JP7255110B2 - Movement measurement device and movement measurement method - Google Patents

Description

The present invention relates to a movement measuring device and a movement measuring method.

A mobile measurement device that measures the state of the external environment (surrounding vehicles, road conditions, tunnel conditions, etc.) by attaching measurement devices such as cameras and laser-based distance measurement devices to moving objects (vehicles, drones, etc.) It has been known. As a measuring device for measuring the state of the external environment, a camera having a wide-angle lens, a plurality of cameras (stereo camera), a measuring configuration using a laser device, etc. are already known (see, for example, Patent Document 1). ).

In such a mobile measuring device, the air pressure (wind pressure) flowing along the shape of the moving object after colliding with the front part of the moving object is applied to the measuring equipment attached to the moving object during movement measurement. The position may fluctuate and an error may occur in the measurement of the distance between an object such as a road surface and the measuring device.

However, in the configuration disclosed in Patent Literature 1, there is no disclosure of countermeasures against the air flow that occurs around a moving object such as a vehicle during movement measurement. Therefore, the position of the measuring device fluctuates due to the air pressure, and the problem that an error occurs in measuring the distance between an object such as a road surface and the measuring device cannot be solved.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and an object of the present invention is to suppress measurement errors caused by air flow generated around a moving object during movement measurement.

A movement measuring device according to an aspect of the disclosed technique is a movement measuring device including a moving body and a measuring device attached to the moving body, the movement measuring device having a fixed frame, the movement The measuring device is attached to the moving body via the fixed frame, and the measuring device is positioned in a space behind the moving body in the moving direction of the moving body, including the upper end of the moving body. an upper surface that is a plane that intersects with the direction of gravity; a lower surface that is a plane that includes the lower end of the moving body and intersects with the direction of gravity; and a second side surface that is a plane that includes the other end of the moving body in the width direction and intersects the width direction. , the fixed frame includes a central portion of the back of the moving body, and the width direction provided on a plane parallel to a plane of the moving body that is the bottom of the back side of the moving body and intersects the direction of gravity of the moving body. and at least two positions symmetrical with respect to the center of the moving body in the width direction of the moving body, the two positions being the left end face of the fixing member. and a right end face , and the fixed frame is fastened to the left end face and the right end face in the width direction.

ADVANTAGE OF THE INVENTION According to this invention, the measurement error resulting from the flow of the air which arises around a moving body at the time of movement measurement can be suppressed.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1A is a side view, FIG. 1B is a perspective view as seen from the rear side, and FIG. is. It is a figure explaining the measurement state of the movement measuring device which concerns on 1st Embodiment. FIG. 10 is a diagram showing an example of air flow around a mobile body in motion; FIG. 2 is a cross-sectional view of a measuring device included in the movement measuring device according to the first embodiment; FIG. 5 is a partially enlarged perspective view of the vicinity of a C portion in FIG. 4; FIG. 2 is a perspective view of a measuring device included in the movement measuring device according to the first embodiment, as viewed from below; 1A and 1B are diagrams for explaining an example of the configuration of a fixed frame provided in the movement measuring device according to the first embodiment; FIG. 1A is a rear view; FIG. is a view seen from below, and (d) is a partially enlarged view of the vicinity of E part in FIG. 7(b). FIG. 10 is a diagram illustrating an example of the effect of a fixing method of a fixed frame; It is a figure explaining the measurement state of the movement measuring device which concerns on 2nd Embodiment.

Modes for carrying out the present invention will be described below. In addition, the same reference numerals are assigned to the same members and the description thereof is omitted.

[First Embodiment]
A movement measuring device 800 according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 1A and 1B are diagrams illustrating an example of the configuration of a movement measuring device 800 according to the present embodiment, where (a) is a side view, (b) is a perspective view as seen from the rear side, and (c). is a rear view.

FIG. 2 is a diagram for explaining the measurement state of the movement measuring device 800. As shown in FIG. 1 and 2 and the following description, the moving direction of the vehicle 700 is the forward direction (forward direction), the opposite direction is the backward direction (reverse direction), the direction of gravity is the downward direction, and the opposite direction is the upward direction. When viewed in direction, the horizontal right direction is referred to as the right direction, the opposite direction is referred to as the left direction, and the direction intersecting the direction of movement of the vehicle 700 and the direction of gravity is referred to as the width direction (horizontal direction).

