JP2011242293A - Road inspection method and road inspection vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a road inspection method and a road inspection vehicle which are capable of improving efficiency of inspection with respect to a plurality of structures and facilities relating to a road.SOLUTION: The inspection vehicle 1 includes, in a vehicle body 2, a thermal infrared camera 3, a visible light camera 4, a vibration sensor 5, a travel sound detection part 6, a water-permeability detection part 7, an IC tag communication part 8, a paved surface measurement part 9, a GPS antenna 10, and a controller 11. While traveling on the road, the inspection vehicle 1 photographs a paved surface by the thermal infrared camera 3 and the visible light camera 4, detects vibrations of the vehicle according to a state of the paved surface by the vibration sensor 5, detects sound due to traveling of the vehicle by the travel sound detection part 6, detects water-permeability of paving by the water-permeability detection part 7, collects detection information of sensors preliminarily disposed around the road by the IC tag communication part 8, and collects a shape of the paved surface by the paved surface measurement part 9. Collected inspection information is given position information received by the GPS antenna 10 and is stored in a storage device 12.

Description

  The present invention relates to a road inspection method performed while traveling, for example, on an expressway or a general road structure or facility, and a road inspection vehicle used therefor.

  In addition to paving, roads are composed of many types of structures such as roadbeds, bridges, and retaining walls. In order to ensure the safety of road traffic, regular inspection of the above structures is necessary.

  Conventionally, as a method for inspecting a road structure, many so-called contact inspections have been performed in which an inspector visits a proximity position of an inspection object and performs an inspection while substantially contacting the inspection object. When a contact inspection is performed on a bridge as a road structure, an inspector goes over an inspection road installed on a bridge girder or a bridge pier, and an abnormality is detected by visual inspection or hammering sound inspection.

  In order to perform such a contact inspection, an inspection path is required, and there is a disadvantage that an area where inspection can be performed is limited to a peripheral portion of the inspection path. The contact inspection is an artisan method based on the accumulated experience of the inspector because it detects an abnormality from the appearance of the structure and the hammering sound. Therefore, the inspection work is labor intensive, and the work efficiency is low. As a result, there is a problem that costs increase. Furthermore, when the inspection path is installed at a high place, there is a problem that the inspector is exposed to danger. Such a problem of contact inspection is not limited to bridges, but also exists for other road structures.

  For example, in inspection related to pavement as a road structure, contact inspection is performed in which an inspector visually detects damage to a surface layer such as digging and potholes. In order to perform such a pavement contact inspection, it is necessary to regulate the traffic of the vehicle on the lane to be inspected, which causes a problem of traffic congestion in addition to low work efficiency.

  In order to solve such problems, it has been proposed to inspect the pavement with an inspection vehicle. As an inspection vehicle for pavement inspection, an irradiation means for irradiating slit-shaped light, a camera for photographing a road surface, and an image processing device for processing imaging information output from the camera are mounted on the vehicle. A road surface measuring device has been proposed (see Patent Document 1). This road surface measuring device irradiates the road surface with slit-like light while traveling on the road to be inspected, images the road surface with a camera, and analyzes the image signal output from the camera with an image processing device. Thus, a change in shape such as burrowing that occurs on the pavement surface of the road is detected.

JP-A-9-101129

  However, the road surface measuring device of Patent Document 1 can only detect a change in the shape of the pavement, and performs other inspections related to pavement and other structures such as a bridge body and embankment existing below the pavement. I can't. Therefore, since it is necessary to perform a contact inspection on an inspection object that is not detected by the road surface measuring device, the problem of work efficiency and cost related to road inspection has not been sufficiently solved.

  Accordingly, an object of the present invention is to propose a road inspection method and a road inspection vehicle that can improve the efficiency of inspection of structures and facilities related to roads as a whole, and as a result, can reduce costs. Moreover, it is providing the road inspection method and road inspection vehicle which can find the cause of deterioration.

  In order to solve the above problems, the road inspection method of the present invention collects inspection information on a plurality of types of inspection objects related to the road at a plurality of positions while traveling on the road, and common position information among the plurality of types of inspection objects. After being stored in association with each other, a position for performing a detailed inspection is specified based on at least two types of inspection information among the plurality of types of stored inspection information.

  The road to be inspected by the road inspection method and road inspection vehicle of the present invention is composed of many kinds of structures such as roadbeds, bridges, bridge piers and retaining walls in addition to pavement. And many types of materials such as metals. Furthermore, various facilities such as signal facilities, soundproof facilities, and disaster prevention facilities are installed on the road. These structures and facilities differ in the degree of progress of deterioration and damage depending on the material, the environment of the installation position, the number of passing vehicles, the frequency of operation, and the like. Moreover, these structures and facilities exist over a long distance along the road. For this reason, conventionally, every inspection target of a structure or facility is generally 100% inspection in which contact inspection is performed on all inspection targets. As a result, the work efficiency of the inspection is low, the cost is high, and there is a safety problem when the contact inspection target is at a high place. This invention is made paying attention to the subject peculiar to the inspection regarding such a road.

