JP5880207B2 - Running body state detection device - Google Patents

Description

  The present invention relates to a state detection device for a traveling body, and more specifically, a state of a traveling body having a casing provided around a traveling path and a sensing unit that is housed in the casing and senses the traveling body on the traveling path. The present invention relates to a detection device.

  2. Description of the Related Art Devices that detect a traveling body such as an automobile or a train with a sensing unit such as a camera and detect the state of the traveling body based on the sensed information are widely used. Conventionally, various techniques have been proposed for this type of state detection device (see, for example, Patent Document 1).

  Patent Document 1 discloses a surveillance camera device system in which a plurality of stereo cameras are arranged side by side above a platform of a station, and the plurality of stereo cameras are connected in a daisy chain. In this surveillance camera device system, a plurality of stereo cameras are used to constantly monitor the state of a train or home. When a person falls in the gap between the train and the platform, this state is detected and an alarm signal is output.

  FIG. 12 is a diagram illustrating a basic configuration of a stereo camera described in Patent Document 1. The stereo camera 100 includes a long and thin rectangular parallelepiped casing 101. Two cameras are built in the housing 101, and lenses 102 and 103 of the two cameras are provided on the side surface of the housing 101 at a predetermined distance apart. The stereo camera 100 is installed above the home with the two lenses 102 and 103 facing the floor of the home.

  By the way, in the vicinity of a road such as a track on which a train runs and a roadway on which a car runs, dust and dust are flying from the road surface due to the running of the train and the car. When the sensing means such as a camera and the surroundings are contaminated with such dust, the detection accuracy of the state detection device is lowered. For this reason, measures against dust are required for the state detection device of the traveling body.

JP 2012-11989

  However, since the stereo camera 100 described in Patent Document 1 has a configuration in which the two lenses 102 and 103 are simply provided on the bottom surface of the housing 101, dust and dust are likely to collect in the lenses 102 and 103. If dust or dirt accumulates in the lenses 102 and 103, the lenses 102 and 103 become dirty, and the detection accuracy of the stereo camera 100 decreases. For this reason, the stereo camera 100 is desired to have some measures for suppressing dust and dust accumulation.

  The present invention has been made in view of such circumstances, and an object of the present invention is to suppress the dust and the dust from staying around the sensing means and its surroundings and to maintain a high detection accuracy over a long period of time. It is in providing the state detection apparatus.

The traveling body state detection apparatus of the present invention includes a housing provided around a traveling road, and a sensing unit that is housed in the housing and senses the traveling body on the traveling road, and is sensed by the sensing unit. In the traveling body state detection device for detecting the state of the traveling body based on the information obtained,
The housing has a bottom structure formed along the traveling direction of the traveling body,
The bottom structure has a recess that is open on the side of the traveling body and on both the left and right sides of the housing and is formed below the sensing means and recessed on the sensing means side,
The recess includes a protrusion protruding in front Symbol traveling side, and the facing wall portion that faces the protrusion provided at the front of the traveling direction than the convex portion, the downward in a side view of the housing It is formed so as to expand in a substantially C shape toward the front, and another convex portion protruding toward the traveling body is provided at a position ahead of the facing wall portion in the traveling direction.

  With this configuration, when the air flowing by the traveling body hits the convex portion, the air flows along the convex portion to the tip of the convex portion. Part of the air that has flowed to the tip of the convex portion changes the flow direction and flows into the concave portion. Then, a vortex is generated in the recess. In addition, the presence of the opposing wall portion on the downstream side of the flow makes it easier to generate vortices in the recess. Due to the action of the vortex generated in this manner, dust and dust accumulation in the sensing means or its surroundings is suppressed. As a result, the accuracy of detecting the state of the traveling body can be maintained high over a long period.

  In addition, the air that has passed through the convex portion and the opposing wall portion changes the flow direction by the tip of another convex portion, and generates a vortex downstream of the other convex portion. Thereby, also on the downstream side of another convex part, the stay of dust or dust can be suppressed by the action of the vortex.

  In the traveling body state detection apparatus according to the invention, the sensing means includes two cameras constituting a stereo camera, and the convex portion and the opposing wall portion are provided for each of the two cameras. It is characterized by that.

  With this configuration, in the traveling body state detection apparatus using a stereo camera, it is possible to suppress the dust and the dust from staying around the two cameras or their surroundings.

  In the traveling body state detection device according to the invention, the bottom structure is formed in a substantially line-symmetric shape with a center line of the casing orthogonal to the traveling direction as a symmetry axis in a side view of the casing. Features.

