JPH0262161B2 - - Google Patents
Info
- Publication number
- JPH0262161B2 JPH0262161B2 JP20572384A JP20572384A JPH0262161B2 JP H0262161 B2 JPH0262161 B2 JP H0262161B2 JP 20572384 A JP20572384 A JP 20572384A JP 20572384 A JP20572384 A JP 20572384A JP H0262161 B2 JPH0262161 B2 JP H0262161B2
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- color
- illumination light
- camera
- road
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Vehicle Body Suspensions (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は作業車を低速運転しながら、舗装道
路の路面段差を検知する方法に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method of detecting a road surface level difference on a paved road while driving a work vehicle at low speed.
従来、道路を低速走行する作業車（図示せず）
に路面撮影用のカメラＣと、このカメラ直下の路
面部分を片方から斜めに照明する１個の投光器Ｓ
とからなる照明撮影装置を第３図のようにセツト
し、片側１個の投光器Ｓで路面部分を照明し、こ
の照明路面部分を真上から前記カメラＣにより連
続的或いは一定間隔ごとに撮影して路面段差Ｈを
検知する方法は知られている。
Conventionally, a work vehicle that travels at low speed on the road (not shown)
A camera C for photographing the road surface and a floodlight S that illuminates the road surface directly below the camera diagonally from one side.
An illumination photographing device consisting of the following is set up as shown in Fig. 3, one floodlight S is used on each side to illuminate the road surface, and the illuminated road surface is photographed from directly above by the camera C continuously or at regular intervals. A method of detecting a road surface level difference H is known.
しかしながら、前記従来法によると、第３図左
側例のように路面段差Ｈが照明された場合には路
面段差Ｈが細線Ｌとして撮影され（全く写らない
場合も生じる）、また第３図右側例のように照明
された場合には路面段差Ｈの影となる部分ｇが帯
線Ｇとして撮影されることになり、このような帯
線Ｇや細線Ｌは路面のクラツク（幅の広いクラツ
クと幅の狭いクラツク）を真上からカメラ撮影し
た場合にも生じるので、前記帯線Ｇ及び細線Ｌの
撮像を見ただけでは路面のクラツクであるか段差
であるかを識別することができない問題があつ
た。
However, according to the conventional method, when the road surface step H is illuminated as in the example on the left side of FIG. 3, the road surface step H is photographed as a thin line L (sometimes it does not appear at all), In the case of illumination like this, the part g that is the shadow of the road surface step H will be photographed as a band line G, and such a band line G or thin line L will show the cracks on the road surface (wide cracks and wide cracks). This also occurs when a camera photographs a narrow crack (such as a narrow road) from directly above, so there is a problem in that it is not possible to distinguish whether it is a road crack or a step just by looking at the images of the striped line G and thin line L. Ta.
この発明は前記従来法の問題点を解決するため
に、カメラ直下の路面部分を一対の異色投光器
（別色の光を発する投光器）により照明光がラツ
プするようにカラー照明し、路面段差部において
一方の照明光で段差の影となる部分が他方の照明
光で原色（他方の照明光色）を呈し、周辺の照明
光ラツプ領域は２色の照明光が混色した中間色を
呈するようにして、この照明路面部分を真上から
カメラにより連続的或いは一定間隔ごとにカラー
撮影することを特徴とするものである。
In order to solve the problems of the conventional method, the present invention provides color illumination of the road surface directly below the camera using a pair of different color projectors (projectors that emit light of different colors) so that the illumination light overlaps. The part that becomes the shadow of the step under one illumination light exhibits a primary color (the color of the other illumination light) under the other illumination light, and the surrounding illumination light lap area exhibits an intermediate color that is a mixture of two colors of illumination light. This method is characterized in that the illuminated road surface portion is photographed in color from directly above by a camera continuously or at regular intervals.
この路面段差の検知方法によると、路面段差部
の一方の照明光で影となる部分と、周辺の照明光
ラツプ部分とが異なつた色で撮影され、また路面
クラツク（例えば幅の広いクラツク）の場合には
一方の照明光で影となるクラツク片側部分と、他
方の照明光で影となるクラツク片側部分とが２色
の照明光色で撮影されると共に、周辺の照明光ラ
ツプ領域は２色の照明光が混色した中間色として
撮影されることになるので、この撮像を見ること
によつて路面の段差とクラツクを区別した路面段
差の検知を行なうことができる。 According to this road surface step detection method, the portion of the road surface step that is shadowed by one side of the illumination light and the surrounding illumination light lap portion are photographed in different colors, and road surface cracks (for example, wide cracks) are photographed in different colors. In this case, one side of the crack that becomes a shadow under one illumination light and one side of the crack that becomes a shadow under the other illumination light are photographed using two colors of illumination light, and the surrounding illumination light wrap area is photographed using two colors. Since the illumination light is photographed as a mixed intermediate color, by looking at this image, it is possible to detect a road surface difference by distinguishing between a road surface difference and a crack.
