JP7096101B2 - Vehicle-mounted road surface height measuring device - Google Patents

Description

The present invention relates to a vehicle-mounted road surface height measuring device for measuring the height of each part of the road surface on which the vehicle is mounted and travels by the optical cutting method.

Conventionally, the height of each part of the road surface has been measured by a road surface height measuring device mounted on the vehicle. In this type of vehicle-mounted road surface height measuring device, the height of each part of the road surface is measured by an optical cutting method.

The present applicant discloses Japanese Patent Application Laid-Open No. 2015-49086 (Patent Document 1) for a vehicle-mounted road surface height measuring device.

The vehicle-mounted road surface height measuring device shown in Patent Document 1 is shown in FIGS. 10 and 11. 10 is a side view of the vehicle, and FIG. 11 is a rear view of the vehicle.

As shown in FIGS. 10 and 11, while the vehicle 1 ″ is running, the slit light projectors located at the rear of the vehicle 1 ″ and attached to the left and right working arms 10 and 11 in the width direction of the vehicle body, respectively. The slit lasers 100a and 110a are projected from 100 and 110 perpendicularly to the road surface to be measured. As a result, a linear marker 112 as a light cutting line parallel to the transverse direction of the road surface is formed on the road surface by irradiation with the slit lasers 100a and 110a. The two slit light projecting units 100 and 110 secure an irradiation range of the linear marker 112 as a light cutting line having a predetermined width along the transverse direction of the road surface.

On the other hand, there are photographing units 101 and 111 composed of area cameras on the left and right sides in the width direction of the vehicle body, which are further behind the mounting positions of the slit light projecting units 100 and 110 at the rear of the vehicle 1 ″. It is attached. While the vehicle 1 ″ is traveling, the left and right photographing units 101 and 111 photograph the linear marker 112 as the optical cutting line. The left and right photographing units 101 and 111 photograph the left and right sides of the linear marker 112 as the optical cutting line to be measured with the photographing ranges 101a and 111a, respectively. The two imaging units 101 and 111 secure an imaging range having a predetermined width along the transverse direction of the road surface.

The linear marker 112 as a light cutting line generated on the road surface has a characteristic that the position is displaced in the horizontal direction (longitudinal direction of the road surface) according to the height of the road surface to be measured. Therefore, based on the displacement profile of the linear marker 112 as the optical cutting line in the captured image, the height distribution in the road surface crossing direction corresponding to the linear marker 112 as the optical cutting line can be calculated. By repeatedly measuring the displacement profile of the linear marker 112 as an optical cutting line while moving the vehicle 1 ″ while moving the position in the longitudinal direction of the road surface to be measured little by little, the height in the road surface to be measured is measured. The displacement distribution can be obtained.

Japanese Patent No. 5823021 (Patent Document 2) describes a configuration in which a plurality of laser scanners and a plurality of cameras are mounted on the roof of a vehicle with respect to a mobile mapping system. The camera and laser scanner are mounted on the roof so that the shooting direction of the camera and the oscillating direction of the laser are oriented horizontally.

JP-A-2015-49086 Japanese Patent No. 5823021

As shown in Patent Document 1 (Japanese Patent Laid-Open No. 2015-49086), a slit is provided in the rear portion of the vehicle 1 ″ in order to secure an irradiation range of the linear marker 112 as an optical cutting line having a predetermined width. A plurality of (two) light projecting units 100 and 110 are attached. Further, in order to secure a shooting range having a predetermined width along the crossing direction of the road surface, a plurality of (two) shooting units 101 and 111 are attached.

8 and 9 show a case where the road surface height measuring device is configured by one slit light projecting unit 100 and one photographing unit 101. FIG. 8 is a side view of the vehicle, and FIG. 9 is a rear view of the vehicle.

As shown in FIGS. 8 and 9, in order to secure the linear marker 112 as a light cutting line having a width D along the transverse direction of the road surface with only one slit light projecting unit 100, One slit light projecting unit 100 must be installed at a high position on the roof of the vehicle 1'. Similarly, in order to secure the shooting range of the width DL along the crossing direction of the road surface with only one shooting unit 101, one shooting unit 101 is attached to a high position on the roof of the vehicle 1'. I have no choice but to do it.

This is because, assuming that the spread angle (divergence angle) of the slit laser is the same, only one slit light projecting unit can use a linear marker 112 as a light cutting line having the same width along the transverse direction of the road surface. This is because, in order to secure it, one slit light projecting unit must be installed at a higher position on the vehicle. Similarly, assuming that the angle of view of the lens of the shooting unit (camera) is the same, in order to secure a shooting range of the same width along the crossing direction of the road surface with only one shooting unit, one shooting unit is used. This is because the part has to be installed at a higher position on the vehicle.

