JP6811661B2 - Mobile imager and mobile - Google Patents

Description

The present invention relates to a technique for imaging the surroundings of a moving body by a device mounted on the moving body.

In the tunnel inspection, cracks are detected using an image obtained by imaging the wall surface of the tunnel. In order to detect fine cracks of about 0.3 mm, it is necessary to prepare an image that clearly shows the wall surface.
When a camera is mounted on a vehicle to image the wall surface of a tunnel, the vehicle is generally driven so that the distance between the vehicle and the wall surface is kept constant. This is to accurately focus the camera on the cracks.
When focusing accurately on small cracks, the depth of field becomes shallow, so it is necessary to use a light source that emits strong light.

Patent Document 1 and Patent Document 2 disclose a vehicle equipped with a plurality of cameras.
In Patent Document 1, a plurality of cameras are arranged in a row along the length direction of the vehicle.
In Patent Document 2, a plurality of cameras are attached to a plurality of rotating bodies.

Japanese Unexamined Patent Publication No. 2016-218555 JP 2015-170989

It is difficult to drive a vehicle so that the distance between the vehicle and the wall surface is kept constant in a tunnel, and it depends largely on the experience and skill of the driver.

Usually, the focus can be automatically adjusted by autofocus using the frequency characteristics of an image, distance measurement by infrared rays, or distance measurement by ultrasonic waves.
However, since the image showing the wall surface has almost no features, autofocus using the frequency characteristics of the image is not appropriate for tunnel inspection.
Further, since the distance measurement by infrared rays or ultrasonic waves is inaccurate, the autofocus using the distance measurement by infrared rays or ultrasonic waves is not appropriate for the tunnel inspection.

When using a light source that emits strong light in order to accurately focus on fine cracks, it is necessary to prevent the strong light from the light source from affecting the human body (especially the eyes).

If the image is constantly taken while the vehicle is running, a useless image is acquired while the vehicle is running outside the tunnel.
Also, if you manually turn on the camera when the vehicle enters the tunnel and manually turn off the camera when the vehicle passes through the tunnel, an operational error may not capture the required image inside the tunnel. is there.

An object of the present invention is to prevent the light from the light source from affecting the human body when the surroundings of the moving body are imaged by the device mounted on the moving body.

The present invention is a mobile body imaging device mounted on a moving body.
A camera that captures images while the moving body is moving,
A laser scanner that detects the intrusion of an object into the intrusion detection area around the moving object while the moving object is moving.
It is provided with a light source that projects light on the imaging range of the camera while the moving body is moving and dims when the intrusion of an object into the intrusion detection region is detected.

According to the present invention, it is possible to prevent the light from the light source from affecting the human body when the surroundings of the moving body are imaged by the device mounted on the moving body.

FIG. 5 is an external view of the moving body 101 according to the first embodiment. The block diagram of the image pickup unit 110 in Embodiment 1. FIG. The block diagram of the moving body image pickup apparatus 100 in Embodiment 1. FIG. FIG. 5 is a relationship diagram of the entire imaging range 210, the imaging range 211, and the projection range 212 according to the first embodiment. The figure which shows the scan range 220 in Embodiment 1. FIG. The relationship diagram between the scan range 220 and the camera area 221 in the first embodiment. The relationship diagram between the scan range 220 and the intrusion detection area 222 in the first embodiment. The figure which shows the example of the intrusion detection area 222 in Embodiment 1. FIG. The figure which shows the example of the intrusion detection area 222 in Embodiment 1. FIG. The figure which shows the moving body 101 in the tunnel in Embodiment 1. FIG. The figure which shows the moving body 101 outside the tunnel in Embodiment 1. FIG. The flowchart of the moving body imaging method in Embodiment 1.

In embodiments and drawings, the same elements and corresponding elements are designated by the same reference numerals. The description of the elements with the same reference numerals will be omitted or simplified as appropriate. The arrows in the figure mainly indicate the flow of data or the flow of processing.

Embodiment 1.
A mode of capturing an image of the surroundings of the moving body by a device mounted on the moving body will be described with reference to FIGS. 1 to 12.

