Mobile object imaging device and imaging mobile object

Abstract

To appropriately capture images of objects around a moving body with a smaller number of cameras.SOLUTION: A moving body imaging device 100 includes a frame 190 arranged in accordance with the left-right direction Y of an imaging moving body 200, and a camera 120 that moves in the left-right direction Y along the frame 190 and rotates in the rotation direction.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present disclosure relates to an imaging device mounted on a moving body.

Background Art

[0002] A method is known in which a vehicle equipped with a camera travels through a tunnel and images the inside of the tunnel.

[0003] Patent Document 1 discloses a tunnel wall surface imaging device mounted on a vehicle. The tunnel wall surface imaging device includes two or more in-vehicle cameras. The two or more in-vehicle cameras are directed in different directions from each other to image the tunnel wall surface.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the tunnel wall surface imaging device described in Patent Document 1, the relative position of each in-vehicle camera with respect to the tunnel wall surface cannot be changed. Therefore, it is not possible to image the tunnel wall surface with high resolution, image a wide range of the tunnel wall surface, or image a portion hidden by an obstacle.

[0006] An object of the present disclosure is to enable appropriate imaging of an object around a moving body with a smaller number of cameras.

Means for Solving the Problems

[0007] The moving body imaging device of the present disclosure is a moving body imaging device mounted on a moving body, A frame arranged in accordance with the left - right direction orthogonal to the front - rear direction and the up - down direction of the moving body; A camera that moves in the left - right direction along the frame; and is provided with.

Advantages of the Invention

[0008] According to the present disclosure, it becomes possible to appropriately image an object around the moving body with a smaller number of cameras.

Brief Description of the Drawings

[0009]

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[0010] In the embodiments and the drawings, the same elements or corresponding elements are denoted by the same reference numerals. The description of the elements denoted by the same reference numerals as the described elements will be omitted or simplified as appropriate.

[0011] Embodiment 1. The mobile imaging device 100 will be described with reference to FIGS. 1 to 15.

[0012] ***Description of the Configuration*** Based on FIG. 1, the configuration of the imaging mobile body 200 will be described. FIG. 1 shows the inside of the loading platform of the imaging mobile body 200. The imaging mobile body 200 is a mobile body on which the mobile imaging device 100 is mounted. Examples of the mobile body are automobiles such as trucks. In the imaging mobile body 200, an operation seat 210 is provided on the loading platform behind the driver's cab 201. An operation terminal (such as a display, keyboard, and mouse) is arranged on the operation seat 210. The operation terminal is connected to an operation device arranged in the PC rack 220. PC is an abbreviation for personal computer. The operation device is a computer that executes operations of the mobile imaging device 100 and processing of data (such as images) obtained by the mobile imaging device 100. The operator operates the mobile imaging device 100 by operating the operation terminal and checks the data obtained by the mobile imaging device 100 on the operation terminal.

[0013] The mobile imaging device 100 is an imaging device mounted on a moving body and imaging the periphery of the moving body during the movement of the moving body. For example, the imaging moving body 200 travels through a tunnel, and the mobile imaging device 100 images the tunnel wall surface.

[0014] In the imaging moving body 200, the periphery of the location where the mobile imaging device 100 is disposed is open for imaging. For example, openings are provided in the side walls and ceiling around the location where the mobile imaging device 100 is disposed.

[0015] The X direction represents the front-rear direction of the imaging moving body 200. The front-rear direction of the imaging moving body 200 corresponds to the traveling direction and the length direction of the imaging moving body 200. The Y direction represents the left-right direction of the imaging moving body 200. The left-right direction of the imaging moving body 200 corresponds to the width direction of the imaging moving body 200. The direction orthogonal to the X direction and the Y direction is referred to as the Z direction. The Z direction represents the up-down direction of the imaging moving body 200. The up-down direction of the imaging moving body 200 corresponds to the height direction of the imaging moving body 200.

[0016] Based on FIG. 2, the configuration of the mobile imaging device 100 will be described. FIG. 2 shows the mobile imaging device 100 as viewed from the side of the imaging moving body 200.