If the angle of view of the lens of the shooting unit (camera) is wide and the spread angle (divergence angle) of the slit laser is wide, one shooting unit and one slit light projection can be placed at a low position on the vehicle. It is possible to secure the required shooting range and laser irradiation range by attaching the unit.

However, widening the angle of view of the lens of the photographing unit (camera) has the disadvantages of distorting the image and reducing the amount of peripheral light. Further, if the spread angle (divergence angle) of the slit laser is widened, the incident angle of the laser end to the road surface becomes shallow, and there is a demerit that the reflected light becomes weak.

If the slit light projecting unit 100 and the photographing unit 101 cannot be mounted at a low position on the roof of the vehicle 1', the degree of freedom of mounting the vehicle is limited. Further, on the roof of the vehicle 1', the height of the frame 90 for supporting the slit light projecting unit 100 and the photographing unit 101 becomes high, which causes a problem that the space of the frame 90 becomes large. This may hinder the running of the vehicle 1'.

The present invention has been made in view of these circumstances, and the slit light projection unit and the photographing unit constituting the road surface height measuring device can be mounted at a low position on the roof of the vehicle and mounted on the vehicle. The challenge is to improve the degree of freedom of. Another object of the present invention is to reduce the height of the frame for supporting the slit light projecting portion and the photographing portion on the roof of the vehicle, and to reduce the field area of the frame.

The first invention comprises a slit light projecting unit that is attached to a vehicle and emits slit light that spreads in a transverse direction of the road surface in a direction horizontal to or substantially horizontal to the road surface, and the vehicle. A first mirror and a first mirror that are attached and reflect downward the slit light projected from the slit light projection unit to irradiate the road surface with the slit light that spreads in the transverse direction of the road surface. A second mirror mounted on the rear or front of the vehicle and reflecting an image of slit light radiated on the road surface, and a slit mounted on the vehicle and reflected on the second mirror. It is a vehicle-mounted road surface height measuring device including a photographing unit that captures an image of light from a direction horizontal to the road surface or a direction substantially horizontal to the road surface.

A second aspect of the present invention comprises a frame mounted on the roof of the vehicle, wherein the slit light projection unit, the first mirror, the second mirror, and the photographing unit are outside the frame. It is characterized in that it is attached to the frame so as to fit within the frame.

The third invention is characterized in that, in the first invention or the second invention, the frame is mounted on the roof carrier of the vehicle.

According to the fourth aspect of the present invention, in any one of the first to third inventions, the slit light projecting unit is attached to the vehicle so as to project the slit light toward the rear of the vehicle, and the first aspect is described. The mirror is attached to the vehicle so as to irradiate the vehicle with slit light perpendicularly to the road surface from above, and the second mirror is located behind the vehicle with respect to the attachment position of the first mirror. The photographing unit is attached to the vehicle so as to be located in front of the vehicle with respect to the attachment position of the second mirror.

In the fifth aspect of the invention, in any one of the first to fourth inventions, the pair of the slit light projection unit and the first mirror is attached to either the high position or the low position of the frame. The second mirror and the photographing unit are attached to the other positions of the high position and the low position of the frame.

According to the present invention, one slit light projecting unit can be mounted at a low position on the roof of the vehicle. Moreover, it is possible to secure the irradiation range of the linear marker as the optical cutting line having the same width as that of the conventional technique. Similarly, one photographing unit can be attached to a low position on the roof of the vehicle 1. Moreover, it is possible to secure a shooting range having the same width as that of the conventional technique.

Since the slit light projection unit and the photographing unit can be mounted at a low position on the roof of the vehicle, the degree of freedom in mounting the vehicle is significantly improved.

On the roof of the vehicle, the height of the frame for supporting the slit light projecting portion and the photographing portion can be lowered, and the field area of the frame can be reduced.

FIG. 1 is a diagram showing a vehicle-mounted road surface height measuring device according to an embodiment, and is a side view of the vehicle. FIG. 2 is a diagram showing a vehicle-mounted road surface height measuring device according to an embodiment, and is a rear view of the vehicle. FIG. 3 is a view of the frame as viewed from the lower surface, and is a view of the frame portion at the low position as viewed from the lower surface, omitting the frame portion at the high position. FIG. 4 is a view of the frame viewed from the lower surface, and is a view of the frame portion at the high position viewed from the lower surface, omitting the frame portion at the low position. FIG. 5 is a perspective view showing the positional relationship between the slit light projecting portion, the first mirror, and the road surface. FIG. 6 is a perspective view showing the positional relationship between the photographing unit, the second mirror, and the road surface. FIG. 7 is a view showing another embodiment and is a side view of the vehicle. FIG. 8 is a diagram illustrating the prior art and is a side view of the vehicle. FIG. 9 is a diagram illustrating the prior art and is a rear view of the vehicle. FIG. 10 is a diagram illustrating the prior art and is a side view of the vehicle. FIG. 11 is a diagram illustrating the prior art and is a rear view of the vehicle.