A movement measuring device 800 indicated by a dashed line in FIG. 1A includes a vehicle (an example of a moving object) 700, a fixed frame 750 fixed to the vehicle 700, and attached to the vehicle 700 via the fixed frame 750. and a measuring instrument 100. The vehicle 700 also includes a vehicle body 701 and tires 702 attached to the vehicle body 701 .

In the movement measuring device 800 shown in FIGS. 1 and 2, a fixed frame 750 is fixed to the rear of the vehicle 700, and as shown in FIG. installed. The measuring device 100 is attached to the vehicle body 701 via the fixed frame 750 so as to be arranged in the arrangement space 300 indicated by the thick dashed lines in FIGS. 1 and 2 . The measuring device 100 is attached to the vehicle body 701 via the fixing frame 750 so as to be arranged within the arrangement plane in the arrangement space 300 .

The arrangement space 300 is a space in the rear direction of the vehicle 700, and includes an upper surface 301 that is a plane that includes the upper end of the vehicle body 701 and intersects the direction of gravity (vertical direction), and a plane that includes the lower end of the vehicle body 701 and intersects the direction of gravity. , a first side surface 303 (see FIG. 1(c)) which is a plane including one end in the width direction of the vehicle body 701 and crossing the width direction, and the other end in the width direction of the vehicle body 701. It is a space defined by a second side surface 304 (see FIG. 1(c)) which is an intersecting plane.

In addition, in the space in the rearward direction of the vehicle 700, the placement surfaces are an upper surface 301 that is a plane that includes the upper end of the vehicle body 701 and intersects the direction of gravity, and a lower surface 302 that is a plane that includes the lower end of the vehicle body 701 and intersects the direction of gravity. , a first side surface 303 that is a plane that includes one end in the width direction of the vehicle body 701 and intersects the width direction, and a second side surface 304 that is a plane that includes the other end in the width direction of the vehicle body 701 and intersects the width direction. It is an aspect that

Note that the length Lx in FIG. 1C is the length (width) in the width direction of the vehicle body 701 and is the distance between the first side surface 303 and the second side surface 304 . A length Ly is the length (height) of the vehicle body 701 in the gravitational direction, and is the distance between the upper surface 301 and the lower surface 302 .

With such a configuration, the movement measuring device 800 photographs the road surface 900 with the stereo camera 130 while moving in the forward direction (moving direction) F, thereby detecting the unevenness of the road surface 900 and the state of the road (white lines are visible). , etc.) can be measured. More specifically, it is possible to measure the flatness of the road (unevenness in the direction of travel), the amount of rutting, and the rate of cracking. After that, an MCI (Maintenance Control Index) can be obtained based on these three road surface property values. The MCI may be obtained by transmitting measurement data to an external device such as a PC or a tablet terminal after measurement, or may be obtained while a PC is installed in the vehicle 700 and the measurement is moved.

Here, the arrangement position of measuring device 100 with respect to vehicle 700 will be described in more detail.

First, the flow of air generated around the vehicle body 701 according to the movement of the vehicle 700 during movement measurement by the movement measuring device 800 will be described with reference to FIG. FIG. 3 is a diagram showing an example of the air flow around the vehicle body 701 during such movement. /h) is an example of the result of simulating the airflow generated around the vehicle body 701 when moving.

In FIG. 3, many small arrows shown around the vehicle body 701 indicate air flow. The direction of the arrow indicates the direction of air flow, and the size of the arrow indicates the size of the air flow. Also, the density of the number of arrows indicates the density of the air flow.

As shown in FIG. 3 , around the running vehicle body 701 , air flows rearward along the shape of the vehicle body 701 after colliding with the front portion of the vehicle body 701 . For example, the air collides with the front panel of the vehicle body 701 in the space area 31 and changes direction diagonally upward and diagonally downward, and then flows rearward along the shape of the vehicle body 701 . In the space region 32 , after colliding with the windshield of the vehicle body 701 and turning obliquely upward, it flows rearward along the shape of the vehicle body 701 . Since the air that has collided with the front portion of the vehicle body 701 flows backward in this way, in the space regions 33 and 34, compared to the space region 35 and the like, which are separated from the vehicle body 701, a large air flow occurs in the vehicle body. occurs posteriorly.

