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

Abstract

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

Description

Diagnostic device, imaging device, diagnostic data generation method, and diagnostic program CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Patent Application No. 2023-106119 filed in Japan on June 28, 2023, and the contents of the original application are incorporated by reference in their entirety.

[0002] The present disclosure relates to a technique for diagnosing an imaging device that optically images an external space.

[0003] For example, the technology disclosed in Patent Document 1 uses an imaging element to optically capture an image of an external space from an internal space through a camera cover that separates the external space from the internal space. In this technology, a hydrophilic coating layer is provided on the outer surface of the camera cover to prevent water droplets and dirt from adhering to the surface.

[0004] JP 2013-218114 A

[0005] However, with the technology disclosed in Patent Document 1, even if the imaging accuracy is reduced due to deterioration of the hydrophilic coating layer on the outer surface of the camera cover, it is difficult to make a diagnosis.

[0006] An object of the present disclosure is to provide a diagnostic device, a diagnostic data generation method, and a diagnostic program for diagnosing a decline in imaging accuracy in an imaging device. Another object of the present disclosure is to provide an imaging device including a diagnostic device for diagnosing a decline in imaging accuracy.

[0007] The technical means of the present disclosure for solving the problems will be described below.

[0008] A first aspect of the present disclosure is a diagnostic device having a processor for diagnosing an imaging device that optically images an external space from an internal space using an imaging element through a translucent panel that separates the external space from the internal space, wherein the processor is configured to perform the following operations: obtain an internal reflection intensity at the internal surface of the panel by receiving, at an internal reflection receiving position in the imaging element, an internal reflection beam at the internal surface of the translucent panel that faces the internal space as a reflected beam of a diagnostic beam irradiated from a fixed light-emitting point in the internal space; obtain an external reflection intensity at the external surface of the panel by receiving, at an external reflection receiving position in the imaging element, an external reflection beam at the external surface of the translucent panel that faces the external space as a reflected beam of the diagnostic beam; and generate diagnostic data that represents a deterioration state of the panel external surface on which a translucent external coating layer is provided, the deterioration state being dependent on the relative intensity ratio between the internal reflection intensity and the external reflection intensity.

[0009] A second aspect of the present disclosure is an imaging device that optically images an external space from an internal space using an imaging element through a translucent panel that separates the external space from the internal space, and includes: an imaging element; an irradiation light source that irradiates a diagnostic beam from a fixed light-emitting point in the internal space; and a diagnostic device of the first aspect.

[0010] A third aspect of the present disclosure is a diagnostic data generation method executed by a processor to generate diagnostic data for diagnosing an imaging device that optically images an external space from an internal space using an imaging element through a translucent panel that separates the external space from the internal space, the method including: acquiring an internal reflection intensity on the internal surface of the panel by receiving, at an internal reflection receiving position in the imaging element, an internal reflection beam from the internal surface of the translucent panel that faces the internal space as a reflected beam of a diagnostic beam irradiated from a fixed light-emitting point in the internal space; acquiring an external reflection intensity on the external surface of the panel by receiving, at an external reflection receiving position in the imaging element, an external reflection beam from the external surface of the translucent panel that faces the external space as a reflected beam of the diagnostic beam; and generating diagnostic data that represents a deterioration state based on the relative intensity ratio between the internal reflection intensity and the external reflection intensity as the state of the panel external surface on which a translucent external coating layer is provided.

[0011] A fourth aspect of the present disclosure is a diagnostic program stored in a storage medium for diagnosing an imaging device that optically images an external space from an internal space using an imaging element through a translucent panel that separates the external space from the internal space, and including instructions for causing a processor to execute the diagnosis, the instructions including: acquiring an internal reflection intensity on the internal surface of the panel by receiving, at an internal reflection receiving position in the imaging element, an internal reflection beam reflected from the internal surface of the translucent panel that faces the internal space as a reflected beam of a diagnostic beam irradiated from a fixed light-emitting point in the internal space; acquiring an external reflection intensity on the external surface of the panel by receiving, at an external reflection receiving position in the imaging element, an external reflection beam reflected from the external surface of the translucent panel that faces the external space as a reflected beam of the diagnostic beam; and generating diagnostic data representing a deterioration state dependent on the relative intensity ratio between the internal reflection intensity and the external reflection intensity as the state of the panel external surface on which a translucent external surface coating layer is provided.

