JP2016161277A - Bridge measurement apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bridge measurement apparatus capable of measuring the condition of a bridge easily at low cost.SOLUTION: A bridge measurement apparatus 100 for measuring an upper surface A1 shape of a bridge A includes: a bridge measurement unit 1 which can be mounted on a vehicle 200; a speed sensor 7 for detecting a traveling speed of the vehicle 200; and a calculation section 51 for calculating the upper surface A1 shape of the bridge A, by using the measurement result from the bridge measurement unit 1 and the detection result from the speed sensor 7 and calculating vertical and horizontal positions of the bridge measurement unit 1 that travels together with the vehicle 200 on the bridge A and correcting the calculation result. The bridge measurement unit 1 measures parameters related to acceleration and attitude angle thereof. The calculation section 51 corrects the entire calculation result so as to match, to vertical and horizontal known positions of at least two locations on a measurement passage on which the vehicle 200 travels during measurement, the calculation results of the vertical and horizontal positions of the at least two locations calculated by the calculation section 51.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a bridge measuring device.

In order to diagnose the progress of bridge degradation, the displacement of the bridge over time is measured.
For example, Patent Document 1 describes a method of measuring displacement due to bending of a bridge by surveying. In this measurement method, a measurement reference point is set for each of the two main girders on the lower surface of the bridge, and the measurement target is located at the same horizontal distance from the two measurement reference points between the two measurement reference points on the lower surface of the floor slab. A point is set. A laser rangefinder is installed directly below each of the two measurement reference points and the measurement target point. Based on the amount of change in the distance from each laser rangefinder to the two measurement reference points and the measurement target point when the load on the bridge is changed, the displacement amount of the measurement target point based on the measurement reference point is obtained. Based on this displacement, the progress of deterioration of the bridge is diagnosed.

  Patent Document 2 describes a bridge displacement measuring device using an optical fiber grating sensor. In this measuring device, there are provided a fixed body, a rotating body, and an optical fiber that is placed on the upper outer surface of the fixed body and the rotating body and is bonded and fixed to these upper outer surfaces. It has been. The optical fiber is horizontally provided so as to maintain a tension state between the fixed body and the rotating body. Further, an optical fiber grating sensor is provided in the optical fiber between the fixed body and the rotating body. Furthermore, a weight is suspended vertically on the rotating body. The main body is configured to be attached to the wall surface of the bridge. When the wall surface is tilted, the fixed body and the rotating body are tilted together with the main body, whereby the weight is displaced so as to rotate with respect to the rotating body by the action of gravity, thereby rotating the rotating body. The displacement of the optical fiber that expands or contracts due to the rotation of the rotating body is detected by the optical fiber grating sensor, and the tilt angle is obtained based on the detected displacement.

JP 2014-74685 A JP 2010-500556 A

In the measurement method described in Patent Document 1, it is necessary to provide a plurality of measurement target points in order to measure the displacement of the entire bridge. For each measurement target point and two measurement reference points related thereto, It is necessary to install a laser distance meter to measure the amount of change, which requires a lot of time and effort. When performing measurement at each measurement target point simultaneously, many laser distance meters and surveyors who handle these are required, which increases the cost. Furthermore, bridges are often provided in valleys in mountainous areas, causing problems that surveyors cannot enter directly under the bridges and that laser distance meters cannot be installed.
Moreover, in the measuring device described in Patent Document 2, it is necessary to install measuring devices at each of a plurality of measurement positions in order to measure the displacement of the entire bridge, which increases the cost.

  The present invention has been made to solve such problems, and an object of the present invention is to provide a bridge measuring apparatus capable of measuring the state of the bridge easily and at low cost.

  In order to solve the above problems, a bridge measuring device according to the present invention is a bridge measuring device for measuring the surface shape of a bridge, a bridge measuring unit that can be mounted on a traveling body that can travel on a bridge, Using the speed detection unit that detects the traveling speed, the measurement result by the bridge measurement unit that moves on the bridge together with the traveling body, and the detection result by the speed detection unit, the vertical and horizontal directions of the bridge measurement unit that moves on the bridge A calculation unit that calculates the position of the direction and calculates the surface shape of the bridge by correcting the calculation result, the bridge measurement unit measures parameters related to the acceleration and attitude angle of the bridge measurement unit, and the calculation unit The calculation result of the vertical and horizontal positions of the at least two points by the calculation unit is added to the known vertical and horizontal positions of at least two points on the measurement path through which the traveling body passes during measurement. As to I, to correct the overall operation result.