  In relation to the above problems, the road inspection method of the present invention simultaneously collects inspection information on a plurality of types of inspection objects related to the road while traveling on the road. Efficiency can be improved. In addition, since inspection information at a plurality of positions is collected at the same time, the inspection efficiency can be improved as compared with the collection of inspection information at a single position. As a result, the inspection cost can be reduced.

  Moreover, since the inspection information regarding a plurality of types of inspection objects is stored in association with the common position information, the correlation between the inspection information can be found by aggregating the stored inspection information. As a result, the cause of an event that occurs in association with a plurality of pieces of examination information can be estimated. In addition, by repeating the collection of inspection information by traveling, it is possible to quantitatively and easily grasp changes in multiple types of inspection objects for the entire road, so regarding the structures and equipment from which inspection information is collected, Degradation and damage can be detected efficiently. As a result, the cost for road inspection can be reduced. In addition, the soundness of structures and facilities related to roads can be comprehensively determined.

  Further, since the position where the detailed inspection is performed is specified based on at least two types of inspection information among the plurality of types of inspection information, a position that may be abnormal can be extracted as a candidate for the detailed inspection. By performing a contact inspection in which the inspector approaches the inspection object at the extracted position and performs the inspection, the inspection can be performed at a higher efficiency and at a lower cost than before. In addition, as a method for specifying the position where the detailed inspection is performed, a position where the first inspection information exceeds a predetermined threshold among a plurality of types of inspection information is extracted, and the second inspection information regarding the extracted position is predetermined. It is preferable to narrow down the positions exceeding the threshold value. In this case, it is possible to reduce the labor and cost of the analysis process compared to analyzing all of at least two types of inspection information. Here, the first inspection information is a running sound of the vehicle, the second inspection information is an acceleration acting on the vehicle, and the other inspection information is an image obtained by photographing the reflected light of the laser light projected on the pavement surface. Or it is preferable that it is a visible light image which image | photographed the pavement surface.

  Here, the inspection information collected by the road inspection method of the present invention is widely applicable to inspection information related to structures and facilities installed in relation to roads. There are various types such as roadbed, bridge, pier, tunnel, revetment, waterway, retaining wall, foundation, embankment, earth retaining, slope protection material and ground improvement. These structures are formed of various materials such as metals such as steel and stainless steel, concrete and soil. Furthermore, there are various types of equipment installed in relation to roads, such as signal equipment, soundproof equipment, and disaster prevention equipment. The inspection information related to these includes, for example, physical characteristic values such as stress generated in the structure, chemical characteristic values such as PH of the structure, and the like. In addition, there are a visible light image of these structures and facilities, an image representing a temperature distribution, an image representing a reflection state of irradiated scanning light, and the like. In addition, the inspection information includes information regarding phenomena that affect structures, facilities, and road traffic, and includes, for example, rainfall, groundwater level, river water level, amount of leachate, sunshine condition, air pollution degree, and the like.

  Moreover, it is preferable that the traveling speed of the road while collecting the inspection information is a speed at which the traveling speed of the road inspection vehicle does not cause congestion in the road traffic. Such a speed can be defined as a speed equal to or higher than the speed obtained by subtracting 20 from the speed limit value expressed in kilometers per hour. For example, when the road speed limit is 100 km / h, a speed of 80 km / h or higher is referred to as a high speed. By inspecting roads at high speeds, road inspection information can be collected without affecting road traffic.

  The road inspection method of one embodiment performs traveling with collection and storage of the plurality of inspection information at predetermined intervals for the same road.

  According to the above-described embodiment, it is possible to grasp the change in the inspection information along the time series regarding the road by counting the inspection information collected every predetermined period for the same road. Therefore, the future change of the inspection target of the road can be predicted. Moreover, the correlation between the test information along the time series can be found, and as a result, the cause of the event that occurs in relation to the plurality of test information can be estimated. Further, it is possible to predict an event that will occur in the future in relation to the inspection object. As a result, deterioration and damage of structures and facilities related to roads can be detected and dealt with at an early stage in a minor stage, so that road repair and maintenance costs can be reduced.

The road inspection vehicle of the present invention is a road inspection vehicle for performing the road inspection method,
A visible light photographing unit for photographing a visible light image to be inspected;
An infrared imaging unit for imaging an infrared image to be inspected;
A shape measuring unit that measures the shape of the structure or equipment based on the reflected light of the scanning light projected from the light projection unit; and
A running sound detection unit that detects sound generated as the vehicle body travels;
A vibration detection unit that detects vibrations generated as the vehicle body travels;
A water permeability detection unit for detecting the water permeability of the pavement surface based on the attenuation of sound waves applied to the pavement surface;
Storage means for storing the inspection information collected by the visible light photographing unit, the infrared photographing unit, the shape measuring unit, the traveling sound detecting unit, the vibration detecting unit or the water permeability detecting unit in association with the position information.

  According to the said structure, the state of a structure or an installation is detectable based on a picked-up image by image | photographing a structure or an installation with a visible light imaging | photography part. In addition, by photographing the structure or facility with the infrared imaging unit, it is possible to detect the presence or absence of internal damage to the structure or facility based on the captured image and the format of the structure. Moreover, based on the reflected light of the scanning light projected from the light projection unit to the structure or facility, the shape of the structure or facility can be measured by the pavement surface measurement unit. In addition, by detecting the sound generated by the traveling of the vehicle body with the traveling sound detection unit, it is possible to detect abnormalities of the expansion joints, the presence of pavement steps, the presence of ridges, etc. The state can be detected. Further, by detecting the vibration generated with the traveling of the vehicle main body by the vibration detection unit, it is possible to detect the state of the pavement, the roadbed, the bridge, and the like that support the pavement. Further, the water permeability detection unit can measure the water permeability of the pavement surface based on the attenuation amount of the sound wave applied to the pavement surface. Here, the water permeability detection unit includes a sound wave generation unit that emits sound waves toward the pavement surface, and a sound wave collection unit that collects the reflected sound.

  Here, the sound generated with the traveling of the vehicle body is a sound generated from one or both of the structure and the vehicle body. For example, the sound and structure generated when the road surface is in contact with the wheels of the vehicle body. Sounds that are generated when a vehicle or a facility receives a force associated with traveling of the vehicle, and sounds that are generated due to the impact of traveling of components of the vehicle body are widely applicable.

  The vibration generated when the vehicle main body travels is vibration generated from one or both of the structure and the vehicle main body. For example, the configuration of the vehicle main body by passing through irregularities such as pavement and bridge components. Vibrations that occur in parts, vibrations that occur in bridges as the vehicle body travels, and the like are widely applicable. Further, the vibration generated in the components of the vehicle main body corresponds to the vibration of the axle connected to the wheel, the vibration of the steering wheel, or the like.

  Inspection information collected by the visible light imaging unit, infrared imaging unit, shape measurement unit, running sound detection unit, vibration detection unit or water permeability detection unit is stored in the storage means in association with the position information. After collecting the information, a plurality of types of inspection information stored in the storage means can be collated based on the position information. By sequentially narrowing down the plurality of pieces of inspection information based on the threshold values set for each piece of inspection information, it is possible to detect an abnormality to be inspected with a smaller data processing amount than in the past.

  The road inspection vehicle according to an embodiment receives, via wireless communication, sensor detection information detected by a sensor installed in advance on an inspection target or secondary information obtained by performing predetermined processing on the sensor detection information. A receiving unit is provided.

  According to the above-described embodiment, sensor detection information detected by a sensor installed in advance on the inspection target or secondary information obtained by performing predetermined processing on the sensor detection information is received via wireless communication at the reception unit. By doing so, the state of the inspection object specified by the sensor can be easily detected and collected. Here, a sensor having an RFID (Radio Frequency Identification) function can be installed as the sensor. By installing a plurality of sensors having an RFID function along the road extending direction, sensor detection information at a plurality of locations to be inspected can be easily detected and collected.

  In the road inspection vehicle of an embodiment, the position information is specified by a distance display and / or GPS provided on the road.

  According to the above-described embodiment, the distance display provided on the road is photographed by the photographing device, and the photographing information is stored in association with the examination information, whereby the collection position of the examination information can be specified. In addition, by receiving position information transmitted from a GPS (Global Positioning System) satellite and storing the position information in association with the inspection information, the collection position of the inspection information can be specified.

  In the road inspection vehicle of one embodiment, the sensor is at least one of a strain sensor, a displacement sensor, a water level sensor, a temperature sensor, an atmospheric pressure sensor, a vibration sensor, and a PH sensor.

  According to the embodiment, for example, the degree of deformation of a structure related to a road can be detected by a strain sensor, the displacement of the structure can be detected by a displacement sensor, and a river near a road and the like can be detected by a water level sensor, for example. The water level of the lake can be detected. The temperature sensor can detect the temperature of the structure, for example, the atmospheric pressure sensor can detect the atmospheric pressure around the road, and the vibration sensor can detect the vibration generated in the structure, for example. Further, for example, the modification of concrete as a structure can be detected by the PH sensor.

  Each of the sensors may have a function of generating secondary information by processing primary information, which is information detected by each sensor, in a predetermined process. For example, the strain sensor has a storage device and an arithmetic device, and the arithmetic device calculates the cumulative fatigue damage degree based on the difference in strain information detected by the strain sensor and the number of changes in the strain information. You may remember. Information on the cumulative fatigue damage degree stored in the storage device may be transmitted by wireless communication when the inspection vehicle approaches.

It is a mimetic diagram showing a road inspection vehicle of an embodiment of the present invention. It is a figure which shows the relationship of the information used when specifying the position which should perform the detailed inspection of a pavement. It is a figure which shows the relationship of the information used when detecting the abnormality of a bridge and the abnormality of an expansion joint. It is a figure which shows the relationship of the information used when estimating the cause of the abnormality of a steel deck and pavement. It is the figure which showed a mode that a cumulative fatigue damage degree sensor and an inspection vehicle communicate.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic diagram showing a road inspection vehicle according to an embodiment of the present invention, which is configured to collect inspection information relating to a road while traveling on a highway as a road. The inspection vehicle 1 collects a plurality of types of inspection information at a plurality of positions while traveling on a road. A thermal infrared camera 3 as an infrared imaging unit and a visible light imaging unit as a visible light imaging unit are collected on the vehicle body 2. A shape having a light camera 4, a vibration sensor 5 as a vibration detection unit, a traveling sound detection unit 6, a water permeability detection unit 7, an IC tag communication unit 8 as a reception unit, and a laser device as a light projection unit A pavement surface measurement unit 9 as a measurement unit, a GPS antenna 10, a control device 11, and a storage device 12 are provided.

  The thermal infrared camera 3 is installed in the front part of the vehicle body 2 and photographs a pavement surface of a traveling road and collects a thermal infrared image representing the temperature distribution of the pavement surface as inspection information.

  The visible light camera 4 is installed in the front part of the vehicle body 2 and photographs a pavement surface of a traveling road, and collects a visible light image of the pavement surface as inspection information.

  The vibration sensor 5 includes an acceleration sensor, is disposed near the axle of the vehicle body 2, and collects vibrations in the vertical direction of the vehicle body 2 as inspection information.

  The traveling sound detection unit 6 is a microphone arranged in the room of the vehicle main body 1 and detects sound generated in a pavement or an expansion joint of a bridge as the vehicle main body 1 travels on a road. Based on the frequency distribution of the sound detected by the traveling sound detection unit 6, an abnormality of the pavement or the expansion joint is detected.

  The water permeability detection unit 7 is disposed below the vehicle body 2 and includes a speaker that emits sound toward the pavement surface of the road, and a microphone that collects reflected sound obtained by reflecting the sound from the speaker on the pavement surface. Have. The water permeability of the pavement is detected based on the attenuation level of the reflected sound collected by the microphone in a predetermined frequency band.

  The IC tag communication unit 8 includes an antenna that transmits and receives electromagnetic waves, and a control unit that performs data communication with the IC tag via the antenna, and has an IC tag reader function. The IC tag communication unit 8 communicates with a plurality of IC tags installed together with a plurality of sensors installed in advance on structures and facilities related to the road. An IC tag includes an antenna, a storage unit that stores identification information, and an arithmetic device formed on a semiconductor chip. The IC tag wirelessly communicates with the IC tag reader using power generated by receiving electromagnetic waves from the IC tag reader. To send and receive data. When the inspection vehicle 1 approaches the IC tag and sensor arranged around the road, the IC tag starts wireless communication with the IC tag communication unit 8, and the IC tag detects the sensor detection information detected by the sensor. Send to. Thereby, as the inspection vehicle 1 travels on the road, the IC tag communication unit 8 efficiently collects detection information of sensors arranged on a plurality of types of inspection objects at a plurality of positions on the road. .

  In addition to the IC tag communication unit 8, other means for receiving sensor detection information via wireless communication may be provided. That is, a sensor and wireless communication means for transmitting the detection information of the sensor by wireless communication are installed in road structures and facilities, and the detection information of the sensor is wirelessly transmitted as the inspection vehicle 1 approaches the sensor. If it can be received by communication, the communication format and standard are not limited.

  As the sensor, a strain sensor installed on a steel member of a bridge as a structure or a strain sensor installed on a concrete member can be used. The strain sensor can detect deterioration or shape change of the bridge member.

  Moreover, the displacement sensor installed in the embankment, cut, etc. as a structure can be used as said sensor. The displacement sensor can detect displacement of the ground surface of embankment or cut. Furthermore, by combining it with a groundwater level sensor that detects the groundwater level of embankments and cuts, the occurrence of landslides of embankments and cuts can be determined based on changes in groundwater levels and the movement of the ground surface of embankments and cuts. Predictable.

  Moreover, the water level sensor installed in a river or a lake can be used as a said sensor in connection with the bank protection as a disaster prevention facility around a road, a dike, and a dam. The water level sensor can detect the water level of rivers and lakes, and the occurrence of disasters such as revetments and bank breaks can be estimated by examining changes in the detected water level.

  Moreover, the temperature sensor installed in the asphalt pavement as a structure can be used as said sensor. The temperature sensor can detect the temperature of the pavement, and can detect and predict softening of the asphalt pavement accompanying the temperature rise.

  Moreover, the atmospheric pressure sensor arrange | positioned around the road can be used as said sensor. The atmospheric pressure sensor can detect the atmospheric pressure around the road, and can predict changes in weather together with information such as temperature and rainfall.

  Moreover, the vibration sensor installed in the bridge as a structure can be used as said sensor. The vibration sensor can detect the vibration generated in the bridge, and the deterioration of the bridge can be estimated by examining the change trend of the detected vibration.

  Further, as the sensor, a PH sensor installed on a concrete member of a bridge as a structure can be used. The PH sensor can detect the PH value of concrete and can detect deterioration due to the neutralization of concrete.

  The sensors are arranged in advance at a plurality of locations around the road for a plurality of types of inspection objects. Sensor detection information detected from a plurality of types of inspection objects by these sensors is collected by wireless communication of the IC tag communication unit 8 when the inspection vehicle 1 passes through the installation positions of the sensors.

  The pavement surface measuring unit 9 emits linear scanning light extending in the width direction of the road to the pavement surface of the traveling road from the laser device as the light projection unit. The scanning light is incident at an angle inclined with respect to the pavement surface. Thereby, the plane inclined with respect to the pavement surface is formed by the locus of the laser light projected from the laser device. A projected image obtained by projecting the laser light on the pavement surface is captured by a camera. This camera is installed so that the axis of the lens faces the normal direction of the pavement surface. By photographing the projected image of the laser beam projected at an inclination angle on the pavement surface with a camera from the normal direction, the unevenness of the pavement surface and the vertical step due to the wrinkles can be seen in the projection image in the longitudinal direction of the road. Photographed as displacement. By measuring the displacement of the projection image in the longitudinal direction of the road from the captured image of the camera by image processing, a step in the vertical direction is detected.

  The GPS antenna 10 is installed in the upper part of the vehicle body 2 and receives position information transmitted from a GPS (Global Positioning System) satellite. By acquiring this positional information in association with the image captured by the thermal infrared camera 3 or the visible light camera 4 or sensor detection information collected by the IC tag communication unit 8, acquisition of inspection information collected by each device is obtained. It is comprised so that a position may be specified.

  The control device 11 is connected to the thermal infrared camera 3, visible light camera 4, vibration sensor 5, traveling sound detection unit 6, water permeability detection unit 7, IC tag communication unit 8, pavement surface measurement unit 9, and GPS antenna 10. In addition to controlling the operation of these devices, the information collected by each device is collected. The control device 11 is connected to the storage device 12, and the thermal infrared camera 3, the visible light camera 4, the vibration sensor 5, the traveling sound detection unit 6, the water permeability detection unit 7, the IC tag communication unit 8, and the pavement surface measurement unit. 9 is stored in the storage device 12 in association with the position information and time information acquired by the GPS antenna 10.

  With the inspection vehicle 1 having the above configuration, under the control of the control device 11, the thermal infrared camera 3, the visible light camera 4, the vibration sensor 5, the traveling sound detection unit 6, the water permeability detection unit 7, and the IC tag. In a state where the communication unit 8, the pavement surface measurement unit 9, and the GPS antenna 10 are operated, the vehicle travels on the highway to be inspected. During the traveling of the inspection vehicle 1, inspection information collected by each device is stored in the storage device 12 via the control device 11.

  That is, the thermal infrared image of the pavement surface photographed by the thermal infrared camera 3 and the visible light image of the pavement surface photographed by the visible light camera 4 are stored in association with the position information and time information received by the GPS antenna 10. Store in device 12.

  Further, the vibration information detected by the vibration sensor 5 is stored in the storage device 12 in association with the position information and the time information.

  Further, the acoustic information detected by the traveling sound detection unit 6 is stored in the storage device 12 in association with the position information and the time information.

  In addition, the acoustic information detected by the water permeability detection unit 7 is stored in the storage device 12 in association with the position information and the time information.

  Further, the sensor detection information detected by the IC tag communication unit 8 is stored in the storage device 12 in association with the position information and the time information. Sensor detection information includes strain information of steel members and concrete members of bridges, displacement information of embankments and cuts and ground water level information, water level information of rivers and lakes near roads, temperature information of asphalt pavement, These are atmospheric pressure information and rainfall information at a predetermined position on the road, vibration information of the bridge, and PH value information of the concrete member of the bridge.

  Furthermore, the projection image of the laser beam on the pavement surface imaged by the camera of the pavement surface measurement unit 9 is stored in the storage device 12 in association with the position information and the time information.

  The inspection vehicle 1 collects the thermal infrared image and visible light image as inspection information, vibration information, acoustic information, and sensor detection information while traveling at a speed limit on the road. Therefore, road inspection information can be collected without affecting road traffic. In order to collect inspection information without causing traffic congestion on the road, it is only necessary to travel at a speed within a range approximately 20 km / h lower than the speed limit.

  After the inspection vehicle 1 travels on the inspection target section of the highway and collects inspection information, the image and information as the inspection information stored in the storage device 12 are analyzed.

  FIG. 2 is a diagram schematically showing the relationship of information used when specifying the position where the detailed inspection of the pavement should be performed based on the inspection information collected by the inspection vehicle 1 in the road inspection method of the present embodiment. It is. First, the traveling sound data d1 detected by the traveling sound detection unit 6 and stored in the storage device 12 among all the inspection information collected by the traveling of the inspection vehicle 1 is read as the first inspection information. From this traveling sound data, traveling sound data exceeding a predetermined sound pressure value as a threshold is extracted, and a position on the road is extracted based on position information corresponding to the traveling sound data. Subsequently, regarding the extracted position, the acceleration value as the second inspection information is read from the vibration data d2 detected by the vibration sensor 5 and stored in the storage device 12. Of the vibration data read for the extracted position, vibration data exceeding a predetermined acceleration value as a threshold is extracted, and the position on the road is narrowed down based on position information corresponding to the vibration data. With respect to the narrowed position, the projection image of the laser light in the pavement surface measurement data d3 collected by the pavement surface measurement unit 9 is analyzed, and the shape and size of the unevenness of the pavement surface are calculated by image processing. At the same time, an image based on the visible light image data d4 photographed by the visible light camera 4 is displayed on the display device with respect to the narrowed position, and the inspector confirms the unevenness. From the pavement surface shape calculated based on the pavement surface measurement data d3 and the image based on the visible light image data d4, a position where the possibility of damage to the pavement surface is specified. An inspector is dispatched to the specified position for contact inspection.

  As described above, according to the road inspection method of the present embodiment, the inspection information collected by the inspection vehicle 1 traveling on the expressway is obtained by using the traveling sound data d1 as the first inspection information and the second inspection information. Then, the position is specified by sequentially narrowing down with the vibration data d2, and the projected image of the laser beam based on the pavement surface measurement data d3 is analyzed with respect to the specified position, and the image is confirmed based on the visible light data d4. Identifies the location where detailed inspection should be performed. Therefore, compared with the case where all the inspection information collected by the inspection vehicle 1 is analyzed, the object to be analyzed can be effectively narrowed down, and thus the labor and cost for the analysis can be effectively reduced. Moreover, since the position where the contact inspection is performed can be narrowed down with relatively high accuracy, the inspection efficiency regarding the road can be improved as a whole, and the inspection cost can be reduced.

  By the way, based on the running sound data d1, the vibration data d2, and the pavement surface measurement data d3, as shown in FIG. 3, it is possible to detect the abnormality of the bridge and the abnormality of the expansion joint. That is, the traveling sound data d1 as the first inspection information detected by the traveling sound detection unit 6 includes a sound that the wheel gets over the expansion joint of the bridge. The traveling sound exceeding the predetermined threshold in the traveling sound data d1 includes abnormal traveling sound caused by damage to the expansion joint of the bridge or an abnormal step. Here, among the vibration data d2 detected by the vibration sensor 5, by checking the acceleration value of the vehicle body from the vibration data d2 corresponding to the position extracted from the running sound data d1 based on the threshold value, It can be determined whether or not the traveling sound exceeding the threshold is an abnormal traveling sound. Furthermore, by analyzing the projection image of the laser light as the pavement surface measurement data d3 collected by the pavement surface measurement unit 9, whether or not there is an expansion joint at a position where the running sound exceeds the threshold value, Whether or not there is an abnormal displacement due to a step can be determined with high accuracy. Thus, for a plurality of inspection information, it is possible to detect a bridge abnormality or an expansion joint abnormality by setting a threshold value for predetermined inspection information and comparing it with other inspection information relating to the same position as the position exceeding the threshold value. it can.

  According to another method, the cause of the abnormality of the inspection target can be estimated based on the visible light image and the thermal infrared image among the inspection information collected by the inspection vehicle 1. FIG. 4 is a diagram schematically showing the relationship of information used when estimating the cause of abnormalities in a steel floor slab as a road structure and pavement. That is, among the sections of the road where the inspection information is collected by the inspection vehicle 1, the visible light image data d4 from the visible light camera 4 and the thermal infrared camera 3 are related to the section in which the pavement is provided on the steel deck. The infrared video data d5 is collated. Further, the pavement surface measurement data d3 from the pavement surface measurement unit 9 is collated. As a result of comparing these data, the temperature distribution shape detected from the infrared image data d5 at the predetermined position matches the shape of the internal structure of the steel deck at that position, and the pavement surface by the visible light image data d4. When no abnormality is detected in this state, it is possible to estimate a case where an abnormality that causes a temperature distribution occurs in the internal structure. Specifically, when the steel deck is configured by arranging a plurality of U troughs having a U-shaped cross section extending in the longitudinal direction of the road in the width direction and welding a steel plate on the U troughs, In the data d5, a temperature distribution region that usually matches the installation shape of the U trough is detected. However, when water accumulates in the U trough, a temperature distribution different from the normal temperature distribution is detected in a part of the U trough. In this case, damage such as a crack exists between the U trough and the steel plate. It is estimated that water has entered the U trough through this damaged portion.

  On the other hand, the temperature distribution shape detected from the infrared image data d5 from the thermal infrared camera 3 does not match the shape of the internal structure of the steel floor slab at that position, and the pavement by the visible light image data d4 from the visible light camera 4 is used. When no abnormality is detected in the surface state, it can be estimated that an abnormality that causes a temperature distribution has occurred above the steel deck and below the pavement surface. Specifically, when an indeterminate temperature distribution that does not match the internal structure of the steel deck is detected, it is determined that this temperature distribution region is water remaining in the pavement above the surface of the steel plate. it can.

  As described above, according to the road inspection method of the present embodiment, since information on a plurality of types of inspection objects is collected by the inspection vehicle 1, correlation between different pieces of inspection information can be found. Therefore, it is possible to detect an abnormality inside the structure, which is impossible with a single type of inspection information, and to estimate the cause of the abnormality.

  Further, based on a plurality of types of sensor detection information collected by the IC tag communication unit 8, it is possible to grasp the current state of each inspection object, predict the future, and the like.

  In other words, regarding the section where the road was installed on the embankment, the groundwater level in the embankment detected by the groundwater level sensor exceeded the reference value, and the displacement of the embankment detected by the displacement detection sensor exceeded the allowable value. In this case, it is possible to predict the occurrence of an embankment landslide.

  Moreover, based on the distortion of the steel member and concrete member of the bridge detected by the strain sensor, a change in the load acting on the member can be detected.

  In addition, it is possible to predict disasters such as road inundation and bank breakage based on the river and lake water levels detected by the water level sensor.

  Further, based on the temperature of the asphalt pavement detected by the temperature sensor, the softening of the pavement accompanying the temperature rise can be detected.

  Further, based on the atmospheric pressure detected by the atmospheric pressure sensor, a change in weather can be predicted together with the temperature detected by the air temperature sensor and the rain detected by the rain sensor.

  Further, the soundness level of the bridge can be detected based on the vibration detected by the vibration sensor.

  In addition, the degree of progress of deterioration due to the neutralization of concrete can be detected based on the PH value detected by the PH sensor.

  Each of the sensors includes an arithmetic device that performs predetermined processing on sensor detection information detected by each sensor, a storage device that stores secondary information processed by the arithmetic device, and an IC tag communication unit that stores information stored in the storage device 8 is preferably provided.

  FIG. 5 shows a state in which the fatigue damage degree of the main girder 20 to be inspected is detected and transmitted to the inspection vehicle 1 by the cumulative fatigue damage degree sensor 21 installed on the main girder 20 of the bridge as a road structure. It is a schematic diagram.

  As shown in FIG. 5, the cumulative fatigue damage degree sensor 21 detects a difference due to strain variation by processing a strain sensor 22 that detects the strain of the main beam 20 and an output signal from the strain sensor 22. An arithmetic circuit 23 as an arithmetic device that calculates the cumulative fatigue damage degree based on the difference in strain and the number of occurrences of strain, and stores information on the cumulative fatigue damage degree calculated by the arithmetic circuit 23 and has a wireless communication function A storage communication circuit 24 is provided. In this cumulative fatigue damage degree sensor 21, the strain sensor 22 detects the strain generated in the main girder 20 as the vehicle passes through the bridge, and the arithmetic circuit 23 determines the cumulative fatigue damage degree based on the detection value of the strain sensor 22. The calculated value is stored in the storage communication circuit 24. When the inspection vehicle 1 passes through the bridge, the memory communication circuit 24 transmits information on the cumulative fatigue damage degree, and the IC tag communication unit 8 of the inspection vehicle 1 collects the transmitted information on the cumulative fatigue damage degree. . Thus, since the cumulative fatigue damage degree sensor 21 includes the arithmetic circuit 23 and the storage communication circuit 24 together with the strain sensor 22, the data amount is smaller and more effective than simply transmitting the detection value of the strain sensor 21. Information can be transmitted to the inspection vehicle 1.

  As described above, according to the inspection vehicle 1, since multiple types of inspection information can be collected at the same time, the inspection efficiency can be improved as compared with the case where a single object is inspected.

  Further, according to the inspection vehicle 1, since efficient inspection is possible, high-frequency inspection is possible, and therefore, changes in a plurality of types of inspection objects can be grasped in detail for the entire road. As a result, it is possible to cope with deterioration and damage at an early stage, and repair and maintenance costs can be reduced.

  In addition, since the IC tag communication unit 8 collects sensor detection information from a plurality of types of sensors that are installed in the vicinity of the road in advance, it is possible to easily collect a wide range of inspection information about the road.

  The collection of inspection information by the inspection vehicle 1 is preferably performed periodically with a predetermined period of time, for example, several months. By periodically collecting and aggregating the inspection information, it is possible to grasp the change in the inspection information along the time series. Therefore, future changes in the inspection object can be predicted. In addition, it is possible to grasp the change in the damage of the inspection object along the time series. In addition, it is possible to find correlations between examination information along a time series, and as a result, it is possible to estimate the cause of events that occur in relation to multiple examination information, and to occur in the future in relation to the examination object. Can predict events. For example, regarding a concrete member of a bridge, the cause is assumed to be acid rain by finding a correlation between a change in rainfall, a change in PH value, and a change in vibration mode, and the progress of deterioration of the concrete member Can predict the degree.

  In the above embodiment, the position information is specified by GPS, but may be specified by a distance display provided on the road. For example, a kilometer post as a road distance display may be captured by the visible light camera 4 and stored in association with other inspection information, and the position information may be specified by a numerical value determined from the kilometer post image of the visible light image. .

  In the above-described embodiment, the inspection vehicle 1 is a means for collecting inspection information. The thermal infrared camera 3, the visible light camera 4, the vibration sensor 5, the traveling sound detection unit 6, the water permeability detection unit 7, and the IC tag communication unit. 8 and the pavement surface measuring unit 9 are provided, but the means for collecting inspection information is not limited to these, and may include other devices, or any of them may be omitted.

  In the above embodiment, the inspection vehicle 1 travels on a highway as a road and collects inspection information on the highway. However, the inspection vehicle 1 travels on a general road other than the highway and collects inspection information on the road. May be.

DESCRIPTION OF SYMBOLS 1 Inspection vehicle 2 Vehicle main body 3 Thermal infrared camera 4 Visible light camera 5 Vibration sensor 6 Running sound detection part 7 Water permeability detection part 8 IC tag communication part 9 Pavement surface measurement part 10 GPS antenna 11 Control apparatus

Claims (6)

  While traveling on the road, inspection information related to multiple types of inspection objects related to the road is collected at a plurality of positions, stored in association with the common position information among the plurality of types of inspection objects, and then the plurality of types of inspections stored above A road inspection method characterized in that a position for performing a detailed inspection is specified based on at least two types of inspection information among the information. The road inspection method according to claim 1,
A road inspection method characterized in that the traveling with sampling and storage of the plurality of inspection information is performed at predetermined intervals on the same road. A road inspection vehicle for performing the road inspection method according to claim 1,
A visible light photographing unit for photographing a visible light image to be inspected;
An infrared imaging unit for imaging an infrared image to be inspected;
A shape measuring unit that measures the shape of the structure or equipment based on the reflected light of the scanning light projected from the light projection unit; and
A running sound detection unit that detects sound generated as the vehicle body travels;
A vibration detection unit that detects vibrations generated as the vehicle body travels;
A water permeability detection unit for detecting the water permeability of the pavement surface based on the attenuation of sound waves applied to the pavement surface;
And storage means for storing the inspection information collected by the visible light photographing unit, infrared photographing unit, shape measuring unit, running sound detecting unit, vibration detecting unit, or water permeability detecting unit in association with the position information. Road inspection vehicle. The road inspection vehicle according to claim 3,
It is characterized by comprising a receiving unit for receiving, via wireless communication, sensor detection information detected by a sensor installed in advance on the inspection object or secondary information obtained by performing predetermined processing on the sensor detection information. Road inspection vehicle. The road inspection vehicle according to claim 3,
The position information is specified by a distance display and / or GPS provided on a road. The road inspection vehicle according to claim 4,
The road inspection vehicle, wherein the sensor is at least one of a strain sensor, a displacement sensor, a water level sensor, a temperature sensor, an atmospheric pressure sensor, a vibration sensor, and a PH sensor.

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