Hereinafter, embodiments of the vehicle-mounted road surface height measuring device according to the present invention will be described with reference to the drawings.

The vehicle-mounted road surface height measuring device of the embodiment is shown in FIGS. 1 and 2. FIG. 1 is a side view of the vehicle, and FIG. 2 is a rear view of the vehicle.

As shown in FIGS. 1 and 2, the road surface height measuring device 20 is mounted on the vehicle 1. The road surface height measuring device 20 is a device for measuring the height of each part of the road surface on which the vehicle 1 travels by the optical cutting method.

The road surface height measuring device 20 includes a frame 80, a slit light projecting unit 100, a first mirror 30, a second mirror 40, and a photographing unit 101.

The frame 80 is mounted on the roof of the vehicle 1 and is formed in a rectangular shape when viewed from the upper surface of the vehicle 1. The frame 80 is mounted on the roof carrier 13 of the vehicle 1. The frame 80 is mounted on the roof carrier 13 of the vehicle 1, and its width is within the width of the vehicle 1. Further, the frame 80 is mounted on the roof carrier 13 of the vehicle 1, and at least the front side from the center is on the roof of the vehicle 1, and the remaining rear side thereof projects rearward from the roof of the vehicle 1.

As the roof carrier 13, for example, a commercially available product of a type that is sandwiched between the left and right ends of the roof of the vehicle 1 can be used.

The frame 80 can be assembled, for example, by using a commercially available aluminum square pipe with fastening and fixing members such as bolts, nuts, and brackets. The frame 80 includes a high-position frame portion 81 and a low-position frame portion 82. The high-position frame portion 81 and the low-position frame portion 82 are connected by, for example, a bracket.

3 and 4 are views of the frame 80 as viewed from the bottom surface. FIG. 3 is a view of the low-position frame portion 82 as viewed from the lower surface, omitting the high-position frame portion 81. FIG. 4 is a view of the high-position frame portion 81 as viewed from the lower surface, omitting the low-position frame portion 82.

The slit light projecting unit 100, the first mirror 30, the second mirror 40, and the photographing unit 101 are attached to the frame 80 so as to fit within the outer frame of the frame 80.

A pair of the slit light projection unit 100 and the first mirror 30 is attached to the low-position frame portion 82 of the frame 80, and the second mirror 40 and the photographing unit are attached to the high-position frame portion 81 of the frame 80. A set of 101 is attached.

As shown in FIG. 3, a horizontal frame member 83 whose vehicle width direction is the longitudinal direction of the vehicle 1 is bridged over the frame portion 82 at the low position.

The slit light projection unit 100 is attached to the horizontal frame member 83.

In the low-position frame portion 82, a square pipe 84 whose vehicle width direction is the longitudinal direction of the vehicle 1 is interposed at the rear position of the vehicle 1 from the mounting position of the horizontal frame member 83 via the left and right brackets 85L and 85R. It is connected to the left and right inside of the frame portion 82.

Of the outer surfaces of the square pipe 84, the outer surface 84a facing the front lower side of the vehicle 1 is equipped with a rectangular first mirror 30 in which the vehicle width direction of the vehicle 1 is the longitudinal direction. That is, the first mirror 30 is attached to the frame portion 82 at a position rearward of the vehicle 1 rather than the attachment position of the slit light projecting portion 100.

As shown in FIG. 4, in the frame portion 81 at a high position, a square pipe 86, which is located behind the vehicle 1 from the mounting position of the square pipe 84 and whose vehicle width direction is the longitudinal direction, is a left and right bracket. It is connected to the left and right inside of the frame portion 81 via 87L and 87R.

Of each outer surface of the square pipe 86, a rectangular second mirror 40 whose vehicle width direction is the longitudinal direction of the vehicle 1 is attached to the outer surface 86a facing the front lower side of the vehicle 1. That is, the second mirror 40 is attached to the frame portion 81 at a position rearward of the vehicle 1 with respect to the attachment position of the first mirror 30.