For example, when the measuring device 100 is attached to the vehicle 700 so as to be arranged in a space with a large air flow, such as the spatial region 33 or the spatial region 34, the position of the measuring device 100 and the position of the measuring device 100 can be changed by the air pressure (wind pressure) accompanying the flow. The attitude may change, and a measurement error may occur in the distance between the measuring device 100 and the road surface 900 . In addition, wind pressure causes the stereo camera 130 to shake, causing blurring in the image acquired by the stereo camera 130, which may cause a distance measurement error based on the image blurring, or may damage the mounting location of the measuring device 100 with respect to the fixed frame 750. In some cases.

In this embodiment, as described above, the measuring device 100 is arranged in the arrangement space 300 and attached to the vehicle 700 via the fixed frame 750 . As shown in FIG. 3, within the configuration space 300, the number of arrows is sparse and the size of the arrows is small. This indicates that the air flow is small compared to the spatial regions 33 and 34 . Therefore, by arranging the measuring device 100 in the arrangement space 300, the influence of the air flow can be suppressed, and the air flow generated around the moving body during the movement measurement causes the interference between the measuring device 100 and the road surface 900. Distance measurement errors can be suppressed. In addition, it is possible to prevent damage to the fixing frame 750 and the mounting location of the measuring device 100 .

1 to 3 show the arrangement space 300 as a space defined also in the front direction and the rear direction, but if the arrangement space 300 is a space in the rear direction of the vehicle 700, Direction is not specified. Therefore, the measuring device 100 may be arranged at a position away from the vehicle 700 in the rearward direction within the arrangement space 300 . However, considering the stability of the posture and position of the measuring device 100 , it is preferable to arrange the measuring device 100 as close to the vehicle 700 as possible in the arrangement space 300 .

Next, the measuring device 100 included in the mobile measuring device 800 according to the first embodiment will be further described with reference to FIG. FIG. 4 is a cross-sectional view of the measuring instrument 100 included in the movement measuring device 800 according to the first embodiment.

The measuring instrument 100 includes a base frame 110 , a camera mount 120 , a stereo camera 130 and a protective cover unit 200 . One end of the base frame 110 is fixed to the fixed frame 750 (see FIG. 1), and the camera mount 120 is attached to the other end. Camera mount 120 fixes stereo camera 130 . Note that the camera mount 120 may include an angle adjustment mechanism for adjusting the imaging angle of the stereo camera 130 .

Stereo camera 130 is a camera having two lenses 131a and 131b, and can measure the distance to an object by processing the obtained image data. Although the measuring device 100 is described as including the stereo camera 130, it is not limited to this. For example, the measuring device 100 may include a distance measuring device using a laser, and may be configured to measure the distance between the measuring device and the measurement target. Also, the number of distance measuring devices such as the stereo camera 130 is not limited to one, and a plurality of devices may be provided. By adopting a configuration in which a plurality of devices are provided, it is possible to acquire measurement data in a wider range. Further, wide-angle lenses may be used as the lenses 131a and 131b of the stereo camera 130, so that a wider range of measurement data can be obtained.

The protective cover unit 200 includes a protective member main body 210 having openings 211, 212a and 212b, movable protective members 220a and 220b movable in the direction of the opening 211, an opening protective member 230 protecting the opening 211, It has

The protective member main body 210 is composed of, for example, a resin plate and an aluminum frame that supports the resin plate, and forms a box having an opening 211 on the bottom side (that is, on the imaging direction side of the measuring instrument). Note that the stereo camera 130 is arranged in the internal space of the protective member main body 210 . The protective member main body 210 has a side opening 212a formed from the lower end of the right side, and a side opening 212b formed from the lower end of the left side. The opening 211 and the side opening 212a are formed to communicate with each other, and the opening 211 and the side opening 212b are formed to communicate with each other. Since the side opening 212b and the side opening 212a differ only in the left and right formation positions in the protective member main body 210, illustration of the side opening 212b is omitted in FIG.

