Imaging device, moving body, supporting device and supporting method

Abstract

To reduce positional deviation of a plurality of imaging units due to vibration.SOLUTION: An imaging apparatus 100 comprises: a support member 210 that supports a first camera 310 and a second camera 320 that pick up images of different ranges on an inner wall surface of a tunnel 600 in a direction intersecting with the direction of travel of a vehicle 500; and a facing member 230 that faces the support member 210 in the direction of travel of the vehicle 500. The support member 210 includes a first attachment part 315 to which the first camera 310 is attached, and a second attachment part 325 that is arranged separated from the first attachment part 315 in the direction intersecting with the direction of travel of the vehicle 500 and to which the second camera 320 is attached. The imaging apparatus comprises a connection member 283 that connects an intermediate part 210M located between the first attachment part 315 and the second attachment part in the support member 210, and a facing part 230M facing the intermediate part 210M in the facing member 230 with each other.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to an imaging device, a moving body, a supporting device, and a supporting method. [Background technology]

[0002] Patent Document 1 describes an imaging device having a plurality of illumination and imaging sections, each of which images a different range on a subject in a direction intersecting the direction of movement of a moving object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-155902 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to reduce positional deviations of a plurality of imaging units caused by vibration. [Means for solving the problem]

[0005] The imaging device of the present invention is an imaging device that images a subject while mounted on a moving body, and includes a plurality of imaging sections, each of which images a different range on the subject in a direction intersecting the movement direction of the moving body, a support member that supports a first imaging section and a second imaging section included in the plurality of imaging sections, and an opposing member that faces the support member in the movement direction of the moving body, and the support member includes a first mounting section to which the first imaging section is attached, and a second mounting section that is positioned away from the first mounting section in the direction intersecting the movement direction of the moving body and to which the second imaging section is attached, and includes a connecting member that connects an intermediate section located between the first mounting section and the second mounting section on the support member and an opposing section that faces the intermediate section on the opposing member. Effect of the Invention

[0006] According to the present invention, it is possible to reduce positional deviations of a plurality of imaging units caused by vibration. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram of a moving object equipped with an imaging device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing an example of a hardware configuration of an imaging apparatus according to the present embodiment. [Diagram 3] 1 is a perspective view illustrating an example of a configuration of an imaging device according to an embodiment of the present invention. [Figure 4] FIG. 4 is a side view of the imaging device shown in FIG. [Diagram 5] FIG. 4 is an exploded perspective view of the imaging device shown in FIG. [Figure 6] 4 is a perspective view of the imaging device shown in FIG. 3, seen from the opposite direction. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Fig. 1 is an explanatory diagram of a moving body equipped with an imaging device according to an embodiment of the present invention. Fig. 1(a) is a diagram of a vehicle 500, which is an example of a moving body, viewed from the direction of movement, and Fig. 1(b) is a diagram showing the vehicle 500 moving (traveling) inside a tunnel 600. The imaging device 100 is installed in the vehicle 500 and captures an image of the inner wall surface of the tunnel 600, which is an example of a subject.

[0009] In Fig. 1(a), the imaging device 100 is fixed on the roof of a vehicle 500. The part of the vehicle to which the imaging device 100 is attached is not limited to the roof. It may be the bonnet at the front or rear of the vehicle, or the bed if the vehicle is a truck. When attaching the imaging device 100 to the roof of a vehicle, a hook part or the like may be used, similar to a ski carrier for a vehicle.

[0010] 1(b), there is a lane 710 on the left side and a lane 720 on the right side of the center of a road 700. A vehicle 500 is moving in the lane 720 toward the front of the paper.

[0011] In this example, there is a sidewalk 730 on the lane 710 side (the oncoming lane of the vehicle 500). Since there is no sidewalk on the lane 720 side, the vehicle 500 moves closer to the wall of the tunnel 600 on the vehicle 500 side than when there is a sidewalk.

[0012] 1(b) indicates the imaging range of the imaging device 100. In other words, the imaging device 100 images an area 600A (area shown by a thick line) within the imaging range shown by the dashed line 100A of the wall surface of the tunnel 600. As shown by the thick line, in this embodiment, the imaging device 100 images up to the boundary between the tunnel wall surface (lining) and the ground.

