JP5602324B1 - Road measurement system - Google Patents

Abstract

To provide a road measurement system capable of accurately specifying measurement information caused by a structure among measurement information collected in the vicinity of the structure and accurately specifying a measurement position of the measurement information.
A road measurement system S mounted on a vehicle 1 includes moving image data from a moving image camera 2, acceleration data from an acceleration sensor 3, shape data from a surface shape sensor 4, and line scan camera 6. The scan data, the GPS signal from the GPS receiver 7, the speed data and distance data from the distance sensor 5, the sound data from the microphone 9, and the rutting amount data from the rutting measuring device 10 are obtained at the acquisition time. The data are stored in the storage device 83 in association with each other. When the acceleration data exceeds the reference value, the CPU 81 extracts the bridge number from the moving image data, and associates the installation position of the joint 7 specified by the bridge number with the measurement position of the acceleration data. An inspection screen for inspecting the road is displayed on the display of the notebook PC 8.
[Selection] Figure 1

Description

  The present invention relates to a road measurement system that can specify a road surface condition and an information collection position with high accuracy based on information collected by a vehicle traveling on a road.

  On various roads including highways, road surface measurements are regularly performed as part of road maintenance to ensure comfortable driving and safety of vehicles. Examples of the measurement performed for road maintenance include measurement of a shape for the purpose of grasping cracks, rutting, and potholes generated on a road surface, and measurement of a step generated in a joint of a bridge. When performing these measurements, it is common to regulate the travel of the vehicle in the target lane or section and perform the measurement work within this restricted area. However, setting travel regulations on the road may cause traffic congestion and may cause an accident due to a vehicle entering the restricted area.

  Therefore, a measuring device that can be mounted on a vehicle has been developed (see, for example, Patent Document 1), and road measurement is not required by measuring a road surface from a vehicle that travels using such a measuring device. Thus, it is possible to prevent traffic congestion and accidental accidents due to travel regulations.

  This type of measuring device includes a GPS receiver that receives position information from a GPS satellite, and associates position information received by the GPS receiver with measurement information from a sensor that measures the road surface, and obtains a measurement information acquisition position. Has been identified. In addition, in order to specify the acquisition position of the measurement information, a distance sensor that detects the travel distance of the vehicle is provided, and the measurement information acquisition position is obtained by associating the measurement information with the travel distance from the measurement start position detected by the distance sensor. Some are specific.

  However, since the position information acquired by the GPS receiver has a relatively large error, it is difficult to specify the acquisition position of the measurement information with high accuracy, and errors due to lane changes and travel routes accumulate in the travel distance. Therefore, there is a problem that it is difficult to specify the measurement position with high accuracy.

  Accordingly, the present inventors collect measurement information such as road surface shape and the like, take a moving image on the side of the road, and specify the measurement position of the measurement information based on the pier number mark extracted from the moving image. A road measurement method has been proposed (Patent Document 2). In this road measurement method, measurement information that exceeds a predetermined threshold at a time in the vicinity of the time at which the pier number mark is extracted passes over a joint that is specified in advance corresponding to the extracted pier number mark. The measurement position of the measurement information exceeding this threshold is determined as the joint installation position, thereby specifying the measurement position of other measurement information.

JP 2001-101565 A Japanese Patent No. 5430781

  Since the joints of road bridge decks are often made of steel and the materials of the joints and pavement are different, damage such as potholes or rutting is likely to occur on the surface of the pavement adjacent to the joints. In addition, the joint connects two floor slabs, and a step or a gap is likely to occur between members fixed to each floor slab. Further, there are often repair marks formed by repairing damage on the surface of the pavement adjacent to the joint. Due to these, measurement information such as vertical acceleration and road surface shape collected around the joint often exceeds a threshold value continuously. Therefore, in the road measurement method based on the above pier number mark, it is difficult to determine which measurement information exceeding the threshold corresponds to the installation position of the joint, and it may be difficult to specify the position of the measurement information. is there. Such problems also exist for other structures such as cross drains.

  Also, in road maintenance work, it is necessary to promptly deal with road problems, so analysis work is performed following the collection of measurement information to quickly and easily find road problems and determine the location of the problem. Is required to be identified quickly and easily.

  Accordingly, an object of the present invention is to provide a road measurement system that can accurately specify measurement information caused by a structure among measurement information collected in the vicinity of the structure and can accurately specify a measurement position of the measurement information. There is to do. It is another object of the present invention to provide a road measurement system that can quickly and easily find road surface defects and specify positions following measurement information collection.

In order to solve the above problems, the road measurement system of the present invention is
A measurement unit that is mounted on a vehicle and performs measurement on a road while the vehicle is running and outputs measurement information;
A display object that is mounted on a vehicle and identifies a structure whose arrangement position is specified in advance while the vehicle is traveling, a moving image photographing unit that photographs the structure and the road surface at the same time, and outputs a moving image;
A display unit that displays the measurement information output from the measurement unit and the moving image output from the moving image capturing unit in a common time series;
The measurement unit includes a calculation unit that associates an acquisition position of measurement information that exceeds a predetermined value due to the structure among the measurement information displayed on the display unit with an arrangement position of the structure. .

  According to the above configuration, the measurement unit mounted on the vehicle measures the road and outputs measurement information while the vehicle is traveling. As the content of the measurement related to the road, for example, the speed of the vehicle, the acceleration of the vehicle, the running sound, the road surface shape, the outside air temperature, the friction coefficient of the road surface, the rainfall amount, the road surface temperature and the like can be adopted. The moving image photographing unit mounted on the vehicle outputs from the moving image photographing unit a moving image obtained by simultaneously photographing the display object for specifying the structure, the structure, and the road surface while the vehicle is traveling. Here, the structure can be confirmed by measurement information output from the measurement unit, and corresponds to, for example, a bridge joint, a drainage groove, a lane mark, or the like. The display object indicates the presence and position of the structure, and includes a pier number mark, a sign, a kilopost, and the like. The measurement information output from the measurement unit and the moving image output from the moving image capturing unit are displayed on the display unit along a common time series. Among the measurement information displayed on the display unit, the acquisition position of the measurement information exceeding a predetermined value due to the structure is associated with the arrangement position of the structure specified in advance by the calculation unit It is done. As a result, the acquisition position of the measurement information can be specified with high accuracy. Here, the measurement information output from the measurement unit and the moving image output from the moving image capturing unit are displayed on the display unit in a common time series on the display unit. The person can grasp the road surface condition with the moving image following the collection work of the measurement information by running the vehicle, and compare the moving image acquired at the same or near time with the measurement information. Can do. Therefore, it is possible to quickly and easily confirm the presence or absence of a road surface problem after collecting measurement information, and to identify the position of the problematic road surface.

  In addition, the measurement information output from the measurement unit and the moving image output from the moving image capturing unit are displayed on the display unit in a common time series on the display unit. Can easily confirm the measurement information and the moving image acquired at the same or near time. Therefore, even if the measurement information continuously exceeds the predetermined value around the structure, the measurement information exceeds the predetermined value by checking the moving image taken at the same time as or near to the measurement information. The cause can be easily identified.

The road measurement system according to an embodiment includes an input unit that receives an input for specifying measurement information that exceeds a predetermined value due to the structure among the measurement information displayed on the display unit,
The calculation unit associates the acquisition position of the measurement information specified by the input to the input unit with the arrangement position of the structure.

