JP6203569B2 - Bridge damage state investigation system, bridge damage state investigation method and aerial mobile equipment - Google Patents

Description

  The present invention relates to a bridge damage state investigation system and investigation using an aerial mobile device for investigating and inspecting the damage state of a bridge, such as cracks and damages, which occur in members constituting the bridge, using an aerial mobile device. It is about the method.

  Conventionally, a bridge inspection vehicle, which is a special vehicle, has been used as a damage inspection method for a bridge to investigate the damage state of the bridge, such as cracks occurring in members constituting the bridge and the degree of damage.

  As shown in FIG. 5, an operator enters the deck section 102 of the bridge inspection vehicle 101 that is stopped on the bridge 100 to be investigated, moves the deck section 102, observes the image while taking a picture with a camera. We were checking.

JP 2006-2417 A

  As described above, in the conventional damage state investigation on the bridge, the bridge inspection vehicle 101, which is a special vehicle, is moved along the bridge along the entire length of the bridge, so it is necessary to regulate traffic around the bridge 100. There is a problem that a lot of costs such as a moving cost of the bridge inspection vehicle 101 which is a special vehicle and a work cost of workers are required.

  In addition, there was a problem that complicated procedures and a lot of time were required, such as the necessity of notifying the police in advance.

  In order to solve the above problems, the present invention performs the damage state of the bridge, such as cracks generated in members constituting the bridge, the degree of damage, etc., using an unmanned aerial mobile device that can be easily operated, The purpose is to provide a bridge damage state investigation system, a bridge damage state investigation method, and an aerial mobile device that can accurately investigate the damage state of a bridge without the need for traffic control around the bridge and at low cost and with simple operations. To do.

  The bridge damage state investigation system according to the present invention includes an aerial mobile device, an imaging device mounted on the aerial mobile device, and imaging data transmission that is mounted on the aerial mobile device and transmits data captured by the imaging device. And a measurement function unit that is mounted on the aerial mobile device and provides a dimensional standard for recognizing the degree of damage to the bridge that is the inspection target portion.

  The method for investigating the damage state of a bridge according to the present invention is capable of receiving photographing data with a dimensional standard transmitted from an aerial mobile device and investigating the damage state of the bridge in real time.

  An aerial mobile device according to the present invention includes an imaging device, an imaging data transmission unit that transmits data captured by the imaging device, and a measurement function unit that provides a dimensional reference for recognizing the degree of damage to a bridge that is an inspection target portion. It is equipped with.

  As described above, according to the present invention, it is possible to quickly and accurately investigate a damage state of a bridge with low cost and simple work without using traffic control around the bridge using an aerial mobile device. .

  This invention uses an aerial mobile device such as an unmanned helicopter equipped with a digital camera or video camera, etc., and directly captures the deterioration of the bridge, such as cracks and damage, in the members that make up the bridge. The photographed data is analyzed to investigate the damage state of the bridge.

Embodiment 1
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows an overall system explanatory view of a method for investigating a damage state of a bridge using this aerial mobile device.

  This bridge damage state investigation system includes an aerial mobile device 2 such as an unmanned helicopter equipped with a photographing device 1 such as a lightweight camera and video, an operation system unit 3 for controlling and operating the aerial mobile device 2, and an aerial mobile device. And a receiving device 4 that receives imaging data from the two imaging devices 1.

Configuration of Embodiment 1 (1) The aerial mobile device 2 includes, as shown in FIGS. 2 and 3, a photographing device 1 such as a digital camera or a video, a rotor 5 that imparts a propulsive force of the aerial mobile device 2, An illumination unit 6 such as an LED light, an imaging data transmission unit 7 that transmits data captured by the imaging device 1, and an irradiation means such as a laser beam. A measurement function unit 8 that provides a dimensional reference when estimating the length or size of damage that is a part to be inspected based on the size, and an automatic flight control device 10 connected to the automatic flight control GPS 9; It has.

  By the photographing device 1 of the aerial mobile device 2, a. The underside of the bridge girder (the lower flange underside of the bridge girder), b. The side of the bridge girder (more precisely, the web side of the bridge girder), c. Since the damage state of the bridge is investigated while photographing the lower surface of the bridge deck, etc., it is ideally provided that a plurality of units are provided in order to photograph the inspection target portion of the bridge so as not to leak.

  In addition, for example, when an infrared camera is used as the photographing apparatus 1, the temperature difference of the inspection target portion of the bridge can also be included in the photographed data, which makes it possible to investigate the damage state of the bridge such as cracks. Can be done in detail.

  Further, the imaging data transmission unit 7 of the aerial mobile device 2 is sequentially transmitted to the receiving device 4 on the ground side, and can check images in real time even while the aerial mobile device 2 is flying.

  In the first embodiment, a helicopter is illustrated as an example of the aerial mobile device 2, but any aerial mobile device other than an unmanned helicopter can be used as long as it can be taken still or at a very low speed without blurring. There may be.

  Further, in the aerial mobile device 2 shown in FIG. 2, the rotor 5 is prevented from being damaged when the rotor 5 comes into contact with the bridge around the rotor 5 to which the propelling force of the aerial mobile device 2 is applied. It is preferable to provide a protective cover (not shown). When the protective cover is attached, it is necessary to provide a position and shape that does not hinder the photographing of the photographing apparatus 1.

