JP2021152251A - Deformation location detection device, deformation location detection program, and deformation location detection method - Google Patents

Abstract

To provide a deformation location detection device, deformation location detection program, and deformation location detection method that can automatically and highly accurately detect a deformed area on a road such as a pothole, and that can reduce the mental and physical burden on workers and improve the efficiency of road inspection work.SOLUTION: A deformation location detection device 1 that detects a deformed area on a road based on road surface height data obtained by measuring the road surface height at a plurality of measurement points on the road comprises: base data averaging the height of the surrounding road surface excluding the vicinity of the measurement point; a displacement difference calculation unit 38 that calculates the difference from center data obtained by averaging the road surface height in the vicinity of the measurement points as a displacement difference; and a deformation location detection unit 39 that detects abnormal measurement points whose displacement difference is greater than or equal to a depth threshold value as deformed areas, and detects normal measurement points whose displacement difference is less than the depth threshold value as non-deformed areas.SELECTED DRAWING: Figure 1

Description

The present invention relates to a deformed portion detecting device for detecting a deformed portion on a road, a deformed portion detecting program, and a deformed portion detecting method, such as a pothole generated on a road.

Conventionally, in daily inspection work on expressways, workers visually inspect the road surface condition while traveling in an inspection vehicle. Then, every time a deformed part such as a so-called pothole (depression) is found, the inspection vehicle is stopped on the shoulder of the road, the size and depth of the pothole are confirmed, a photograph is taken, and the position is recorded. Furthermore, when the inspection work is completed, the workers immediately return to the office, etc. to determine the necessity of emergency repairs, etc., and prepare an inspection report for each of the found abnormalities. In addition, urgent items are patched on the spot.

As an invention for reporting the road condition, for example, in Japanese Patent Application Laid-Open No. 2007-65554, information related to the road damage status such as the road specification and the damage status for specifying the damaged part of the road is registered from the screen. Externally prescribed damage data registration means, means for acquiring road condition photograph including damaged part and damage position information, and emergency report information consisting of registered road damage condition related information, road condition photograph and damage position. A mobile terminal for road condition reporting provided with a means for transmitting report information to be transmitted to a server has been proposed (Patent Document 1).

Japanese Unexamined Patent Publication No. 2007-65554

However, in the conventional road inspection work including the invention described in Patent Document 1, a worker visually identifies a deformed part such as a pothole. For this reason, if there are many deformed parts, or if you cannot stop on the shoulder due to snow, etc. and perform inspection work while driving with an inspection vehicle, you should not overlook the deformed parts. In addition to the heavy pressure, there is a risk that the deformed part will actually be overlooked.

Further, in the conventional road inspection work, as described above, every time a deformed part is found, a worker gets off the inspection vehicle and performs the work. For this reason, there is a problem that the physical burden on the worker is large, the work efficiency is poor, and the work time is long. In particular, depending on the region and time of year, hundreds or more of deformed parts may occur each month, which is a factor that hinders the efficiency of daily inspection work.

The present invention has been made to solve such a problem, and it is possible to automatically and highly accurately detect a deformed part on a road such as a pothole, and the mentality of a worker. The purpose of the present invention is to provide a deformed part detection device, a deformed part detection program, and a deformed part detection method that can reduce the physical burden and improve the efficiency of road inspection work.

The displacement location detection device according to the present invention can automatically and accurately detect a displacement location on a road such as a pot hole, reducing the mental and physical burden on the worker and at the same time. Displacement that detects displacement on the road based on road surface height data that measures the road surface height at multiple measurement points on the road in order to solve the problem of improving the efficiency of road inspection work. Displacement that is a location detection device and calculates as a displacement difference the difference between the base data that averages the road surface height around the measurement point and the center data that averages the road surface height near the measurement point. The difference calculation unit and the abnormal measurement point whose displacement difference is equal to or greater than the depth threshold are detected as deformed points, and the normal measurement point whose displacement difference is less than the depth threshold is non-deformed. It has a deformed part detection unit for detecting as a part.

Further, as one aspect of the present invention, in order to solve the problem of detecting a series of deformed parts with high accuracy, the deformed part detecting unit performs the abnormality measurement in which one or a plurality of the normal measurement points are two. When it is sandwiched between the points and the interval between the abnormal measurement points is equal to or less than the threshold for detecting a series of deformed points, each of the sandwiched normal measurement points may be detected as the deformed point. ..

Further, as one aspect of the present invention, in order to solve the problem of accurately measuring the road surface height at each measurement point, the road surface height data irradiates the road with a pulsed laser beam to radiate the road surface. It is measured by a laser scanner that calculates the distance based on the time until the laser light reflected on the surface returns, and the dispersion of the road surface height is minimized for each of the road surface height data for one scan by the laser scanner. It may have a horizontal angle calculation unit that calculates the irradiation angle as the horizontal angle of the road surface, and a road surface height correction unit that corrects the road surface height by using the horizontal angle and the following equation (1).
Yi = Li · cos (θi + θh)… Equation (1)
However, each code represents the following.
Yi: Road surface height obtained by the i-th irradiation Li: Distance obtained by the i-th irradiation θi: i-th irradiation angle θh: Horizontal angle of the road surface

Further, as one aspect of the present invention, in order to solve the problem of accurately grasping a series of deformed parts, the measurement points detected as the deformed parts are two in the traveling direction and / or the crossing direction of the road. When two or more are continuous, it may have a size calculation unit for calculating the size of the continuous deformed portion.