  According to the above embodiment, measurement information that exceeds a predetermined value due to the structure is specified among the measurement information displayed on the display unit by an operator who visually recognizes the display unit, and is input to the input unit. Entered. Here, the display unit displays a frame of a moving image in which the display object, the structure, and the road surface are photographed at the same time. Therefore, the operator can obtain a predetermined value by grasping the road surface condition. It can be confirmed whether or not the measurement information that has exceeded is due to the structure specified by the display object. Therefore, for example, in the vicinity of the joint installation position as a structure, a predetermined value is obtained due to the joint step, the pothole or rutting of the pavement adjacent to the joint, and the repair mark of the pavement adjacent to the joint. Even if excess measurement information is collected, the operator can accurately specify measurement information corresponding to the joint, which is a structure, and input it to the input unit through the display unit. As a result, measurement information exceeding a predetermined value due to the structure can be appropriately specified, and the installation position of the structure can correspond to the measurement position of the measurement information. In addition, the association of the arrangement position of the structure to the measurement information acquisition position based on the input to the input unit is performed in order to correct the association by the calculation unit after the calculation unit first performs the association. You may go. In this case, the calculation unit first extracts information on the display object included in the moving image, and determines the arrangement position of the structure corresponding to the display object from which the information is extracted, and the moving image from which the information on the display object is extracted. The measurement information is measured at a measurement time in the vicinity of the photographing time, and is associated with a measurement position of measurement information exceeding a predetermined value. Thereafter, the input by the operator to the input unit can be received to correct the association by the calculation unit. As a result, when measurement information exceeding a predetermined value continuously exists due to the structure, even if the installation position of the structure is erroneously associated with the measurement position of the measurement information not attributable to the structure by the arithmetic unit. The operator who visually recognizes the moving image displayed on the display unit can make corrections to associate the installation position of the structure with the measurement position of the appropriate measurement information.

  In the road measurement system according to an embodiment, the moving image photographing unit is arranged such that the photographing direction is inclined with respect to the traveling direction of the vehicle.

  According to the embodiment, the moving image photographing unit can photograph the side of the road and the road surface at the same time, and can photograph the display object, the structure, and the road surface simultaneously. Therefore, since the presence / absence of a display object, the presence / absence of a structure, and the road surface condition can be confirmed from the moving image displayed on the display unit, the measurement of the road surface can be performed quickly and easily after collecting measurement information. The presence or absence of a problem can be confirmed, and the position of the problematic road surface can be specified.

  In the road measurement system of one embodiment, the moving image capturing unit records incident light from a side of the road and incident light from the road surface in a single moving image and outputs the same moving image.

  According to the above embodiment, the situation on the side of the road photographed at the same time by the moving image photographing unit that records the incident light from the side of the road and the incident light from the road surface in a single moving image. And road surface conditions can be recorded. Therefore, it is possible to save the trouble of time-synchronizing the two captured data, such as when photographing the side of the road and the road surface with different video cameras. Therefore, it is possible to quickly search for the display object and observe the road surface using the moving image output from the moving image capturing unit of the present embodiment.

  In the road measurement system according to an embodiment, the moving image capturing unit simply receives incident light from one side of the road, incident light from the other side of the road, and incident light from the road surface. Record and output a single video.

  According to the embodiment, the moving image capturing unit that records incident light from one side of the road, incident light from the other side, and incident light from the road surface in a single moving image, The situation on one side of the road taken at the same time, the situation on the other side, and the situation on the road surface can be recorded. Here, for example, on an expressway, two roads whose traveling directions are opposite to each other are generally provided, and a traveling lane and an overtaking lane are provided on each road. If the left side of the road is photographed while traveling on the overtaking lane of such a highway, the display object on the left side of the road may not be photographed due to a vehicle traveling in the adjacent traveling lane. Here, according to the present embodiment, even if another vehicle travels in the travel lane, the right image is also recorded in the moving image output from the moving image capturing unit. There is a possibility that a display object arranged on the opposite road can be extracted. This is because a vehicle traveling in the opposite direction on the opposite road has a significantly higher relative speed than a vehicle traveling in the same direction, so that the possibility of hindering the shooting of the display object is greatly reduced. Therefore, the road can be measured in a situation where another vehicle travels without closing the road for measurement. In addition, according to the present embodiment, it is possible to save time and effort of time-synchronizing three pieces of captured data, such as when photographing one side of the road, the other side and the road surface with different video cameras. it can. Therefore, it is possible to quickly and surely search for a display object and observe a road surface using the moving image output from the moving image capturing unit of the present embodiment.

  A road measurement system according to an embodiment includes a line scan type imaging unit that images a side of the road and outputs a line scan image.

  According to the above-described embodiment, the state of the side of the road can be recorded in the line scan image with high scanning density by the line scan type imaging unit. Therefore, it is possible to accurately specify the shooting time of the display object included in the line scan image obtained by shooting the side, and to accurately specify the time when the measurement information exceeds a predetermined value due to the structure. it can. Further, by combining with a speedometer or a distance meter, the shooting position of the line scan image can be specified accurately.

In the road measurement system of one embodiment, the display unit displays the line scan image output from the line scan type imaging unit along a time series common to the measurement information output from the measurement unit,
The input unit receives a scan time input for specifying a shooting time of a display object included in the line scan image among the measurement information displayed on the display unit,
The calculation unit is the measurement information related to the measurement time in the vicinity of the photographing time specified by the scan time input to the input unit, and specifies the measurement position of the measurement information exceeding a predetermined value by the display object. It is made to correspond to the arrangement position of the structure.

  According to the embodiment, the line scan image and the measurement information are displayed on the display unit along a common time series, and the shooting time of the display object included in the line scan image displayed on the display unit is input. Is input as scan time input by the unit. The measurement information of the measurement time in the vicinity of the shooting time specified by the scan time input by the calculation unit, and the measurement position of the measurement information exceeding a predetermined value is determined by the display object. Corresponding to the arrangement position. As described above, the measurement information measurement position can be made to correspond to the arrangement position of the structure based on the line scan image having a high scanning density and acquired in a shorter cycle than the moving image.

The road measurement system according to an embodiment includes a designation input unit capable of designating the measurement information displayed on the display unit and the frame of the moving image.
When measurement information is designated by the designated input unit, a frame highlighting unit that highlights a frame of a photographing time corresponding to the measurement time of the designated measurement information on the display unit,
When a frame is designated by the designation input unit, a measurement information highlighting unit that highlights measurement information at a measurement time corresponding to the photographing time of the designated frame on the display unit is provided.

  According to the above embodiment, desired measurement information and frame can be designated by the designated input unit among the measurement information and moving image frames displayed on the display unit, and the measurement information is designated by this designated input unit. Then, the frame of the photographing time corresponding to the designated measurement time of the measurement information is highlighted on the display unit by the frame highlighting display unit. On the other hand, when a frame is designated by the designation input unit, measurement information at a measurement time corresponding to the photographing time of the designated frame is highlighted on the display unit by the measurement information highlighting unit. In this way, the correspondence between the measurement information displayed on the display unit and the frame of the moving image can be mutually confirmed via the time. Therefore, when a part of the frame displayed on the display unit that is suspected of being damaged is found, the measurement information measured at the photographing time of this part is highlighted, and the measurement information exceeds a predetermined value. Whether the road surface is damaged or not can be determined. In addition, when a part exceeding the specified value is found in the measurement information displayed on the display unit, the frame taken at the measurement time of this part is highlighted, the contents of this frame are confirmed, and the road surface is damaged. It can be determined whether or not. Furthermore, measurement information that exceeds a predetermined value due to the structure specified by the display object can be quickly and easily specified, so that accurate position specification of the measurement information can be performed quickly and easily. Can do. As a result, after collecting the measurement information by the vehicle, it is possible to quickly and easily find a road surface problem and to accurately identify the position of the problematic road surface.