[0013] By capturing images by the imaging device 100 while the vehicle 500 is moving, images of the wall surface in the right half of FIG. 1(b) are captured from the entrance to the exit of the tunnel 600 relative to the paper surface.

[0014] Then, by capturing images using the imaging device 100 while moving the vehicle 500 in the opposite direction on the lane opposite to that in Figure 1(b), the wall surface of the left half of Figure 1(b) is captured on the page from the entrance to the exit of the tunnel 600.

[0015] By stitching together an image of the wall surface captured in the state shown in Figure 1(b) and an image of the wall surface captured while moving vehicle 500 in the opposite direction on the opposite lane to that shown in Figure 1(b), it is possible to obtain an image of the entire wall surface from the entrance to the exit of tunnel 600.

[0016] In order to create a single development image by joining the images, it is desirable to capture the images of these wall surfaces so that the ceiling portions overlap. In other words, when capturing images of the wall surfaces of the tunnel 600 on the way there and back, it is desirable to capture the images so that the imaged area on the way there and the imaged area on the way back overlap in a direction intersecting the traveling direction of the vehicle 500 so that no area is left unimaged on the wall surfaces of the tunnel 600.

[0017] The vehicle 500 is not limited to a vehicle that runs on a road, but may be a vehicle that runs on a railroad, and is not limited to a vehicle that has a motor, but may be a vehicle that does not have a motor, such as a dolly or a handcart. The moving object is not limited to a vehicle, but may be an object that moves in the air, such as a drone. Furthermore, the tunnel is not limited to a traffic tunnel, but may be a tunnel such as a water conduit.

[0018] In this embodiment, vehicles follow the rule of driving on the left side of the road. Therefore, the imaging device is arranged to capture the left side of the vehicle's direction of travel. In countries or situations where vehicles drive on the right side of the road, the imaging device is arranged to capture the right side of the vehicle's direction of travel. In this case, the camera unit 300 and the lighting unit 400 are attached to the vehicle with their orientation rotated 180 degrees.

[0019] 2 is a block diagram showing an example of a hardware configuration of the imaging device according to the present embodiment. The imaging device 100 includes a camera unit 300, an illumination unit 400, an imaging control unit 110, a time of flight (TOF) sensor 141, an inertial measurement unit (IMU) 160, and a speedometer / travel distance meter 170.

[0020] As described with reference to FIG. 1, camera unit 300 captures an image of the wall surface inside the tunnel, and lighting unit 400 illuminates the wall surface inside the tunnel with light so that camera unit 300 can capture the image.

[0021] The TOF sensor 141 measures the distance from the wall of the tunnel 600 to the TOF sensor 141. Specifically, the TOF sensor 141 irradiates the wall of the tunnel 600 with light, and measures the distance to the wall of the tunnel 600 based on the time it takes to receive the reflected light. If the TOF sensor 141 uses an area sensor as the light receiving element, it is possible to obtain a two-dimensional contour image in which the display color changes depending on the distance.

[0022] The IMU 160 measures the angles / angular velocities and accelerations of the three axes that govern the motion of the vehicle 500 , and the speedometer / travel distance meter 170 can measure the speed / travel distance of the vehicle 500 .

[0023] The data measured by the IMU 160 and the speedometer / distance meter 170 is output to the HDD 114 via the imaging control unit 110 and stored therein, and is later used to perform geometric correction of the size, inclination, etc. of the image of the wall surface by image processing.

[0024] Camera unit 300 is an example of an imaging section, and includes lens 331-1 and line CCD 331-2. Line CCD 331-2 is a CCD in which pixels are arranged one-dimensionally (in a line), and camera unit 300 is fixed to vehicle 500 such that the direction in which the pixels of line CCD 331-2 are arranged intersects with the direction in which vehicle 500 moves.

[0025] The lens 331-1 forms an image of a subject in the optical axis direction of the lens 331-1 on the imaging surface of the line CCD 331-2. The line CCD 331-2 captures the formed image of the subject. The lens 331-1 is an example of an "imaging optical system."