[0017] The mobile imaging device 100 includes a plurality of cameras 120. The plurality of cameras 120 are arranged side by side in the front-rear direction X. In FIG. 2, the mobile imaging device 100 includes three cameras 120 arranged side by side in the front-rear direction X. Lenses are attached to each of the cameras 120. The double circles marked in large numbers around the camera 120 represent ventilation holes.

[0018] By providing a plurality of cameras 120, it becomes possible to image a wide area at once. If different focus values are set for each of the plurality of cameras 120, it becomes possible to image the same location at different focal points at once with the plurality of cameras 120.

[0019] However, the mobile imaging device 100 may be provided with only one camera 120.

[0020] An example of the camera 120 is a line camera. The camera 120 may be a camera that images 360 degrees.

[0021] The mobile imaging device 100 includes one or more light sources 130 for each camera 120. In FIG. 2, the mobile imaging device 100 includes four light sources 130 for each camera 120.

[0022] The mobile imaging device 100 includes a plurality of housings 110. Specifically, the mobile imaging device 100 includes a housing 110 for each camera 120. In FIG. 2, the mobile imaging device 100 includes three housings 110.

[0023] The plurality of housings 110 are arranged side by side in the front-rear direction X. The plurality of cameras 120 are attached to separate housings 110 in a direction orthogonal to the front-rear direction X. In FIG. 2, inside each housing 110, one camera 120 and four light sources 130 are fixed upward.

[0024] The mobile imaging device 100 includes a plurality of support plates 140. Specifically, the mobile imaging device 100 includes a support plate 140 that supports the housing 110 for each housing 110. In FIG. 2, the mobile imaging device 100 includes two support plates 140 that sandwich and support the housing 110 for each housing 110.

[0025] The mobile imaging device 100 includes a frame 190 to which a plurality of support plates 140 are fixed. The frame 190 is also called a turret. Each support plate 140 is fixed to the frame 190 perpendicular to the front-rear direction X. A plurality of housings 110 are fixed to each support plate 140. In FIG. 2, three housings 110 are fixed to the frame 190 via respective support plates 140.

[0026] The front-rear direction X corresponds to the length direction of the frame 190. The length direction of the frame 190 corresponds to the length direction of the beam of the frame 190 in the front-rear direction X. The left-right direction Y corresponds to the depth direction of the frame 190. The depth direction of the frame 190 corresponds to the length direction of the beam of the frame 190 in the left-right direction Y. The up-down direction Z corresponds to the height direction of the frame 190. The height direction of the frame 190 corresponds to the length direction of the column of the frame 190.

[0027] Based on FIGS. 3 to 5, the rotation of the housing 110 will be described. FIGS. 3 to 5 show the mobile imaging device 100 as seen from the rear side of the imaging mobile body 200. The two solid lines marked from the tip of the camera 120 toward the front of the camera 120 represent the imaging direction (line-of-sight direction) of the camera 120. The plurality of housings 110 are rotated independently of each other in the rotation direction about the front-rear direction X of the imaging mobile body 200 and are fixed to the respective support plates 140. The plurality of cameras 120 are rotated in the rotation direction as the respective housings 110 rotate. Thereby, the imaging direction of each camera 120 is adjusted.

[0028] As shown in FIG. 3, the support plate 140 has a plurality of fixing holes 141 arranged in a circumferential shape around the rotation axis of the housing 110. The housing 110 is fixed to the support plate 140 using a fixing tool (for example, a bolt) for each of two or more fixing holes 141.

[0029] In FIG. 3, the housing 110 is fixed to the support plate 140 such that the imaging direction of the camera 120 is upward. In FIG. 4, the housing 110 (solid line) is fixed to the support plate 140 such that the imaging direction of the camera 120 is in the upper left direction. Specifically, the housing 110 is fixed after being rotated by 80 degrees. The housing 110 shown by the dashed line is fixed to the support plate 140 such that the imaging direction of the camera 120 is in the upper right direction. In FIG. 5, the housing 110 (solid line) is fixed to the support plate 140 such that the imaging direction of the camera 120 is in the lower left direction. Specifically, the housing 110 is rotated and fixed such that the imaging direction is the most downward. The housing 110 shown by the dashed line is fixed to the support plate 140 such that the imaging direction of the camera 120 is in the lower right direction.

