Diagnostic device, imaging device, diagnostic data generation method, and diagnostic program

Abstract

A processor of a diagnostic device for diagnosing an imaging device for optically imaging an external space from an internal space through a light-transmitting panel is configured to: receive a reflected light beam, which is a diagnostic light beam (Bd) irradiated from a light emission fixed point of the internal space, at a reflected light receiving position on the inner surface of an imaging element; reflecting the light beam at an inner surface at a panel inner surface of the light-transmissive panel facing the interior space, thereby acquiring an inner surface reflection intensity (Ii) at the panel inner surface; acquiring an outer surface reflection intensity (Io) at the panel outer surface by receiving, as a reflected light beam, an outer surface reflection light beam at the panel outer surface facing the external space of the light-transmitting panel at an outer surface reflection light receiving position of the imaging element; and generating diagnostic data (Dd) representing a deterioration state dependent on a relative intensity ratio of the inner surface reflection intensity (Ii) to the outer surface reflection intensity (Io), the deterioration state being a state of the outer surface of the panel provided with the translucent outer surface coating.

Description

[0001] Cross-reference of related applications

[0002] This application is based on Japanese Patent Application No. 2023-106119, filed on June 28, 2023, and is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to a technique for diagnosing a camera device that performs optical imaging of the external space. Background Technology

[0004] For example, the technology disclosed in Patent Document 1 uses a camera cover that separates the external and internal spaces, allowing optical imaging of the external space from the internal space via an imaging element. In this technology, the outer surface of the camera cover is provided with a hydrophilic coating to prevent water droplets and dirt from adhering.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2013-218114 Invention Summary

[0008] However, in the technology disclosed in Patent Document 1, it is difficult to diagnose even if the hydrophilic coating on the outer surface of the camera cover deteriorates, resulting in a decrease in imaging accuracy. Summary of the Invention

[0009] The present disclosure addresses the challenge of providing a diagnostic apparatus, diagnostic data generation method, and diagnostic procedure for diagnosing a decline in imaging accuracy in an imaging device. Another challenge of the present disclosure is to provide an imaging device equipped with a diagnostic apparatus for diagnosing a decline in imaging accuracy.

[0010] The following describes the technical means of this disclosure used to solve the problem.

[0011] The first aspect of this disclosure is a diagnostic device having a processor for diagnosing a camera device that optically captures images of the external space from the internal space via a light-transmitting panel separating the external and internal spaces using an imaging element.

[0012] The processor is configured to perform the following operations:

[0013] The inner surface reflection intensity at the inner surface of the panel is obtained by receiving the inner surface reflection beam at the light-receiving position of the inner surface of the camera element as a reflected beam for the diagnostic beam irradiated from the inner space.

[0014] The intensity of the outer surface reflection at the outer surface of the panel is obtained by receiving the reflected beam, which is a diagnostic beam, at the light-receiving position on the outer surface of the imaging element, on the outer surface of the light-transmitting panel facing the external space; and

[0015] Diagnostic data is generated representing the degradation state, which depends on the relative intensity ratio of the inner surface reflection intensity to the outer surface reflection intensity. This degradation state refers to the condition of the outer surface of a panel with a translucent outer surface coating.

[0016] The second aspect of this disclosure is a camera device that uses a light-transmitting panel separating an external space and an internal space to optically capture images of the external space from the internal space via a camera element, comprising:

[0017] Camera components;

[0018] An illumination source that illuminates a diagnostic beam from a fixed point within the interior space; and

[0019] The first type of diagnostic device.

[0020] The third aspect of this disclosure is a diagnostic data generation method, executed by a processor, for generating diagnostic data for diagnosing an imaging device, which optically captures images of the external space from the internal space via a light-transmitting panel separating the external and internal spaces, characterized in that it includes:

[0021] The inner surface reflection intensity at the inner surface of the panel is obtained by receiving the inner surface reflection beam at the light-receiving position of the inner surface of the camera element as a reflected beam for the diagnostic beam irradiated from the inner space.

[0022] The intensity of the outer surface reflection at the outer surface of the panel is obtained by receiving the reflected beam, which is a diagnostic beam, at the light-receiving position on the outer surface of the imaging element, on the outer surface of the light-transmitting panel facing the external space; and

[0023] Diagnostic data is generated that represents the degradation state, which depends on the relative intensity ratio of the inner surface reflection intensity to the outer surface reflection intensity. The degradation state is the condition of the outer surface of the panel with a light-transmitting outer surface coating.

[0024] The fourth aspect of this disclosure is a diagnostic program stored in a storage medium and containing instructions for causing a processor to perform diagnostics. This program is used to diagnose a camera device that optically captures images of an external space from an internal space via a light-transmitting panel separating an external space and an internal space using an imaging element. The characteristic of this method is that...

[0025] Includes instructions for causing the processor to perform the following operations:

[0026] The inner surface reflection intensity at the inner surface of the panel is obtained by receiving the inner surface reflection beam at the light-receiving position of the inner surface of the camera element as a reflected beam for the diagnostic beam irradiated from the inner space.

