WO2020080091A1

WO2020080091A1 - Vehicle inspection device and method

Info

Publication number: WO2020080091A1
Application number: PCT/JP2019/038676
Authority: WO
Inventors: 信博知原; 宣隆木村; 聖岳堀江; 剛渡上野; 鈴木　寛
Original assignee: 株式会社日立ハイテクファインシステムズ
Priority date: 2018-10-16
Filing date: 2019-10-01
Publication date: 2020-04-23
Also published as: TW202015948A; JP7179571B2; JP2020063931A

Abstract

The present invention makes it possible to automatically perform an appearance inspection of a vehicle moving in two directions with minimal increase in cost. One preferred aspect of the present invention is a vehicle inspection device comprising a first speed measurement means, a second speed measurement means, a one-dimensional sensor, and a control device, wherein the one-dimensional sensor measures a moving vehicle a plurality of times along a direction intersecting the moving direction and obtains inspection information including two-or-more-dimensional information on the basis of the measurement result. In this device, the inspection information can be obtained both when the vehicle moves in a first direction and when the vehicle moves in a second direction opposite to the first direction, and the second speed measurement means has higher accuracy than the first speed measurement means. If the speed information of the vehicle is not measured by the second speed measurement means and is measured by the first speed measurement means, the control device performs control in a first control mode in which the measurement timing of the one-dimensional sensor is controlled on the basis of the speed information obtained by the first speed measurement means. If the speed information of the vehicle is measured by the second speed measurement means, the control device performs control in a second control mode in which the measurement timing of the one-dimensional sensor is controlled on the basis of the speed information obtained by the second speed measurement means.

Description

Vehicle inspection apparatus and method

The present invention relates to a technique for inspecting the appearance of a vehicle.

Conventionally, there is a technology that measures the appearance of the device with various sensors and tries to utilize it for the maintenance of the device.

For example, in Patent Document 1, a line camera in which a plurality of sensors are arranged in a line in a direction orthogonal to the traveling direction of the vehicle is used, and the bottom surface of the vehicle is photographed by the line camera. A technique has been disclosed in which the distortion at the screen edge, which has been performed, can be eliminated and the size can be reduced.

In addition, Patent Document 2 discloses a technique in which a vehicle that has been parked is stopped at a fixed position based on a position sensor, a spring of the vehicle is photographed by a camera, and a maintenance guidance for adjustment is output from the length of the spring. .

JP, 2009-10906, A JP-A-2002-87256

In order to ensure safe operation of railway vehicles, a fixed-point observation of the appearance of railway vehicles can be performed by performing a visual inspection at the time when the railway vehicle leaves the garage and at the time of returning to detect changes, for example, by extracting the difference. It will be possible. For visual inspection, for example, it is conceivable to use a line camera (also referred to as a line sensor camera, a line scan camera, etc.) for taking a photograph, a light cutting camera using a light cutting method, or a three-dimensional measurement method using laser light.

In order to save labor for fixed-point observation of vehicle appearance, it is ideal to be able to perform inspections without human intervention at the time when a railroad vehicle leaves the garage and when it returns to the garage. .

Imaging with a line camera is an imaging method with the same principle as a scanner or copier, in which an image of a predetermined surface is obtained by continuously acquiring images with sensors (line sensors) arranged in a row. The line camera is suitable for obtaining a clear two-dimensional image (two-dimensional plane image). When the line sensor at a fixed position captures images at regular intervals, if the vehicle is moving at a constant speed, a two-dimensional image without distortion can be obtained only by combining the images. However, if the vehicle speed is not constant, the image will be distorted.

Therefore, in order to perform shooting and measurement while the vehicle is moving, it is necessary to obtain highly accurate information on the moving speed of the vehicle, control the image capturing timing by the line camera, or perform correction during image composition. is there. At this time, the distortion of the captured image depends on the measurement accuracy of the moving speed of the vehicle.

3D measurement with a light-section camera allows you to irradiate a vehicle with a linear laser beam and obtain the 3D shape (3D image) of the object to be measured based on triangulation from the reflected light. At the time of measurement, the three-dimensional shape of the entire vehicle is acquired by moving the vehicle relative to the linear laser light. Further, instead of the line-shaped laser light, a spot-shaped laser may be scanned in one direction. Similarly to the line camera, even in the case of photographing using the light-section camera, it is necessary to make the photographing intervals uniform in order to obtain an image without distortion, and information on the moving speed of the vehicle is necessary.