Further, as one aspect of the present invention, in order to solve the problem of extracting only the deformed portion having a desired size, the deformed portion detecting unit is a deformed portion calculated by the size calculating unit. Only the deformed portion having a size equal to or larger than the threshold for detecting the deformed portion may be detected as the deformed portion.

Further, as one aspect of the present invention, in order to solve the problem of excluding unnecessary kilopost value data and improving the detection accuracy, the KP position data which is the position information of the kilopost provided along the road is used. Based on this, the measurement position data, which is the position information recorded at predetermined time intervals during the measurement of the road surface height data, is converted into the kilopost value, and the kilopost value data showing the correspondence between the kilopost value and the measurement time is created. The kilopost value data creation unit has a kilopost value data creation unit, and the kilopost value data creation unit calculates the vehicle speed of the inspection vehicle when the road surface height data is measured based on the kilopost value and the measurement time. Kilopost value data in which the vehicle speed is outside the predetermined normal speed range may be excluded.

The displacement detection program according to the present invention can automatically and accurately detect a displacement on the road such as a pothole, reducing the mental and physical burden on the worker and at the same time. In order to solve the problem of improving the efficiency of road inspection work, the deformation that detects the displacement on the road based on the road surface height data that measures the road surface height at multiple measurement points on the road. Displacement that is a location detection program and calculates the difference between the base data that averages the road surface heights around the measurement point and the center data that averages the road surface heights near the measurement point as the displacement difference. The difference calculation unit and the abnormal measurement point whose displacement difference is equal to or greater than the depth threshold are detected as deformed points, and the normal measurement point whose displacement difference is less than the depth threshold is non-deformed. The computer functions as a displacement detection unit that detects as a location.

The displacement location detection method according to the present invention can automatically and accurately detect a displacement location on a road such as a pothole, reducing the mental and physical burden on the worker and at the same time. Displacement that detects displacement on the road based on road surface height data that measures the road surface height at multiple measurement points on the road in order to solve the problem of improving the efficiency of road inspection work. Displacement that is a location detection method and calculates the difference between the base data obtained by averaging the road surface heights around the measurement point excluding the vicinity and the center data obtained by averaging the road surface heights in the vicinity of the measurement point as the displacement difference. The difference calculation step and the abnormal measurement point where the displacement difference is equal to or greater than the depth threshold are detected as deformed points, and the normal measurement point where the displacement difference is less than the depth threshold is non-deformed. It has a deformation location detection step for detecting as a location.

According to the present invention, it is possible to automatically and accurately detect a deformed part on the road such as a pothole, reduce the mental and physical burden on the worker, and perform road inspection work. High efficiency can be improved.

It is a block diagram which shows one Embodiment of the deformed part detection apparatus and the deformed part detection program which concerns on this invention. In this embodiment, it is a figure which shows the state of measuring the road surface height data by the laser scanner mounted on the inspection vehicle. It is a figure which shows an example of (a) base data filter, and (b) an example of a center data filter in this embodiment. In this embodiment, it is a figure which shows the relationship between the horizontal angle of a road surface, and the road surface height. In this embodiment, it is a figure which shows a mode that a plurality of normal measurement points are sandwiched between two abnormal measurement points. It is a flowchart which shows the deformed part detection method executed by the deformed part detection apparatus and the deformed part detection program of this embodiment. It is a figure which shows the experimental road used in Example 1. FIG. It is a table which shows the detection result of Example 1. FIG.

Hereinafter, an embodiment of a deformed portion detecting device, a deformed portion detecting program, and a deformed portion detecting method according to the present invention will be described with reference to the drawings. In the present invention, the deformed portion is a concept including all locations on the road that are in an abnormal state different from the normal state, such as a so-called pothole (depression). Further, in the present invention, the road is a concept including all roads paved with asphalt, concrete, etc., such as an expressway.

In the present embodiment, the deformed portion detecting device 1 is composed of a computer such as a personal computer or a tablet terminal, and as shown in FIG. 1, mainly the deformed portion detecting program 1a of the present embodiment and various data. It is composed of a storage means 2 for storing the above and a calculation processing means 3 for executing various calculation processes and functioning as each component described later. Hereinafter, each configuration means will be described in detail.