[0027] The intensity of the outer surface reflection at the outer surface of the panel is obtained by receiving the reflected beam, which is a diagnostic beam, at the light-receiving position on the outer surface of the imaging element, on the outer surface of the light-transmitting panel facing the external space; and

[0028] Diagnostic data is generated that represents the degradation state, which depends on the relative intensity ratio of the inner surface reflection intensity to the outer surface reflection intensity. The degradation state is the condition of the outer surface of the panel with a light-transmitting outer surface coating.

[0029] In these first to fourth methods, the inner surface reflection intensity at the inner surface of the light-transmitting panel is obtained by receiving an inner surface reflection beam, which is a reflected beam of a diagnostic beam illuminating a fixed point from the internal space, at a light-receiving position on the inner surface of the imaging element. Simultaneously, the outer surface reflection intensity at the outer surface of the light-transmitting panel is obtained by receiving an outer surface reflection beam, which is a reflected beam of a diagnostic beam illuminating a fixed point from the internal space, at a light-receiving position on the outer surface of the imaging element.

[0030] Therefore, the diagnostic data from the first to fourth methods are generated as a deterioration state representing the relative intensity ratio of the inner surface reflection intensity to the outer surface reflection intensity, as the state of the outer surface of the panel with a translucent outer surface coating. Thus, for the inner surface reflection intensity, which is difficult to change in the inner surface of the panel where deterioration is suppressed in the internal space, even if the outer surface coating of the outer surface of the panel deteriorates in the external space, the change in the outer surface reflection intensity caused by this deterioration can be reflected in the relative intensity ratio. In this case, in particular, the intensity variation of the diagnostic beam itself can be offset in the relative intensity ratio. From these points, it can be seen that the decrease in imaging accuracy in the imaging device due to the deterioration of the outer surface coating can be diagnosed from the deterioration state represented by the diagnostic data. Attached Figure Description

[0031] Figure 1 It is a cross-sectional view showing the physical structure of one implementation method.

[0032] Figure 2 This is a schematic diagram showing the planar structure of a camera element according to one embodiment.

[0033] Figure 3 Is with Figure 1 The cross-section is a schematic diagram showing the light-receiving characteristics of one embodiment.

[0034] Figure 4 This is a schematic diagram illustrating the light-receiving state of a reflected light beam in an imaging element according to one embodiment.

[0035] Figure 5 This is a block diagram illustrating the functional structure of a diagnostic device in one embodiment.

[0036] Figure 6 This is a flowchart illustrating the diagnostic process of one implementation method. Detailed Implementation

[0037] like Figure 1 As shown, the camera device 1, applicable to the diagnostic device 100 of one embodiment of this disclosure, performs optical imaging of the external space 3 in a vehicle. The camera device 1 is mounted on a vehicle, such as an automobile, capable of at least one of manual driving, automatic driving, and remote driving. Furthermore, in the following description, unless otherwise stated, the directions represented by front, rear, up, down, left, and right are defined with reference to the vehicle on a horizontal plane. Additionally, the horizontal direction and vertical direction represent the parallel and perpendicular directions of the vehicle on the horizontal plane relative to that horizontal plane, respectively.

[0038] The camera device 1 is disposed at at least one position in a vehicle, such as the front, left and right sides, rear, and roof. The camera device 1 performs imaging processing on a light image (hereinafter referred to as the object light image) of a target within the imaging area corresponding to its placement position in the vehicle, received from the external space 3. In the camera device 1 suitable for vehicles, the target, as a representative imaging object, can be at least one of moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles. In the camera device 1 suitable for vehicles, the target, as a representative imaging object, can also be at least one of stationary objects such as guardrails, road signs, roadside structures, and objects fallen on the road.

[0039] The imaging device 1 includes: a housing 10, a light-transmitting panel 20, a camera unit 30, a light source unit 40, and a diagnostic device 100. The housing 10 is mainly composed of multiple metal substrates such as aluminum, and is hollow in shape. The outer surface of the housing 10 is exposed to the outside air of the exposed external space 3. The inner surface of the housing 10 is closed relative to the external space 3, forming an internal space 13 that is a closed space enclosed inside. In the housing 10, an optical opening 15 is provided on a longitudinal wall 14 along both the horizontal and vertical directions, penetrating the outer and inner surfaces of the housing 10.

[0040] The light-transmitting panel 20 is made of a light-transmitting substrate such as synthetic resin or glass, and is formed into a flat plate shape. The light-transmitting panel 20 is fitted into the housing 10 via at least one of the following: adhesive and sealant. The light-transmitting panel 20 covers the optical opening 15, allowing light to pass through from the outer space 3 to the inner space 13.

[0041] The planar outer surface 21 of the light-transmitting panel 20, which faces the external space 3 and is exposed to the external air of the external space 3, functions as the incident surface of the object light image from the external space 3. The planar inner surface 22 of the light-transmitting panel 20, which faces the internal space 13 and cooperates with the inner surface of the housing 10 to close the internal space 13, functions as the exit surface of the object light image exiting into the internal space 13.