[0026] Lens 331-1 also includes aperture 331-1a therein. Aperture 331-1a is an iris aperture with aperture blades, and is an aperture with a variable diameter. A driving source such as a motor is connected to the aperture blades, and the diameter of the aperture can be changed by driving the motor based on a control signal. This changes the amount of light passing through lens 331-1, and can change the brightness of the image of the subject formed by lens 331-1.

[0027] Although the above describes an example in which the camera unit 300 includes a line CCD, the present invention is not limited to this, and the camera unit 300 may include an area CCD in which pixels are arranged two-dimensionally. Furthermore, a CMOS (Complementary Metal-Oxide-Semiconductor) or the like may be used instead of a CCD.

[0028] The lighting unit 400 is an example of a lighting section, and includes a lens 431-1 and a light source 431-2. The light source 431-2 may be a metal halide light or an LED (Light Emitting Diode), and illuminates a subject located in the optical axis direction of the lens 431-1 via the lens 431-1. The lens 431-1 includes an aperture 431-1a therein.

[0029] The aperture 431-1a is an aperture with a variable diameter, and by changing the diameter of the aperture, the amount of light (brightness) of the illumination light illuminated by the lens 431-1 can be changed.

[0030] The imaging control unit 110 has a CPU (Central Processing Unit) 111, a ROM (Read Only Memory) 112, a RAM (Random Access Memory) 113, a HDD (Hard Disk Drive) 114, an external I / F (Interface) 115, and a buzzer 116, each of which is electrically connected to each other via a system bus 117.

[0031] The ROM 112 stores various programs, data, various setting information, etc., and the RAM 113 temporarily holds the programs and data. The CPU 111 reads out the programs, data, setting information, etc. from the ROM 112 etc. onto the RAM 113 and executes the processing, thereby controlling the entire imaging device 100 and processing the image data. Here, the processing of the image data includes processing for joining together line images captured by the multiple cameras 310-350, which will be described later, and processing for joining together line images captured continuously by the multiple cameras 310-350 at predetermined time intervals while the vehicle is moving, in the moving direction of the vehicle. The CPU 111 can also realize various functions.

[0032] Note that the control, image data processing, and various functions realized by the CPU 111 may be partly or entirely realized by a field-programmable gate array (FPGA) or an application specific integrated circuit (ASIC).

[0033] The HDD 114 stores image data input from the camera unit 300, sensor data input from the TOF sensor 141, the IMU 160, and the speedometer / distance meter 170, and the like.

[0034] The external I / F 115 realizes a function of a user interface for a user to operate the imaging device 100 and a function of an interface for the imaging device 100 to exchange data and signals with an external device such as a PC (Personal Computer). The buzzer 116 generates a beep sound to notify the user of a warning or the like.

[0035] FIG. 3 is a perspective view for explaining an example of the configuration of the imaging device according to the present embodiment. In the figure, the X direction indicates the moving direction of the vehicle 50, and the Y direction indicates the direction intersecting with the moving direction of the vehicle 500. The imaging device 100 has a plurality of cameras 310, 320, 330, 340, and 350, and a plurality of illumination units 410, 420, 430, 440, and 450. Each of the plurality of cameras 310, 320, 330, and 340 is configured by the camera unit 300 shown in FIG. 2, and captures different ranges on the inner wall surface of the tunnel 600 in a direction intersecting with the moving direction of the vehicle 500. Each of the plurality of illumination units 410, 420, 430, 440, and 450 is configured by the illumination unit 400 shown in FIG. 2, and illuminates the ranges on the inner wall surface of the tunnel 600 captured by each of the plurality of cameras 310, 320, 330, 340, and 350.

[0036] The imaging device 100 also includes a support member 210 that supports the first camera 310 and the second camera 320, a second support member 220 that is positioned away from the support member 210 in the movement direction of the vehicle 500 and supports the third camera 330, the fourth camera 340 and the fifth camera 350, an opposing member 230 that faces the support member 210 and the second support member 220 in the movement direction of the vehicle 500, and a base member 200 that is fixed onto the roof of the vehicle 500 and supports the support member 210, the second support member 220 and the opposing member 230.

