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

Abstract

To provide a diagnostic device for diagnosing a decrease in imaging accuracy in an imaging device.SOLUTION: A processor of a diagnostic device for diagnosing an imaging device for optically capturing an image of external space from an internal space through a light transmissive panel is configured to execute: receiving, as a reflected beam with respect to a diagnostic beam Bd emitted from a light emission fixed point in the internal space, an inner surface reflected beam at a panel inner surface facing the internal space in the light transmissive panel at an inner surface reflected beam receiving position of an imaging element to acquire an inner surface reflection intensity Ii on the panel inner surface; receiving, as a reflected beam, an outer surface reflected beam at a panel outer surface facing the external space in the light transmissive panel at an outer surface reflected beam receiving position of the imaging element to acquire an outer surface reflection intensity Io on the panel outer surface; and generating diagnostic data Dd representing a deterioration state that depends on a relative intensity ratio between the inner surface reflection intensity Ii and the outer surface reflection intensity Io as a state of the panel outer surface on which a light transmissive outer surface coat layer is provided.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a technique for diagnosing an imaging device that optically captures an external space. [Background technology]

[0002] For example, the technology disclosed in Patent Document 1 optically captures an image of an external space from an internal space using an imaging element through a camera cover that separates the external space from the internal space. In this technology, a hydrophilic coating layer is provided on the outer surface of the camera cover to prevent water droplets and dirt from adhering to the outer surface. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-218114 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technique disclosed in Patent Document 1, even if the imaging accuracy is reduced due to deterioration of the hydrophilic coating layer on the outer surface of the camera cover, it is difficult to make a diagnosis.

[0005] An object of the present disclosure is to provide a diagnostic device for diagnosing a decrease in imaging accuracy in an imaging device, a diagnostic data generating method, and a diagnostic program. Another object of the present disclosure is to provide an imaging device including a diagnostic device for diagnosing a decrease in imaging accuracy. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the corresponding relationship with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is A diagnostic device (100) having a processor (102) for diagnosing an imaging device (1) that optically images an external space from an internal space (13) using an imaging element (390) through a light-transmitting panel (20) that separates the external space (3) from the internal space (13), The processor acquiring an internal reflection intensity (Ii) on the inner surface of the panel by receiving an internal reflection beam (Bi) on an inner surface (22) of the light-transmitting panel facing the internal space as a reflected beam of a diagnostic beam (Bd) irradiated from a fixed light-emitting point (Fp) in the internal space at an internal reflection receiving position (Pi) of an imaging element; acquiring an outer surface reflection intensity (Io) at the outer surface of the panel by receiving an outer surface reflection beam (Bo) at an outer surface (21) of the light-transmitting panel that faces an external space as a reflected beam of the diagnostic beam at an outer surface reflection receiving position (Po) of the image sensor; and generating diagnostic data (Dd) representing a deterioration state of the panel outer surface on which the translucent outer coating layer (210) is provided, the deterioration state being based on the relative intensity ratio (IR) between the inner reflection intensity and the outer reflection intensity.

[0008] A second aspect of the present disclosure is An imaging device (1) for optically imaging an external space (3) from an internal space (13) using an imaging element (390) through a light-transmitting panel (20) separating the external space (3) from the internal space (13), An imaging element; an illumination light source (42) for emitting a diagnostic beam from a fixed point (Fp) in the internal space; and a diagnostic device (100) according to the first aspect.

[0009] A third aspect of the present disclosure is A diagnostic data generation method executed by a processor (102) to generate diagnostic data (Dd) obtained by diagnosing an imaging device (1) that optically images an external space from an internal space (13) using an imaging element (390) through a light-transmitting panel (20) that separates the external space (3) from the internal space (13), comprising: acquiring an internal reflection intensity (Ii) on the inner surface of the panel by receiving an internal reflection beam (Bi) on an inner surface (22) of the light-transmitting panel facing the internal space as a reflected beam of a diagnostic beam (Bd) irradiated from a fixed light-emitting point (Fp) in the internal space at an internal reflection receiving position (Pi) of an imaging element; acquiring an outer surface reflection intensity (Io) at the outer surface of the panel by receiving an outer surface reflection beam (Bo) at an outer surface (21) of the light-transmitting panel that faces an external space as a reflected beam of the diagnostic beam at an outer surface reflection receiving position (Po) of the image sensor; The method includes generating diagnostic data representing a deterioration state of the panel outer surface on which the translucent outer coating layer (210) is provided, the deterioration state being based on a relative intensity ratio (IR) between the inner reflection intensity and the outer reflection intensity.