[0042] The outer surface 21 of the light-transmitting panel 20 is provided with a light-transmitting outer surface coating 210. The outer surface coating 210 is composed of a substrate covering the light-transmitting panel 20, such as a dielectric film or a synthetic resin film. The outer surface coating 210 exhibits at least one of the following film properties: anti-reflective properties, water resistance, weather resistance, heat resistance, bandpass filter performance, and infrared cutoff filter performance. Furthermore, the same inner surface coating may be provided on the inner surface 22 of the light-transmitting panel 20, or it may be omitted.

[0043] The camera unit 30 is disposed in the internal space 13 of the housing 10. The camera unit 30 includes: a camera housing 31, a light-receiving lens system 32, and an imaging circuit system 33.

[0044] The camera housing 31 is mainly composed of multiple light-shielding substrates such as synthetic resin or metal, forming a hollow shape smaller than that of the housing 10. The camera housing 31 is held in place by the housing 10 via a bonding resin 310 while being housed within the internal space 13 of the housing 10. A light-receiving opening 35 is provided at one horizontal end of the camera housing 31, penetrating both the outer and inner surfaces of the camera housing 31.

[0045] The light-receiving lens system 32 is composed of a lens barrel 36 and a plurality of optical components 37. The lens barrel 36 is made of a light-shielding substrate such as synthetic resin or metal, forming a cylindrical shape smaller than the housing 10. The lens barrel 36 is mounted to the light-receiving opening 35 in the camera housing 31 via, for example, an adhesive. Thus, the lens barrel 36 is held by the housing 10 via the camera housing 31 in a state where it is substantially orthogonal to the longitudinal wall 14 in a horizontal direction and is housed in the internal space 13 of the housing 10. The lens barrel 36 covers the light-receiving opening 35, so that the target light image incident from the external space 3 through the light-transmitting panel 20 and the internal space 13 can be guided into the interior of the camera housing 31.

[0046] Each optical component 37 is constructed from a light-transmitting substrate such as synthetic resin or glass, and is formed into an optical shape that meets required specifications. At least one of the optical components 37 is a lens component 370 formed into a lens shape that meets required specifications. Each optical component 37 is fitted to the peripheral wall of the lens barrel 36 via, for example, an adhesive. Thus, each optical component 37 is positioned inside the lens barrel 36, thereby providing an optical axis Oa coaxial with the lens barrel 36, so that the light image incident from the external space 3 through the light-transmitting panel 20 and the internal space 13 can be imaged inside the camera housing 31.

[0047] The camera circuit system 33 is composed of a camera substrate 38 and a plurality of circuit components 39. The camera substrate 38 is mainly composed of a rigid substrate such as a glass epoxy board, and is formed into a flat plate. The camera substrate 38 is held by the housing 10 through the camera housing 31 in a state of being substantially orthogonal to the optical axis Oa in a horizontal and vertical direction.

[0048] Each circuit component 39 is distributed and mounted on the mounting surface 38a on the side of the light-receiving opening 35 and the mounting surface 38b on the opposite side of the imaging substrate 38. One of the circuit components 39 mounted on the mounting surface 38a on the side of the light-receiving opening 35 in the imaging substrate 38 is, for example, an imaging element 390 such as a CCD or CMOS.

[0049] The imaging element 390 is aligned with the optical axis Oa provided by the light-receiving lens system 32 inside the camera housing 31. The imaging element 390 receives the target light image from the external space 3 through the light-transmitting panel 20 and the internal space 13 and is imaged by the light-receiving lens system 32, and performs optical imaging. For this purpose, as... Figure 2 As shown, the camera element 390 is configured to include a plurality of camera pixels 390a, which are arranged in two dimensions along a horizontal and vertical direction on a plane substantially orthogonal to the optical axis Oa, thereby outputting camera signals respectively.

[0050] Under this structure, Figure 1 The camera circuit system 33 controls the imaging of the object's light image based on the imaging element 390, as imaging processing of the external space 3 through the light-transmitting panel 20. At this time, the camera circuit system 33 generates image information based on the imaging signals from each imaging pixel 390a as imaging information, as imaging processing of the external space 3. Furthermore, the camera circuit system 33 can generate imaging information containing identification information, such as identifying an object in the external space 3, through image processing based on the imaging signals as imaging processing of the external space 3.

[0051] The light source unit 40 includes a light source substrate 41 and an illumination light source 42. The light source substrate 41 is mainly composed of a rigid substrate such as a glass epoxy board, and is formed into a flat plate. The light source substrate 41 is held by the housing 10 outside the camera unit 30 in the internal space 13 of the housing 10, and is offset from the optical axis Oa in a direction orthogonal to the optical axis Oa. The light source substrate 41 is arranged in an inclined position relative to the optical axis Oa, so that the mounting surface 41a on one side is inclined toward the inner surface 22 of the light-transmitting panel 20.