The at least two points are constituted by two points deviated from the bridge on the measurement path through which the traveling body passes during measurement, and one of the two points deviated from the bridge is a measurement start point by the bridge measuring unit. Yes, the other of the two points deviated from the bridge may be a measurement end point by the bridge measuring unit.
The bridge measurement unit may include a triaxial acceleration sensor that detects acceleration in the triaxial direction of the bridge measurement unit as the parameter, and a triaxial gyro sensor that detects angular velocity around the three axes of the bridge measurement unit as the parameter. .
The bridge measurement unit may include a wireless communication device for performing wireless communication with the calculation unit.

  According to the bridge measuring apparatus according to the present invention, the state of the bridge can be measured easily and at low cost.

It is a block diagram which shows the structure of the bridge measuring device which concerns on embodiment of this invention. It is the schematic which shows the structure of the bridge measurement unit of the bridge measuring device of FIG. It is the schematic which shows the mounting state to the vehicle of a bridge measurement unit. It is a schematic diagram which shows the measurement condition of the bridge using a vehicle. It is a figure which shows the locus | trajectory of the vehicle obtained by calculating the measurement result by a bridge measurement unit. It is a figure which shows an example of the display result by a display part.

Hereinafter, a bridge measuring apparatus 100 according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Referring to FIGS. 1 and 3 together, the bridge measuring apparatus 100 includes a bridge measuring unit 1 that can be mounted on a vehicle 200 such as a self-propelled automobile, and a computer outside the vehicle 200, that is, a personal computer (hereinafter referred to as PC). 50). Here, the bridge measuring unit 1 constitutes a bridge measuring unit, and the vehicle 200 constitutes a traveling body.
Referring to FIGS. 1 and 2 together, the bridge measuring unit 1 constitutes one unit adapted to be detachably mounted in the vehicle 200. The bridge measuring unit 1 includes a board 1a, a three-axis gyro sensor 10, a three-axis acceleration sensor 20, an A / D converter 2, a CPU 3, a non-volatile memory 4, and serial communication, all of which are mounted on the board 1a. A circuit 5, a wireless communication device 6, a speed sensor 7, a DC / DC power supply 8 and an input unit 9 are provided.

The A / D converter 2 converts the analog signals detected by the triaxial gyro sensor 10 and the triaxial acceleration sensor 20 into digital signals and sends them to the CPU 3.
The speed sensor 7 is connected to a vehicle speed sensor 30 provided in the vehicle 200 itself, which is a speed sensor outside the bridge measuring unit 1, and is configured to receive vehicle speed information of the vehicle 200 from the vehicle speed sensor 30. The speed sensor 7 sends the received vehicle speed information to the CPU 3. Here, the speed sensor 7 constitutes a speed detection unit.
The DC / DC power supply 8 is connected to a battery 40 included in the vehicle 200 itself that is a DC power supply source outside the bridge measuring unit 1 and is configured to receive DC power from the battery 40. The DC / DC power supply 8 supplies the received DC power to each component in the bridge measurement unit 1.

The CPU 3 is configured to store information based on digital signals received from the A / D converter 2 and speed information from the speed sensor 7 in the nonvolatile memory 4.
Further, the CPU 3 is configured to control the wireless communication device 6. The CPU 3 sends the information stored in the nonvolatile memory 4 to the wireless communication device 6 via the serial communication circuit 5 and causes the wireless communication device 6 to transmit the information to the PC 50 outside the vehicle 200 by serial communication.
In addition, the CPU 3 controls the wireless communication device 6 to receive a signal transmitted from the PC 50, receives the received signal via the serial communication circuit 5, and performs an operation based on information included in the received signal. The above information is stored in the nonvolatile memory 4.
The CPU 3 is also configured to control the DC / DC power supply 8 and also controls power supply to each component in the bridge measurement unit 1.
The input unit 9 is configured to connect various input devices. The CPU 3 is configured to execute its own operation start and stop, the above-described control, and the like based on a command input to the input unit 9.