In this specification and the like, an object to be measured, such as a line camera or a light-section camera, is measured a plurality of times along a direction intersecting the moving direction, and two-dimensional or more measurement information (two-dimensional image or 3 An image pickup device and a detection device for obtaining (dimensional shape information) will be referred to as a "one-dimensional sensor". The information obtained by the one-dimensional sensor may not be one-dimensional in a strict sense, but it is a convenient name focusing on the measurement direction. Further, the direction of measurement (direction intersecting with the moving direction of the object to be measured) will be referred to as "measurement direction", and the region measured by one measurement will be referred to as "measurement region". In the following embodiments, a line camera will be described as an example of the one-dimensional sensor.

A Doppler laser (also called a laser Doppler velocity meter, Doppler sensor, etc.) is known as a device that measures the moving speed of an object with high accuracy. The Doppler laser irradiates the measurement object with laser light and detects scattered light from the measurement object. The scattered light becomes light whose frequency is shifted due to the Doppler effect generated by the movement of the measured object, and the speed of the measured object is calculated with high accuracy by processing the frequency-shifted component as a signal.

FIG. 8 is a diagram showing an example of a photographing device that controls the photographing timing of a line camera with a Doppler laser.

It is a schematic view of the railway car seen from the vertical direction (lateral direction) to the traveling direction. For convenience of description only, the traveling direction of the vehicle 140 (generally the longitudinal direction of the railway vehicle) is x, the direction perpendicular to the ground is z, and the direction perpendicular to x and z (generally the width direction of the railway vehicle) is y. The coordinate system is defined as. In this example, the measurement surface is the lateral surface (xz surface) of the vehicle, and the measurement direction is the y direction.

In this configuration, the high-precision Doppler laser 110L is arranged so as to be shifted from the line camera 120 in the x-axis direction. The Doppler laser 110L and the line camera 120 are controlled by the controller 130. In this case, the Doppler laser 110L is always activated. As described above, when an appearance inspection is performed at the time when a railroad vehicle leaves the garage and when it returns, the vehicle imaged by the line camera (one-dimensional sensor) enters the garage and enters the garage. Move in one of the directions. At this time, since the speed of the vehicle is measured by the Doppler sensor 110L, the shooting timing of the line camera 120 is controlled. Therefore, when the vehicle 140 passes, the vehicle speed of the vehicle 140 is first measured by the Doppler sensor 110L. After a while, the positional relationship is set such that the vehicle 140 passes over the line camera 120.

However, in this method, since trains pass from both directions of the device, assuming that the arrangement is such that the vehicle 140 passes in the right direction 150R as shown in FIG. 8, when the vehicle 140 passes in the left direction 150L, The vehicle 140 passes over the line camera 120 first, and in that case, there is a problem that the top portion of the vehicle 140 cannot be photographed.

The device configuration example in Fig. 1 can be considered as one of the solutions to this problem. In this configuration, high-precision Doppler

lasers

110L and 110R are arranged on both the left and right sides of the line camera 120.

The Doppler

lasers

110L and 110R and the line camera 120 are controlled by the control device 130. In this case, the Doppler

lasers

110L and 110R are always activated.

When the vehicle 140 moves in the direction of the arrow 150R, the speed is measured by the Doppler laser 110L and the imaging timing of the line camera 120 is controlled by the speed signal. When the vehicle 140 moves in the direction of the arrow 150L, the speed is measured by the Doppler laser 110R and the same processing is performed.

With the configuration shown in FIG. 1, if the speed can be measured by either the left or right Doppler laser 110 when the vehicle is passing, the line camera 120 can be controlled, so that both measurements at the time of leaving and entering can be supported.

However, this method requires the use of two Doppler lasers 110. High-precision Doppler lasers are expensive and therefore increase equipment cost. Moreover, since the laser output of the Doppler laser is relatively large, power consumption is large and cost is high when the laser is constantly irradiated.

Therefore, an object of the present invention is to provide a technique that can automatically perform a visual inspection of a vehicle moving in two directions while suppressing an increase in cost.