[0037] The support member 210, the second support member 220, the opposing member 230 and the base member 200 constitute a support device that supports a plurality of imaging units.

[0038] The support member 210 includes a first mounting portion 315 to which the first camera 310 and the first lighting unit 410 are attached, and a second mounting portion 325 arranged at a distance from the first mounting portion 315 in a direction intersecting the direction of movement of the vehicle 500, to which the second camera 320 and the second lighting unit 420 are attached.

[0039] The second support member 220 comprises a third mounting portion 335 to which the third camera 330 and the third lighting unit 430 are attached, a fourth mounting portion 345 arranged at a distance from the third mounting portion 335 in a direction intersecting the direction of movement of the vehicle 500 and to which the fourth camera 340 and the fourth lighting unit 440 are attached, and a fifth mounting portion 355 arranged at a distance downward from the third mounting portion 335 and to which the fifth camera 350 and the fifth lighting unit 450 are attached.

[0040] The imaging device 100 further includes connecting portions 261, 262, and 263 that connect the support member 210 and the second support member 220 in the movement direction of the vehicle 500, a connecting portion 271 that connects the second support member 220 and the opposing member 230 in the movement direction of the vehicle 500, and connecting portions 281, 282, and 283 that connect the support member 210 and the opposing member 230 in the movement direction of the vehicle 500.

[0041] Fig. 4 is a side view of the imaging device shown in Fig. 3. As shown in Fig. 1, the tunnel 600 has a semicircular cross section intersecting with the moving direction of the vehicle 500. Accordingly, as shown in Fig. 4, the optical axes 310L-350L of the first to fifth cameras 310-350 are radially arranged so as to intersect with the wall surface of the tunnel 600. In other words, the first to fifth cameras 310-350 shown in Fig. 3 are radially arranged so as to face the wall surface of the tunnel 600, respectively.

[0042] By joining together the line images captured by the first to fifth cameras 310-350 in the camera arrangement direction, it is possible to capture a line image of the wall surface of the tunnel 600 along the shape of the tunnel 600. It is desirable that the imaging areas of the images captured by the first to fifth cameras 310-350 overlap each other.

[0043] Then, while moving the vehicle 500, the line images are continuously captured at a predetermined time interval, and the captured line images are joined together in a direction perpendicular to the arrangement direction of the pixels of the line images, thereby obtaining an area image (two-dimensional image) of the wall surface of the tunnel 600. The predetermined time interval is the period for obtaining the line images by the line CCD, etc.

[0044] Here, in the above description, an example in which the number of cameras is five is shown, but the number is not limited to this. The number of cameras may be increased or decreased depending on conditions such as the size of the tunnel 600. In addition, the imaging magnification, field of view, F-number, etc. of the lens 331-1 may be determined according to the conditions under which imaging is desired.

[0045] Also, in FIG. 3, the positions of the first to fifth cameras 310 to 350 are shifted forward and backward in the optical axis direction, but this is to prevent physical interference between the cameras.

[0046] Here, we will provide additional information on the direction that intersects with the vehicle's direction of travel, i.e., the "direction facing the tunnel wall." As mentioned above, the cross section of a tunnel that is perpendicular to the vehicle's direction of travel is semicircular. Therefore, the tunnel walls face horizontally near the ground, and face vertically downward near the ceiling. The "direction facing the tunnel wall" refers to the direction facing a wall whose orientation varies depending on the location. The "direction facing the tunnel wall" near the ground is approximately horizontal, for example. On the other hand, the "direction facing the tunnel wall" near the ceiling is approximately vertically upward.

[0047] As described above, the tunnel 600 has a semicircular cross section intersecting with the travel direction of the vehicle 500. Accordingly, the optical axes of the first to fifth illumination units 410-450 are radially arranged so as to intersect with the wall surface of the tunnel 600, similar to the optical axes 310L-350L of the first to fifth cameras 310-350 shown in Fig. 4. In other words, the first to fifth illumination units 410-450 are radially arranged so as to face the wall surface of the tunnel 600.