[0010] A fourth aspect of the present disclosure is A diagnostic program stored in a storage medium (101) for diagnosing an imaging device (1) that optically images an external space from an internal space (13) using an imaging element (390) through a light-transmitting panel (20) that separates the external space (3) from the internal space (13), the diagnostic program including instructions to be executed by a processor (102), acquiring an internal reflection intensity (Ii) on the inner surface of the panel by receiving an internal reflection beam (Bi) on an inner surface (22) of the light-transmitting panel facing the internal space as a reflected beam of a diagnostic beam (Bd) irradiated from a fixed light-emitting point (Fp) in the internal space at an internal reflection receiving position (Pi) of an imaging element; acquiring an outer surface reflection intensity (Io) at the outer surface of the panel by receiving an outer surface reflection beam (Bo) at an outer surface (21) of the light-transmitting panel that faces an external space as a reflected beam of the diagnostic beam at an outer surface reflection receiving position (Po) of the image sensor; and generating diagnostic data (Dd) representing a deterioration state based on the relative intensity ratio (IR) between the internal reflection intensity and the external reflection intensity as the state of the panel external surface on which the translucent external coating layer (210) is provided.

[0011] In the first to fourth aspects, the internal reflection intensity at the inner panel surface is acquired by receiving an internal reflection beam at the inner surface of the light-transmitting panel as a reflected beam of the diagnostic beam irradiated from the fixed light-emitting point in the internal space at the internal reflection receiving position of the image sensor. At the same time, the external reflection intensity at the outer surface of the panel is acquired by receiving an external reflection beam at the outer surface of the light-transmitting panel as a reflected beam of the diagnostic beam irradiated from the fixed light-emitting point at the external reflection receiving position of the image sensor.

[0012] Therefore, the diagnostic data according to the first to fourth aspects is generated to represent a deterioration state based on the relative intensity ratio between the internal reflection intensity and the external reflection intensity as the state of the panel external surface on which the translucent external coating layer is provided. According to this, even if deterioration occurs in the external coating layer of the panel external surface in the external space, the fluctuation of the external reflection intensity due to the deterioration of the external coating layer can be reflected in the relative intensity ratio, while the internal reflection intensity is difficult to fluctuate on the panel internal surface where deterioration is suppressed in the internal space. In this case, the intensity fluctuation of the diagnostic beam itself can be offset in the relative intensity ratio. From these facts, it is possible to diagnose the deterioration of the imaging accuracy of the imaging device caused by the deterioration of the external coating layer from the deterioration state represented by the diagnostic data. [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a cross-sectional view showing the physical configuration of one embodiment. [Diagram 2] FIG. 1 is a schematic diagram showing a planar configuration of an image sensor according to an embodiment. [Diagram 3] 2 is a schematic diagram showing light receiving characteristics according to one embodiment, corresponding to the cross section of FIG. 1. [Figure 4] 5A and 5B are schematic diagrams for explaining a state in which a reflected beam is received by an image sensor according to an embodiment. [Diagram 5] 1 is a block diagram showing a functional configuration of a diagnostic device according to an embodiment; [Figure 6] 1 is a flowchart illustrating a diagnostic flow according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] As shown in Fig. 1, an imaging device 1 to which a diagnostic device 100 according to an embodiment of the present disclosure is applied optically captures an external space 3 in a vehicle. The imaging device 1 is mounted on a vehicle capable of at least one of manual driving, automatic driving, and remote driving, such as an automobile. In the following description, unless otherwise noted, the directions indicated by front, rear, up, down, left, and right are defined with respect to the vehicle on a horizontal plane. The horizontal direction and the vertical direction respectively indicate the parallel direction and the perpendicular direction with respect to the horizontal plane of the vehicle on the horizontal plane.

[0015] The imaging device 1 is disposed in at least one location on the vehicle, for example, in the front, left and right side, rear, or upper roof. The imaging device 1 performs imaging processing on a light image (hereinafter, referred to as a target light image) received from a target in an imaging area corresponding to the location of the imaging device 1 disposed on the vehicle in the external space 3. A representative target to be imaged in the imaging device 1 applied to a vehicle may be at least one of moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles. A representative target to be imaged in the imaging device 1 applied to a vehicle may be at least one of stationary objects such as guardrails, road signs, roadside structures, and objects fallen on the road.

[0016] The imaging device 1 includes a casing 10, a light-transmitting panel 20, a camera unit 30, a light source unit 40, and a diagnostic device 100. The casing 10 is formed mainly of a plurality of metal base materials such as aluminum and is generally hollow. The outer surface of the casing 10 is exposed to the outside air of the exposed external space 3. The inner surface of the casing 10 closes the internal space 13 as a closed space enclosed within the interior, from the external space 3. An optical opening 15 is provided in a vertical wall 14 of the casing 10 along one horizontal direction and one vertical direction, penetrating between the outer surface and the inner surface of the casing 10.

[0017] The light-transmitting panel 20 is formed in a flat plate shape as a whole, mainly made of a light-transmitting base material such as synthetic resin or glass. The light-transmitting panel 20 is fitted and attached to the vertical wall 14 surrounding the optical opening 15 in the casing 10 via at least one of an adhesive and a sealant. The light-transmitting panel 20 covers the optical opening 15 so as to allow light to pass from the external space 3 to the internal space 13.