Thus, the opening formed in the protective member body 210 is formed as a whole of the openings 211, 212a, and 212b that open from the right side to the left side through the lower side. The protection member body 210 also has second opening protection member supporting portions 215a and 215b that support the opening protection member 230 in the open state. Since the second opening protection member holding portion 215b and the second opening protection member holding portion 215a differ only in the left and right formation positions in the protection member main body 210, illustration of the protection member holding portion 215b is omitted in FIG.

The movable protective member 220a is composed of, for example, a resin plate and an aluminum frame that supports the resin plate, and is attached to the protective member main body 210 via a linear motion component 221a such as a linear slider. The movable protective member 220a is a vertically movable protective member, and can open and close a side opening 212a formed on the right side surface of the protective member main body 210. As shown in FIG. That is, the movable protective member 220a can close the side opening 212a formed at the lower end of the right side of the protective member main body 210 to protect the lower end of the right side of the protective cover unit 200. ing. A first opening protection member supporting portion 225a that supports the opening protection member 230 when the mouth is closed is provided on the lower side of the movable protection member 220a. The movable protective member 220a has a fixing mechanism (not shown) that can be fixed at a predetermined upper position, and is configured so as not to fall due to its own weight. Also, the movable protection member 220a is configured so as not to be lowered below a predetermined lower position.

The movable protective member 220b has the same configuration as the movable protective member 220a. That is, the movable protection member 220b is a protection member that can be moved vertically, and can open and close the side opening 212b formed on the left side surface of the protection member main body 210. As shown in FIG. A first opening protection member supporting portion 225b that supports the opening protection member 230 when the mouth is closed is provided below the movable protection member 220b. Since the movable protective member 220b and the movable protective member 220a differ only in the left and right mounting positions in the protective member main body 210, illustration of the movable protective member 220b is omitted in FIG.

The opening protection member 230 is composed of, for example, a flexible resin plate. The left and right ends of the opening protection member 230 are supported so as to be movable in the front-rear direction. You can do it. It should be noted that the opening protection member 230 is preferably white. Since the sunlight directed toward the stereo camera 130 is reflected by the white opening protection member 230, an increase in internal temperature can be suppressed. In order to protect the stereo camera 130 when the mouth is closed, the material is preferably made of polycarbonate, which has excellent impact resistance and heat resistance.

The right side of the opening protection member 230 is supported by the second opening protection member holding portion 215a of the protection member main body 210, the first opening protection member holding portion 225a of the movable protection member 220a, or both. The left side of the opening protection member 230 is supported by the second opening protection member holding portion 215b of the protection member main body 210, the first opening protection member holding portion 225b of the movable protection member 220b, or both.

In the measuring instrument 100 shown in FIG. 4, the second opening protection member holding portions 215a and 215b are, as shown in FIG. is configured as Further, as shown in FIG. 5, the first opening protection member supporting portions 225a and 225b are configured as grooves that are provided in the lower frame of the movable protection member 220 and open toward the inside in the left-right direction. . The opening protection member 230 is carried by inserting the left and right ends into these grooves. It should be noted that the method for carrying the opening protection member 230 is not limited to this.

According to the measuring instrument 100, the movable protection member 220 is raised to open the side openings 212a and 212b in an open state during measurement, thereby widening the measurement range in the horizontal direction. In addition, it is possible to prevent the optical parts such as the lens 131 of the stereo camera 130 from being soiled by the external environment by setting the closed state when the measurement is not performed.

It should be noted that the exterior color of the protective cover unit 200 is preferably white. Since the sunlight directed toward the exterior is reflected in white by the exterior, it is possible to suppress the temperature rise of the stereo camera 130 arranged inside the protective cover unit 200 due to the sunlight.

Moreover, it is preferable that the second opening protection member supporting portions 215a and 215b of the protection member main body 210 have arc-shaped bent portions. The second opening protection member supporting portions 215a and 215b are formed so as to extend forward from the opening 211 and then extend upward via the bent portion. As a result, the width of the second opening protection member supporting portions 215a and 215b in the front-rear direction can be reduced, so that the size of the measuring device 100 can be reduced.

