Vehicle Processing Device

Abstract

To provide a vehicle processing device which detects a mounted position of a protrusion protruding from a vehicle.SOLUTION: A vehicle processing device processes a vehicle while relatively moving with respect to the vehicle, and includes a main body part, an outline detection device which extends in a vertical direction and detects a shape from a side surface of the vehicle, and a camera device which photographs a front surface of the vehicle as a two-dimensional image. The outline detection device includes first measurement means which performs first measurement for measuring a distance between a protrusion protruding in a width direction of the vehicle and the main body part, second measurement means which performs second measurement for measuring a focal length of the image photographed by detection of the camera device and a distance from a laid surface to the protrusion, and third measurement means which performs third measurement for measuring a mounted position of the protrusion by converting the two-dimentional image to a three-dimensional image from the first measurement means and second measurement means.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a vehicle processing device. [Background technology]

[0002] The vehicle processing device disclosed in Japanese Patent Laid-Open No. 2004-243840 (hereinafter referred to as Patent Document 1) photographs the vehicle from above with a plurality of cameras and detects protrusions such as door mirrors using a template matching method. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2004-243840 Summary of the Invention [Problem to be solved by the invention]

[0004] Vehicle processing devices such as those in Patent Document 1 use a camera device to detect whether there are any protrusions protruding from the vehicle, but it is difficult to detect the attachment position of the protrusion, for example, the vertical distance from the installation surface to the protrusion.

[0005] Therefore, the present invention provides a vehicle processing device that detects the mounting position of a protrusion that protrudes from a vehicle. [Means for solving the problem]

[0006] A vehicle processing device according to one solution of the present invention comprises a main body unit that performs vehicle processing while moving relative to the vehicle, a contour detection device that extends vertically and detects the shape of the vehicle from the side, and a camera device that captures the front of the vehicle as a two-dimensional image.The contour detection device comprises a first measurement means that performs a first measurement that measures the distance between a protrusion that protrudes in the width direction of the vehicle and the main body unit, a second measurement means that performs a second measurement that measures the focal length of the image captured by detection by the camera device and the distance from the laying surface to the protrusion, and a third measurement means that converts the two-dimensional image into a three-dimensional image from the first measurement data and the second measurement data and performs a third measurement that measures the attachment position of the protrusion protruding from the vehicle.

[0007] A vehicle processing device according to one solution of the present invention is equipped with artificial intelligence, which comprises a database unit that stores first measurement data obtained from a first measurement means and second measurement data obtained from a second measurement means, and an inference unit that estimates the distance between a protrusion protruding in the width direction of the vehicle and the main body unit measured by the first measurement means, and the focal length of the image measured by the second measurement means, and the distance from the laying surface to the protrusion, from the first measurement data stored in the database unit and the second measurement data.The artificial intelligence learns a plurality of first measurement data and a plurality of second measurement data in advance, and when there is a defect in the results detected by the contour detection device or the camera device, the artificial intelligence determines the distance between the protrusion protruding in the width direction of the vehicle and the main body unit measured by the first measurement means, and the focal length of the image measured by the second measurement means, and the distance from the laying surface to the protrusion, from the first measurement data and second measurement data that it has learned in advance, and a third measurement means measures the installation position of the protrusion protruding in the width direction from the vehicle. [Effects of the Invention]

[0008] According to one solution, it is possible to detect the dimensions and mounting position of a protrusion protruding from a vehicle. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view schematically illustrating a vehicle processing device 10 according to an embodiment of the present invention. [Figure 2]FIG. 2 is a block diagram showing a control system of the vehicle processing device 10. [Figure 3] FIG. 10 is an explanatory diagram relating to detection of a reference point of a vehicle C. [Figure 4] FIG. 10 is a flowchart of door mirror front end detection. [Figure 5] FIG. 10 is an explanatory diagram of image A. [Figure 6] FIG. 10 is a flowchart of a camera image creation process. [Figure 7] FIG. 10 is an explanatory diagram illustrating how image A is converted into three-dimensional coordinates. [Figure 8] 10 is an explanatory diagram showing detection by a door mirror height detection unit 53. FIG. [Figure 9] FIG. 10 is a flowchart of a door mirror height detection process. [Figure 10] FIG. 2 is a block diagram showing a control system of a vehicle processing device 10A. BEST MODE FOR CARRYING OUT THE INVENTION

[0010] In the following embodiments of the present invention, the description will be divided into multiple sections as necessary, but in principle, they are not unrelated to each other, and one is related to the other as a partial or complete modification, detail, etc. For this reason, in all drawings, components having the same function are assigned the same reference numerals, and repeated explanations will be omitted.