[0018] The light-transmitting panel 20 faces the external space 3, and thus a planar panel outer surface 21 exposed to the outside air of the external space 3 functions as an incident surface for a target light image from the external space 3. The light-transmitting panel 20 faces the internal space 13, and thus a planar panel inner surface 22 which cooperates with the inner surface of the casing 10 to close the internal space 13 functions as an exit surface for the target light image into the internal space 13.

[0019] A translucent outer coating layer 210 is provided on the panel outer surface 21 of the light-transmitting panel 20. The outer coating layer 210 is composed of, for example, a dielectric film or a synthetic resin film that covers the base material of the light-transmitting panel 20. The outer coating layer 210 exhibits at least one type of film characteristic, for example, anti-reflection, water repellency, weather resistance, heat resistance, band-pass filter performance, and infrared cut filter performance. A similar inner coating layer may be provided on the panel inner surface 22 of the light-transmitting panel 20, or may be omitted.

[0020] The camera unit 30 is disposed in the internal space 13 of the casing 10. The camera unit 30 includes a camera housing 31, a light receiving lens system 32, and an imaging circuit system 33.

[0021] The camera housing 31 is formed mainly from multiple light-shielding base materials such as synthetic resin or metal, and has a hollow shape smaller than the casing 10. The camera housing 31 is held by the casing 10 via bonding resin 310 while being accommodated in the internal space 13 of the casing 10. A light-receiving opening 35 that penetrates between the outer surface and the inner surface of the camera housing 31 is provided at one end of the camera housing 31 in one horizontal direction.

[0022] The light receiving lens system 32 is configured by combining a lens barrel 36 and a plurality of optical components 37. The lens barrel 36 is formed in a cylindrical shape smaller than the casing 10, mainly made of a light-shielding base material such as synthetic resin or metal. The lens barrel 36 is attached to the light receiving opening 35 in the camera housing 31, for example, via an adhesive. As a result, the lens barrel 36 is held by the casing 10 via the camera housing 31 in a state where it is accommodated in the internal space 13 of the casing 10 with its center aligned in the horizontal direction substantially perpendicular to the vertical wall 14. 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 inside of the camera housing 31.

[0023] Each optical component 37 is formed into an optical shape according to the required specifications, mainly made of a light-transmitting base material such as synthetic resin or glass. At least one of the optical components 37 is a lens component 370 formed into a lens shape that satisfies the required specifications. Each optical component 37 is fitted and attached to the peripheral wall of the lens barrel 36, for example, via an adhesive. As a result, each optical component 37 is positioned inside the lens barrel 36, and is given an optical axis Oa coaxial with the lens barrel 36 so that an optical image incident from the external space 3 through the light-transmitting panel 20 and the internal space 13 can be formed inside the camera housing 31.

[0024] The imaging circuit system 33 is configured by combining an imaging board 38 and a plurality of circuit components 39. The imaging board 38 is formed in a flat plate shape as a whole, mainly made of a rigid board such as a glass epoxy board. The imaging board 38 is held by the casing 10 via the camera housing 31 in a state where it is arranged inside the camera housing 31 along one horizontal direction and vertical direction so as to be substantially perpendicular to the optical axis Oa.

[0025] The circuit components 39 are distributed and mounted on a mounting surface 38a on the light-receiving opening 35 side and a mounting surface 38b on the opposite side of the imaging board 38. One of the circuit components 39 mounted on the mounting surface 38a on the light-receiving opening 35 side of the imaging board 38 is an imaging element 390 such as a CCD or CMOS.

[0026] The imaging element 390 is aligned on the optical axis Oa provided by the light receiving lens system 32 inside the camera housing 31. The imaging element 390 receives and optically captures a target light image that is received from the external space 3 through the light-transmitting panel 20 and the internal space 13 and formed by the light receiving lens system 32. For this purpose, as shown in Fig. 2, the imaging element 390 is constructed to include a plurality of imaging pixels 390a that are two-dimensionally arranged along a horizontal direction and a vertical direction on a plane substantially perpendicular to the optical axis Oa, and each of which outputs an imaging signal.

[0027] 1 controls the imaging of a target light image by the imaging element 390 as imaging processing for the external space 3 through the light-transmitting panel 20. At this time, the imaging circuit system 33 generates image information based on imaging signals from each imaging pixel 390a as imaging information as imaging processing for the external space 3. Furthermore, the imaging circuit system 33 may generate imaging information including recognition information that recognizes, for example, a target in the external space 3 by image processing based on the imaging signals as imaging processing for the external space 3.