Next, FIG. 6 is a perspective view of the measuring instrument 100 as seen from below. The measuring device 100 has three stereo cameras 130a, 130b, and 130c. In addition, the opening on the lower surface side is partitioned by frames 216a and 216b to form three openings 211a, 211b and 211c. Opening protection members 230a, 230b, and 230c are provided to protect the three openings 211a, 211b, and 211c so that they can be opened and closed.

A side opening 212a is provided on the right side of the protective member main body 210A, and is protected by a movable protective member 220a so that it can be opened and closed. A side opening 212b is provided on the left side of the protective member main body 210A, and is protected so as to be opened and closed by a movable protective member 220b.

The right supporting structure of the opening protection member 230a is similar to the right supporting structure of the opening protection member 230 of the first embodiment. The left support structure of the aperture guard 230a is carried by a fixed aperture guard support 217a, which is a groove provided in the right side of the frame 216a.

The right support structure of the aperture guard 230b is carried by a fixed aperture guard support 217b, which is a groove provided in the left side of the frame 216a. The left side carrying structure of the aperture guard 230b is carried by a fixed aperture guard carrying portion 217c which is a groove provided in the right side of the frame 216b.

The right support structure of the opening guard 230c is carried by a fixed opening guard support 217d, which is a groove provided in the left side of the frame 216b. The left support structure of the opening protection member 230c is similar to the left support structure of the opening protection member 230 of the first embodiment.

With such a configuration, the measuring device 100 can open and close the protective member according to the usage conditions of the stereo cameras 130a, 130b, and 130c. For example, when only the stereo camera 130b is used, only the opening protection member 230b should be moved to the open position, and the movable protection members 220a and 220b and the opening protection members 230a and 230c should remain in the closed position. Thus, the stereo cameras 130a and 130c that are not used for measurement can be protected.

In this embodiment, a configuration including three stereo cameras 130a, 130b, and 130c is shown as an example. may be provided.

Next, the fixed frame 750 included in the movement measuring device 800 according to this embodiment will be described with reference to FIG. 7A and 7B are diagrams illustrating an example of the configuration of the fixed frame 750, in which (a) is a rear view, (b) is a perspective view seen from the rear side, and (c) is a view seen from the bottom side. , and (d) is a partially enlarged view of the vicinity of the E portion of FIG. 7(b).

The fixed frame 750 includes upper and lower strut members 751a and 751b, horizontal strut members 752a and 752b, a bottom connection member 753, a fixed plate 754, and L-shaped fastening members 755a and 755b. It is fixed to a tow pole fixing portion 781 and a spare tire fixing portion (spare tire carrier) 782 .

Here, the tow pole fixing part 781 is a part provided at the bottom of the vehicle body 701 into which the tow pole can be inserted and fixed. However, in this embodiment, the towing pole is not fixed to the towing pole fixing portion 781, but instead the bottom connecting member 753 (described later) is fixed.

The towing pole fixing part 781 is formed of a metal prism whose longitudinal direction is the width direction, and is provided with a rectangular through hole 781a in the central part in the width direction into which the towing pole can be inserted and fixed in the movement direction. ing. Further, the central portion of the traction pole fixing portion 781 in the width direction is arranged so as to be positioned at the center of the vehicle body 701 in the width direction.

Spare tire fixing portion 782 is provided in the central portion of the back portion of vehicle body 701 and is a portion to which a spare tire can be fixed. However, in this embodiment, the spare tire is not fixed to the spare tire fixing portion 782, and instead a fixing plate 754 (described later) is fixed.

The spare tire fixing portion 782 is formed by a U-shaped bracket having a U-shaped cross section, and a tapped hole for screwing the spare tire is provided in the back of the U-shaped portion. Also, the open side of the U-shape is fixed to the rear portion of the vehicle body 701 .

