JP2817412B2 - Vehicle specification automatic measurement device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[Industrial applications] The Ministry of Construction and the National Police Agency regulate the traffic of special vehicles to maintain roads and prevent danger. This device is used at the enforcement base and special vehicle (vehicle length, height, width)
Is a device that automatically measures

[0002]

2. Description of the Related Art Conventionally, a vehicle guided to a base by a guidance person passes between vehicle height measuring devices and stops on a weight loading plate, and a measurement person measures a vehicle width and a vehicle length using a measure. Was.

[0003]

In the conventional method, not only the measurement of the vehicle specifications but also the collection of the data are required to be performed manually, which requires a large number of personnel and time as a whole of the enforcement, and the restraining time of the target vehicle is also reduced. It was getting longer.

[0004] The present invention has been made in view of the above problems, reduces the number of personnel required for measurement and data collection of vehicle specifications, increases the reliability of measurement data, and reduces the time required for each control vehicle. It is intended to automatically measure a vehicle height, a vehicle width, and a vehicle length by using a recognition device such as a light emitting and receiving device, a CCD camera, and an ultrasonic head in order to reduce the number of vehicles.

[0005]

In order to achieve the above-mentioned object, an automatic vehicle specification measuring apparatus according to the present invention comprises
Store multiple cameras to be imaged and the video of this camera
The frame memory and the camera
The ultrasonic head for detecting the vehicle height and the tip of the traveling vehicle.
A detecting unit that detects the tip of the traveling vehicle;
When detected, each data stored in each frame memory at that time
For each image, the rear end of the traveling vehicle on this image, right
The edge and left edge are detected, and the trailing edge, right edge, and left edge are detected.
Height data detected by the ultrasonic head installed near the camera
Based on the data, the rear end detected from the camera
Calculate the distance to the end and left end, and to each rear end, right end and left end
From the camera stored in advance and the traveling vehicle
From the distance to both ends, the width and length of the traveling vehicle
And an image processing / arithmetic processing unit for calculating .

[0006]

According to the present invention, the automatic vehicle specification measuring device according to the present invention performs image processing and
The detection unit detects the leading end of the traveling vehicle by the arithmetic processing unit.
Each image stored in each frame memory at that time.
The rear, right, and left edges of the traveling vehicle on this image are
To detect. Near the camera that detected the rear edge, right edge, and left edge
Based on the vehicle height data detected by the ultrasonic head
The left, right, and left edges detected by the camera.
Calculate the distance at. From the installation position of the detection unit,
The distance from the camera to the tip of the traveling vehicle is calculated and recorded in advance.
Remember, this distance and the above detected rear edge, right edge, left edge
Then, the vehicle width and vehicle length of the traveling vehicle are calculated.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.

As shown in FIG. 1, a vehicle specification automatic measuring apparatus according to this embodiment includes a light emitting device B10 and a light receiving device B11 of a light emitting / receiving device pair for detecting a vehicle height, and a vehicle height detecting signal. A signal processing unit C3 of one signal processing unit, a light emitting device A8 and a light receiving device A9 of a light emitting device / light receiving device pair for detecting a vehicle leading edge, and a signal processing portion B2 of a second signal processing portion for outputting a vehicle leading edge detection signal. A CCD camera 7 serving as an image pickup means for detecting a vehicle rear end and a vehicle width, an ultrasonic head 6 for detecting a vehicle length and a vehicle height for correcting a vehicle width, and a second signal for outputting a vehicle length and a vehicle width correcting signal. And a signal processing unit A1 of the three signal processing units, and the vehicle height calculating means, the vehicle length calculating means and the vehicle width calculating means are provided in the image processing / arithmetic processing unit 4 connected by a communication line or the like. . In order to output image data of the rear part of the vehicle, the required number of CCD cameras 7 are measured to measure the vehicle length within the range of the vehicle length to be measured. In order to measure the vehicle height data at each position, one CCD camera is arranged in the immediate vicinity of each camera.

The operation of this embodiment having the above configuration will be described. First, a method of measuring the vehicle height will be described.

The light projector B10 is a row of a plurality of LEDs arranged vertically so that the height of the vehicle to be measured can be measured from the lowest value to the highest value. The light receiver B11 is horizontal to each LED of the light projector B10. This is a photosensor of light receiving elements arranged in pairs at various positions. The target vehicle passes between the light emitter B10 and the light receiver B11 at a low speed. The signal processing unit C3 is a light receiving state indicating a light blocking state of each photo sensor which is a detection result of the vehicle height input from the light receiving device B11, installation position data of the light projecting device B10 / light receiving device B11, and each photo of the light receiving device B11. Using data between sensors,
The height of a portion of the target vehicle passing between the light emitter B10 and the light receiver B11 is obtained, and the obtained height data is subjected to image processing.
It is sent to the arithmetic processing unit 4. The vehicle height calculating means of the image processing / arithmetic processing unit 4 obtains the maximum value of one target vehicle from the vehicle height data, and uses this as the vehicle height data.
Output to

Next, a method for measuring the vehicle width and the vehicle length will be described. The target vehicle passes under the ultrasonic head 6 and the CCD camera 7 at a low speed, and reaches between the light emitter A8 and the light receiver A9. The signal processing unit B2 outputs the vehicle front end detection signal to the image processing / arithmetic processing unit 4 when the light between the light projector A8 and the light receiver A9 is cut off. Here, since the shooting range of one CCD camera is about 3 meters, two cameras are required for the left end shooting and the right end shooting of the vehicle, and the cameras arranged in the front and rear direction according to the range of the vehicle length to be measured. The number is determined. 2 and 3 show a case where the vehicle length measurement range is from 11.5 m to 22.0 m and the number of installed cameras is eight. FIG. 4 shows the internal configuration of the image processing / arithmetic processing unit 4 corresponding to the above configuration. The A / D converters 4 connected to the respective CCD cameras are shown in FIG.
d, a frame memory 4c, an edge detection circuit 4b for inputting image data from each frame memory 4c, and vehicle height calculating means, vehicle length calculating means, and vehicle width calculating means. The control / arithmetic unit 4 for inputting vehicle height data for correction from the signal processing unit A of the ultrasonic head 6
The connection state of a is shown.