[0028] The light source unit 40 has a light source substrate 41 and an irradiation light source 42. The light source substrate 41 is formed in a flat plate shape as a whole, mainly made of a rigid substrate such as a glass epoxy substrate. The light source substrate 41 is held by the casing 10 in a state where it is accommodated outside the camera unit 30 in the internal space 13 of the casing 10 and displaced from the optical axis Oa in a direction perpendicular to the axis Oa. The light source substrate 41 is disposed in an inclined position with respect to the optical axis Oa, so that a mounting surface 41a on one side faces the panel inner surface 22 of the light-transmitting panel 20 at an angle.

[0029] The irradiation light source 42 is mounted on the mounting surface 41a of the light source board 41, and is held by the casing 10 via the board 41. As a result, the irradiation light source 42 is disposed at a fixed light-emitting point Fp in the internal space 13 of the casing 10. In this way, in the internal space 13 in which the irradiation light source 42 is disposed, the image sensor 390 is positioned away from the fixed light-emitting point Fp.

[0030] The irradiation 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 irradiation light emitted from the fixed light emitting point Fp by the irradiation light source 42 is obliquely incident on the translucent panel 20 from the panel inner surface 22 side as shown in FIG. 3, thereby forming a diagnostic beam Bd having a circular or elliptical beam spot shape. Here, an optical component may be added to the light source unit 40 so as to form the diagnostic beam Bd by collimating the irradiation light from the irradiation light source 42. Note that, in order to facilitate understanding of the explanation, FIG. 3 shows a schematic diagram in which the optical component 37 is only one representative lens component 370 and the image sensor 390 is enlarged from the actual size.

[0031] The diagnostic beam Bd is reflected at the medium boundary between the inner surface 22 of the light-transmitting panel 20 and the internal space 13. This generates an internally reflected beam Bi that enters the inside of the lens barrel 36 and the camera housing 31 and is focused on the image pickup element 390. Meanwhile, the diagnostic beam Bd that has partially transmitted through the light-transmitting panel 20 from the inner surface 22 is reflected at the medium boundary between the outer surface 21 of the light-transmitting panel 20 and the external space 3. This generates an externally reflected beam Bo that transmits through the light-transmitting panel 20, enters the inside of the lens barrel 36 and the camera housing 31, and is focused on the image pickup element 390.

[0032] The internal reflection beam Bi and the external reflection beam Bo of the diagnostic beam Bd are adjusted so that their reflected light paths are different from each other when they are incident on the lens component 370 of the light receiving lens system 32 and received by the imaging element 390. Accordingly, in the imaging element 390, as shown in Figures 3 and 4, an internal reflection receiving position Pi, which is the arrangement position of at least one imaging pixel 390a that receives the internal reflection beam Bi, and an external reflection receiving position Po, which is the arrangement position of at least one imaging pixel 390a that receives the external reflection beam Bo, are shifted in the direction perpendicular to the optical axis Oa.

[0033] That is, in the imaging element 390, the imaging pixel 390a located at the internal reflection receiving position Pi and receiving the internal reflection beam Bi is different from the imaging pixel 390a located at the external reflection receiving position Po and receiving the external reflection beam Bo. Therefore, the dimensions of each element in the imaging device 1 are designed in advance so that the imaging pixel 390a at the internal reflection receiving position Pi and the imaging pixel 390a at the external reflection receiving position Po are spaced apart in the direction perpendicular to the optical axis Oa with the imaging pixels 390a other than the positions Pi and Po sandwiched therebetween. Here, in particular, in the imaging device 1, it is preferable that the incidence angle θ (see FIG. 3) of the diagnostic beam Bd to the panel inner surface 22 is designed in advance based on, for example, the thickness, material, etc. of the light-transmitting panel 20.

[0034] The diagnostic device 100 shown in FIG. 1 is connected to the imaging element 390 and the irradiation light source 42 via at least one of a LAN (Local Area Network), a wire harness, and an internal bus. The diagnostic device 100 includes at least one dedicated computer. The dedicated computer constituting the diagnostic device 100 may be an imaging ECU (Electronic Control Unit) specialized for controlling the imaging device 1, and in this case, the imaging ECU may be housed inside the casing 10 or the camera housing 31 (example of FIG. 1) as a component of the imaging device 1. The dedicated computer constituting the diagnostic device 100 may be a driving control ECU that controls driving of the vehicle, and in this case, the driving ECU may be disposed inside the vehicle outside the casing 10, although not shown.

[0035] The dedicated computer constituting the diagnostic device 100 has at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. The processor 102 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), or a graph streaming processor (GSP).

[0036] The processor 102 executes a plurality of instructions included in the diagnostic program stored in the memory 101. In this way, the diagnostic device 100 constructs a plurality of functional blocks for diagnosing the imaging device 1. The functional blocks constructed by the diagnostic device 100 include an intensity acquisition block 110 and a data generation block 120, as shown in FIG.