[0030] Based on FIGS. 6 and 7, the sliding of the housing 110 will be described. FIG. 6 shows a state where the housing 110 is moved in the left - right direction Y and rotated counterclockwise. FIG. 7 shows a state where the housing 110 is moved in the left - right direction Y and rotated clockwise.

[0031] The plurality of support plates 140 are independently moved in the left - right direction Y for each housing 110 and fixed to the frame 190. The plurality of housings 110 are independently moved in the left - right direction Y. Specifically, the plurality of housings 110 are moved in the left - right direction Y along with the movement of each support plate 140. The plurality of cameras 120 are independently moved in the left - right direction Y. Specifically, the plurality of cameras 120 are moved in the left - right direction Y along with the movement of each housing 110. Thereby, the position of each camera 120 in the left - right direction Y is adjusted.

[0032] Based on FIGS. 8 to 10, the description of the mobile imaging device 100 will be supplemented. The housing 110 has one or more handles 111 used to rotate the housing 110. In FIG. 8, the housing 110 has rod-shaped handles 111 on the left and right of the upper surface and the upper and lower parts of the left and right side surfaces, respectively. The housing 110 may have U-shaped handles 111 on the left and right side surfaces as shown in FIG. 3. The number, position, and shape of the handles 111 are arbitrary.

[0033] In FIG. 8, the housing 110 is fixed to the center of the support plate 140 using bolts 144. The bolt 144 at the center of the support plate 140 applies friction to the central portion of the support plate 140 to make it difficult for the housing 110 to rotate. Note that the center of the support plate 140 corresponds to the center of a plurality of fixing holes 141 arranged in a circumferential shape (see FIG. 3). Also, the housing 110 is fixed to the end of the support plate 140 using bolts 144. Also, the housing 110 is fixed to the support plate 140 using one or more bolts 142. The bolts 142 are bolts for rotational fixation. A plunger 143 is attached beside each bolt 142. The plunger 143 is a press-fit plunger that presses a ball with a spring from below. The plunger 143 temporarily stops (locks) the rotation of the housing 110 at regular intervals to prevent the housing 110 from rotating smoothly, that is, to prevent the housing 110 from rotating unintentionally without being rotationally locked in an unbalanced state without support.

[0034] The support plate 140 has one or more handles 149 used to slide the housing 110 fixed to the support plate 140. In FIG. 8, the support plate 140 has handles 149 on the left and right. The number, position, and shape of the handles 149 are arbitrary.

[0035] The rotation, fixation, and sliding of the housing 110 are performed before the imaging mobile body 200 departs.

[0036] FIG. 9 shows a part of the mobile imaging device 100. The dashed-line frame indicates the sliding part. That is, the dashed-line frame represents that the housing 110 and the support plate 140 slide. Frame 190 has a frame 191 at the portion connecting to the support plate 140. Frame 191 has a length in the left - right direction Y. For example, frame 190 is an aluminum frame. Support plate 140 has a slider 148 at the portion connecting to frame 190. Slider 148 slides in the left - right direction Y along frame 191. Frame 191 has a plurality of fixing holes arranged in the length direction, and slider 148 is fixed to frame 191 using a fixing tool (such as a pin, bolt, etc.).

[0037] FIG. 10 shows a part of the mobile imaging device 100. The dashed - dotted line frame indicates the rotating part. That is, the dashed - dotted line frame represents that the housing 110 rotates.

[0038] ***Effects of Embodiment 1*** Based on FIGS. 11 to 17, the effects exhibited by the mobile imaging device 100 will be described. In FIGS. 11 to 17, the mobile imaging device 100 is conceptually illustrated using the camera 120, the light source 130, and the frame 190.

[0039] FIG. 11 shows the mobile imaging device 100 as seen from the rear side of the imaging mobile body 200. In the mobile imaging device 100, the camera 120 not only rotates but also slides in the left - right direction Y. The mobile imaging device 100 is characterized in that the camera 120 slides in the left - right direction Y.