[0012] In the first to fourth aspects, the diagnostic beam emitted from the fixed light-emitting point in the internal space is reflected by an internal reflection beam from the internal surface of the light-transmitting panel, and the internal reflection intensity of the internal surface of the panel is obtained by receiving the internal reflection beam at the internal reflection receiving position of the image sensor. At the same time, the diagnostic beam emitted from the fixed light-emitting point is reflected by an external reflection beam from the external surface of the light-transmitting panel, and the external reflection intensity of the external surface of the panel is obtained by receiving the external reflection beam at the external reflection receiving position of the image sensor.

[0013] Therefore, the diagnostic data according to the first to fourth aspects is generated to represent a deterioration state based on the relative intensity ratio between the internal reflection intensity and the external reflection intensity as the state of the panel external surface on which a translucent external coating layer is provided. In this way, even if deterioration of the external coating layer on the panel external surface occurs in the external space, the fluctuation in the external reflection intensity due to the deterioration of the external coating layer can be reflected in the relative intensity ratio, while the internal reflection intensity is unlikely to fluctuate on the panel internal surface, where deterioration is suppressed in the internal space. In this case, the fluctuation in the intensity of the diagnostic beam itself can be offset in the relative intensity ratio. Therefore, it is possible to diagnose a decrease in imaging accuracy in an imaging device due to deterioration of the external coating layer from the deterioration state represented by the diagnostic data.

[0014] Fig. 2 is a cross-sectional view showing the physical configuration of an embodiment; Fig. 3 is a schematic view showing the planar configuration of an imaging element according to an embodiment; Fig. 4 is a schematic view showing light receiving characteristics according to an embodiment, corresponding to the cross section of Fig. 1; Fig. 5 is a schematic view for explaining the light receiving state of a reflected beam at an imaging element according to an embodiment; Fig. 6 is a block diagram showing the functional configuration of a diagnostic device according to an embodiment; Fig. 7 is a flowchart showing a diagnostic flow according to an embodiment.

[0015] As shown in FIG. 1 , an imaging device 1 to which a diagnostic device 100 according to an embodiment of the present disclosure is applied optically captures an external space 3 in a vehicle. The imaging device 1 is mounted on a vehicle, such as an automobile, that is capable of at least one of manual driving, automatic driving, and remote driving. In the following description, unless otherwise specified, the directions indicated by front, rear, up, down, left, and right are defined with respect to the vehicle on a horizontal plane. Furthermore, the horizontal direction and vertical direction respectively indicate the directions parallel to and perpendicular to the horizontal plane of the vehicle on the horizontal plane.

[0016] The imaging device 1 is disposed in at least one location on the vehicle, such as the front, left and right sides, rear, or upper roof. The imaging device 1 performs imaging processing on a light image (hereinafter referred to as a target light image) received from a target within an imaging area in the external space 3 corresponding to the location of the imaging device 1 on the vehicle. A typical target to be imaged by the imaging device 1 applied to a vehicle may be at least one of moving objects such as pedestrians, cyclists, non-human animals, and other vehicles. A typical target to be imaged by the imaging device 1 applied to a vehicle may be at least one of stationary objects such as guardrails, road signs, roadside structures, and fallen objects on the road.

[0017] The imaging device 1 includes a casing 10, a light-transmitting panel 20, a camera unit 30, a light source unit 40, and a diagnostic device 100. The casing 10 is formed mainly from a plurality of metal substrates such as aluminum and is hollow as a whole. The outer surface of the casing 10 is exposed to the outside air of the exposed external space 3. The inner surface of the casing 10 serves as an enclosed space, closing off an internal space 13 from the external space 3. An optical opening 15 is provided in a vertical wall 14 of the casing 10 that extends along one horizontal direction and one vertical direction, and penetrates between the outer surface and the inner surface of the casing 10.