[0052] The illumination light source 42 is mounted on the mounting surface 41a of the light source substrate 41 and held by the housing 10 via the light source substrate 41. Thus, the illumination light source 42 is disposed at a fixed light-emitting point Fp within the internal space 13 of the housing 10. In this way, within the internal space 13 where the illumination light source 42 is disposed, the imaging element 390 is positioned at a position offset from the light-emitting point Fp.

[0053] The illumination light source 42 is mainly composed of light-emitting elements such as LEDs (Light Emitting Diodes) or laser diodes that emit directional visible light. The illumination light emitted from the illumination light source 42 from the fixed emission point Fp is as follows: Figure 3 As shown, the light is incident obliquely onto the light-transmitting panel 20 from the inner surface 22 side of the panel, thereby forming a diagnostic beam Bd with a circular or elliptical spot shape. Here, optical components can be added to the light source unit 40 to collimate the illumination light from the illumination light source 42 to form the diagnostic beam Bd. Furthermore, Figure 3 For ease of understanding, the optical component 37 is represented as only one representative lens component 370, and the schematic diagram of the enlarged imaging element 390 is compared with the actual one.

[0054] At the medium boundary between the inner surface 22 of the light-transmitting panel 20 and the internal space 13, the diagnostic beam Bd is reflected. This generates an inner surface reflected beam Bi, which is incident on the interior of the lens barrel 36 and the camera housing 31 and focused on the imaging element 390. On the other hand, at the medium boundary between the outer surface 21 of the light-transmitting panel 20 and the external space 3, a portion of the diagnostic beam Bd that passes through the inner surface 22 of the light-transmitting panel 20 is reflected. This generates an outer surface reflected beam Bo, which passes through the light-transmitting panel 20 and is incident on the interior of the lens barrel 36 and the camera housing 31 and focused on the imaging element 390.

[0055] The inner surface reflected beam Bi and the outer surface reflected beam Bo, relative to the diagnostic beam Bd, are respectively incident on the lens component 370 of the light-receiving lens system 32 and the reflected light received by the imaging element 390 are adjusted to be different. Accordingly, in the imaging element 390, such as Figure 3, 4 As shown, the inner surface reflection light-receiving position Pi, which is the arrangement position of at least one camera pixel 390a receiving the inner surface reflected light beam Bi, and the outer surface reflection light-receiving position Po, which is the arrangement position of at least one camera pixel 390a receiving the outer surface reflected light beam Bo, are offset in the orthogonal direction of the optical axis Oa.

[0056] That is, in the imaging element 390, the imaging pixel 390a located at the inner surface reflection and light-receiving position Pi and receiving the inner surface reflection beam Bi is different from the imaging pixel 390a located at the outer surface reflection and light-receiving position Po and receiving the outer surface reflection beam Bo. Therefore, the dimensions of each element in the imaging device 1 are pre-designed so that the imaging pixel 390a at the inner surface reflection and light-receiving position Pi and the imaging pixel 390a at the outer surface reflection and light-receiving position Po, along with the imaging pixels 390a other than those at positions Pi and Po, are separated in the orthogonal direction of the optical axis Oa. Here, particularly in the imaging device 1, the angle θ of the diagnostic beam Bd incident on the inner surface 22 of the panel (refer to...) Figure 3 It can be pre-designed based on, for example, the thickness and material of the light-transmitting panel 20.

[0057] Figure 1 The diagnostic device 100 shown is connected to the imaging element 390 and the illumination light source 42 via at least one of, for example, a LAN (Local Area Network), a wiring harness, and an internal bus. The diagnostic device 100 is configured to include at least one dedicated computer. The dedicated computer constituting the diagnostic device 100 may be a camera ECU (Electronic Control Unit) specifically for controlling the imaging device 1. In this case, the camera ECU may be a component of the imaging device 1, housed in the housing 10 or the camera housing 31. Figure 1 (Example) Inside. The dedicated computer constituting the diagnostic device 100 may be a driving control ECU that controls the driving of the vehicle. In this case, although not shown in the figure, the driving ECU may be configured outside the housing 10 inside the vehicle.

[0058] The dedicated computer constituting the diagnostic device 100 has at least one memory 101 and at least one processor 102. The memory 101 is a non-transitory physical storage medium, such as at least one of semiconductor memory, magnetic media, and optical media, that non-transitorily stores computer-readable programs and data. The processor 102 includes at least one of the following as its core: CPU (Central Processing Unit), GPU (Graphics Processing Unit), RISC (Reduced Instruction Set Computer) CPU, DFP (Data Flow Processor), and GSP (Graphics Streaming Processor).

[0059] The processor 102 executes multiple commands contained in the diagnostic program stored in the memory 101. Thus, the diagnostic device 100 constructs multiple functional blocks for diagnosing the imaging device 1. The multiple functional blocks constructed by the diagnostic device 100 include, for example... Figure 5 The strength acquisition block 110 and data generation block 120 are shown.

