JP2017072386A - Slope face state measurement method and slope face state measurement device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a slope face state measurement method and a slope face state measurement device capable of measuring a state of a slope face efficiently and accurately.SOLUTION: A slope face state measurement method includes: a weeding step of performing weeding on a slope face 4 by a weeding unit 12 provided in a weeder W, on a front side of a travel direction D of the weeder W traveling on the slope face 4 of a dike 3; a detection step of emitting a laser beam L to a rear side of the travel direction D of the weeder W by a laser sensor 23 provided in the weeder W, receiving reflection light and detecting a surface shape of the slope face 4 at least in a region where weeding is performed in the weeding step, in parallel with the weeding step; and a storage step of storing information acquired in the detection step to a predetermined storage part 28.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a slope state measuring method and a slope state measuring apparatus for measuring a slope state of a dike.

  Rivers and other embankments may be deformed, such as cracks, depressions, subsidence, or legal collapse due to erosion caused by running water or rain, or land subsidence. If such a deformation is left unattended, a disaster such as a breakdown or an accident may occur. Therefore, in the past, periodic inspections by visual inspection have been performed. Further, in the mobile mapping system described in Patent Document 1 below, a vehicle equipped with a laser scanner is made to travel on the top of the levee and three-dimensional point cloud data relating to the top is acquired. In this mobile mapping system, since the deformation of the levee can be grasped by analyzing the acquired data, work efficiency can be improved as compared with the case of visual observation.

JP2015-94722A

  However, when the mobile mapping system described in Patent Document 1 is applied to the measurement of the state of a slope, the measurement accuracy is reduced by blocking the laser beam by grass or weeds vegetated on the slope. There is a risk that.

  Accordingly, an object of the present invention is to provide a slope state measuring method and a slope state measuring apparatus capable of measuring a slope state efficiently and accurately.

  The slope state measuring method of the present invention includes a weeding step in which weeding is performed by a weeding unit provided in the weeder on the front side in the traveling direction of the weeder traveling on the slope of the dike, and the weeding step. The surface shape of the slope in the area where weeding was performed at least in the weeding process by emitting laser light to the rear side in the running direction of the weeder by the laser sensor provided in the weeding machine and receiving reflected light And a storage step of storing the information acquired in the detection step in a predetermined storage unit.

  In this slope state measuring method, the surface shape of the slope is detected by a laser sensor on the rear side in the traveling direction of the weeder in parallel with the weeding in the traveling direction front side of the weeder traveling on the slope. Therefore, the surface shape of the slope immediately after weeding can be detected. Thereby, it is possible to prevent the laser light from being blocked by grass on the slope, and it is possible to accurately measure the state of the slope. Moreover, since it is not necessary to run the top of the vehicle separately from the weeder as in the prior art, further work efficiency can be improved. Therefore, according to this slope state measuring method, it is possible to measure the slope state efficiently and accurately. Note that “weeding” means mowing the grass, collecting the mowed grass, or performing them in parallel.

  In the slope state measuring method of the present invention, in the detection step, an image of the surface of the slope in at least a region where weeding was performed in the weeding step may be acquired by a camera provided in the weeding machine. According to this, since the image of the surface of the slope is stored in the storage unit, it is possible to grasp the deformation of the slope with reference to the surface shape of the slope and the surface image, and more accurately. It becomes possible to grasp the deformation. For example, when the presence or absence of deformation is not certain from the surface shape, the presence or absence of deformation can be more reliably grasped by referring to the image at the location.

  Further, in the slope state measuring method of the present invention, in the detection step, the temperature of the slope surface in at least the region where weeding was performed in the weeding step may be detected by a temperature sensor provided in the weeding machine. . According to this, since the temperature of the surface of the slope is stored in the storage unit, it is possible to grasp the deformation of the slope with reference to the surface shape of the slope and the surface temperature, and more accurately. It becomes possible to grasp the deformation. For example, when there is a small animal hole on the slope, it is possible to grasp the presence or absence of deformation more reliably by using the fact that the temperature of the peripheral part of the hole is lower than the other part. it can.

  Further, in the slope state measuring method of the present invention, in the detection step, when the traveling speed of the weeder is equal to or less than a predetermined threshold, the per unit time of the laser sensor is larger than when the traveling speed of the weeder is larger than the threshold. The number of detections may be reduced. According to this, when the traveling speed is low, the data amount can be reduced by reducing the detection frequency of the laser sensor. Thereby, for example, when the amount of data stored in the storage unit is reduced or when the acquired information is transmitted to the storage unit, the amount of data to be transmitted can be reduced. Further, when the traveling speed is low, the power consumption of the laser sensor can be reduced, and power saving can be achieved.

  Further, the slope state measuring device of the present invention is a slope state measuring device mounted on a weeder that runs on the slope of the levee and performs weeding of the slope by the weeding unit on the front side in the running direction, A laser sensor that emits laser light to the rear side in the running direction of the weeder and receives the reflected light, and detects the surface shape of the slope in the area where weeding was performed by at least the weeding unit, and was acquired by the laser sensor A control unit that receives information and stores the received detection result in a predetermined storage unit.

  In this slope state measuring device, the surface shape of the slope is detected by a laser sensor on the rear side in the traveling direction of the weeder in parallel with the weeding on the front side in the traveling direction of the weeder traveling on the slope. Therefore, the surface shape of the slope immediately after weeding can be detected. Thereby, it is possible to prevent the laser light from being blocked by grass on the slope, and it is possible to accurately measure the state of the slope. Moreover, since it is not necessary to run the top of the vehicle separately from the weeder as in the prior art, further work efficiency can be improved. Therefore, according to this slope state measuring apparatus, it is possible to measure the slope state efficiently and accurately.

  According to the present invention, it is possible to provide a slope state measuring method and a slope state measuring apparatus capable of measuring a slope state efficiently and accurately.

It is a side view of the weeder equipped with the slope state measuring device of an embodiment. It is a schematic block diagram of the slope state measuring apparatus of FIG. It is a schematic diagram which shows a mode that the state of a slope is measured by the slope state measuring apparatus of FIG. It is a schematic diagram which shows the example of deformation of a slope. It is a flowchart which shows the process sequence by the slope state measuring apparatus of FIG.

  Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings. In the following description, the same reference numerals are used for the same or corresponding elements, and duplicate descriptions are omitted.

  As shown in FIG. 1, the slope state measuring device 1 is mounted on a large weeder W. The weeder W travels on the slope 4 of the levee 3 (see FIGS. 3 and 4) and removes the grass 7 on the slope 4. The weeding machine W includes a main body unit 10, a traveling unit 11 that causes the main body unit 10 to travel in the traveling direction D, and a weeding unit 12 that performs weeding on the slope 4. The weeding machine W is, for example, Crocan George CG670 manufactured by Tsukisui Canycom.

  The traveling unit 11 includes, for example, a driving source such as a diesel engine provided in the main body unit 10 and a moving unit 11a such as a caterpillar (registered trademark) provided on a side surface of the main body unit 10. Yes. The moving unit 11a is driven by the driving source and moves the main body unit 10 in the traveling direction D. The traveling unit 11 is configured to be able to change the traveling direction D of the main body unit 10.

  The weeding unit 12 is attached to the front side of the traveling direction D in the main body 10. The weeding unit 12 includes, for example, a grass cutting unit 12a for cutting the grass 7 on the slope 4 and a grass collecting unit (not shown) for collecting the cut grass 7, and the grass cutting unit 12a. Any one of the grass collecting unit and the grass collecting unit is selectively attached to the main body 10. FIG. 1 shows a state where the mowing unit 12a is attached.

  The driving of the weeder W (for example, the traveling direction D and the traveling speed) is controlled by a control signal transmitted from the transmitter 14, for example. The transmitter 14 is operated by an operator, for example. Note that part or all of the control of the weeder W may be automated. For example, the weeder W may travel at a preset traveling speed along a preset route.