A horizontal frame member 88 whose vehicle width direction is the longitudinal direction of the vehicle 1 is bridged to the frame portion 81 at a high position at a position in front of the vehicle 1 from the mounting position of the square pipe 86.

A photographing unit 101 is attached to the horizontal frame member 88. That is, the photographing unit 101 is attached to the frame portion 81 at a high position at a position in front of the vehicle 1 rather than the attachment position of the second mirror 40.

FIG. 5 is a perspective view showing the positional relationship between the slit light projecting unit 100, the first mirror 30, and the road surface. FIG. 6 is a perspective view showing the positional relationship between the photographing unit 101, the second mirror 40, and the road surface.

As shown in FIG. 5, the slit light projecting unit 100 projects a slit laser 100a as slit light toward the rear of the vehicle 1. The slit light projecting unit 100 projects a slit laser 100a as slit light that spreads in the transverse direction of the road surface in a direction horizontal to the road surface. The crossing direction of the road surface is defined as a direction orthogonal to the traveling direction of the vehicle 1. The attachment posture and attachment position of the slit light projection unit 100 to the horizontal frame member 83 are adjusted so that such light projection is realized. The light projection direction of the slit laser 100a does not necessarily have to be a completely horizontal direction, but may be a substantially horizontal direction.

Further, the slit light projecting unit 100 may be any as long as it can project the slit light, and does not necessarily have to be laser light.

The first mirror 30 irradiates the slit laser 100a, which is projected horizontally from the slit light projecting unit 100, from above perpendicular to the road surface. The first mirror 30 reflects the slit laser 100a projected from the slit light projecting unit 100 downward, and irradiates the road surface with the slit laser 100a spreading in the transverse direction of the road surface. The mounting posture and mounting position of the square pipe 84 on the frame portion 82 are adjusted so that such laser irradiation is realized.

As a result, a linear marker 112 as a light cutting line parallel to the transverse direction of the road surface is formed on the road surface by irradiation with the slit laser 100a. As in the prior art, one slit light projecting unit 100 secures a linear marker 112 as a light cutting line having a predetermined width D along the transverse direction of the road surface.

In FIG. 6, the photographing range of the photographing unit 101 is shown by the broken line 101a. As shown in FIG. 6, the second mirror 40 projects a linear marker 112 as a light cutting line parallel to the transverse direction of the road surface, that is, an image 112 ′ of the slit light irradiated on the road surface. The second mirror 40 projects the image 112'of the slit light from diagonally behind the road surface. The mounting posture and mounting position of the square pipe 86 to the frame portion 81 are adjusted so that such a mirror image is realized.

The photographing unit 101 photographs the image 112'of the slit light reflected on the second mirror 40 from a direction horizontal to the road surface. The mounting posture and mounting position of the photographing unit 101 on the horizontal frame member 88 are adjusted so that such photographing is realized. The photographing direction of the photographing unit 101 does not necessarily have to be a completely horizontal direction, and may be a substantially horizontal direction.

The photographing unit 101 may be capable of photographing the image 112'of the slit light reflected on the second mirror 40, and for example, an area camera can be used.

Therefore, according to the principle of the optical cutting method, if the road surface is flat along the crossing direction of the road surface, the photographing unit 101 photographs the linear marker 112 as a straight line and makes the road surface uneven along the crossing direction of the road surface. If there is, the linear marker 112 is photographed as a distorted one with irregularities.

A single photographing unit 101 secures a photographing range of a predetermined width DL along the transverse direction of the road surface as in the prior art.

The measuring unit (not shown) takes in the shooting data from the shooting unit 101, and also takes in the data of the position and the vehicle speed of the vehicle 1 to measure the height distribution of the road surface.

The linear marker 112 as a light cutting line generated on the road surface has a characteristic that the position is displaced in the horizontal direction (longitudinal direction of the road surface) according to the height of the road surface to be measured. Therefore, based on the displacement profile of the linear marker 112 as the optical cutting line in the captured image captured by the photographing unit 101, the height distribution in the road surface crossing direction corresponding to the linear marker 112 as the optical cutting line is obtained. Can be calculated. The height distribution in the road surface crossing direction can be calculated from the imaging data acquired from the imaging unit 101.

By repeatedly measuring the displacement profile of the linear marker 112 as an optical cutting line while moving the vehicle 1 while moving the position in the longitudinal direction of the road surface to be measured little by little, the height distribution in the road surface to be measured is measured. Can be obtained. The vertical longitudinal position of the road surface can be calculated based on the position data acquired from the GPS (Global Positioning System) mounted on the vehicle 1 and the vehicle speed acquired from the vehicle speed sensor. The height distribution in the road surface to be measured can be calculated by matching the vertical longitudinal direction position of the road surface with the height distribution in the road crossing direction.