[0048] The first to fifth illumination units 410 to 450 can illuminate the wall surface of the tunnel 600 with linear light that extends in a direction intersecting the moving direction of the vehicle 500 (the direction in which the pixels of the line CCD are arranged).

[0049] In the above, an example in which the number of illumination units is five has been described, but the number is not limited to five and may be increased or decreased. The number of illumination units does not necessarily have to match the number of cameras, and may be determined according to conditions such as brightness. Furthermore, the angle of view and F-number of the lens may also be determined according to the conditions under which imaging is desired.

[0050] In addition, in FIG. 3, the positions of the first to fifth illumination units 410 to 450 are shifted forward and backward in the optical axis direction, but this is to prevent physical interference between the illumination units.

[0051] Fig. 5 is an exploded perspective view of the imaging device shown in Fig. 3. As shown in Fig. 5(a), the support member 210 has legs 210A, 210B and 210C attached to the base member 200, as shown in Fig. 5(b), the second support member 220 has legs 220A and 220B attached to the base member 200, and as shown in Fig. 5(c), the opposing member 230 has a leg 230A attached to the base member 200.

[0052] Here, as shown in Figures 3 and 5(a), the first camera 310 and the second camera 320 are attached to the support member 210 by the first mounting portion 315 and the second mounting portion 325 from the rear side in the direction of movement of the vehicle 500.

[0053] Also, as shown in Figures 3 and 5(b), the third camera 330, the fourth camera 340 and the fifth camera 350 are attached to the second support member 220 by the third mounting portion 335, the fourth mounting portion 345 and the fifth mounting portion 355 from the rear side in the movement direction of the vehicle 500.

[0054] In other words, in the direction of movement of the vehicle 500, the direction in which the first camera 310 and the second camera 320 are attached to the support member 210 by the first mounting portion 315 and the second mounting portion 325 is the same as the direction in which the third camera 330 and the fourth camera 340 are attached to the second support member 220.

[0055] This allows the vibrations in the first camera 310 and the second camera 320 and the vibrations in the third camera 330 and the fourth camera 340 to be in the same direction, thereby suppressing misalignment of the imaging position caused by vibrations of the third camera 330 and the fourth camera 340 relative to the first camera 310 and the second camera 320, compared to a case in which the direction in which the first camera 310 and the second camera 320 are attached to the support member 210 by the first mounting portion 315 and the second mounting portion 325 is opposite to the direction in which the third camera 330 and the fourth camera 340 are attached to the second support member 220, in the direction of movement of the vehicle 500.

[0056] figure 6 is a perspective view of the imaging device shown in Fig. 3 from the opposite direction. The imaging device 100 includes, as components not visible in Fig. 3, a connecting portion 264 that connects the support member 210 and the second support member 220 in the moving direction of the vehicle 500, and a connecting portion 272 that connects the second support member 220 and the opposing member 230 in the moving direction of the vehicle 500.

[0057] The connecting portion 283 that connects the support member 210 and the opposing member 230 in the movement direction of the vehicle 500 is an example of a connecting member that connects the intermediate portion 210M located between the first mounting portion 315 and the second mounting portion in the support member 210 and the opposing portion 230M that faces the intermediate portion 210M in the opposing member 230.

[0058] Providing such a connecting portion 283 suppresses bending of the middle portion 210M due to vibration, and suppresses misalignment between the first camera 310 and the second camera 320 caused by bending of the middle portion 210M. This suppresses misalignment between the image of the inner wall surface of the tunnel 600 captured by the first camera 310 and the image of the inner wall surface of the tunnel 600 captured by the second camera 320.

[0059] In addition, the connecting portion 272 that connects the second support member 220 and the opposing member 230 in the movement direction of the vehicle 500 is an example of a second connecting member that connects a second intermediate portion 220m located between the third mounting portion 335 and the fourth mounting portion in the second support member 220 and a second opposing portion 230m that faces the second intermediate portion 220m in the opposing member 230.