A preferred aspect of the present invention includes a first speed measuring unit, a second speed measuring unit, a one-dimensional sensor, and a control device, and the one-dimensional sensor extends along a direction intersecting a moving vehicle with a moving direction of the moving vehicle. It is a vehicle inspection device that obtains inspection information including two-dimensional or more information based on the measurement result by performing multiple measurements. In this device, the inspection information can be acquired both when the vehicle moves in the first direction and when the vehicle moves in the second direction opposite to the first direction, and the second speed measuring means. Is more accurate than the first speed measuring means. When the speed information of the vehicle is not measured by the second speed measuring means and the speed information of the vehicle is measured by the first speed measuring means, the control device is obtained by the first speed measuring means. The control is performed in the first control mode in which the measurement timing of the one-dimensional sensor is controlled by the speed information. When the speed information of the vehicle is measured by the second speed measuring means, the control device is in the second control mode in which the measurement timing of the one-dimensional sensor is controlled by the speed information obtained by the second speed measuring means. Control.

Another preferable aspect of the present invention uses a first speed measuring unit, a second speed measuring unit, and a one-dimensional sensor, and the one-dimensional sensor is arranged along a direction intersecting a moving vehicle with a moving direction of the moving vehicle. This is a vehicle inspection method that obtains inspection information including two-dimensional or more information based on the measurement result by measuring a plurality of times. The inspection information can be acquired both when the vehicle moves in the first direction and when the vehicle moves in the second direction opposite to the first direction. Further, the second speed measuring means has higher accuracy than the first speed measuring means. This method includes a first step of activating the first speed measuring means and keeping the second speed measuring means and the one-dimensional sensor inactive, and detecting the speed of the vehicle by the first speed measuring means. The second step of activating the second speed measuring means and the one-dimensional sensor, the speed information obtained by the first speed measuring means, and the speed information obtained by the first speed measuring means are recorded. With the third step of executing the first control mode in which the measurement timing of the one-dimensional sensor is controlled by the first measurement mode and the second speed measuring means detecting the speed of the vehicle, the first step is performed. The speed information obtained by the speed measuring means and the speed information obtained by the second speed measuring means are recorded, and the measurement information of the one-dimensional sensor is controlled by the speed information obtained by the second speed measuring means to perform the measurement. , The second control mode Performing a fourth step of performing a de, a.

In a more specific example of the method, a two-dimensional plane image or a three-dimensional stereoscopic image, which is inspection information including two-dimensional or more information based on the measurement results measured in the first control mode and the second control mode, is used. Perform a fifth step of obtaining at least one. In the fifth step, two-dimensional measurement is performed using the speed information obtained by the first speed measuring means and the speed information obtained by the second speed measuring means, which are measured in the first control mode and the second control mode. At least one of the two-dimensional image or the three-dimensional image is corrected in the moving direction of the vehicle. In particular, it is desirable to correct the image based on the measurement in the first control mode.

-It is possible to provide a technology capable of automatically performing visual inspection of a vehicle moving in two directions for the entire vehicle while suppressing an increase in cost.

The schematic diagram which shows the example which has arrange | positioned the Doppler laser on the right and left of the line camera. The schematic diagram explaining the vehicle inspection apparatus of 1st Example. The flow figure explaining the processing sequence of a vehicle inspection device. FIG. 6 is a table showing an example of a format of imaging data recorded by a control device. The image figure which shows the example of the synthesized two-dimensional image. The conceptual diagram which plotted the speed signal of a low-precision speedometer and the speed signal of a Doppler laser. The schematic diagram explaining the vehicle inspection apparatus of the 2nd Example. The schematic diagram of the imaging device which arrange | positioned the Doppler laser and the line camera.

Embodiments will be described in detail with reference to the drawings. However, the present invention should not be construed as being limited to the description of the embodiments below. It is easily understood by those skilled in the art that the specific configuration can be changed without departing from the idea or the spirit of the present invention.

In this specification, the same reference numerals are commonly used in different drawings for the same portion or a portion having a similar function, and redundant description may be omitted.

If there are multiple elements that have the same or similar functions, the same code may be explained with different subscripts. However, when it is not necessary to distinguish a plurality of elements, the description may be omitted with the subscript omitted.

The notations such as “first”, “second”, and “third” in this specification and the like are used to identify components, and necessarily limit the number, order, or content thereof. is not. Further, the numbers for identifying the constituents are used for each context, and the numbers used in one context do not always indicate the same configuration in other contexts. Further, it does not prevent a component identified by a certain number from having a function of a component identified by another number.