[0037] A diagnostic data generation method in which the diagnostic device 100 generates diagnostic data Dd for the imaging device 1 by cooperating with these blocks 110 and 120 is executed according to the diagnostic flow shown in Fig. 6. This diagnostic flow is executed, for example, when starting up the vehicle. Note that each "S" in the diagnostic flow represents a plurality of steps executed by a plurality of commands included in the diagnostic program.

[0038] In S10, the intensity acquisition block 110 controls the irradiation light source 42 to emit light, thereby irradiating the diagnostic beam Bd onto the light-transmitting panel 20. Then, in S20 in response to the irradiation, the intensity acquisition block 110 acquires imaging information from the imaging element 390 that receives the internal reflection beam Bi at the internal reflection light receiving position Pi and the external reflection beam Bo at the external reflection light receiving position Po. At this time, at least one imaging function, such as auto exposure, auto white balance, gamma correction, and tone mapping, which is enabled during normal imaging other than when the diagnostic flow is being executed in the imaging device 1, may be changed. By such a change, at least one of the following may be realized, for example, fixing the exposure (exposure time, gain), fixing the white balance, setting the gamma value to 1.0, and turning off the tone mapping, so that the imaging signal intensity from the imaging element 390 changes proportionally to the input luminance value to the imaging element 390.

[0039] Therefore, in S30, the intensity acquisition block 110 acquires an internal reflection intensity Ii, which is the reflection intensity on the panel inner surface 22, based on imaging information representing the intensity of an imaging signal output by receiving the internal reflection beam Bi from the imaging pixel 390a present at the internal reflection receiving position Pi (see FIGS. 3 and 4). At this time, the internal reflection intensity Ii may be based on imaging information representing the imaging signal intensity from a set number of imaging pixels 390a located at the center of gravity of the beam spot formed by the internal reflection beam Bi at the internal reflection receiving position Pi, or at a displaced portion within the beam spot displaced a set distance from the center of gravity. The internal reflection intensity Ii acquired in this manner is stored in the memory 101.

[0040] At the same time, in S30, the intensity acquisition block 110 acquires an outer reflection intensity Io, which is the reflection intensity on the panel outer surface 21, based on imaging information representing the intensity of an imaging signal output by receiving the outer reflection beam Bo from the imaging pixel 390a present at the outer reflection light receiving position Po (see FIGS. 3 and 4). At this time, the outer reflection intensity Io may be based on imaging information representing the imaging signal intensity from a set number of imaging pixels 390a located at the center of gravity of the beam spot formed by the outer reflection beam Bo at the outer reflection light receiving position Po, or at a displaced portion within the beam spot displaced a set distance from the center of gravity. The outer reflection intensity Io acquired in this manner is also stored in the memory 101.

[0041] Furthermore, in S40, the data generation block 120 generates diagnostic data Dd representing a deterioration state of the outer coating layer 210 as a state of the panel outer surface 21 on which the outer coating layer 210 is provided of the light-transmitting panel 20. At this time, the deterioration state of the outer coating layer 210 depends on the relative intensity ratio IR between the inner reflection intensity Ii and the outer reflection intensity Io acquired in S30 according to the following equation 1.

number

[0042] Here, Ii_0 in Equation 1 means a reference intensity of the internal reflection intensity Ii, for example, an initial intensity Ii_0 at the time of shipment of the imaging device 1 from a factory. Io_0 in Equation 1 means a reference intensity of the external reflection intensity Io, for example, an initial intensity Io_0 at the time of shipment of the imaging device 1 from a factory.

[0043] Therefore, as shown in the following equations 2 to 4 obtained by decomposing equation 1, in S40, the deterioration state of the outer coating layer 210 may be diagnosed from the relative intensity ratio IR of the inner reflection intensity Ii_n and the outer reflection intensity Io_n obtained by normalizing the acquired values ​​of the inner reflection intensity Ii and the outer reflection intensity Io obtained by S30 by their initial intensities Ii_0 and Io_0, respectively. Alternatively, as shown in the following equations 5 to 7 obtained by decomposing equation 1 into another form, in S40, the deterioration state of the outer coating layer 210 may be diagnosed from the relative intensity ratio IR obtained by normalizing the relative intensity ratio IR_g of the acquired values ​​of the inner reflection intensity Ii and the outer reflection intensity Io obtained by S30 by the initial ratio IR_0, which is the reference. Here, the initial ratio IR_0 means the relative intensity ratio between the initial intensity Ii_0 of the inner reflection intensity Ii and the initial intensity Io_0 of the outer reflection intensity Io, as shown in equation 7.

number

number

number

number

number

number

[0044] In the diagnosis of S40, when the amount of change in the relative intensity ratio IR on the decreasing side of the internal reflection intensity Ii increases outside the allowable range (i.e., exceeds the threshold or is equal to or greater than the threshold), diagnostic data Dd may be generated to notify the deterioration of the outer coating layer 210 that requires maintenance. In the diagnosis of S40, diagnostic data Dd may be generated to notify that the degree of deterioration of the outer coating layer 210 has progressed as the relative intensity ratio IR changes toward the decreasing side of the internal reflection intensity Ii. In the latter case, the relative intensity ratio IR itself may be included in the diagnostic data Dd as an index representing the deterioration state.