[0060] Providing such a connecting portion 272 suppresses bending of the middle portion 220m due to vibration, and suppresses misalignment between the third camera 330 and the fourth camera 340 caused by bending of the middle portion 220m. This suppresses misalignment between the image of the inner wall surface of the tunnel 600 captured by the third camera 330 and the image of the inner wall surface of the tunnel 600 captured by the fourth camera 340.

[0061] ●Summary● As described above, the imaging device 100 according to an embodiment of the present invention is an imaging device 100 that is mounted on a vehicle 500 that is an example of a moving body and captures an image of the inner wall surface of a tunnel 600 that is an example of a subject, and includes a plurality of cameras (imaging units) that each capture different areas on the inner wall surface of the tunnel 600 in a direction intersecting the moving direction of the vehicle 500, a support member 210 that supports a first camera 310 and a second camera 320 included in the plurality of cameras, and a support member 212 that supports a first camera 310 and a second camera 320 in the moving direction of the vehicle 500. 10, the support member 210 has a first mounting portion 315 to which the first camera 310 is attached, and a second mounting portion 325 to which the second camera 320 is attached, the second mounting portion 325 being positioned away from the first mounting portion 315 in a direction intersecting the direction of movement of the vehicle 500, and has an intermediate portion 210M located between the first mounting portion 315 and the second mounting portion in the support member 210, and a connecting member 283 that connects the opposing portion 230M that faces the intermediate portion 210M in the opposing member 230.

[0062] By providing such a connecting member 283, bending of the middle portion 210M due to vibration is suppressed, and positional deviation between the first camera 310 and the second camera 320 caused by bending of the middle portion 210M is suppressed. This suppresses positional deviation between the image of the inner wall surface of the tunnel 600 captured by the first camera 310 and the image of the inner wall surface of the tunnel 600 captured by the second camera 320.

[0063] The imaging device 100 comprises a first lighting unit 410 that illuminates the area on the inner wall surface of the tunnel 600 that is imaged by the first camera 310, and a second lighting unit 420 that illuminates the area on the inner wall surface of the tunnel 600 that is imaged by the second camera 320, and the first camera 310 and the first lighting unit 410 are attached to the first mounting unit 315, and the second camera 320 and the second lighting unit 420 are attached to the second mounting unit 325.

[0064] In this case, by providing the connecting member 283, the bending of the intermediate portion 210M due to vibration is suppressed, and the positional shift between the illumination position of the first illumination section 410 and the illumination position of the second illumination section 420 caused by the bending of the intermediate portion 210M is suppressed.

[0065] The imaging device 100 is provided with a second support member 220 that is positioned away from the support member 210 in the movement direction of the vehicle 500 and supports a third camera 330 included in the multiple cameras, and in the movement direction of the vehicle 500, the direction in which the first camera 310 and the second camera 320 are attached to the support member 210 by the first mounting portion 315 and the second mounting portion 325 is the same as the direction in which the third camera 330 is attached to the second support member 220.

[0066] This allows the vibrations in the first camera 310 and the second camera 320 and the vibrations in the third camera 330 to be in the same direction in the direction of movement of the vehicle 500, thereby suppressing misalignment of the imaging position caused by vibrations of the third camera 330 relative to the first camera 310 and the second camera 320, compared to a case in which the direction in which the first camera 310 and the second camera 320 are attached to the support parts at the first mounting part 315 and the second mounting part 325 is opposite to the direction in which the third camera 330 is attached to the second support part.

[0067] The second support member 220 comprises a third mounting portion 335 to which the third camera 330 is attached, and a fourth mounting portion 345 arranged at a distance from the third mounting portion 335 in a direction intersecting the movement direction of the vehicle 500 and to which a fourth camera 340 included in the multiple cameras is attached, and in the movement direction of the vehicle 500, the direction in which the first camera 310 and the second camera 320 are attached to the support member 210 by the first mounting portion 315 and the second mounting portion 325 is the same as the direction in which the third camera 330 and the fourth camera 340 are attached to the second support member 220 by the third mounting portion 335 and the fourth mounting portion 345.

[0068] As a result, deviation in the imaging positions caused by vibrations of third camera 330 and fourth camera 340 relative to first camera 310 and second camera 320 is suppressed.