On the other hand, the upper and lower support members 751a are members configured by connecting a first aluminum frame and a second aluminum frame that is shorter than the first aluminum frame so as to form an L shape. The vertical strut member 751a is arranged so that the length of the first aluminum frame faces the vertical direction and the length of the second aluminum frame faces the direction of movement, and the second aluminum frame is fixed to the traction pole via the L-shaped fastening member 755a. It is fixed to the vehicle body 701 by being fixed to the left end face of the portion 781 (see FIG. 7(d)). The upper and lower strut members 751b have the same configuration, and the second aluminum frame is fixed to the right end surface of the towing pole fixing portion 781 via an L-shaped fastening member 755b (not shown), thereby being fixed to the vehicle body 701. there is The measuring instrument 100 is attached to the upper and lower strut members 751a and 751b by screws or the like.

The horizontal strut member 752a is composed of an aluminum frame. It has a width direction as a longitudinal direction, is arranged to intersect with the upper and lower strut members 751a and 751b, and is joined to the upper and lower strut members 751a and 751b at the intersecting portions.

The horizontal strut member 752b is arranged to intersect with the upper and lower strut members 751a and 751b at a position shifted downward with respect to the horizontal strut member 752a. 751a and 751b.

The bottom connecting member 753 is made of an aluminum frame and inserted into the through hole 781a of the towing pole fixing portion 781 and fixed. A tapped hole for screwing is provided in the rear end face of the bottom connecting member 753 .

The fixing plate 754 is a metal flat plate, and is arranged so that the flat portion intersects with the direction of movement, and the flat portion on the front side is abutted against the U-shaped rear portion of the spare tire fixing portion 782 and screwed. Fixed. The flat portion of the fixing plate 754 on the front side is abutted against the end face of the bottom connecting member 753 and fixed by screwing. Further, the flat portion on the rearward side of the fixing plate 754 is in contact with the horizontal support member 752b and is fixed by screwing.

Incidentally, the spare tire cover portion 790 is a cover that protects the spare tire when the spare tire is attached to the vehicle body 701 . As described above, since a spare tire is not attached in this embodiment, the spare tire cover portion 790 does not have a function of protecting the spare tire, and covers the portion where the fixing plate 754 is fixed to the spare tire fixing portion 782. have a function. The spare tire cover part 790 can be opened and closed by rotating about a vertical axis including the left end, for example.

As described above, in the present embodiment, the fixing frame 750 is fixed to the central portion of the rear surface of the vehicle body 701 via the spare tire fixing portion 782, and is fixed to the bottom portion of the vehicle body 701 via the towing pole fixing portion 781. As a part, it is fixed to the vehicle body 701 . More specifically, the fixed frame 750 is fixed at two positions of the right end face and the left end face of the towing pole fixing portion 781 . In other words, fixed frame 750 is fixed to the bottom of vehicle body 701 at two symmetrical positions across the center of vehicle 700 in the width direction. Measuring device 100 is attached to vehicle 700 via fixed frame 750 as described above.

Here, as the vehicle 700 moves, the measuring device 100 moves along the pitch axis (the axis along the width direction), the yaw axis (the axis along the direction of gravity), and/or the roll axis (the axis along the movement direction). It may rotate around. Specifically, for example, when the fixed frame 750 is fixed at one central portion of the rear surface of the vehicle body 701 , the force such as wind pressure acting on the mounting position of the measuring device 100 to the fixed frame 750 may cause the fixed frame 750 to be displaced. may rotate around its fixed point.

With such rotation, the position and orientation of the measuring device 100 may change, resulting in a measurement error in the distance between the measuring device 100 and the road surface 900 . In addition, when the stereo camera 130 shakes, the image acquired by the stereo camera 130 may blur, and a distance measurement error may occur due to the image blur. Furthermore, when rotation about the pitch axis (pitching) and rotation about the yaw axis (yawing) occur, so-called trapezoidal distortion may occur in the image acquired by the stereo camera 130 . When the pitching and yawing rotation angles are unknown, such trapezoidal distortion cannot be corrected by image processing or the like, and the trapezoidal distortion of the image acquired by the stereo camera 130 causes distance measurement errors.

In particular, while the vehicle 700 is moving (running) during movement measurement, the wind direction and wind speed continue to change, and the rotation angle tends to be unknown. Also, when an oncoming vehicle passes the vehicle 700 during movement measurement, or when passing through the tunnel entrance when entering a tunnel, etc., a sudden change in wind pressure occurs, and the rotation angle becomes even more unknown. Cheap.