  In the road measurement system according to an embodiment, when measurement information or a frame is specified by the specified input unit, measurement information exceeding a predetermined value closest to the specified measurement information or closest to the specified frame Based on the frame including the display object, the distance from the measurement position of the measurement information associated with the installation position of the structure corresponding to the display object to the measurement position of the specified measurement information or the shooting position of the frame A measurement position display unit that calculates and displays the information of the display object and the distance on the display unit as a measurement position of the specified measurement information.

  According to the above embodiment, when measurement information or a frame is designated by the designation input unit, the following processing is executed by the measurement position display unit. That is, the measurement information exceeding a predetermined value closest to the designated measurement information, or the frame including the display object closest to the designated frame is specified. Measurement information related to the measurement position of the measurement information exceeding the specified predetermined value or the measurement time near the shooting time of the frame including the specified display object, the measurement information exceeding the reference value The measurement position is associated with the installation position of the structure indicated by the display object. The distance from the measurement position associated with the installation position of the structure to the measurement position of the designated measurement information or the shooting position of the frame is calculated and displayed on the display unit. Therefore, the measurement position or photographing position of the desired measurement information or frame displayed on the display unit can be specified with high accuracy based on the installation position of the structure indicated by the closest display object.

In one embodiment of the road measurement system, the measurement information includes a position detection signal received while the vehicle is running,
When measurement information or a frame is designated by the designation input unit, the measurement position of the designated measurement information is based on a position detection signal at a reception time corresponding to the measurement time of the designated measurement information or the shooting time of the frame. Or the map information display part which displays the map which shows the imaging | photography position of a flame | frame on the said display part is provided.

  According to the above embodiment, when measurement information or a frame is designated by the designated input unit, it corresponds to the measurement time of the designated measurement information or the imaging time of the frame among the position detection signals collected as the measurement information. A position detection signal at the reception time is specified. Based on the specified position detection signal, the map information display unit displays a map indicating the measurement position of the designated measurement information or the shooting position of the frame on the display unit. Thereby, the operator can be notified of the outline of the acquisition position of the designated information. Here, as the position detection signal, a GPS signal received from a GPS satellite or a communication signal with a base station of a mobile phone or a portable information terminal can be employed.

In the road measurement system of one embodiment, the road on which the measurement is performed is an elevated road,
The elevated road includes a plurality of floor structures, a bridge pier that supports the plurality of floor structures, and a structure that is located above the bridge pier and connects between the floor slab of the floor structure and the floor slab. And the display object provided in the vicinity of the joint and displaying information identifying the pier.

  According to the embodiment, on an elevated road, for example, a pier number mark as a display object on which information for specifying a pier is displayed is often installed near a side of the road and a joint. Therefore, by associating the measurement position of this measurement information with the installation position of the joint based on the image obtained by photographing the display object and the measurement information exceeding a predetermined value as the joint passes, The measurement position can be specified with high accuracy.

It is a mimetic diagram showing a vehicle carrying a road measurement system of an embodiment of the present invention. It is a schematic diagram which shows the structure of a road measurement system. It is a schematic diagram which shows the imaging | photography direction of the moving image camera with which a road measurement system is provided. It is a schematic diagram which shows the frame of the moving image image | photographed with the moving image camera. It is sectional drawing which shows the peripheral part of the joint of an elevated road. It is a schematic diagram which shows the flame | frame and measurement information of a moving image in a common time series. It is a schematic diagram which shows the test | inspection screen displayed on the display of a road measurement system. It is a schematic diagram which shows the imaging | photography direction of the two-way video camera with which a road measurement system is provided. It is a schematic diagram which shows the picked-up image with a two-way video camera. It is a schematic diagram which shows the imaging | photography direction of the 3 direction video camera with which a road measurement system is provided.

  Hereinafter, the present invention will be described in detail with reference to the illustrated embodiments.

  FIG. 1 is a schematic diagram showing a vehicle equipped with a road measurement system according to an embodiment of the present invention, and FIG. 2 is a schematic diagram showing a configuration of the road measurement system according to the embodiment. The road measurement system S of the present embodiment is mounted on a vehicle 1 and travels on a road with the vehicle 1 to perform measurement related to the road.

  As shown in FIG. 2, the road measurement system S includes a CPU (Central Processing Unit) 81, a memory 82, a storage device 83, a moving image camera 2, an acceleration sensor 3, a surface shape sensor 4, and a distance sensor. 5, line scan camera 6, communication device 84, input device 85, output device 86, reading device 87, GPS (Global Positioning System) receiver 7, microphone 9, and rutting measuring instrument 10. It is configured. The CPU 81, the memory 82, the storage device 83, the communication device 84, the input device 85, the output device 86, and the reading device 87 are built in a notebook personal computer (hereinafter referred to as a notebook PC) 8, as shown in FIG. In addition, a road measurement system S is formed by connecting a moving picture camera 2, an acceleration sensor 3, a surface shape sensor 4, a distance sensor 5, a line scan camera 6, a GPS receiver 7, a microphone 9 and a rutting measuring instrument 10 to a notebook PC 8. Has been.

  The CPU 81 as a calculation unit reads out and executes a program stored in the storage device 83 to realize each function of the road measurement system of the present invention. The memory 82 is used for temporarily storing data when the CPU 81 executes the program. The storage device 83 stores data collected by the acceleration sensor 3, the surface shape sensor 4, the distance sensor 5, the line scan camera 6, the GPS receiver 7, and the microphone 9, and the program main body. In addition to the storage device 83 built in the notebook PC 8, data collected by a sensor or the like may be stored in an external storage device.

  The moving image camera 2 as a moving image photographing unit is installed in the front part of the vehicle 1 and photographs the road surface and the side of the road. The moving image camera 2 is a digital movie camera capable of shooting moving images and still images. As shown in FIGS. 1 and 3, the video camera 2 is attached to the front roof of the vehicle 1, and the imaging lens is inclined toward the shoulder of the road with respect to the traveling direction as indicated by an arrow A. In the direction you did. According to this video camera 2, it is possible to simultaneously photograph both the side of the traveling road and the road surface. That is, as shown in FIG. 4 schematically showing a frame of a moving image taken by the video camera 2, the pier number mark 112 as a display object installed on the side wall height column 111 of the elevated road, the road surface, The joint 107 installed on the road surface can be photographed simultaneously.

  The acceleration sensor 3 as a measurement unit measures acceleration acting on the vehicle 1 when traveling on a road, and detects acceleration in three directions orthogonal to each other. In particular, the acceleration generated when the tire of the vehicle 1 gets over the unevenness present on the road surface is detected. Based on the acceleration data output from the acceleration sensor 3, the degree of unevenness on the road surface is detected. The acceleration sensor 3 may detect only the acceleration in the vertical direction that most reacts to the road surface unevenness.

  The surface shape sensor 4 as a further measurement unit measures the distance with a laser beam on the road surface of the road, detects unevenness of the road surface, and outputs shape data.