[0011] Furthermore, the number of components (including the number, numerical value, amount, range, etc.) is not limited to a specific number, and may be more or less than a specific number, unless otherwise specified or clearly limited in principle to a specific number. Furthermore, when referring to the shape of a component, etc., it includes things that are substantially similar or approximate to that shape, etc., unless otherwise specified or clearly considered not to be the case in principle.

[0012] Example 1 A vehicle processing device according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a side view schematically showing a vehicle processing device 10 according to an embodiment of the present invention. Note that some components are shown with dashed lines to make it easier to understand the positional relationships between components.

[0013] The gate-shaped main body 11 of the vehicle treatment device 10 has left and right legs 12 standing on the installation surface G (ground) and a beam 13 supported by the left and right legs 12. The main body 11 has wheels on its bottom so that it can run on a pair of rails 14 laid on the installation surface G, and sprays cleaning fluid onto parked vehicles C, applies wax, dries them, etc. In terms of positional relationship, the front of the main body 11 is to the right in Fig. 1, and the rear of the main body 11 is to the left in Fig. 1. Furthermore, the vehicle C enters from the front of the main body 11 and exits (exits) behind the main body 11.

[0014] The vehicle processing device 10 is equipped with a travel motor 19 in the main body 11. The travel motor 19 has the function of moving the main body 11 via the wheels of the main body 11. The main body 11 is also equipped with a travel encoder 18. The travel encoder 18 has the function of outputting a pulse signal each time the main body 11 moves a unit distance. This allows the vehicle processing device 10 to grasp the position of the main body 11 moving on the rail 14. If the main body 11 has the left end of the rail 14 in FIG. 1 as its home position (main body standby position), the process up to the right end of the rail 14 is the forward movement, and the process up to the left end (return) is the return movement.

[0015] The main body 11 is equipped with a top nozzle 15 and side nozzles 16. The top nozzle 15 is attached to the beam 13 and sprays the cleaning liquid toward the top surface of the vehicle C, while the side nozzles 16 are attached to both legs 12 and spray the cleaning liquid toward the side surfaces of the vehicle C.

[0016] The main body 11 also has a top blower 24 and a side blower 25 that blow air toward the vehicle C. The top blower 24 is provided on the beam 13 of the main body 11 and mainly blows off water droplets adhering to the vehicle body C from above, while the side blowers 25 are provided on both legs 12 of the main body 11 and mainly blow off water droplets adhering to the sides of the vehicle body C.

[0017] The main body 11 is equipped with a top brush 20 and side brushes 21. The top brush 20 is mounted on a beam 13 of the main body 11 and moves up and down to mainly clean the top surface of the vehicle C. The side brushes 21 are mounted on both legs 12 of the main body 11 and mainly clean the front, sides, and rear of the vehicle C by moving the two brushes closer to and away from each other.

[0018] The vehicle processing device 10 is equipped with a reception device 37. The reception device 37 has a reception unit 32 that can receive fees, key input (e.g., course selection, start, cancellation), and voice guidance, and has a function to receive instructions from the driver of vehicle C.

[0019] The vehicle processing device 10 also includes a gate 33. As shown in FIG. 1, the gate 33 is provided on the installation surface G, separate from the main body 11, between the rail 14 and the reception unit 32, in front of the main body 11. The gate 33 includes a barrier bar and has the function of granting permission for the vehicle C to enter the main body 11.

[0020] The vehicle processing device 10 is equipped with a tire detection unit 17 that detects the tires of vehicle C. After selecting a car wash menu at the reception unit 32, the driver of vehicle C approaches and stops the vehicle in front of the main body unit 11 to receive the car wash treatment. The optimal position for receiving this car wash treatment is determined as the vehicle stopping position. The tire detection unit 17 is provided between the rails 14 so that the front wheels of vehicle C stop at the vehicle stopping position. A pair of tire detection units 17 is provided on the left and right so as to sandwich the tires of vehicle C in the vehicle width direction. Each pair of left and right tire detection units 17 has a sensor unit, one of which is equipped with a light-emitting unit that emits light from a light-emitting element and the other is equipped with a light-receiving unit that receives light emitted from the light-emitting unit. When a tire enters between the tire detection units 17, the light-emitting sensor that emits light from the light-emitting unit is blocked by the tire. In other words, it is possible to detect that vehicle C has entered the vehicle stopping position.

