mounted on a moving object and judges the state of an object.
The first measuring device that measures the first direction,
A second measuring device that measures a second direction different from the first direction,
A processing unit for determining the state of the object based on the information obtained by the first measuring device and the second measuring device is provided.
The processing unit
It has a third pattern of determining the state of the object based on the average of the information obtained by the first measuring device and the information obtained by the second measuring device.
Judgment system. The first direction is inclined toward the traveling direction of the moving body,
The second direction is inclined in the direction opposite to the traveling direction of the moving body.
The determination system according to any one of claims 1 to 3. The absolute value of the angle at which the first direction is tilted is equal to the absolute value of the angle at which the second direction is tilted.
The determination system according to claim 4. Of the first direction and the second direction, one direction is a direction perpendicular to the object, and the other direction is a direction different from the vertical direction.
The determination system according to any one of claims 1 to 3. The first measuring device and the second measuring device are stereo cameras.
The determination system according to any one of claims 1 to 6. The absolute value of the angle at which the first direction is tilted and the absolute value of the angle at which the second direction is tilted are 0 ° or more and 25 ° or less.
The determination system according to any one of claims 1 to 7. A mobile body comprising the determination system according to any one of claims 1 to 8.

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