[0018] The light-transmitting panel 20 is formed as a flat plate mainly made of a light-transmitting base material such as synthetic resin or glass. The light-transmitting panel 20 is fitted to the vertical wall 14 of the casing 10 that surrounds the optical opening 15 via at least one of an adhesive and a sealant. The light-transmitting panel 20 covers the optical opening 15 so as to allow light to pass from the external space 3 to the internal space 13.

[0019] The light-transmitting panel 20 faces the external space 3, and thus a planar panel outer surface 21 exposed to the outside air of the external space 3 functions as an incident surface for a target light image from the external space 3. The light-transmitting panel 20 faces the internal space 13, and thus a planar panel inner surface 22 which cooperates with the inner surface of the casing 10 to close the internal space 13 functions as an exit surface for a target light image to enter the internal space 13.

[0020] A translucent outer coating layer 210 is provided on the panel outer surface 21 of the light-transmitting panel 20. The outer coating layer 210 is made of, for example, a dielectric film or a synthetic resin film that covers the base material of the light-transmitting panel 20. The outer coating layer 210 exhibits at least one film characteristic selected from anti-reflection properties, water repellency, weather resistance, heat resistance, bandpass filter performance, and infrared cut filter performance. A similar inner coating layer may be provided on the panel inner surface 22 of the light-transmitting panel 20, or may be omitted.

[0021] The camera unit 30 is disposed in the internal space 13 of the casing 10. The camera unit 30 includes a camera housing 31, a light receiving lens system 32, and an imaging circuit system 33.

[0022] The camera housing 31 is made mainly of multiple light-blocking base materials such as synthetic resin or metal, and is formed into a hollow shape smaller than the casing 10. The camera housing 31 is housed in the internal space 13 of the casing 10 and is held by the casing 10 via bonding resin 310. A light-receiving opening 35 that penetrates between the outer and inner surfaces of the camera housing 31 is provided at one end of the camera housing 31 in one horizontal direction.

[0023] The light-receiving lens system 32 is configured by combining a lens barrel 36 and multiple optical components 37. The lens barrel 36 is formed in a cylindrical shape smaller than the casing 10, mainly made of a light-blocking base material such as synthetic resin or metal. The lens barrel 36 is attached to the light-receiving opening 35 in the camera housing 31, for example, via an adhesive. As a result, the lens barrel 36 is held by the casing 10 via the camera housing 31 while housed in the internal space 13 of the casing 10, centered in a horizontal direction substantially perpendicular to the vertical wall 14. The lens barrel 36 covers the light-receiving opening 35 so that a target light image incident from the external space 3 through the light-transmitting panel 20 and the internal space 13 can be guided into the interior of the camera housing 31.

[0024] Each optical component 37 is formed to have an optical shape that meets the required specifications, primarily from a translucent base material such as synthetic resin or glass. At least one of the optical components 37 is a lens component 370 formed to have a lens shape that meets the required specifications. Each optical component 37 is fitted and attached to the peripheral wall of the lens barrel 36, for example, via an adhesive. This positions each optical component 37 inside the lens barrel 36, providing an optical axis Oa that is coaxial with the lens barrel 36, so that an optical image that enters from the external space 3 through the translucent panel 20 and the internal space 13 can be formed inside the camera housing 31.

[0025] The imaging circuit system 33 is configured by combining an imaging board 38 and a plurality of circuit components 39. The imaging board 38 is formed as a flat plate as a whole, mainly made of a rigid board such as a glass epoxy board. The imaging board 38 is held by the casing 10 via the camera housing 31, in a state where it is arranged along one horizontal direction and one vertical direction inside the camera housing 31 so as to be substantially perpendicular to the optical axis Oa.

[0026] The circuit components 39 are mounted on a mounting surface 38a on the light-receiving opening 35 side and a mounting surface 38b on the opposite side of the imaging board 38. One of the circuit components 39 mounted on the mounting surface 38a on the light-receiving opening 35 side of the imaging board 38 is an imaging element 390 such as a CCD or CMOS.