  Next, the slope state measuring apparatus 1 will be described. The slope state measuring device 1 is a device for measuring the state of the slope 4. As shown in FIGS. 1 and 2, the slope state measuring apparatus 1 includes a GPS 21, an IMU (Inertial Measurement Unit) 22, a laser sensor 23, a camera 25, a temperature sensor 26, and a speed. A sensor 27, a storage unit 28, and a control unit 29 are provided. GPS21, IMU22, the memory | storage part 28, and the control part 29 are arrange | positioned in the housing | casing 20 fixed to the main-body part 10, for example.

  The GPS 21 detects the position information of the weeder W and outputs the detection result to the control unit 29. The IMU 22 detects the angular velocity and acceleration of the weeder W in the three axis directions of the XYZ axes, and outputs the detection result to the control unit 29. The information acquired by the IMU 22 is used for correcting the position information acquired by the GPS 21, for example.

  The laser sensor 23 is a sensor (laser scanner) that detects position information of a detection target using the laser light L. The laser sensor 23 is attached to the rear side of the traveling direction D in the main body unit 10 via a vibration isolation frame 24, for example. The anti-vibration gantry 24 is a gantry for reducing vibrations acting on the laser sensor 23, and here is constituted by a frame portion 24 a that supports the laser sensor 23. Such a vibration isolator 24 is particularly effective when using a diesel engine that is relatively susceptible to vibration as a drive source of the moving part 11a as in the present embodiment. The anti-vibration mount 24 is attached to the main body 10 via an attachment, for example, and is detachable from the main body 10.

  The laser sensor 23 emits laser light L to the rear side in the traveling direction D of the weeder W and receives reflected light of the emitted laser light L. The laser sensor 23 detects the surface shape of the slope 4 on the rear side in the traveling direction D of the weeder W and outputs the detection result to the control unit 29. The laser sensor 23 here is a three-dimensional sensor capable of three-dimensional detection in the horizontal direction and the vertical direction. As shown in FIG. 1, in this example, the laser sensor 23 is installed so that the angle θ between the laser light L and the slope 4 is close to 90 degrees, for example, 70 degrees or more and 90 degrees or less. Yes. The laser sensor 23 is configured to be able to change the number of detections per unit time.

  The camera 25 is attached to the frame portion 24a of the vibration isolation mount 24, for example. The camera 25 acquires an image of the surface of the slope 4 on the rear side in the traveling direction D of the weeder W and outputs the acquired image to the control unit 29. The temperature sensor 26 is a non-contact sensor attached to the rear side of the traveling direction D in the main body 10, for example. The temperature sensor 26 detects the temperature of the surface of the slope 4 on the rear side in the traveling direction D of the weeder W and outputs the detection result to the control unit 29. The speed sensor 27 is attached to a predetermined position of the main body unit 10, for example, detects the traveling speed of the weeder W, and outputs the detection result to the control unit 29.

  The storage unit 28 has a storage area for storing information acquired by each unit, for example. Here, the storage unit 28 is a portable storage medium such as an SD card. The storage unit 28 may not be mounted on the weeder W, and may be a memory of an external terminal configured to be able to communicate with the control unit 29, a storage medium connected to the external terminal, or the like.

  The control unit 29 is configured by a computer including, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The control unit 29 receives information from the GPS 21, IMU 22, laser sensor 23, camera 25, temperature sensor 26, and speed sensor 27 and stores the received information in the storage unit 28. At this time, the control unit 29 attaches time information and position information to the data received from each unit, or accepts data with the time information and position information from each unit, and adds the data with the time information and position information. Store in the storage unit 28. Further, as will be described later, the control unit 29 executes control to reduce the number of detections per unit time of the laser sensor 23 when the traveling speed of the weeder W is equal to or less than a predetermined threshold.

  Next, a procedure for measuring the state of the slope 4 using the slope state measuring device 1 will be described with reference to FIG. As shown in FIG. 3, a bank 3 such as a river includes a slope 4 and a top 5. The slope 4 is an inclined surface that connects between the top 5 and the ground 6. The slope 4 is vegetated with turf and weeds. The top 5 is the top surface of the levee 3. The ground 6 is a ground such as a high waterbed on the river side (river front side) or a ground opposite to the river side (river side). In FIG. 3, a region before the grass 7 is cut on the slope 4 is indicated by a symbol A.

  The operator remotely operates the weeding machine W to which the mowing unit 12a is attached by using the transmitter 14, and causes the weeding machine W to travel on the slope 4 to move the grass 7 on the slope 4 in front of the traveling direction D. Mow. For example, as shown in FIG. 3, the operator causes the weeder W to travel along the slope 4 a on the slope 4 a (boundary between the slope 4 and the ground 6) side of the slope 4. Thereafter, the weeding machine W is moved to the side of the shoulder 4b (the boundary between the slope 4 and the top 5) (for example, the weeding machine W is rotated to change the traveling direction D by 180 degrees), and again to the slope 4a. The weeder W is run along. This is repeated until the entire weeding range on slope 4 is weeded. In addition, the weeding range and the weeding order of the slope 4 may be arbitrarily set. Moreover, either the slope 4 on the river front side or the river back side may be weeded, or both of them may be weeded.

  In the slope state measuring device 1, the grass sensor 7 is cut by the laser sensor 23 on the rear side in the traveling direction D in parallel with the grass 7 on the slope 4 being cut by the mowing unit 12 a on the front side in the traveling direction D. The surface shape of the slope 4 on the rear side in the traveling direction D is detected. Thereby, the surface shape of the slope 4 immediately after the grass 7 is cut by the grass cutting unit 12a is detected.

  Here, the detection range of the laser sensor 23 should just include the area | region where the grass 7 was cut at least by the mowing unit 12a, and may be larger than the said area | region. That is, in the width direction of the weeder W (the direction perpendicular to the traveling direction D and the vertical direction), the scan width of the laser sensor 23 is about the same as the width of the weeder W (the mowing range of the mowing unit 12a). It may be larger than the width of the weeder W.

  In parallel with the detection by the laser sensor 23, an image of the surface of the slope 4 on the rear side in the traveling direction D of the weeder W is acquired by the camera 25. In parallel with the detection by the laser sensor 23, the temperature sensor 26 detects the temperature of the surface 4 of the slope 4 on the rear side in the traveling direction D of the weeder W.

  The data acquired as described above and stored in the storage unit 28 is analyzed by an administrator using a terminal for analysis in a management office, for example. For example, based on the information acquired by the laser sensor 23, the administrator creates a map that represents the relationship between the position on the slope 4 and the surface shape as three-dimensional elevation data using a point sequence. For example, the administrator can visually detect the map displayed on the display to detect the deformation of the slope 4 and to identify a place where the deformation may occur.

  As shown in FIG. 4, examples of the deformation occurring on the slope 4 include a crack 31, a depression 32, or a hole 33 dug by a small animal such as a mole or a fox. Instead of visual detection, deformation of the slope 4 may be detected by analyzing the map using predetermined software. Further, the deformation of the slope 4 may be detected by comparing the map created this time with the map created in the past (difference analysis).

  Further, the manager may superimpose an image of the surface of the slope 4 on the map and detect the deformation of the slope 4 based on the obtained data. For example, image information may be superimposed on the map, or a map based on image information may be created separately from the map. Alternatively, the manager may superimpose the temperature information on the surface of the slope 4 on the map and detect the deformation of the slope 4 based on the obtained data. For example, when the small animal hole 33 exists on the slope 4, the temperature of the peripheral part of the small animal hole 33 is lower than the other part. By utilizing this, the presence or absence of deformation can be more reliably grasped.

  Next, a processing procedure (slope state measuring method) by the slope state measuring apparatus 1 will be described with reference to FIG. First, weeding of the slope 4 is performed by the mowing unit 12a on the front side of the traveling direction D of the weeder W traveling on the slope 4 (S1, weeding step).

  In parallel with the weeding process, the laser sensor 23 emits laser light L to the rear side in the traveling direction D of the weeder W and receives the reflected light, and the slope 4 in the area where weeding was performed in the weeding process. The surface shape is detected (S2, detection step).

  In this detection process, an image of the surface of the slope 4 in the area where weeding was performed in the weeding process is acquired by the camera 25. In the detection step, the temperature sensor 26 detects the temperature of the surface of the slope 4 in the area where weeding was performed in the weeding step.

  Further, in the detection process, the control unit 29 detects the number of detections per unit time of the laser sensor 23 when the traveling speed of the weeder W is equal to or less than a predetermined threshold than when the traveling speed of the weeder W is larger than the threshold. Reduce. Next, the control unit 29 stores the information acquired in the detection step in the storage unit 28 (S3, storage step).

  As described above, in this slope state measuring method, a laser sensor is provided on the rear side of the traveling direction D of the weeder W in parallel with the weeding on the front side of the traveling direction D of the weeder W traveling on the slope 4. 23, since the surface shape of the slope 4 is detected, the surface shape of the slope 4 immediately after weeding can be detected. Thereby, it can suppress that the laser beam L is interrupted by the grass 7 on the slope 4, and it becomes possible to measure the state of the slope 4 with high accuracy. Moreover, since it is not necessary to run the top 5 in a vehicle separate from the weeder W unlike the prior art, further work efficiency can be achieved. Therefore, according to this slope state measuring method, the state of the slope 4 can be measured efficiently and accurately.

  Moreover, in this slope state measuring method, since the surface shape of the slope 4 is detected by the laser sensor 23 provided in the weeder W, compared with the case of detecting from the top 5 as in the prior art, The state of the slope 4 can be measured from a shorter distance. Furthermore, in the prior art, since the laser beam L is output from the top 5, the angle θ formed between the laser beam L and the slope 4 becomes small and the laser beam L is easily blocked by the grass 7. In the measurement method, the laser beam L can be incident at an angle closer to the perpendicular to the slope 4. Also from these things, it is possible to measure the state of the slope 4 with high accuracy. According to this slope state measuring method, it is possible to grasp the hole 33 of a small animal, which was difficult to detect with the prior art.

  In the case of using the conventional technique, it is also conceivable to measure the state of the slope 4 immediately after mowing that is carried out periodically in order to suppress the influence of the grass 7. However, it is difficult to mow the slope 4 on the whole dike 3 at the same time or on the same day, and mowing is performed for each area, for example, so it is difficult to measure immediately after mowing in all areas. For example, even if measurement is performed one week after mowing, the measurement accuracy may be reduced, and in particular, it is difficult to detect a relatively small deformation such as the small animal hole 33. On the other hand, according to this slope state measuring method, the surface shape of the slope 4 immediately after weeding can be detected, so that the state of the slope 4 can be accurately measured.

  In this slope state measuring method, in the detection process, an image of the surface of the slope 4 in the area where weeding was performed in the weeding process is acquired by the camera 25 provided in the weeding machine W. Thereby, since the image of the surface of the slope 4 is stored in the storage unit 28, the deformation of the slope 4 can be grasped by referring to the surface shape of the slope 4 and the surface image. It becomes possible to grasp the deformation with high accuracy. For example, when the presence or absence of deformation is not certain from the surface shape, the presence or absence of deformation can be more reliably grasped by referring to the image at the location.

  Further, in this slope state measuring method, in the detection step, the temperature sensor 26 provided in the weeder W detects the temperature of the surface of the slope 4 in the area where weeding was performed in the weeding step. Thereby, since the temperature of the surface of the slope 4 is stored in the storage unit 28, the deformation of the slope 4 can be grasped by referring to the surface shape of the slope 4 and the surface temperature. It becomes possible to grasp the deformation with high accuracy. For example, when the hole 33 of the small animal exists on the slope 4, it is possible to grasp the presence or absence of deformation more reliably by utilizing the fact that the temperature of the peripheral part of the hole 33 is lower than the other part. can do.