[0069] The imaging device 100 includes a second intermediate portion 220m located between the third mounting portion 335 and the fourth mounting portion of the second support member 220, and a second connecting member 272 that connects a second opposing portion 230m that faces the second intermediate portion 220m of the opposing member 230.

[0070] By providing such second connecting member 272, bending of middle portion 220m due to vibration is suppressed, and positional deviation between third camera 330 and fourth camera 340 caused by bending of middle portion 220m is suppressed. This suppresses positional deviation between the image of the inner wall surface of tunnel 600 captured by third camera 330 and the image of the inner wall surface of tunnel 600 captured by fourth camera 340.

[0071] The imaging device 100 is equipped with a third lighting unit 430 that illuminates the area on the inner wall surface of the tunnel 600 that is imaged by the third camera 330, and a fourth lighting unit 440 that illuminates the area on the inner wall surface of the tunnel 600 that is imaged by the fourth camera 340, and the third camera 330 and the third lighting unit 430 are attached to the third mounting unit 335, and the fourth camera 340 and the fourth lighting unit 440 are attached to the fourth mounting unit 345.

[0072] In this case, by providing the second connecting member 272, the bending of the intermediate portion 220m due to vibration is suppressed, and the positional shift between the lighting position of the third lighting section 430 and the lighting position of the fourth lighting section 440 caused by the bending of the intermediate portion 220m is suppressed.

[0073] The support device according to one embodiment of the present invention is a support device that supports a plurality of imaging units that capture images of the inner wall surface of a tunnel 600 when installed on a vehicle 500, and includes a support member 210 that supports a first camera 310 and a second camera 320 that each capture images of different ranges on the inner wall surface of the tunnel 600 in a direction intersecting the moving direction of the vehicle 500, and an opposing member 230 that faces the support member 210 in the moving direction of the vehicle 500. has a first mounting portion 315 to which the first camera 310 is attached, and a second mounting portion 325 to which the second camera 320 is attached, the second mounting portion 325 being positioned at a distance from the first mounting portion 315 in a direction intersecting the direction of movement of the vehicle 500, and has a connecting member 283 that connects an intermediate portion 210M located between the first mounting portion 315 and the second mounting portion 325 in the support member 210, and an opposing portion 230M that faces the intermediate portion 210M in the opposing member 230.

[0074] A support method according to one embodiment of the present invention is a support method for supporting a plurality of imaging units which image the inner wall surface of a tunnel 600 while mounted on a vehicle 500, in which a first camera 310 and a second camera 320, each of which images a different range on the inner wall surface of the tunnel 600 in a direction intersecting the movement direction of the vehicle 500, are supported by a support member 210, and the first camera 310 is attached to the support member 210 by a first mounting portion 315, and the second camera 320 is attached by a second mounting portion 325 which is positioned away from the first mounting portion 315 in the direction intersecting the movement direction of the vehicle 500, and an intermediate portion 210M located between the first mounting portion 315 and the second mounting portion 325 of the support member 210 and an opposing portion 230M which faces the intermediate portion 210M of an opposing member 230 which faces the support member 210 in the movement direction of the vehicle 500 are connected by a connecting member 283. [Explanation of symbols]

[0075] 100 Imaging device 110 Imaging control unit 111 CPU 112 ROM 113 RAM 114 HDD 115 External I / F 116 Buzzer 117 System Bus 141 TOF Sensor 160 IMU 170 Vehicle speedometer / traveling distance meter 200 Base material 210 Support member 210A, 210B, 210C legs 210M middle part 220 Second support member 220A, 220B legs 220m middle part 230 Opposing member 230A Legs 230M Opposite section 261, 262, 263, 264, 271, 281, 282 connection part 272 Connection part (second connection member) 283 Connection parts (connecting members) 300 Camera unit (imaging unit) 310, 320, 330, 340, 350 Camera (imaging unit) 315, 325, 335, 345, 355 mounting part 331-1, 334-1 Lens 331-1a Aperture 331-2, 334-2 Line CCD 400 Lighting unit (lighting section) 410, 420, 430, 440, 450 Lighting section 431-1 Lens 431-1a Aperture 431-2 Light source 500 vehicles 600 Tunnels 700 road 710, 720 Lanes 730 Sidewalk