[0045] In such S40, the data generation block 120 may control storage of the generated diagnostic data Dd in the memory 101 or a data logger in the vehicle. In S40, the data generation block 120 may control display of the generated diagnostic data Dd on a display unit in the vehicle. In S40, the data generation block 120 may control transmission of the generated diagnostic data Dd from a communication device in the vehicle to the outside. In S40, output of the diagnostic data Dd by means other than storage, display, and transmission may be realized. As described above, the current execution of the diagnostic flow ends upon completion of execution of S40.

[0046] (Action and effect) The effects of the present embodiment described above will be described below.

[0047] In this embodiment, as a reflected beam of the diagnostic beam Bd irradiated from the fixed light-emitting point Fp in the internal space 13, an internal reflection beam Bi at the panel inner surface 22 of the light-transmitting panel 20 is received at an internal reflection receiving position Pi in the image sensor 390, thereby obtaining an internal reflection intensity Ii at the panel inner surface 22. At the same time, as a reflected beam of the diagnostic beam Bd irradiated from the fixed light-emitting point Fp, an external reflection beam Bo at the panel outer surface 21 of the light-transmitting panel 20 is received at an external reflection receiving position Po in the image sensor 390, thereby obtaining an external reflection intensity Io at the panel outer surface 21.

[0048] Therefore, the diagnostic data Dd according to the present embodiment is generated to represent a deterioration state based on the relative intensity ratio IR between the internal reflection intensity Ii and the external reflection intensity Io as the state of the panel external surface 21 on which the translucent external coating layer 210 is provided. According to this, even if deterioration occurs in the external coating layer 210 of the panel external surface 21 in the external space 3, the fluctuation of the external reflection intensity Io due to the external coating layer 210 of the deterioration can be reflected in the relative intensity ratio IR, while the internal reflection intensity Ii is difficult to vary in the panel internal surface 22 in which deterioration is suppressed in the internal space 13. In this case, the intensity fluctuation of the diagnostic beam Bd itself can be offset in the relative intensity ratio IR. From these facts, it is possible to diagnose the deterioration of the imaging accuracy of the imaging device 1 caused by the deterioration of the external coating layer 210 from the deterioration state represented by the diagnostic data Dd.

[0049] According to this embodiment, in the imaging element 390 positioned in the internal space 13 away from the fixed light emission point Fp, the internal reflection beam Bi and the external reflection beam Bo are received by different imaging pixels 390a located at the internal reflection receiving position Pi and the external reflection receiving position Po, respectively. With this, the internal reflection beam Bi and the external reflection beam Bo, which have different reflected light paths with respect to the diagnostic beam Bd irradiated from the fixed light emission point Fp, can be identified by the difference in the imaging pixels 390a that receive the beams in the imaging element 390 away from the fixed light emission point Fp, and the respective reflection intensities Ii and Io can be recognized. Therefore, it is possible to generate diagnostic data Dd that accurately represents the deterioration state based on the relative intensity ratio IR between the internal reflection intensity Ii and the external reflection intensity Io, and to increase the reliability of the diagnosis of the deterioration of the imaging accuracy of the imaging device 1 caused by the deterioration of the outer coating layer 210.

[0050] According to the present embodiment, the diagnostic data Dd may be generated to represent a deterioration state based on a relative intensity ratio IR obtained by normalizing the internal reflection intensity Ii and the external reflection intensity Io by the respective reference initial intensities Ii_0 and Io_0. This allows the influence of deterioration on the relative intensity ratio IR of the deterioration of the panel inner surface 22 in the internal space 13 to be offset. Therefore, by generating the diagnostic data Dd that accurately represents a deterioration state based on the relative intensity ratio IR of the internal reflection intensity Ii and the external reflection intensity Io, it becomes possible to increase the reliability of the diagnosis of the deterioration of the imaging accuracy of the imaging device 1 caused by the deterioration of the external coating layer 210.

[0051] According to the present embodiment, the diagnostic data Dd may be generated to represent a deterioration state based on the relative intensity ratio IR normalized by the reference initial ratio IR_0. This allows the influence of deterioration of the panel inner surface 22 in the internal space 13 on the relative intensity ratio IR to be offset. Therefore, by generating the diagnostic data Dd that accurately represents a deterioration state based on the relative intensity ratio IR between the inner reflection intensity Ii and the outer reflection intensity Io, it becomes possible to increase the reliability of the diagnosis of the deterioration of the imaging accuracy of the imaging device 1 caused by the deterioration of the outer coating layer 210.

[0052] (Other embodiments) Although one embodiment has been described above, the present disclosure should not be construed as being limited to the embodiment described above, and can be applied to various embodiments within the scope not departing from the gist of the present disclosure.