The three-axis gyro sensor 10 includes an X-axis angular velocity detection unit 11, a Y-axis angular velocity detection unit 12, and a Z-axis angular velocity detection unit 13. The X axis is a direction along the surface of the substrate 1a. The Y axis is a direction along the surface of the substrate 1a and perpendicular to the X axis. The Z axis is a direction perpendicular to the surface of the substrate 1a and perpendicular to the X axis and the Y axis. The X axis, the Y axis, and the Z axis are orthogonal to each other.
When the bridge measuring unit 1 is mounted on the vehicle 200, the X axis is along the longitudinal direction of the vehicle 200, the Y axis is along the lateral direction of the vehicle 200, and the Z axis is along the vertical direction of the vehicle 200. Is done.

  Therefore, the X-axis angular velocity detection unit 11 detects a roll angular velocity that is a change speed of the roll angle of the vehicle 200 around the X-axis. The Y-axis angular velocity detection unit 12 detects a pitching angular velocity that is a changing speed of the pitching angle of the vehicle 200 around the Y-axis. The Z-axis surrounding angular velocity detection unit 13 detects a yaw angular velocity that is a changing speed of the yaw angle of the vehicle 200 around the Z-axis. The X-axis angular velocity detection unit 11, the Y-axis angular velocity detection unit 12, and the Z-axis angular velocity detection unit 13 send analog signals indicating the detected roll angular velocity, pitching angular velocity, and yaw angular velocity to the A / D converter 2, respectively. .

  The triaxial acceleration sensor 20 includes an X axis direction acceleration detection unit 21, a Y axis direction acceleration detection unit 22, and a Z axis direction acceleration detection unit 23. The X-axis direction acceleration detection unit 21 detects the linear acceleration in the front-rear direction of the vehicle 200 along the X-axis. The Y-axis direction acceleration detector 22 detects the linear acceleration in the left-right direction of the vehicle 200 along the Y-axis. The Z-axis direction acceleration detector 23 detects the vertical acceleration in the vertical direction of the vehicle 200 along the Z-axis. The X-axis direction acceleration detection unit 21, the Y-axis direction acceleration detection unit 22, and the Z-axis direction acceleration detection unit 23 respectively provide analog signals indicating the detected longitudinal linear acceleration, lateral linear acceleration, and vertical linear acceleration. Send to A / D converter 2.

The PC 50 provided outside the vehicle 200 includes a calculation unit 51, a recording unit 52, a display unit 53, and a wireless communication device 54.
The wireless communication device 54 is configured to perform wireless communication with the wireless communication device 6 of the bridge measurement unit 1. The wireless communication device 54 receives the information sent from the bridge measurement unit 1 and sends it to the calculation unit 51. In addition, the wireless communication device 54 transmits information such as a command issued from the PC 50 such as the calculation unit 51 to the bridge measurement unit 1.
The calculation unit 51 performs a calculation based on information received from the bridge measurement unit 1, stored information, information input to the PC 50, and the like. In addition, the calculation unit 51 displays the received information, calculation results, and the like on the display unit 53 such as a display, and causes the recording unit 52 to output to a recording medium such as paper, an optical disk, or a flash memory. To do.

Next, the operation of the bridge measuring apparatus 100 will be described.
Referring to FIGS. 1 and 3 together, the bridge measurement unit 1 is mounted inside the vehicle 200.
1 and 4 together, in order to determine the shape of the upper surface A1 of the bridge A by the bridge measuring device 100, the vertical direction which is the altitude of the bridge measuring unit 1 at each position on the upper surface A1 of the bridge A. A position is required. At this time, the measurer gets on the vehicle 200 on which the bridge measurement unit 1 is mounted, and causes the vehicle 200 to travel on the upper surface A1. The calculation unit 51 of the bridge measuring device 100 determines the vertical position of the bridge measuring unit 1 at each position on the upper surface A1 of the bridge A along the travel route of the vehicle 200 from the measurement data of the bridge measuring unit 1 obtained during travel. Is calculated.

  Before measurement by traveling of the vehicle 200, a measurement start point B and a measurement end point C are set in advance at positions deviated from both ends of the bridge A, respectively. Further, the coordinates of the horizontal position and the vertical position of the measurement start point B and the measurement end point C are obtained by surveying. The coordinates of the horizontal position of each measurement point can be obtained by triangulation, GPS survey, or the like. The coordinates of the vertical position of each measurement point can be obtained by leveling, GPS surveying, or the like.

Then, the measurer causes the vehicle 200 to travel sequentially through the measurement start point B, the bridge A, and the measurement end point C. At this time, the measurer causes the CPU 3 of the bridge measurement unit 1 to start measurement when the bridge measurement unit 1 in the vehicle 200 reaches the measurement start point B, and when the bridge measurement unit 1 reaches the measurement end point C. Then, the CPU 3 ends the measurement.
The measurement start command and the measurement end command to the CPU 3 of the bridge measurement unit 1 are performed by connecting a manual switch (not shown) to the input unit 9 of the bridge measurement unit 1 and operating the switch by a measurer's hand. can do. Alternatively, an optical or magnetic sensor is connected to the input unit 9, and light and magnetism sources are arranged at the measurement start point B and the measurement end point C, and the CPU 3 automatically operates based on the detection information of the sensor. In addition, measurement start and measurement end may be executed.

2 to 4 together, it is difficult to install the bridge measurement unit 1 on the vehicle 200 so that the board 1a of the bridge measurement unit 1 is parallel to the traveling road surface 201 of the vehicle 200. Installation error for parallel state occurs. That is, in the traveling direction F of the vehicle 200, the board 1a of the bridge measuring unit 1 is inclined at an angle θ with respect to the road surface 201. Furthermore, the road surface 201 itself is also inclined with respect to the horizontal plane, and it is difficult to accurately measure the amount of inclination. Therefore, it is difficult to specify the amount of inclination of the bridge measurement unit 1 with respect to the horizontal plane of the board 1a while the vehicle 200 is traveling.
For this reason, when the measurement data of the bridge measurement unit 1 is processed to determine the vertical position at each position on the upper surface A1 of the bridge A along the travel route of the vehicle 200, the measurement start point B and Correction using the coordinates of the horizontal position and the vertical position of the measurement end point C is performed. Details of this processing will be described later.

When the measurement is started at the measurement start point B, the CPU 3 causes the DC / DC power supply 8 to start supplying power to each component of the bridge measurement unit 1 and starts measurement on the 3-axis gyro sensor 10 and the 3-axis acceleration sensor 20. In addition, the vehicle speed information of the vehicle 200 is acquired from the vehicle speed sensor 30 by the speed sensor 7.
The measurement result continuously measured by the three-axis gyro sensor 10 and the three-axis acceleration sensor 20 is converted by the A / D converter 2 and sent to the CPU 3. The CPU 3 stores the received measurement result in the nonvolatile memory 4. Remember. The vehicle speed information continuously acquired by the speed sensor 7 is sent to the CPU 3, and the CPU 3 stores the received vehicle speed information in the nonvolatile memory 4.
When the measurement end point C is reached, the CPU 3 stops the measurement by the three-axis gyro sensor 10 and the three-axis acceleration sensor 20 and the acquisition of the vehicle speed information by the speed sensor 7. Further, the CPU 3 stops the power supply by the DC / DC power supply 8.

  Thereafter, the measurer instructs the CPU 3 to transmit the data stored in the nonvolatile memory 4 using a controller (not shown) connected to the input unit 9. The CPU 3 causes the DC / DC power supply 8 to start supplying power to each component of the bridge measurement unit 1, sends the data stored in the nonvolatile memory 4 to the wireless communication device 6 through the serial communication circuit 5, and further performs wireless communication The device 6 transmits data to the wireless communication device 54 of the PC 50. The transmission command may be performed during measurement. In this case, the CPU 3 stores the received information in the nonvolatile memory 4 and transmits it using the wireless communication device 6.

The data received by the wireless communication device 54 is sent to the calculation unit 51 and processed by the calculation unit 51.
The data received by the calculation unit 51 includes the angular velocity ω _X continuously measured by the angular velocity detection unit 11 around the X axis, the angular velocity detection unit 12 around the Y axis, and the angular velocity detection unit 13 around the Z axis of the three-axis gyro sensor 10. , Ω _Y and ω _Z are included. Angular velocities ω _X , ω _Y, and ω _Z are angular velocities in the angular directions around the X axis, the Y axis, and the Z axis in FIG. 2, respectively.
Furthermore, the data received by the calculation unit 51 includes straight lines continuously measured by the X-axis direction acceleration detection unit 21, the Y-axis direction acceleration detection unit 22, and the Z-axis direction acceleration detection unit 23 of the triaxial acceleration sensor 20, respectively. Accelerations α _X , α _Y and α _Z are included. Linear accelerations α _X , α _Y and α _Z are linear accelerations in the X-axis, Y-axis and Z-axis directions in FIG. 2, respectively.
Furthermore, the data received by the calculation unit 51 includes the vehicle speed ν continuously acquired by the speed sensor 7.
Further, the calculation unit 51 also stores the coordinates of the horizontal position and the vertical position of the measurement start point B and the measurement end point C that are measured in advance by surveying.

  The calculation unit 51 uses the acquired data to calculate the trajectory of the vehicle 200, that is, the bridge measurement unit 1 in the measurement section from the measurement start point B to the measurement end point C. As shown in FIG. 5, this trajectory indicates the relationship between the horizontal position of the bridge measurement unit 1 and the vertical position of the bridge measurement unit 1 along the longitudinal direction of the bridge A which is the traveling direction F of the vehicle 200. It becomes like a calculation trajectory line Lc which is a line. In FIG. 5, the horizontal position of the bridge measuring unit 1 is taken on the horizontal axis, and the vertical position of the bridge measuring unit 1 is taken on the vertical axis. Further, as shown in FIG. 5, the calculation unit 51 sets the coordinates of the calculation measurement start point Bc, which is the start point of the calculation trajectory line Lc, to be the same as the coordinates of the measurement start point B measured in advance by surveying.

From the measured angular velocities ω _X , ω _Y and ω _Z , linear accelerations α _X , α _Y and α _Z and the vehicle speed ν, the posture of the vehicle 200 and the bridge measuring unit 1, that is, the traveling direction F of the vehicle 200 is determined. The elevation angle, which is the pitch angle, can be calculated. As this calculation method, various calculation methods are conventionally known, and the calculation method to be adopted is appropriately selected from various known calculation methods.
Furthermore, the trajectory of the horizontal and vertical positions of the bridge measurement unit 1 can be calculated from the elevation angles of the vehicle 200 and the bridge measurement unit 1, the linear accelerations α _X , α _Y and α _Z, and the vehicle speed ν. it can. As this calculation method, various calculation methods are conventionally known, and the calculation method to be adopted is appropriately selected from various known calculation methods.

Next, the calculation unit 51 obtains the coordinates of the horizontal position and the vertical position of the calculation measurement end point Cc, which is the end point on the calculation track line Lc in FIG. 5, and further from the measurement start point B to the calculation measurement end point Cc. The vector BCc is calculated.
The computing unit 51 calculates a vector BC from the measurement start point B to the measurement end point C from the coordinates of the horizontal position and the vertical position of the measurement start point B and the measurement end point C measured in advance by surveying.

Further, the calculation unit 51 calculates an angle θr formed by the vector BCc and the vector BC.
Then, the calculation unit 51 rotates the calculation trajectory line Lc around the measurement start point B in FIG. 5 by the correction angle θr in the clockwise direction on the paper surface of FIG. 5, and the arithmetic measurement on the calculation trajectory line Lc. The calculation trajectory line Lc is converted, that is, corrected so that the end point Cc matches the measurement end point C. The corrected calculation trajectory line Lc is shown as a corrected trajectory line Lr in FIG. The corrected trajectory line Lr obtained as described above indicates the trajectory of the bridge measurement unit 1 in which the influence of the tilt amount on the horizontal plane of the board 1a of the bridge measurement unit 1 is excluded from the calculation result. Then, the corrected trajectory line Lr indicates the shape of the upper surface A1 of the bridge A.

The computing unit 51 displays the corrected locus line Lr on the display unit 53 and outputs it from the recording unit 52 in response to a request from the user of the PC 50.
Further, as shown in FIG. 6, the calculation unit 51 displays a plurality of corrected locus lines Lrp calculated by using the results measured a plurality of times in the past, together with the corrected locus lines Lr, on the display unit 53, The display result can also be output from the recording unit 52. Further, the calculation unit 51 can also calculate the displacement with respect to the corrected locus line Lrp at each position on the corrected locus line Lr, and display the calculation result on the display unit 53 and output from the recording unit 52. it can. Thereby, the displacement with respect to the past measurement result of the upper surface A1 of the bridge A is shown. In FIG. 6, the corrected locus line Lr is indicated by a solid line, and the corrected locus line Lrp is indicated by a broken line.