以下、この発明の一実施例を第１図，第２図の
図面に従い説明すると、この路面段差の検知方法
は道路を低速走行可能な作業車Ａに、路面撮影用
のカメラＣ（路面を一定間隔ごとに撮影する通常
のカメラと、路面を連続的に撮影する映写用カメ
ラの両方を含む）と、このカメラ直下の路面部分
を前後又は左右両側方から別色の光で照明光がラ
ツプするようにカラー照明する一対の異色投光器
S1，S2（例えば赤色の照明光を出す投光器S1と、
緑色の照明光を出す投光器S2とからなる照明撮影
装置Ｂを適当組セツトする。
An embodiment of the present invention will be described below with reference to the drawings in FIGS. 1 and 2. This road surface step detection method uses a work vehicle A that can travel on the road at low speed, and a camera C for photographing the road surface. (including both regular cameras that take pictures at intervals and projection cameras that take continuous pictures of the road surface), and illumination light that wraps the road surface directly under this camera with different colored light from the front, back, left and right sides. A pair of unique color floodlights that provide color illumination
S 1 , S 2 (for example, a floodlight S 1 that emits red illumination light,
An appropriate set of illumination photographing device B consisting of a floodlight S2 that emits green illumination light is set.
第１図は作業車Ａの後方取付フレームに、複数
組例えば３組の照明撮影装置Ｂを車両進方向に対
して直交する方向（車幅方向）に離間させてセツ
トした装置例を示し、この各照明撮影装置Ｂの異
色投光器S1，S2は車両進行方向に対し前後に
1.5m位の間隔を離してカメラ直下の路面部分を
照明できるように取付けられている。 Fig. 1 shows an example of a device in which a plurality of sets, for example, three sets of illumination photographing devices B are set on the rear mounting frame of a working vehicle A, spaced apart in a direction perpendicular to the direction of vehicle travel (vehicle width direction). The different color floodlights S 1 and S 2 of each lighting and photographing device B are arranged in front and behind the direction of vehicle travel.
They are installed at a distance of about 1.5m so that they can illuminate the road surface directly below the camera.
なお、この照明撮影装置Ｂは車両進行方向に対
して直交する左右方向に異色投光器S1，S2が位置
するように、車両前後方向に離間させて複数組セ
ツトする場合もある。 It should be noted that a plurality of sets of the illumination photographing apparatus B may be set apart from each other in the longitudinal direction of the vehicle so that the different color projectors S 1 and S 2 are located in the left and right directions perpendicular to the direction of vehicle movement.
而して、この発明の路面段差検知方法は前記作
業車Ａを低速で道路運転しながら異色の投光器
S1，S2で路面を第１図のようにカラー照明し、こ
の照明路面部分を真上からカメラＣにより連続的
に或いは一定間隔ごとにカラー撮影して、路面の
段差Ｈ部分を検知することを特徴とするもので、
前記路面に第１図のような段差Ｈがある場合に
は、この段差部Ｈに対して前後両側方より別色の
カラー照明光が当てられることにより、一方の照
明光（一方の投光器S2による照明光）で段差Ｈの
影となる部分ｇが他方の照明光（他方の投光器S1
による照明光）で原色（実施例の場合には赤色）
を呈し、周辺の照明光ラツプ部分イ，ロは２色の
照明光が混色した中間色（実施例の場合には赤
色，緑色の照明光が混色した黄色）を呈するよう
になり、この変色照明の路面部分を真上からカメ
ラＣでカラー撮影すると、第２図ｇ及びイ，ロで
示す部分が、その通りの色（赤，黄色）で写るこ
とになるから、この撮像を見ることによつて路面
段差Ｈを検知することができる。また、前記路面
に比較的幅の広いクラツクがある場合には、この
路面クラツクに対して両側方より別色のカラー照
明光が当てられることにより、一方の照明光で影
となるクラツク片側部分と、他方の照明光で影と
なるクラツク片側部分とが２色の照明光色で撮影
（クラツク中央部分は黒く撮影）されると共に、
周辺の照明光ラツプ領域は２色の照明光が混色し
た中間色として撮影されることになるので、この
クラツク撮像と路面段差の撮像を比較して見れば
路面の段差かクラツクかの区別は容易に判定する
ことができる。 Accordingly, the method for detecting a road surface level difference according to the present invention is such that while the work vehicle A is driving on the road at low speed, a unique floodlight is detected.
The road surface is illuminated in color with S 1 and S 2 as shown in Figure 1, and the illuminated road surface is photographed in color from directly above using camera C, either continuously or at regular intervals, to detect the step H on the road surface. It is characterized by
When there is a step H on the road surface as shown in FIG. The part g that becomes the shadow of the step H is the illumination light of the other side (the other floodlight S 1
illumination light) in a primary color (red in the example)
The surrounding illumination light lap parts A and B now exhibit an intermediate color that is a mixture of two colors of illumination light (in the case of the example, yellow that is a mixture of red and green illumination lights), and this color-changing illumination If you take a color photograph of the road surface from directly above with camera C, the parts shown in Figure 2 g, a, and b will be photographed in the correct colors (red, yellow). Road surface level difference H can be detected. In addition, if there is a relatively wide crack on the road surface, illumination light of a different color is applied to the road crack from both sides, so that one side of the crack is shaded by one illumination light. , one side of the crack, which is shadowed by the other illumination light, is photographed using two colors of illumination light (the central part of the crack is photographed in black),
The surrounding illumination light lap area will be photographed as an intermediate color that is a mixture of two colors of illumination light, so if you compare this crack image with the image of a road surface difference, it will be easy to distinguish whether it is a road difference or a crack. can be determined.