[0053] In a modified example, the dedicated computer constituting the diagnostic device 100 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), CPLD (Complex Programmable Logic Device), etc. In addition, such a digital circuit may have a memory that stores a program.

[0054] In the modified example, the moving body to which the diagnostic device 100 and the imaging device 1 are applied may be, for example, an autonomous robot capable of transporting luggage or collecting information by autonomous or remote driving. In addition to the forms described so far, the above-mentioned embodiment and modified example may be implemented in the form of a semiconductor device (e.g., a semiconductor chip) as a control device that is configured to be mountable on the moving body to which the diagnostic device 100 and the imaging device 1 are applied and has at least one processor 102 and one memory 101.

[0055] (Additional remarks) This specification discloses the following technical ideas and their combinations. Note that the reference characters in parentheses in the appended remarks indicate the corresponding relationship with the specific means described in the above detailed embodiment, and do not limit the technical scope of this disclosure.

[0056] (Technical thought 1) A diagnostic device (100) having a processor (102) for diagnosing an imaging device (1) that optically images an external space (3) from an internal space (13) using an imaging element (390) through a light-transmitting panel (20) that separates the external space (3) from the internal space (13), The processor, acquiring an internal reflection intensity (Ii) of the inner surface of the panel by receiving an internal reflection beam (Bi) of the inner surface of the panel (22) facing the inner space of the light-transmitting panel at an internal reflection receiving position (Pi) of the imaging element as a reflected beam of a diagnostic beam (Bd) irradiated from a fixed light-emitting point (Fp) in the inner space; receiving an outer surface reflected beam (Bo) from a panel outer surface (21) of the translucent panel facing the external space at an outer surface reflection receiving position (Po) of the image sensor as a reflected beam of the diagnostic beam, thereby acquiring an outer surface reflection intensity (Io) from the panel outer surface; and generating diagnostic data (Dd) representing a deterioration state based on the relative intensity ratio (IR) between the internal reflection intensity and the external reflection intensity as the state of the panel external surface on which a translucent external coating layer (210) is provided.

[0057] (Technical thought 2) The acquisition of the internal reflection intensity and the external reflection intensity includes: The diagnostic device described in technical idea 1 includes receiving the internal reflection beam and the external reflection beam by different imaging pixels (390a) located at the internal reflection receiving position and the external reflection receiving position, respectively, in the imaging element that is positioned in the internal space away from the fixed light emission point.

[0058] (Technical Thought 3) The generation of the diagnostic data includes: The diagnostic device described in Technical Idea 1 or 2 includes generating the diagnostic data to represent the deterioration state based on the relative intensity ratio obtained by normalizing the internal reflection intensity and the external reflection intensity by their respective reference initial intensities.

[0059] (Technical Thought 4) The generation of the diagnostic data includes: The diagnostic device according to technical idea 1 or 2, further comprising generating the diagnostic data so as to represent the deterioration state based on the relative intensity ratio normalized by a reference initial ratio.

[0060] (Technical Thought 5) The generation of the diagnostic data includes: The diagnostic device according to any one of Technical Ideas 1 to 4, further comprising controlling storage of the generated diagnostic data.

[0061] (Technical Thought 6) The generation of the diagnostic data includes: The diagnostic device according to any one of Technical Ideas 1 to 5, further comprising controlling display of the generated diagnostic data.

[0062] (Technical Thought 7) The generation of the diagnostic data includes: The diagnostic device according to any one of Technical Ideas 1 to 6, further comprising controlling transmission of the generated diagnostic data.

[0063] (Technical Thought 8) An imaging device (1) for optically imaging an external space (3) from an internal space (13) using an imaging element (390) through a light-transmitting panel (20) separating the external space (3) from the internal space (13), The imaging element; an illumination light source (42) for irradiating the diagnostic beam from a fixed point of emission (Fp) in the internal space; An imaging device comprising the diagnostic device (100) according to any one of Technical Concepts 1 to 7.

[0064] The above-mentioned technical concepts 1 to 7 may be understood as the respective technical concepts of a method and a program. [Explanation of symbols]

[0065] 1: imaging device, 3: external space, 13: internal space, 20: light-transmitting panel, 21: external surface of panel, 22: internal surface of panel, 42: irradiation light source, 100: diagnostic device, 101: memory, 102: processor, 210: external coating layer, 390: imaging element, 390a: imaging pixel, Bd: diagnostic beam, Bi: internal reflection beam, Bo: external reflection beam, Dd: diagnostic data, Fp: fixed light emission point, IR: relative intensity ratio, Ii: internal reflection intensity, Io: external reflection intensity, Pi: internal reflection light receiving position, Po: external reflection light receiving position