The storage means 2 stores various data and functions as a working area when the arithmetic processing means 3 performs arithmetic processing. In the present embodiment, the storage means 2 is composed of a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, and the like, and as shown in FIG. 1, the program storage unit 21 and the road surface height. It has a data storage unit 22, a measurement position data storage unit 23, a KP position data storage unit 24, a kilopost value data storage unit 25, a filter storage unit 26, and a threshold storage unit 27. Hereinafter, each component will be described in detail.

The deformed part detection program 1a of the present embodiment is installed in the program storage unit 21. Then, the arithmetic processing means 3 executes the deformation location detection program 1a to make the computer as the deformation location detection device 1 function as each component described later.

The usage pattern of the deformed portion detection program 1a is not limited to the above configuration. For example, the deformation location detection program 1a may be stored in a non-temporary recording medium that can be read by a computer, such as a USB memory or a CD-ROM, and read directly from the recording medium for execution. Further, it may be used by a cloud computing method or an ASP (Application Service Provider) method from an external server or the like.

The road surface height data storage unit 22 stores road surface height data obtained by measuring the road surface height at a plurality of measurement points on the road. In the present embodiment, as shown in FIG. 2, the road surface height data was measured by the inspection vehicle 5 equipped with the laser scanner 4 while traveling on the road to be measured. Specifically, the laser scanner 4 radiates pulsed laser light while changing the irradiation angle along the crossing direction of the road, and is based on the time until each laser light reflected on the road surface returns. The road surface height at each measurement point is measured by LiDAR (Light Detection and Ranging) technology that calculates the distance. The measured road surface height data is linked to the kilometer post value described later by the measurement time recorded at the same time.

The means for measuring the road surface height data is not limited to the laser scanner 4 as long as it can measure the cross-sectional shape of the road surface. Further, in the present embodiment, the two-dimensional LiDAR technology that radiates a pulsed laser beam along the crossing direction of the road is used, but the crossing direction of the road and the traveling direction (backward direction) of the inspection vehicle 5 are used. ), A three-dimensional LiDAR that radiates a pulsed laser beam may be used.

The measurement position data storage unit 23 stores the measurement position data acquired during the measurement of the road surface height data. In the present embodiment, the measurement position data is the position information (latitude / longitude) recorded at predetermined time intervals and the recording time thereof by an action cam or the like (not shown) with a GPS function mounted on the inspection vehicle 5. It is composed of and. The means for recording the measurement position data is not particularly limited as long as it can record highly accurate position information, and a GPS logger or the like may be used.

The KP position data storage unit 24 stores KP position data which is position information (latitude / longitude) of a kilometer post (also referred to as a milestone or a distance marker) provided along a road. In the present embodiment, the KP position data has ascending order data corresponding to the up line of the expressway in the inspection target section and descending order data corresponding to the down line. Depending on the region, the ascending order data and the descending order data may be reversed. Then, in each of the ascending order data and the descending order data, the latitude and longitude of the position where the kilometer post is installed are stored for each kilometer post.

The kilometer post value data storage unit 25 stores kilometer post value data indicating a correspondence relationship between the kilometer post value (KP value), which is a value indicated by the kilometer post, and the measurement time. This kilopost value data is obtained by converting the position information (latitude / longitude) of the measurement position data into the kilopost value, and is created by the kilopost value data creation unit 33 described later. Further, by synchronizing the measurement time of the kilopost value data and the measurement time of the road surface height data, each road surface height data is associated with the kilopost value corresponding to the measurement position of each road surface height data.

The filter storage unit 26 stores a filter for detecting a change in road surface height. In the present embodiment, the filter storage unit 26 includes a base data filter for calculating the base data obtained by averaging the road surface heights around the measurement points excluding the vicinity of the measurement points, and a center averaging the road surface heights in the vicinity of the measurement points. A center data filter for calculating data is stored. Hereinafter, each filter will be described.

The base data filter selects the height of the surrounding road surface excluding the vicinity of the measurement point. Specifically, as shown in FIG. 3A, the filter values are set to "0" for the measurement point to be calculated and the eight measurement points adjacent to the measurement point, and the other surroundings. The filter value is set to "1" for the measurement point of. As a result, only the road surface heights of the surrounding measurement points excluding the vicinity of the measurement point to be calculated are selected, and the base data is calculated by averaging them.

The center data filter selects the road surface height in the vicinity of the measurement point. Specifically, as shown in FIG. 3B, the filter values are set to "1" for the measurement point to be calculated and the eight measurement points adjacent to the measurement point, and the other surroundings. The filter value is set to "0" for the measurement point of. As a result, only the road surface height near the measurement point to be calculated is selected, and the center data is calculated by averaging them.

In the present embodiment, nine points including the measurement point to be calculated and eight measurement points adjacent to the measurement point are defined as "near the measurement point", but the present invention is not limited to this. Specifically, only the measurement point to be calculated may be "near the measurement point", and the road surface height of the measurement point may be the center data. Alternatively, the range of the vicinity may be extended not only to the measurement point to be calculated and the eight measurement points adjacent to the measurement point, but also to the measurement points around the measurement point. Further, the size of each filter may be appropriately changed according to the vehicle speed of the inspection vehicle 5, the required detection size of the deformed portion, and the like.

The threshold value storage unit 27 stores a threshold value for detecting a deformed portion. In the present embodiment, the threshold storage unit 27 has a series of depth thresholds for determining whether or not the change in road surface height at each measurement point is normal, and the detected deformed parts. A threshold value for detecting a series of deformed parts for determining whether or not it is stored is stored.

Next, the arithmetic processing means 3 controls the storage means 2 described above and executes various arithmetic processes. In the present embodiment, the arithmetic processing means 3 is composed of a CPU (Central Processing Unit) or the like, and by executing the deformation location detection program 1a installed in the storage means 2, as shown in FIG. Road surface height data acquisition unit 31, measurement position data acquisition unit 32, kilopost value data creation unit 33, horizontal angle calculation unit 34, road surface height correction unit 35, base data calculation unit 36, and center data calculation. It functions as a unit 37, a displacement difference calculation unit 38, a deformation location detection unit 39, and a size calculation unit 40. Hereinafter, each component will be described in more detail.

The road surface height data acquisition unit 31 acquires road surface height data obtained by continuously measuring the road surface height at a plurality of measurement points on the road. In the present embodiment, the road surface height data acquisition unit 31 automatically receives a recording medium such as an external hard disk that stores the road surface height data measured by the laser scanner 4 when it is connected to the deformation location detection device 1. The road surface height data is acquired and stored in the road surface height data storage unit 22.

The measurement position data acquisition unit 32 acquires the measurement position data which is the position information recorded during the measurement of the road surface height data. In the present embodiment, the measurement position data acquisition unit 32 automatically acquires the measurement position data when the action cam or the like that has recorded the measurement position data is connected to the deformation location detection device 1, and the measurement position data storage unit 32. It is designed to be stored in 23.

The kilometer post value data creation unit 33 creates kilometer post value data indicating the correspondence between the kilometer post value and the measurement time. In the present embodiment, when the measurement position data is stored in the measurement position data storage unit 23, the kilopost value data creation unit 33 refers to the KP position data stored in the KP position data storage unit 24. Then, based on the position information (latitude / longitude) of each kilometer post constituting the KP position data, all the latitude / longitude recorded in the measurement position data are converted into the kilometer post value to create the kilometer post value data. It is stored in the kilometer post value data storage unit 25.

Further, in the present embodiment, the kilometer post value data creation unit 33 calculates the vehicle speed of the inspection vehicle 5 when the road surface height data is measured based on the kilometer post value and the measurement time, and the vehicle speed is a predetermined normal speed. Exclude kilometer post value data that is out of range. As a result, for example, when the normal speed range is set to 0 km <150 km / h, the kilometer post value data when the inspection vehicle 5 is stopped (0 km / h) is excluded. In addition, the kilometer post value data when the vehicle speed based on the measured position data (kilometer post value) is an impossible speed (150 km / h or more) due to an abnormality of the action cam or the like is excluded.

In the present embodiment, the kilometer post value data creation unit 33 calculates the vehicle speed of the inspection vehicle 5 when the road surface height data is measured based on the kilometer post value and the measurement time, but the configuration is limited to this configuration. It is not something that is done. For example, the kilometer post value data creation unit 33 may exclude the kilometer post value data while the engine of the inspection vehicle 5 is stopped.

The horizontal angle calculation unit 34 calculates the horizontal angle corresponding to the inclination of the road surface from the road surface height data. In the present embodiment, the horizontal angle calculation unit 34 calculates the irradiation angle that minimizes the dispersion of the road surface height as the horizontal angle of the road surface for each road surface height data for one scan by the laser scanner 4. There is. The variance is a value indicating the degree of data dispersion, and is obtained by squared and averaged the difference between each road surface height and the average value of the road surface height.

The road surface height correction unit 35 corrects the road surface height at each measurement point based on the inclination of the road surface. In the present embodiment, as shown in FIG. 4, the road surface height correction unit 35 corrects the road surface height by using the horizontal angle calculated by the horizontal angle calculation unit 34 and the following equation (1). ing.
Yi = Li · cos (θi + θh)… Equation (1)
However, each code represents the following.
Yi: Road surface height obtained by the i-th irradiation Li: Distance obtained by the i-th irradiation θi: i-th irradiation angle θh: Horizontal angle of the road surface

The base data calculation unit 36 calculates the base data obtained by averaging the heights of the surrounding road surfaces excluding the vicinity of the measurement point. In the present embodiment, the base data calculation unit 36 uses the base data filter set in the filter storage unit 26 to select only the road surface heights of the surrounding measurement points excluding the vicinity of the measurement point to be calculated. Then, the average value of the selected road surface heights is calculated as the base data.

The center data calculation unit 37 calculates center data obtained by averaging the road surface heights in the vicinity of the measurement points. In the present embodiment, the center data calculation unit 37 selects only the road surface height in the vicinity of the measurement point to be calculated by using the center data filter set in the filter storage unit 26. Then, the average value of the selected road surface heights is calculated as center data.

If the deformed part is considerably larger than the area near the measurement point (center area) constituting the center data, the base data includes the road surface height data of the deformed part. Then, the accuracy of detecting the deformed portion is lowered, and only the contour of the large deformed portion is detected. Therefore, when detecting a large deformed part, the center area is set wide, or even if the outline of the deformed part is extracted, a logic is added to detect the large deformed part as a deformed part. Can also be detected. Specifically, when the difference between the maximum value and the minimum value of the road surface heights of the measurement points included in the base data is equal to or greater than a predetermined threshold value, the center data and the base data are automatically expanded.

Further, if the speed of the inspection vehicle 5 is high even though it is required to detect a small deformed portion, there is a possibility that only one point of the road surface height can be sampled. Then, if an averaging filter or the like is used for a plurality of adjacent measurement points, the detection accuracy may be lowered. On the other hand, when the speed of the inspection vehicle 5 is slow, a plurality of measurement points can be sampled even at a small deformed portion, so noise can be reduced by using an averaging filter or the like. That is, it is expected that the detection accuracy will be improved by appropriately selecting the filter to be used according to the detection request size of the deformed portion and the speed of the inspection vehicle 5.

The displacement difference calculation unit 38 calculates the displacement difference representing the change in the road surface height. In the present embodiment, the displacement difference calculation unit 38 calculates the difference between the base data calculated by the base data calculation unit 36 and the center data calculated by the center data calculation unit 37 as the displacement difference. .. Further, as described above, when detecting a large deformation point, the displacement difference calculation unit 38 calculates the difference between the maximum value and the minimum value of the road surface heights of the measurement points included in the base data. You may.

The deformed portion detecting unit 39 detects the deformed portion based on the displacement difference. In the present embodiment, the deformation location detection unit 39 reads the depth threshold value from the threshold storage unit 27, and detects a measurement point whose displacement difference calculated by the displacement difference calculation unit 38 is equal to or greater than the depth threshold value as a deformation location. do. On the other hand, the deformed portion detecting unit 39 detects a measurement point whose displacement difference calculated by the displacement difference calculating unit 38 is less than the depth threshold value as a non-deformed portion. In the present invention, a measurement point having a displacement difference of greater than or equal to the depth threshold is referred to as an "abnormal measurement point", and a measurement point having a displacement difference of less than the depth threshold is referred to as a "normal measurement point".

Further, in the present embodiment, when the determination of whether or not the measurement points are deformed is completed for all the measurement points, the deformed portion detecting unit 39 is one in the crossing direction or the traveling direction of the road as shown in FIG. Alternatively, identify the location where multiple normal measurement points are sandwiched between two abnormal measurement points. Then, the interval between the abnormal measurement points is compared with the threshold for detecting a series of abnormal points read from the threshold storage unit 27, and when the interval between the abnormal measurement points is equal to or less than the threshold for detecting a series of abnormal points, the abnormal measurement is performed. Each normal measurement point sandwiched between the points is detected as a deformed part. On the other hand, when the interval between the abnormal measurement points is larger than the threshold value for detecting a series of abnormal measurement points, each normal measurement point sandwiched between the abnormal measurement points is detected as it is as a non-deformed point. As a result, even if the measurement points are determined to be different deformed points when viewed individually, they are detected as a series of deformed points, so that the condition of the road surface can be grasped more accurately.

In the present embodiment, the interval between the abnormal measurement points is calculated based on the irradiation size of one point when the laser beam is irradiated directly below and the irradiation angle of the laser beam. Specifically, when the irradiation angle interval of the laser light is θ and the height from the laser scanner 4 to the road surface is h, the irradiation size of one point when the laser light is irradiated directly below has a diameter of h · tan θ. .. Further, as the irradiation angle increases from the direction directly below, the distance from the road surface increases, so that the irradiation size increases.

For example, when the irradiation size of one point at the position directly below the laser scanner 4 is 20 mm and the irradiation size of the measurement point farthest from the position directly below is 100 mm, if the threshold value for detecting a series of deformed points is set to 100 mm, the position directly below the laser scanner 4. Then, if there are up to four normal measurement points sandwiched between abnormal measurement points, they are detected as a series of deformed points. On the other hand, at the farthest position, only when there is one normal measurement point sandwiched between the abnormal measurement points, it is detected as a series of deformed points.

The size calculation unit 40 calculates the size of the deformed portion. In the present embodiment, the size calculation unit 40 is continuous when two or more measurement points detected as deformation points by the deformation point detection unit 39 are continuous in the traveling direction and / or the crossing direction of the road. Calculate the size of the deformed part. Specifically, as described above, since the irradiation size of one point is obtained depending on the irradiation position of the laser beam, the size of the deformed portion is calculated based on the irradiation size.

Next, the operation of the deformed portion detecting device 1, the deformed portion detecting program 1a, and the deformed portion detecting method of the present embodiment will be described with reference to FIG.

When detecting a deformed part existing on the road by using the deformed part detecting device 1 executed by the deformed part detecting program 1a of the present embodiment, first, the laser scanner 4 mounted on the inspection vehicle 5 is mounted in advance. The laser beam is irradiated while traveling on the road in the inspection target section, and the road surface height data is stored in the road surface height data storage unit 22. Further, during the measurement, the action cam is operated at the same time, and the position information (latitude / longitude) at each predetermined time interval is stored in the measurement position data storage unit 23 as the measurement position data. In this way, the necessary data is automatically collected only by driving the inspection vehicle 5 while operating the laser scanner 4 and the action cam, so that the road inspection work is facilitated and the road inspection work is highly efficient. To become.

Next, the road surface height data acquisition unit 31 acquires the road surface height data in the inspection target section (step S1), and the measurement position data acquisition unit 32 acquires the measurement position data recorded during the measurement (step S1). Step S2). In this way, since the road surface height data and the measurement position data are acquired separately, it is possible to acquire accurate road surface height and highly accurate position information. The processing order of steps S1 and S2 may be reversed or may be simultaneous.

When the measurement position data is acquired (step S2), the kilometer post value data creation unit 33 calculates the vehicle speed of the inspection vehicle 5 based on the kilometer post value and the measurement time, and the kilometer post value at which the vehicle speed is out of the normal speed range. Exclude the data (step S3). As a result, unnecessary kilometer post value data is excluded, so that the detection accuracy is improved. For example, by excluding the kilometer post value data when the inspection vehicle 5 is stopped, it is possible to prevent a plurality of road surface height data from being linked to the same kilometer post value. Further, by excluding the kilometer post value data in which the vehicle speed becomes an impossible speed due to an abnormality such as an action cam, it is possible to prevent the same road surface height data from being duplicately linked to a plurality of kilometer post values.

Subsequently, the kilometer post value data creation unit 33 creates kilometer post value data indicating the correspondence between the measurement time and the kilometer post value based on the measurement position data and the KP position data (step S4). As a result, by matching the measurement time of the road surface height data with the measurement time of the kilopost value data, each road surface height data and the kilopost value corresponding to the measurement position of each road surface height data are linked. ..

When the kilometer post value data is created (step S4), the horizontal angle calculation unit 34 calculates the horizontal angle corresponding to the inclination of the road surface for each road surface height data for one scan (step S5). Then, the road surface height correction unit 35 corrects the road surface height at each measurement point using the calculated horizontal angle (step S6). As a result, an accurate road surface height can be obtained even when the road surface at the measurement point is inclined.

Next, when the base data calculation unit 36 calculates the base data of each measurement point (step S7) and the center data calculation unit 37 calculates the center data of each measurement point (step S8), these base data and the center data From the above, the displacement difference calculation unit 38 calculates the displacement difference at each measurement point (step S9). As a result, a displacement difference representing a change in the road surface height in the vicinity of the measurement point can be obtained with reference to the road surface height in the periphery excluding the vicinity of the measurement point.

When the displacement difference is calculated for each measurement point (step S9), the deformation point detection unit 39 determines whether or not the displacement difference at each measurement point is equal to or greater than the depth threshold value (step S10). As a result of the determination, when the displacement difference is less than the depth threshold value (step S10: NO), the measurement point (normal measurement point) is detected as a non-deformed point (step S11). On the other hand, when the displacement difference is equal to or greater than the depth threshold value (step S10: YES), the measurement point (abnormal measurement point) is detected as a deformed point (step S12). As a result, for each measurement point on the road, whether it is a deformed part or a non-deformed part is automatically and highly accurately detected.

After that, if the determination of all the measurement points is not completed (step S13: NO), the processes after step S7 are repeated. On the other hand, when the determination of all the measurement points is completed (step S13: YES), the deformation location detection unit 39 detects a series of deformation locations based on the determination result (step S14).

That is, in the deformed portion detection unit 39, one or a plurality of normal measurement points are sandwiched between two abnormality measurement points in the crossing direction or the traveling direction of the road, and the distance between the abnormality measurement points is large. When it is equal to or less than the threshold value for detecting a series of deformed parts, each normal measurement point sandwiched between them is detected as a deformed part. As a result, even if the measurement points are judged to be non-deformed points when viewed individually, they are regarded as deformed points according to the road surface conditions of the surrounding measurement points, so a series of deformed points are automatically detected. Will be done. Therefore, the information about the deformed part on the road can be grasped more accurately.

Finally, the size calculation unit 40 calculates the size of two or more consecutive deformed portions in the traveling direction and / or the crossing direction of the road (step S15). As a result, the sizes of all the detected deformed parts, including the large deformed parts, can be grasped.

According to the present embodiment as described above, the following effects are obtained.
1. 1. It is possible to automatically and accurately detect deformed parts on the road such as potholes.
2. It is possible to reduce the mental and physical burden on workers and improve the efficiency of road inspection work.
3. 3. A series of deformed parts can be detected with high accuracy, and accurate information about the deformed parts can be grasped.
4. By correcting the road surface height using the horizontal angle, it is possible to measure the accurate road surface height even on a sloped road surface.
5. It is possible to calculate the size of the deformed part specified by two or more consecutive measurement points in the traveling direction and / or the crossing direction of the road.
6. It is possible to improve the detection accuracy by excluding unnecessary kilometer post value data.
7. It is possible to associate each road surface height data with a kilometer post value corresponding to the measurement position of each road surface height data.
8. It is possible to reduce the variation in the detection accuracy of the deformed part due to the skill level of the worker.
9. During the inspection work, it is possible to improve the quality and accuracy of the inspection work because it is possible to pay attention to the deformed parts other than the road.

Next, specific examples of the deformed portion detecting device 1, the deformed portion detecting program 1a, and the deformed portion detecting method according to the present invention will be described. The technical scope of the present invention is not limited to the features shown in the following examples.

In the first embodiment, an experiment was conducted in which the pot hole (deformed portion) existing on the road was detected by using the deformed portion detecting device 1 according to the present invention, and the detection accuracy was confirmed.

Specifically, as an experimental road, as shown in FIG. 7, five lanes (left 2, left 1, center, right 1, right 2) were set every 740 mm along the crossing direction. The hole diameters of the left 1 lane, the center lane, and the right 1 lane are different (48.6 mm, 76.3 mm, 114.3 mm), and the depth is different for each 1 m along the traveling direction (48.6 mm, 76.3 mm, 114.3 mm). 20 mm, 40 mm, 50 mm, 100 mm) Multiple pseudo pot holes were drilled.

Next, the inspection vehicle 5 equipped with the laser scanner 4 traveled on the above-mentioned experimental road, and the road surface height data was measured. At this time, as shown in FIG. 7, the center of the inspection vehicle 5 on which the laser scanner 4 is mounted traveled so as to match the left one lane. In addition, the road surface height data was acquired three times while changing the vehicle speed of the inspection vehicle 5 (10 km / h, 30 km / h, 50 km / h). Then, for each road surface height data, the above-mentioned processes from step S7 to step S12 were executed, and a pseudo pothole was detected. The result is shown in FIG.

As shown in FIG. 8, under any condition, the detection rate is 100% in the left 1 lane located directly under the laser scanner 4, the left 2 lanes on both sides thereof, and the center lane, and the pseudo pothole. Was definitely detected. Further, in the right 1 lane and the right 2 lane away from the laser scanner 4, although the detection rate is slightly lowered, when the vehicle speed is slow (10 km / h) or when the hole diameter is large (76.3 mm, 114.3 mm). ) Shows that the detection rate is 100% and the pseudo pothole can be reliably detected. The average value of the detection rates in all conditions and all lanes was 94%, indicating that pseudo potholes can be detected with a detection rate sufficient for practical use.

According to the above-mentioned Example 1, it was shown that the deformed portion can be automatically detected with a detection rate high enough to make the automatic inspection work of the deformed portion practical.

The deformed portion detecting device 1, the deformed portion detecting program 1a, and the deformed portion detecting method according to the present invention are not limited to the above-described embodiments and examples, and can be appropriately changed.

For example, in the above-described embodiment, when the threshold value for detecting the deformed portion for filtering the detected deformed portion by the size of the deformed portion is set in the threshold storage unit 27, the deformed portion is detected. The unit 39 can detect only the deformed portion whose size of the deformed portion calculated by the size calculation unit 40 is equal to or larger than the threshold for detecting the deformed portion.

Further, the laser scanner 4 may be used alone when using a high-resolution one or when the inspection vehicle is driven at a low speed, but when using a low-resolution one or when the inspection vehicle is driven at a high speed. It is preferable to arrange a plurality of laser scanners 4 side by side and measure the road surface height data at the same time. Specifically, each laser scanner 4 is arranged along the traveling direction of the road, and is fixed at an angle so that each laser scanner 4 irradiates the same portion. Then, the scan start timings of the laser scanners 4 may be staggered so as to be evenly spaced, and the road surface height may be measured in a houndstooth pattern by an interlace method.

However, in this case, it is preferable that the road surface height data measured by each laser scanner 4 is aligned and integrated according to the measurement time. Further, the horizontal angle calculation process in step S5 may be performed only by any one of the laser scanners 4 that serves as the master. Further, since the mounting position and mounting angle of each laser scanner 4 greatly affect the detection accuracy, sufficient care must be taken, and it is preferable to separately perform the measurement error correction process.

Further, each road image data in which the road is continuously photographed by the action cam mounted on the inspection vehicle 5 is acquired, and each road image data is stored in the storage means 2 in association with the kilometer post value corresponding to the photographing position. The inspection report may be automatically created. Specifically, the kilometer post value at which the deformed part is detected and the file name of the road image data corresponding to the kilometer post value are recorded as the deformation determination result, and the deformed part is based on the deformation determination result. Even if you have an inspection report creation unit that automatically creates an inspection report that includes the form information corresponding to the kilometer post value and the road image data corresponding to the file name for each kilometer post value detected. good.