  With this configuration, in addition to the air flow directed forward in the traveling direction, dust countermeasures can be taken not only for the air flow directed backward in the traveling direction (for example, the air flow generated by the automobile traveling in the opposite lane). it can.

In the traveling body state detection device according to the above-described invention, the another convex portion projecting toward the traveling body side is formed on at least one side of the traveling direction so as to widen toward the end along the traveling direction. It is characterized by having.

With this configuration, the air flowing toward another convex portion can be released well to the oblique side of the housing along the substantially V-shaped side surface.

  ADVANTAGE OF THE INVENTION According to this invention, the detection means or the surroundings of the dust and dust can be suppressed and the state detection apparatus of the traveling body which can maintain a high detection accuracy over a long period of time is provided.

1 is a conceptual diagram of a monitoring system using a monitoring camera device according to an embodiment of the present invention. It is A arrow directional view of FIG. It is a front view of a surveillance camera device. It is the perspective view which looked at the surveillance camera apparatus shown by FIG. 3 from diagonally downward. It is a bottom view of the 2nd convex part. It is a conceptual diagram for demonstrating the relationship between the viewing angle of a camera, and a recessed part. FIG. 5 is a side view of the surveillance camera device, as seen from the direction of arrow B in FIG. 4. FIG. 5 is a bottom view of the surveillance camera device, as seen from the direction of arrow C in FIG. 4. (A) is a figure which shows the model of the bottom part structure used for fluid analysis, (b) is the D section enlarged view of (a), and is a figure which shows the result of fluid analysis, (c) is a 1st convex part, facing wall It is a figure explaining the effect | action of a 2nd convex part. It is a figure explaining the effect | action of the whole bottom part structure, (a) is a figure which shows the flow of the air which faces the front of a running direction, (b) is a figure which shows the flow of the air which faces the back of a running direction. It is a figure explaining the effect | action of a V-shaped side surface, (a) is a figure which shows the flow of the air which faces the front of a running direction, (b) is a figure which shows the flow of the air which faces the back of a running direction. It is a figure explaining the basic composition of the conventional technology.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail with reference to the accompanying drawings. Note that the same number is assigned to the same element throughout the description of the embodiment. In the embodiment, “front” indicates a side facing forward in the traveling direction of the automobile, and “rear” indicates a side facing backward in the traveling direction of the automobile.

  This embodiment is an example in which the present invention is used in a monitoring camera device that detects the state of an automobile. Drawing 1 is a key map of a surveillance system provided with a surveillance camera device of an embodiment. FIG. 2 is a view taken in the direction of arrow A in FIG.

  As shown in FIG. 1, the monitoring system 10 detects the state of the automobile 12 on a highway roadway (an example of a traveling road) 11 using a plurality of monitoring camera devices 20. In this example, the plurality of monitoring camera devices 20 are provided above the roadway 11 in the tunnel 13. The plurality of monitoring camera devices 20 are installed at a predetermined height H from the roadway 11 and arranged at a predetermined pitch P along the traveling direction of the automobile 12 (hereinafter simply referred to as “traveling direction”). Is done. Further, the plurality of monitoring camera devices 20 are connected in a daisy chain connection by the communication cable 15. Note that the height H of the monitoring camera device 20 is set to, for example, 5 m to 8 m. Further, the pitch P of the plurality of monitoring camera devices 20 is set to 12.5 m, for example.

  In the monitoring camera device 20, the viewing angle θ1 of the camera can be adjusted. The viewing angle θ1 is set so that the imaging ranges of adjacent monitoring camera devices 20 overlap, and is fixed after being adjusted to an appropriate size. For example, the size of the viewing angle θ1 is fixed at about 120 °.

  The mounting direction of the monitoring camera device 20 (the direction of the optical axis of the camera) can be arbitrarily set. Here, as shown in FIG. 2, the monitoring camera device 20 is brought close to one side in the width direction of the roadway 11, and the axis 12 of the optical axis is inclined with respect to the vertical line V by the inclination angle θ2, thereby Take an image from diagonally above.

  Moreover, the attachment means of the monitoring camera device 20 can be arbitrarily selected from various means. For example, an anchor hook (not shown) can be provided in the tunnel 13 and the surveillance camera device 20 can be hooked on the anchor hook. Further, a cable rack (not shown) for wiring for placing the communication cable 15 (see FIG. 1) is used, and the monitoring camera device 20 can be fixed to the cable rack.

