JP2022101912A - Imaging apparatus, movable body, support device, and support method - Google Patents

Abstract

To reduce positional deviation of a plurality of imaging units due to vibration.SOLUTION: An imaging apparatus 100 comprises: a support member 210 that supports a first camera 310 and a second camera 320 that pick up images of different ranges on an inner wall surface of a tunnel 600 in a direction intersecting with the direction of travel of a vehicle 500; and a facing member 230 that faces the support member 210 in the direction of travel of the vehicle 500. The support member 210 includes a first attachment part 315 to which the first camera 310 is attached, and a second attachment part 325 that is arranged separated from the first attachment part 315 in the direction intersecting with the direction of travel of the vehicle 500 and to which the second camera 320 is attached. The imaging apparatus comprises a connection member 283 that connects an intermediate part 210M located between the first attachment part 315 and the second attachment part in the support member 210, and a facing part 230M facing the intermediate part 210M in the facing member 230 with each other.SELECTED DRAWING: Figure 6

Description

The present invention relates to an image pickup device, a moving body, a support device, and a support method.

Patent Document 1 describes an image pickup apparatus having a plurality of illumination image pickup units, each of which captures a different range on a subject in a direction intersecting the moving direction of the moving body.

Japanese Unexamined Patent Publication No. 2020-155902

An object of the present invention is to reduce misalignment of a plurality of image pickup units due to vibration.

The image pickup apparatus according to the present invention is an image pickup apparatus that images a subject while being provided on a moving body, and each of a plurality of image pickup devices captures different ranges on the subject in a direction intersecting the moving direction of the moving body. The image pickup unit, a support member for supporting the first image pickup unit and the second image pickup unit included in the plurality of image pickup units, and an opposing member facing the support member in the moving direction of the moving body are provided, and the support member includes. A second mounting portion to which the first mounting portion to which the first imaging unit is mounted and a second mounting portion to which the second imaging unit is mounted are arranged apart from the first mounting portion in a direction intersecting the moving direction of the moving body. And, an intermediate portion located between the first mounting portion and the second mounting portion of the support member, and a connecting member for connecting the facing portion facing the intermediate portion of the facing member.

According to the present invention, it is possible to reduce the positional deviation of a plurality of image pickup units due to vibration.

It is explanatory drawing of the moving body provided with the image pickup apparatus which concerns on embodiment of this invention. It is a block diagram which shows an example of the hardware composition of the image pickup apparatus which concerns on this embodiment. It is a perspective view explaining an example of the structure of the image pickup apparatus which concerns on this embodiment. It is a side view of the image pickup apparatus shown in FIG. It is an exploded perspective view of the image pickup apparatus shown in FIG. It is a perspective view from the opposite direction of the image pickup apparatus shown in FIG.

FIG. 1 is an explanatory diagram of a moving body including an image pickup device according to an embodiment of the present invention. FIG. 1A is a view of a vehicle 500 which is an example of a moving body from a moving direction, and FIG. 1B is a diagram showing a state in which the vehicle 500 moves (progresses) inside the tunnel 600. The image pickup apparatus 100 images the inner wall surface of the tunnel 600, which is an example of a subject, while being provided in the vehicle 500.

In FIG. 1A, the image pickup apparatus 100 is fixed on the roof of the vehicle 500. The portion of the vehicle to which the image pickup device 100 is attached is not limited to the roof. It may be a bonnet or the like in front of or behind the vehicle, or it may be a loading platform or the like if the vehicle is a truck. Further, regarding the attachment of the image pickup apparatus 100 to the vehicle, when the image pickup device 100 is attached to the roof, hook parts or the like may be used in the same manner as the ski carrier for the vehicle.

In FIG. 1 (b), there is a lane 710 on the left side and a lane 720 on the right side with respect to the center of the road 700. The vehicle 500 is moving in the lane 720 toward the front of the paper.

In this example, there is a sidewalk 730 on the lane 710 (oncoming lane of vehicle 500) side. Since there is no sidewalk on the lane 720 side, the vehicle 500 moves closer to the wall surface on the vehicle 500 side of the tunnel 600 as compared with the case where there is a sidewalk.