Claims

1. A diagnostic device (100) having a processor (102) for diagnosing an imaging device (1) that optically images an external space (3) from an internal space (13) using an imaging element (390) through a light-transmitting panel (20) that separates the external space (3) from the internal space, The processor, acquiring an internal reflection intensity (Ii) on the inner surface of the panel by receiving an internal reflection beam (Bi) on an inner surface of the panel (22) facing the internal space of the translucent panel as a reflected beam of a diagnostic beam (Bd) irradiated from a fixed light emission point (Fp) in the internal space at an internal reflection receiving position (Pi) of the imaging element; receiving an outer surface reflected beam (Bo) from a panel outer surface (21) of the translucent panel facing the external space at an outer surface reflection receiving position (Po) of the image sensor as a reflected beam of the diagnostic beam, thereby acquiring an outer surface reflection intensity (Io) from the panel outer surface; A diagnostic device configured to execute the steps of: generating diagnostic data (Dd) representing a deterioration state based on the relative intensity ratio (IR) between the internal reflection intensity and the external reflection intensity as the state of the panel external surface on which a translucent external coating layer (210) is provided.

2. The acquisition of the internal reflection intensity and the external reflection intensity includes: The diagnostic device of claim 1, further comprising receiving the internal reflection beam and the external reflection beam by different imaging pixels (390a) located at the internal reflection receiving position and the external reflection receiving position, respectively, in the imaging element positioned in the internal space away from the fixed light emission point.

3. The generation of the diagnostic data includes: The diagnostic device according to claim 1 , further comprising generating the diagnostic data so as to represent the deterioration state based on the relative intensity ratio obtained by normalizing the internal reflection intensity and the external reflection intensity by their respective reference initial intensities.

4. The generation of the diagnostic data includes: The diagnostic device according to claim 1 , further comprising generating the diagnostic data so as to represent the deterioration state based on the relative intensity ratio normalized by a reference initial ratio.

5. The generation of the diagnostic data includes: The diagnostic device of claim 1 further comprising: controlling storage of the generated diagnostic data.

6. The generation of the diagnostic data includes: The diagnostic device of claim 1 , further comprising: controlling a display of the generated diagnostic data.

7. The generation of the diagnostic data includes: The diagnostic device of claim 1 , further comprising: controlling transmission of the generated diagnostic data.

8. An imaging device (1) for optically imaging an external space (3) from an internal space (13) using an imaging element (390) through a light-transmitting panel (20) separating the external space (3) from the internal space (13), The imaging element; an illumination light source (42) for irradiating the diagnostic beam from a fixed point of emission (Fp) in the internal space; An imaging device comprising a diagnostic device (100) according to any one of claims 1 to 7.

9. A diagnostic data generation method executed by a processor (102) to generate diagnostic data (Dd) for diagnosing an imaging device (1) that optically images an external space (3) from an internal space (13) using an imaging element (390) through a translucent panel (20) that separates the external space (3) from the internal space, the method comprising: acquiring an internal reflection intensity (Ii) on the inner surface of the panel by receiving an internal reflection beam (Bi) on an inner surface of the panel (22) facing the internal space of the translucent panel as a reflected beam of a diagnostic beam (Bd) irradiated from a fixed light emission point (Fp) in the internal space at an internal reflection receiving position (Pi) of the imaging element; receiving an outer surface reflected beam (Bo) from a panel outer surface (21) of the translucent panel facing the external space at an outer surface reflection receiving position (Po) of the image sensor as a reflected beam of the diagnostic beam, thereby acquiring an outer surface reflection intensity (Io) from the panel outer surface; A diagnostic data generation method comprising: generating diagnostic data representing a deterioration state of the panel outer surface on which a translucent outer coating layer (210) is provided, the deterioration state being based on the relative intensity ratio (IR) between the internal reflection intensity and the external reflection intensity.

10. A diagnostic program stored in a storage medium (101) for diagnosing an imaging device (1) that optically images an external space (3) from an internal space (13) using an imaging element (390) through a light-transmitting panel (20) that separates the external space (3) from the internal space (13), the diagnostic program including instructions to be executed by a processor (102), acquiring an internal reflection intensity (Ii) on the inner surface of the panel by receiving an internal reflection beam (Bi) on an inner surface of the panel (22) facing the internal space of the translucent panel as a reflected beam of a diagnostic beam (Bd) irradiated from a fixed light emission point (Fp) in the internal space at an internal reflection receiving position (Pi) of the imaging element; receiving an outer surface reflected beam (Bo) from a panel outer surface (21) of the translucent panel facing the external space at an outer surface reflection receiving position (Po) of the image sensor as a reflected beam of the diagnostic beam, thereby acquiring an outer surface reflection intensity (Io) from the panel outer surface; A diagnostic program including the instructions to execute the following: generating diagnostic data (Dd) representing a deterioration state based on the relative intensity ratio (IR) between the internal reflection intensity and the external reflection intensity as the state of the panel external surface on which a translucent external coating layer (210) is provided.

Images