[0027] The imaging element 390 is positioned inside the camera housing 31 on the optical axis Oa provided by the light-receiving lens system 32. The imaging element 390 receives light from the external space 3 through the light-transmitting panel 20 and the internal space 13 and optically captures a target light image that is formed by the light-receiving lens system 32. To this end, as shown in Fig. 2, the imaging element 390 is configured to include a plurality of imaging pixels 390a that are two-dimensionally arranged along one horizontal direction and one vertical direction on a plane substantially perpendicular to the optical axis Oa, and that each output an imaging signal.

[0028] 1 controls the imaging of a target light image by the imaging element 390 as imaging processing for the external space 3 through the light-transmitting panel 20. At this time, the imaging circuit system 33 generates image information based on imaging signals from each imaging pixel 390a as imaging information as imaging processing for the external space 3. Furthermore, the imaging circuit system 33 may generate imaging information including recognition information for recognizing a target or the like in the external space 3 by image processing based on the imaging signals as imaging processing for the external space 3.

[0029] The light source unit 40 has a light source substrate 41 and an irradiation light source 42. The light source substrate 41 is formed as a flat plate overall, mainly made of a rigid substrate such as a glass epoxy substrate. The light source substrate 41 is held by the casing 10 in a state where it is accommodated outside the camera unit 30 in the internal space 13 of the casing 10 and displaced from the optical axis Oa in a direction perpendicular to the axis Oa. The light source substrate 41 is disposed in an inclined position with respect to the optical axis Oa, so that one mounting surface 41 a faces obliquely toward the panel inner surface 22 of the light-transmitting panel 20.

[0030] The irradiation light source 42 is mounted on the mounting surface 41a of the light source substrate 41, and is held by the casing 10 via the substrate 41. As a result, the irradiation light source 42 is disposed at a fixed light-emitting point Fp in the internal space 13 of the casing 10. In this way, in the internal space 13 where the irradiation light source 42 is disposed, the image sensor 390 is positioned offset from the light-emitting fixed point Fp.

[0031] The irradiation light source 42 is primarily composed of a light-emitting element, such as an LED (Light Emitting Diode) or a laser diode, that emits directional visible light. The irradiation light emitted from the irradiation light source 42 at a fixed light-emitting point Fp is incident obliquely onto the translucent panel 20 from the panel inner surface 22, as shown in FIG. 3 , thereby forming a diagnostic beam Bd having a circular or elliptical beam spot shape. The light source unit 40 may further include an optical component that collimates the irradiation light from the irradiation light source 42 to form the diagnostic beam Bd. For ease of understanding, FIG. 3 is a schematic diagram in which the optical component 37 is represented by only one representative lens component 370 and the image sensor 390 is enlarged.

[0032] The diagnostic beam Bd is reflected at the medium boundary between the inner surface 22 of the light-transmitting panel 20 and the internal space 13. This generates an internally reflected beam Bi that enters the interior of the lens barrel 36 and the camera housing 31 and is focused on the image sensor 390. Meanwhile, the diagnostic beam Bd that has partially transmitted through the light-transmitting panel 20 from the inner surface 22 is reflected at the medium boundary between the outer surface 21 of the light-transmitting panel 20 and the external space 3. This generates an externally reflected beam Bo that transmits through the light-transmitting panel 20, enters the interior of the lens barrel 36 and the camera housing 31, and is focused on the image sensor 390.

[0033] The internally reflected beam Bi and the externally reflected beam Bo of the diagnostic beam Bd are adjusted so that their reflected light paths are different when they enter the lens assembly 370 of the light-receiving lens system 32 and are received by the image sensor 390. Accordingly, in the image sensor 390, as shown in Figures 3 and 4, an internally reflected light receiving position Pi, which is the arrangement position of at least one image sensor pixel 390a that receives the internally reflected beam Bi, and an externally reflected light receiving position Po, which is the arrangement position of at least one image sensor pixel 390a that receives the externally reflected beam Bo, are shifted in the direction perpendicular to the optical axis Oa.

[0034] That is, in the imaging element 390, the imaging pixel 390a located at the internal reflection receiving position Pi and receiving the internally reflected beam Bi is different from the imaging pixel 390a located at the external reflection receiving position Po and receiving the externally reflected beam Bo. Therefore, the dimensions of each element in the imaging device 1 are designed in advance so that the imaging pixel 390a at the internal reflection receiving position Pi and the imaging pixel 390a at the external reflection receiving position Po are spaced apart in the direction perpendicular to the optical axis Oa, with the imaging pixels 390a other than those positions Pi and Po sandwiched between them. Here, particularly in the imaging device 1, it is preferable that the angle of incidence θ (see FIG. 3) of the diagnostic beam Bd to the panel inner surface 22 be designed in advance based on, for example, the thickness and material of the light-transmitting panel 20.

[0035] The diagnostic device 100 shown in FIG. 1 is connected to the image sensor 390 and the illumination light source 42 via at least one of a local area network (LAN), a wire harness, and an internal bus. The diagnostic device 100 includes at least one dedicated computer. The dedicated computer constituting the diagnostic device 100 may be an imaging ECU (Electronic Control Unit) specialized for controlling the imaging device 1. In this case, the imaging ECU may be housed inside the casing 10 or the camera housing 31 (in the example of FIG. 1 ) as a component of the imaging device 1. The dedicated computer constituting the diagnostic device 100 may be a driving control ECU that controls driving of the vehicle. In this case, the driving ECU may be located inside the vehicle, outside the casing 10, although not shown.

[0036] The dedicated computer constituting the diagnostic device 100 has at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. The processor 102 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), or a graph streaming processor (GSP).

[0037] The processor 102 executes a plurality of instructions included in the diagnostic program stored in the memory 101. In this way, the diagnostic device 100 constructs a plurality of functional blocks for diagnosing the imaging device 1. The functional blocks constructed by the diagnostic device 100 include an intensity acquisition block 110 and a data generation block 120, as shown in FIG.

[0038] The diagnostic data generation method in which diagnostic device 100 generates diagnostic data Dd for imaging device 1 through the cooperation of these blocks 110 and 120 is executed according to the diagnostic flow shown in Figure 6. This diagnostic flow is executed, for example, when the vehicle is started. Note that each "S" in the diagnostic flow represents a plurality of steps executed by a plurality of commands included in the diagnostic program.

[0039] In S10, the intensity acquisition block 110 controls the irradiation light source 42 to emit light, thereby irradiating the diagnostic beam Bd onto the light-transmitting panel 20. In response to the irradiation, in S20, the intensity acquisition block 110 acquires imaging information from the imaging element 390, which receives the internally reflected beam Bi at the internally reflected light-receiving position Pi and the externally reflected beam Bo at the externally reflected light-receiving position Po. At this time, at least one imaging function, such as auto exposure, auto white balance, gamma correction, and tone mapping, that is enabled during normal imaging in the imaging device 1, i.e., when a diagnostic flow is not being executed, may be changed. Such changes may realize at least one of the following: fixing the exposure (exposure time, gain), fixing the white balance, setting the gamma value to 1.0, and turning off the tone mapping, so that the intensity of the imaging signal from the imaging element 390 varies proportionally to the input luminance value to the imaging element 390.

[0040] Therefore, in S30, the intensity acquisition block 110 acquires an internal reflection intensity Ii, which is the reflection intensity on the panel inner surface 22, based on imaging information representing the intensity of an imaging signal output by the imaging pixel 390a located at the internal reflection light-receiving position Pi (see FIGS. 3 and 4 ) upon receiving the internal reflection beam Bi. The internal reflection intensity Ii may be based on imaging information representing the intensity of an imaging signal from a set number of imaging pixels 390a located at the center of gravity of the beam spot formed by the internal reflection beam Bi at the internal reflection light-receiving position Pi, or at a displaced portion of the beam spot that is a set distance away from the center of gravity. The internal reflection intensity Ii acquired in this manner is stored in the memory 101.

[0041] At the same time, in S30, the intensity acquisition block 110 acquires an outer surface reflection intensity Io, which is the reflection intensity on the panel outer surface 21, based on imaging information representing the intensity of an imaging signal output by the imaging pixel 390a located at the outer surface reflection light-receiving position Po (see FIGS. 3 and 4 ) upon receiving the outer surface reflected beam Bo. In this case, the outer surface reflection intensity Io may be based on imaging information representing the intensity of imaging signals from a set number of imaging pixels 390a located at the center of gravity of the beam spot formed by the outer surface reflected beam Bo at the outer surface reflection light-receiving position Po, or at a displaced portion within the beam spot that is shifted a set distance from the center of gravity. The outer surface reflection intensity Io acquired in this manner is also stored in the memory 101.