[0021] The vehicle processing device 10 is provided with a guide display 34 at the rear of the main body 11. When the driver of vehicle C selects a car wash menu at the reception unit 32 and the gate 33 opens, the guide display 34 displays "Go Forward" to the driver of vehicle C. When the tire detection unit 17 detects the tires of vehicle C, the guide display 34 displays "Stop." The guide display 34 displays "Stop" while the main body 11 is washing vehicle C, and when washing is complete, displays "Go Forward" and prompts vehicle C to exit the main body 11.

[0022] The vehicle processing device 10 has camera devices 31 mounted in front of both legs 12 of the main body 11. When the vehicle C stops at the vehicle stopping position, the camera devices 31 capture images of the laying surface G and the front of the vehicle C. Here, the camera devices 31 are preferably capable of analyzing captured images as digital images, and may be a digital camera capable of capturing only still images or a video camera that captures moving images.

[0023] When vehicle C stops at a vehicle stopping position, the main body 11 travels while straddling vehicle C to clean it. An outline detection device 30 that detects the vehicle shape (outline) of vehicle C is provided on the inside of each leg 12 of the main body 11. The outline detection device 30 provided on each leg 12 is, for example, a transmission-type photoelectric sensor composed of multiple light-emitting elements, with a light-emitting element provided on one leg 12 and a light-receiving element provided on the other leg 12. The outline detection device 30 detects light transmission (transmission and blocking) between the light-emitting element and the light-receiving element as the main body 11 travels while straddling vehicle C. Note that, in order to drive the top brush 20 and the like based on the outline of vehicle C detected by the outline detection device 30, it is preferable that the outline detection device 30 be provided in front of the main body 11.

[0024] 2 is a block diagram showing the control system of the vehicle processing device 10 of the present invention. The control unit 40 built into the main body 11 sends signals to the car wash driving unit 35 according to a pre-programmed sequence based on signals from the contour detection device 30, the travel encoder 18, and the camera device 31. The car wash driving unit 35, which receives signals from the control unit 40, drives the brushes 20 and 21, the nozzles 15 and 16, the blowers 24 and 25, and the travel motor 19 to wash the vehicle C.

[0025] The reception device 37 has a reception control unit 36 ​​that transmits the car wash menu received by the reception unit 32 to the control unit 40. The reception control unit 36 ​​opens and closes the gate 33 that allows the vehicle C to enter the main body 11.

[0026] The control unit 40 includes a travel detection unit 41, a contour detection unit 42, a contour creation unit 43, a reference point detection unit 44, and a door mirror front edge detection unit 45. The travel detection unit 41 receives pulse signals from the travel encoder 18 and detects the position of the main body 11 traveling on the rails 14. The contour detection unit 42 receives the results of the contour detection device 30 detecting light transmission and light blocking by receiving and emitting light from multiple light-emitting elements. The contour creation unit 43 receives the results output by the contour detection unit 42 and extracts the contour of the vehicle C. The reference point detection unit 44 detects reference points that are characteristic of the vehicle C. From the detection results, the door mirror front edge detection unit 45 detects the distance from the contour detection device 30 to the front edge of the door mirror M of the vehicle C in the side view of FIG. 1.

[0027] The control unit 40 also includes a camera image detection unit 50 and a camera image creation unit 51 . The camera image detection unit 50 receives the image captured by the camera device 31 and outputs it to the camera image creation unit 51. The camera image creation unit 51 extracts the vehicle C photographed from the front and the contact surface where the tires of the vehicle C come into contact with the paved surface G.

[0028] Furthermore, the control unit 40 includes a three-dimensional coordinate conversion unit 52 and a door mirror height detection unit 53 . The three-dimensional coordinate conversion unit 52 converts the image captured by the camera device 31 from two-dimensional coordinates to three-dimensional coordinates. The door mirror height detection unit 53 measures the distance from the bottom edge of the door mirror of the vehicle C to the ground surface based on the three-dimensionally converted image and the measurement value from the door mirror front edge detection unit 45.

[0029] The control unit 40 includes a vehicle shape data creation unit 47, a vehicle shape data storage unit 48, and an operation control unit 49. The vehicle shape data creation unit 47 creates vehicle shape data from the detection results of the reference point detection unit 44, the door mirror front edge detection unit 45, and the door mirror height detection unit 53. The vehicle shape data storage unit 48 stores the created shape of the vehicle C, the dimensions and mounting positions of the door mirrors, etc. The operation control unit 49 controls the car wash drive unit 35 to operate in accordance with the shape of the vehicle C, the dimensions and mounting positions of the door mirrors, etc. stored in the vehicle shape data storage unit 48.

[0030] The method by which the vehicle processing device 10 detects the shape of vehicle C will be described below. When the driver of vehicle C selects a desired car wash course at the reception unit 32, the reception control unit 36 ​​outputs the car wash course to the control unit 40 and opens the barrier of the gate 33. When the gate 33 opens, the control unit 40 displays "Forward" on the guidance display 34 and moves the vehicle C forward. When the front wheels of vehicle C move between the pair of tire detection units 17 and block the light emitted by the light-emitting units of the tire detection units 17, the control unit 40 determines that the vehicle C has moved forward to the vehicle stopping position, displays "Stop" on the guidance display 34, and stops the vehicle C. At this time, the camera device 31 captures an image of the paving surface G and the front of the vehicle C.

[0031] When vehicle C stops at the vehicle stop position, main body 11 moves forward, straddling vehicle C. Then, control unit 40 outputs a pulse signal from travel encoder 18 to grasp the position of main body 11 traveling on rail 14. In addition, each time a pulse signal is output, contour detection devices 30 provided on both legs of main body 11 project light from the light-emitting portion to the light-receiving portion, and detect light blocking or light passing through each light-emitting element.

[0032] (First measurement) FIG. 3 is an explanatory diagram relating to the detection of the reference point of the vehicle C, and FIG. 4 is a flowchart of the door mirror front edge detection process. The contour detection unit 42 acquires the travel position of the main body 11 and the light transmission results of the contour detection device 30 each time a pulse signal is transmitted from the travel encoder 18. The acquired light transmission results are compiled into a table (1) and the contour (edge) of the vehicle C as viewed from the side is detected (2). When the contour detection unit 42 detects the contour of the vehicle C in a side view, the reference point detection unit 44 extracts the following characteristics of the vehicle from the contour: the front end cs of the vehicle body, the boundary bf between the hood and the windshield, the front end rs of the roof, the rear end of the roof, and the rear end of the vehicle body (hereinafter referred to as reference points) using publicly known technology (Patent No. 5839965) (3). When the reference point of the vehicle body is extracted by the contour detection unit 42, the door mirror front edge detection unit 45 measures the distance d1 from the contour detection device 30 to the boundary bf between the hood and the windshield of the vehicle body. To specifically explain how the distance d1 is measured, the travel encoder 18 outputs a pulse signal for each unit distance traveled, so it is sufficient to count the number of pulse signals output by the main body 11 between the standby position and the boundary bf between the hood and the windshield. The door mirror front edge detection unit 45 also estimates that the front edge of the door mirror is located at DM-s, a predetermined distance d2 behind the vehicle from the boundary bf between the hood and the windshield, and that the rear edge (thickness) of the door mirror is located at DM-e, a predetermined distance d3 from the front edge DM-s. Here, the predetermined distances d2 and d3 are based on the averages for vehicles on the market. Once the front edge DM-s and rear edge DM-e of the door mirror are estimated, the distance d4 from the contour detection device 30 to the front edge DM-s of the door mirror is measured. In addition, the distance d5 from the lens center of the camera device 31 to the front edge DM-s of the door mirror is calculated. Distance d5 can be calculated by subtracting the distance between the contour detection device 30 and the lens center of the camera device 31 from distance d4. (4)

[0033] In this embodiment, the vehicle model of vehicle C is described as a sedan, but in the case of a vehicle model in which the boundary point bf cannot be detected, such as a one-box type, it is estimated that the door mirror is located near the midpoint between the front end cs of the vehicle body and the front end rs of the roof. Then, this midpoint is set as the boundary bf between the hood and the windshield, and the distance d5 from the center of the lens of camera device 31 to the front end DM-s of the door mirror is measured using the method described above.