また、前記投光器S1，S2によるカラー照明に際
して、路面段差Ｈの部分を路面に対して45度の傾
斜角度で照明し、その真上からカメラＣにより撮
影した場合には一方の照明光で影となる部分ｇの
影長さが路面段差Ｈの高さと同じになるので、他
方の照明光で原色に撮影される部分ｇの帯幅を測
れば路面段差Ｈの高さも測定することが可能とな
る。 Furthermore, when color illuminating by the floodlights S 1 and S 2 , if the road surface step H is illuminated at an angle of inclination of 45 degrees with respect to the road surface, and the camera C is photographed from directly above it, one of the illumination lights is used. Since the shadow length of the part g that becomes a shadow is the same as the height of the road step H, it is possible to measure the height of the road step H by measuring the band width of the part g photographed in primary colors using the other illumination light. becomes.
第１図はこの発明の路面段差検知方法を示す説
明図、第２図は路面のカラー照明状態を示す平面
図、第３図は従来法を示す説明図である。
Ａ……作業車、Ｃ……カメラ、S1，S2……異色
投光器、Ｈ……路面段差、ｇ……一方の照明光で
影となる部分、イ，ロ……照明光のラツプ領域。
FIG. 1 is an explanatory diagram showing the road surface level difference detection method of the present invention, FIG. 2 is a plan view showing the state of color illumination of the road surface, and FIG. 3 is an explanatory diagram showing the conventional method. A...Work vehicle, C...Camera, S1 , S2 ...Different color floodlights, H...Road surface level, g...Shadow area caused by one illumination light, A, B...Lap area of illumination light .
Claims (1)
カメラと、このカメラ直下の路面部分を前後又は
左右両側方から別色の光で照明光がラツプするよ
うにカラー照明する一対の異色投光器とからなる
照明撮影装置を適当組セツトし、前記作業車を低
速運転しながら異色の投光器で路面部分をカラー
照明し、この照明路面部分を真上からカメラによ
り連続的或いは一定間隔ごとにカラー撮影して、
路面の段差を検知することを特徴とする路面段差
の検知方法。1. A work vehicle capable of traveling at low speeds on the road is equipped with a camera for photographing the road surface, and a pair of different color floodlights that illuminate the road surface directly below the camera with different colors of light so that they wrap around the road surface from both the front and rear, left and right sides. An appropriate set of lighting and photographing equipment is set up, and while the work vehicle is driven at low speed, the road surface is illuminated in color with different colored floodlights, and the illuminated road surface is photographed in color from directly above with a camera continuously or at regular intervals. hand,
A road surface step detection method characterized by detecting a road surface step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20572384A JPS6182106A (en) | 1984-09-28 | 1984-09-28 | Detecting method of road surface difference |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20572384A JPS6182106A (en) | 1984-09-28 | 1984-09-28 | Detecting method of road surface difference |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6182106A JPS6182106A (en) | 1986-04-25 |
| JPH0262161B2 true JPH0262161B2 (en) | 1990-12-25 |
Family
ID=16511612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20572384A Granted JPS6182106A (en) | 1984-09-28 | 1984-09-28 | Detecting method of road surface difference |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6182106A (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01237441A (en) * | 1987-11-17 | 1989-09-21 | Hitachi Cable Ltd | Foreign matter detection and dimension measurement method on the surface of a long body |
| JPH0584510U (en) * | 1992-04-23 | 1993-11-16 | 日産ディーゼル工業株式会社 | Vehicle height adjustment device |
| JPH06288726A (en) * | 1993-04-06 | 1994-10-18 | Yokokawa Buritsuji:Kk | Fitting inspection of car body and its device |
| DE19534716C2 (en) * | 1995-09-19 | 1999-06-17 | Autronic Bildverarbeitung | Device for detecting defects on a smooth surface |
| SE9900276L (en) * | 1999-01-28 | 2000-01-10 | Skogsind Tekn Foskningsinst | Topographic determination of a surface illuminated by incident light |
| KR101060995B1 (en) | 2008-10-14 | 2011-09-01 | 성균관대학교산학협력단 | Piping exploration robot system based on landmark recognition method using shadow in pipe |
| JP2018054296A (en) * | 2016-09-26 | 2018-04-05 | 株式会社村田製作所 | Road surface inspection device, road surface inspection method and program |
-
1984
- 1984-09-28 JP JP20572384A patent/JPS6182106A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6182106A (en) | 1986-04-25 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |