JP6381100B2 - Three-dimensional subsurface diagnosis system and three-dimensional subsurface diagnosis method - Google Patents
Three-dimensional subsurface diagnosis system and three-dimensional subsurface diagnosis method Download PDFInfo
- Publication number
- JP6381100B2 JP6381100B2 JP2013231212A JP2013231212A JP6381100B2 JP 6381100 B2 JP6381100 B2 JP 6381100B2 JP 2013231212 A JP2013231212 A JP 2013231212A JP 2013231212 A JP2013231212 A JP 2013231212A JP 6381100 B2 JP6381100 B2 JP 6381100B2
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- dimensional
- surface state
- subsurface
- position coordinates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Geophysics And Detection Of Objects (AREA)
Description
本発明は、道路の周辺形状、路面変状、路面下変状を移動体により計測し、それら計測データを一体化し、３次元表示、可視化する道路診断技術に関するものである。 The present invention relates to a road diagnostic technique for measuring a peripheral shape of a road, a road surface deformation, and a road surface deformation by a moving body, and integrating the measurement data into a three-dimensional display and visualization.
昨今、道路行政においては安全管理や事故防止の観点から、その効果的な対応策の具体化が急がれている。特に予防保全をいかに効率的に実施するかが喫緊の課題となっている。それは単なる路面の損傷具合の確認だけではなく、路面下の実態把握も不可欠な作業となっており、道路の陥没等は車輌事故のみならず人身を巻き込む可能性もあり、極めて深刻な社会問題となりつつある。従って、財政面にも関る適切なアセットマネジメントの実行が行政にとり極めて重要なテーマとなっている。 In recent years, there is an urgent need for effective countermeasures in road administration from the viewpoint of safety management and accident prevention. In particular, how to implement preventive maintenance is an urgent issue. It is not only confirmation of the road surface damage, but also understanding the actual conditions under the road surface, and road collapses can cause not only vehicle accidents but also personal injury, which is a very serious social problem. It's getting on. Therefore, the implementation of appropriate asset management related to the financial aspect is a very important theme for the government.
路面および路面下の調査は、地下埋設物の敷設状況等の所在確認も兼ねており、路面下を掘削せずに調査することが求められ、人力作業での地中レーダによる探査が一般的に行われてきた。また、それら計測情報はトータルステーションによる地形測量結果とのリンクにより地図情報に組み込まれ行政組織内の管理情報として保管運用されてきた。
しかしながら、それら一連の作業は人力に依存する部分が大きく国内の道路網の規模を想定した場合あまりにも非効率的であるといった問題がある。
このような問題を回避すべく、例えば車輌にレーダ探査装置を搭載し道路上を走行しながら路面下の状態を計測するシステムが知られている（例えば、特許文献１を参照。）。
特許文献１に開示された地中探査方法および地中探査装置は、計測したデータを基に探査領域内の地中状態を３次元解析し、解析データを地中深度毎に画像情報として表示するものである。
Surveys on the road surface and below the road also serve as confirmation of the location of the underground burial, etc., and it is required to investigate without digging under the road surface. Has been done. In addition, the measurement information has been stored and operated as management information in the administrative organization by being incorporated into the map information by linking with the topographic survey results by the total station.
However, the series of operations depend on human power, and there is a problem that it is too inefficient when assuming the size of the domestic road network.
In order to avoid such a problem, for example, a system is known in which a radar exploration device is mounted on a vehicle and the state under the road surface is measured while traveling on a road (see, for example, Patent Document 1).
The underground exploration method and the underground exploration device disclosed in Patent Document 1 three-dimensionally analyze the underground state in the exploration area based on the measured data, and display the analysis data as image information for each underground depth. Is.
また、地中探査計測データが探査幅の制限により確実な路面下状態の把握につながらない可能性に配慮し、それら回避策を具体化したシステムが知られている（例えば、特許文献２を参照。）。
特許文献２に示された地中探査方法および地中探査装置は、走行中に地中探査と並行して前方路面を搭載カメラにて撮影し、車線間に亘る路面および路面下の損傷状況等を該映像を参照しながら複数車線の地下探査計測データの合成処理にて把握可能とするものである。
In addition, in consideration of the possibility that the underground exploration measurement data does not lead to a reliable understanding of the road surface condition due to the limitation of the exploration width, a system that embodies these avoidance measures is known (see, for example, Patent Document 2). ).
The underground exploration method and the underground exploration device disclosed in Patent Document 2 photograph a front road surface with an on-board camera in parallel with the underground exploration while traveling, the road surface between lanes and the damage state under the road surface, etc. Can be grasped by combining the underground exploration measurement data of a plurality of lanes with reference to the video.
しかしながら、特許文献１に開示された方法では、地中探査によるデータ収集は迅速に可能であるが、解析結果から道路の損傷状況の経時変化等の見極めは、その位置計測精度に起因し容易ではない。また地下探査データを単独に収集しているため、それらデータを地図情報とリンクさせるには多大な時間を要するものと推定できる。 However, with the method disclosed in Patent Document 1, it is possible to quickly collect data by underground exploration. However, it is not easy to determine the change over time of the road damage status from the analysis result due to its position measurement accuracy. Absent. Moreover, since underground exploration data is collected independently, it can be estimated that it takes a lot of time to link such data with map information.
また、特許文献２に開示された方法では、路面状況をカメラ撮影により検知しているため、時間帯、天候等によってもその視認性は左右されるものであり、地下探査データとの照合情報としては信頼性を欠くものと推定できる。即ち地下探査データが地図情報に反映可能な高精度の位置情報を持つことが必要である。 Further, in the method disclosed in Patent Document 2, since the road surface condition is detected by camera photographing, the visibility depends on the time zone, weather, and the like. Can be assumed to be unreliable. In other words, it is necessary to have high-accuracy position information that allows underground exploration data to be reflected in map information.
そうすれば道路該個所の損傷状態の経時変化等も過去データとの比較照合により把握可能となり、地図情報とのリンクも容易になる。また路面の状況を検知するには、カメラによる撮影だけではなく路面にもレーザを照射し、地下探査と同様手法にて計測すれば信頼性の高いデータを得ることが可能である。 By doing so, it is possible to grasp the change over time in the damaged state of the road by comparing and comparing with past data, and it becomes easy to link with map information. In order to detect the road surface condition, it is possible to obtain highly reliable data by irradiating the road surface with laser as well as photographing with a camera and measuring it by the same method as underground exploration.
上記状況に鑑みて、本発明は、道路周辺形状、路面、路面下の状態を法定速度走行が可能な移動体により走行計測し、それらデータを解析処理することにより一体化した３次元表示にて可視化した３次元路面下診断システムおよび方法を提供することを目的とする。 In view of the above situation, the present invention is a three-dimensional display integrated by measuring the road periphery shape, the road surface, and the state under the road with a moving body capable of legal speed travel, and analyzing the data. It is an object of the present invention to provide a visualized three-dimensional subsurface diagnosis system and method.
上記目的を達成すべく、本発明の３次元路面下診断システムは、以下の１）〜５）を少なくとも備えるシステムである。
１）ＧＰＳ受信機および慣性計測器を少なくとも備えた３次元位置計測手段
２）カメラおよびレーザースキャナを少なくとも備えた路面状態計測手段
３）地中レーダアンテナを備えた路面下探査手段
４）３次元位置計測手段と路面状態計測手段と路面下探査手段を搭載した移動体
５）３次元位置計測手段と路面状態計測手段と路面下探査手段の各出力データを解析するコンピュータ
In order to achieve the above object, the three-dimensional subsurface diagnostic system of the present invention is a system including at least the following 1) to 5).
1) Three-dimensional position measuring means including at least a GPS receiver and an inertial measuring instrument 2) Road surface state measuring means including at least a camera and a laser scanner 3) Sub-road surface exploring means including an underground radar antenna 4) Three-dimensional position 5) a moving body equipped with measuring means, road surface state measuring means, and road surface exploration means 5) a computer for analyzing output data of the three-dimensional position measuring means, road surface state measuring means, and road surface exploration means
本発明の３次元路面下診断システムは、システム内の時計もしくはＧＰＳから得られる時刻を用いて、上記１）の３次元位置計測手段の出力データである３次元位置座標、上記２）の路面状態計測手段の出力データである路面状態カメラ画像および路面状態３次元点群データ、上記３）の路面下探査手段の出力データである深度方向情報、それぞれに対し時刻情報を付与する。
付与した時刻情報を用いて、３次元位置座標と路面状態カメラ画像と路面状態３次元点群データと深度方向情報を同期させる。具体的には、３次元位置座標と路面状態カメラ画像と路面状態３次元点群データと深度方向情報のそれぞれに対して付与した時刻情報が一致した場合には、深度方向情報に３次元位置座標を付加し、それぞれのデータを同期データとして抽出する。一方、時刻情報が不一致の場合には、深度方向情報の時刻情報と、所定時間差内にある時刻情報が付与された３次元位置座標と路面状態カメラ画像と路面状態３次元点群データが存在していれば、深度方向情報に３次元位置座標を付加し、さらに、所定時間差の間に移動体が走行した距離を用いて、深度方向情報の３次元位置座標を補正して、それぞれのデータを同期データとして抽出する。そして、ＧＰＳ受信機、カメラ、レーザースキャナ、地中レーダアンテナ、それぞれの上記４）の移動体内の相対位置関係および慣性計測器から得られる移動体姿勢に基づいて、それぞれの３次元位置座標を算出し、路面状態カメラ画像と路面状態３次元点群データと深度方向情報に対して３次元位置座標を付与する。
ここで、ＧＰＳ受信機は、ＤＧＰＳ（Differential GPS）のように２つの受信機を用いて、測位した位置の差により正確な位置を求めるものでも構わない。
上記２）の路面状態計測手段が出力した路面状態カメラ画像および路面状態３次元点群データと、上記３）の路面下探査手段が出力した深度方向情報を統合し、路面状態と路面下構造を一体化して可視化する。
The three-dimensional subsurface diagnosis system of the present invention uses the time obtained from a clock or GPS in the system, and the three-dimensional position coordinates that are output data of the three-dimensional position measuring means of 1) above, and the road surface state of 2) above. Time information is given to each of the road surface state camera image and road surface state three-dimensional point cloud data that are output data of the measuring means, and the depth direction information that is output data of the road surface exploration means of 3) above.
Using the given time information, the three-dimensional position coordinates, the road surface state camera image, the road surface state three-dimensional point cloud data, and the depth direction information are synchronized. Specifically, when the time information given to each of the three-dimensional position coordinates, the road surface state camera image, the road surface state three-dimensional point cloud data, and the depth direction information matches , the three-dimensional position coordinates are included in the depth direction information. To extract each data as synchronous data. On the other hand, when the time information does not match, the time information of the depth direction information, the three-dimensional position coordinates, the road surface state camera image, and the road surface state three-dimensional point cloud data to which the time information is within a predetermined time difference exist. If so, the three-dimensional position coordinates are added to the depth direction information, and further, the three-dimensional position coordinates of the depth direction information are corrected using the distance traveled by the moving body during the predetermined time difference, and the respective data are obtained. Extract as synchronous data. Then, the respective three-dimensional position coordinates are calculated based on the relative positional relationship of the GPS receiver, the camera, the laser scanner, the ground radar antenna, and each of the above 4) in the moving body and the moving body posture obtained from the inertial measuring instrument. Then, 3D position coordinates are assigned to the road surface state camera image, road surface state 3D point cloud data, and depth direction information.
Here, the GPS receiver may use two receivers such as DGPS (Differential GPS) to obtain an accurate position based on the difference between the positions measured.
The road surface state camera image and road surface state three-dimensional point cloud data output by the road surface state measuring means of 2) above and the depth direction information output by the road surface investigation means of 3) above are integrated to obtain the road surface state and the structure under the road surface. Integrated visualization.
上記構成によれば、路面状態計測手段が出力した路面状態カメラ画像および路面状態３次元点群データと、路面下探査手段が出力した深度方向情報を統合できることから、路面状態と路面下状態の位置関係が正確に把握でき、路面下の空洞位置を正確に把握できる。
ここで、３次元位置座標と路面状態カメラ画像と路面状態３次元点群データと深度方向情報を同期させるとは、３次元位置座標と路面状態カメラ画像と路面状態３次元点群データと深度方向情報において、付与した時刻情報が一致するものを対応付けさせる場合をいう。付与した時刻情報が不一致の場合に、後述するように、所定時間差の間に移動体が走行した距離を用いて、深度方向情報の３次元位置座標を補正して対応付けさせる。
According to the above configuration, the road surface state camera image and the road surface state three-dimensional point cloud data output from the road surface state measuring means and the depth direction information output from the road surface searching means can be integrated. The relationship can be grasped accurately, and the cavity position under the road surface can be grasped accurately.
Here, synchronizing the 3D position coordinates, the road surface state camera image, the road surface state 3D point cloud data, and the depth direction information means that the 3D position coordinates, the road surface state camera image, the road surface state 3D point cloud data, and the depth direction are synchronized. This refers to a case where information that matches the assigned time information is associated. When the given time information does not match, as will be described later, the three-dimensional position coordinates of the depth direction information are corrected and associated using the distance traveled by the moving body during a predetermined time difference.
また、本発明の３次元路面下診断システムは、深度方向情報に付与された時刻情報に対して、所定時間差内にある時刻情報が付与された３次元位置座標と路面状態カメラ画像と路面状態３次元点群データが存在する場合、所定時間差の間に移動体が走行した距離を用いて、深度方向情報の３次元位置座標を補正することが好ましい。
ここで、所定時間差は、例えば１００ミリ秒とすると、所定時間差に移動体が走行した距離は、移動体の走行速度が時速３６ｋｍ／時で１メートルになる。所定時間差の間に移動体が走行した距離を用いて、深度方向情報の３次元位置座標、特に移動体の進行方向の座標を補正する。これにより、計測データを有効活用できる。
In addition, the three-dimensional subsurface diagnosis system of the present invention has a three-dimensional position coordinate, a road surface state camera image, and a road surface state 3 to which time information within a predetermined time difference is given with respect to the time information given to the depth direction information. When the three-dimensional point group data exists, it is preferable to correct the three-dimensional position coordinates of the depth direction information using the distance traveled by the moving body during the predetermined time difference.
Here, assuming that the predetermined time difference is, for example, 100 milliseconds, the distance traveled by the mobile body during the predetermined time difference is 1 meter at a traveling speed of 36 km / hour. Using the distance traveled by the moving body during the predetermined time difference, the three-dimensional position coordinates of the depth direction information, particularly the coordinates of the traveling direction of the moving body are corrected. Thereby, measurement data can be used effectively.
また、本発明の３次元路面下診断システムにおいて、路面状態計測手段の出力データの路面状態カメラ画像または路面状態３次元点群データから路面陥没個所を特定し、路面下探査手段の出力データの深度方向情報から路面下空洞箇所または路面下構造を特定し、それぞれの出力データに付与された３次元位置座標に基づいて、路面陥没箇所と、路面下空洞箇所または路面下構造とを関連付けすることが好ましい。
路面陥没箇所と、路面下空洞箇所または路面下構造とを関連付けすることにより、路面の陥没位置と路面下の空洞位置との関係を正確に把握することができる。
Further, in the three-dimensional subsurface diagnosis system of the present invention, the depth of the output data of the subsurface exploration means is specified by identifying the road surface depression from the road surface camera image or the road surface three-dimensional point cloud data of the output data of the road surface state measurement means. It is possible to identify a hollow area under the road surface or a structure under the road surface from the direction information, and to associate the depressed area with the road surface hollow area or the road surface structure based on the three-dimensional position coordinates given to each output data. preferable.
By associating the road surface depression portion with the road surface cavity portion or the road surface structure, the relationship between the road surface depression position and the road surface cavity position can be accurately grasped.
また、本発明の３次元路面下診断システムにおける路面下探査手段は、複数の地中レーダアンテナが探査方向と直交するように並列に配置されており、深度方向情報を、深度方向と探査方向とアンテナ配置方向からなる路面下３次元点群データとし、３次元位置座標に基づいて、路面状態計測手段の出力データである路面状態３次元点群データと融合させることが好ましい。
路面下３次元点群データと路面状態３次元点群データと融合させることにより、路面状態と路面下構造の対応付けに基づいて、路面状態と路面下構造を一体化して可視化（画面表示や図面化）することが可能である。例えば、路面の陥没状態と路面下空洞を一体化して可視化することにより、路面の陥没位置と路面下の空洞位置との関係をより正確に把握することができる。
Further, the subsurface exploration means in the three-dimensional subsurface diagnosis system of the present invention has a plurality of underground radar antennas arranged in parallel so as to be orthogonal to the exploration direction, and the depth direction information includes the depth direction and the exploration direction. It is preferable that the road surface state three-dimensional point cloud data including the antenna arrangement direction is merged with the road surface state three-dimensional point cloud data which is output data of the road surface state measuring means based on the three-dimensional position coordinates.
By integrating the 3D point cloud data under the road surface and the 3D point cloud data under the road surface, based on the association between the road surface state and the road surface structure, the road surface state and the road surface structure are integrated and visualized (screen display and drawings). It is possible to For example, by integrating and visualizing the depressed state of the road surface and the cavity below the road surface, the relationship between the depressed position of the road surface and the cavity position below the road surface can be grasped more accurately.
また、本発明の３次元路面下診断システムにおいて、同一の３次元位置座標の路面下探査手段の過去の出力データとの照合比較により、路面の沈下量および地下空洞位置（深さ）のそれぞれの経時変化量について算出することが好ましい。
算出した経時変化量に基づいて、路面下の補修対象優先度の絞込み、補修時期の判断を行うことが可能になる。
Further, in the three-dimensional subsurface diagnosis system of the present invention, each of the subsidence amount of the road surface and the underground cavity position (depth) is compared by comparing with the past output data of the subsurface exploration means having the same three-dimensional position coordinates. It is preferable to calculate the amount of change with time.
Based on the calculated amount of change over time, it becomes possible to narrow down the priority of repair targets under the road surface and determine the repair timing.
また、本発明の３次元路面下診断システムにおける路面下探査手段から得られる深度方向情報について、埋設物の輪郭の連続性を用いて、路面下３次元点群データを補正することが好ましい。
路面下探査の計測の誤差によって、埋設物の輪郭が不連続になる場合がある。埋設物の輪郭の連続性を用いて、路面下３次元点群データを補正することにより、路面下の実際の状態に近い可視化を可能にする。
Moreover, it is preferable to correct 3D point cloud data under the road surface by using the continuity of the contour of the buried object in the depth direction information obtained from the road surface exploration means in the 3D road surface diagnosis system of the present invention.
The contour of the buried object may become discontinuous due to measurement errors in the subsurface exploration. By correcting the three-dimensional point cloud data under the road surface using the continuity of the outline of the buried object, visualization close to the actual state under the road surface is enabled.
また、本発明の３次元路面下診断システムにおいて、３次元路面下診断システム内の時計もしくはＧＰＳから得られた時刻に基づいて、移動体による移動計測による各々の出力データは、移動体がＧＰＳ測位精度の距離を移動する時間より短い間隔でサンプリング保存されることが好ましい。
計測時に交通規制を不要とするためには、移動体の走行速度として、通常の車両速度で走行する必要がある。移動体の走行速度が時速３６ｋｍ／時とした場合、１秒間に移動体が１０ｍ移動することになる。ＤＧＰＳ（Differential GPS）のように２つの受信機を用いて、測位した位置の差により正確な位置を求めるなど、高精度ＧＰＳを搭載する場合、例えばＧＰＳ測位精度１０ｃｍ以内の位置情報を計測できるとして、１０ｃｍピッチで計測するならば、移動体が１０ｃｍ移動する時間より短い間隔でサンプリングを行い保存することが好ましい。ここで、移動体が１０ｃｍ移動する時間は、移動体の移動速度によって異なるが、移動体の走行速度が時速３６ｋｍ／時とした場合は、１０ミリ秒でサンプリングすることになる。
Further, in the three-dimensional subsurface diagnosis system of the present invention, each output data obtained by the movement measurement by the mobile body based on the time obtained from the clock or GPS in the three-dimensional subsurface diagnosis system is obtained by the mobile body using GPS positioning. Sampling and storage are preferably performed at intervals shorter than the time for moving the distance of accuracy.
In order to make traffic regulation unnecessary during measurement, it is necessary to travel at a normal vehicle speed as the traveling speed of the moving body. When the traveling speed of the moving body is 36 km / h, the moving body moves 10 m per second. When using high-accuracy GPS, such as finding the exact position based on the difference in the position of positioning using two receivers like DGPS (Differential GPS), for example, position information within GPS positioning accuracy of 10 cm can be measured If measurement is performed at a pitch of 10 cm, it is preferable to sample and store at a shorter interval than the time required for the moving body to move 10 cm. Here, the time required for the moving body to move 10 cm varies depending on the moving speed of the moving body, but when the traveling speed of the moving body is 36 km / h, sampling is performed in 10 milliseconds.
次に、本発明の３次元路面下診断方法について説明する。
本発明の３次元路面下診断方法は、下記１）〜５）のステップを備える。
１）ＧＰＳ受信機および慣性計測器を少なくとも備えた３次元位置計測手段と、カメラおよびレーザースキャナを少なくとも備えた路面状態計測手段と、地中レーダアンテナを備えた路面下探査手段、を搭載した移動体を走行させながら、各手段がそれぞれのサンプリング周期で計測あるいは探査を行い、出力データを保存するステップ
２）移動体に搭載される時計もしくはＧＰＳから得られる時刻を用いて、３次元位置計測手段の出力データである３次元位置座標、路面状態計測手段の出力データである路面状態カメラ画像および路面状態３次元点群データ、路面下探査手段の出力データである深度方向情報、それぞれに対し時刻情報を付与するステップ
３）付与した時刻情報を用いて、３次元位置座標と路面状態カメラ画像と路面状態３次元点群データと深度方向情報を同期させるステップ、具体的には、３次元位置座標と路面状態カメラ画像と路面状態３次元点群データと深度方向情報のそれぞれに対して付与した前記時刻情報が一致した場合には、深度方向情報に３次元位置座標を付加し、それぞれのデータを同期データとして抽出し、前記時刻情報が不一致の場合には、深度方向情報の時刻情報と、所定時間差内にある時刻情報が付与された３次元位置座標と路面状態カメラ画像と路面状態３次元点群データが存在していれば、深度方向情報に３次元位置座標を付加し、さらに、所定時間差の間に前記移動体が走行した距離を用いて、深度方向情報の３次元位置座標を補正して、それぞれのデータを同期データとして抽出するステップ
４）ＧＰＳ受信機、カメラ、レーザースキャナ、地中レーダアンテナ、それぞれの前記移動体内の相対位置関係および慣性計測器から得られる移動体姿勢に基づいて、それぞれの３次元位置座標を算出して、路面状態カメラ画像と路面状態３次元点群データと深度方向情報に対して３次元位置座標を付与するステップ
５）路面状態計測手段が出力した路面状態カメラ画像および路面状態３次元点群データと、路面下探査手段が出力した深度方向情報を統合し、路面状態と路面下構造を一体化して可視化するステップ
Next, the three-dimensional subsurface diagnosis method of the present invention will be described.
The three-dimensional subsurface diagnostic method of the present invention includes the following steps 1) to 5).
1) Movement equipped with a three-dimensional position measuring means including at least a GPS receiver and an inertial measuring instrument, a road surface state measuring means including at least a camera and a laser scanner, and a subsurface exploration means including a ground penetrating radar antenna. Steps in which each means performs measurement or exploration at each sampling period and saves output data while the body is running 2) Three-dimensional position measurement means using a timepiece or GPS time mounted on the moving body Three-dimensional position coordinates that are output data, road surface state camera images and road surface state three-dimensional point cloud data that are output data of the road surface state measuring means, depth direction information that is output data of the road surface exploration means, and time information for each 3) Using the given time information, 3D position coordinates, road surface state camera image, and road surface state The step of synchronizing the three-dimensional point group data and the depth direction information, specifically, the time information given to each of the three-dimensional position coordinates, the road surface state camera image, the road surface state three-dimensional point group data, and the depth direction information, If they match, 3D position coordinates are added to the depth direction information, and the respective data are extracted as synchronization data. If the time information does not match, the time information of the depth direction information is within a predetermined time difference. If 3D position coordinates, road surface camera images, and road surface state 3D point cloud data to which certain time information is given exist, 3D position coordinates are added to the depth direction information, and further, during a predetermined time difference. using the distance to the moving object has traveled, by correcting the three-dimensional position coordinates in the depth direction information, step 4) GPS receiver to extract each data as synchronous data, camera, Leh -Based on the relative position relationship between the scanner, the ground radar antenna, and the moving body posture obtained from the inertial measuring device, the respective 3D position coordinates are calculated, and the road surface state camera image and the road surface state 3D are calculated. Step of assigning 3D position coordinates to point cloud data and depth direction information 5) Road surface state camera image and road surface state 3D point cloud data output by road surface state measurement means, and depth direction output by road surface search means Step of integrating information and visualizing road surface condition and road surface structure
上記構成の方法によれば、路面状態計測手段が出力した路面状態カメラ画像および路面状態３次元点群データと、路面下探査手段が出力した深度方向情報を統合できることから、路面状態と路面下状態の位置関係が正確に把握でき、路面下の空洞位置を正確に把握できる。 According to the method of the above configuration, since the road surface state camera image and road surface state three-dimensional point cloud data output from the road surface state measuring means and the depth direction information output from the road surface searching means can be integrated, the road surface state and the road surface state It is possible to accurately grasp the positional relationship of and to accurately grasp the cavity position under the road surface.
ここで、本発明の３次元路面下診断方法において、深度方向情報に付与された時刻情報に対して、所定時間差内にある時刻情報が付与された３次元位置座標と路面状態カメラ画像と路面状態３次元点群データが存在する場合、所定時間差に移動体が走行した距離を用いて、深度方向情報の３次元位置座標を補正するステップ、を更に備えることが好ましい。
所定時間差の間に移動体が走行した距離を用いて、深度方向情報の３次元位置座標、特に移動体の進行方向の座標を補正することにより、計測データを有効活用できる。
Here, in the three-dimensional road surface diagnosis method of the present invention, the three-dimensional position coordinates, the road surface state camera image, and the road surface state to which time information within a predetermined time difference is added to the time information given to the depth direction information. When 3D point cloud data exists, it is preferable to further include a step of correcting the 3D position coordinates of the depth direction information using the distance traveled by the mobile body at a predetermined time difference.
The measurement data can be effectively utilized by correcting the three-dimensional position coordinates of the depth direction information, particularly the coordinates of the moving direction of the moving body, using the distance traveled by the moving body during the predetermined time difference.