[0040] Based on FIGS. 12 to 17, the effects mainly obtained by the camera 120 sliding in the left - right direction Y will be described.

[0041] FIGS. 12 and 13 show the imaging range of the mobile imaging device 100. The imaging range indicated by the solid line is the range that can be imaged by rotating the camera 120 with the camera 120 arranged at the center in the left - right direction Y. The imaging range indicated by the dashed line is the range that can be imaged by sliding the camera 120 in the left - right direction Y and rotating the camera 120. As shown in FIG. 12, when the camera 120 slides in the left - right direction Y, the imaging range of the mobile imaging device 100 expands. In FIG. 13, by arranging the camera 120 at the left end, the imaging range in the lower left extends further forward. That is, by moving the camera 120 to the left end (or right end), it is possible to image the lower part in front.

[0042] FIG. 14 shows a state where the tunnel lighting is imaged by the mobile imaging device 100. In FIG. 14, the lighting is fixed to the inner wall of the tunnel using a fitting (such as a screw). The camera 120 (solid line) is arranged in the center in the left - right direction Y. In this case, since the fitting is hidden by the lighting, the lighting fitting does not appear in the image even when the lighting is imaged. On the other hand, when the camera 120 is slid to the right and arranged at the right end (dashed line), since the lighting fitting is located in front of the camera 120, the lighting fitting appears in the image when the lighting is imaged. In this way, by sliding the camera 120 in the left - right direction Y, it becomes possible to image the object from the direct front. That is, direct - facing imaging becomes possible and occlusion is reduced. Note that when the tunnel is smaller, the ceiling of the tunnel is low, and the lighting is installed at a low position, etc., it may be better to arrange the camera 120 in the center in the left - right direction Y. Also, depending on the position of the object and the shape of the tunnel, it may be better to arrange the camera 120 at the left end. For example, by arranging the camera 120 at the left end, the camera 120 may face the lighting directly. Also, to image the vicinity of the lower end of the tunnel, it is better to arrange the camera 120 at the left end (or closer to the center than the right end).

[0043] Based on FIG. 15, the focus values set for the plurality of cameras 120 will be described. At least two cameras 120 are set with different focus values. Also, these cameras 120 are arranged at the same position in the left - right direction Y with respect to each other and rotated at the same angle in the rotation direction. Then, these cameras 120 image the same direction with different depths of field. FIG. 15 shows a state where two cameras 120 image the same direction with different depths of field. Camera 120A is focused closer than camera 120B. Camera 120B is focused farther than camera 120A. That is, the focal lengths (focus values) of camera 120A and camera 120B are different from each other. Therefore, cameras 120A and 120B can perform imaging with the focus on the front and imaging with the focus on the back at the same time. In this way, by using two or more cameras 120 with different focal lengths facing the same direction, the range of focus (depth of field) can be seemingly widened. The more the number of cameras 120 with different focal lengths from each other, the wider the apparent depth of field becomes. By seemingly widening the depth of field, the following effects can be obtained. The problem that the depth of field becomes narrow when imaging a dark place at high resolution is solved. Also, when imaging an object with irregularities (such as lighting), the problem that when focusing on the back side of the object, the front side of the object appears blurred is solved.

[0044] Based on FIG. 16, the arrangement of a plurality of cameras 120 will be described. At least two cameras 120 are arranged at different positions in the left - right direction Y with respect to each other. Then, these cameras 120 image the same location from different directions. FIG. 16 shows a state where two cameras 120 image the same location from different directions. Camera 120A is slid to the left and arranged at the left end, imaging the ceiling above the shield. Camera 120B is slid to the right and arranged at the right end, imaging the ceiling above the shield. Neither camera 120A nor camera 120B can image the part hidden in a hollow shield (such as a steel frame) (the white part between the mesh coverings). However, camera 120A can image the part that camera 120B cannot image, and camera 120B can image the part that camera 120A cannot image. In this way, by imaging the same location from different directions with multiple cameras 120, the parts that cannot be imaged can be eliminated (or reduced).

[0045] Based on FIG. 17, the arrangement of multiple cameras 120 will be described. At least two cameras 120 are arranged at different positions in the left - right direction Y from each other and rotated at the same angle in the rotation direction. And those cameras 120 image different ranges in the same direction at different resolutions. FIG. 17 shows the state of imaging the same direction from different distances with two cameras 120. Camera 120A is slid to the left and arranged at the left end. Camera 120B is slid to the right and arranged at the right end. And camera 120A and camera 120B are imaging the left wall surface from different distances. Since camera 120A is closer to the left wall surface, it can image the left wall surface at a higher resolution. On the other hand, since camera 120B is farther from the left wall surface, it can image a wider range of the left wall surface. In this way, by sliding the camera 120 and adjusting the position of the camera 120 in the left - right direction Y, it is possible to image an object at a closer distance or image a wide range of the object. At first glance, if a zoom lens is mounted on the camera 120, it seems that the same effect can be obtained without sliding the camera 120 in the left - right direction Y. However, when a zoom lens is mounted on the camera 120, the arrangement of the light source 130 has to be changed, and the same effect cannot be obtained only by mounting a zoom lens on the camera 120.

[0046] ***Example of Embodiment 1*** The camera 120 may be moved in the vertical direction Z along the frame 190. FIG. 18 shows the state in which the camera 120 slides in the vertical direction Z. In FIG. 18, the moving body imaging device 100 conceptually shows the camera 120, the light source 130, and the frame 190. The camera 120 may be slid in the vertical direction Z along the column of the frame 190, or may be slid in the vertical direction Z by expanding and contracting the column of the frame 190. By sliding the camera 120 downward, an object at a low position can be imaged facing directly.

[0047] The camera 120, the housing 110, or the support plate 140 may be automatically moved in the left - right direction Y and the vertical direction Z. For example, a driving device (such as a motor) is attached to the camera 120, the housing 110, or the support plate 140, the driving device is operated at the operation seat 210, and the camera 120, the housing 110, or the support plate 140 is moved in the left - right direction Y and the vertical direction Z by the driving device. For example, the housing 110 is moved in the left - right direction Y in the following procedure. The operating device displays a setting screen on the display of the operation terminal. The operator inputs the camera position into the setting screen using the operation terminal. The camera position represents the position of the camera 120 in the left - right direction Y. For example, "left", "center", or "right" can be specified as the camera position. Then, the operating device moves the housing 110 to the position corresponding to the input camera position by controlling the driving device. Thereby, the camera 120 is arranged at the position corresponding to the input camera position. Note that the operating device operates according to software (a program).

[0048] The camera 120, the housing 110, or the support plate 140 may be automatically rotated in the rotational direction. For example, a driving device is attached to the camera 120, the housing 110, or the support plate 140, the driving device is operated at the operation seat 210, and the camera 120, the housing 110, or the support plate 140 is rotated in the rotational direction by the driving device. For example, the housing 110 is rotated according to the following procedure. The operating device displays a setting screen on the display of the operation terminal. The operator uses the operation terminal to input the camera orientation into the setting screen. The camera orientation represents the orientation of the camera 120 in the rotation direction. For example, a plurality of setting points arranged circumferentially are set on the support plate 140. The positions of the plurality of setting points correspond to the positions of the plurality of fixing holes 141 described in Embodiment 1. An identifier is set for each of the plurality of setting points. For example, 15 identifiers (1 to 9 and A to F) are set for 15 setting points. The operator selects one setting point and inputs the identifier of the selected setting point into the setting screen. Then, the operating device rotates the housing 110 in the orientation corresponding to the input camera orientation by controlling the driving device. As a result, the camera 120 is arranged in the orientation corresponding to the input camera orientation. For example, the housing 110 is rotated about the center of the plurality of setting points as the rotation axis, and the camera 120 is arranged in the orientation in which the direction from the selected setting point to the center of the plurality of setting points is the imaging direction. Note that the operating device operates according to software (program).

[0049] ***Summary of Embodiment 1*** Embodiment 1 discloses the mobile imaging device 100. Embodiment 1 also discloses the movement of the camera 120 and the rotation of the camera 120.

[0050] By moving the camera 120, the imaging range can be widened. Also, the blind spot can be reduced.