  In the monitoring system 10 configured as described above, a plurality of monitoring camera devices 20 detect, for example, a car 12 stopped due to a traffic jam or a failure in a predetermined section (here, a tunnel 13), and this information is transmitted to a control center. It is sent or displayed at the entrance of the tunnel 13 using an indicator to warn other cars.

Next, the configuration of the monitoring camera device 20 will be described with reference to FIGS.
As shown in FIG. 3, the monitoring camera device 20 includes a housing 30, cameras 21 </ b> A and 21 </ b> B (an example of sensing means) that captures the state of the automobile 12 (see FIG. 1) housed in the housing 30, and a camera 21 </ b> A. , 21B, and a controller (not shown) for detecting the state of the automobile 12 (see FIG. 1) and the roadway 11 (see FIG. 1).

  The housing 30 includes an upper structure 31 and a bottom structure 40. Various materials such as metal and synthetic resin can be used as the material constituting the housing 30, but a lightweight and high-strength material (for example, an aluminum alloy) is preferable. In addition, you may provide a flame sensor, a smoke sensor, etc. inside the housing | casing 30 or the exterior as needed.

  The upper structure 31 of the housing 30 is fixed to the tunnel 13 (see FIG. 1). The bottom structure 40 is a cover member that closes the lower end opening of the upper structure 31 and has a shape that becomes narrower as it goes downward.

  As shown in FIG. 4, the upper structure 31 and the bottom structure 40 are formed in a substantially box shape that is elongated along the traveling direction. The two cameras 21 </ b> A and 21 </ b> B are housed in the rear part and the front part of the housing 30. The cameras 21A and 21B constitute a stereo camera and are provided at substantially the same height position. The control unit (not shown) detects the state (for example, a stopped state) of the automobile 12 (see FIG. 1) based on the distance image obtained from the pair of cameras 21A and 21B.

  In the following description, “A” is added to the reference numerals of the main parts formed in the vicinity of the rear camera 21A, and “B” is added to the reference numerals of the main parts formed in the vicinity of the front camera 21B. I will add it.

  An LED (light emitting diode) 22 is built in the central portion of the casing 30 in the longitudinal direction. In the monitoring camera device 20, the LED 22 is used to inform the outside of the state of the monitoring camera device 20. For example, when any abnormality occurs in the monitoring camera device 20, the color of the LED 22 is set to change. Thereby, it can be confirmed from the roadway 11 (refer FIG. 1) side by the change of the color of LED22 whether the abnormality has occurred in the monitoring camera apparatus 20. FIG.

  The bottom structure 40 includes a base 41 connected to the upper structure 31, a bottom surface 42A provided at the rear portion of the base 41, a bottom surface 42B provided at the front portion of the base 41 at substantially the same height as the bottom surface 42A, and a bottom surface 42A and a bottom surface. It has the overhang | projection part 43 provided between 42B.

  The base 41 has a pair of opposing side surfaces 45, a front surface 46 facing forward, and a rear surface 47 facing rearward. The rear surface 47 is inclined forward and downward.

  The overhanging portion 43 is a portion in which the central portion of the base 41 is projected in a flat plate shape on the side of the roadway 11 (see FIG. 1), and the outer shape is formed in a substantially rectangular shape. The front end surface 48 of the overhang portion 43 is inclined forward and upward. In the center of the overhang portion 43, an LED window 51 is provided so that the LED 22 faces downward. The LED window 51 is closed with an LED cover 52 having a transparent portion.

  Each of the two bottom surfaces 42A and 42B is formed in a substantially square shape, and faces the roadway 11 (see FIG. 1). On the bottom surfaces 42A and 42, substantially square lens windows 53A and 53B are opened. Fitting portions 55A and 55B that are recessed in a substantially square shape are provided around the lens windows 53A and 53B. Lens covers 56A and 56B having transparent portions are fitted into the fitting portions 55A and 55B. The lens covers 56A and 56B close the lens windows 53A and 53B with a transparent portion. The lens portions 23A and 24B of the cameras 21A and 21B are positioned in the vicinity of the lens windows 53A and 53B, and the roadway 11 (see FIG. 1) or the automobile via the lens windows 53A and 53B and the lens covers 56A and 56B. 12 (see FIG. 1).