*** Explanation of configuration ***
The configurations of the moving body 101 and the moving body imaging device 100 will be described with reference to FIGS. 1 to 3.
The moving body 101 includes a moving body imaging device 100.
The moving body imaging device 100 is an imaging device mounted on the moving body 101.
The imaging device is a device that performs imaging.
Imaging is to take a picture of a subject and obtain an image of the subject.
Specifically, the moving body 101 is a vehicle, and the subject is a wall surface in a tunnel.

FIG. 1 shows the appearance of the moving body 101.
The mobile image pickup device 100 includes an image pickup unit 110 and a laser scanner 120.
The imaging unit 110 and the laser scanner 120 are arranged on the side of the moving body 101.
The image pickup unit 110 is arranged behind the laser scanner 120 in the traveling direction 102 of the moving body 101.
The laser scanner 120 is arranged in front of the image pickup unit 110 in the traveling direction 102 of the moving body 101. The laser scanner 120 is arranged so that the upper part of the moving body 101 can be scanned in a portion as early as possible of the moving body 101.

FIG. 2 shows the configuration of the imaging unit 110.
The image pickup unit 110 includes a plurality of pairs of a camera 111 and a light source 112. Specifically, the image pickup unit 110 includes nine sets of a camera 111 and two light sources 112.
The nine cameras 111 are arranged in a row in the traveling direction 102 of the moving body 101.
Light sources 112 are arranged above and below each camera 111. The specific light source 112 is a laser light source.

FIG. 3 is a configuration diagram of the mobile imaging device 100.
The mobile image pickup apparatus 100 includes two sets of an image pickup unit 110 and a laser scanner 120.
The image pickup unit 110 and the laser scanner 120 are provided on the left and right sides of the moving body 101.

Further, the mobile imaging device 100 includes a control device 130.
The control device 130 is a computer that controls the image pickup unit 110 and the laser scanner 120.
The control device 130 is connected to the image pickup unit 110 and the laser scanner 120 via a signal line.

The laser scanner 120 is connected to the image pickup unit 110 via a signal line.
Specifically, the laser scanner 120 includes a plurality of ports corresponding to the plurality of light sources 112, and the plurality of ports are connected to the plurality of light sources 112 via a plurality of signal lines (not shown). The nth port is connected to the nth light source 112 via a signal line. n is an integer.

The entire imaging range 210, the individual imaging ranges 211, and the individual projection ranges 212 will be described with reference to FIG.
The entire imaging range 210 is the entire range captured by the plurality of cameras 111 provided in the imaging unit 110. When viewed from the front of the moving body 101, the entire imaging range 210 has a fan shape.
The entire imaging range 210 comprises a plurality of imaging ranges 211 corresponding to the plurality of cameras 111. Each triangle in the figure is the imaging range 211.
The imaging range 211 is a range imaged by one camera 111.
The light projection range 212 is a range in which light is projected by a set of two light sources 112.
In the pair of the camera 111 and the light source 112, the imaging range 211 and the light projecting range 212 correspond to each other.
The plurality of cameras 111 image different directions in the rotation direction 103 about the traveling direction 102 of the moving body 101.
The plurality of sets of light sources 112 project light in different directions in the rotation direction 103 about the traveling direction 102 of the moving body 101. Each light source 112 projects light in the direction in which the corresponding camera 111 takes an image.

The scan range 220 will be described with reference to FIG.
The laser scanner 120 scans each direction by the laser beam in the rotation direction 103 about the traveling direction 102 of the moving body 101.
The scan range 220 is the range scanned by the laser scanner 120. Specifically, it is a plane including each direction in the rotation direction 103 about the traveling direction 102 of the moving body 101.
Scans are distance orientation measurements and object detection. One scan for the entire scan range 220 is called one scan. For example, the laser scanner 120 scans 100 times per second.
The distance direction measurement is to measure the distance direction at each reflection point by irradiating a laser beam in each direction. The reflection point is the point where the laser beam is reflected. The distance direction is the distance from the laser scanner 120 to the reflection point and the direction from the laser scanner 120 to the reflection point.
The object detection is to detect an object located in the scan range 220. Object detection is performed based on the distance direction obtained by the distance direction measurement.

*** Function description ***
The mobile image pickup device 100 has an autofocus function, an intrusion detection function, and a tunnel detection function.