[0051] The mobile imaging device 100 has a mechanism capable of moving (sliding) the camera 120 and changing the imaging angle (rotation). Specifically, the mobile imaging device 100 includes a frame 190 that enables the camera 120 to move, and the camera 120 is fixed to the frame 190. Also, the mobile imaging device 100 includes a housing 110 that enables the camera 120 to rotate, and the housing 110 rotates about a rotation axis. The camera 120 can be moved in the left - right direction Y. The camera 120 may also be moved in the up - down direction Z. Since the movement (slide) of the camera 120 and the angle (rotation) of the camera 120 can be changed, it is possible to image a wider range. Also, it is possible to image an object facing the object directly. By imaging a plurality of cameras 120 with different focal lengths in the same direction, the depth of field can be widened. By imaging the same location from different positions by a plurality of cameras 120, portions that are shielded and not visible from each other can complement each other. By moving the camera 120, it is possible to image an object at a closer proximity. Therefore, it is possible to image the object more clearly. By running the imaging moving body 200 a plurality of times, it becomes possible to image the entire travel route. Since the movement of each camera 120 and the angle of each camera 120 can be changed, targets around the imaging moving body 200 can be imaged with a smaller number of cameras 120.

[0052] ***Supplement to Embodiment 1*** Embodiment 1 is an example of a preferred form and is not intended to limit the technical scope of the present disclosure. Embodiment 1 may be partially implemented or may be implemented in combination with other forms.

[0053] Hereinafter, aspects of the present disclosure will be described as appendices. (Appendix 1) A mobile imaging device mounted on a mobile body, A frame arranged in accordance with the left - right direction orthogonal to the front - rear direction and the up - down direction of the mobile body, A camera moved in the left - right direction along the frame, A mobile imaging device comprising the same.

[0054] (Appendix 2) The camera is rotated in a rotational direction having the front - rear direction as a rotation axis The mobile imaging device according to Appendix 1.

[0055] (Appendix 3) A plurality of the cameras arranged side by side in the front-rear direction, moved independently of each other, and rotated independently of each other Comprising The mobile imaging device according to Supplementary Note 2

[0056] (Supplementary Note 4) The mobile imaging device is A housing that moves in the left-right direction along the frame and is fixed to the frame perpendicular to the front-rear direction Comprising The camera is attached to the housing and moves in the left-right direction as the housing moves The mobile imaging device according to Supplementary Note 1

[0057] (Supplementary Note 5) The housing is rotated in a rotational direction with the front-rear direction as the rotation axis, The camera is rotated in the rotational direction as the housing rotates The mobile imaging device according to Supplementary Note 4

[0058] (Supplementary Note 6) A plurality of the housings arranged side by side in the front-rear direction, moved independently of each other in the left-right direction, and rotated independently of each other in the rotational direction; and A plurality of the cameras attached to respective ones of the separate housings, moved in the left-right direction as respective ones of the housings move, and rotated in the rotational direction as respective ones of the housings rotate The mobile imaging device according to Supplementary Note 5

[0059] (Supplementary Note 7) The mobile imaging device is A support plate that moves in the left-right direction along the frame and is fixed to the frame perpendicular to the front-rear direction Comprising The housing is rotated in the rotational direction and fixed to the support plate, and moves in the left-right direction as the support plate moves, The camera is rotated in the rotational direction as the housing rotates and moves in the left-right direction as the housing moves The mobile imaging device described in Supplementary Note 5.

[0060] (Supplementary Note 8) A plurality of the support plates arranged side by side in the front - rear direction and independently moved in the left - right direction with respect to each other; A plurality of the housings independently rotated in the rotational direction and fixed to different ones of the support plates, and moved in the left - right direction as each of the support plates moves; A plurality of the cameras attached to different ones of the housings, rotated in the rotational direction as each of the housings rotates, and moved in the left - right direction as each of the housings moves, and comprising The mobile imaging device described in Supplementary Note 7.

[0061] (Supplementary Note 9) At least two of the cameras are set with different focus values, arranged at the same position in the left - right direction with respect to each other, rotated at the same angle in the rotational direction with respect to each other, and image the same direction with different depths of field. The mobile imaging device according to any one of Supplementary Note 3, Supplementary Note 6, and Supplementary Note 8.

