JP2002257744A - Method and device for inspecting defect of concrete - Google Patents

Abstract

PROBLEM TO BE SOLVED: To contactlessly detect soundness of a concrete in a tunnel or the like under traveling to intergratingly judge a degree of risk of flaking. SOLUTION: An imaging equipment, an infrared detector, and a contactless type electromagnetic wave radar are mounted on a traveling vehicle, defect information on a surface of the concrete in the tunnel, defect information in a surface layer of the concrete, defect information of a cavity in an inside and a backface of the concrete are thereby measured at the same time under the traveling, morphologic analysis of a crack is conducted based on the defect information on the surface of the concrete, an angle of the crack getting from the surface of the concrete into its inside is detected based on a mutual information in an inspection result of the crack and a temperature inspection result by an infrared ray, and the defect information ranging over the surface layer to its inside and its backface side is provided based on mutual information in the temperature instection result by the infrared ray and the contactless type electromagnetic wave radar, so as to evaluate the degree of risk of the flaking in the concrete.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects the soundness of concrete, such as a tunnel, while traveling, without contact.
The present invention relates to a concrete defect inspection method and a concrete defect inspection device for comprehensively judging the degree of spalling. Degradation phenomena of concrete structures such as the falling accident of lining concrete in tunnels have become a major social problem. Concrete falling accident
It is caused by defects such as cold joints, cracks and cavities. To prevent such a fall accident,
A detailed investigation of the defect is currently underway. Detailed inspections are generally visual inspection of cracks and check of cavities by hitting method, and detailed investigations using elastic wave or ultrasonic method are sometimes performed. However, it goes without saying that detailed investigation of all concrete structures currently being constructed in Japan requires a great deal of labor and time. Further, since cracks and defects in concrete progress over time due to various factors, continuous investigation is required. It is clear that in order to ensure the safety of basic traffic in Japan, it is urgently necessary to establish technologies that can manage the soundness of concrete structures on a daily basis. In view of this background, technology for easily and quickly investigating and determining concrete defects will be indispensable in the future.

[0002]

2. Description of the Related Art Judging from past cases, the occurrence of spalling accidents in tunnel lining concrete has been caused by the occurrence and connection of cracks in the diagonal direction connecting the surface layer and internal defects as shown below. Is obvious. It is considerably difficult to judge these defects only from cracks on the surface, and it is necessary to collect information on internal defects.

[0003] The most commonly used conventional method is a method in which a cracked surface is hit and the sound of the crack is used to judge whether the concrete piece is floating or peeling.

[0004]

However, this method requires a great deal of human power and abundant experience of judging a defect based on the impact sound, and is inefficient as a daily management method.

Further, as individual techniques for detecting cracks on the surface, there are a method of photographing the surface with a camera, a method using a laser, and an infrared ray. As a method of detecting an internal defect such as a lining thickness or a back cavity, there are a radar method and an internal defect detection method using ultrasonic waves. However, it is difficult to determine peeling from individual methods. In addition, the general conventional technology does not assume that the inspection is performed while the vehicle is mounted on a traveling vehicle while traveling. As shown in Table 1, each of the above technologies has a technical problem. It cannot be used as it is as a method for detecting defects in the lining concrete of a tunnel from a rolling vehicle.

[Table 1] The problems of the prior art are large and are summarized in the following two points. a) The risk of peeling cannot be sufficiently grasped by a single inspection method. b) Many inspection methods require a large amount of labor and time for measurement in contact with a concrete surface, and thus require a large amount of labor and time, so that it is difficult to utilize them as daily safety management techniques. Many general inspection techniques cannot support running and non-contact inspections.

Some systems mounted on a running vehicle have been devised based on the above basic technology, but none of these systems can accurately detect the risk of cracking or peeling. For example, as for a radar device for exploring a defect inside a tunnel, as shown in Japanese Patent Application Laid-Open No. 62-273438, a system that combines video shooting of a concrete surface in order to grasp the situation of a radar measurement position is known. Proposed.

[0007] However, this system is merely a combination of video shooting as an auxiliary in order to accurately know the radar search position information, and is used as a measuring device for more accurately determining information on cracks and peeling. It is not a system that combines imaging equipment. In addition, as disclosed in Japanese Patent Publication No. 2-20941, a method is disclosed in which a far-infrared detector is mounted on a traveling device, the amount of radiated infrared radiation in a tunnel is measured, and a video device records the amount.

[0008] This method does not cause a particular thermal change to the measurement surface. For an object which is usually under a constant temperature condition, such as a tunnel lining concrete, the crack depth is low. Since only temperature changes do not appear on the surface, information on cracks in concrete cannot be obtained in practical use. In this sense, it is a technology applicable only to road structures under specific conditions, and it is difficult to obtain good results with lining concrete such as a tunnel.

Japanese Patent Application Laid-Open No. 9-311029 discloses a device in which a light emitting heater and an infrared camera are mounted on a traveling device, and the device is heated on the wall of a tunnel to detect peeling. This device is equipped with an infrared heater and heats it, thereby making it possible to detect surface delamination of lining concrete in a tunnel.

However, the peeling obtained from such single infrared information is only information at a depth of several centimeters from the surface, and several tens of centimeters from the surface as apparent from the past accident of lining concrete peeling. Defects that have entered or that actually lead to peeling cannot be detected correctly. In addition, it is difficult to widen the angle of view of the infrared camera to obtain highly accurate detection information, and it is difficult to increase the speed of the traveling vehicle to 1 km / h or more when the measurement range of the inner surface of the tunnel is widened. It is considered to be.

[0011] Japanese Patent Nos. 2602818 and 27
No. 21314 discloses a method of detecting a crack state, a cavity behind, and a change in stratum by emitting gamma rays such as potassium 40, bismuth 214, and thallium 208 emitted from a tunnel lining by an infrared detecting device mounted on a vehicle. It has been disclosed. These methods are characterized by detecting the cavities behind the lining based on naturally emitted gamma rays, but the emitted gamma dose varies depending on the type of stratum, and detailed analysis is difficult. The accuracy of detecting the cavities behind is not high. Rather, it is considered to detect changes in the underlying strata.

On the other hand, surface inspection using infrared rays is disclosed in
As in the case of JP-A-20941, it is difficult to detect cracks even in lining concrete of a tunnel having a low temperature change. In addition, this method does not make it possible to detect the presence of cracks or defects extending from the surface, which is considered to govern the spalling of the lining concrete, to the inside of the concrete. Also,
JP-B-7-23850, JP-A-60-12230
Japanese Patent Application Laid-Open No. 6-64131 discloses a device in which a traveling vehicle is equipped with a laser projector and a laser receiver, and detects the presence or absence of cracks in the measurement surface from the reflection of the laser beam applied to the measurement surface.

This method eliminates the drawbacks of conventional low-resolution video devices and digital cameras by using laser light, and makes it possible to detect cracks while traveling.

However, similar to the infrared detection method, this method alone can only detect cracks on the surface of tunnel concrete, and can continuously and comprehensively detect defects from the surface to the inside which lead to an accident of lining concrete spalling. It is impossible. The present invention has been made in order to solve such a conventional problem, and its object is to detect the soundness of concrete such as a tunnel in a non-contact manner while traveling, and to comprehensively judge the risk of peeling. It is an object of the present invention to provide a concrete defect inspection method and a concrete defect inspection device.

[0015]

According to the first aspect of the present invention,
Equipped with imaging equipment, infrared detectors, and non-contact type electromagnetic wave radar on the traveling vehicle, while traveling, it can simultaneously detect defect information on the concrete surface of the tunnel, defect information on the concrete surface layer, and defect information on the inside of the concrete and the cavity behind the concrete. It is characterized by measuring.

According to a second aspect of the present invention, an image device, an infrared detector, and a non-contact type electromagnetic wave radar are mounted on a traveling vehicle, and while traveling, defect information on a concrete surface of a tunnel, defect information on a concrete surface layer portion, Simultaneously measure the defect information of the inside of the concrete and the cavity behind the concrete, analyze the morphology of the crack from the defect information of the concrete surface, and crack from the concrete surface based on the mutual information of the crack inspection result and the infrared temperature inspection result. The feature is to detect the angle of the concrete, obtain the defect information from the concrete surface layer to the inside and the back from the mutual information of the infrared temperature test result and the non-contact type electromagnetic wave radar, and evaluate the risk of concrete peeling.

According to a third aspect of the present invention, there is provided an imaging device, comprising: an imaging device, an infrared detector, and a non-contact type electromagnetic wave radar mounted on a traveling vehicle; Simultaneously measure the defect information on the concrete surface of the tunnel, the defect information on the concrete surface layer, and the defect information on the concrete inside and the cavity behind the concrete while scanning the infrared detector and non-contact type electromagnetic wave radar at high speed, and record the measurement result And inspecting the concrete structure for defects based on the measurement results.

According to a fourth aspect of the present invention, in the defect inspection method for concrete according to any one of the first to third aspects, the image device is a high-resolution video or high-definition video device, and the concrete surface. Detecting defect information, the infrared detector is a device that can measure the temperature distribution of the concrete surface by detecting infrared rays, detects the defect information of the concrete surface layer, the non-contact type electromagnetic wave radar, A radar device utilizing electromagnetic wave reflection, wherein defect information of the inside of the concrete and the back cavity is detected.

According to a fifth aspect of the present invention, in the crack morphology analysis of the concrete obtained by the concrete defect inspection method according to the second aspect, based on the image inspection information of the concrete surface, the closing property and the degree of crossing of the crack. , Irradiance, undulation, and density are extracted to evaluate the risk of concrete spalling. According to a sixth aspect of the present invention, a temperature change region near a crack is determined based on a measurement result of a crack on a concrete surface and a measurement result of a surface temperature distribution of the concrete obtained by the defect inspection method of the concrete according to the second aspect. Analysis is performed to determine the magnitude of the angle at which the cracks appearing on the surface travel inside.

According to a seventh aspect of the present invention, there is provided a concrete defect inspection method based on the concrete surface temperature distribution measurement result and concrete internal defect measurement result obtained by the concrete defect inspection method according to the second aspect. The method is characterized in that the degree of correlation of a region indicating existence is analyzed, and the position and size of a defect are evaluated based on the degree of correlation. The invention according to claim 8 is an imaging device that detects defect information on the concrete surface of the tunnel, an infrared detector that detects defect information on the concrete surface layer, and a non-contact device that detects defect information on the inside of the concrete and the cavity behind the concrete. And a traveling vehicle mounted with the imaging device, the infrared detector and the non-contact type electromagnetic wave radar.

According to a ninth aspect of the present invention, in the concrete defect inspection apparatus according to the eighth aspect, the image device comprises:
A high definition video or high definition video device,
The infrared detector is a device capable of measuring the temperature distribution on the concrete surface by detecting infrared rays, and the non-contact type electromagnetic wave radar is a radar device using reflection of electromagnetic waves.

According to a tenth aspect of the present invention, in the concrete defect inspection apparatus according to the eighth or ninth aspect,
An apparatus for measuring and controlling position information of the traveling vehicle and the imaging device is mounted on the traveling vehicle. The invention according to claim 11 is the invention according to claims 8 to 1
The defect inspection apparatus for concrete according to any one of claims 1 to 3, wherein the imaging device, an infrared detector, a device for measuring and controlling distance information between a non-contact type electromagnetic wave radar and a surface to be inspected are mounted on the traveling vehicle. It is characterized by having done.

(Operation) In the present invention, as a result of various studies, in order to solve the conventional problems, the following method is used to solve the problems. a) In order to more accurately detect defects that exist continuously from the surface of the concrete to the interior, three types of inspection methods with different detection targets are combined to complement and emphasize each other's performance. Gender can be determined more accurately.

B) In order to efficiently perform a general inspection of a structure such as a tunnel having an extended distance, each of the above-mentioned inspections mounted on a traveling vehicle is performed at a high speed without contacting a measurement symmetry plane. An inspection device that enables measurement. Figure 1
As shown in (1) to (3), the concrete spalling accident is caused not only by the cracks on the surface but also by the cracks being connected to the internal defects at an angle. Alternatively, the pressure acting on the inside is caused by the formation of cracks which connect at an angle to the surface.

In order to accurately determine such a phenomenon, an inspection method for such a phenomenon is required, but at present, a technique for obtaining the entire defect information by a single inspection method has not been established. The present inventors have studied the insufficiency of the conventional method of determining the degree of risk. As a result, in order to more accurately and efficiently indicate the risk of concrete spalling, the surface cracking form and surface layer We thought that it was necessary to evaluate and judge information such as the lifting of the part, the angle of cracks entering the inside from the surface, and the position of internal defects.

In order to realize this, as a result of intensive research, the concrete is divided into three parts, a surface part, a surface part, and an inside part, and three kinds of inspections which are non-contact and have a high detection capability for defects in each part. Using the device, simultaneously measure defect information such as cracks on the concrete surface, defect information such as peeling of the concrete surface layer, and defect information inside the concrete or the cavity behind the concrete,
It is not possible to obtain a single test information from these measurement results,
We succeeded in providing more accurate defect inspection information.

Also, in order to conduct a comprehensive inspection efficiently, it is indispensable to perform measurement in a non-contact manner while running in a vehicle. We developed an optimal concrete defect detection system that enables non-contact measurement of surface defect information and defect information of concrete interior or concrete back cavity while running.

According to the present invention, concrete defects that could not be detected by the conventional inspection method can be found more quickly and efficiently. The inspection device had the following configuration. 1. A device for detecting defect information on a concrete surface is a high-resolution video or high-definition video camera.

2. A device for detecting defect information on a concrete surface layer is a device for measuring a temperature distribution on a concrete surface using infrared rays. 3. The device for detecting defect information on the inside and the back of the concrete is an internal exploration device using electromagnetic waves, and has a basic configuration of a measuring device capable of measuring a distance of several tens cm or more from the surface to be measured.

A high-resolution video, high-definition camera, or digital video camera for photographing a defect on a concrete surface has a resolution of 2 million pixels or more in a photographing screen and can photograph at a shutter speed of 1/1000 second or more. In addition, it is necessary that the photographing system be capable of recording the photographed image as a video image at 30 frames / second or more.

The accuracy of crack detection depends on the number of pixels corresponding to the angle of view, but in order to inspect the inspection range at a certain speed or higher, the angle of view of the image must be at least 50c.
An area of at least mx 50 cm, preferably at least 50 cm x 100 cm is required. In order to detect a crack of 0.5 cm or more within this angle of view range, it is required that one side is 50 cm.
000 pixels or more, that is, 50 cm × 10
At an angle of view of 0 cm, a resolution of 2 million pixels is required. Also, an image recorded as a video image needs to be captured as a still image having the same number of pixels as at the time of recording.

The infrared thermo-viewer device for detecting defect information on the surface layer of concrete can measure the temperature distribution on the concrete surface with an accuracy of 0.1 ° C. or less, and the temperature distribution information on the measured surface is 30 frames / sec. It is necessary that the imaging system be capable of measuring and recording at the above speeds.
The photographing angle of view is at least 50 cm x as with the surface inspection device
It is necessary to use a device having a resolution of 20 to 400,000 pixels or more in order to accurately measure the temperature change region near the crack in this angle of view range.

An infrared heater is mounted on the concrete surface to give an appropriate temperature change, and the heating time of the infrared heater is set to several seconds or more during traveling.
It is assumed that it is arranged in the traveling vehicle. The radar device for detecting the defect inside the concrete needs to be of a type capable of measuring the defect inside the concrete from a position about 50 cm away from the concrete surface. For this reason,
It is desirable to use an antenna having high directivity (for example, a horn antenna) as the radar antenna. Also,
In order to detect internal defects in concrete having a thickness of about 30 cm to 70 cm, the frequency band of radio waves used is 400
MHz to 1.2 GHz. As the radar device mounted on the traveling vehicle, a variable frequency type or a plurality of radar devices using radio waves of different frequencies may be mounted.

In order to inspect a concrete surface over a wide area by each device while traveling in a vehicle, each inspection device of a video camera, a thermoviewer, and a radar is installed on a scanning stand to perform measurement while scanning at a high speed. Alternatively, it is desirable to record the results of a wide range of concrete surfaces by using a plurality of these inspection devices.

The inspection result of each inspection device is held in the recording device, and reconstructed later based on the inspection position information. For this reason, in the present invention, a device for measuring the position information of the traveling inspection vehicle and the inspection device is required. The position information of the traveling inspection vehicle and the inspection device can be obtained by incorporating the position detection device into the vehicle and the scanning device.
As the position detecting device incorporated in the device, any device having a predetermined accuracy such as an encoder or a laser displacement meter can be used. On the other hand, if there is a possibility that the distance between the concrete surface to be inspected and the inspection device may fluctuate greatly, a measuring device and a device for measuring distance information to the surface to be inspected are mounted as necessary. As the distance information detecting device, any device having a predetermined accuracy such as a laser displacement meter can be used.

Further, since a change in the traveling speed or the distance to the measurement surface affects the accuracy and amount of the acquired inspection data, it may be controlled to a required set value according to the measured value. Cracks on concrete surfaces are one of the most important and reliable inspection information in evaluating the possibility of spalling accidents, but it is difficult to determine that "cracking" occurs only with cracks on the surface. In other words, cracking is a necessary condition but not a sufficient condition.

In addition, among the crack information, a single linear crack that enters at right angles to the traveling direction of a tunnel or the like often cannot always be said to be information that leads to peeling. On the other hand, among cracks, those that are closed in a circle, cracks entering near the joints and ends form an arc, and both ends are closed by connecting to the joints and ends Is determined to be easily peeled off (closeness of cracks). In addition, when not a single crack but a plurality of cracks overlap or spread radially, it is considered that "peeling" is more likely to occur than a single crack. The degree of waving is one of the measures indicating the linearity of a crack. When the degree of waving falls within a specific condition, it is considered that the crack has occurred due to the compression action. Depending on the relevance of the information on the back, it is one of the indicators of high risk of peeling.

In the present invention, in order to give an evaluation of the risk of exfoliation due to such a crack pattern, image inspection data on the concrete surface is subjected to image processing, and information on only cracks is extracted (binarization processing). The data is converted into linear numerical data (vector data), and the characteristic of the crack is extracted within a predetermined range using the converted numerical data of the crack.

The form and properties of the cracks are quantitatively evaluated as the conformity to the following five categories.
The evaluation value was used as one of the indexes for the overall safety evaluation.・ Closeness ・ Wave degree ・ Cross degree ・ Emissivity ・ Density Here, the closeness means whether the crack is closed like a circle or whether it forms an independent area surrounded by three or more straight lines. Was used as a scale. Further, the above-mentioned index is not limited, and an additional index such as directionality may be added.

As a method of evaluating the closeness, it is determined whether or not the assumed starting point and the ending point of the prediction curve obtained by complementing the crack are determined, or the evaluation is determined from the coordinate values of the intersections of the plurality of cracking curves in the specific area. I do. The degree of undulation and emissivity of the crack is determined from the rate of change and dispersibility of the angle of the crack curve, and the number of intersections of the cross-thin crack curve, and the crack density is determined from the number of independent cracks in a specific area. However, the determination method for each index is not limited to the above method.

In the above-mentioned index, the closing property, the degree of undulation,
A defect having a high index of emissivity and density is determined to be a defect having a higher risk of spalling. As the most important criterion for determining the risk of concrete spalling, information on the surface alone is not sufficient, and detection of the angle of a crack that extends from the surface to the inside becomes more important.

In the present invention, the magnitude of the angle at which the cracks appearing on the surface are advanced into the interior from the temperature change near the cracks is determined based on the measurement results of the cracks on the concrete surface and the assumed results of the surface temperature distribution of the concrete. ing. When the temperature change after applying a temperature change to the concrete surface with a heater or the like is measured by an infrared detector, if the crack is perpendicular to the wall surface, it does not appear as a temperature change, but the crack has an angle It was found that the temperature drop was slow and manifested as a temperature change when continuity between the surface and the concrete behind was not maintained.

As a result of further studies, it has been found that the temperature change area depends on the crack angle. In other words, when the angle of the crack that advances inside is gentle, the temperature rise around the crack is large, the rising area is wide, and the temperature gradient from the vicinity of the crack tends to be large. It has been found that as the crack angle increases, the amount of temperature rise around the crack tends to be small, the rise region is narrow, and the temperature gradient tends to be small.

In the present invention, in order to evaluate the coincidence between the crack and the temperature change area, a crack curve obtained by processing the surface image and a plan view of the temperature distribution by infrared rays measured at the same time. By performing a statistical analysis of the temperature area around the crack, determining the size of the area, and comparing the temperature value of that area with the temperature value of the surrounding area,
The angle and direction of the crack that propagates into the concrete are specified.

On the other hand, as for the defect from the surface layer to the inside of the concrete (in the range of about 5 cm to 30 cm), the information of the internal defect can be obtained with higher accuracy by superimposing the temperature distribution by the infrared ray and the inspection result by the electromagnetic wave radar. It turned out to be obtained. Since the radar used in this system can measure from a distance of 50 cm or more from the wall surface to be inspected, an antenna with a high directivity (for example, a horn antenna), and a temperature distribution measuring device of the infrared detection type are high-speed. It is necessary to use a type that can be measured and recorded at

In the measurement of the infrared temperature distribution during traveling, relatively good results are easily obtained when the internal defect or the internal cavity is about 5 cm from the surface, but the accuracy tends to gradually deteriorate in the deeper region. . On the other hand, the detection capability of the radar varies depending on the frequency, but 800M to 1GH.
When z is used, a defect with a depth of about 20 cm to 30 cm can be detected, and a detection error of the depth position of the defect is about 2 cm, depending on conditions. From the conclusions determined from the individual results by analyzing the high degree of correlation by overlaying the temperature distribution plan view by infrared rays and the distribution map of the position of the primary reflection surface (excluding five reflections) by radar, For each of the information on the area and the depth of the internal defect, a result with higher accuracy can be obtained.

The infrared temperature distribution and the depth data (depth depth position information) of the primary reflection surface of the radar are obtained by dividing the concrete plane, which is the surface to be measured, into grids of a predetermined unit, and storing the measurement data in each cell. The information (measurement value or stratified data) of the defect position obtained from is stored. For each cell, when there is no defect information, or for a part where both data coincide, the data is adopted, and when both data are different within a predetermined range, the data is set based on the characteristics of the measurement method. A value averaged by multiplying by a weighting factor or a value obtained by a predetermined calculation formula in consideration of the weighting factor is restored as data. If the two data are different from each other beyond a predetermined allowable value, the higher priority data based on the measurement accuracy is adopted. With such a method, highly accurate information on the internal defect can be obtained with respect to the shape, area, and depth information of the internal defect. The method of evaluating the correlation between the two is not limited to these methods, and a non-linear interpolation method and other methods are also applicable.

[0048]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to embodiments. FIG. 2 shows an outline of a concrete defect inspection apparatus for a tunnel according to an embodiment of the present invention. In the present embodiment, the inspection vehicle 10 includes the imaging device 11 and the infrared detector 1.
2. Equipped with the non-contact type electromagnetic wave radar 13, while traveling, the defect information on the concrete surface of the tunnel 20,
It is configured to be able to simultaneously measure the defect information of the concrete surface layer and the defect information of the concrete inside and the concrete back cavity.

Here, as the image device 11, for example,
High definition video or high definition video devices are used. The imaging device 11 detects defect information on the concrete surface. The defect information on the concrete surface includes, for example, cracks, cold joints, junkers, and the like. In addition, a device that can measure the temperature distribution on the concrete surface by detecting infrared rays, such as an infrared thermoviewer, is used by the infrared detector 12, for example. The infrared detector 12 detects defect information on the concrete surface layer. The defect information of the concrete surface layer includes, for example, cracks and surface layer peeling.

As the non-contact type electromagnetic wave radar 13, for example, a radar device utilizing reflection of electromagnetic waves, such as a directional radar, is used. The non-contact type electromagnetic wave radar 13 detects defect information of the inside of the concrete and the back cavity. The defect information of the inside and the back cavity of the concrete includes internal peeling and the back cavity. In addition, as shown in FIG.
0, a measurement / detection unit 30 for controlling the imaging device 11, the infrared detector 12, and the non-contact type electromagnetic wave radar 13, and data for processing and analyzing data from the imaging device 11, the infrared detector 12, and the non-contact type electromagnetic wave radar 13. A processing analysis unit 40 is provided.

Next, the processing in the measurement detecting section 30 and the data processing analyzing section 40 will be described with reference to FIGS. First, the following processing is performed in the measurement detection unit 30. A traveling vehicle is applied as the inspection vehicle 10 and is controlled by a traveling and scanning controller 31. The traveling and scanning controller 31 controls the scanning device 32 and sends data to the scanning position detector 33, and at the same time, sends data from the traveling vehicle to the scanning position detector 33 via the position detector.

A high-vision camera device is mounted as the image device 11, and is controlled by a camera controller 11a and a shooting distance detector 11b. Data (high-vision measurement data in FIG. 4) captured by the high-vision camera device is sent to the HD video recorder 35 via the scanning device 32.

As the infrared detector 12, an infrared detecting thermometer is mounted, and is controlled by a photographing distance detector 11b and a thermocontroller 12a. The data detected by the infrared detection thermometer (thermo measurement data in FIG. 4)
The data is sent to the surface temperature data recording device 36 via the scanning device 32. Tunnel radars 1 and 2 are mounted as the non-contact type electromagnetic wave radar 13, and reflected electromagnetic wave data (radar measurement data in FIG. 4) is sent to the radar controller 37 via the scanning device 32.

Data from the photographing distance detector 11b is sent to the photographing position recording device 38 via the scanning device 32.
Data from the search position detector 3 and the position detector 34 are also sent to the photographing position recording device 38. Next, the data processing analysis unit 40 performs the following processing. The data of the HD video recorder 35 accompanying the imaging device 11 is sent to the image capture 41, where image processing (image processing in FIG. 4) 42 and image mapping processing 43 are performed (analysis in FIG. 4). The performed image data is sent to a relational database 45 as a compressed image 44 and, at the same time, stored as a DXF file 46 (crack shape closing, radiation, density, etc. in FIG. 4).

The data of the surface temperature data recording device 36 associated with the infrared detector 12 is stored in a temperature data mapping process 49.
Is performed, and a crack internal angle analysis 50 is performed, and the data is sent to the relational database 45 (the acute angle crack, floating in FIG. 4). At the same time, DXF file 4
6 and the overlay analysis (the overlay analysis in FIG. 4), and based on the data, a crack morphology analysis 47 is performed.
Is performed, and the data is stored in the relational database 4
5 (sharp crack, floating in FIG. 4).

The data of the radar controller 37 associated with the non-contact type electromagnetic wave radar 13 is subjected to radar data mapping processing 51, and an internal defect and a back surface defect 53 are generated.
Is sent to the relational database 45 (insufficient winding thickness, rear cavity in FIG. 4). At the same time, overlay analysis is performed on the data subjected to the temperature data mapping process 49 (FIG. 4).
4), surface defect analysis is performed, and the data is sent to the relational database 45 (FIG. 4).
Surface layer, internal cavity).

At the same time, the data of the photographing position recording device 38 is sent to the image mapping process 43, the temperature data mapping process 49, and the radar data mapping process 51. Then, based on the data stored in the relational database 45, as shown in FIG. 4, the integrated evaluation and the risk determination 54 are performed with the support of the knowledge base (the integrated evaluation and the peeling risk determination in FIG. 4). ).

Next, the overall evaluation flow shown in FIG. 4 will be described. 1. Overall evaluation flow As shown in FIG.
Consists of grade levels. That is, it includes the measurement by the concrete defect inspection apparatus according to the present embodiment, the evaluation of the relevance of each measured value, the creation of a database of outputs from the measured values and the evaluation of the relevance, and the evaluation judgment of the risk of spalling based on the database.

2. Example of Evaluation of Relevance of Measured Value 2.1 Processing of Captured Image Preprocessing of Crack Morphological Analysis Converting an image (moving image) captured by a high vision camera into a still image 2.2 Definition and analysis of crack 2.2. 1. Crack (1) Definition A linear crack having a width of 0.3 mm or more and a length of 30 cm or more is called crack.

If the distance between the ends of the two cracks is 10 cm or less, they are combined and regarded as one crack. The ends of a crack are either double or closed. Crack width is the maximum width of a crack. (Maximum value extracted from about 3 to 10 places without any bias from cracks) Crack length is the curve length of cracks. (Cumulative addition of distances between constituent nodes) (2) How to hold data Cracks are numbered.

A data file in which the coordinates of the constituent nodes of each crack, the grid to which the constituent nodes belong, and the mesh are written. -The constituent nodes are spaced at about 10 cm. -The grid is about 10 meshes. (1
(0cm × 10cm) Data file in which the direction angle of each crack is written.

The entire length of the crack is divided every 50 cm and all the average directional angles are obtained. (If the crack length is 2 m, four angles are used.) The average direction angle is rounded to some extent (for example, in units of 10 °) and written to a file. A file containing the characteristics of each crack.

FIG. 5 is an illustrative explanation of cracks. FIG. 6 shows an example of a crack data file. 2.2.2 Cross / Parallel / Radiation (1) Definition Two or more cracks intersect when there are two or more cracks in a certain area, and the maximum divergence of the directional angles of each crack differs by a certain angle or more. ing. (However, a certain area is a narrow area of about 30 cm × 30 cm) When two or more cracks are present in a certain area, and the maximum opening of the directional angles of each crack is less than a certain angle, and the two cracks are almost equal. Parallel. (However, a certain area is a narrow area of about 30 cm × 30 cm) When three or more cracks are present in a certain area, and the maximum opening of the directional angles of the cracks is different from each other by a certain angle or more, the cracks are radial. (However, a certain area is a wide area of about 100 cm × 100 cm) The method of evaluating the emissivity of a crack is not limited to this method. The evaluation can also be made by a method for obtaining the start point and the end point of the direction vector of a crack existing in a certain area.

FIG. 7 shows an example of the intersection, parallel, and emission of cracks. (2) Example of Intersection Determination Method The mesh is further divided into about 10 division grids. An area composed of nine judgment grids is shown in FIG.
And so on. It is determined whether or not a crack constituent node exists in the determination grid.

If there are two or more crack constituent nodes, they are either crossed or parallel. In FIG. 8, when A to F are at the center of the determination grid, there are two crack constituent nodes. These two cracks, crack-1 and crack-
No. 2 has two directional angles, and the maximum angle difference is 140 ° for crack-1 and 5 ° for crack-2.
It becomes 90 ° at 0 °. Now, if it is determined that the opening of the crack is 30 ° or more as an intersection, 90 °> 30 °
It is determined that crack-1 and crack-2 intersect.

In this case, the center of the judging grid which intersects is the six grids A to F. Since these grids are adjacent to each other, these six grids are written in the intersection file.

In the intersection file, the number of cracks that intersect with the intersection ID, the number of intersection cracks, the intersection grid coordinates, and the like are entered. If the intersection grids are not adjacent, there will be two or more intersections. FIG. 8 shows an example of a method of determining intersection or the like.

(3) How to Hold Data The intersection, parallel, and emission are searched using a grid, and the intersection, parallel, and emission are sequentially numbered. For example, the following items are written in the intersection file. -Intersection number-Grid coordinates of intersection center grid-Intersection crack number-Intersection belonging mesh coordinates On the other hand, add the following information to the crack data file.

Intersection number existing in cracks Number of intersections FIG. 9 shows an example of intersection data. 2.2.3 Closing (1) Definition Cracks in which the distance between the starting point and the ending point is not more than a fixed distance δ (for example, not more than 10% of the crack length) by one crack are defined as closing cracks.

A constituent crack when a line formed by the intersection and the crack is closed is referred to as a closed crack. (2) How to hold data Write closed or not as cracked data.

The determination of a closed crack composed of an intersection and a crack is made based on the intersection data and the intersection data for each crack to determine whether or not it is geometrically closed. Figure 1
0 indicates an example of closing. 2.2.4 Rippling (1) Definition Rippling is defined as having a certain least squared error when a mean direction angle of one crack is obtained in units of 50 cm.

(2) How to hold the data As the attribute of the cracked data, the presence or absence of the ripple is written. FIG. 11 shows an example of waving. 3. Judgment of cracks with shallow internal advancing angles and floating parts from infrared temperature distribution 3.1 Extraction of "floating, shallow-angled cracks" data from thermo data (1) Setting of indexes Judgment of cracks with floating and shallow angles To do so, the surface temperature of the concrete, the rate of change of the surface temperature, and the like are involved, and when a temperature change is given, the temperature of the target portion is higher than the other portions. Therefore, an index for determining the “floating, shallow angle crack” region is set as follows.

(Equation 1) Also, the boundary value of λ for determination is λ _lim , and when λ ≧ λ _lim , it is determined that a crack region having a floating angle and a small angle exists. (2) Extraction of floating area from thermography record The angle of view of the area covering the mesh fixed to the tunnel is captured from the time-series data of the two types of thermography records taken at fixed intervals. hand,
FIG. 12 shows a flow for extracting the data of the floating area therefrom.

(3) Calculation Flow of Crack Inclination Angle According to the flow shown in FIG. 12, the inclination angle of the crack is determined, and a case where the angle is equal to or smaller than a certain angle (for example, 45 °) is determined as an acute angle crack. FIG. 13 shows a local cell. FIG. 14 shows a global cell and a grid.

FIG. 15 shows extraction of floating data. Figure 1
6 shows a flow. FIG. 17 shows calculation of floating data. 3.2 Calculation of Inward Crack Inclination Angle (1) Method of Calculating Inner Crack Inclination Angle As shown in FIGS. 18 and 19, when a floating area exists near a crack-forming node j, the floating angle is calculated. From the cell coordinates of the area and the tangent of the crack at the constituent node, the floating width 2σ and the distance δm are calculated as shown in Expression 2.

(Equation 2) At this time, in the following cases, the region and the crack are close to each other, and the inclination angle is calculated. | Δm−σ | ≦ ε ε: A sufficiently short width determined experimentally The inclination angle is calculated from the temperature gradient from the crack position with reference to the surface temperature change rate data in the area of the floating width 2σ. The relational expression between the crack angle and the temperature gradient is derived based on the experimental results shown in FIGS. 20 and 21 or the analytical results based on the experiments.

For example, as shown in Table 2, an angle region is selected from an experimental result table showing a relationship between a temperature gradient and a crack angle.

[Table 2] Alternatively, when obtaining a more detailed angle, the angle can be given by a function formula based on an experiment or analysis, and the angle is determined from the coefficient of the function.

As an evaluation scale, a scale such as an acute angle or an obtuse angle is returned to the area and stored as a database. 4. Evaluation of internal cavities and defects From the surface layer of concrete to the inside (5 cm to 30 cm)
As for a defect having a size of about cm), as shown in FIG. 22, by overlaying the temperature distribution by infrared rays and the inspection result by the electromagnetic wave radar, information on the internal defect can be obtained with higher accuracy.

FIG. 23 shows the internal defect depth of the radar measurement. FIG. 24 is an evaluation composite diagram of the radar and infrared measurement results. 5. Presence or absence of back cavity Presence or absence of back cavity is determined from radar output. 6. Decomposition risk evaluation (overall defect evaluation) The inspected concrete surface is evaluated according to the evaluation area (for example,
1 × 1 m), and the degree of risk is evaluated for each area.