The broken line 100A in FIG. 1B represents the image pickup range by the image pickup apparatus 100. That is, the image pickup apparatus 100 is taking an image of the area 600A (the area indicated by the thick line) within the image pickup range indicated by the broken line 100A on the wall surface of the tunnel 600. As shown by the thick line, in the embodiment, the image is taken up to the boundary between the tunnel wall surface (lining portion) and the ground.

By performing image pickup by the image pickup apparatus 100 while moving the vehicle 500, the wall surface on the right half of FIG. 1 (b) is imaged with respect to the paper surface from the entrance to the exit of the tunnel 600.

Then, by performing image pickup by the image pickup apparatus 100 while moving the vehicle 500 in the opposite direction to the lane opposite to the case of FIG. 1 (b), FIG. 1 is taken with respect to the paper surface from the entrance to the exit of the tunnel 600. The wall surface on the left half of (b) is imaged.

By joining the image of the wall surface captured in the state of FIG. 1 (b) and the image of the wall surface captured while moving the vehicle 500 in the opposite direction to the lane on the opposite side of the case of FIG. 1 (b). , It is possible to acquire an image of the entire wall surface from the entrance to the exit of the tunnel 600.

In order to create a single developed view image by stitching the images together, it is desirable to capture the images of these wall surfaces so that the ceiling portions overlap. In other words, when the wall surface of the tunnel 600 is imaged on the way back and forth, the image area on the way back and the image area on the way back intersect with the traveling direction of the vehicle 500 so that an unimaged area is not generated on the wall surface of the tunnel 600. It is desirable to overlap the images in the direction of the tunnel.

The vehicle 500 is not limited to a vehicle traveling on a road but may be a vehicle traveling on a railroad, and may be a vehicle having no power such as a trolley or a wheelbarrow. Further, the moving body is not limited to the vehicle, and may be a moving body such as a drone that moves in the air. Further, the tunnel is not limited to a traffic tunnel and may be a tunnel such as a headrace.

In this embodiment, the vehicle complies with the left-hand traffic rule. Therefore, the image pickup device is arranged so as to take an image on the left side in the traveling direction. For countries and cases where traffic is on the right side, the image pickup device will be installed so as to image the right side in the direction of travel. In that case, the camera unit 300 and the lighting unit 400 are rotated 180 degrees and attached to the vehicle.

FIG. 2 is a block diagram showing an example of the hardware configuration of the image pickup apparatus according to the present embodiment. The image pickup apparatus 100 includes a camera unit 300, a lighting unit 400, an image pickup control unit 110, a TOF (Time of Flight) sensor 141, an IMU (Inertial Measurement Unit) 160, and a vehicle speed meter / travel distance meter 170. ..

As described with reference to FIG. 1, the camera unit 300 images the wall surface inside the tunnel, and the lighting unit 400 illuminates the wall surface with light toward the wall surface inside the tunnel for imaging by the camera unit 300.

The TOF sensor 141 measures the distance from the wall surface of the tunnel 600 to the TOF sensor 141. Specifically, the wall surface of the tunnel 600 is irradiated with light from the TOF sensor 141, and the distance to the wall surface of the tunnel 600 is measured based on the time until the reflected light is received. If the TOF sensor 141 uses an area sensor as the light receiving element, it is possible to obtain a two-dimensional contour line image in which the display color differs depending on the distance.

The IMU 160 can measure the angle / angular velocity and acceleration of the three axes that control the movement of the vehicle 500, and the vehicle speed meter / moving distance meter 170 can measure the speed / moving distance of the vehicle 500.

The data measured by the IMU 160 and the vehicle speed meter / moving distance meter 170 is output to the HDD 114 via the image pickup control unit 110 and stored, and later, the size and inclination of the image on the wall surface are geometrically corrected by image processing. used.

The camera unit 300 is an example of an imaging unit, and includes a lens 331-1 and a line CCD331-2. The line CCD331-2 is a CCD in which pixels are arranged one-dimensionally (line-shaped), and the camera unit 300 is a vehicle so that the arrangement direction of the pixels of the line CCD331-2 intersects with the moving direction of the vehicle 500. It is fixed at 500.

The lens 331-1 forms an image of a subject in the optical axis direction of the lens 331-1 on the image pickup surface of the line CCD331-2. The line CCD331-2 captures an image of the imaged subject. The lens 331-1 is an example of an “imaging optical system”.