[0042] Furthermore, in S40, the data generation block 120 generates diagnostic data Dd representing the deterioration state of the outer coating layer 210 as the state of the panel outer surface 21 on which the outer coating layer 210 is provided of the light-transmitting panel 20. At this time, the deterioration state of the outer coating layer 210 depends on the relative intensity ratio IR between the inner reflection intensity Ii and the outer reflection intensity Io obtained in S30, according to the following equation 1.

[0043] Here, Ii_0 in Equation 1 refers to the reference intensity of the internal reflection intensity Ii, which is the initial intensity Ii_0 at the time of shipment of the imaging device 1 from the factory, for example. Io_0 in Equation 1 refers to the reference intensity of the external reflection intensity Io, which is the initial intensity Io_0 at the time of shipment of the imaging device 1 from the factory, for example.

[0044] Therefore, as shown in the following equations 2 to 4 obtained by decomposing equation 1, in S40, the values ​​of the internal reflection intensity Ii and the external reflection intensity Io obtained in S30 are normalized by their respective initial intensities Ii_0 and Io_0 to obtain a relative intensity ratio IR of the internal reflection intensity Ii_n and the external reflection intensity Io_n, and the deterioration state of the external coating layer 210 may be diagnosed from this. Alternatively, as shown in the following equations 5 to 7 obtained by decomposing equation 1 in a different form, in S40, the deterioration state of the external coating layer 210 may be diagnosed from the relative intensity ratio IR obtained by normalizing the relative intensity ratio IR_g of the values ​​of the internal reflection intensity Ii and the external reflection intensity Io obtained in S30 by their reference initial ratio IR_0. Here, the initial ratio IR_0 means the relative intensity ratio between the initial intensity Ii_0 of the internal reflection intensity Ii and the initial intensity Io_0 of the external reflection intensity Io, as shown in equation 7.

[0045] In the diagnosis of S40, when the amount of change in the relative intensity ratio IR on the decreasing side of the internal reflection intensity Ii increases outside the allowable range (i.e., exceeds or is equal to or greater than the threshold), diagnostic data Dd may be generated to notify the deterioration of the outer surface coating layer 210 that requires maintenance. In the diagnosis of S40, diagnostic data Dd may be generated to notify the degree of deterioration of the outer surface coating layer 210 that increases as the relative intensity ratio IR changes toward the decreasing side of the internal reflection intensity Ii. In the latter case, the relative intensity ratio IR itself may be included in the diagnostic data Dd as an index representing the deterioration state.

[0046] In S40, the data generation block 120 may control storage of the generated diagnostic data Dd in the memory 101 or a data logger in the vehicle. In S40, the data generation block 120 may control display of the generated diagnostic data Dd on a display unit in the vehicle. In S40, the data generation block 120 may control transmission of the generated diagnostic data Dd from a communication device in the vehicle to an external device. In S40, output of the diagnostic data Dd by means other than storage, display, and transmission may be realized. As described above, upon completion of execution of S40, the current execution of the diagnostic flow ends.

[0047] (Operational Effects) The operational effects of the present embodiment described above will be described below.

[0048] In this embodiment, as a reflected beam of the diagnostic beam Bd irradiated from the fixed light-emitting point Fp in the internal space 13, an internally reflected beam Bi from the panel inner surface 22 of the light-transmitting panel 20 is received at an internal reflection light-receiving position Pi in the image sensor 390, thereby obtaining an internal reflection intensity Ii from the panel inner surface 22. At the same time, as a reflected beam of the diagnostic beam Bd irradiated from the fixed light-emitting point Fp, an externally reflected beam Bo from the panel outer surface 21 of the light-transmitting panel 20 is received at an external reflection light-receiving position Po in the image sensor 390, thereby obtaining an external reflection intensity Io from the panel outer surface 21.