First, the autofocus function will be described.
The autofocus function is a function that automatically adjusts the focus of the camera 111.
The autofocus function is in the off state before the moving body 101 enters the tunnel, and is turned on when the moving body 101 enters the tunnel.
An appropriate focus is preset in the camera 111. Appropriate focus is estimated, for example, by pre-driving through a tunnel.
The focus of the camera 111 is appropriately adjusted by the autofocus function. For example, the focus range is 1 to 6 meters.

FIG. 6 shows the relationship between the scan range 220 and the camera area 221.
The scan range 220 is divided into a plurality of camera areas 221 corresponding to the plurality of cameras 111.
The camera area 221 is an area corresponding to the image pickup range 211 of the camera 111.
The fifth camera area (221-5) corresponds to the imaging range 211 of the fifth camera (111-5).

Camera area data is stored in the memory of the control device 130.
The camera area data is data that identifies a plurality of camera areas 221. Specifically, the camera area data indicates an angle range for each camera area 221.
Since the laser scanner 120 and the camera 111 are located at different positions, it is difficult to accurately determine the angle range of the camera area 221. Therefore, the camera area 221 may be wider than the imaging range 211.

The control device 130 realizes the autofocus function as follows.
The control device 130 receives the distance direction of one scan output from the laser scanner 120, and performs the following processing for each camera area 221.
First, the control device 130 extracts the distance in the camera area 221 from the distance direction of one scan. The distance in the camera area 221 is a distance associated with the direction included in the camera area 221.
Next, the control device 130 determines the representative distance in the camera area 221.
Next, the control device 130 determines the focus distance of the camera 111 corresponding to the camera area 221 based on the representative distance in the camera area 221.
Then, the control device 130 sets the determined focus distance to the camera 111.

Specifically, the representative distance is determined by any of the methods (1) to (3).
(1) The control device 130 extracts the distance of the top N% in the order of the longest distance from the distance in the camera area 221. Then, the control device 130 calculates the average of the distances of the upper N percent. The calculated average is the representative distance. N percent is a preset value.
What you want to image in the tunnel is the wall surface. In tunnels, lights and wires may come out in front of the wall. Therefore, when the average distance of the entire camera area is used as the representative distance, there is a possibility that the focus will be in front of the wall surface due to the protrusion of lighting or the like. Therefore, the control device 130 calculates the average of the distances of the upper N% in the camera area 221 as the representative distance.
For example, when the protrusion of lighting or the like is expected to be 30% of the total, the control device 130 calculates the average of the distances of the top 70% as the representative distance.
(2) The control device 130 selects the longest distance from the distance in the camera area 221. The selected distance is the representative distance.
Normally, the walls are not dented in the tunnel. Therefore, in order to avoid protrusions such as lighting, the control device 130 selects the longest distance as a representative distance.
(3) The control device 130 calculates the average distance in the camera area 221. The calculated average is the representative distance.
When there is no or little protrusion such as lighting, it is possible to focus on the wall surface by using the average distance of the entire camera area as a representative distance. Therefore, the control device 130 calculates the average distance in the camera area 221 as a representative distance.

Specifically, the focus distance is determined as follows.
The focus distance table is stored in advance in the memory of the control device 130. The focus distance table is a table in which a distance range and a focus distance are associated with each other.
The control device 130 selects a focus distance corresponding to a distance range including a representative distance from the focus distance table.
The focus distance corresponds to the distance obtained by adding the fixed distance to the representative distance. The fixed distance is a distance determined based on the positional relationship between the laser scanner 120 and the camera 111.

The focus is basically changed slowly. This is because the distance from the laser scanner 120 to the wall surface of the tunnel 201 does not change suddenly. This is because it is premised that the moving body 101 runs basically parallel to the wall surface of the tunnel 201.
However, if there is an obstacle such as an evacuation area, a fire hydrant box, or a sidewalk railing in the tunnel 201, the moving body 101 cannot run parallel to the wall surface of the tunnel 201, and the laser scanner 120 to the tunnel 201 The distance to the wall surface of the tunnel may change suddenly.