Further, the lens 331-1 has a diaphragm 331-1a inside. The diaphragm 331-1a is an iris diaphragm having diaphragm blades, and is an opening having a variable diameter. The diameter of the opening can be changed by connecting a drive source such as a motor to the diaphragm blades and driving the motor based on a control signal. As a result, the amount of light passing through the lens 331-1 can be changed, and the brightness of the image of the subject imaged by the lens 331-1 can be changed.

In the above description, the example in which the camera unit 300 includes the line CCD is shown, but the present invention is not limited to this, and the camera unit 300 may include an area CCD in which the pixels are two-dimensionally arranged. Further, CMOS (Complementary Metal-Oxide-Semiconductor) or the like may be used instead of the CCD.

The lighting unit 400 is an example of a lighting unit, and includes a lens 431-1 and a light source 431-2. As the light source 431-2, a metal halide light, an LED (Light Emitting Diode), or the like can be used, and the subject in the optical axis direction of the lens 431-1 is illuminated via the lens 431-1. Further, the lens 431-1 has a diaphragm 431-1a inside.

The aperture 431-1a is an aperture having a variable diameter, and by changing the aperture diameter, the amount (brightness) of the illumination light illuminated by the lens 431-1 can be changed.

The image pickup control unit 110 includes a CPU (Central Processing Unit) 111, a ROM (Read Only Memory) 112, a RAM (Random Access Memory) 113, an HDD (Hard Disk Drive) 114, and an external I / F (Inter / Face). ) 115 and a buzzer 116, each of which is electrically connected to each other by a system bus 117.

The ROM 112 stores various programs and data, various setting information, and the like, and the RAM 113 temporarily holds the programs and data. The CPU 111 reads a program, data, setting information, etc. from the ROM 112 or the like onto the RAM 113 and executes processing, thereby realizing control of the entire image pickup apparatus 100 and processing of image data. Here, the image data processing includes processing of joining line images captured by a plurality of cameras 310 to 350, which will be described later, and continuous processing of the plurality of cameras 310 to 350 at predetermined time intervals while moving the vehicle. This is a process of joining the captured line images in the moving direction of the vehicle. Further, the CPU 111 can realize various functions.

The control realized by the CPU 111, the processing of image data, and some or all of the various functions may be realized by FPGA (Field-Programmable Gate Array) or ASIC (Application Specific Integrated Circuit).

The HDD 114 stores image data input from the camera unit 300, sensor data input from the TOF sensor 141, IMU 160, and the vehicle speed meter / moving distance meter 170, and the like.

The external I / F 115 realizes a user interface function for the user to operate the image pickup device 100 and an interface function for the image pickup device 100 to exchange data and signals with an external device such as a PC (Personal Computer). .. The buzzer 116 generates a beep sound for notifying the user of a warning or the like.

FIG. 3 is a perspective view illustrating an example of the configuration of the image pickup apparatus according to the present embodiment. In the figure, the X direction indicates the moving direction of the vehicle 50, and the Y direction indicates the direction intersecting the moving direction of the vehicle 500. The image pickup apparatus 100 has a plurality of cameras 310, 320, 330, 340 and 350, and a plurality of illumination units 410, 420, 430, 440, and 450. Each of the plurality of cameras 310, 320, 330, and 340 is composed of the camera unit 300 shown in FIG. 2, and images different ranges on the inner wall surface of the tunnel 600 in a direction intersecting the moving direction of the vehicle 500. Each of the plurality of lighting units 410, 420, 430, 440, and 450 is composed of the lighting unit 400 shown in FIG. 2, and each of the plurality of cameras 310, 320, 330, 340, and 350 takes an image of the tunnel 600. Illuminate the area on the inner wall.

Further, the image pickup apparatus 100 is arranged so as to be separated from the support member 210 that supports the first camera 310 and the second camera 320 in the moving direction of the vehicle 500, and the third camera 330 and the fourth camera 330. On the roof of the vehicle 500, the second support member 220 that supports the camera 340 and the fifth camera 350, the support member 210 and the second support member 220 that face each other in the moving direction of the vehicle 500, and the opposing member 230 that faces the second support member 220. The base member 200 is fixed to the support member 210 and supports the support member 210, the second support member 220, and the facing member 230.