1 Deformation location detection device 1a Deformation location detection program 2 Storage means 3 Arithmetic processing means 4 Laser scanner 5 Inspection vehicle 21 Program storage unit 22 Road surface height data storage unit 23 Measurement position data storage unit 24 KP position data storage unit 25 km post Value data storage unit 26 Filter storage unit 27 Threshold storage unit 31 Road surface height data acquisition unit 32 Measurement position data acquisition unit 33 Kilopost value data creation unit 34 Horizontal angle calculation unit 35 Road surface height correction unit 36 Base data calculation unit 37 Center data Calculation unit 38 Displacement difference calculation 39 Deformation location detection unit 40 Size calculation unit

Claims (8)

It is a deformed part detection device that detects a deformed part on the road based on the road surface height data obtained by measuring the road surface height at a plurality of measurement points on the road.
A displacement difference calculation unit that calculates the difference between the base data obtained by averaging the road surface heights around the measurement point excluding the vicinity of the measurement point and the center data obtained by averaging the road surface heights in the vicinity of the measurement point as the displacement difference.
An abnormal measurement point whose displacement difference is equal to or greater than the depth threshold value is detected as a deformed point, and a normal measurement point whose displacement difference is less than the depth threshold value is detected as a non-deformed point. Displacement detection unit and
Deformation location detection device. In the deformed part detection unit, one or a plurality of the normal measurement points are sandwiched between the two abnormal measurement points, and the interval between the abnormal measurement points is equal to or less than the threshold value for detecting a series of abnormal points. In this case, the deformed portion detecting device according to claim 1, wherein each of the sandwiched normal measurement points is detected as the deformed portion. The road surface height data is measured by a laser scanner that radiates a pulsed laser beam on the road and calculates the distance based on the time until the laser beam reflected on the road surface returns.
A horizontal angle calculation unit that calculates the irradiation angle that minimizes the dispersion of the road surface height as the horizontal angle of the road surface for each of the road surface height data for one scan by the laser scanner.
A road surface height correction unit that corrects the road surface height using the horizontal angle and the following equation (1),
The deformed portion detecting device according to claim 1 or 2, wherein the device has a deformed portion.
Yi = Li · cos (θi + θh)… Equation (1)
However, each code represents the following.
Yi: Road surface height obtained by the i-th irradiation Li: Distance obtained by the i-th irradiation θi: i-th irradiation angle θh: Horizontal angle of the road surface Claims having a size calculation unit for calculating the size of the continuous deformed points when two or more measurement points detected as the deformed points are continuous in the traveling direction and / or the crossing direction of the road. The deformed portion detecting device according to any one of 1 to 3. The deformed portion detecting unit detects only the deformed portion whose size of the deformed portion calculated by the size calculating unit is equal to or larger than the threshold for detecting the deformed portion as the deformed portion. The deformed portion detecting device according to claim 4. Based on the KP position data which is the position information of the kilometer post provided along the road, the measurement position data which is the position information recorded at a predetermined time interval during the measurement of the road surface height data is converted into the kilometer post value. It also has a kilometer post value data creation unit that creates kilometer post value data showing the correspondence between the kilometer post value and the measurement time.
The kilometer post value data creation unit calculates the vehicle speed of the inspection vehicle when the road surface height data is measured based on the kilometer post value and the measurement time, and the kilometer post value at which the vehicle speed is outside the predetermined normal speed range. The defect detection device according to any one of claims 1 to 5, which excludes data. It is a deformed part detection program that detects a deformed part on the road based on the road surface height data obtained by measuring the road surface height at a plurality of measurement points on the road.
A displacement difference calculation unit that calculates the difference between the base data obtained by averaging the road surface heights around the measurement point excluding the vicinity of the measurement point and the center data obtained by averaging the road surface heights in the vicinity of the measurement point as the displacement difference.
An abnormal measurement point whose displacement difference is equal to or greater than the depth threshold value is detected as a deformed point, and a normal measurement point whose displacement difference is less than the depth threshold value is detected as a non-deformed point. Displacement detection unit and
A deformed part detection program that makes the computer work. It is a deformed part detection method that detects a deformed part on the road based on the road surface height data obtained by measuring the road surface height at a plurality of measurement points on the road.
A displacement difference calculation step of calculating the difference between the base data obtained by averaging the road surface heights around the measurement point excluding the vicinity of the measurement point and the center data obtained by averaging the road surface heights in the vicinity of the measurement point as the displacement difference.
An abnormal measurement point whose displacement difference is equal to or greater than the depth threshold value is detected as a deformed point, and a normal measurement point whose displacement difference is less than the depth threshold value is detected as a non-deformed point. Displacement detection step and
A method for detecting a deformed part.

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