[0034] (Second measurement) Fig. 5 is an explanatory diagram of image A, and Fig. 6 is a flowchart of the camera image creation process. In Fig. 5, the X axis indicates the width direction of vehicle C, and the Z axis indicates the height direction. When vehicle C stops at a vehicle stopping position, camera devices 31 provided on both legs 12 of main body 11 capture an image that captures the entire front of vehicle C. Since the captured images are taken from both legs 12, they are images taken from diagonally front right and diagonally front left of vehicle C. Therefore, when camera image detection unit 50 detects an image captured by camera device 31, it combines the two images and converts them into an image that appears to be captured from directly in front of vehicle C. (5) Then, the camera image detection unit 50 uses an image processing algorithm to binarize the image and extract the door mirrors from the outline of the laid surface G and the vehicle C. More specifically, the door mirrors are extracted from image A using a pattern matching technique, and the laid surface G is extracted by using the contact surface where the tires of vehicle C touch the ground as the laid surface G (6). The camera image detection unit 50 also detects the width of the vehicle C and sets the center line. The image A is corrected so that the center line overlaps with the z-axis (7). After correcting the image A, the camera image detection unit 50 measures the distance Z' from the installation surface G in the z-axis direction to the bottom edge of the door mirror (8). The distance Z' can be measured by counting the number of pixels between the installation surface G and the outline of the lower edge of the door mirror. In addition, when the camera image detection unit 50 detects the center line of vehicle C, if the center line and the Z axis of image A are deviated by more than a predetermined range, the control unit 40 can also determine that vehicle C is parked to one side.

[0035] (Third measurement) FIG. 7 is an explanatory diagram for converting image A into three-dimensional coordinates, FIG. 8 is an explanatory diagram showing detection by the door mirror height detection unit 53, and FIG. 9 is a flowchart of door mirror height detection processing. After the camera image detection unit 50 extracts the outline of the vehicle C and measures the distance Z' between the installation surface G and the bottom edge of the door mirror, the camera image creation unit 51 converts the image A output in two-dimensional coordinates into three-dimensional coordinates (spatial coordinates) (9). Because the center line (z-axis) of image A has been corrected by the camera image detection unit 50, the z-axis and x-axis of the corrected image A are converted into the z-axis (vertical direction), x-axis (width direction), and y-axis (travel direction of the main body unit 11) of the three-dimensional coordinates. At this time, X = 0 is the center in the width direction of the vehicle C, Y = 0 is the lens center of the camera device 31 when the main body unit 11 is waiting, and Z = 0 is the height from the installation surface G to the lens center of the camera device 31. Furthermore, the image converted into three-dimensional coordinates by the three-dimensional coordinate conversion unit 52 resembles the vehicle C due to the imaging effect of the lens. Furthermore, since the imaging plane of image A captured by camera device 31 is the focal position of the lens, the distance from the lens to the imaging plane (ie, the focal length) is d'. The door mirror height detection unit 53 can calculate the distance Z from the surface G of the vehicle C to the bottom edge of the door mirror M using trigonometry. Specifically, it can be calculated from the distance d5 from the lens of the camera device 31 to the front edge of the door mirror measured by the door mirror front edge detection unit 45, the focal length d' of the camera device 31, and the distance Z' measured by the camera image creation unit 51 (10). This makes it possible to measure the distance Z from the laid surface G of the vehicle C to the bottom end of the door mirror.

[0036] The vehicle shape data creation unit 47 creates vehicle shape data of the vehicle C based on the outline of the vehicle C in a side view detected by the reference point detection unit 44 and data calculated from the door mirror height detection unit 53, and outputs the data to the vehicle shape data storage unit 48. The vehicle shape data storage unit 48 stores the created shape of the vehicle C, and controls the car wash drive unit 35 based on the data stored by the operation control unit 49.