Claims

1. An imaging device that captures an image of a subject while being mounted on a moving body, A plurality of image capturing units each capturing an image of a different range on the subject in a direction intersecting a moving direction of the moving body; a support member that supports a first imaging unit and a second imaging unit included in the plurality of imaging units; a facing member facing the support member in a moving direction of the moving body, The support member is a first mounting portion to which the first imaging unit is attached; a second attachment portion disposed apart from the first attachment portion in a direction intersecting a moving direction of the moving body, and to which the second imaging unit is attached; An imaging device comprising: a connecting member that connects an intermediate portion located between the first mounting portion and the second mounting portion of the support member and an opposing portion of the opposing member that faces the intermediate portion.

2. a first illumination unit that illuminates an area on the subject that is imaged by the first imaging unit; a second illumination unit that illuminates a range on the subject captured by the second imaging unit, The first imaging unit and the first illumination unit are attached to the first attachment unit, The imaging device according to claim 1 , wherein the second imaging section and the second illumination section are attached to the second attachment section.

3. a second support member that is disposed apart from the support member in a moving direction of the moving body and supports a third imaging unit included in the plurality of imaging units; 3. The imaging device according to claim 1 or 2, wherein, in the movement direction of the moving body, the direction in which the first imaging unit and the second imaging unit are attached to the support member by the first mounting portion and the second mounting portion is the same as the direction in which the third imaging unit is attached to the second support member.

4. The second support member includes: a third mounting portion to which the third imaging unit is attached; and a fourth attachment portion disposed apart from the third attachment portion in a direction intersecting the moving direction of the moving body, and to which a fourth imaging unit included in the plurality of imaging units is attached; 4. The imaging device according to claim 3, wherein, in the movement direction of the moving body, a direction in which the first imaging unit and the second imaging unit are attached to the support member by the first mounting portion and the second mounting portion is the same as a direction in which the third imaging unit and the fourth imaging unit are attached to the second support member by the third mounting portion and the fourth mounting portion.

5. 5. The imaging device according to claim 4, further comprising a second connecting member that connects a second intermediate portion located between the third mounting portion and the fourth mounting portion of the second support member and a second opposing portion that faces the second intermediate portion of the opposing member.

6. a third illumination unit that illuminates a range on the subject that is imaged by the third imaging unit; and a fourth illumination unit that illuminates a range on the subject that is imaged by the fourth imaging unit, the third imaging unit and the third illumination unit are attached to the third attachment unit, The imaging device according to claim 4 , wherein the fourth imaging section and the fourth illumination section are attached to the fourth attachment section.

7. A moving body comprising the imaging device according to any one of claims 1 to 6.

8. A support device for supporting a plurality of imaging units that capture images of a subject while being mounted on a moving body, comprising: a support member that supports a first imaging unit and a second imaging unit, each of which captures an image of a different range on the subject in a direction intersecting a moving direction of the moving body; a facing member facing the support member in a moving direction of the moving body, The support member is a first mounting portion to which the first imaging unit is attached; a second attachment portion disposed apart from the first attachment portion in a direction intersecting a moving direction of the moving body, and to which the second imaging unit is attached; A support device comprising: a connecting member that connects an intermediate portion located between the first mounting portion and the second mounting portion of the support member and an opposing portion of the opposing member that faces the intermediate portion.

9. A method for supporting a plurality of imaging units that capture images of a subject while being mounted on a moving body, comprising the steps of: a first imaging unit and a second imaging unit, each imaging a different range on the subject, are supported by a support member in a direction intersecting a moving direction of the moving body; the first imaging unit is attached to the support member by a first attachment portion, and the second imaging unit is attached to the support member by a second attachment portion that is disposed apart from the first attachment portion in a direction intersecting a moving direction of the moving body, A supporting method in which an intermediate portion located between the first mounting portion and the second mounting portion of the support member and an opposing portion of an opposing member that faces the support member in the movement direction of the movable body are connected by a connecting member.

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