The position, size, shape, range, etc. of each component shown in the drawings, etc. may not represent the actual position, size, shape, range, etc., in order to facilitate understanding of the invention. Therefore, the present invention is not necessarily limited to the position, size, shape, range, etc. disclosed in the drawings and the like.

In the present specification, a component expressed in the singular form includes the plural form unless clearly indicated otherwise.

In the embodiment described in detail below, the vehicle speed required for line camera control cannot be measured until the vehicle passes in front of the high-accuracy speed sensor. We propose an example of overcoming and controlling the imaging timing of the camera according to the moving speed of the vehicle measured by the speedometer to take a uniform picture. The technique of the embodiment provides a uniform two-dimensional image required for automatic inspection.

FIG. 2 is a schematic diagram illustrating the vehicle inspection device according to the first embodiment. For convenience of description only, the traveling direction of the vehicle 140 (generally the longitudinal direction of the railway vehicle) is x, the direction perpendicular to the ground is z, and the direction perpendicular to x and z (generally the width direction of the railway vehicle) is y. The coordinate system is defined as. This figure is a schematic view of the vehicle 140 viewed from the z direction.

The vehicle inspection device 100 of the present embodiment uses only one high-precision Doppler laser 110, and low-

precision speedometers

210L and 210R are arranged on both sides in the traveling direction. The Doppler laser 110, the low-

accuracy speedometers

210L and 210R, and the line camera 120 are controlled by the controller 130. The imaging direction (measurement direction) by the line camera 120 intersects the x direction, which is the traveling direction (movement direction) of the vehicle, and is the y direction in this example. An image of a region (measurement region) that is divided into long and narrow parts in the y direction of the vehicle 140 is acquired by one-time imaging by the line sensor of the line camera.

The control device 130 may be, for example, a personal computer (PC) including a processing device, a storage device, an input device, and an output device. In this case, various processes described in the embodiment are realized by the processing device executing software stored in the storage device. The control device may be configured by a single computer, or any part of the input device, the output device, the processing device, and the storage device may be configured by another computer connected via a network. . Moreover, the function equivalent to the function configured by software can be realized by hardware such as FPGA (Field Programmable Gate Array) and ASIC (Application Specific Integrated Circuit).

An example of the low-precision speedometer 210 is an ultrasonic Doppler speedometer. The measurement principle of the ultrasonic Doppler velocimeter uses the Doppler effect as in the case of the Doppler laser, but the waves used are ultrasonic waves. Ultrasonic waves have a longer wavelength than light, are greatly attenuated, and are affected by temperature and atmospheric pressure on measured values, and thus are inferior in accuracy to Doppler lasers, but are relatively inexpensive devices. The ultrasonic Doppler velocimeter has a relatively low operating cost compared to the Doppler laser even if it is constantly operated.

FIG. 3 is a flowchart illustrating a processing sequence of the vehicle inspection device 100. First, the low-

precision speedometers

210L and 210R are always activated under the control of the control device 130. On the other hand, the Doppler laser 110 is in a state where it does not emit laser (stop or standby state) until instructed by the control device 130 (step S301). In terms of accuracy, the standby (warm-up) state is preferable. The line camera 120 is also turned off.

When the vehicle 140 moves in the direction of the arrow 150R in FIG. 2, it first enters the measurable range of the low-accuracy speedometer 210L, which detects the speed (step S302). The detected speed signal is sent to the control device 130. At this time, the control device 130 determines the traveling direction of the vehicle by identifying which of the low-

accuracy speedometers

210L and 210R has detected the speed signal.

The control device 130 activates the Doppler laser 110 and the line camera 120 upon detection of the speed of the low-accuracy speedometer 210L (step S303). This causes the Doppler laser 110 to start emitting the laser.

After that, the vehicle inspection device 100 operates in “control mode 1” under the control of the control device 130. In the control mode 1, the speed signal of the low speed speedometer 210 is recorded. Further, based on the speed signal of the low-accuracy speedometer 210, the imaging timing (for example, scan rate) of the line camera 120 is controlled to image the vehicle 140 (step S304). Although an arbitrary portion of the vehicle 140 can be selected as the image capturing location, for example, the bottom surface of the vehicle is captured. The image data captured by the line camera 120 is sent to the control device 130 and stored in the storage device.