また、本発明の３次元路面下診断方法において、路面状態計測手段の出力データの路面状態カメラ画像または路面状態３次元点群データから路面陥没個所を特定するステップと、路面下探査手段の出力データの深度方向情報から路面下空洞箇所または路面下構造を特定するステップと、それぞれの出力データに付与された３次元位置座標に基づいて、路面陥没箇所と、路面下空洞箇所または路面下構造とを関連付けするステップ、を更に備えることが好ましい。
路面陥没箇所と、路面下空洞箇所または路面下構造とを関連付けすることにより、路面の陥没位置と路面下の空洞位置との関係を正確に把握することができる。
In the three-dimensional subsurface diagnosis method of the present invention, the step of identifying the road surface depression from the road surface camera image or the road surface state three-dimensional point cloud data of the output data of the road surface state measuring means, and the output data of the road surface exploration means A step of identifying a subsurface road cavity or subsurface structure from the depth direction information of the road, and a road surface depression and a subsurface cavity or subsurface structure based on the three-dimensional position coordinates given to each output data. It is preferable to further comprise the step of associating.
By associating the road surface depression portion with the road surface cavity portion or the road surface structure, the relationship between the road surface depression position and the road surface cavity position can be accurately grasped.
また、本発明の３次元路面下診断方法において、路面下探査手段は、複数の地中レーダアンテナが探査方向と直交するように並列に配置されており、深度方向情報を、深度方向と探査方向とアンテナ配置方向からなる路面下３次元点群データとし、３次元位置座標に基づいて、路面状態計測手段の出力データである路面状態３次元点群データと融合させるステップ、を更に備えることが好ましい。
路面下３次元点群データと路面状態３次元点群データと融合させることにより、路面状態と路面下構造の対応付けに基づいて、路面状態と路面下構造を一体化して可視化（画面表示や図面化）できる。
In the three-dimensional subsurface diagnosis method of the present invention, the subsurface exploration means is arranged in parallel so that a plurality of underground radar antennas are orthogonal to the exploration direction, and the depth direction information is obtained from the depth direction and the exploration direction. And a step of fusing the road surface state three-dimensional point group data, which is output data of the road surface state measuring means, based on the three-dimensional position coordinates. .
By integrating the 3D point cloud data under the road surface and the 3D point cloud data under the road surface, based on the association between the road surface state and the road surface structure, the road surface state and the road surface structure are integrated and visualized (screen display and drawings). ).
また、本発明の３次元路面下診断方法において、同一の３次元位置座標の路面下探査手段の過去の出力データとの照合比較により、路面の沈下量および地下空洞位置のそれぞれの経時変化量について算出するステップ、を更に備えることが好ましい。
算出した経時変化量に基づいて、路面下の補修対象優先度の絞込み、補修時期の判断を行うことが可能になる。
In the three-dimensional subsurface diagnosis method of the present invention, the amount of subsidence of the road surface and the amount of change over time of the underground cavity position are compared by comparing with past output data of the subsurface exploration means having the same three-dimensional position coordinates. It is preferable to further comprise a step of calculating.
Based on the calculated amount of change over time, it becomes possible to narrow down the priority of repair targets under the road surface and determine the repair timing.
また、本発明の３次元路面下診断方法において、路面下探査手段から得られる深度方向情報について、埋設物の輪郭の連続性を用いて、路面下３次元点群データを補正するステップ、を更に備えることが好ましい。
埋設物の輪郭の連続性を用いて、路面下３次元点群データを補正することにより、路面下の実際の状態に近い可視化を可能にする。
Further, in the three-dimensional subsurface diagnosis method of the present invention, the step of correcting the subsurface three-dimensional point cloud data using the continuity of the contour of the buried object for the depth direction information obtained from the subsurface exploration means is further included. It is preferable to provide.
By correcting the three-dimensional point cloud data under the road surface using the continuity of the outline of the buried object, visualization close to the actual state under the road surface is enabled.
また、本発明の３次元路面下診断方法において、３次元位置計測手段と路面状態計測手段と路面下探査手段を搭載した移動体を走行させながら、各手段がそれぞれのサンプリング周期で計測あるいは探査を行い、出力データを保存するステップにおいて、サンプリング周期は、移動体がＧＰＳ測位精度の距離を移動する時間より短い間隔であることが好ましい。
高精度ＧＰＳを搭載する場合、例えば絶対精度１０ｃｍ以内の位置情報を計測できるとして、１０ｃｍピッチで計測するならば、移動体が１０ｃｍ移動する時間より短い間隔でサンプリングを行い保存する。
Further, in the three-dimensional subsurface diagnosis method of the present invention, each means performs measurement or exploration at each sampling period while traveling a mobile body equipped with three-dimensional position measurement means, road surface state measurement means, and subsurface exploration means. In the step of performing and storing the output data, the sampling period is preferably an interval shorter than the time required for the moving body to move the distance of the GPS positioning accuracy.
When the high-accuracy GPS is mounted, for example, position information within an absolute accuracy of 10 cm can be measured.
本発明によれば、路面状態計測データ、路面下探査データに高精度な３次元位置座標が付与され、道路標識や照明柱を含む道路構造物との位置関係が正確に把握でき、また路面下構造から下水管などに起因する空洞位置を正確に把握できる。このため、下水管などの埋設物の補修対象優先度の絞込みが正確且つ迅速に実施でき、補修時期の判断材料を提供でき、行政におけるアセットマネジメントを最適化することが可能となる。 According to the present invention, highly accurate three-dimensional position coordinates are given to road surface state measurement data and road surface exploration data, the positional relationship with road structures including road signs and illumination pillars can be accurately grasped, and From the structure, it is possible to accurately grasp the cavity position caused by the sewer pipe. For this reason, it is possible to narrow down the priority of repair targets for buried objects such as sewage pipes accurately and quickly, provide a material for determining the repair timing, and optimize asset management in the government.
以下、本発明の実施形態について、図面を参照しながら詳細に説明していく。なお、本発明の範囲は、以下の実施例や図示例に限定されるものではなく、幾多の変更および変形が可能である。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The scope of the present invention is not limited to the following examples and illustrated examples, and various changes and modifications can be made.
先ず、図１を参照して、実施例１の３次元路面下診断システムの機能ブロックについて説明する。移動体に搭載されたＧＰＳ受信機、慣性計測器により自車輌の位置を常時、３次元位置計測手段１０１にて計測する。また、それに並行して、移動体に搭載されたカメラ、レーザースキャナにより道路周辺の形状、路面変状が連続的に路面状態計測手段１０２により撮影および計測される。さらに、移動体に搭載された地中レーダアンテナにより路面下変状が連続的に路面下探査手段１０３により計測される。それら一連の計測データはデータベース１０５、１０６に格納される。 First, with reference to FIG. 1, the functional block of the three-dimensional subsurface diagnostic system of Example 1 is demonstrated. The three-dimensional position measuring means 101 always measures the position of the vehicle by a GPS receiver and an inertial measuring instrument mounted on the moving body. In parallel with this, the road surface state measuring means 102 continuously captures and measures the shape of the road and the road surface deformation by the camera and laser scanner mounted on the moving body. Further, the under-road surface deformation is continuously measured by the under-surface surface exploration means 103 by the underground radar antenna mounted on the moving body. The series of measurement data is stored in the databases 105 and 106.
ここまでが現地調査ステージであり、以下の処理が採取データに基づく解析ステージに相当する。以下に説明する解析ステージは、解析コンピュータの各機能（１０７，１０８，１０９，１１２，１１４，１１５，１１７）によってデータ処理が行われる。
３次元位置／道路周辺・路面変状計測値データベース１０５のレーザースキャナの出力データは、点群化機能１０９により路面状態３次元点群データに変換され、次の処理に備える。
一方、路面下変状計測値データベース１０６の地中レーダアンテナの出力データの場合、移動体でのデータ採取時点において、地中レーダアンテナの移動体内における搭載位置が、３次元位置計測手段１０１のＧＰＳ受信機および路面状態計測手段１０２のレーザースキャナの移動体内における搭載位置と物理的に隔たっている。そのため、各手段（１０１，１０２，１０３）の採取データの３次元位置座標の算出に際しては、これらの物理的隔たりを考慮して整合性をとる必要がある。そうでなければ、各手段（１０１，１０２，１０３）の採取データを統合し、一体データとしては扱うことはできない。従って、各手段（１０１，１０２，１０３）の採取データを同期データ抽出機能１０７により、各手段（１０１，１０２，１０３）の採取データの時刻情報が一致したものについて、３次元位置座標の算出（補正）を行う。その結果、各手段（１０１，１０２，１０３）の採取データが、３次元位置座標に関して整合性を持つことになり、３次元座標付加機能１０８により各手段（１０１，１０２，１０３）の採取データに３次元位置座標が付加される。
This is the field survey stage, and the following processing corresponds to the analysis stage based on collected data. In the analysis stage described below, data processing is performed by each function (107, 108, 109, 112, 114, 115, 117) of the analysis computer.
The output data of the laser scanner in the three-dimensional position / road periphery / road surface deformation measurement value database 105 is converted into road surface state three-dimensional point cloud data by the point grouping function 109 to prepare for the next processing.
On the other hand, in the case of the output data of the underground radar antenna in the measurement data database 106 under the road surface deformation, the mounting position of the underground radar antenna in the moving body is the GPS of the three-dimensional position measuring means 101 at the time of data collection by the moving body. The receiver and the road surface state measuring means 102 are physically separated from the mounting position of the laser scanner in the moving body. For this reason, when calculating the three-dimensional position coordinates of the collected data of each means (101, 102, 103), it is necessary to take consistency in consideration of these physical distances. Otherwise, the collected data of each means (101, 102, 103) cannot be integrated and handled as integral data. Accordingly, the three-dimensional position coordinates of the data collected by each means (101, 102, 103) is calculated by the synchronous data extraction function 107 with the time information of the collected data of each means (101, 102, 103) matched ( Correction). As a result, the collected data of each means (101, 102, 103) has consistency with respect to the three-dimensional position coordinates, and the three-dimensional coordinate addition function 108 converts the collected data to each means (101, 102, 103). Three-dimensional position coordinates are added.
さらに、それらは点群化機能１０９により路面下３次元点群データに変換され、上述の如く既に点群化されている３次元位置／道路周辺・路面変状計測値データと３次元情報統合機能１１２によりデータが統合され、３次元統合情報データベース１１３に格納される。これらデータは任意タイミングに活用が可能であり、可視化機能１１４によりモニター表示、図面化機能１１５により図面作成が可能である。
３次元統合情報データベース１１３は、採取日付単位に、過去診断３次元情報データベース１１６に格納される。３次元統合情報データベース１１３の内容と、過去診断３次元情報データベース１１６の内容とを照合機能１１７にて比較照合して、経時、経年における路面下構造の変化の様子を確認できる。
Further, they are converted into three-dimensional point cloud data under the road surface by the point grouping function 109, and the three-dimensional information / three-dimensional information integration function with the three-dimensional position / road periphery / road surface deformation measurement value data already point clouded as described above. The data is integrated by 112 and stored in the three-dimensional integrated information database 113. These data can be used at any timing, and can be displayed on the monitor by the visualization function 114 and can be created by the drawing function 115.
The three-dimensional integrated information database 113 is stored in the past diagnosis three-dimensional information database 116 for each collection date. The contents of the three-dimensional integrated information database 113 and the contents of the past diagnosis three-dimensional information database 116 are compared and collated by the collation function 117, and the state of changes in the road surface structure with time can be confirmed.
次に、図２を参照して、実施例１の３次元路面下診断システムによる道路周辺・路面・路面下の３次元統合画像の一例について説明する。図２（１）は、路面状態計測手段１０２によるカメラ画像とレーザースキャナによる道路周辺・路面に関する３次元点群データを重ね合わせた路面状態画像の一例である。また、図２（２）は地中レーダアンテナによるレーダ反射波の計測に基づく路面下探査画像の一例である。図２（２）の路面下探査画像は縦断図、横断図、平面図の３つに分けて示されている。図２（１）（２）の２つの画像を、３次元位置座標を補正して統合化したのが、図２（３）の３次元統合画像である。 Next, an example of a three-dimensional integrated image around the road, the road surface, and the road surface by the three-dimensional road surface diagnosis system according to the first embodiment will be described with reference to FIG. FIG. 2A is an example of a road surface state image obtained by superimposing a camera image obtained by the road surface state measuring unit 102 and three-dimensional point cloud data relating to the road periphery and road surface using a laser scanner. FIG. 2B is an example of a subsurface exploration image based on the measurement of radar reflected waves by the underground radar antenna. The subsurface exploration image of FIG. 2 (2) is divided into three parts, a longitudinal view, a cross-sectional view, and a plan view. The two images shown in FIGS. 2 (1) and (2) are integrated by correcting the three-dimensional position coordinates to obtain the three-dimensional integrated image shown in FIG. 2 (3).
また、図３は、路面状態の３次元画像と路面下の３次元画像を統合した画像の一例を示している。図３中には、路面下の埋設物である下水管などの管きょが表示されており、道路周辺物の外観、や路面のマンホール、道路のセンターラインとの位置関係も明確に把握可能である。 FIG. 3 shows an example of an image obtained by integrating a three-dimensional image in the road surface state and a three-dimensional image below the road surface. In Fig. 3, pipes such as sewer pipes that are buried under the road surface are displayed, and it is possible to clearly grasp the external appearance of roadside objects and the positional relationship with the road manhole and road center line. It is.
次に、図４を参照して、実施例１の３次元路面下診断システムの解析処理フローについて説明する。３次元路面下診断システムの解析コンピュータは、路面下変状計測値データベース１０６のデータを読込み（Ｓ０１）、３次元位置／道路周辺・路面変状計測値データベース１０５のデータ読込む（Ｓ０２）。そして、データベース１０５，１０６のデータに付加された時間情報が一致するか否かについて判断する（Ｓ０３）。時間情報が一致した場合、同期データを抽出する（Ｓ０４）。
抽出した路面下変状計測データに３次元位置座標を付加する。この時、地中レーダアンテナの移動体内における搭載位置が、ＧＰＳ受信機およびレーザースキャナの移動体内における搭載位置と物理的に隔たりがあることを考慮する。
路面下変状計測データを点群化（Ｓ０６）し、路面下３次元点群データを生成する。そして、別処理により３次元座標を付加され、かつ、点群化された３次元位置／道路周辺・路面変状計測データと統合する（Ｓ０７）。
Next, with reference to FIG. 4, the analysis processing flow of the three-dimensional subsurface diagnosis system of Example 1 will be described. The analysis computer of the three-dimensional road surface diagnosis system reads the data of the road surface deformation measurement value database 106 (S01), and reads the data of the three-dimensional position / road periphery / road surface deformation measurement value database 105 (S02). Then, it is determined whether or not the time information added to the data in the databases 105 and 106 matches (S03). If the time information matches, synchronization data is extracted (S04).
Three-dimensional position coordinates are added to the extracted under-road surface deformation measurement data. At this time, it is considered that the mounting position of the underground radar antenna in the moving body is physically separated from the mounting positions of the GPS receiver and the laser scanner in the moving body.
The road surface deformation measurement data is grouped (S06) to generate road surface three-dimensional point cloud data. Then, it is integrated with the three-dimensional position / road periphery / road surface deformation measurement data to which the three-dimensional coordinates are added and the points are grouped by another processing (S07).
図５は、移動体の概念図を示している。また、図６は、移動体内のＧＰＳ受信機、レーザースキャナ、地中レーダアンテナ等の配置イメージを示している。
車両イメージの移動体１０の車両上部前方から上部中央にＧＰＳ受信機（３，４ａ，４ｂ）、慣性計測器５、カメラ（７ａ，７ｂ，７ｃ）、レーザースキャナ（６ａ、６ｂ）が搭載されている。また、車両上部後方にはレーザースキャナ６ｃが搭載されている。レーザースキャナ６ａは前方下向きに、レーザースキャナ６ｂは前方上向きに、レーザースキャナ６ｃは後方下向きに設置されている。各レーザースキャナは１８０°前方にレーザービームを照射している。３台のカメラ（７ａ，７ｂ，７ｃ）は、前方左向き、前方右向き、進行方向の左側向きに設置されている。８ａ〜８ｃは、それぞれ３台のカメラ（７ａ，７ｂ，７ｃ）のカメラ視野を示している。
車両後部には、複数の地中レーダアンテナ２が設けられており、地面方向にレーダ波２ａを照射する。なお、図示しないが、車両の内部には解析コンピュータおよび計測データを保存する記憶媒体が搭載されている。
移動体内のＧＰＳ受信機、レーザースキャナ、地中レーダアンテナのそれぞれの配置から、相対的な位置関係が予め決定されることになる。すなわち、ＧＰＳ受信機の中心位置から前方あるいは後方にどれだけ位置がずれているか、また、左右方向にどれだけ位置がずれているか、あるいは、上下（垂直）方向にどれだけ位置がずれているか、が予め決定されるので、それぞれの出力データの３次元位置座標を算出できるのである。
路面下１４の埋設物である下水管２０に亀裂２１が生じた場合に、亀裂部位から水が漏れることにより路面下の地盤構造が変化するが、移動体１０は路面１５を走行しながら、この路面下の地盤構造の変化を探査した結果を路面状態と統合でき、正確に把握できるようになる。
FIG. 5 shows a conceptual diagram of the moving body. FIG. 6 shows an arrangement image of a GPS receiver, a laser scanner, a ground radar antenna, and the like in the moving body.
A GPS receiver (3, 4a, 4b), an inertial measuring instrument 5, a camera (7a, 7b, 7c), and a laser scanner (6a, 6b) are mounted from the front of the vehicle to the upper center of the moving body 10 of the vehicle image. Yes. A laser scanner 6c is mounted on the upper rear side of the vehicle. The laser scanner 6a is installed forward and downward, the laser scanner 6b is installed forward and upward, and the laser scanner 6c is installed backward and downward. Each laser scanner irradiates a laser beam forward 180 °. The three cameras (7a, 7b, 7c) are installed in the left front direction, the right front direction, and the left direction in the traveling direction. Reference numerals 8a to 8c denote camera fields of three cameras (7a, 7b, and 7c), respectively.
A plurality of underground radar antennas 2 are provided at the rear of the vehicle, and radiate radar waves 2a toward the ground. Although not shown, an analysis computer and a storage medium for storing measurement data are mounted inside the vehicle.
The relative positional relationship is determined in advance from the arrangement of the GPS receiver, laser scanner, and ground radar antenna in the moving body. That is, how much the position is shifted forward or backward from the center position of the GPS receiver, how much the position is shifted in the left-right direction, or how much the position is shifted in the vertical (vertical) direction, Is determined in advance, so that the three-dimensional position coordinates of each output data can be calculated.
When a crack 21 occurs in the sewer pipe 20, which is a buried object under the road surface 14, the ground structure under the road surface changes due to water leaking from the cracked part. The result of exploring changes in the ground structure under the road surface can be integrated with the road surface condition and can be accurately grasped.
図７は、路面下探査手段の測定イメージを示している。複数の地中レーダアンテナ１１が探査方向と直交するように並列に配置されており、深度方向情報を、深度方向と探査方向とアンテナ配置方向からなる路面下３次元点群データを生成する。路面下３次元点群データを生成は、個々の地中レーダアンテナ１１による探査データを積層させて生成する。
地中レーダアンテナ１１は、路面下の地盤構造の地中物性境界面１２を探査し、空洞１３の位置を検出する。
FIG. 7 shows a measurement image of the road surface exploration means. A plurality of underground radar antennas 11 are arranged in parallel so as to be orthogonal to the exploration direction, and depth direction information is generated as road surface three-dimensional point cloud data including the depth direction, the exploration direction, and the antenna arrangement direction. The generation of the three-dimensional point cloud data under the road surface is generated by laminating survey data obtained by the individual underground radar antennas 11.
The underground radar antenna 11 searches the underground physical property boundary surface 12 of the ground structure below the road surface, and detects the position of the cavity 13.
以下、実施例に用いたＧＰＳ受信機、レーザースキャナ、地中レーダアンテナの仕様について記す。
・ＧＰＳ受信機（ＮｏｖＡｔｅｌ社製）・・・１周波および２周波
・レーザースキャナ（ＳＩＣＫ社製）・・・光源９０５ｎｍ、レーザークラス１
・地中レーダアンテナ（３Ｄ−Ｒａｄａｒ社製）・・・周波数帯域200MHz〜3000MHz
The specifications of the GPS receiver, laser scanner, and underground radar antenna used in the examples are described below.
・ GPS receiver (manufactured by NovAtel) ・ ・ ・ 1 frequency and 2 frequency ・ Laser scanner (manufactured by SICK) ・ ・ ・ light source 905nm, laser class 1
・ Ground radar antenna (manufactured by 3D-Radar) ・ ・ ・ Frequency band 200MHz ~ 3000MHz
実施例２では、以下に説明するように、実施例１の３次元路面下診断処理とは異なる処理を行う。
図８は、実施例２の３次元路面下診断処理フローを示している。
実施例２の３次元路面下診断処理フローでは、３次元路面下診断システムの解析コンピュータは、路面下変状計測値データベース１０６のデータを読込み（Ｓ０１）、３次元位置／道路周辺・路面変状計測値データベース１０５のデータ読込む（Ｓ０２）。そして、データベース１０５，１０６のデータに付加された時間情報が一致するか否かについて判断した後（Ｓ０３）、不一致の場合に、深度方向情報データの時刻情報と、所定時間差内にある路面変状データが存在するか否かを判断する（Ｓ１１）。
ここで、所定時間差とは、車両速度から走行距離を算出して３次元位置座標を補正できる時間とする。
In the second embodiment, as described below, processing different from the three-dimensional subsurface diagnosis processing of the first embodiment is performed.
FIG. 8 shows a three-dimensional road surface diagnosis processing flow of the second embodiment.
In the three-dimensional subsurface diagnosis processing flow of the second embodiment, the analysis computer of the three-dimensional subsurface diagnosis system reads the data in the subsurface deformation measurement value database 106 (S01), and the three-dimensional position / periphery / road surface deformation. Data in the measurement value database 105 is read (S02). Then, after determining whether or not the time information added to the data in the databases 105 and 106 matches (S03), in the case of a mismatch, the time information of the depth direction information data and the road surface deformation within a predetermined time difference. It is determined whether or not data exists (S11).
Here, the predetermined time difference is a time during which the travel distance can be calculated from the vehicle speed and the three-dimensional position coordinates can be corrected.
所定時間差内にある路面変状データが存在すると、これらを同期データとして抽出する（Ｓ１２）。そして、路面下変状計測データに３次元座標を付加し（Ｓ１３）、所定時間差に移動体が走行した距離を算出して（Ｓ１４）、路面下変状計測データの３次元位置座標を補正する（Ｓ１５）。その後、路面下変状計測データを点群化（Ｓ０６）し、路面下３次元点群データを生成する。そして、別処理により３次元座標を付加され、かつ、点群化された３次元位置／道路周辺・路面変状計測データと統合する（Ｓ０７）。
実施例２では、時間情報が一致しないデータも有効活用することができ、データの分解能が向上する。
If road surface deformation data exists within a predetermined time difference, these are extracted as synchronization data (S12). Then, the three-dimensional coordinates are added to the road surface deformation measurement data (S13), the distance traveled by the moving body at a predetermined time difference is calculated (S14), and the three-dimensional position coordinates of the road surface deformation measurement data are corrected. (S15). Thereafter, the road surface deformation measurement data is grouped (S06) to generate road surface three-dimensional point cloud data. Then, it is integrated with the three-dimensional position / road periphery / road surface deformation measurement data to which the three-dimensional coordinates are added and the points are grouped by another processing (S07).
In the second embodiment, data that does not match time information can be used effectively, and the resolution of the data is improved.
（その他の実施例）
実施例１では、車両の内部には解析コンピュータが搭載されていたが、解析コンピュータが車両の外部に設けてもよい。この場合、計測データを保存した記憶媒体（ハードディスクなど）と無線ネットワークを介して接続される。あるいは、記憶媒体からＵＳＢメモリなどを介してデータを取り出して、解析コンピュータにデータをインストールしてもよい。
(Other examples)
In the first embodiment, the analysis computer is mounted inside the vehicle. However, the analysis computer may be provided outside the vehicle. In this case, it is connected to a storage medium (such as a hard disk) that stores measurement data via a wireless network. Alternatively, the data may be extracted from the storage medium via a USB memory or the like and installed in the analysis computer.
本発明は、移動体による道路面、路面下の診断、地下探査に有効である。 INDUSTRIAL APPLICABILITY The present invention is effective for road surface and under road surface diagnosis and underground exploration by a moving body.