In the risk evaluation, the damage data of the target area is picked up from the damage database evaluated and classified for the methods described in 1 to 5 above, and the risk is determined based on a conventional accident example and design information. By referring to the determination, the degree of risk for each area is determined. FIG.
The flow is shown.

The evaluation rank may be numerically evaluated by the following equation. Evaluation rank = ｛floating ｛× ｛position｝ × ｛lining thickness｝ × ｛cracked shape｝ × ｛crack accuracy｝ However, when the evaluation result is about 3 ranks such as “Danger”, “Caution”, “Safe” In, the evaluation value may be determined with reference to the risk degree table divided according to the evaluation condition.

FIGS. 26 to 34 show examples of evaluation flowcharts. The risk is evaluated along each flowchart. FIG. 35 shows an evaluation determination table. FIG. 36 shows a case with a float. FIG. 37 shows the case without lifting.

[0081]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The results obtained by each inspection device when a concrete defect is inspected using the concrete defect device shown in FIGS. For the measurement, a full-scale tunnel model specimen (radius 2.5 m, length 9 m) reproducing a defect based on an accident that caused serious spalling in the past was used.

[0082] FIG. 38 shows the result of re-synthesizing the digital image and re-synthesizing the crack map obtained from the result of the image processing.

Closed cracks: 2 places (30 cm or more each) Wave cracks: 2 places Radiation cracks: 2 places Cracked high-density area: 5 places (threshold or more) FIG. 39 shows, as an example of the measurement results, Hi-Vision Fig. 5 shows the crack extraction from the infrared ray and the temperature change region of infrared rays.

FIG. 40 is a reflection surface display diagram of the temperature distribution and the penetration angle (section AA ': crack penetration angle: 20 to 45 degrees) around the crack shown in FIGS. .

FIG. 41 is a contour diagram of radar measurement values. FIG. 42 is an evaluation composite contour diagram of radar and infrared measurement results superimposed on the crack diagram.

[0086]

According to the present invention, the soundness of concrete, such as a tunnel, can be detected in a non-contact manner while traveling, and the risk of peeling can be comprehensively determined.

[Brief description of the drawings]

FIG. 1 is a diagram showing cracks in a typical concrete spalling accident.

FIG. 2 is a diagram showing an outline of a concrete defect inspection apparatus for a tunnel according to an embodiment of the present invention.

FIG. 3 is a block diagram showing an outline of a concrete defect inspection device of the tunnel of FIG. 2;

4 is a block diagram showing a measurement and integrated evaluation flow of the concrete defect inspection device for the tunnel in FIG. 2;

FIG. 5 is an illustrative view of a crack.

FIG. 6 is a diagram showing an example of a crack data file.

FIG. 7 is a diagram showing an example of intersection, parallel, and emission of cracks.

FIG. 8 is a diagram illustrating an example of a method of determining an intersection or the like.

FIG. 9 is a diagram illustrating an example of intersection data.

FIG. 10 is a diagram showing an example of closing.

FIG. 11 is a diagram illustrating an example of waving.

FIG. 12 is a diagram showing a flow for extracting data of a floating area.

FIG. 13 is a diagram showing a local cell.

FIG. 14 is a diagram showing a global cell and a grid.

FIG. 15 is a diagram showing extraction of floating data.

FIG. 16 is a diagram showing a flow.

FIG. 17 is a diagram showing calculation of floating data.

FIG. 18 is a diagram showing a method of calculating a crack inclination angle into the inside.

FIG. 19 is a diagram showing a calculation method of a crack inclination angle into the inside.

FIG. 20 is a diagram showing experimental results for deriving a relational expression between a crack angle and a temperature gradient.

FIG. 21 is a diagram showing an analysis result based on an experiment for deriving a relational expression between a crack angle and a temperature gradient.

FIG. 22: From the surface layer of concrete to the inside (5
FIG. 6 is a diagram showing a flow of obtaining a defect of a size of about 30 cm to about 30 cm as information of an internal defect with higher accuracy by superimposing a temperature distribution by infrared rays and an inspection result by an electromagnetic wave radar.

FIG. 23 is a diagram showing an internal defect depth of a radar measurement value.

FIG. 24 is an evaluation composite diagram of radar and infrared measurement results.

FIG. 25 is a diagram showing a flow.

FIG. 26 is a diagram showing an example of an evaluation flowchart.

FIG. 27 is a diagram showing an example of an evaluation flowchart.

FIG. 28 is a diagram showing an example of an evaluation flowchart.

FIG. 29 is a diagram showing an example of an evaluation flowchart.

FIG. 30 is a diagram showing an example of an evaluation flowchart.

FIG. 31 is a diagram showing an example of an evaluation flowchart.

FIG. 32 is a diagram showing an example of an evaluation flowchart.

FIG. 33 is a diagram showing an example of an evaluation flowchart.

FIG. 34 is a diagram showing an example of an evaluation flowchart.

FIG. 35 is a diagram showing an evaluation determination table.

FIG. 36 is a diagram showing a case where there is floating;

FIG. 37 is a diagram showing a case without floating.

FIG. 38 is a diagram showing a result of re-synthesizing a digital image and re-synthesizing a crack map obtained from the result of image processing.

FIG. 39 is a diagram illustrating, as an example of a measurement result, crack extraction from a high-definition television and a temperature change region of infrared rays.

FIG. 40 shows the temperature distribution and penetration angle (AA ′ cross section: crack penetration angle: 2) around the crack shown in FIGS.
It is a reflection surface display figure by the radar of (0-45 degrees).

FIG. 41 is a contour diagram of radar measurement values.

FIG. 42 is an evaluation composite contour diagram of radar and infrared measurement results superimposed on the crack diagram.

[Explanation of symbols]

 Reference Signs List 10 inspection vehicle 11 imaging equipment 11a camera controller 11b shooting distance detector 12 infrared detector 13 non-contact type electromagnetic wave radar 20 tunnel 30 measurement / detection unit 31 traveling / scanning controller 32 scanning device 33 scanning position detector 34 position detector 35 HD video Recorder 36 Surface temperature data recording device 37 Radar controller 38 Shooting position recording device 40 Data processing analysis unit 41 Image capture 42 Image processing 43 Image mapping process 44 Compressed image 45 Relational database 46 DXF file 47 Crack morphological analysis 48 Temperature data capture 49 Temperature data Mapping process 50 Internal angle analysis 51 Radar data mapping process 52 Surface defect analysis 53 Internal defect, back surface defect 54 Integrated evaluation, risk judgment

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G01S 13/88 G01S 13/88 G 5B057 G06T 1/00 300 G06T 1/00 300 5J070 (72) Inventor Asakura Toshihiro 5-5-1 Takehana Tateharacho, Yamashina-ku, Kyoto, Kyoto Prefecture 715 Towa Live Town Yamashina (72) Inventor Kento Uomoto 71-2 Okagami, Aso-ku, Kawasaki-shi, Kanagawa Prefecture 2-302 Sumioka Okami (72) Inventor Large Immediately Nobuaki 2-12-1 Ookayama, Meguro-ku, Tokyo Tokyo Institute of Technology (72) Inventor Sumihiko Murata 10-12-401 Nakamiyakita-cho, Hirakata-shi, Osaka -12-1 Tokyo Institute of Technology F term (reference) 2D055 LA13 LA16 2F065 AA31 AA49 AA61 CC40 FF04 FF42 FF67 GG09 GG21 JJ03 JJ26 MM06 PP01 QQ00 QQ18 QQ24 QQ41 2G040 AA06 AB08 BA14 BA16 BA26 CA02 CA12 CA23 DA06 DA12 DA15 DA25 EA01 EB02 HA02 HA06 HA11 2G051 AA90 AB03 AB06 AB07 AC01 AC16 AC17 CA01 CA04 CA07 CB07 EA12 EA14 EA20 EC03 EC06 ED11 ED21 ED22 2G066 AA08 CA09 BA01 CA27 BC08 CA12 CA16 DA03 5J070 AC03 AE07 AE11 AF03 AK22 BD08

Claims (11)

[The claims] 1. An image equipment, an infrared detector, and a non-contact type electromagnetic wave radar are mounted on a traveling vehicle, and while traveling, defect information on a concrete surface of a tunnel, defect information on a concrete surface layer, a cavity inside the concrete and a back cavity of the concrete. A defect inspection method for concrete, characterized by simultaneously measuring defect information of the concrete. 2. An imaging device, an infrared detector, and a non-contact type electromagnetic wave radar are mounted on a traveling vehicle, and while traveling, defect information on the concrete surface of the tunnel, defect information on the concrete surface layer, and the inside of the concrete and the concrete back cavity. Simultaneously measure the defect information, from the defect information on the concrete surface, perform a morphological analysis of cracks, detect the angle of the crack entering the inside from the concrete surface from the mutual information of the crack inspection results and infrared temperature inspection results, A concrete defect inspection method characterized by obtaining defect information from the concrete surface layer to the inside and behind from the concrete surface from the infrared temperature inspection result and mutual information of the non-contact type electromagnetic wave radar and evaluating the risk of concrete spalling. 3. An imaging device, an infrared detector, and a non-contact type electromagnetic wave radar are mounted on a traveling vehicle.
While detecting infrared detectors and non-contact type electromagnetic wave radar at high speed, defect information on the concrete surface of the tunnel and
Simultaneously measure the defect information of the concrete surface layer and the defect information of the concrete inside and the concrete back cavity,
A concrete defect inspection method, comprising recording a measurement result and inspecting the concrete structure for defects based on the measurement result. 4. The concrete defect inspection method according to claim 1, wherein the image device is a high-resolution video or a high-definition video device, and detects the defect information on the concrete surface. The infrared detector is a device that can measure the temperature distribution of the concrete surface by detecting infrared rays, detects the defect information of the concrete surface layer portion, the non-contact type electromagnetic wave radar, utilizing the reflection of electromagnetic waves A concrete defect inspection method, which is a radar device, and detects defect information of the inside of the concrete and the back cavity. 5. The crack morphology analysis of concrete obtained by the concrete defect inspection method according to claim 2, based on image inspection information on the concrete surface, the closeness of the crack, the degree of crossing, the radiance, and the undulation. A concrete defect inspection method characterized by extracting characteristics of degree and density and evaluating the risk of concrete spalling. 6. A temperature change region near a crack is analyzed based on a measurement result of a crack on a concrete surface and a measurement result of a surface temperature distribution of the concrete obtained by the defect inspection method for concrete according to claim 2, A defect inspection method for concrete, characterized by judging a degree of an angle at which a crack appearing on a surface advances inside. 7. Correlation between a region indicating a concrete internal defect based on a measurement result of a concrete surface temperature distribution obtained by the concrete defect inspection method according to claim 2 and a measurement result of a concrete internal defect. A defect inspection method for concrete, characterized by analyzing the height of a defect and evaluating the location and size of the defect based on the degree of correlation. 8. An imaging device for detecting defect information of a concrete surface of a tunnel, an infrared detector for detecting defect information of a concrete surface layer, and a non-contact type electromagnetic wave radar for detecting defect information of a concrete inside and a cavity behind a concrete. And a traveling vehicle equipped with the imaging device, the infrared detector, and the non-contact type electromagnetic wave radar. 9. The concrete defect inspection apparatus according to claim 8, wherein the image device is a high-resolution video or high-definition video device, and the infrared detector detects infrared rays to detect a temperature distribution on the concrete surface. A concrete defect inspection device, wherein the non-contact type electromagnetic wave radar is a radar device using reflection of electromagnetic waves. 10. The concrete defect inspection device according to claim 8, wherein a device for measuring and controlling position information of the traveling vehicle and the imaging device is mounted on the traveling vehicle. Concrete defect inspection equipment. 11. The method according to claim 8, wherein
In the concrete defect inspection device according to the item, the imaging device, an infrared detector, a non-contact type electromagnetic wave radar and distance information to the surface to be inspected, a device that measures and controls, mounted on the traveling vehicle, Inspection equipment for concrete.