As is well known, the moving direction resolution of the object imaged by the line camera depends on the moving speed of the object and the shortest scanning cycle of the line sensor. Therefore, in order to obtain a two-dimensional image using the line camera, it is necessary to adjust the scan rate (the time required to capture an image per line) according to the moving speed of the vehicle. In the present embodiment, in the control mode 1, the imaging timing of the line camera 120 is controlled based on the speed signal of the speedometer 210 with low accuracy.

When the vehicle 140 reaches the measurable range of the Doppler laser 110, the Doppler laser 110 starts speed detection (step S305). The speed signal detected by the Doppler laser 110 is sent to the control device 130.

The control device 130 switches from the control mode 1 to the “control mode 2” by using the speed detection of the Doppler laser 110 as a trigger. In the control mode 2, the low-accuracy speed signal of the speedometer 210 and the speed signal of the Doppler laser 110 are recorded. Further, based on the speed signal of the Doppler laser 110, the image pickup timing of the line camera 120 is controlled to pick up the image of the vehicle (step S306). The image data captured by the line camera 120 is sent to the control device 130 and stored in the storage device. The control mode may not be switched immediately after the speed of the Doppler laser 110 is detected, but may be switched after a predetermined time so that the Doppler laser 110 can perform stable measurement.

When the image of the entire vehicle 140 has been captured, the captured images are combined (step S307: described later). Whether or not the photographing is completed can be determined by eliminating the low-accuracy speed signal of the speedometer 210 or the speed signal of the Doppler laser 110 when the vehicle passes.

The above description is for the case where the vehicle 140 moves in the direction of the arrow 150R, but when the vehicle 140 moves in the direction of the arrow 150L, a low-accuracy speedometer 210L is used instead of the low-accuracy speedometer 210L. The same processing as above is performed by operating the speedometer 210R.

According to the above configuration, during the period when the Doppler laser 110 cannot measure the speed of the vehicle 140, the low-accuracy speedometer 210 measures the speed of the vehicle instead and controls the imaging timing of the line camera 120. Therefore, only one expensive Doppler laser 110 is required, and the laser light of the Doppler laser 110 is emitted only for a necessary period, so that power consumption can be reduced.

As described above, instead of controlling the image pickup timing of the line camera by the speed signal, the image pickup timing of the line camera is kept constant, and the image data and the speed signal at the time of image pickup are associated with each other to process the image synthesis. You can also deal with. However, in the latter method, the required resolution may not be obtained unless the imaging timing is set in correspondence with the assumed maximum speed. Therefore, the power consumption for imaging and the cost of the storage capacity for accumulating the captured images increase. In this embodiment, a method of controlling the image pickup timing of the line camera by the speed signal will be described.

FIG. 4 is an example of a format of image pickup data recorded by the control device 130. Identification information 401, control flag 402, imaging data (data body or address for specifying it) 403, identification information 404 of low-accuracy speedometer that has acquired the speed signal, speed signal 405 from low-accuracy speedometer, Doppler laser Items such as speed signal 406 from In addition to this, other information may be added.

The imaged data 403 is stored with the identification information 401 attached to each line data captured by the line camera. The imaging time may be recorded instead of or in addition to the identification information.

The control flag 402 is whether the image data 403 is imaged by a line camera controlled by the speed information of the low-speed speedometer 210 (that is, data in control mode 1) or controlled by the speed information of the Doppler laser 110. A distinction is made as to whether or not the image was taken by a line camera (that is, data according to control mode 2).

The speed signal 405 is a speed signal obtained by the low-accuracy speedometer 210, and the speed signal 406 is a speed signal obtained by the Doppler laser 110. Since there are two low-accuracy speedometers 210, low-accuracy speedometer identification information 404 is added to indicate which speedometer. The identification information 404 indicates, for example, the right side (R) or the left side (L). The traveling direction of the vehicle can be determined based on this information. The traveling direction of the vehicle is used to determine in which direction the measurement data of the measurement region is connected when the two-dimensional images are combined.

As described in FIG. 3, only the low-accuracy speedometer 210 operates initially and the Doppler laser 110 does not operate. Therefore, in the data of ID001 and ID002, the speed signal 406 from the Doppler laser is “n / a”. (Not applicable) ”. While the speed signal 406 from the Doppler laser is “n / a (not applicable)”, the line camera 120 is controlled by the speed signal of the speedometer 210 with low accuracy, and thus the control flag 402 indicates low accuracy. It is “Low” and is “High” indicating high accuracy after the Doppler laser 110 is activated.