In the above configuration, the image processing / arithmetic processing unit 4 converts the image signals input from the CCD cameras 7a to 7h at the time when the vehicle tip detection signal is input into the A / D converter 4
A / D-converted by d and stored in the frame memory 4c. Since the input of image data needs to be performed instantaneously, the A / D converter 4d and the frame memory 4c need to be prepared for each camera. The image data stored in the frame memory 4c is sent to the edge detection circuit 4b one by one. Since the image data obtained by the CCD camera 7 is obtained through a lens system as shown in FIG. 5, even if the edge position on the camera imaging surface is the same, if the distance from the lens to the object (upper part of the vehicle) is different, the real space is used. Edge positions are different. Let f be the focal length of the lens,
Assuming that the distance from the lens center axis on the camera imaging surface of a certain edge is s and the distance from the lens to the object is d, the distance from the lens center axis to the edge in real space is d · s / f.
Can be obtained by

The ultrasonic heads 6a to 6h and the signal processing unit A1
Is used to measure the distance from the CCD camera to the top of the vehicle at the position of the CCD camera. Ultrasonic pulses are periodically emitted vertically downward from the ultrasonic head 6, and the ultrasonic pulses are reflected on the target vehicle or on the road surface, and the reflected waves are received by the ultrasonic head 6. The signal processing unit A1 detects the time from the emission of the ultrasonic pulse to the reception of the wave, calculates the distance from the ultrasonic head to the upper part of the target vehicle based on the detected time, and processes the obtained vehicle height data at the CCD camera position into an image. Output to the arithmetic processing unit 4.

Control / arithmetic unit 4 of image processing / arithmetic processing unit 4
The vehicle length calculation means and vehicle width calculation means in a
After the target vehicle in the real space, based on the edge position of the image data obtained from the D camera 7, the vehicle height data obtained from the ultrasonic head 6, and the position data of the projector A8, the light receiver A9 and the CCD camera 7 determined at the time of installation of the apparatus. The positions of the end and the left and right ends are calculated by the above formulas, and the width and length of the target vehicle are obtained.

The image processing / arithmetic processing unit 4 outputs the vehicle height, vehicle width, and vehicle length data obtained by the above processing to the transmission control unit 5. The transmission control unit 5 sends the vehicle height,
It performs input / output processing with external devices, such as outputting vehicle width and vehicle length data.

[0016]

Effects of the Invention vehicle specification automatic measuring apparatus of the present invention, the traveling
Stored in this frame memory when the tip of the vehicle is detected
For each image that was made, the rear end of the traveling vehicle on the image,
The right and left edges were detected, and the rear, right and left edges were detected
Height data detected by the ultrasonic head installed near the camera
Based on the data, the rear end detected from the camera
Detected by calculating the distance to the end and the left end
Correct the distance from the rear, right and left tops of the vehicle to the camera.
Can be calculated accurately, calculated rear end, right end, left end
And the distance to the tip calculated and stored in advance
The vehicle width and length can be calculated accurately from
To improve the reliability of measurement data for running vehicles.
It has the effect that it can be.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall outline of a vehicle specification automatic measurement device of the present invention.

FIG. 2 is a plan view showing the state of the vehicle position at the time when the tip of the target vehicle is detected in the embodiment.

FIG. 3 is a perspective view showing an arrangement state of each device in the embodiment.

FIG. 4 is a schematic block diagram of an image processing / arithmetic processing unit 4;

FIG. 5 is a diagram showing a relationship between a camera imaging surface in a lens system and an edge position in a real space.

[Brief description of reference numerals]

 Reference Signs List 1 signal processing unit A 2 signal processing unit B 3 signal processing unit C 4 image processing / calculation processing unit 4a control / calculation unit 4b edge detection unit 5 transmission control unit 6 ultrasonic head 7 CCD camera 8 projector A 9 light receiver A 10 Emitter B 11 Receiver B

Claims (1)

(57) [Claims] A plurality of cameras for imaging a running vehicle;
A frame memory for storing the video of the
The ultrasonic heads that are installed near the
And a detector for detecting the tip of the traveling vehicle, and the detector
Detects the leading edge of the traveling vehicle,
For each image stored in the memory,
The rear end, right end, and left end of the traveling vehicle are detected, and the rear end,
Ultrasound installed near the camera where the right and left edges are detected
Based on the vehicle height data detected by the head, the position of the camera
Distance from the rear end, right end, and left end of the traveling vehicle
Calculate the separation, distance to each rear end, right end, left end, and
From the stored distance to the position of the detection unit and the travel
An automatic vehicle specification measuring device including an image processing / arithmetic processing unit for calculating a vehicle width and a vehicle length of a vehicle.