In order to prevent a sudden change in focus, the control device 130 operates as follows.
(A) After the representative distance is changed, the control device 130 changes the focus distance when the changed representative distance is maintained for the holding time or longer. That is, the control device 130 does not change the focus distance until the holding time elapses after the representative distance changes. Therefore, if the representative distance is restored after the representative distance is changed and before the holding time elapses, the focus distance is not changed.
For example, the hold time is 1 second. When the moving body 101 travels at a speed of 30 kilometers per hour, the time required to travel 2 meters is 0.24 seconds. Therefore, if the holding time is 1 second, the focus distance is not changed even if the moving body 101 travels around an obstacle having a length of about 2 meters.
(B) The control device 130 calculates the representative distance in a plurality of camera areas 221 including the target camera area 221 and the camera area 221 adjacent to the target camera area 221 as the representative distance in the target camera area 221.
For example, the control device 130 calculates the representative distance in the region from the fourth camera region to the sixth camera region as the representative distance in the fifth camera region.
As a result, the accuracy of the representative distance is improved, and the representative distance does not change to an extremely different distance. Therefore, the focus distance is not changed to an extremely different distance.
(C) The control device 130 calculates the difference between the previous representative distance and the current representative distance, and compares the difference with the upper limit value. When the difference is equal to or less than the upper limit value, the control device 130 determines the focus distance based on the representative distance this time. However, when the difference is larger than the upper limit value, the control device 130 determines the focus distance based on the distance obtained by adding the upper limit value to the previous representative distance.
As a result, the change in the focus distance per time is limited to the upper limit value or less. Therefore, the focus distance does not change abruptly.

Next, the intrusion detection function will be described.
The intrusion detection function is a function that detects the intrusion of an object into the intrusion detection area.
The intrusion detection area is an area determined as a target of intrusion detection.

FIG. 7 shows the relationship between the scan range 220 and the intrusion detection area 222.
The scan range 220 includes a plurality of intrusion detection areas 222.
The plurality of intrusion detection regions 222 are regions around the moving body 101, and are located in different directions in the rotation direction 103 about the traveling direction 102 of the moving body 101.
Specifically, the scan range 220 of each laser scanner 120 is divided into two intrusion detection areas 222.

Intrusion detection area data is set in the laser scanner 120.
The intrusion detection area data is data that identifies the intrusion detection area 222. Specifically, the intrusion detection area data includes an angle range and a distance range for each intrusion detection area 222.

The laser scanner 120 realizes an intrusion detection function as follows.
The laser scanner 120 performs the following processing for each intrusion detection region 222.
First, the laser scanner 120 acquires the angle range of the intrusion detection area 222 and the distance range of the intrusion detection area 222 from the intrusion detection area data.
Next, the laser scanner 120 extracts the distance associated with the direction included in the angle range of the intrusion detection region 222 from the distance direction in the scan range 220. The extracted distance is referred to as the distance in the intrusion detection area 222.
Next, the laser scanner 120 compares the distance in the intrusion detection region 222 with the distance range of the intrusion detection region 222.
When at least one distance in the intrusion detection area 222 is included in the distance range of the intrusion detection area 222, the laser scanner 120 determines that an object has invaded the intrusion detection area 222.

The form of the intrusion detection region 222 will be described with reference to FIGS. 7, 8 and 9.
The intrusion detection region 222 may be a fan-shaped region as shown in FIG. 7, or may be a polygonal region as shown in FIG.

As shown in FIG. 9, the plurality of intrusion detection regions 222 may partially overlap each other.
For example, the scan range 220 is divided into seven areas.
(1) The first intrusion detection area (222-1) is the three areas on the left side.
(2) The second intrusion detection area (222-2) is the three central areas.
(3) The third intrusion detection area (222-3) is the three areas on the right side.
The area to the right of the first intrusion detection area (222-1) overlaps the area to the left of the second intrusion detection area (222-2).
The area to the right of the second intrusion detection area (222-2) overlaps the area to the left of the third intrusion detection area (222-3).

Finally, the tunnel detection function will be described.
The tunnel detection function is a function for determining whether the moving body 101 is in the tunnel.
The laser scanner 120 can acquire the surrounding shape. The shape of the surroundings is different inside and outside the tunnel. In particular, there are many differences above the outside and inside of the tunnel. The mobile body imaging device 100 uses this to determine whether the moving body 101 is in the tunnel.
The tunnel detection function is used for automatic operation of the image pickup unit 110 and automatic stop of the image pickup unit 110.