  As described above, the bridge measuring apparatus 100 according to the embodiment of the present invention measures the shape of the upper surface A1 of the bridge A. The bridge measuring apparatus 100 includes a bridge measuring unit 1 that can be mounted on a vehicle 200 that can travel on the bridge A, a speed sensor 7 that detects the traveling speed of the vehicle 200, and a bridge measuring unit that moves on the bridge A together with the vehicle 200. 1 and the detection result of the speed sensor 7 are used to calculate the vertical and horizontal positions of the bridge measurement unit 1 moving on the bridge A and correct the calculation result to correct the upper surface of the bridge A. And an arithmetic unit 51 for obtaining the A1 shape. The bridge measurement unit 1 measures parameters related to the acceleration and the attitude angle of the bridge measurement unit 1, and the calculation unit 51 knows at least two points on the measurement path through which the vehicle 200 passes during measurement in the known vertical direction and horizontal direction. The entire calculation result is corrected so that the calculation results of the vertical and horizontal positions of the at least two points by the calculation unit 51 are matched with the position of.

In the bridge measuring apparatus 100 having the above-described configuration, the bridge measuring unit 1 is mounted on the vehicle 200 and the traveling speed of the vehicle 200 is detected by the speed sensor 7 so that the vehicle 200 only travels on the bridge A. Thus, the calculation unit 51 can obtain the shape of the upper surface A1 of the bridge A. Therefore, since it is not necessary to attach a measuring device to the bridge A, the state of the bridge A can be measured at a low cost, and the measurement can be easily performed.
In addition, since the measurement by the traveling of the vehicle 200 is possible if the vehicle 200 can travel on the bridge A, it is not affected by time, weather, etc., does not need a place for measurement, and traffic regulation for measurement. It is not necessary. Furthermore, the measurement by the traveling of the vehicle 200 is not limited in the distance that can be measured at a time as long as the vehicle 200 can travel. Furthermore, the measurement by the vehicle 200 can be performed only by the driver of the vehicle 200 in the vehicle 200, and the cost of measurement personnel can be reduced.
Further, since the calculation result by the calculation unit 51 is corrected using points where the positions in the vertical direction and the horizontal direction are known, the influence of the inclination of the bridge measurement unit 1 mounted on the vehicle 200 on the calculation result is affected. Elimination is possible. That is, the accuracy of the shape of the upper surface A1 of the bridge A obtained by the calculation unit 51 is improved.

  Further, in the measurement by the bridge measurement unit 1 of the bridge measuring apparatus 100, in the correction of the calculation result, the position where the position in the vertical direction and the horizontal direction is known is deviated from the bridge A on the measurement path through which the vehicle 200 passes at the time of measurement. Two points are used, one of the two points off the bridge is a measurement start point by the bridge measurement unit 1, and the other of the two points off the bridge is the bridge measurement unit 1 This is the measurement end point. The point deviated from the bridge A can be used as a fixed point that is not affected by the displacement of the bridge A over time or the vibration generated in the bridge A by the traveling vehicle. Therefore, it is suitable as a reference point when measuring the shape of the upper surface A1 of the bridge A. Further, by using the measurement start point and the measurement end point for correction of the calculation result, the known vertical and horizontal positions of the measurement start point and the measurement end point, and the vertical direction and horizontal of the measurement start point and the measurement end point, respectively. Comparison with the calculation result of the direction position becomes easy. Furthermore, since the calculation results of the known vertical and horizontal positions of the measurement start point and the vertical and horizontal positions of the measurement start point can be the same, calculation for correction is easy. It is.