Next, the synthesis processing of the captured images (step S307) will be described. If the speed of the vehicle 140 is accurately detected, one line data (measurement data of the measurement area) captured by the line camera 120 whose image capturing timing is controlled by the speed information is combined (joined) to obtain an accurate result. 2D images can be reproduced.

However, since the speed signal of the low-accuracy speedometer 210 has lower accuracy than the speed signal of the Doppler laser 110, the two values may be different as shown in FIG.

Fig. 5 shows an example of a synthesized two-dimensional image. This image represents a situation in which the lateral side of the vehicle 140 is imaged. FIG. 5A shows a two-dimensional image 510 in which the 1-line data (imaging data 403) of FIG. 4 is directly combined. Here, the area 501 is an area imaged in “control mode 1” in which the line camera is controlled by the speed signal of the low-speed speedometer 210. In this area, “Low” indicating low accuracy is added to the 1-line data as the control flag 402. The area 502 is an area imaged in the “control mode 2” in which the line camera is controlled by the speed signal of the Doppler laser 110 with high accuracy. In this area, “High” indicating high accuracy is attached to the 1-line data as the control flag 402.

If the moving speed of the subject (vehicle) and the scan rate of the camera do not match, the two-dimensional image will expand or contract from the actual one. When the scan rate is high, the scan interval becomes narrow, and an image in which the same portion is included in adjacent lines is captured, so that the image becomes an extended two-dimensional image. When the scan rate is slow, the scan interval becomes wide, and there are some parts that are not photographed, so the image becomes a contracted two-dimensional image.

In the example shown in FIG. 5A, since the speed signal of the low-accuracy speedometer 210 is slower than the actual traveling speed of the vehicle, the speed signal of the low-accuracy speedometer 210 has a slower estimated scan rate In 501, the image is a reduced two-dimensional image. In addition, in the example shown in FIG. 5A, the case where the low-accuracy speedometer 210 measures a speed slower than the actual speed is described. However, since the measurement accuracy of the low-accuracy speedometer 210 is low, an actual numerical value is obtained. It is also possible that faster speeds are measured.

FIG. 6 is a conceptual diagram in which the speed signal of the low-accuracy speedometer 210 and the speed signal of the Doppler laser 110 are graphed. The vertical axis represents speed (m / sec) and the horizontal axis represents time (sec). A dotted line 601 that is the speed signal of the low-accuracy speedometer 210 and a solid line 602 that is the speed signal of the Doppler laser 110 represent the speed signal 405 from the low-accuracy speedometer and the speed signal 406 from the Doppler laser in FIG. Corresponds to what is plotted.

Here, the control mode 1 and the control mode 2 are switched at the timing of the vertical line 603, and the image acquired in the control mode 1 is the area 501 in FIG. 5A and the image acquired in the control mode 2 is the area. It corresponds to 502. As described above, the two-dimensional image of the area 501 is distorted.

Therefore, using the speed signal 405 (dotted line 601 in FIG. 6) from the low-accuracy speedometer in control mode 1 and control mode 2 and the speed signal 406 (solid line 602 in FIG. 6) from the Doppler laser in control mode 2 , The velocity signal from the Doppler laser in the control mode 1 (dashed line 604 in FIG. 6) is estimated. Although various estimation methods are possible, generally, when a speed signal from a low-accuracy speedometer is a function of time v1 (t) and a function of speed signal time from a Doppler laser is v2 (t), the control mode is The relationship "v2 (t) = f (v1 (t))" between the two is derived from the velocity information obtained in 2, and v1 (t) obtained in the control mode 1 is substituted into the function f to obtain the value from the Doppler laser. The speed signal v2 (t) may be calculated.

As an example of the estimation method, the correction value α is defined as f (v1 (t)) = α × v1 (t), and the low-accuracy velocity signal 405 in the control mode 2 and the high value from the Doppler laser in the control mode 2 are defined. The value of the correction value α is obtained by calculating α = v2 (t) / v1 (t) from the value of the precision speed signal 406, and v2 (t) = α × from the low precision speed signal 405 in the control mode 1. There is a method of estimating v2 (t) as v1 (t).

As another example of the estimation method, the velocity v2 (t) in the control mode 1 is estimated as the value of the highly accurate velocity signal 406 from the Doppler laser at the timing when the control mode 1 is switched to the control mode 2. There is a way.