  The distance sensor 5 as a further measurement unit measures the speed and travel distance of the vehicle 1 in a non-contact manner based on the spatial filter method, and outputs speed data and distance data. The speed of the vehicle 1 may be detected based on a vehicle speed pulse that is output according to the number of rotations of the axle of the vehicle 1.

  The line scan camera 6 as a line scan type imaging unit outputs a continuous image in the scanning direction by scanning an object to be imaged in a direction perpendicular to the arrangement direction of the photodiodes by a photodiode array arranged in a row. To do. In the present embodiment, the line scan camera 6 includes two photographing units and is disposed at the rear portion of the vehicle 1. One photographing unit photographs the side of the road with the imaging lens directed in a direction perpendicular to the traveling direction of the vehicle 1. The other photographing unit photographs the road surface with the imaging lens facing the road surface. By this line scan camera 6, a side line scan image that represents the situation on the side of the road continuously in the traveling direction of the vehicle 1, and a road surface line scan image that represents the condition of the road surface continuously in the traveling direction of the vehicle 1, Is output.

  The communication device 84 transmits / receives data to / from a server installed in a road management facility via an Internet line via mobile communication.

  The input device 85 is a pointing device such as a keyboard of the notebook PC 8, a touch panel, a touch pad, and a mouse, and commands and settings regarding the operation of the road measurement system S are input by the operator.

  The output device 86 is a display of the notebook PC 8, a GUI (Graphical User Interface) regarding the operation of the road measurement system S, measurement information measured by each measurement unit, a moving image from the video camera 2, a line scan camera The line scan image from 6 and the calculation result by the CPU 81 are displayed. As another output device 86, a speaker that outputs sound data collected by the microphone 9 or a printer that outputs a measurement result to a paper medium may be provided.

  The reading device 87 reads a program for realizing the function of the road measurement system S by the notebook PC 8 from a recording medium such as a CD-ROM (Compact Disc Read Only Memory).

  The GPS receiver 7 as a further measurement unit receives a GPS signal as a position detection signal transmitted from a GPS satellite. Based on this GPS signal, the approximate traveling position of the vehicle 1 is detected. The traveling position of the vehicle 1 may be detected by using a signal received by the communication device 84 from the base station for mobile information communication as a position detection signal.

  The microphone 9 as a further measurement unit collects sound generated between the road surface and the tire when traveling on the road. Sound data output from the microphone 9 is processed by a program executed by the CPU 81 to detect the sound pressure and frequency of the collected sound. Based on the sound pressure and frequency of the running sound collected by the microphone 9, the degree of unevenness on the road surface is detected.

  The rutting measuring instrument 10 as a further measuring unit measures the rutting amount on the road surface by continuously measuring the cross-sectional shape of the road surface. The rutting measuring instrument 10 is irradiated with a laser oscillator 11 that radiates a laser beam in a fan shape from a direction inclined in the traveling direction of the vehicle 1 with respect to the normal direction of the road surface, and a road surface. And a projection image photographing camera 12 for photographing a projected image of the laser light from the normal direction of the road surface. The laser light projected on the road surface from the direction inclined in the traveling direction of the vehicle 1 is projected with the rutting amount in the depth direction of the road surface being emphasized in the traveling direction of the vehicle 1. The rubbing amount corresponding to the traveling position of the vehicle 1 is measured by analyzing the image of the projection image photographing camera 12 that has photographed the projected image of the laser light. The rutting measuring instrument 10 includes a laser oscillator that irradiates a laser beam that spreads in a fan shape in the width direction from the normal direction of the road surface in the width direction, and a projected image of the laser light irradiated by the laser oscillator May be formed with a projection image photographing camera that photographs from a direction inclined in the traveling direction of the vehicle 1 with respect to the normal direction of the road surface.

  The road measurement system S collects acceleration data, shape data, speed data, distance data, sound data, and GPS signals as measurement information when the vehicle 1 travels on the road, and stores it in the storage device 83. The moving image data shot by the moving camera 2 and the scan data shot by the line scan camera 6 are stored in the storage device 83. The measurement information, the moving image data, and the scan data are recorded for each unit in which the measurement time and the shooting time constitute the data, and are displayed on the display screen of the display as a display unit with time synchronization. . Image recognition processing is performed on the moving image data photographed by the moving image camera 2 to extract a display object related to the road reflected in the moving image data, and the characters described in the extracted display object are recognized. The road measurement system S of the present embodiment is suitable for measurement of an elevated road employed in an urban expressway as a road, extracts a pier number mark as a display object installed on the elevated road, and extracts the extracted pier Recognize the letters representing the pier number on the number mark.

  FIG. 5 is a cross-sectional view showing a peripheral portion of a joint on an elevated road. The elevated road is generally composed of a concrete pier 101 and an upper structure supported by the pier 101. The superstructure consists of a steel main girder 102, a cross girder (not shown) arranged at right angles to the main girder 102, a concrete floor slab 105 arranged on the main girder 102 and the cross girder, and a concrete floor slab 105. Asphalt pavement 106 laid on the surface and wall height column 111 erected along both edges of the concrete floor slab 105. The end of the main girder 102 is supported by the pier 101 via a support 103. The elevated road is formed by connecting a plurality of concrete floor slabs 105 in the extending direction of the road, and joints 107 are provided at connecting portions of the plurality of concrete floor slabs 105. The joint 107 is located on the bridge pier 101 that supports the end of the main girder 102. The joint 107 includes a steel joint body 108 that is fixed to the end of each concrete floor slab 105 and meshes with each other in a comb shape, and a comb-shaped portion of the joint body 108 fixed to each concrete floor slab 105. This is a so-called finger joint having a water stop member 109 disposed therebetween. In addition, the joint main body 108 of the joint 107 may have a shape other than the comb shape in a portion that meshes with each other. Further, the joint 107 may be a rubber joint in which a flexible member such as rubber is exposed on the road surface in addition to the steel joint in which the constituent member is exposed on the road surface like the finger joint. A pier number mark 112 for identifying the pier 101 is installed at the end of the wall height column 111 provided in one of the concrete slabs 105 connected by the joint 107. The material of the pier 101 may be steel other than concrete, and the floor slab may be a steel floor slab other than the concrete floor slab 105. The material of the girder may be precast concrete other than steel. The pier number mark 112 is configured by describing a pier number composed of an initial of a road name, an inverted triangle symbol, and an ordinal number counted from the starting point of the road on a rectangular plate colored in green. The bridge pier number slip 112 may be colored in a color other than green, or other characters may be described. Further, the shape of the plate forming the pier number slip 112 may be, for example, an ellipse other than a rectangle. The point is that the pier number slip 112 has a shape and / or color that can be recognized by the image recognition process, and information that can identify the pier 101 may be described. This pier number sign 112 is installed on the road side surface of the wall height column 111 so that it can be easily seen from the inspection vehicle traveling on the road. The installation position of the pier number mark 112 is associated with the pier number and specified by the distance from the starting point of the road. The road measurement system S of this embodiment uses this pier number mark 112 to specify the measurement position of the measurement information.

  Since the pier number mark 112 is installed in the position close to the joint 107 which connects the adjacent concrete floor slab 105 and the concrete floor slab 105, as shown in FIG. 4, it is mounted in the vehicle 1 and advances an imaging lens. The image is taken together with the joint 107 on the road surface by the video camera 2 oriented in a direction inclined toward the shoulder of the road with respect to the direction. That is, the joint 107 is reflected in the moving image data photographed by the moving image camera 2 together with the pier number mark 112. The moving image data shot and output by the moving image camera 2 is subjected to image recognition by an image recognition program executed by the CPU 81, and characters of the pier number mark 112 are extracted.

  In the image recognition process of moving image data, rectangular shape recognition that is the shape of the pier number mark 112 and green color recognition that is the color of the pier number mark 112 are performed on the image data of the frames constituting the moving image data. A portion of the pier number mark 112 is extracted by shape recognition and color recognition, and character recognition of the extracted portion is performed to extract a pier number. Character data representing the extracted pier number is stored in a table of the storage device 83. In the table of the storage device 83, the installation position of the joint corresponding to the pier number is stored and represented by the distance from the predetermined road starting point for the urban highway on which the vehicle 1 travels and performs measurement.

  The moving image data on which image recognition processing is performed is moving image data collected over a range of several seconds before and after the acceleration data exceeds the reference value, and is formed by a plurality of image data constituting a plurality of frames. Yes. In this way, by setting the target for image recognition processing as moving image data in a predetermined range including the time when the acceleration data exceeds the reference value, the pier number mark 112 is installed at a position slightly deviated from the joint 107. Nevertheless, it is possible to reliably acquire the image data in which the pier number sign 112 is reflected. In addition to the moving image data, the image recognition processing target may be image data of a still image obtained by executing a shooting operation with the moving image camera 2 triggered by the acceleration data exceeding the reference value. . Further, the image recognition processing of moving image data within a predetermined range may be performed around the time when the change rate of the shape data exceeds the reference value. Moreover, you may perform the image recognition process of all the moving image data irrespective of the value of measurement information.

  A method for measuring an elevated road using this road measurement system S will be described. First, the storage device 83 of the road measurement system S stores information related to the joint 107 installed on the traveling road. The information regarding the joint 107 is the installation position of the joint 107 represented by the pier number corresponding to the joint 107 and the distance from the starting point of the road. Information regarding the joint 107 may be stored in a server installed in a road management facility and read into the road measurement system S through the communication device 84 as necessary.

  Subsequently, the acceleration sensor 3, the surface shape sensor 4, the GPS receiver 7, the distance sensor 5, the microphone 9, and the rutting measurement device 10 as the measurement unit are activated, and photographing by the video camera 2 and the line scan camera 6 is started. Then, the vehicle 1 starts to travel. Measurement is performed at the measurement unit while traveling on the elevated road to be measured. The acceleration data from the acceleration sensor 3, the shape data from the surface shape sensor 4, the GPS signal from the GPS receiver 7, and the distance sensor 5 The speed data and distance data, the sound data from the microphone 9 and the rutting amount data from the rutting measuring instrument 10 are stored in the storage device 83 in association with the measurement time. The video camera 2 captures the side of the road and the road surface, and the line scan camera 6 captures the road surface and the side of the road, and associates the video data and the scan data of the video camera 2 with the shooting time. And stored in the storage device 83. Measurement time of acceleration data, shape data, GPS signal, velocity data, distance data, sound data and rutting data as measurement information, shooting time of moving image data, and scan time of scan data are stored in synchronization with each other It is stored in the device 83.

  When the stored measurement information and moving image data are stored in the storage device 83, the position of the measurement information is specified based on the installation position of the joint 107 as a structure. This position specification may be performed in parallel with the collection of the measurement information, or may be performed after the collection of the measurement information is completed.

  First, the CPU 81 reads moving image data from the storage device 83, performs image recognition processing on the frame of the moving image data, performs shape recognition and color recognition, and whether there is an area of the pier number mark 112 as a display object. Judge whether or not. If the area of the pier number mark 112 exists, this area is extracted, and the pier number is extracted by performing character recognition of the extracted area. The character data indicating the extracted pier number is stored in the storage device 83 in association with the shooting time of the frame of the extracted moving image data.

  On the other hand, the CPU 81 reads acceleration data from the storage device 83 in parallel with the image recognition processing of the moving image data, and determines whether or not the acceleration data exceeds a predetermined reference value. If it is determined that the acceleration data exceeds the reference value, the acceleration data exceeding the reference value is extracted and stored in the storage device 83 in association with the measurement time.

  When the extraction of the pier number from the moving image data and the extraction of the acceleration data exceeding the reference value are completed, the imaging time for the extracted pier number and the measurement time of the acceleration data are compared. When the measurement time at which the acceleration data exceeds the reference value substantially coincides with the shooting time for the pier number, it is determined that the acceleration data has exceeded the reference value by passing through the joint 107 specified by the pier number. Then, the measurement position of acceleration data exceeding the reference value is specified in association with the installation position of the joint 107 stored in the storage device 83. On the other hand, when the measurement time when the acceleration data exceeds the reference value does not substantially coincide with the shooting time related to the pier number, it is determined that the acceleration data exceeds the reference value due to a pothole or a step. Then, the measurement position of acceleration data exceeding the reference value is specified based on the installation position of the joint 107 specified by the nearest pier number and the travel distance from the installation position of the joint 107. This travel distance is measured at the measurement time of the acceleration data corresponding to the joint 107 specified by the nearest pier number, the measurement time of the acceleration data exceeding the reference value at the pothole, step, etc., and these measurement times. Based on speed data or distance data from the distance sensor 5.

  In addition to the comparison with the reference value of the acceleration data, the sound data output from the microphone 9 and the shape data output from the surface shape sensor 4 are also read from the storage device 83, and each of the data and shape data is read out. Comparison with the reference value set corresponding to is performed. The extracted sound data exceeding the reference value and the shape data exceeding the reference value are compared with the shooting time of the moving image data from which the pier number is extracted based on the measurement time of each data. When the measurement time of the sound data exceeding the reference value or the shape data exceeding the reference value substantially coincides with the shooting time related to the pier number, the sound data or the shape data is passed through the joint 107 specified by the pier number. Is determined to exceed the reference value. Then, the measurement position of the sound data or shape data exceeding the reference value is specified in association with the installation position of the joint 107 stored in the storage device 83. On the other hand, if the measurement time of the sound data exceeding the reference value or the shape data exceeding the reference value does not substantially coincide with the shooting time related to the pier number, the sound data or the shape data is set to the reference value by a pothole or a step. Judge that it exceeded. Then, the measurement position of the sound data or the shape data exceeding the reference value is specified based on the installation position of the joint 107 specified by the nearest pier number and the travel distance from the installation position of the joint 107. This travel distance includes the measurement time of the sound data or shape data corresponding to the joint 107 specified by the nearest pier number, the measurement time of the sound data or shape data exceeding the reference value at the pothole or step, etc. Based on the speed data or distance data from the distance sensor 5 measured at the measurement time.

表１のずれを考慮して、動画フレームと各測定情報とを比較することにより、各測定情報に表れる変化の原因を動画フレームで特定することができる。例えば、図６において、撮影時刻ｔ１の動画フレームｆ１に橋脚番号標１１２及び継手１０７が含まれている場合、撮影時刻ｔ１に対してずれが生じた測定時刻ｔ２に加速度データのピークα１が表れると共に、撮影時刻ｔ１に対して更にずれが生じた測定時刻ｔ３に形状データのピークδ１が表れる。すなわち、継手１０７に起因して加速度データと形状データに表れるピークα１，δ１が、夫々異なる測定時刻ｔ２，ｔ３で現れる。これらの関係に基づいて、加速度データと形状データが所定の値を超える部分について、ずれを考慮して、対応する動画フレームを特定することにより、所定の値を超えた加速度データと形状データが取得された時刻の路面の状況を確認することができる。また、動画フレームに、路面の損傷が疑われる部分が発見された場合、上記ずれを考慮して、対応する加速度データと形状データを特定することにより、疑われる部分がポットホール等の損傷であるか否かを確認することができる。 As described above, when the measurement information and the moving image data stored in the storage device 83 are read and the measurement position is specified, the measurement information and the moving image data are synchronized based on the time. FIG. 6 is a schematic diagram showing a frame of a moving image included in moving image data and each measurement information in a common time series. In FIG. 6, a frame sequence 201 in which frames of moving images are arranged in order of photographing time with a common time axis as a horizontal axis, a velocity graph 202 of velocity data, an acceleration graph 203 of acceleration data, and a shape graph 204 of shape data. Are arranged in the vertical axis direction. In FIG. 6, the moving image data, the speed data, the acceleration data, and the shape data are time-synchronized, but there is a deviation depending on the acquisition position of each data. As shown in FIG. 1, these data shifts include a separation distance d1 of the acceleration sensor 3 and a separation distance d2 of the surface shape sensor 4 with respect to the shooting target position of the video camera 2. This is caused by the distances d1 and d2 being different from each other. Table 1 is a table showing how much deviation occurs on the basis of the frame by these separation distances d1 and d2. In Table 1, assuming that the frame rate of the moving image is 30 frames per second, the separation distance d1 of the acceleration sensor 3 is 1 m, and the separation distance d2 of the surface shape sensor 4 is 3 m, the speed of the vehicle 1 is 60 km / h. And the case of 80 km / h, the deviation that occurs in each measurement information is indicated by the number of frames.

The cause of the change appearing in each measurement information can be specified in the moving image frame by comparing the moving image frame with each measurement information in consideration of the deviation in Table 1. For example, in FIG. 6, when the moving frame f1 at the shooting time t1 includes the pier number mark 112 and the joint 107, the acceleration data peak α1 appears at the measurement time t2 at which the deviation from the shooting time t1 occurs. The peak δ1 of the shape data appears at the measurement time t3 when a further deviation occurs with respect to the photographing time t1. That is, the peaks α1 and δ1 appearing in the acceleration data and the shape data due to the joint 107 appear at different measurement times t2 and t3, respectively. Based on these relations, acceleration data and shape data exceeding the predetermined value are obtained by specifying the corresponding video frame in consideration of the deviation of the portion where the acceleration data and shape data exceed the predetermined value. The condition of the road surface at the specified time can be confirmed. In addition, when a suspected portion of road surface damage is found in the video frame, the suspected portion is a damage such as a pothole by specifying the corresponding acceleration data and shape data in consideration of the above-described deviation. It can be confirmed whether or not.

  When the measurement information exceeding the reference value is associated with the installation position of the joint 107, the measurement information and the moving image displayed so as to be mutually searchable on the display of the notebook PC 8 functioning as the display unit of the road measurement system S. Then, an inspection screen for inspecting the road surface and correcting the measurement position of the measurement information is displayed.

  FIG. 7 is a schematic diagram showing an inspection screen displayed on the display of the notebook PC 8 of the road measurement system S. This inspection screen is displayed when the program stored in the storage device 83 is executed by the CPU 81, and the processing described below is performed. As shown in FIG. 7, on the inspection screen, a profile display window 301 for displaying a road surface profile based on the shape data and an IRI (International Roughness Index) calculated from the shape data, and the rutting measuring instrument 10 are displayed. A rutting amount display window 302 for displaying the rutting amount output from the vehicle, a side line scan image display window 303 for displaying a line scan image on the side of the road, and a road surface line scan for displaying a line scan image of the road surface. An image display window 304, a moving image frame display window 305 for displaying a frame of a moving image, a moving image display window 306 for displaying an image of the moving image camera 2, and a map information display for displaying an approximate measurement position of designated information The map display window 307 as a part and the measurement position of the specified information are displayed by the pier number and the distance from the joint 107. Position display window 308 is set. In addition to the profile display window 301, the rutting amount display window 302, the side line scan image display window 303, and the road surface line scan image display window 304, in addition to these, other measurement information is displayed. May be.

  The profile display window 301, the rutting amount display window 302, the side line scan image display window 303, the road surface line scan image display window 304, and the moving image frame display window 305 have a common time axis in the horizontal direction. The measurement information or image information displayed in each of the windows 301, 302, 303, 304, and 305 is displayed with the deviation caused by the shooting target position of the moving camera 2 and the installation position of the measurement device corrected. Yes. Thereby, information at the same measurement position or photographing position is arranged at the same position on the time axis. In the profile display window 301, a road surface profile line 311 indicating shape data corresponding to the measurement time on the horizontal axis, and an IRI line 312 indicating IRI calculated based on the shape data corresponding to the measurement time on the horizontal axis. Is displayed. In the rutting amount display window 302, a rutting line 313 indicating the rutting amount is displayed. Information inside each window 301, 302, 303, 304, 305 can be specified by the input device 85 via the pointer 309.

  For example, when predetermined information on the road surface profile line 311 is designated by the pointer 309 in the profile display window 301, the frame 305a of the moving image frame display window 305 corresponding to the measurement time of this information is displayed on the boundary line of the outer frame. Is highlighted in red. A frame emphasis display unit is realized by the program for emphasizing the frame 305 a and the CPU 81. Further, an enlarged image of the frame 305a is displayed in the moving image display window 306. Furthermore, the approximate measurement position of the specified information is displayed on the map display window 307 based on the GPS signal corresponding to the measurement time of the specified information. Further, as the measurement position of the designated information, the pier number corresponding to the joint 107 closest to this information and the travel distance measured from this pier number are displayed in the measurement position display window 308.

  On the other hand, when a predetermined frame 305a in the moving image frame display window 305 is designated, the profile display window 301, the rutting amount display window 302, the side line scan image display window 303, and the road surface line scan image display window 304 are displayed. A display bar 310 extending in the vertical direction across the frame is displayed at a horizontal position corresponding to the shooting time of the frame 305a. When the display bar 310 intersects with the information in each of the windows 301, 302, 303, 304, the measurement information at the measurement time corresponding to the photographing time of the designated frame 305a is highlighted. A measurement information highlighting display unit is realized by the CPU 81 and the program for executing the highlighting by the display bar 310. In the moving image display window 306, an enlarged image of the designated frame 305a is displayed. Further, the approximate shooting position of the designated frame 305a is displayed on the map display window 307 based on the GPS signal corresponding to the shooting time of the designated frame 305a. Further, the pier number corresponding to the joint 107 closest to this information and the travel distance measured from this pier number are displayed in the measurement position display window 308 as the photographing position of the designated frame 305a.

  Thus, according to the inspection screen of the road measurement system S, the measurement information acquired at the same time and the frame of the moving image can be mutually searched and confirmed. Therefore, when a part of the image displayed on the image display window 306 that is suspected of being damaged on the road surface is found, the road surface profile and rutting amount corresponding to the measurement information measured at the image capturing time of the image is specified by the display bar 310. It is possible to determine whether or not the road surface is damaged by checking whether or not these values exceed a predetermined value. Further, when a portion exceeding a predetermined value is found in the road surface profile line 311 or the IRI line 312 displayed in the profile display window 301 or the rutting line 313 displayed in the rutting amount display window 302, this portion is By designating with the pointer 309, the frame 305a photographed at the measurement time of this portion is highlighted and enlarged and displayed on the moving image display window 306, and the road line of the road surface scan image display window 304 is displayed with the display bar 310. It is possible to determine the presence or absence of road surface damage by specifying the scan image.