According to this embodiment, the fixed frame 750 is fixed to the vehicle body 701 at two points in the vertical direction, with the central portion of the rear surface of the vehicle body 701 and the bottom portion of the vehicle body 701 being fixed points. As a result, rotation such as pitching, yawing, and/or rotation about the roll axis (rolling) can be suppressed, and measurement errors in the distance between the measuring device 100 and the road surface 900 can be suppressed.

In addition, in the present embodiment, the fixed frame 750 is fixed to the bottom of the vehicle body 701 at least at two symmetrical positions with respect to the center of the vehicle body 701 in the width direction. Fixation stability can be further increased. Thereby, the measurement error of the distance between the measuring device 100 and the road surface 900 as described above can be further suppressed.

FIG. 8 is a diagram for explaining an example of the effect of such a fixing method of the fixing frame 750. As shown in FIG. In FIG. 8, when the fixed frame 750 is fixed to the vehicle body 701 only at one point, for example, at the central portion 81 of the rear portion of the vehicle 700, the wind pressure acting on the mounting point 82 of the measuring device 100 to the fixed frame 750 and the like Such forces may cause the fixed frame 750 to rotate in the direction of the arrow 83 with the center portion 81 as the center of rotation. In this embodiment, since the central portion of the rear surface of the vehicle body 701 and the bottom portion of the vehicle body 701 are fixed points, for example, a force that suppresses rotation acts at the fixed point 84 of the bottom portion of the vehicle body 701, which causes rotation such as pitching. can be suppressed.

In FIG. 8, the fixed frame 750 is preferably fixed to the vehicle body 701 with a force applied in the rearward direction in order to prevent the fixed frame 750 from collapsing toward the vehicle 700 side.

In this embodiment, an example in which the fixing frame 750 is fixed to the vehicle body 701 using the towing pole fixing portion 781 and the spare tire fixing portion 782 provided on the vehicle body 701 is shown, but the present invention is not limited to this. do not have. The fixed frame 750 may be fixed to other parts of the vehicle body 701 .

On the other hand, by fixing the fixing frame 750 using the existing parts and mechanisms of the vehicle 700 such as the tow pole fixing portion 781 and the spare tire fixing portion 782 as in the present embodiment, the vehicle 700 can be specially modified. The fixed frame 750 and the measuring device 100 can be attached to the vehicle 700 without additional components. If the vehicle 700 is specially modified, it will be treated as a so-called "private vehicle", and it will be necessary to change the vehicle license plate to that for a "private vehicle". can be omitted.

[Second embodiment]
Next, an example of an image forming apparatus according to the second embodiment will be described. Note that the description of the same configuration parts as those of the already described embodiment is omitted.

In the movement measuring device according to the first embodiment, the measuring device 100 is attached to the vehicle 700 that runs (moves) on land as a moving object, but the present invention is not limited to this. For example, as shown in FIG. 9, a mobile measuring device 800b may be configured by attaching a measuring device 100b to a flying object (drone) 700b that moves in the air. FIG. 9 is a diagram for explaining the measurement state of the movement measuring device 800b according to this embodiment. The mobile measuring device 800b has a flying object 700b and a measuring device 100b attached to the flying object 700b.

Equipping the flying object 700b enables measurement (inspection) at a place (for example, a bridge) that is difficult for people to approach. Moreover, it is applicable also to a railroad vehicle as a moving body. In this case, it is possible to measure the conditions of the rails on which railway vehicles run, the walls of subway tunnels, the platforms of stations, and the like, instead of the conditions of roads.

Although the embodiments and the like of the movement measuring device have been described above, the present invention is not limited to the above-described embodiments and the like, and various modifications, Improvements are possible.

Although the measuring instruments 100 and 100b according to the first and second embodiments have been described as having a stereo camera, they are not limited to this. For example, a laser distance measuring device that uses a laser to measure the distance to the object to be measured may be used. Further, the measuring equipment is not limited to measuring distance, and may be measuring other information.