[0049] Therefore, the diagnostic data Dd according to this embodiment is generated to represent a deterioration state of the panel outer surface 21, on which the translucent outer coating layer 210 is provided, based on the relative intensity ratio IR between the internal reflection intensity Ii and the external reflection intensity Io. Thus, while the internal reflection intensity Ii is unlikely to fluctuate on the panel inner surface 22, where deterioration is suppressed in the internal space 13, even if deterioration occurs in the external coating layer 210 of the panel outer surface 21 in the external space 3, fluctuations in the external reflection intensity Io due to the deterioration of the external coating layer 210 can be reflected in the relative intensity ratio IR. In this case, in particular, fluctuations in the intensity of the diagnostic beam Bd itself can be offset in the relative intensity ratio IR. From these factors, it is possible to diagnose a decline in imaging accuracy in the imaging device 1 due to deterioration of the external coating layer 210 from the deterioration state represented by the diagnostic data Dd.

[0050] According to this embodiment, in the imaging element 390 positioned in the internal space 13 and offset from the fixed light-emitting point Fp, the internally reflected beam Bi and the externally reflected beam Bo are received by different imaging pixels 390a located at the internal reflection receiving position Pi and the external reflection receiving position Po, respectively. Thus, the internally reflected beam Bi and the externally reflected beam Bo, which have different reflected optical paths relative to the diagnostic beam Bd irradiated from the fixed light-emitting point Fp, can be distinguished by the imaging pixels 390a receiving them in the imaging element 390 offset from the fixed light-emitting point Fp, and the respective reflection intensities Ii and Io can be recognized. Therefore, diagnostic data Dd that accurately represents the deterioration state based on the relative intensity ratio IR between the internal reflection intensity Ii and the external reflection intensity Io can be generated, thereby improving the reliability of diagnosing a decrease in imaging accuracy in the imaging device 1 due to deterioration of the outer coating layer 210.

[0051] According to the present embodiment, the diagnostic data Dd may be generated to represent a deterioration state based on the relative intensity ratio IR obtained by normalizing the internal reflection intensity Ii and the external reflection intensity Io by their respective reference initial intensities Ii_0 and Io_0. This allows the degradation of the panel inner surface 22 in the internal space 13 to be offset by the effect of the degradation on the relative intensity ratio IR. Therefore, by generating the diagnostic data Dd that accurately represents the deterioration state based on the relative intensity ratio IR between the internal reflection intensity Ii and the external reflection intensity Io, it becomes possible to improve the reliability of diagnosing a decrease in the imaging accuracy of the imaging device 1 due to degradation of the external coating layer 210.

[0052] According to the present embodiment, the diagnostic data Dd may be generated to represent a deterioration state based on the relative intensity ratio IR normalized by the reference initial ratio IR_0. This allows the degradation of the panel inner surface 22 in the internal space 13 to be offset by the effect of the degradation on the relative intensity ratio IR. Therefore, by generating the diagnostic data Dd that accurately represents a deterioration state based on the relative intensity ratio IR between the inner reflection intensity Ii and the outer reflection intensity Io, it becomes possible to increase the reliability of diagnosing a decrease in imaging accuracy in the imaging device 1 due to degradation of the outer coating layer 210.

[0053] (Other Embodiments) Although one embodiment has been described above, the present disclosure should not be construed as being limited to the embodiment described above, and can be applied to various embodiments within the scope that does not deviate from the gist of the present disclosure.

[0054] In a modified example, the dedicated computer constituting the diagnostic device 100 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a system on a chip (SOC), a programmable gate array (PGA), and a complex programmable logic device (CPLD). Such a digital circuit may also have a memory that stores a program.

[0055] In the modified example, the mobile body to which the diagnostic device 100 and the imaging device 1 are applied may be, for example, an autonomous robot that is capable of autonomously or remotely traveling to transport luggage or collect information, etc. In addition to the forms described so far, the above-described embodiment and modified example may be implemented in the form of a semiconductor device (for example, a semiconductor chip, etc.) as a control device that is configured to be mountable on the mobile body to which the diagnostic device 100 and the imaging device 1 are applied and has at least one processor 102 and one memory 101.