２，１１ 地中レーダアンテナ
３，４ａ，４ｂ ＧＰＳ受信機
５ 慣性計測器
６ａ、６ｂ レーザースキャナ
７ａ，７ｂ，７ｃ カメラ
８ａ〜８ｃ カメラ視野
１０ 移動体
１３ 空洞
１４ 下水管
１０１ ３次元位置計測手段
１０２ 路面状態計測手段
１０３ 路面下探査手段
１０５ ３次元位置／道路周辺・路面変状計測値データベース
１０６ 路面下変状計測値データベース
１０７ 路面下変状計測値補正機能
１０８ ３次元座標付加機能
１０９ 点群化機能
１１２ ３次元情報統合機能
１１３ ３次元統合情報データベース
１１４ 可視化機能
１１５ 図面化機能
１１６ 過去診断３次元情報データベース
１１７ 照合機能
DESCRIPTION OF SYMBOLS 2,11 Subsurface radar antenna 3, 4a, 4b GPS receiver 5 Inertial measuring device 6a, 6b Laser scanner 7a, 7b, 7c Camera 8a-8c Camera visual field 10 Moving body 13 Cavity 14 Sewer pipe 101 Three-dimensional position measurement means 102 Road surface state measurement means 103 Road surface exploration means 105 3D position / periphery / road surface deformation measurement value database 106 Road surface deformation measurement value database 107 Road surface deformation measurement value correction function 108 3D coordinate addition function 109 Point grouping Function 112 Three-dimensional information integration function 113 Three-dimensional integrated information database 114 Visualization function 115 Drawing function 116 Past diagnosis three-dimensional information database 117 Verification function
Claims (12)
カメラおよびレーザースキャナを少なくとも備えた路面状態計測手段と、
地中レーダアンテナを備えた路面下探査手段と、
３次元位置計測手段と路面状態計測手段と路面下探査手段を搭載した移動体と、
３次元位置計測手段と路面状態計測手段と路面下探査手段の各出力データを解析するコンピュータと、を少なくとも備える３次元路面下診断システムであって、
該３次元路面下診断システム内の時計もしくはＧＰＳから得られる時刻を用いて、３次元位置計測手段の出力データである３次元位置座標、路面状態計測手段の出力データである路面状態カメラ画像および路面状態３次元点群データ、路面下探査手段の出力データである深度方向情報、それぞれに対し時刻情報を付与し、
３次元位置座標と路面状態カメラ画像と路面状態３次元点群データと深度方向情報のそれぞれに対して付与した前記時刻情報が一致した場合には、深度方向情報に３次元位置座標を付加し、それぞれのデータを同期データとして抽出し、
前記時刻情報が不一致の場合には、深度方向情報の時刻情報と、所定時間差内にある時刻情報が付与された３次元位置座標と路面状態カメラ画像と路面状態３次元点群データが存在していれば、深度方向情報に３次元位置座標を付加し、さらに、所定時間差の間に前記移動体が走行した距離を用いて、深度方向情報の３次元位置座標を補正して、それぞれのデータを同期データとして抽出し、
ＧＰＳ受信機、カメラ、レーザースキャナ、地中レーダアンテナ、それぞれの前記移動体内の相対位置関係および慣性計測器から得られる移動体姿勢に基づいて、それぞれの３次元位置座標を算出し、路面状態カメラ画像と路面状態３次元点群データと深度方向情報に対して３次元位置座標を付与し、路面状態計測手段が出力した路面状態カメラ画像および路面状態３次元点群データと、路面下探査手段が出力した深度方向情報を統合し、路面状態と路面下構造を一体化して可視化したことを特徴とする３次元路面下診断システム。 Three-dimensional position measuring means comprising at least a GPS receiver and an inertial measuring instrument;
Road surface state measuring means including at least a camera and a laser scanner;
Subsurface exploration means equipped with a ground penetrating radar antenna;
A mobile body equipped with a three-dimensional position measuring means, a road surface state measuring means and a road surface exploration means;
A three-dimensional subsurface diagnostic system comprising at least a computer that analyzes output data of a three-dimensional position measuring unit, a road surface state measuring unit, and a subsurface exploration unit,
Using the time obtained from a clock or GPS in the three-dimensional subsurface diagnosis system, the three-dimensional position coordinates that are output data of the three-dimensional position measuring means, the road surface state camera image that is the output data of the road surface measuring means, and the road surface Give time information to each of the state 3D point cloud data, depth direction information that is output data of the road surface exploration means,
When the time information given to each of the three-dimensional position coordinates, the road surface state camera image, the road surface state three-dimensional point cloud data, and the depth direction information matches , the three-dimensional position coordinates are added to the depth direction information, Extract each data as synchronous data,
When the time information does not match, the time information of the depth direction information, the three-dimensional position coordinates, the road surface state camera image, and the road surface state three-dimensional point cloud data to which the time information is within a predetermined time difference exist. Then, the 3D position coordinates are added to the depth direction information, and further, the 3D position coordinates of the depth direction information are corrected using the distance traveled by the moving body during a predetermined time difference, and the respective data are obtained. Extracted as synchronized data,
Based on a GPS receiver, a camera, a laser scanner, a ground radar antenna, the relative positional relationship of each of the moving bodies and the moving body posture obtained from the inertial measuring device, the respective three-dimensional position coordinates are calculated, and the road surface state camera A road surface state camera image and road surface state three-dimensional point cloud data output by the road surface state measuring means and a road surface state three-dimensional point cloud data and depth direction information are given to the image, road surface state three-dimensional point cloud data, and a road surface exploration means. A three-dimensional subsurface diagnostic system characterized by integrating the output depth direction information and visualizing the road surface state and the subsurface structure.
２）移動体に搭載される時計もしくはＧＰＳから得られる時刻を用いて、３次元位置計測手段の出力データである３次元位置座標、路面状態計測手段の出力データである路面状態カメラ画像および路面状態３次元点群データ、路面下探査手段の出力データである深度方向情報、それぞれに対し時刻情報を付与するステップと、
３）３次元位置座標と路面状態カメラ画像と路面状態３次元点群データと深度方向情報のそれぞれに対して付与した前記時刻情報が一致した場合には、深度方向情報に３次元位置座標を付加し、それぞれのデータを同期データとして抽出し、前記時刻情報が不一致の場合には、深度方向情報の時刻情報と、所定時間差内にある時刻情報が付与された３次元位置座標と路面状態カメラ画像と路面状態３次元点群データが存在していれば、深度方向情報に３次元位置座標を付加し、さらに、所定時間差の間に前記移動体が走行した距離を用いて、深度方向情報の３次元位置座標を補正して、それぞれのデータを同期データとして抽出するステップと、
４）ＧＰＳ受信機、カメラ、レーザースキャナ、地中レーダアンテナ、それぞれの前記移動体内の相対位置関係および慣性計測器から得られる移動体姿勢に基づいて、それぞれの３次元位置座標を算出して、路面状態カメラ画像と路面状態３次元点群データと深度方向情報に対して３次元位置座標を付与するステップと、
５）路面状態計測手段が出力した路面状態カメラ画像および路面状態３次元点群データと、路面下探査手段が出力した深度方向情報を統合し、路面状態と路面下構造を一体化して可視化するステップ、
を備えることを特徴とする３次元路面下診断方法。 1) Movement equipped with a three-dimensional position measuring means including at least a GPS receiver and an inertial measuring instrument, a road surface state measuring means including at least a camera and a laser scanner, and a subsurface exploration means including a ground penetrating radar antenna. While each body is running, each means performs measurement or exploration at each sampling period, and stores output data;
2) Using the time obtained from the clock or GPS mounted on the moving body, the three-dimensional position coordinates that are output data of the three-dimensional position measuring means, the road surface state camera image that is the output data of the road surface state measuring means, and the road surface state Three-dimensional point cloud data, depth direction information that is output data from the road surface exploration means, and a step of assigning time information to each of them,
3) When the time information given to each of the three-dimensional position coordinates, the road surface state camera image, the road surface state three-dimensional point cloud data, and the depth direction information matches , the three-dimensional position coordinates are added to the depth direction information. and it extracts each data as synchronous data, wherein when the time information do not match, the three-dimensional position coordinates and the road surface state camera image and the time information in the depth direction information, the time information is within a predetermined time difference has been granted If the road surface state 3D point cloud data exists, 3D position coordinates are added to the depth direction information, and further, the distance traveled by the moving body during a predetermined time difference is used. Correcting the dimension position coordinates and extracting each data as synchronization data;
4) Based on the GPS receiver, the camera, the laser scanner, the ground radar antenna, the relative positional relationship in each moving body and the moving body posture obtained from the inertial measuring device, the respective three-dimensional position coordinates are calculated, Assigning 3D position coordinates to the road surface state camera image, road surface state 3D point cloud data and depth direction information;
5) A step of integrating the road surface state camera image and the road surface state three-dimensional point cloud data output from the road surface state measuring means and the depth direction information output from the road surface exploration means, and integrating and visualizing the road surface state and the subsurface structure. ,
A three-dimensional subsurface diagnostic method comprising:
前記ＧＰＳ受信機、前記地中レーダアンテナ、それぞれの前記移動体内の相対位置関係および前記慣性計測器から得られる移動体姿勢に基づいて算出したそれぞれの３次元位置座標を用い、路面下探査手段の出力データの深度方向情報から路面下空洞箇所の３次元位置座標を特定するステップと、
それぞれの出力データに付与された３次元位置座標に基づいて、路面陥没箇所と、路面下空洞箇所を一体化して可視化するステップ、
を更に備えたことを特徴とする請求項７に記載の３次元路面下診断方法。 Road surface state measuring means using the GPS receiver, the camera, the laser scanner, the relative positional relationship of each of the moving bodies, and the respective three-dimensional position coordinates calculated based on the moving body posture obtained from the inertial measuring device Specifying the three-dimensional position coordinates of the road surface depression from the road surface state camera image or road surface state three-dimensional point cloud data of the output data of
Using the GPS receiver, the ground penetrating radar antenna, the relative position relationship between the respective moving bodies and the respective three-dimensional position coordinates calculated based on the moving body posture obtained from the inertial measuring instrument , Identifying the three-dimensional position coordinates of the cavity below the road surface from the depth direction information of the output data;
Based on the three-dimensional position coordinates given to each output data, the step of integrating and visualizing the road surface depression and the road surface cavity,
The three-dimensional subsurface diagnosis method according to claim 7 , further comprising:
深度方向情報を、深度方向と探査方向とアンテナ配置方向からなる路面下３次元点群データとし、３次元位置座標に基づいて、路面状態計測手段の出力データである路面状態３次元点群データと融合させるステップ、
を更に備えたことを特徴とする請求項７又は８に記載の３次元路面下診断方法。 The subsurface exploration means is arranged in parallel so that a plurality of underground radar antennas are orthogonal to the exploration direction,