The support member 210, the second support member 220, the facing member 230, and the base member 200 constitute a support device that supports a plurality of image pickup units.

The support member 210 is arranged apart from the first mounting portion 315 to which the first camera 310 and the first lighting portion 410 are mounted and the first mounting portion 315 in a direction intersecting the moving direction of the vehicle 500. , A second mounting section 325 to which the second camera 320 and the second lighting section 420 are mounted.

The second support member 220 is separated from the third mounting portion 335 to which the third camera 330 and the third lighting portion 430 are mounted and the third mounting portion 335 in a direction intersecting the moving direction of the vehicle 500. A fourth mounting portion 345 to which the fourth camera 340 and the fourth lighting portion 440 are mounted, and a fifth camera 350 and a fifth mounted separately from the third mounting portion 335. It is provided with a fifth mounting portion 355 to which the lighting portion 450 of the above is mounted.

The image pickup apparatus 100 further moves the vehicle 500 through the connecting portions 261, 262, 263 that connect the support member 210 and the second support member 220 in the moving direction of the vehicle 500, and the second support member 220 and the facing member 230. It includes a connecting portion 271 that connects in the direction, and connecting portions 281, 282, 283 that connect the support member 210 and the facing member 230 in the moving direction of the vehicle 500.

FIG. 4 is a side view of the image pickup apparatus shown in FIG. As shown in FIG. 1, the tunnel 600 has a semicircular cross section that intersects the moving direction of the vehicle 500. In line with this, as shown in FIG. 4, the optical axes 310L to 350L of the first to fifth cameras 310 to 350 are arranged radially so as to intersect the wall surface of the tunnel 600. In other words, the first to fifth cameras 310 to 350 shown in FIG. 3 are arranged radially so as to face the wall surface of 600 of the tunnel.

By connecting the line images captured by the first to fifth cameras 310 to 350 in the arrangement direction of the cameras, it is possible to capture a line image of the wall surface of the tunnel 600 along the shape of the tunnel 600. It is desirable that the images captured by the first to fifth cameras 310 to 350 have overlapping imaging regions.

Then, while moving the vehicle 500, the above line images are continuously imaged at predetermined time intervals, and the captured line images are joined in a direction orthogonal to the arrangement direction of the pixels of the line image to connect the captured line images to the wall surface of the tunnel 600. Area image (two-dimensional image) can be acquired. The predetermined time interval is a line image acquisition cycle or the like by the line CCD.

Here, the example in which the number of cameras is 5 is shown above, but the present invention is not limited to this. The number of cameras may be increased or decreased depending on conditions such as the size of the tunnel 600. Further, the image magnification, the field of view, the F-number, and the like of the lens 331-1 may be determined according to the conditions to be imaged.

Further, FIG. 3 shows a configuration in which the positions of the first to fifth cameras 310 to 350 are shifted back and forth in the optical axis direction, but this is to prevent physical interference between the cameras. be.

Here, the direction that intersects the moving direction of the vehicle, that is, the "direction facing the wall surface of the tunnel" is supplemented. As described above, the tunnel has a semicircular cross section orthogonal to the moving direction of the vehicle. Therefore, among the wall surfaces of the tunnel, the wall surface is oriented horizontally near the ground, and the wall surface is oriented vertically downward near the ceiling. The "direction facing the wall surface of the tunnel" means a direction facing the wall surface having a different direction depending on the location. The "direction facing the wall surface of the tunnel" near the ground is a substantially horizontal direction or the like. On the other hand, the "direction facing the wall surface of the tunnel" near the ceiling is substantially vertically upward.

As described above, the tunnel 600 has a semicircular cross section that intersects the moving direction of the vehicle 500. In line with this, the respective optical axes of the first to fifth lighting units 410 to 450 are tunnels, like the respective optical axes 310L to 350L of the first to fifth cameras 310 to 350 shown in FIG. They are arranged radially so as to intersect the wall surface of 600. In other words, the first to fifth lighting units 410 to 450 are arranged radially so as to face the wall surface of the tunnel 600.