[0060] Through the cooperation of these blocks 110 and 120, the diagnostic device 100 generates the diagnostic data Dd obtained by the diagnostic imaging device 1. The diagnostic data generation method follows... Figure 6 The diagnostic procedure shown is executed. This diagnostic procedure is executed during vehicle startup, for example. Furthermore, each "S" in the diagnostic procedure represents a step executed by multiple commands included in the diagnostic program.

[0061] In S10, the intensity acquisition block 110 illuminates the diagnostic beam Bd onto the light-transmitting panel 20 by controlling the illumination light source 42 to emit light. Therefore, in S20 corresponding to the illumination, the intensity acquisition block 110 acquires imaging information from the imaging element 390, which receives the reflected beam Bi at the inner surface reflection light-receiving position Pi and the reflected beam Bo at the outer surface reflection light-receiving position Po. At this time, in the imaging device 1, at least one imaging function set to be effective during normal imaging outside the diagnostic process execution time, such as automatic exposure, automatic white balance, gamma correction, and tone mapping, can be changed. Through such changes, at least one of the following can be achieved: fixing the exposure (exposure time, gain), fixing the white balance, setting the gamma value to 1.0, and turning off tone mapping, so that the input brightness value to the imaging element 390 changes proportionally to the intensity of the imaging signal from the imaging element 390.

[0062] Therefore, in S30, the intensity acquisition block 110 is based on the representation of the light-receiving position Pi (refer to) existing on the inner surface. Figure 3 , 4 The imaging pixel 390a acquires the inner surface reflection intensity Ii, which is the reflection intensity on the inner surface 22 of the panel, by receiving imaging information of the intensity of the imaging signal output by the inner surface reflected beam Bi. At this time, the inner surface reflection intensity Ii can be based on the imaging information of the imaging signal intensity of a predetermined number of imaging pixels 390a representing the center portion of the light spot formed by the inner surface reflected beam Bi at the inner surface reflection light-receiving position Pi, or the offset portion of the light spot offset from the center portion by a predetermined distance. The inner surface reflection intensity Ii acquired in this way is stored in the memory 101.

[0063] Meanwhile, in S30, the intensity acquisition block 110 is based on the representation of the light-receiving position Po existing on the outer surface (refer to...). Figure 3 , 4 The imaging information of the imaging pixel 390a receiving the imaging signal output by the outer surface reflected beam Bo is used to obtain the outer surface reflection intensity Io, which is the reflection intensity on the outer surface 21 of the panel. At this time, the outer surface reflection intensity Io can be based on the imaging information of the imaging signal intensity of a set number of imaging pixels 390a representing the center portion of the light spot formed by the outer surface reflected beam Bo at the outer surface reflection light receiving position Po, or the offset portion of the light spot offset from the center portion by a set distance from the center portion. The outer surface reflection intensity Io obtained in this way is also stored in the memory 101.

[0064] Further, in S40, the data generation block 120 generates diagnostic data Dd as the state of the outer surface 21 of the light-transmitting panel 20, which is provided with an outer surface coating 210. This diagnostic data Dd represents the deterioration state of the outer surface coating 210. At this time, the deterioration state of the outer surface coating 210 depends on the relative intensity ratio IR of the inner surface reflection intensity Ii and the outer surface reflection intensity Io obtained in S30, which follows the following mathematical formula 1.

[0065] [Mathematical Expression 1]

[0066]

[0067] Here, Ii_0 in mathematical formula 1 serves as the reference intensity of the inner surface reflection intensity Ii, representing, for example, the initial intensity Ii_0 when the camera device 1 leaves the factory. Io_0 in mathematical formula 1 serves as the reference intensity of the outer surface reflection intensity Io, representing, for example, the initial intensity Io_0 when the camera device 1 leaves the factory.

[0068] Therefore, in S40, as shown in the following mathematical expressions 2 to 4, which decompose mathematical expression 1, the degradation state of the outer surface coating 210 can be diagnosed based on the relative intensity ratio IR of the inner surface reflection intensity Ii_n and the outer surface reflection intensity Io_n. This relative intensity ratio IR is obtained by normalizing the acquired values ​​of the inner surface reflection intensity Ii and the outer surface reflection intensity Io obtained in S30 with their initial intensities Ii_0 and Io_0, respectively. Alternatively, in S40, as shown in the following mathematical expressions 5 to 7, which decompose mathematical expression 1 into another form, the degradation state of the outer surface coating 210 can be diagnosed based on the relative intensity ratio IR. This relative intensity ratio IR is obtained by normalizing the relative intensity ratio IR_g related to the acquired values ​​of the inner surface reflection intensity Ii and the outer surface reflection intensity Io obtained in S30 with its initial ratio IR_0 as a reference. Here, the initial ratio IR_0, as shown in Equation 7, represents the relative intensity ratio between the initial intensity Ii_0 of the inner surface reflection intensity Ii and the initial intensity Io_0 of the outer surface reflection intensity Io.