[0037] The car wash drive unit 35 is driven by instructions from the operation control unit 49 to wash the vehicle C. At that time, the operation control unit 49 knows the positions of the door mirrors in the vehicle length direction and height direction, i.e., the mounting positions of the door mirrors (protrusions) according to the present invention, so it can operate the brushes 20, 21 and blower nozzles 24, 25, etc. close to the door mirrors to wash them. For example, the side brush 21 can be tilted to wash the vehicle body surface at the bottom of the door mirrors, or a new brush that rotates vertically while washing can be provided between the washing nozzle 16 of the main body 11 and the side brush 21. In this way, the vehicle C can be washed effectively.

[0038] Example 2 The vehicle processing device 10A includes a control unit 40A that is equipped with an artificial intelligence 60 in addition to the control unit 40 described in the first embodiment. The artificial intelligence 60 includes a database unit 61 that stores the measurement results obtained by a plurality of first measurements and a plurality of second measurements. More specifically, the database unit 61 stores data on the profile of the vehicle C in a side view obtained by the profile detection device 30 projecting light, the reference points of the vehicle body extracted by the reference point detection unit 44, and the distances d1 to d5 measured or calculated by the door mirror front edge detection unit 45. The database unit 61 also stores an image A captured by the camera device 31 and the distance Z' between the bottom edge of the door mirror of the vehicle C and the paving surface G obtained by the camera image detection unit 50.

[0039] The artificial intelligence 60 has an inference unit 62 that, if there is an abnormality in the data of the vehicle C detected by the contour detection device 30 or the camera device 31, estimates the contour of the vehicle C, reference points, distances d1 to d5, etc. from the plurality of first measurement data and the plurality of second measurement data stored in the database unit 61. The artificial intelligence 60 also stores contours and images of a plurality of vehicles in advance in the database unit 61, and learns to select contours or images that are identical or similar to the contours or images detected by the contour detection device 30 or the camera device 31 from the stored data and make inferences.

[0040] The vehicle processing device 10A measures the distance (height) between the bottom of the door mirror of the vehicle C and the laying surface G from the contour of the vehicle C as seen from the side using the contour detection device 30 and the front image of the vehicle C captured by the camera device 31. However, if the cleaning fluid sprayed from the nozzles 15 and 16 during strong winds hits the contour detection device 30 or the camera device 31, an abnormality occurs in the detection data. Even in such a case, the artificial intelligence 60 of the vehicle processing device 10A estimates and identifies the contour of the same or similar vehicle C as seen from the side and the camera image from the data stored in the database unit 61 using the inference unit 62. Based on the estimation result, the vehicle processing device 10A performs a third measurement, measuring the distance from the bottom of the door mirror to the laying surface G, and the vehicle shape data creation unit 47 can create vehicle shape data for the vehicle C.

[0041] The camera device 31 of the vehicle processing device 10, 10A of the present invention is mounted on the leg 12 of the main body 11 so as to be able to take pictures from the front of the vehicle C, but the number and position of the cameras are not important as long as they can take pictures of the front of the vehicle C.

[0042] Although the configuration of the present invention has been described above based on the embodiment, the present invention is not limited to the above-described embodiment and can be modified within the scope of the gist thereof. [Explanation of symbols]

[0043] 10, 10A Vehicle Processing Device 11 Main body 19 Travel motor 30 Contour detection device 31 Camera equipment 40, 40A control section 42 Contour detection unit 43 Contour Creation Section 44 Reference point detection unit 45 Door mirror front edge detection unit 47 Vehicle Shape Data Creation Department 48 Vehicle shape data storage unit 50 Camera image detection unit 51 Camera image creation section 52 Three-dimensional coordinate conversion unit 53 Door mirror height detection unit 60 Artificial Intelligence 61 Database Department 62 Reasoning part

Claims

[Claim 1] A vehicle processing device that performs vehicle processing while moving relative to a vehicle, a main body; a contour detection device extending in a vertical direction and detecting the shape of the vehicle from the side; a camera device that captures a two-dimensional image of the front of the vehicle; a control unit provided in the main body unit, The control unit a first measuring means for measuring a distance from a protrusion protruding in a width direction of the vehicle to the camera device based on a detection result of the contour detection device; a second measuring means for measuring the distance from the installation surface to the protrusion based on an image captured by the camera device; and a third measuring means for converting the two-dimensional image from the first measuring means and the second measuring means into a three-dimensional image, and measuring the attachment position from the installation surface to the protrusion based on the focal length of the camera device and the distance from the installation surface to the protrusion measured by the second measuring means. A vehicle processing device comprising:

Images