[0056] (Additional Remarks) This specification discloses the following technical ideas and their combinations. Note that the reference symbols in parentheses in this Additional Remarks section indicate the correspondence with the specific means described in the above detailed embodiments, and do not limit the technical scope of the present disclosure.

[0057] (Technical Idea 1) A diagnostic device (100) having a processor (102) for diagnosing an imaging device (1) that optically images an external space (3) from an internal space (13) using an imaging element (390) through a light-transmitting panel (20) separating the external space (3) from the internal space, wherein the processor: receives an internal reflection beam (Bi) from a panel internal surface (22) of the light-transmitting panel facing the internal space at an internal reflection light-receiving position (Pi) of the imaging element as a reflected beam of a diagnostic beam (Bd) irradiated from a fixed light-emitting point (Fp) in the internal space, thereby obtaining an internal reflection intensity (Ii) from the panel internal surface; and receives an external reflection beam (Bo) from a panel external surface (21) of the light-transmitting panel facing the external space at an external reflection light-receiving position (Po) of the imaging element as a reflected beam of the diagnostic beam, thereby obtaining an external reflection intensity (Io) from the panel external surface; A diagnostic device configured to generate diagnostic data (Dd) representing a deterioration state based on the relative intensity ratio (IR) between the internal reflection intensity and the external reflection intensity as the state of the panel external surface on which a translucent external coating layer (210) is provided.

[0058] (Technical Idea 2) The diagnostic device described in Technical Idea 1 includes acquiring the internal reflection intensity and the external reflection intensity by receiving the internal reflection beam and the external reflection beam using different imaging pixels (390a) located at the internal reflection receiving position and the external reflection receiving position, respectively, in the imaging element positioned in the internal space away from the fixed light emission point.

[0059] (Technical Idea 3) A diagnostic device according to Technical Idea 1 or 2, wherein the generation of the diagnostic data includes generating the diagnostic data so as to represent the deterioration state based on the relative intensity ratio obtained by normalizing the internal reflection intensity and the external reflection intensity by their respective reference initial intensities.

[0060] (Technical Idea 4) A diagnostic device according to Technical Idea 1 or 2, wherein the generation of the diagnostic data includes generating the diagnostic data so as to represent the deterioration state based on the relative intensity ratio normalized by a reference initial ratio.

[0061] (Technical Concept 5) The diagnostic device according to any one of Technical Concepts 1 to 4, wherein generating the diagnostic data includes controlling storage of the generated diagnostic data.

[0062] (Technical Concept 6) The diagnostic device according to any one of Technical Concepts 1 to 5, wherein generating the diagnostic data includes controlling a display of the generated diagnostic data.

[0063] (Technical Concept 7) The diagnostic device according to any one of Technical Concepts 1 to 6, wherein generating the diagnostic data includes controlling transmission of the generated diagnostic data.

[0064] (Technical Idea 8) An imaging device (1) that optically images an external space (3) from an internal space (13) using an imaging element (390) through a translucent panel (20) that separates the external space (3) from the internal space, the imaging device comprising: the imaging element; an irradiation light source (42) that irradiates the diagnostic beam from a fixed light-emitting point (Fp) in the internal space; and a diagnostic device (100) described in any one of Technical Ideas 1 to 7.

[0065] The above-mentioned technical concepts 1 to 7 may be understood as the respective technical concepts of the method and the program.

Claims

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

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

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

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

5. The diagnostic device of claim 1, wherein generating said diagnostic data includes controlling storage of said generated diagnostic data.

6. The diagnostic device according to claim 1, wherein generating the diagnostic data includes controlling a display of the generated diagnostic data.

7. The diagnostic device according to claim 1, wherein generating said diagnostic data includes controlling transmission of said generated diagnostic data.

8. An imaging device (1) that optically images an external space (3) from an internal space (13) using an imaging element (390) through a translucent panel (20) that separates the external space from the internal space, comprising: the imaging element; an irradiation light source (42) that irradiates the diagnostic beam from a fixed light-emitting point (Fp) in the internal space; and a diagnostic device (100) according to any one of claims 1 to 7.

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

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

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