[0069] [Mathematical Expression 2]

[0070]

[0071] [Mathematical Expression 3]

[0072]

[0073] [Mathematical Expression 4]

[0074]

[0075] [Mathematical Expression 5]

[0076]

[0077] [Mathematical Expression 6]

[0078]

[0079] [Mathematical Expression 7]

[0080]

[0081] In the diagnosis of S40, when the change in the relative intensity ratio IR on the decreasing side of the inner surface reflection intensity Ii increases beyond the permissible range (i.e., exceeding or above the threshold), diagnostic data Dd can be generated to indicate that degradation of the outer surface coating 210 has occurred and requires maintenance. In the diagnosis of S40, diagnostic data Dd can be generated to indicate the progression of degradation of the outer surface coating 210 as the relative intensity ratio IR changes towards the decreasing side of the inner surface reflection intensity Ii. In the latter case, the relative intensity ratio IR itself can be included in the diagnostic data Dd as an indicator of the degradation state.

[0082] In S40, the data generation block 120 can control the storage of the generated diagnostic data Dd in the memory 101 or the data recorder in the vehicle. In S40, the data generation block 120 can control the display of the generated diagnostic data Dd through the display unit in the vehicle. In S40, the data generation block 120 can control the transmission of the generated diagnostic data Dd to an external device through the communicator in the vehicle. In S40, output of diagnostic data Dd, in addition to storage, display, and transmission, can also be implemented. With the completion of S40, this execution of the diagnostic process ends.

[0083] (Effects)

[0084] The effects of this implementation method are explained below.

[0085] In this embodiment, the inner surface reflection intensity Ii on the inner surface 22 of the light-transmitting panel 20 is obtained by receiving an inner surface reflection beam Bi, which is a reflected beam of the diagnostic beam Bd irradiated from the light-emitting point Fp of the internal space 13, at the inner surface reflection light-receiving position Pi of the imaging element 390. Simultaneously, the outer surface reflection intensity Io on the outer surface 21 of the light-transmitting panel 20 is obtained by receiving an outer surface reflection beam Bo, which is a reflected beam of the diagnostic beam Bd irradiated from the light-emitting point Fp, at the outer surface reflection light-receiving position Po of the imaging element 390.

[0086] Therefore, according to this embodiment, diagnostic data Dd is generated as a state representing the degradation state of the outer surface 21 of the panel, which is provided with a light-transmitting outer surface coating 210, depending on the relative intensity ratio IR between the inner surface reflection intensity Ii and the outer surface reflection intensity Io. Thus, even if the outer surface coating 210 of the outer surface 21 of the panel deteriorates in the outer space 3, the variation in the outer surface reflection intensity Io caused by the degradation of the inner surface reflection intensity Io, which is difficult to change in the inner surface reflection intensity 22 of the panel where degradation is suppressed in the inner space 13, can be reflected in the relative intensity ratio IR. In this case, in particular, the intensity variation of the diagnostic beam Bd itself can be offset in the relative intensity ratio IR. From these points, the decrease in imaging accuracy in the imaging device 1 due to the degradation of the outer surface coating 210 can be diagnosed from the degradation state represented by the diagnostic data Dd.

[0087] According to this embodiment, in the imaging element 390 located in the internal space 13 away from the emission point Fp, the inner surface reflected beam Bi and the outer surface reflected beam Bo are illuminated by different imaging pixels 390a located at the inner surface reflection light-receiving positions Pi and Po, respectively. Therefore, for the diagnostic beam Bd irradiated from the emission point Fp, the inner surface reflected beam Bi and the outer surface reflected beam Bo, whose reflected light paths differ, can be identified by the difference in the imaging pixels 390a illuminated in the imaging element 390 away from the emission point Fp, thereby enabling the differentiation of each reflection intensity Ii and Io. Therefore, diagnostic data Dd that accurately represents the degradation state depending on the relative intensity ratio IR of the inner surface reflection intensity Ii and the outer surface reflection intensity Io can be generated, improving the reliability of diagnosing the decrease in imaging accuracy in the imaging device 1 caused by the degradation of the outer surface coating 210.

[0088] According to this embodiment, diagnostic data Dd can be generated as representing the degradation state dependent on the relative intensity ratio IR after normalizing the inner surface reflection intensity Ii and the outer surface reflection intensity Io using their respective reference initial intensities Ii_0 and Io_0. Therefore, even if the inner surface 22 of the panel deteriorates in the internal space 13, the effect of this degradation on the relative intensity ratio IR can be offset. Thus, diagnostic data Dd that accurately represents the degradation state dependent on the relative intensity ratio IR of the inner surface reflection intensity Ii and the outer surface reflection intensity Io can be generated, improving the reliability of diagnosing the decrease in imaging accuracy in the imaging device 1 caused by the degradation of the outer surface coating 210.

[0089] According to this embodiment, diagnostic data Dd can be generated to represent the degradation state depending on the relative intensity ratio IR after normalization using an initial ratio IR_0 as a reference. Therefore, even if the inner surface 22 of the panel deteriorates in the internal space 13, the effect of this degradation on the relative intensity ratio IR can be offset. Thus, diagnostic data Dd that accurately represents the degradation state depending on the relative intensity ratio IR of the inner surface reflection intensity Ii and the outer surface reflection intensity Io can be generated, improving the reliability of diagnosing the decrease in imaging accuracy in the imaging device 1 caused by the degradation of the outer surface coating 210.