FIG. 10 shows how the moving body 101 is in the tunnel 201.
When the moving body 101 is in the tunnel 201, the distance measured by the laser scanner 120 is shorter than the first distance threshold in the tunnel detection region 223. For example, the first distance threshold is 20 meters.
The tunnel detection area 223 is above the scan range 220. For example, the upper 60 degree range of the scan range 220 is the tunnel detection area 223.

FIG. 11 shows how the moving body 101 is outside the tunnel 201.
When the moving body 101 is outside the tunnel 201, the laser scanner 120 does not measure the distance in at least a part of the tunnel detection area 223.

(1) The control device 130 realizes the tunnel detection function as follows.
First, the control device 130 receives the distance direction of one scan output from the laser scanner 120.
Next, the control device 130 extracts the distance associated with the direction included in the tunnel detection area 223 from the distance direction of one scan. The extracted distance is called the distance in the tunnel detection area 223.
Next, the control device 130 calculates the average distance in the tunnel detection area 223. The calculated distance is called the average distance in the tunnel detection area 223.
Next, the control device 130 compares the average distance in the tunnel detection region 223 with the first distance threshold.
When the average distance in the tunnel detection area 223 is equal to or less than the first distance threshold value, the control device 130 determines that the moving body 101 is in the tunnel 201.
When the average distance in the tunnel detection area 223 is longer than the first distance threshold value, the control device 130 determines that the moving body 101 is outside the tunnel 201.

The entire scan range 220 may be the tunnel detection area 223.
When the moving body 101 is in the tunnel 201, the distance measured by the laser scanner 120 is shorter than the second distance threshold in all directions of up, down, left and right. For example, the second distance threshold is 30 meters.
When the moving body 101 is outside the tunnel 201, the laser scanner 120 does not measure the distance at least in the vertical and horizontal directions.

(2) The control device 130 realizes the tunnel detection function as follows.
First, the control device 130 receives the distance direction of one scan output from the laser scanner 120.
Next, the control device 130 extracts the distance from the distance direction of one scan. The extracted distance is called the distance in the tunnel detection area 223.
Next, the control device 130 calculates the average distance in the tunnel detection area 223. The calculated distance is called the average distance in the tunnel detection area 223.
Next, the control device 130 determines whether both the condition (A) and the condition (B) are satisfied.
Condition (A) is a condition that distances for all directions are accepted.
The condition (B) is a condition that the average distance in the tunnel detection area 223 is equal to or less than the second distance threshold value.
When both the condition (A) and the condition (B) are satisfied, the control device 130 determines that the moving body 101 is in the tunnel 201.
If at least one of the condition (A) and the condition (B) is not satisfied, the control device 130 determines that the moving body 101 is outside the tunnel 201.

*** Explanation of operation ***
The operation of the moving body imaging device 100 corresponds to the moving body imaging method.
In the moving object imaging method, a tunnel detection function, an autofocus function, and an intrusion detection function are used.

A moving object imaging method will be described with reference to FIG.
The moving body 101 is moving. Specifically, the vehicle, which is the moving body 101, is traveling toward the tunnel 201 to be inspected.

In step S111, the laser scanner 120 determines whether the moving body 101 has entered the tunnel 201 by the tunnel detection function.
When the tunnel detection function determines that the moving body 101 is in the tunnel 201, the laser scanner 120 determines that the moving body 101 has entered the tunnel 201.
When the moving body 101 enters the tunnel 201, the process proceeds to step S112.

In step S112, the control device 130 activates the imaging unit 110. That is, the control device 130 activates the camera 111 and the light source 112.
Specifically, the control device 130 outputs a start signal to the image pickup unit 110. The output start signal is input to the image pickup unit 110. When the activation signal is input to the imaging unit 110, the imaging unit 110 is activated. That is, the camera 111 and the light source 112 are activated.
The activated camera 111 operates. That is, the camera 111 repeatedly performs imaging.
The activated light source 112 operates. That is, the light source 112 casts light.

In step S120, the control device 130 adjusts the focus of each camera 111 by the autofocus function.