  A first convex portion (corresponding to a convex portion) 61A protruding downward is provided in the vicinity of the rear of the rear lens cover 56A. In addition, an opposing wall portion 62A that faces the first convex portion 61A is provided in the vicinity of the front of the lens cover 56A. Further, a second convex portion (corresponding to another convex portion) 63A that protrudes further downward than the lower end of the opposing wall portion 62A is provided in the vicinity of the front of the opposing wall portion 62A.

  The first convex portion 61 </ b> A is formed with a width substantially the same as the width of the rear surface 47 of the base 41. The first convex portion 61 </ b> A has a downward inclined surface 65 formed by extending the rear surface 47 downward, and an upward inclined surface 66 rising upward from the lower end of the downward inclined surface 65. The lower end of the downward inclined surface 65 is located below the lens cover 56A. The front edge of the upward inclined surface 66 is close to the rear edge of the lens cover 56A.

  The opposing wall portion 62 </ b> A is formed on the rear end surface of the overhang portion 43. The opposing wall portion 62A is formed with a width substantially the same as the width of the overhang portion 43, and is inclined to the front lower side. A surface 67 recessed in a substantially rectangular shape is formed on the opposing wall portion 62A. The upper edge of the opposing wall 62A is close to the front edge of the lens cover 56A. The lower edge of the opposing wall portion 62A is located at a height that is approximately the same as the lower end of the first convex portion 61A or below the lower end of the first convex portion 61A.

  Due to the opposing wall portion 62A and the first convex portion 61A, a concave portion 68A that is recessed toward the lens cover 56A is formed in the rear lower portion of the bottom structure 40. The recess 68A is a space that opens to the side of the automobile 12 (see FIG. 1), and also opens to both the left and right sides (width direction) of the housing 30.

  The second convex portion 63 </ b> A is formed on the lower surface of the rear portion of the overhang portion 43. The rear edge of the second convex portion 63A continues to the lower edge of the opposing wall portion 62A via a step. Further, as shown in FIG. 5, the second convex portion 63A is formed in a substantially isosceles triangular shape with the apex directed forward, and thereby, the front edge of the second convex portion 63A is directed rearward. A substantially V-shaped side surface 71 </ b> A formed so as to extend outward is formed. The magnitude of the apex angle θ3 of the side surface 71A can be arbitrarily set according to workability and performance required for the second convex portion 63A.

  Returning to FIG. On the other hand, a third convex portion (corresponding to a convex portion) 61B that protrudes downward is provided in the vicinity of the rear of the front lens cover 56B. In addition, an opposing wall portion 62B facing the third convex portion 61B is provided in the vicinity of the front of the lens cover 56B.

  The third convex portion 61 </ b> B is formed on the lower surface of the front portion of the overhang portion 43. The front edge of the third convex portion 61B is connected to the front end surface 48 of the overhang portion 43 via a step. The 3rd convex part 61B is formed in the substantially isosceles triangle shape which orient | assigned the vertex to the back, and, thereby, substantially V shape formed in the rear edge of the 3rd convex part 61B toward the front. A side surface 71B is formed. The size of the apex angle of the side surface 71B can be arbitrarily set similarly to the apex angle θ3 (see FIG. 5) of the second convex portion 63A described above.

  Note that the shapes of the second convex portion 63A and the third convex portion 61B are not particularly limited to this example. For example, in the second convex portion 63A and the third convex portion 61B, a substantially V-shaped side surface is provided on one side in the running direction of the convex portion, but the convex portion is formed in a rhombus and is approximately on both front and rear sides of the convex portion. You may form a V-shaped side surface, or you may comprise a convex part with a substantially V-shaped rib. Further, a substantially V-shaped side surface can be provided on at least one side in the traveling direction of the first convex portion 61A. Regarding whether or not to provide a substantially V-shaped side surface with respect to the first convex portion 61A, the second convex portion 63A, and the third convex portion 61B, the first convex portion 61A, the second convex portion 63A, and the third convex portion. Each of 61B can be selected individually.

  The opposing wall portion 62B is configured by a convex portion that protrudes downward from the front end of the bottom surface 42B. The opposing wall portion 62B is formed with a width substantially the same as the width of the front surface 46 of the base 41. The rear edge of the opposing wall portion 62B is close to the front edge of the lens cover 56B. The rear surface of the opposing wall portion 62B is inclined forward and downward. The lower end of the facing wall portion 62B is positioned below the lens cover 56B.

  By the opposing wall portion 62B and the third convex portion 61B, a concave portion 68B that is recessed toward the lens cover 56B is formed in the front lower portion of the bottom structure 40. The recess 68 </ b> B is a space that opens to the side of the automobile 12 (see FIG. 1), and is a space that opens to both the left and right sides of the housing 30.

Here, the configuration of the recesses 68A and 68B in consideration of the visual field of the camera will be described.
As shown in FIG. 6, the rear concave portion 68 </ b> A is formed in a shape that expands downward in a substantially C shape in a side view of the housing 30. Each of the first convex portion 61A, the opposing wall portion 62A, and the second convex portion 63A is set so that the opening angle θ4 of the concave portion 68A is equal to or larger than the viewing angle θ1 (see FIG. 1) of the camera 21A. An inclination angle and a lower end position are set. Thereby, the first convex portion 61A and the like do not enter the field of view of the camera 21A. In the front recess 68B as well, as with the recess 68A, the third protrusion 61B is such that the opening angle θ4 of the recess 68B is equal to or larger than the viewing angle θ1 (see FIG. 1) of the camera 21B. The inclination angle and the lower end position of each of the facing wall portion 62B and the front end face 48 are set.

  As shown in FIG. 7, the bottom structure 40 configured as described above is configured in a substantially line-symmetric shape with the center line 30 a of the housing 30 orthogonal to the traveling direction as a symmetry axis in a side view of the housing 30. Is done. Further, as illustrated in FIG. 8, the bottom structure 40 is configured in a substantially line-symmetric shape with the center line 30 a of the housing 30 as the axis of symmetry also in the bottom view of the housing 30. In the bottom structure 40, in order to obtain such a symmetrical shape, the rear first convex portion 61A and the front opposing wall portion 62B are formed in a substantially line symmetrical shape, and the rear opposing wall portion 62A and the front end surface 48 are formed. The second convex portion 63A on the rear side and the third convex portion 61B on the front side are formed in a substantially line symmetrical shape.

Then, the effect | action of the bottom part structure 40 is demonstrated based on FIGS.
The inventor manufactured a plurality of bottom structures having different forms, and performed a test for evaluating the degree of dirt due to dust or dust on these prototypes. As a result of this evaluation test, in the bottom structure 40 in which the recesses 68A and 68B are formed below the lens covers 56A and 56B among the plurality of prototypes, the dust cover and dust accumulation in the lens covers 56A and 56B are improved satisfactorily. It was confirmed. Then, about the bottom part structure 40 which concerns on embodiment, the flow of air was analyzed using fluid analysis software. The analysis results are described below.

  FIG. 9A is a diagram showing a model used for fluid analysis, FIG. 9B is an enlarged view of a portion D of FIG. 9A and shows a result of fluid analysis, and FIG. It is a figure explaining the effect | action of the 1st convex part 61A, the opposing wall part 62A, and the 2nd convex part 63A.

  As shown in FIG. 9 (a), in the fluid analysis, the air flow generated by the traveling of the automobile 12 (see FIG. 1) is assumed, and the air is caused to flow forward in the traveling direction with respect to the bottom structure 40. . As a result of the fluid analysis, as shown in FIG. 9B, it was confirmed that the vortex 72 was generated in the recess 68A above the main air flow (flow indicated by the arrow (1)).

The vortex 72 will be described.
As shown in FIG. 9 (c), when the vehicle 12 (see FIG. 1) travels, the air flowing when it hits the first convex portion 61A flows downward along the first convex portion 61A (arrow (2)). . A part of the air flowing downward flows along the main stream (arrow (3)), and a part of the air flows upward into the recess 68A (arrow (4)). Then, a vortex is generated in the recess 68. Further, since the opposing wall portion 62 and the second convex portion 63A are present downstream of the flow, the vortex 72 is more favorably generated in the concave portion 68A. In the evaluation test, it is considered that dust and dust staying around the lens cover 56A and its surroundings is suppressed by the action of the vortex 72.

  In general, when an object is placed in a uniform flow of air, dust or dirt is likely to adhere to a place where a vortex is generated. On the other hand, at the place where the monitoring camera device 20 is placed, it is considered that there is a complicated flow (for example, an air flow by an oncoming vehicle) that is different from the flow directed forward in the traveling direction. That is, in the monitoring camera device 20, the air flow is not necessarily uniform. When the flow is not necessarily uniform as described above, it is inferred from the results of the evaluation test and the fluid analysis that generating vortices is one of the effective measures for suppressing dust and dust accumulation.

  In the analysis result shown in FIG. 9B, the action of the vortex 72 in the rear lens cover 56 </ b> A has been described, but this vortex 72 is also the same in the periphery of the front lens cover 56 </ b> B and the periphery of the LED cover 52. Occurs.

  That is, as shown in FIG. 10A, in the recess 68B, the vortex 72 is generated by the third protrusion 61B and the opposing wall 62B, and in the overhang 43, the second protrusion 63A and the third protrusion A vortex 72 is generated by the portion 61B. In this way, in the bottom structure 40, the vortex 72 is generated in three places above the main flow of air (the flow indicated by the arrow (1)), and the lens covers 56A and 56B and the LED are generated by these vortices 72. Dust and dust accumulation in the cover 52 is suppressed.

  Further, since the bottom structure 40 is formed in a substantially line symmetrical shape, as shown in FIG. 10 (b), the lens cover is also protected against the air flow (flow indicated by the arrow (5)) facing backward in the traveling direction. Dust and dust accumulation in the 56A and 56B and the LED cover 52 is suppressed. Therefore, it is possible to take dust countermeasures against air flow caused by the automobile 17 (see FIG. 2) running in the opposite lane.

  Further, as shown in FIG. 11A, in the third convex portion 61B, when the air hits the substantially V-shaped side surface 71B (arrow (6)), the air is favorably applied to the oblique side of the housing 30. Run away (arrow (7)). On the other hand, as shown in FIG. 11 (b), when the air hits the side surface 71A of the second convex portion 63A (arrow (8)), the air flows toward the rear in the traveling direction. Air escapes diagonally to the side (arrow (9)). As a result, it is possible to reduce the flow of dirty air through the lens covers 56A and 56B.

  In addition, since the recesses 68A and 68B are open on both the left and right sides of the housing 30, the air flowing into the recesses 68A and 68B is removed from the housing 30 as shown by arrows (10) in FIG. Smooth escape to the left and right sides.

  As described above, according to the monitoring camera device 20 of the present embodiment, it is possible to satisfactorily suppress dust and dust from staying around the lens covers 56A and 56B, the LED cover 52, and their surroundings. Therefore, the detection accuracy of the monitoring camera device 20 can be maintained high over a long period of time.

  As mentioned above, although this invention was demonstrated using embodiment, it cannot be overemphasized that the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiments. Further, it is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  For example, in the above-described embodiment, the monitoring camera device is installed in the tunnel. However, the installation location of the monitoring camera device may be an area around an outdoor roadway in addition to the tunnel, and is arbitrary. In the embodiment, an automobile is shown as an example of the traveling body, but the traveling body may be a train or the like in addition to the automobile.

  The traveling body state detection device of the present invention is applicable to various detection devices such as an infrared sensor in addition to a monitoring camera device.

11 Roadway (travel path)
12 Car (running body)
20 Surveillance camera device (traveling body state detection device)
21A Camera (sensing means)
21B Camera (sensing means)
30 Case 30a Centerline 40 of the case Bottom structure 61A First convex portion (convex portion)
61B Third convex part (convex part)
62A Opposing wall 62B Opposing wall 63A Second convex part (another convex part)
68A Recess 68B Recess 71A Side 71B Side

Claims (4)

A casing provided around the traveling path; and a sensing unit that is housed in the casing and senses the traveling body on the traveling path, and the state of the traveling body is determined based on information sensed by the sensing unit. In the state detection device of the traveling body to detect,
The housing has a bottom structure formed along the traveling direction of the traveling body,
The bottom structure has a recess that is open on the side of the traveling body and on both the left and right sides of the housing and is formed below the sensing means and recessed on the sensing means side,
The recess includes a protrusion protruding in front Symbol traveling side, and the facing wall portion that faces the protrusion provided at the front of the traveling direction than the convex portion, the downward in a side view of the housing The vehicle is formed so as to expand in a substantially C shape toward the front, and is provided with another convex portion protruding toward the traveling body at a position ahead of the opposing wall portion in the traveling direction. Body state detection device. The sensing means comprises two cameras constituting a stereo camera,
2. The traveling body state detection device according to claim 1, wherein the convex portion and the opposing wall portion are provided for each of the two cameras.   3. The bottom structure according to claim 1, wherein the bottom structure is formed in a substantially line-symmetric shape with a center line of the casing orthogonal to the traveling direction as an axis of symmetry in a side view of the casing. A state detection device for a traveling body. The said another convex part which protrudes in the said traveling body side has the substantially V-shaped side surface formed in the at least one side of the said traveling direction at the end direction along the said traveling direction. The state detection apparatus of the traveling body according to any one of 3.

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