[0090] (Other implementation methods)

[0091] The above describes one implementation method, but this disclosure is not limited to the implementation method described herein and can be applied to various implementation methods without departing from the spirit of this disclosure.

[0092] In a variation, the dedicated computer constituting the diagnostic device 100 may have at least one of digital circuitry and analog circuitry as a processor. Here, the digital circuitry is at least one of, for example, ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). Furthermore, such digital circuitry may have a memory for storing programs.

[0093] In a variation, the mobile body to which the diagnostic device 100 and the camera device 1 are applicable can be, for example, an autonomous robot capable of carrying goods or collecting information through autonomous or remote driving. In addition to the descriptions above, the above embodiments and variations can also be implemented as control devices configured to be mounted on the mobile body of the applicable object and having at least one processor 102 and at least one memory 101, and implemented as semiconductor devices (e.g., semiconductor chips).

[0094] (Postscript)

[0095] This specification discloses several technical ideas and combinations thereof, as listed below. Furthermore, the symbols in parentheses in this appendix indicate a correspondence with the specific means described in the previously detailed embodiments, and do not limit the technical scope of this disclosure.

[0096] (Technical Idea 1)

[0097] A diagnostic device having a processor (102) for diagnosing a camera device (1) that optically images the external space from the internal space via a light-transmitting panel (20) separating an external space (3) and an internal space (13) using an imaging element (390), characterized in that...

[0098] The processor is configured to perform the following operations:

[0099] The inner surface reflection intensity (Ii) at the inner surface of the panel is obtained by receiving an inner surface reflection beam (Bi) at the light-receiving position (Pi) on the inner surface of the camera element, which is a reflected beam for the diagnostic beam (Bd) irradiated from the light-emitting point (Fp) of the interior space.

[0100] The outer surface reflection intensity (Io) at the outer surface of the panel is obtained by receiving the outer surface reflected beam (Bo) at the light-receiving position (Po) on the outer surface of the camera element, which is a reflected beam for the diagnostic beam, at the outer surface of the light-transmitting panel facing the external space; and

[0101] Diagnostic data (Dd) is generated representing the degradation state, which depends on the relative intensity ratio (IR) of the inner surface reflection intensity to the outer surface reflection intensity, and the degradation state is the state of the outer surface of the panel having a light-transmitting outer surface coating (210).

[0102] (Technical Idea 2)

[0103] According to the diagnostic device described in Technical Concept 1, wherein,

[0104] The acquisition of the inner surface reflection intensity and the outer surface reflection intensity includes:

[0105] The imaging element, which is positioned in the internal space away from the light-emitting point, receives the reflected light beam from the inner surface and the reflected light beam from the outer surface through different imaging pixels (390a) located at the light-receiving positions of the inner surface and the outer surface, respectively.

[0106] (Technical Idea 3)

[0107] According to the diagnostic device described in technical concept 1 or 2, wherein,

[0108] The generation of the diagnostic data includes:

[0109] The diagnostic data is generated in a manner that represents the deterioration state dependent on the relative intensity ratio obtained by normalizing the inner surface reflection intensity and the outer surface reflection intensity using initial intensities as their respective references.

[0110] (Technical Idea 4)

[0111] According to the diagnostic device described in technical concept 1 or 2, wherein,

[0112] The generation of the diagnostic data includes:

[0113] The diagnostic data is generated in a manner that represents the deterioration state dependent on the relative intensity ratio obtained by normalizing an initial ratio used as a reference.

[0114] (Technical Idea 5)

[0115] According to any one of the technical concepts 1 to 4, a diagnostic device is described, wherein,

[0116] The generation of the diagnostic data includes:

[0117] Control the storage of the generated diagnostic data.

[0118] (Technical Idea 6)

[0119] According to any one of the technical concepts 1 to 5, a diagnostic device is described, wherein,

[0120] The generation of the diagnostic data includes:

[0121] Control the display of the generated diagnostic data.

[0122] (Technical Idea 7)

[0123] According to any one of the technical concepts 1 to 6, a diagnostic device is described, wherein,

[0124] The generation of the diagnostic data includes:

[0125] Control the transmission of the generated diagnostic data.

[0126] (Technical Idea 8)

[0127] A camera device, comprising an image sensor (390) that performs optical imaging of the external space from the internal space via a light-transmitting panel (20) separating an external space (3) and an internal space (13), and includes:

[0128] The camera element;

[0129] The diagnostic device (100) according to any one of technical concepts 1 to 7; and

[0130] Illumination light source (42) irradiates the diagnostic beam from a luminous point (Fp) in the interior space.

[0131] In addition, the above technical ideas 1 to 7 can be grasped as technical ideas of methods and procedures, respectively.