[0062] (Supplementary Note 10) At least two of the cameras are arranged at different positions in the left - right direction with respect to each other, and image the same location from different directions. The mobile imaging device according to any one of Supplementary Note 3, Supplementary Note 6, and Supplementary Note 8.

[0063] (Supplementary Note 11) At least two of the cameras are arranged at different positions in the left - right direction with respect to each other, rotated at the same angle in the rotational direction with respect to each other, and image different ranges in the same direction with different resolutions. The mobile imaging device according to any one of Supplementary Note 3, Supplementary Note 6, and Supplementary Note 8.

[0064] (Supplementary Note 12) The camera is moved in the up - down direction along the frame. The mobile imaging device according to any one of Supplementary Notes 1 to 11.

[0065] (Appendix 13) An imaging mobile body equipped with the mobile imaging device according to any one of Appendices 1 to 12.

Explanation of Signs

[0066] 100 Mobile imaging device, 110 Housing, 120 Camera, 130 Light source, 140 Support plate, 141 Fixing hole, 190 Frame, 200 Imaging mobile body, 201 Driver's cab, 210 Operator's seat, 220 PC rack.

Claims

1. A mobile imaging device mounted on a mobile body, a frame arranged in accordance with the left-right direction orthogonal to the front-rear direction and the up-down direction of the mobile body, a camera moved in the left-right direction along the frame, A mobile imaging device comprising.

2. The camera is rotated in a rotational direction having the front-rear direction as a rotation axis The mobile imaging device according to claim 1.

3. A plurality of the cameras arranged side by side in the front-rear direction, moved independently of each other, and rotated independently of each other Comprising The mobile imaging device according to claim 2.

4. The mobile imaging device is a housing moved in the left-right direction along the frame Comprising The camera is attached to the housing and moved in the left-right direction as the housing moves The mobile imaging device according to claim 1.

5. The housing is rotated in a rotational direction having the front-rear direction as a rotation axis, The camera is rotated in the rotational direction as the housing rotates The mobile imaging device according to claim 4.

6. A plurality of the housings arranged side by side in the front-rear direction, moved independently of each other in the left-right direction, and rotated independently of each other in the rotational direction; A plurality of the cameras attached to respective ones of the housings, moved in the left-right direction as respective ones of the housings move, and rotated in the rotational direction as respective ones of the housings rotate, The mobile imaging device according to claim 5.

7. The mobile imaging device is a support plate moved in the left-right direction along the frame and fixed to the frame orthogonal to the front-rear direction Comprising The housing is rotated in the rotational direction and fixed to the support plate, and moved in the left-right direction as the support plate moves, The camera is rotated in the rotational direction as the housing rotates and moved in the left-right direction as the housing moves The mobile imaging device according to claim 5.

8. A plurality of the support plates arranged side by side in the front-rear direction and moved independently of each other in the left-right direction; a plurality of the housings rotated independently of each other in the rotational direction and fixed to respective ones of the support plates, and moved in the left-right direction as respective ones of the support plates move; A plurality of the cameras attached to respective ones of the housings, rotated in the rotational direction as respective ones of the housings rotate, and moved in the left-right direction as respective ones of the housings move, The mobile imaging device according to claim 7.

9. At least two of the cameras are set with different focus values, arranged at the same position in the left-right direction, rotated at the same angle in the rotation direction, and image the same direction with different depths of field. The mobile imaging device according to any one of Claims 3, 6, and 8.

10. At least two of the cameras are arranged at different positions in the left-right direction and image the same location from different directions. The mobile imaging device according to any one of Claims 3, 6, and 8.

11. At least two of the cameras are arranged at different positions in the left-right direction and rotated at the same angle in the rotation direction, and image different ranges in the same direction with different resolutions. The mobile imaging device according to any one of Claims 3, 6, and 8.

12. The camera is moved in the up-down direction along the frame. The mobile imaging device according to any one of Claims 1 to 8.

13. An imaging mobile body equipped with the mobile imaging device according to any one of Claims 1 to 8.

Images