In the bridge measuring apparatus 100, the bridge measuring unit 1 includes a triaxial acceleration sensor 20 that detects the acceleration in the triaxial direction of the bridge measuring unit 1 as a parameter related to the acceleration and the posture angle of the bridge measuring unit 1, and the above parameters. And a three-axis gyro sensor 10 that detects angular velocities around the three axes of the bridge measurement unit 1. By using the triaxial acceleration and the angular velocity around the triaxial, the calculation accuracy of the vertical and horizontal positions of the bridge measuring unit 1 is improved.
In the bridge measuring apparatus 100, the bridge measuring unit 1 includes a wireless communication device 6 for performing wireless communication with the calculation unit 51. Thereby, since the calculation part 51, the calculation result display part 53 of the calculation part 51, and the calculation result recording part 52 of the calculation part 51 can be separated from the bridge measurement unit 1, the bridge measurement unit 1 can be reduced in size. The bridge measuring unit 1 can be easily mounted on and fixed to the vehicle 200. Furthermore, the calculating part 51 can receive the measurement result of the bridge measurement unit 1 in real time via wireless communication.

In the bridge measuring apparatus 100 according to the embodiment, the PC 50 including the calculation unit 51 is provided separately from the bridge measuring unit 1, but is mounted on the vehicle 200 including the bridge measuring unit 1. It may be configured.
In the bridge measuring device 100 according to the embodiment, the bridge measuring unit 1 is configured to output the measurement result via the wireless communication device 6, but includes an output unit that outputs the measurement result by wire. It may be.

Moreover, in the bridge measuring device 100 according to the embodiment, the calculation unit 51 is provided separately from the bridge measuring unit 1, but may be included in the bridge measuring unit 1. At this time, the calculation result of the calculation unit 51 may be output to an external device via the wireless communication device 6 of the bridge measurement unit 1. Alternatively, the bridge measurement unit 1 may be provided with an output unit, and the calculation result of the calculation unit 51 may be output to an external device by wire via the output unit.
In the bridge measuring unit 1 of the bridge measuring apparatus 100 according to the embodiment, the speed sensor 7 is configured to obtain vehicle speed information from the vehicle speed sensor 30 of the vehicle 200, but directly detects the vehicle speed of the vehicle 200. It may be a thing.
Further, in the bridge measuring apparatus 100 according to the embodiment, the bridge measuring unit 1 is mounted on the vehicle 200 such as an automobile. However, the present invention is not limited to this, and a small vehicle by radio control such as a radio controlled car. The vehicle may be mounted on any travelable body such as a small vehicle or a towed vehicle using a remote controller.

  DESCRIPTION OF SYMBOLS 1 Bridge measuring unit, 6 Wireless communication apparatus, 7 Speed sensor (speed detection part), 10 3-axis gyro sensor, 20 3-axis acceleration sensor, 51 calculating part, 100 Bridge measuring device, 200 Vehicle (running body), A Bridge, A1 Top view.

Claims (4)

In the bridge measuring device that measures the surface shape of the bridge,
A bridge measurement unit that can be mounted on a traveling body capable of traveling on a bridge;
A speed detection unit for detecting a traveling speed of the traveling body;
Using the measurement result by the bridge measurement unit moving on the bridge together with the traveling body and the detection result by the speed detection unit, the vertical and horizontal positions of the bridge measurement unit moving on the bridge are calculated. And a calculation unit for determining the surface shape of the bridge by correcting the calculation result,
The bridge measurement unit measures parameters related to acceleration and posture angle of the bridge measurement unit,
The calculation unit is configured to set the vertical and horizontal positions of the at least two points by the calculation unit to known vertical and horizontal positions of at least two points on a measurement path through which the traveling body passes during measurement. A bridge measuring device that corrects the entire calculation result to match the calculation result. The at least two points are constituted by two points deviated from the bridge on a measurement path through which the traveling body passes during measurement,
One of the two points deviated from the bridge is a measurement start point by the bridge measurement unit, and the other of the two points deviated from the bridge is a measurement end point by the bridge measurement unit. Item 1. The bridge measuring device according to item 1.   The bridge measurement unit includes a triaxial acceleration sensor that detects acceleration in the triaxial direction of the bridge measurement unit as the parameter, and a triaxial gyro sensor that detects angular velocity around the three axes of the bridge measurement unit as the parameter. The bridge measuring device according to claim 1 or 2 including.   The bridge measurement device according to any one of claims 1 to 3, wherein the bridge measurement unit includes a wireless communication device for performing wireless communication with the calculation unit.

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