If the scale signal in the traveling direction (x direction) of the area 501 in FIG. 5A is corrected using the estimated speed signal from the Doppler laser as the true vehicle speed, a more accurate two-dimensional image 520 is obtained as shown in FIG. 5B. Is obtained. Although the above example is an example of correction of a two-dimensional plane image, the scale of the vehicle body in the moving direction (x direction) can be similarly corrected for a three-dimensional stereoscopic image.

Note that if the speed signal 405 from the low-accuracy speedometer 210 is slower than the actual speed, the scan rate may slow down, and the resolution of the corrected image may decrease. Therefore, it is desirable to adjust the measurement error of the low-accuracy speedometer so that it is shifted to the higher speed. As a specific adjustment example, it is preferable to set the speed signal of the low-accuracy speedometer 210 to be larger than the speed signal from the Doppler laser 110.

According to the embodiment described above, it is not necessary to use a plurality of expensive Doppler lasers as a speed detector, and it is not necessary to always activate the Doppler lasers, and a high-precision two-dimensional image can be obtained using a line camera. It can be obtained without image loss. The two-dimensional image can be stored in the storage device of the control device 130 or can be displayed on the image monitor which is an output device, and the user can perform inspection work using it. Alternatively, it is also possible to check the image data using artificial intelligence (AI) or the like.

In addition to line cameras, one line data is acquired in the direction perpendicular to the moving direction of the measured object, and the data is combined to obtain three-dimensional shape information. It is possible.

In the present embodiment, an example in which the low-accuracy speedometer 210 is used has been described, but this is sufficient as long as the speed can be measured, and the measuring means is not limited.

For example, a speed measuring means may be used which calculates the speed v based on the equation v = L / Δt using the time difference Δt when the vehicle sensor installed at the interval L detects the vehicle. Alternatively, a mechanical speedometer or a magnetic sensor may be used to detect the rotation speed of the rotating shaft of the vehicle. Alternatively, a signal from a speedometer included in the vehicle itself may be used.

FIG. 7 shows another embodiment. This embodiment corresponds to the embodiment 1 shown in FIG. 2 with one low-precision speedometer 210 omitted. The process when the vehicle 140 moves in the direction of the arrow 150R is the same as that in the first embodiment.

On the contrary, when the vehicle 140 moves in the direction of the arrow 150L, the Doppler laser 110 is arranged in front of the line camera 120 because there is no low-precision speedometer 210 on that side. The Doppler laser 110 is always activated, and when the vehicle 140 moves in the direction of the arrow 150L, the high-precision two-dimensional image is acquired by operating in the "control mode 2" from the beginning.

Therefore, the control device 130 activates both the low-accuracy speedometer 210 and the Doppler laser 110 in the initial state, but does not activate the line camera 120. Then, the line camera 120 is activated when the speed information of the vehicle 140 is measured by the low-accuracy speedometer 210 or the Doppler laser 110.

In the second embodiment, the Doppler laser 110 needs to be activated at all times, but one arrangement is sufficient for the same effect as in the first embodiment. Further, in the second embodiment, since only one low-accuracy speedometer 210 is required, there is a cost reduction effect. In addition, if an optical sensor or the like for detecting only the approach of the vehicle 140 is separately arranged in front of the Doppler laser 110 (to the right in the x-axis) and the Doppler laser 110 is activated by a signal from the optical sensor, the Doppler laser 110 can be activated. The laser 110 may not always be activated.

The present invention can be used for inspecting the appearance of a vehicle or the like.

Vehicle inspection device 100, Doppler laser 110, line camera 120, control device 130, vehicle 140, low-accuracy speedometer 210

Claims

A first speed measuring unit, a second speed measuring unit, a one-dimensional sensor, and a control device are provided, and the one-dimensional sensor measures a moving vehicle a plurality of times along a direction intersecting the moving direction, A vehicle inspection device for obtaining inspection information including two-dimensional or more information based on a result,
The inspection information can be acquired both when the vehicle moves in a first direction and when the vehicle moves in a second direction opposite to the first direction,
The second speed measuring means has higher accuracy than the first speed measuring means,
When the speed information of the vehicle is not measured by the second speed measuring means and the speed information of the vehicle is measured by the first speed measuring means, the control device is configured to measure the first speed. Control in a first control mode in which the measurement timing of the one-dimensional sensor is controlled by the speed information obtained by the means,
When the speed information of the vehicle is measured by the second speed measuring means, the control device controls the measurement timing of the one-dimensional sensor based on the speed information obtained by the second speed measuring means. Control in the control mode of
Vehicle inspection device.
Two of the first speed measuring means are provided,
The first speed measuring means is arranged on both sides of the second speed measuring means and the one-dimensional sensor along a moving direction of the vehicle.
The vehicle inspection device according to claim 1.
The control device is
In the initial state, the first speed measuring means is activated, and the second speed measuring means and the one-dimensional sensor are not activated,
When the speed information of the vehicle is measured by the first speed measuring means, the second speed measuring means and the one-dimensional sensor are activated.
The vehicle inspection device according to claim 2.
Only one of the first speed measuring means is provided,
The first speed measuring means and the second speed measuring means are arranged on both sides of the one-dimensional sensor along the moving direction of the vehicle.
The vehicle inspection device according to claim 1.
The control device is
In the initial state, the first speed measuring means and the second speed measuring means are activated, and the one-dimensional sensor is not activated,
The one-dimensional sensor is activated when the speed information of the vehicle is measured by the first speed measuring means or the second speed measuring means.
The vehicle inspection device according to claim 4.
The control device is
In the measurement result measured by the one-dimensional sensor, the measurement timing is controlled by the speed information obtained by the first speed measuring means, or the measurement timing is controlled by the speed information obtained by the second speed measuring means. Record what was controlled,
The vehicle inspection device according to claim 1.
The control device is
Correction processing is performed when the inspection information is obtained based on the measurement result during the first control mode,
The vehicle inspection device according to claim 6.
The control device is
The speed information obtained by the first speed measuring means and the speed information obtained by the second speed measuring means are recorded as a speed record,
Estimating the speed of the vehicle during the first control mode based on the speed record;
The correction process is performed using the estimated vehicle speed,
The vehicle inspection device according to claim 7.
The inspection information is at least one of a two-dimensional plane image and a three-dimensional stereoscopic image,
In the correction processing, the scale of at least one of a two-dimensional plane image and a three-dimensional stereoscopic image in the moving direction of the vehicle is corrected.
The vehicle inspection device according to claim 8.
The one-dimensional sensor is at least one of a line camera or a light-section camera,
The vehicle inspection device according to claim 1 or 9.
The second speed measuring means is a Doppler laser,
The vehicle inspection device according to claim 1.
The speed information obtained by the first speed measuring means is adjusted so as to show a larger speed than the speed information obtained by the second speed measuring means,
The vehicle inspection device according to claim 1.
The control device is
It is determined whether the vehicle is moving in the first direction or the second direction based on the speed information obtained by the first speed measuring means.
The vehicle inspection device according to claim 1.
Using the first speed measuring means, the second speed measuring means, and the one-dimensional sensor, the one-dimensional sensor measures a moving vehicle a plurality of times along a direction intersecting the moving direction, and based on the measurement result. A vehicle inspection method for obtaining inspection information including two-dimensional or more information,
The inspection information can be acquired both when the vehicle moves in a first direction and when the vehicle moves in a second direction opposite to the first direction,
The second speed measuring means has higher accuracy than the first speed measuring means,
A first step of activating the first speed measuring means and keeping the second speed measuring means and the one-dimensional sensor inactive.
A second step of activating the second speed measuring means and the one-dimensional sensor when the first speed measuring means detects the speed of the vehicle;
A first control mode in which the speed information obtained by the first speed measuring means is recorded and the measurement timing of the one-dimensional sensor is controlled by the speed information obtained by the first speed measuring means to perform measurement. A third step of executing
When the second speed measuring means detects the speed of the vehicle, the speed information obtained by the first speed measuring means and the speed information obtained by the second speed measuring means are recorded, and A fourth step of executing a second control mode, in which the measurement timing of the one-dimensional sensor is controlled by the speed information obtained by the second speed measuring means to perform measurement;
Vehicle inspection method to perform.
A fifth one of obtaining at least one of a two-dimensional plane image and a three-dimensional stereoscopic image, which is inspection information including two-dimensional or more information, based on the measurement results measured in the first control mode and the second control mode. The steps of
In the fifth step,
Using the speed information obtained by the first speed measuring means and the speed information obtained by the second speed measuring means measured in the first control mode and the second control mode, the two-dimensional plane Correcting the scale of at least one of the image or the three-dimensional stereoscopic image in the moving direction of the vehicle,
The vehicle inspection method according to claim 14.