The above-mentioned measuring unit may be mounted on the vehicle 1 or may be provided outside the vehicle 1.

Comparing the road surface height measuring device 20 of the embodiment shown in FIGS. 1 and 2 with the conventional technique described with reference to FIGS. 8, 9 and 10, the following effects of the embodiment can be obtained.

According to this embodiment, one slit light projecting unit 100 can be attached to a low position on the roof of the vehicle 1. Moreover, it is possible to secure the irradiation range of the linear marker 112 as an optical cutting line having the same width D as in the prior art. Similarly, one photographing unit 101 can be attached to a low position on the roof of the vehicle 1. Moreover, it is possible to secure a shooting range of DL having the same width as that of the conventional technique.

Since the slit light projection unit 100 and the photographing unit 101 can be mounted at a low position on the roof of the vehicle 1, the degree of freedom in mounting the vehicle is significantly improved.

On the roof of the vehicle 1, the height of the frame 80 for supporting the slit light projecting unit 100 and the photographing unit 101 can be lowered, and the space of the frame 80 can be reduced. It is only necessary to install one slit light projecting unit 100, and it is not necessary to install a plurality of slit light projecting units. Similarly, it is only necessary to install one photographing unit 101, and it is not necessary to install a plurality of photographing units. Therefore, it is possible to simplify the device configuration, such as eliminating the need for adjustment between a plurality of devices.

In the present embodiment, the second mirror 40 is attached to the rear of the vehicle 1 with respect to the attachment position of the first mirror 30, and the image 112'of the slit light irradiated on the road surface is projected from diagonally behind the road surface. I am doing it.

However, as shown in FIG. 7, there is also an embodiment in which the second mirror 40 is attached to the front of the vehicle 1 with respect to the attachment position of the first mirror 30, and the image of the slit light irradiated on the road surface is projected from the front. It is possible.

Further, in the present embodiment, the frame 80 is attached to the vehicle 1 so as to project rearward from the roof of the vehicle 1, and the slit light projection unit 100, the first mirror 30, the second mirror 40, and the photographing unit 101 are used. Is located behind the vehicle 1.

However, depending on the type of vehicle, the frame 80 is attached to the vehicle 1 so as to project forward from the roof of the vehicle 1, and the slit light projection unit 100, the first mirror 30, the second mirror 40, and the photographing unit are attached. An embodiment in which the 101 and the vehicle 1 are arranged in front of the vehicle 1 is also possible.

1 Vehicle 20 Road surface height measuring device 30 First mirror 40 Second mirror 80 Frame 100 Slit light projection unit 101 Imaging unit

Claims (5)

A slit light projecting unit that is attached to a vehicle and projects slit light that spreads in a transverse direction of the road surface in a horizontal direction or a substantially horizontal direction with respect to the road surface.
A first mirror attached to the vehicle, reflecting the slit light downward from the slit light projecting unit, and irradiating the road surface with the slit light spreading in the transverse direction of the road surface.
A second mirror that is attached to the rear or front of the vehicle with respect to the attachment position of the first mirror and projects an image of slit light radiated to the road surface.
A vehicle-mounted road surface height measuring device provided with a photographing unit that captures an image of slit light mounted on the vehicle and reflected on the second mirror from a direction horizontal to the road surface or a direction substantially horizontal to the road surface. .. With a frame mounted on the roof of the vehicle
The vehicle mounting unit according to claim 1, wherein the slit light projection unit, the first mirror, the second mirror, and the photographing unit are attached to the frame so as to fit within the outer frame of the frame. Road height measuring device. The vehicle-mounted road surface height measuring device according to claim 1 or 2, wherein the frame is mounted on the roof carrier of the vehicle. The slit light projecting unit is attached to the vehicle so as to project the slit light toward the rear of the vehicle.
The first mirror is attached to the vehicle so as to irradiate the slit light from above perpendicular to the road surface.
The second mirror is attached to the vehicle so as to be located behind the vehicle with respect to the mounting position of the first mirror.
The vehicle mounting road surface height according to any one of claims 1 to 3, wherein the photographing unit is mounted on the vehicle so as to be located in front of the vehicle with respect to the mounting position of the second mirror. Measuring device. The pair of the slit light projector and the first mirror is attached to one of the high position and the low position of the frame, and the high position and the low position of the frame are located at the other position. The vehicle-mounted road surface height measuring device according to any one of claims 1 to 4, wherein a set of a second mirror and the photographing unit is attached.

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