The depth direction information is assumed to be three-dimensional point group data below the road surface composed of the depth direction, the search direction, and the antenna arrangement direction. Based on the three-dimensional position coordinates, road surface state three-dimensional point group data that is output data of the road surface state measuring means Fusing step,
The three-dimensional subsurface diagnostic method according to claim 7 or 8 , further comprising:
を更に備えたことを特徴とする請求項７〜９の何れかに記載の３次元路面下診断方法。 A step of calculating the amount of subsidence of the road surface and the amount of change over time of each underground cavity position by comparison with past output data of the subsurface exploration means having the same three-dimensional position coordinates;
The three-dimensional subsurface diagnosis method according to claim 7 , further comprising:
を更に備えたことを特徴とする請求項７〜１０の何れかに記載の３次元路面下診断方法。 For the depth direction information obtained from the subsurface exploration means, correcting the subsurface three-dimensional point cloud data using the continuity of the contour of the buried object,
The three-dimensional subsurface diagnosis method according to claim 7 , further comprising:
サンプリング周期は、前記移動体がＧＰＳ測位精度の距離を移動する時間より短い間隔であることを特徴とする請求項７〜１１の何れかに記載の３次元路面下診断方法。 In a step in which each means performs measurement or exploration at each sampling period and saves output data while running a mobile body equipped with a three-dimensional position measurement means, a road surface state measurement means, and a road surface exploration means,
The three-dimensional subsurface diagnosis method according to any one of claims 7 to 11 , wherein the sampling period is an interval shorter than a time during which the moving body travels a distance of GPS positioning accuracy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013231212A JP6381100B2 (en) | 2013-11-07 | 2013-11-07 | Three-dimensional subsurface diagnosis system and three-dimensional subsurface diagnosis method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013231212A JP6381100B2 (en) | 2013-11-07 | 2013-11-07 | Three-dimensional subsurface diagnosis system and three-dimensional subsurface diagnosis method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2015090345A JP2015090345A (en) | 2015-05-11 |
| JP6381100B2 true JP6381100B2 (en) | 2018-08-29 |
Family
ID=53193924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2013231212A Expired - Fee Related JP6381100B2 (en) | 2013-11-07 | 2013-11-07 | Three-dimensional subsurface diagnosis system and three-dimensional subsurface diagnosis method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP6381100B2 (en) |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105137493A (en) * | 2015-08-21 | 2015-12-09 | 朱荣华 | Road underground cavity detection system and vehicle-mounted system |
| JP2017083423A (en) * | 2015-10-23 | 2017-05-18 | 清水建設株式会社 | Mobile station and buried object visualization system using the same |
| JP6678019B2 (en) * | 2015-11-30 | 2020-04-08 | 西日本高速道路エンジニアリング四国株式会社 | How to prevent potholes |
| US20170276504A1 (en) * | 2016-03-22 | 2017-09-28 | Toyota Jidosha Kabushiki Kaisha | Vehicular Traffic Assistance Based on Traffic Management Decisions |
| WO2017163640A1 (en) * | 2016-03-22 | 2017-09-28 | 三菱電機株式会社 | Measurement device |
| JP6446005B2 (en) * | 2016-08-19 | 2018-12-26 | 株式会社カナン・ジオリサーチ | Underground exploration equipment |
| KR101886932B1 (en) * | 2016-12-21 | 2018-09-11 | 현대건설주식회사 | Positioning system for gpr data using geographic information system and road surface image |
| JP6556690B2 (en) * | 2016-12-27 | 2019-08-07 | 大林道路株式会社 | Ishigaki restoration support method and restoration support system |
| US10252717B2 (en) | 2017-01-10 | 2019-04-09 | Toyota Jidosha Kabushiki Kaisha | Vehicular mitigation system based on wireless vehicle data |
| KR101909998B1 (en) * | 2017-03-07 | 2018-10-19 | 한국건설기술연구원 | A system and method for evaluating ground subsidence risk of sewer pipe surrounding ground, and a recording medium having computer readable program for executing the method |
| JP2018151375A (en) * | 2017-03-14 | 2018-09-27 | 株式会社土木管理総合試験所 | Traffic infrastructure exploration data utilization system |
| WO2018168224A1 (en) * | 2017-03-14 | 2018-09-20 | 株式会社土木管理総合試験所 | Utilization system for traffic infrastructure investigation data |
| JP6727161B2 (en) * | 2017-03-24 | 2020-07-22 | 三菱電機株式会社 | Underground display device and underground display program |
| KR101848594B1 (en) * | 2018-01-16 | 2018-04-12 | 채휘영 | Road image acquisition apparatus for grasp of position information of sink hole under the road |
| JP7048357B2 (en) | 2018-03-06 | 2022-04-05 | 東芝インフラシステムズ株式会社 | Pre-confirmation system for captured images and pre-confirmation method for captured images |
| CN111238494B (en) * | 2018-11-29 | 2022-07-19 | 财团法人工业技术研究院 | Carrier, carrier positioning system and carrier positioning method |
| JP7304016B2 (en) * | 2019-07-29 | 2023-07-06 | 株式会社ソーシャル・キャピタル・デザイン | Image processing system |
| JP2021043057A (en) * | 2019-09-11 | 2021-03-18 | 住友金属鉱山株式会社 | Device and method of searching for embedded objects |
| CN111859786B (en) * | 2020-07-03 | 2022-02-15 | 安徽理工大学 | Full-scale gradient mining subsidence D-InSAR three-dimensional prediction method |
| CN113011021A (en) * | 2021-03-10 | 2021-06-22 | 同济大学 | Airport pavement structure simulation method and system based on virtual reality |
| CN114779366B (en) * | 2022-04-27 | 2022-12-20 | 水利部交通运输部国家能源局南京水利科学研究院 | Vehicle-mounted embankment dangerous case hidden danger rapid detection equipment and operation method |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0470588A (en) * | 1990-07-11 | 1992-03-05 | Komatsu Ltd | Underground inspection device |
| JPH0990029A (en) * | 1995-09-20 | 1997-04-04 | Japan Radio Co Ltd | Underground radar |
| JP3983849B2 (en) * | 1997-05-02 | 2007-09-26 | パイオニア株式会社 | Navigation device |
| JP4072569B2 (en) * | 2002-10-15 | 2008-04-09 | 国土交通省関東地方整備局長 | Radar probe |
| JP2005070840A (en) * | 2003-08-25 | 2005-03-17 | East Japan Railway Co | Three dimensional model preparing device, three dimensional model preparing method and three dimensional model preparing program |
| JP2009294128A (en) * | 2008-06-06 | 2009-12-17 | Visuatool Inc | Three-dimensional measuring system, measuring terminal, measuring method of three-dimensional shape, and total station |
| JP2010019703A (en) * | 2008-07-10 | 2010-01-28 | Toyota Motor Corp | Positioning device for mobile body |
| JP4315464B1 (en) * | 2008-10-28 | 2009-08-19 | ジオ・サーチ株式会社 | Nondestructive evaluation method of soundness of reinforced concrete body and apparatus therefor |
| JP5126911B2 (en) * | 2010-12-28 | 2013-01-23 | 応用地質株式会社 | System synchronization method for in-vehicle ground penetrating radar measuring device |
| JP5347006B2 (en) * | 2011-10-24 | 2013-11-20 | 株式会社パスコ | Defect location detection support apparatus accompanying liquefaction and deformation location detection support program accompanying liquefaction |
-
2013
- 2013-11-07 JP JP2013231212A patent/JP6381100B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JP2015090345A (en) | 2015-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6381100B2 (en) | Three-dimensional subsurface diagnosis system and three-dimensional subsurface diagnosis method | |
| US10816347B2 (en) | Tunnel mapping system and methods | |
| Brenner | Extraction of features from mobile laser scanning data for future driver assistance systems | |
| US9470789B2 (en) | Sensor cart positioning system and method | |
| KR102399227B1 (en) | Managing system of underground facilities using gpr detector | |
| CN101163940B (en) | Imaging position analyzing method | |
| US8031909B2 (en) | Method and apparatus for producing 3D model of an underground environment | |
| KR100795396B1 (en) | Method for monitoring altered city using airborne laser surveying data and digital orthophoto | |
| JP6656886B2 (en) | Information processing apparatus, control method, program, and storage medium | |
| KR20160121452A (en) | Railway facilities information generation system and method | |
| CN114444158B (en) | Underground roadway deformation early warning method and system based on three-dimensional reconstruction | |
| JP2007303841A (en) | Vehicle position estimation device | |
| JP6589410B2 (en) | Map generating apparatus and program | |
| CN112455502B (en) | Train positioning method and device based on laser radar | |
| Ravi et al. | Lane width estimation in work zones using LiDAR-based mobile mapping systems | |
| KR101323971B1 (en) | A method for automatic generation of tunnel information using a mobile mapping system | |
| Soheilian et al. | Generation of an integrated 3D city model with visual landmarks for autonomous navigation in dense urban areas | |
| Schlichting et al. | Vehicle localization by lidar point correlation improved by change detection | |
| KR101674073B1 (en) | Railway facilities spatial information bulid system and method | |
| JP5451457B2 (en) | 3D model generation apparatus and computer program | |
| JP7162208B2 (en) | Water content ratio mapping method and water content ratio mapping device | |
| KR101730296B1 (en) | Mobile mapping system for generating buried object 3D space information data and method for generating buried objects 3D space information data using the mobile mapping system | |
| Yakar et al. | The use of laser scanner in caves, encountered problems and solution suggestion | |
| KR20210098534A (en) | Methods and systems for creating environmental models for positioning | |
| Shamayleh et al. | Utilization of LiDAR technology for highway inventory |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20160422 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20170307 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20170309 |
|
| A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20170429 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170710 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20171204 |
|
| A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20180201 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180402 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20180727 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20180730 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 6381100 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| LAPS | Cancellation because of no payment of annual fees |