  Further, in this slope state measuring method, in the detection step, when the traveling speed of the weeder W is equal to or lower than a predetermined threshold, the unit time of the laser sensor 23 is larger than when the traveling speed of the weeder W is larger than the threshold. Reduce the number of detections per hit. Therefore, when the traveling speed is low, the detection frequency of the laser sensor 23 can be reduced to reduce the amount of data. Thereby, for example, when the amount of data stored in the storage unit 28 is reduced or when the acquired information is transmitted to the storage unit 28, the amount of data to be transmitted can be reduced. Further, when the traveling speed is low, the power consumption of the laser sensor 23 can be reduced, and power saving can be achieved.

  As mentioned above, although preferred embodiment of this invention was described, this invention is not limited to the said embodiment. For example, the camera 25, the temperature sensor 26, or the speed sensor 27 may not be provided. Further, instead of detecting the traveling speed of the weeder W by the speed sensor 27, the traveling speed of the weeder W may be calculated based on the position information detected by the GPS 21. Further, the weeder W may not be remotely operated by the transmitter 14, but may be operated by an operator.

  Further, in the above embodiment, the case where the grass 7 on the slope 4 is cut by the mowing unit 12a has been described as an example, but the grass 7 on the slope 4 is collected by the weeding machine W to which the grass collecting unit is attached. In this case, the state of the slope 4 may be measured. Even in this case, the surface shape of the slope 4 immediately after weeding (collecting) can be detected, and the state of the slope 4 can be accurately measured.

  In addition, the weeding unit 12 may include a unit that can mow the grass 7 on the slope 4 and collect the mowed grass 7. Even in this case, the surface shape of the slope 4 immediately after weeding can be detected, and the state of the slope 4 can be accurately measured. That is, the weeding unit 12 should just be comprised so that at least 1 of cutting the grass 7, collecting the cut grass 7, or performing them simultaneously in parallel is possible.

DESCRIPTION OF SYMBOLS 1 ... Slope state measuring apparatus, 3 ... Dike, 4 ... Slope, 12 ... Weeding unit, 23 ... Laser sensor, 25 ... Camera, 26 ... Temperature sensor, 28 ... Memory | storage part, 29 ... Control part, D ... Running direction , L ... laser light, W ... weeder.

Claims (5)

On the front side in the running direction of the weeder traveling on the slope of the levee, a weeding step of weeding the slope by the weeding unit provided in the weeder;
Performed in parallel with the weeding step, the laser sensor provided in the weeding machine emits laser light to the rear side in the running direction of the weeding machine and receives the reflected light, and at least the weeding process performs weeding. A detection step of detecting a surface shape of the slope in a broken area;
And a storage step of storing the information acquired in the detection step in a predetermined storage unit.   The slope state measurement method according to claim 1, wherein in the detection step, an image of the surface of the slope in at least a region where weeding has been performed in the weeding step is acquired by a camera provided in the weeder.   The slope state measurement according to claim 1 or 2, wherein in the detection step, a temperature sensor provided in the weeding machine detects a temperature of the surface of the slope in at least a region where weeding is performed in the weeding step. Method.   In the detection step, when the traveling speed of the weeder is equal to or less than a predetermined threshold, the number of detections per unit time of the laser sensor is made smaller than when the traveling speed of the weeder is larger than the threshold. The slope state measuring method of any one of 1-3. A slope state measuring device mounted on a weeder that runs on the slope of a dike and performs weeding of the slope by a weeding unit on the front side in the running direction,
A laser sensor that emits laser light to the rear side in the traveling direction of the weeder and receives the reflected light, and detects a surface shape of the slope in an area where weeding is performed at least by the weeding unit;
A slope state measuring apparatus comprising: a control unit that receives information acquired by the laser sensor and stores the received information in a predetermined storage unit.

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