  Further, by designating the frame 305 a including the joint 107, the road surface profile line 311 and the rutted line 313 as measurement information in which the measurement position is associated with the installation position of the joint 107 are highlighted on the display bar 310. be able to. By confirming whether the measurement information highlighted in the display bar 310 exceeds the reference value, it is possible to confirm whether the fitting position of the joint 107 is properly associated. Further, by designating the frame 305 a adjacent to the joint 107, the joint 107 is passed through the road surface line scan image of the road surface line scan image display window 304 specified by the display bar 310 and the rutting amount of the rutting amount display window 302. It is possible to confirm in detail whether or not damage such as potholes or rubbing is occurring in the pavement adjacent to. Further, in the pavement adjacent to the joint 107, there may be a repair trace for past rutting or the like, but when the information measured by the acceleration sensor 3 or the microphone 9 exceeds a predetermined value even when traveling on the repair trace. There is. Even in such a case, by specifying the frame 305a adjacent to the joint 107, the cause of the measurement information exceeding the predetermined value through the road surface line scan image specified by the road surface line scan image display window 304 may be a repair mark. Or damage such as potholes can be confirmed.

  Further, according to the inspection screen of the road measurement system S, the road surface line scan image display window 304 displays a road surface line scan image with higher definition than the moving image of the video camera 2. Thus, it is possible to observe the state of the road surface in detail. When a pothole, rudder, crack or the like on the road surface is found on the road surface, the shooting position of this part can be displayed on the measurement position display window 308 by designating these parts with the pointer 309. it can. Accordingly, the road surface can be inspected, and the position of the defect found by the inspection can be specified quickly and with high accuracy.

  Further, according to the inspection screen of the road measurement system S, the lateral line scan image display window 303 displays a lateral line scan image with higher definition than the moving image of the video camera 2. From the line scan image, it is possible to observe in detail the state of the high rail 111 present on the side of the road, the soundproof wall 113 installed on the high rail 111, the support pillar 114 that supports the soundproof wall 113, and the like. When a damaged portion such as the handrail 111 is found in the side line scan image displayed in the side line scan image display window 303, the shooting position of this portion is designated by designating the damaged portion with the pointer 309. Can be displayed on the measurement position display window 308. Therefore, it is possible to inspect a structure existing on the side of the road, and it is possible to quickly and accurately specify the position of the defect found by the inspection.

  Here, the pier number mark 112 is extracted by image recognition due to the blurring of the pier number mark 112 in the moving image and the presence of an obstacle at the shooting target position of the video camera 2. There may not be. In this case, the installation position of the joint 107 corresponding to the pier number mark 112 is not associated with the measurement information that exceeds the predetermined value due to the joint 107, and the position specification failure of the measurement information occurs. This failure in specifying the position is detected when the pier number displayed in the measurement position display window 307 is different from that of the joint 107 of the designated frame 304a when the frame 304a including the joint 107 is designated. When such a position-specific defect is detected, it is based on the side line scan image highlighted by crossing the display bar 309 in the side line scan image display window 303 when the frame 304a including the joint 107 is designated. Thus, the measurement position of the measurement information can be corrected. In the side line scan image display window 303, a high-definition line scan image photographed by the line scan camera 6 having a scanning density higher than that of the moving image by the video camera 2 is displayed. It is installed at a different position from the video camera 2. Accordingly, in the side line scan image display window 303 that designates the frame 304a including the joint 107 and is emphasized by the display bar 309, a clear pier number mark 112 is added to the emphasized portion or the side line scan image in the vicinity thereof. Since it is reflected, the pier number mark 112 can be specified by this side line scan image. The installation position of the joint 107 corresponding to the identified pier number mark 112 is read with reference to the table of the storage device 83. The installation position of the joint 107 is associated as a measurement position of measurement information in which the photographing time and the measurement time of the frame 304a including the joint 107 are substantially the same and exceed the reference value. In this way, the measurement position of the measurement information can be corrected.

  In addition, the extraction of the pier number mark 112 by image recognition may be mistakenly performed, and the measurement position of the measurement information may be associated with the incorrect installation position of the joint 107, resulting in a position specifying defect. This position specification failure is caused by the fact that the pier number displayed in the measurement position display window 307 is closest in the direction opposite to the traveling direction when predetermined measurement information in any of the windows 301, 302, and 303 is designated. The number is detected by being different from the nearest pier number among the pier numbers that have already passed. Even when such a position-specific defect is detected, a side line scan image in the vicinity of the side line scan image emphasized by the side line scan image display window 303 when predetermined measurement information is designated is displayed. Thus, the measurement position of the measurement information can be corrected based on the side line scan image in which the pier number mark 112 is reflected.

  Thus, according to the inspection screen of the road measurement system S, even if a failure occurs in specifying the measurement position of the measurement information based on the installation position of the joint 107 due to the failure of the image recognition process, this failure can be corrected. it can. In addition, without performing image recognition processing, the measurement information, moving image data, and line scan data stored in the storage device 83 are read out on the inspection screen, and the operator recognizes the pier number through the inspection screen and performs measurement through the input device 85. The information measurement position may be associated with the installation position of the joint 107. In particular, based on the pier number mark 112 displayed in the side line scan image display window 303, the line scan data including the pier number mark 112 is designated by the pointer 308, and the line scan data including the pier number mark 112 is displayed. Specify the shooting time. The measurement position of the measurement information that is related to the measurement time in the vicinity of the photographing time of the line scan data and exceeds the reference value may be associated with the arrangement position of the joint 107 specified by the pier number mark 112. Good. Thereby, the measurement position of the said measurement information can be pinpointed correctly based on the arrangement position of the coupling 107.

  In the road measurement system S of the above embodiment, the side of the road and the road surface are photographed by the video camera 2 for photographing a single direction, but the two-way video camera for photographing the side of the road and the road surface simultaneously in two directions. You may shoot with FIG. 8 is a schematic diagram showing the shooting direction of the two-way video camera 22 mounted on the vehicle 1. The two-way video camera 22 includes two lenses having different shooting directions, converts light incident on each lens into a signal, and outputs the signal as single video data. The lens of the two-way video camera 22 is set so as to face the side of the road indicated by the arrow A ′ and the traveling direction indicated by the arrow B. The two-way video camera 22 can simultaneously capture the side of the road and the road surface and output a single video data. FIG. 9 is a schematic diagram showing moving image data shot by the two-way moving camera 22. As illustrated in FIG. 9, the moving image data captured by the two-way moving camera 22 includes a frame 23 having a side region 24 obtained by photographing the side of the road and a front region 25 obtained by photographing the road surface in the traveling direction of the road. Formed with. The frame 23 including the side area 24 and the front area 25 is specified at a single shooting time. Therefore, it is possible to save time and effort to synchronize the video data output from each camera, such as when shooting the side of the road and the road surface with different cameras. Can be observed. In addition, the two-way video camera 22 can shoot a wider side of the road than the video camera 2 that shoots by tilting toward the shoulder of the road. Therefore, on the basis of the moving image of the two-way video camera 22, the state of the railing 111 existing on the side of the road, the soundproof wall 113 installed on the railing 111, the column 114 supporting the soundproofing wall 113, etc. It is possible to observe in detail, and to accurately grasp such deterioration and damage.

  In addition, when the vehicle 1 travels in a lane away from the wall height column 111 of the elevated road, the pier number sign 112 installed in the wall height column 111 is photographed by another vehicle existing between the wall height column 111 and the vehicle 1. There is a problem that hinders. In order to solve this problem, a three-way video camera 32 can be employed as a video shooting unit mounted on the vehicle 1. FIG. 10 is a schematic diagram showing the shooting direction of the three-way video camera 32 mounted on the vehicle 1. The three-way moving image camera 32 includes three lenses having different shooting directions, converts light incident on each lens into a signal, and outputs the signal as a single moving image data. The three lenses of the three-way video camera 32 here are the shoulders of the road in the same traveling direction indicated by arrow A ′, the traveling direction indicated by arrow B, and the shoulder of the road in the opposite traveling direction indicated by arrow C. Set to face the opposite side. With this three-way video camera 32, it is possible to simultaneously photograph the side and road surface of the road in the same traveling direction and the side of the road in the opposite traveling direction. Therefore, even if another vehicle exists in the adjacent lane and the shooting of the pier number mark 112 arranged on the wall height column 111 of the road in the same traveling direction is hindered, the road height column 111 of the road in the opposite traveling direction is displayed. The arranged pier number mark 112 can be photographed. Therefore, it is not necessary to close the elevated road for measuring the road, and the measurement can be performed with the road in service. In addition, the three-way moving image camera 32 can simultaneously photograph the side and road surface of the road in the same traveling direction and the side of the road in the opposite traveling direction, and output a single moving image data. Therefore, it is possible to save time and effort to synchronize the video data output from each camera, such as when shooting one side of the road, the road surface, and the other side with different cameras. The search for the number mark 112 and the observation of the road surface can be performed.

  In the above embodiment, the bridge pier number mark 112 is used as a display object installed on the side of the road and photographed by the video camera 2, but a kilopost that displays the distance from the starting point of the road may be adopted. . That is, from the video data of the video camera 2, the kilopost region may be extracted by shape recognition and color recognition, and the distance from the starting point of the road may be extracted by character recognition. Further, as the display object, a route sign indicating the name of a road line or an entrance / exit sign indicating the name of an entrance / exit of an expressway may be adopted. Furthermore, you may employ | adopt a drain ditch and a road surface display as a structure. When a kilometer post, a route sign, an entrance / exit sign, or the like is adopted as the display object and a drainage groove or a road surface display is adopted as the structure, the separation distance between these display object and the structure is specified in advance. Therefore, the measurement position of the measurement information exceeding the reference value can be specified with high accuracy based on the measurement information exceeding the reference value when the structure passes and the display object corresponding to the structure. As a result, the measurement position of the other measurement information can be specified with high accuracy based on the measurement information that exceeds the reference value when passing through the structure.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Movie camera 3 Acceleration sensor 4 Surface shape sensor 5 Distance sensor 6 Line scan camera 7 GPS receiver 8 Notebook PC
9 Microphone 10 Rutting test machine 81 CPU
82 Memory 83 Storage device 84 Communication device 85 Input device 86 Output device 87 Reader 101 Bridge pier 105 Concrete floor slab 107 Joint 112 Bridge pier number mark S Road measurement system

Claims (11)

A measurement unit that is mounted on a vehicle and performs measurement on a road while the vehicle is running and outputs measurement information;
Video shooting that is mounted on a vehicle and outputs a single moving image by simultaneously shooting a display object that specifies a structure whose arrangement position is specified in advance while the vehicle is traveling, the structure, and a road surface And
The measurement information output from the measurement unit and the moving image output from the moving image shooting unit are displayed along a common time series, and the measurement information exceeding a predetermined value is specified by the display object. A display unit that enables confirmation of whether or not it is caused by a structure to be made ;
An operation unit that associates an acquisition position of measurement information that exceeds a predetermined value due to the structure among the measurement information displayed on the display unit with an arrangement position of the structure, Road measurement system. The road measurement system according to claim 1,
Of the measurement information displayed on the display unit, comprising an input unit for receiving input for specifying measurement information exceeding a predetermined value due to the structure,
The said calculating part matches the acquisition position of the measurement information specified by the input to the said input part with the arrangement position of the said structure, The road measurement system characterized by the above-mentioned. In the road measurement system according to claim 1 or 2,
The road measurement system, wherein the moving image photographing unit is arranged so that a photographing direction is inclined with respect to a traveling direction of the vehicle. In the road measurement system according to any one of claims 1 to 3,
The moving image photographing unit records incident light from the side of the road and incident light from the road surface in a single moving image and outputs the same. In the road measurement system according to any one of claims 1 to 4,
The moving image capturing unit records incident light from one side of the road, incident light from the other side of the road, and incident light from the road surface in a single moving image and outputs the same A road measurement system characterized by In the road measurement system according to any one of claims 1 to 5,
A road measurement system comprising: a line scan type photographing unit for photographing a side of the road and outputting a line scan image. The road measurement system according to any one of claims 1 to 6,
The display unit displays the line scan image output from the line scan type imaging unit along a time series common to the measurement information output from the measurement unit,
The input unit receives a scan time input for specifying a shooting time of a display object included in the line scan image among the measurement information displayed on the display unit,
The calculation unit is the measurement information related to the measurement time in the vicinity of the photographing time specified by the scan time input to the input unit, and specifies the measurement position of the measurement information exceeding a predetermined value by the display object. A road measurement system, wherein the road measurement system is associated with an arrangement position of the structure. The road measurement system according to any one of claims 1 to 7,
A designation input unit capable of designating the measurement information displayed on the display unit and the frame of the moving image;
When measurement information is designated by the designated input unit, a frame highlighting unit that highlights a frame of a photographing time corresponding to the measurement time of the designated measurement information on the display unit,
A road comprising: a measurement information highlighting unit for highlighting measurement information at a measurement time corresponding to a photographing time of the designated frame on the display unit when a frame is designated by the designation input unit. Measuring system. The road measurement system according to any one of claims 1 to 8,
When measurement information or a frame is specified in the specified input unit, based on measurement information exceeding a predetermined value closest to the specified measurement information, or a frame including a display object closest to the specified frame, Calculate the distance from the measurement position of the measurement information associated with the installation position of the structure corresponding to the display object to the measurement position of the designated measurement information or the shooting position of the frame, and the designated measurement information A road measurement system comprising a measurement position display unit for displaying the information of the display object and the distance on the display unit as the measurement position. The road measurement system according to any one of claims 1 to 9,
The measurement information includes a position detection signal received while the vehicle is running,
When measurement information or a frame is designated by the designation input unit, the measurement position of the designated measurement information is based on a position detection signal at a reception time corresponding to the measurement time of the designated measurement information or the shooting time of the frame. Alternatively, a road measurement system comprising a map information display unit that displays a map indicating a shooting position of a frame on the display unit. The road measurement system according to any one of claims 1 to 10,
The road where the above measurements are taken is an elevated road,
The elevated road includes a plurality of floor structures, a bridge pier that supports the plurality of floor structures, and a structure that is located above the bridge pier and connects between the floor slab of the floor structure and the floor slab. A road measurement system comprising: a joint of the above and the display object provided in the vicinity of the joint and displaying information identifying the pier.

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