In step S131, the laser scanner 120 detects the intrusion of an object in each intrusion detection area 222 by the intrusion detection function.
If there is an intrusion detection area 222 in which the intrusion of an object is detected, the process proceeds to step S132.
If there is no intrusion detection area 222 in which the intrusion of an object is detected, the process proceeds to step S141.

In step S132, the laser scanner 120 dims the light source 112 corresponding to the intrusion detection region 222 where the intrusion of an object is detected. For example, the laser scanner 120 turns off the light source 112.

Specifically, the laser scanner 120 outputs the light source 112 corresponding to the intrusion detection region 222 as follows.
Intrusion detection area data is set in the laser scanner 120. The intrusion detection area data includes a port number for each intrusion detection area 222.
First, the laser scanner 120 acquires the port number of the intrusion detection area 222 from the intrusion detection area data.
Then, the laser scanner 120 outputs a dimming signal from the port identified by the port number of the intrusion detection region 222.
The output dimming signal is input to the light source 112 corresponding to the intrusion detection region 222.
When a dimming signal is input to the light source 112, the light source 112 is dimmed. For example, the light source 112 is turned off.

In step S141, the laser scanner 120 determines whether the moving body 101 has passed through the tunnel 201 by the tunnel detection function.
When the tunnel detection function determines that the moving body 101 is outside the tunnel 201, the laser scanner 120 determines that the moving body 101 has passed through the tunnel 201.
When the moving body 101 passes through the tunnel 201, the process proceeds to step S142.
If the moving body 101 has not passed through the tunnel 201, the process proceeds to step S120.

In step S142, the control device 130 stops the image pickup unit 110. That is, the control device 130 stops the camera 111 and the light source 112.
Specifically, the control device 130 outputs a stop signal to the image pickup unit 110. The output stop signal is input to the image pickup unit 110. When a stop signal is input to the image pickup unit 110, the image pickup unit 110 is stopped. That is, the camera 111 and the light source 112 are stopped. The camera 111 stops imaging, and the light source 112 turns off.

However, the control device 130 stops the image pickup unit 110 when a certain time has elapsed after the passage of the tunnel 201 is detected.
Since the laser scanner 120 is arranged in front of the image pickup unit 110, when the passage of the tunnel 201 is detected, the laser scanner 120 is located outside the tunnel 201, but the image pickup unit 110 is still located inside the tunnel 201. Because it does.

*** Effect of Embodiment 1 ***
The moving body imaging device 100 can always acquire a good image by the autofocus function even if the distance between the moving body 101 and the wall surface of the tunnel 201 changes.

By arranging the laser scanner 120 in front of the light source 112 in the traveling direction 102 of the moving body 101, the laser scanner 120 reaches the intrusion detection area 222 before the light source 112 reaches the intrusion detection area 222 in the traveling direction 102 of the moving body 101. Detects the intrusion of objects.
When the intrusion of an object into the intrusion detection area 222 is detected, the light source 112 is dimmed. As a result, even if a person invades the intrusion detection area 222, the influence of the light projected from the light source 112 on the human body (particularly the eyes) can be prevented.
For example, it is assumed that the distance from the laser scanner 120 to the light source 112 is 3 meters. Further, it is assumed that the moving body 101 travels at a speed of 40 km / h. In this case, it takes 0.27 seconds from the detection of the person by the laser scanner 120 until the light source 112 reaches the point where the person is detected. When the laser scanner 120 performs 100 scans per second, the detection interval is 0.01 seconds. That is, the detection interval is sufficiently shorter than the arrival time. Therefore, the laser scanner 120 can dim the light source 112 before the arrival time elapses. This is because the dimming signal is directly output from the laser scanner 120 to the light source 112 without the intervention of software.

The moving body imaging device 100 can automatically start imaging when the moving body 101 enters the tunnel 201, and automatically end the imaging when the moving body 101 passes through the tunnel 201. As a result, it is possible to prevent unnecessary image acquisition and omission of necessary image acquisition.

*** Other configurations ***
The plurality of cameras 111 may be arranged in the height direction of the moving body 101 instead of being arranged in the traveling direction 102 of the moving body 101. That is, the plurality of cameras 111 may be arranged in a vertical row instead of a horizontal row.
Each camera 111 may be a rotary camera as described in Patent Document 2.
The mobile imaging device 100 may not include two light sources 112 for one camera 111, but may provide one light source 112 for one camera 111. That is, the light source 112 may be arranged only on one of the upper and lower sides of the camera 111. Further, the mobile image pickup apparatus 100 may include three or more light sources 112 for one camera 111.