Embodiments also include movement measurement methods. For example, the movement measuring method is a movement measuring method using a movement measuring apparatus having a moving body and a measuring device attached to the moving body, wherein the measuring device measures the movement of the moving body in the moving direction of the moving body. In the space in the rear direction, an upper surface that is a plane that includes the upper end of the moving body and intersects the direction of gravity; a lower surface that is a plane that includes the lower end of the moving body and intersects the direction of gravity; A first side surface that is a plane that includes one end of the moving body in the width direction and intersects the width direction, and a second side surface that is a plane that includes the other end of the moving body in the width direction and intersects the width direction In this method, the distance between the measuring device and the object is measured by the measuring device, which is attached to the moving body so as to be arranged within the plane defined by the two side surfaces. With such a movement measuring method, it is possible to obtain the same effect as the movement measuring device described above.

100 Measuring instrument 110 Base frame 120 Camera mounts 130, 130a, 130b, 130c Stereo cameras 131, 131a, 131b Lenses 200, 200A Protective cover units 210, 210A Protective member bodies 211, 211a, 211b, 211c Openings 212a, 212b Side openings Parts 215a, 215b Second opening protection member support parts 216a, 216b Frames 217a to 217d Fixed opening protection member support parts 220a, 220b Movable protection member 221a Linear motion parts 225a, 225b First opening protection member support parts 230, 230a, 230b , 230c opening protection member 300 arrangement space 301 upper surface 302 lower surface 303 first side surface 304 second side surface 700 vehicle (an example of a moving object)
700b flying object (an example of a moving object)
701 vehicle body 702 tire 750 fixed frame 800, 800b movement measuring device

Japanese Patent No. 5729164

Claims (4)

A mobile measuring device having a mobile body and a measuring device attached to the mobile body,
The movement measuring device has a fixed frame, the movement measuring device is attached to the moving object via the fixed frame,
The measuring device includes an upper surface, which is a plane that includes the upper end of the moving body and intersects the direction of gravity, and a lower end of the moving body that includes the lower end of the moving body, in a space behind the moving body in the moving direction of the moving body. a lower surface that is a plane that intersects with the direction of movement; and a second side surface that is a plane that includes the other end of the moving body and intersects with the width direction,
The fixed frame has a central portion of the back portion of the moving body, and the width direction provided on a plane parallel to a plane that is a bottom portion of the back side of the moving body and intersects the direction of gravity of the moving body. fixed to the moving body at at least two positions symmetrical with respect to the center in the width direction of the moving body of the longitudinal fixing member as fixing points;
The two positions are a left end surface and a right end surface of the fixed member , and the fixed frame is fastened to the left end surface and the right end surface in the width direction. The movement measuring device according to claim 1, wherein the measuring device comprises a stereo camera. The moving object is a vehicle comprising a vehicle body and tires attached to the vehicle body,
The upper end of the moving body is the upper end of the vehicle body, the lower end of the moving body is the lower end of the vehicle body, one end of the moving body in the width direction is one end of the vehicle body in the width direction, and The movement measuring device according to claim 1 or 2, wherein the other end of the moving body in the width direction is the other end of the vehicle body in the width direction. A movement measuring method using a movement measuring device having a moving body and a measuring device attached to the moving body,
The movement measuring device has a fixed frame, the movement measuring device is attached to the moving object via the fixed frame,
In a space behind the moving body in the moving direction of the moving body, the measuring device is arranged to have an upper surface that is a plane that includes the upper end of the moving body and intersects the direction of gravity, and a lower end of the moving body that includes the direction of gravity. a first side surface that is a plane that includes one end of the moving body in the width direction that intersects the moving direction and the gravitational direction and that intersects the width direction; attached to the moving body so as to be arranged within a plane defined by a second side surface that is a plane that includes the other end of the moving body and intersects the width direction;
The fixed frame is divided into the center portion of the back portion of the moving body and the width direction provided on a plane parallel to the plane that is the bottom of the back side of the moving body and intersects the gravitational direction of the moving body. fixing a longitudinal fixing member to the moving body at at least two positions symmetrical with respect to the center in the width direction of the moving body as fixing points;
The two positions are the left end surface and the right end surface of the fixing member , and the fixing frame is fastened to the left end surface and the right end surface in the width direction,
A moving measurement method for measuring a distance between the measuring device and an object using the measuring device.

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