The first to fifth lighting units 410 to 450 can illuminate the wall surface of the tunnel 600 with line-shaped light along a direction intersecting the moving direction of the vehicle 500 (arrangement direction of pixels of the line CCD).

In the above description, an example in which the number of lighting units is five has been described, but the number is not limited to this and may be increased or decreased. Further, the number of lighting units does not necessarily have to match the number of cameras, and the number may be determined according to conditions such as brightness. Further, the angle of view of the lens, the F-number, and the like may be determined according to the conditions for which the image is desired.

Further, FIG. 3 shows a configuration in which the positions of the first to fifth lighting units 410 to 450 are shifted back and forth in the optical axis direction, which prevents physical interference between the lighting units. Because.

FIG. 5 is an exploded perspective view of the image pickup apparatus shown in FIG. As shown in FIG. 5A, the support member 210 includes legs 210A, 210B and 210C attached to the base member 200, and as shown in FIG. 5B, the second support member 220 is the base member 200. The facing member 230 includes legs 230A attached to the base member 200, as shown in FIG. 5 (c).

Here, as shown in FIGS. 3 and 5A, the first camera 310 and the second camera 320 have the first mounting portion 315 and the second mounting portion 315 and the second mounting portion 315 from the rear side in the moving direction of the vehicle 500. It is attached to the support member 210 by the portion 325.

Further, as shown in FIGS. 3 and 5B, the third camera 330, the fourth camera 340, and the fifth camera 350 also have a third mounting portion 335 from the rear side in the moving direction of the vehicle 500. , The fourth mounting portion 345, and the fifth mounting portion 355 are mounted on the second support member 220.

That is, in the moving direction of the vehicle 500, the direction in which the first camera 310 and the second camera 320 are attached to the support member 210 by the first mounting portion 315 and the second mounting portion 325, and the third camera 330 and The direction in which the fourth camera 340 is attached to the second support member 220 is the same.

As a result, the vibrations in the first camera 310 and the second camera 320 and the vibrations in the third camera 330 and the fourth camera 340 can be made in the same direction, so that the vibration in the moving direction of the vehicle 500 can be the first. In the mounting portion 315 and the second mounting portion 325, the direction in which the first camera 310 and the second camera 320 are mounted on the support member 210, and the third camera 330 and the fourth camera 340 are the second support members. The misalignment of the imaging position due to the vibration of the third camera 330 and the fourth camera 340 with respect to the first camera 310 and the second camera 320 is suppressed as compared with the case where they are attached to the 220 in opposite directions. To.

FIG. 5 is a perspective view of the image pickup apparatus shown in FIG. 3 from the opposite direction. The image pickup apparatus 100 includes a connecting portion 264 that connects the support member 210 and the second support member 220 in the moving direction of the vehicle 500, and a second support member 220 and the facing member 230 as a configuration that cannot be visually observed in FIG. A connecting portion 272 that connects the vehicle 500 in the moving direction is provided.

The connecting portion 283 that connects the support member 210 and the facing member 230 in the moving direction of the vehicle 500 faces the intermediate portion 210M located between the first mounting portion 315 and the second mounting portion in the support member 210. This is an example of a connecting member that connects the facing portion 230M facing the intermediate portion 210M in the member 230.

By providing such a connecting portion 283, the intermediate portion 210M is suppressed from bending due to vibration, and the misalignment between the first camera 310 and the second camera 320 due to the bending of the intermediate portion 210M is suppressed. Will be done. As a result, the positional deviation between the image of the inner wall surface of the tunnel 600 captured by the first camera 310 and the image of the inner wall surface of the tunnel 600 captured by the second camera 320 is suppressed.

Further, the connecting portion 272 that connects the second support member 220 and the facing member 230 in the moving direction of the vehicle 500 is located between the third mounting portion 335 and the fourth mounting portion of the second support member 220. This is an example of a second connecting member that connects the second intermediate portion 220m and the second facing portion 230m facing the second intermediate portion 220m in the facing member 230.

By providing such a connecting portion 272, the intermediate portion 220m is suppressed from bending due to vibration, and the misalignment between the third camera 330 and the fourth camera 340 due to the bending of the intermediate portion 220m is suppressed. Will be done. As a result, the positional deviation between the image of the inner wall surface of the tunnel 600 captured by the third camera 330 and the image of the inner wall surface of the tunnel 600 captured by the fourth camera 340 is suppressed.

● Summary ●
As described above, the image pickup device 100 according to the embodiment of the present invention is an image pickup device 100 that captures an image of the inner wall surface of a tunnel 600, which is an example of a subject, while being provided in a vehicle 500, which is an example of a moving body. There are a plurality of cameras (imaging units) that each capture a different range on the inner wall surface of the tunnel 600 in a direction intersecting the moving direction of the vehicle 500, and a first camera 310 included in the plurality of cameras. A support member 210 that supports the second camera 320 and an opposing member 230 that faces the support member 210 in the moving direction of the vehicle 500 are provided, and the support member 210 is a first mounting portion to which the first camera 310 is mounted. A second mounting portion 325 of the support member 210 is provided with a 315 and a second mounting portion 325 arranged apart from the first mounting portion 315 in a direction intersecting the moving direction of the vehicle 500 and to which the second camera 320 is mounted. The intermediate portion 210M located between the mounting portion 315 of 1 and the second mounting portion, and the connecting member 283 for connecting the facing portion 230M facing the intermediate portion 210M in the facing member 230 are provided.

By providing such a connecting member 283, the intermediate portion 210M is suppressed from bending due to vibration, and the positional deviation between the first camera 310 and the second camera 320 due to the bending of the intermediate portion 210M is suppressed. Will be done. As a result, the positional deviation between the image of the inner wall surface of the tunnel 600 captured by the first camera 310 and the image of the inner wall surface of the tunnel 600 captured by the second camera 320 is suppressed.

The image pickup apparatus 100 illuminates the area on the inner wall surface of the tunnel 600 imaged by the first camera 310 and the first illumination unit 410 that illuminates the area on the inner wall surface of the tunnel 600 imaged by the second camera 320. A second lighting unit 420 is provided, a first camera 310 and a first lighting unit 410 are attached to the first mounting unit 315, and a second camera is attached to the second mounting unit 325. The 320 and the second illuminating unit 420 are attached.

In this case, by providing the connecting member 283, the intermediate portion 210M is suppressed from bending due to vibration, and the lighting position of the first lighting unit 410 and the second lighting unit 420 due to the bending of the intermediate portion 210M are suppressed. The misalignment of the lighting position of is suppressed.

The image pickup apparatus 100 includes a second support member 220 that is arranged apart from the support member 210 in the movement direction of the vehicle 500 and supports a third camera 330 included in the plurality of cameras, and includes a second support member 220 in the movement direction of the vehicle 500. In the direction in which the first camera 310 and the second camera 320 are attached to the support member 210 in the first attachment portion 315 and the second attachment portion 325, and the third camera 330 is attached to the second support member 220. The mounting direction is the same.

As a result, in the moving direction of the vehicle 500, the vibration in the first camera 310 and the second camera 320 and the vibration in the third camera 330 can be in the same direction, so that the first mounting portion 315 and the first mounting portion 315 and the third can be made in the same direction. Compared to the case where the first camera 310 and the second camera 320 are attached to the support portion in the attachment portion 325 of 2 and the direction in which the third camera 330 is attached to the second support portion is opposite. The displacement of the imaging position due to the vibration of the third camera 330 with respect to the first camera 310 and the second camera 320 is suppressed.

The second support member 220 is arranged apart from the third mounting portion 335 to which the third camera 330 is mounted and the third mounting portion 335 in the direction intersecting the moving direction of the vehicle 500, and a plurality of cameras. A fourth mounting portion 345 to which the fourth camera 340 included in the above is mounted, and the first camera 310 and the second mounting portion 325 at the first mounting portion 315 and the second mounting portion 325 in the moving direction of the vehicle 500. The direction in which the camera 320 of 2 is attached to the support member 210, and the direction in which the third camera 330 and the fourth camera 340 are attached to the second support member 220 in the third attachment portion 335 and the fourth attachment portion 345. Is the same.

As a result, the displacement of the imaging position due to the vibration of the third camera 330 and the fourth camera 340 with respect to the first camera 310 and the second camera 320 is suppressed.

The image pickup apparatus 100 faces the second intermediate portion 220 m located between the third mounting portion 335 and the fourth mounting portion of the second support member 220 and the second intermediate portion 220 m of the facing member 230. A second connecting member 272 that connects the second facing portion 230 m is provided.

By providing such a second connecting member 272, the intermediate portion 220m is suppressed from bending due to vibration, and the positions of the third camera 330 and the fourth camera 340 due to the bending of the intermediate portion 220m. The deviation is suppressed. As a result, the positional deviation between the image of the inner wall surface of the tunnel 600 captured by the third camera 330 and the image of the inner wall surface of the tunnel 600 captured by the fourth camera 340 is suppressed.

The image pickup apparatus 100 illuminates the area on the inner wall surface of the tunnel 600 imaged by the third camera 330 and the third illumination unit 430 that illuminates the area on the inner wall surface of the tunnel 600 imaged by the third camera 330. The third mounting portion 335 is equipped with a third camera 330 and a third lighting portion 430, and the fourth mounting portion 345 is provided with a fourth camera. The 340 and the fourth illuminating unit 440 are attached.

In this case, by providing the second connecting member 272, the intermediate portion 220m is suppressed from bending due to vibration, and the lighting position of the third lighting unit 430 and the fourth due to the bending of the intermediate portion 220m. The misalignment of the illumination position of the illumination unit 440 is suppressed.

The support device according to the embodiment of the present invention is a support device that supports a plurality of image pickup units that image the inner wall surface of the tunnel 600 while being provided in the vehicle 500, and is a direction that intersects the moving direction of the vehicle 500. The support member 210 that supports the first camera 310 and the second camera 320, each of which captures a different range on the inner wall surface of the tunnel 600, and the support member 210 facing the support member 210 in the moving direction of the vehicle 500. A member 230 is provided, and the support member 210 is arranged so as to be separated from the first mounting portion 315 to which the first camera 310 is mounted and the first mounting portion 315 in a direction intersecting the moving direction of the vehicle 500. A second mounting portion 325 to which the camera 320 of 2 is mounted is provided, and an intermediate portion 210M located between the first mounting portion 315 and the second mounting portion 325 in the support member 210 and an intermediate portion 210 in the facing member 230 are provided. A connecting member 283 for connecting the facing portion 230M facing the portion 210M is provided.

The support method according to the embodiment of the present invention is a support method for supporting a plurality of image pickup units that image the inner wall surface of the tunnel 600 while being provided in the vehicle 500, and is a direction that intersects the moving direction of the vehicle 500. Then, the first camera 310 and the second camera 320, each of which captures a different range on the inner wall surface of the tunnel 600, are supported by the support member 210, and the support member 210 is provided with the first mounting portion 315. The first camera 310 is attached, and the second camera 320 is attached by the second attachment portion 325 arranged apart from the first attachment portion 315 in the direction intersecting the moving direction of the vehicle 500. The intermediate portion 210M located between the first mounting portion 315 and the second mounting portion 325 in the support member 210 and the intermediate portion 210M facing the intermediate portion 210M in the facing member 230 facing the support member 210 in the moving direction of the vehicle 500. The portion 230M is connected by the connecting member 283.

100 Imaging device 110 Imaging control unit 111 CPU
112 ROM
113 RAM
114 HDD
115 External I / F
116 Buzzer 117 System Bus 141 TOF Sensor 160 IMU
170 Vehicle speedometer / moving distance meter 200 Base member 210 Support member 210A, 210B, 210C Leg 210M Intermediate part 220 Second support member
220A, 220B Leg 220m Intermediate part 230 Opposing member
230A Leg 230M Opposing part 261, 262, 263, 264, 271, 281, 282 Connecting part 272 Connecting part (second connecting member)
283 Connecting part (connecting member)
300 camera unit (imaging unit)
310, 320, 330, 340, 350 Camera (imaging unit)
315, 325, 335, 345, 355 Mounting part 331-1, 334-1 Lens 331-1a Aperture 331-2, 334-2 Line CCD
400 Lighting unit (lighting unit)
410, 420, 430, 440, 450 Lighting unit 431-1 Lens 431-1a Aperture 431-2 Light source 500 Vehicle 600 Tunnel 700 Road 710, 720 Lane 730 Sidewalk

Claims (9)

An image pickup device that captures a subject while being installed on a moving body.
A plurality of imaging units, each of which captures a different range on the subject in a direction intersecting the moving direction of the moving body.
A support member that supports the first image pickup unit and the second image pickup unit included in the plurality of image pickup units, and
A facing member facing the support member in the moving direction of the moving body is provided.
The support member is
The first mounting portion to which the first imaging unit is mounted and
A second mounting portion, which is arranged apart from the first mounting portion in a direction intersecting the moving direction of the moving body and to which the second imaging unit is mounted, is provided.
An image pickup apparatus including an intermediate portion located between the first mounting portion and the second mounting portion of the support member, and a connecting member for connecting the facing portion facing the intermediate portion of the facing member. A first illuminating unit that illuminates a range on the subject imaged by the first imaging unit, and a first illuminating unit.
A second illumination unit that illuminates a range on the subject to be imaged by the second imaging unit is provided.
The first image pickup unit and the first illumination unit are attached to the first attachment unit.
The image pickup apparatus according to claim 1, wherein the second image pickup unit and the second illumination unit are attached to the second attachment portion. A second support member that is arranged apart from the support member in the moving direction of the moving body and supports the third image pickup unit included in the plurality of image pickup units is provided.
In the moving direction of the moving body, the direction in which the first image pickup unit and the second image pickup unit are attached to the support member in the first attachment portion and the second attachment portion, and the third image pickup portion. The image pickup apparatus according to claim 1 or 2, wherein the portions are attached to the second support member in the same direction. The second support member is
A third mounting portion to which the third imaging unit is mounted, and a third mounting portion.
A fourth mounting portion, which is arranged apart from the third mounting portion in a direction intersecting the moving direction of the moving body and to which a fourth imaging unit included in the plurality of imaging units is mounted, is provided.
In the moving direction of the moving body, the direction in which the first image pickup unit and the second image pickup unit are attached to the support member in the first attachment portion and the second attachment portion, and the third attachment portion. The imaging device according to claim 3, wherein the third imaging unit and the fourth imaging unit are attached to the second support member in the same direction in the unit and the fourth mounting unit. A second intermediate portion located between the third mounting portion and the fourth mounting portion in the second support member, and a second facing portion facing the second intermediate portion in the facing member. 4. The image pickup apparatus according to claim 4, further comprising a second connecting member for connecting the two. A third illuminating unit that illuminates a range on the subject imaged by the third imaging unit, and a third illuminating unit.
A fourth illuminating unit that illuminates a range on the subject to be imaged by the fourth imaging unit is provided.
The third image pickup unit and the third illumination unit are attached to the third attachment unit.
The image pickup apparatus according to claim 4 or 5, wherein the fourth image pickup unit and the fourth illumination unit are attached to the fourth attachment portion. A mobile body including the imaging device according to any one of claims 1 to 6. A support device that supports a plurality of image pickup units that image a subject while being provided on a moving body.
A support member that supports a first image pickup unit and a second image pickup unit, each of which captures a different range on the subject in a direction intersecting the moving direction of the moving body.
A facing member facing the support member in the moving direction of the moving body is provided.
The support member is
The first mounting portion to which the first imaging unit is mounted and
A second mounting portion, which is arranged apart from the first mounting portion in a direction intersecting the moving direction of the moving body and to which the second imaging unit is mounted, is provided.
A support device including an intermediate portion located between the first mounting portion and the second mounting portion of the support member, and a connecting member for connecting the facing portion facing the intermediate portion of the facing member. It is a support method that supports a plurality of image pickup units that image a subject while being provided on a moving body.
A support member supports a first image pickup unit and a second image pickup unit, each of which captures a different range on the subject in a direction intersecting the moving direction of the moving body.
The first image pickup portion is attached to the support member by the first attachment portion, and the second image pickup portion is arranged at a distance from the first attachment portion in a direction intersecting the moving direction of the moving body. The second image pickup unit is attached by the attachment portion of the above.
An intermediate portion located between the first mounting portion and the second mounting portion in the support member, and an opposing portion facing the intermediate portion in the facing member facing the support member in the moving direction of the moving body. A support method for connecting the above with a connecting member.

Images