When the moving body 101 passes under the pedestrian bridge, the tunnel detection function may momentarily erroneously react. That is, when the moving body 101 passes under the pedestrian bridge, a useless image is temporarily acquired. However, since there are few useless images acquired, there is no substantial problem. When it is desired to prevent such useless image acquisition, the passenger may manually activate the moving body imaging device 100 after the moving body 101 has passed the last pedestrian bridge in front of the tunnel.

*** Supplement to the embodiment ***
The embodiments are examples of preferred embodiments and are not intended to limit the technical scope of the invention. The embodiment may be partially implemented or may be implemented in combination with other embodiments. The procedure described using the flowchart or the like may be appropriately changed.

100 moving object imaging device, 101 moving object, 110 imaging unit, 111 camera, 112 light source, 120 laser scanner, 130 control device, 201 tunnel, 210 entire imaging range, 211 imaging range, 212 projection range, 220 scan range, 221 Camera area, 222 intrusion detection area, 223 tunnel detection area.

Claims (10)

A mobile imaging device mounted on a mobile
A plurality of cameras that take images while the moving body is moving,
A laser scanner that detects the intrusion of an object into the intrusion detection area around the moving object while the moving object is moving.
It is provided with a plurality of light sources that emit light to the imaging range of the camera while the moving body is moving and dimming when the intrusion of an object into the intrusion detection region is detected.
The plurality of cameras image different directions in the rotation direction about the traveling direction of the moving body.
Each light source projects light in the direction that the corresponding camera captures.
The laser scanner is a moving body imaging device that is arranged in front of the plurality of cameras and the plurality of light sources in the traveling direction of the moving body and scans each direction with laser light in the rotating direction. The mobile image pickup apparatus according to claim 1, further comprising the plurality of cameras, the plurality of light sources, and the laser scanner on the left and right sides of the moving body. The plurality of light sources project light in different directions in the rotation direction about the traveling direction of the moving body.
The laser scanner detects the intrusion of an object in each intrusion detection region for a plurality of intrusion detection regions located in different directions in the rotation direction, and provides a light source corresponding to the intrusion detection region in which the intrusion of an object is detected. The moving body imaging device according to claim 1 or 2, wherein the light is dimmed. By arranging the laser scanner in front of the light source in the traveling direction of the moving body, the laser scanner is an object to the intrusion detection region before the light source reaches the intrusion detection region in the traveling direction of the moving body. The mobile imaging device according to any one of claims 1 to 3, wherein the intrusion is detected. The moving body imaging device includes a control device that controls the camera and the light source.
The laser scanner measures the distance to the reflection point in each direction in the rotation direction about the traveling direction of the moving body.
The control device determines whether or not the moving body has entered the tunnel based on the distance to the reflection point in each direction, and activates the camera and the light source when the moving body enters the tunnel. The mobile image pickup apparatus according to any one of claims 4. 5. The control device determines whether or not the moving body has passed through the tunnel based on the distance to the reflection point in each direction, and stops the camera and the light source when the moving body passes through the tunnel. The mobile imaging apparatus according to. The moving body imaging device includes a control device that controls the camera.
The laser scanner measures the distance to the reflection point in each direction in the rotation direction about the traveling direction of the moving body.
The control device extracts the distance in the camera region, which is a region corresponding to the imaging range, from the distance to the reflection point in each direction, determines the representative distance in the camera region, and is based on the representative distance in the camera region. The moving object imaging device according to any one of claims 1 to 4, wherein the focus of the camera is adjusted. The control device determines whether or not the moving body has entered the tunnel based on the distance to the reflection point in each direction, and activates the camera and the light source when the moving body enters the tunnel. The mobile imaging apparatus according to. 8. The control device determines whether the moving body has passed through the tunnel based on the distance to the reflection point in each direction, and stops the camera and the light source when the moving body passes through the tunnel. The mobile imaging apparatus according to. A mobile body equipped with the mobile body imaging device according to any one of claims 1 to 9.

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