Claims

1. A diagnostic device (100) having a processor (102) for diagnosing a camera device (1) that optically images the external space from the internal space via a light-transmitting panel (20) separating an external space (3) and an internal space (13) using an imaging element (390), characterized in that, The processor is configured to perform the following operations: The inner surface reflection intensity (Ii) at the inner surface of the panel is obtained by receiving an inner surface reflection beam (Bi) at the light-receiving position (Pi) on the inner surface of the camera element, which is a reflected beam for the diagnostic beam (Bd) irradiated from the light-emitting point (Fp) of the interior space. The outer surface reflection intensity (Io) at the outer surface of the panel is obtained by receiving the outer surface reflected beam (Bo) at the light-receiving position (Po) on the outer surface of the camera element, which is a reflected beam for the diagnostic beam, at the outer surface of the light-transmitting panel facing the external space; and Diagnostic data (Dd) is generated representing the degradation state, which depends on the relative intensity ratio (IR) of the inner surface reflection intensity to the outer surface reflection intensity, and the degradation state is the state of the outer surface of the panel having a light-transmitting outer surface coating (210).

2. The diagnostic device according to claim 1, characterized in that, The acquisition of the inner surface reflection intensity and the outer surface reflection intensity includes: The imaging element, which is positioned in the internal space away from the light-emitting point, receives the reflected light beam from the inner surface and the reflected light beam from the outer surface through different imaging pixels (390a) located at the light-receiving positions of the inner surface and the outer surface, respectively.

3. The diagnostic device according to claim 1, characterized in that, The generation of the diagnostic data includes: The diagnostic data is generated in a manner that represents the deterioration state dependent on the relative intensity ratio obtained by normalizing the inner surface reflection intensity and the outer surface reflection intensity using initial intensities as their respective references.

4. The diagnostic device according to claim 1, characterized in that, The generation of the diagnostic data includes: The diagnostic data is generated in a manner that represents the deterioration state dependent on the relative intensity ratio obtained by normalizing an initial ratio used as a reference.

5. The diagnostic device according to claim 1, characterized in that, The generation of the diagnostic data includes: Control the storage of the generated diagnostic data.

6. The diagnostic device according to claim 1, characterized in that, The generation of the diagnostic data includes: Control the display of the generated diagnostic data.

7. The diagnostic device according to claim 1, characterized in that, The generation of the diagnostic data includes: Control the transmission of the generated diagnostic data.

8. A camera device, wherein an imaging element (390) performs optical imaging from the internal space onto the external space via a light-transmitting panel (20) separating an external space (3) and an internal space (13), characterized in that, have: The camera element; The diagnostic device (100) according to any one of claims 1 to 7; and Illumination light source (42) irradiates the diagnostic beam from a luminous point (Fp) in the interior space.

9. A diagnostic data generation method, executed by a processor (102), for generating diagnostic data (Dd) for diagnosing an imaging device (1), the imaging device optically imaging the external space from the internal space by an imaging element (390) through a light-transmitting panel (20) separating an external space (3) and an internal space (13), characterized in that, include: The inner surface reflection intensity (Ii) at the inner surface of the panel is obtained by receiving an inner surface reflection beam (Bi) at the light-receiving position (Pi) on the inner surface of the camera element, which is a reflected beam for the diagnostic beam (Bd) irradiated from the light-emitting point (Fp) of the interior space. The outer surface reflection intensity (Io) at the outer surface of the panel is obtained by receiving the outer surface reflected beam (Bo) at the light-receiving position (Po) on the outer surface of the camera element, which is a reflected beam for the diagnostic beam, at the outer surface of the light-transmitting panel facing the external space; and The diagnostic data is generated to represent the deterioration state depending on the relative intensity ratio (IR) of the inner surface reflection intensity to the outer surface reflection intensity, the deterioration state being the state of the outer surface of the panel having a light-transmitting outer surface coating (210).

10. A diagnostic program, stored in a storage medium (101) and comprising instructions for causing a processor (102) to perform a diagnostic, the program being used to perform the diagnostic on a camera device (1) that optically captures images of the external space from the internal space by an imaging element (390) through a light-transmitting panel (20) separating an external space (3) and an internal space (13), characterized in that, Includes instructions for causing the processor to perform the following operations: The inner surface reflection intensity (Ii) at the inner surface of the panel is obtained by receiving an inner surface reflection beam (Bi) at the light-receiving position (Pi) on the inner surface of the camera element, which is a reflected beam for the diagnostic beam (Bd) irradiated from the light-emitting point (Fp) of the interior space. The outer surface reflection intensity (Io) at the outer surface of the panel is obtained by receiving the outer surface reflected beam (Bo) at the light-receiving position (Po) on the outer surface of the camera element, which is a reflected beam for the diagnostic beam, at the outer surface of the light-transmitting panel facing the external space; and Diagnostic data (Dd) is generated representing the deterioration state, which depends on the relative intensity ratio (IR) of the inner surface reflection intensity to the outer surface reflection intensity, and the deterioration state is the state of the outer surface of the panel having a light-transmitting outer surface coating (210).

Images