(2) The operation system unit 3 is a device that controls the flight of the aerial mobile device 2.
Normally, the ground investigator operates while aiming at the aerial mobile device 2 and further operates the aerial mobile device 2 while checking the imaging data transmitted to the receiving device 4 on the ground side. As will be described later, the flight path can be automated by the automatic flight control device 10 of the aerial mobile device 2.

  In addition, the operation system unit 3 may have any configuration as long as it has a function of being less affected by external radio waves in order to make the aerial mobile device 2 fly stably and stationary or at a very low speed. Also good.

  Here, for example, there are cracks and damages that occur in the members that make up the bridge, and those that are less than 1 mm exist, so there is considerable accuracy resolution and stable and stationary or very low-speed stable flight of the mobile equipment 2. Indispensable.

  The distance between the bridge and the aerial moving device 2 changes depending on the maneuverability, the wind blowing condition, and the performance of the photographing device 1 and cannot be generally stated. For example, in the inspection and photographing of a bridge girder, the distance is about 1 m. Is scheduled to fly.

(3) The receiving device 4 is preferably capable of receiving image data from the imaging device 1 of the aerial mobile device 2 and reproducing an image on site. It is desirable to be able to conduct a focused investigation of cracks and parts that are suspected of being damaged while reconstructing images on the spot while generating cracks in parts that make up small bridges.

Effects of Embodiment 1 (1) Regarding the method of photographing the inspection target part a. Imaging method The applicant has created a variety of effective imaging methods based on past experience. For example, the measurement function unit 8 of the aerial mobile device 2 emits a laser beam (for example, a plurality of 1 mm diameter spots). Based on the distance between the points of the laser beam, the length of the damaged part that is the inspection target part is estimated, or the damaged part is larger or smaller than 1 mm in relation to the size of the point. Judge the size of the crack, such as 0.5 mm or less.

(2) About the analysis method of imaging data The applicant has the data of various effective analysis methods from the past experience. Therefore, if cracks or damages are found in the members constituting the bridge during the investigation process, the cracks and damages occurring in the members constituting the bridge are predicted from the imaging data.
Hereinafter, an example of the analysis method will be described.

This analysis method compares the imaging data from the imaging device 1 of the aerial mobile device 2 received by the receiving device 4 with the deterioration tendency data of the bridge accumulated in the database, and automatically analyzes the data into the members that constitute the bridge. It recognizes the deterioration state and degree of deterioration of the bridge such as cracks and damages that occur, and calculates the deterioration state and degree of deterioration of the bridge.
FIG. 4 shows the deterioration tendency data 11a to 11e accumulated in the database A.
11a is deterioration process: incubation period, crack form: crack perpendicular to bridge axis 11b is deterioration process: progress stage, crack form: orthogonal crack 11c is deterioration process: acceleration period (early period), crack form: turtle shell 11d is a deterioration process: acceleration period (late stage), crack form: corner drop / crack slit 11e is deterioration process: deterioration stage, crack form: dropout

The imaging data from the imaging device 1 of the aerial mobile device 2 received by the receiving device 4 is the bridge deterioration tendency data 11a to 11e stored in the database A by the comparison processing unit (not shown) of the information processing device on the ground side. Thus, it is easily determined at which level the imaging data that has been recognized and transmitted corresponds to the degradation process of the bridge.

  The comparison processing unit of this processing apparatus, for example, specifically determines the degradation level judgment (latent period, progress period, acceleration period (previous period), acceleration period (late period), degradation period) and presents it. Is configured to do.

(3) Moving method of the aerial moving device 2 for obtaining an optimum photographing effect a. As described above, as described above, the applicant has data on deterioration tendency such as cracks and damages that occur in members constituting various effective bridges based on past experience. Yes.

  Therefore, if cracks or damages are found in the members that make up the bridge during the investigation process, the cracks that occur in the members that make up the bridges, the degree of damage, etc. The aerial mobile device 2 is moved by predicting the shooting point and shooting report of the aerial mobile device 2 using the deterioration tendency data of the damage progress such as the positional degradation progress direction.

  Specifically, the operation system unit 3 for controlling and operating the aerial mobile device 2 is used to determine the deterioration level of the bridge (latent period, progress period, Based on the acceleration period (previous period), acceleration period (late period), and deterioration level), the aerial mobile device 2 is moved by operation.

b. Operation and shooting of the aerial mobile device 2 using the degradation level recognition result of the ground side information processing device Using the degradation level judgment by the ground side information processing device, the subsequent flight path is automatically determined in advance by the aerial mobile device 2 Degradation level judgment (latent period, progress period, acceleration period (previous term), acceleration period (late term) judged by a comparison processing unit (not shown) of the bridge degradation tendency data report processing device input to the flight control device 10 ), The level corresponding to the deterioration period), the information control program may be operated, and the photographing density of the inspection target portion of the bridge may be automated in accordance with the importance.

  For example, when the deterioration level of a bridge is in the latent period or the progress period, it is easy to shoot and carefully shoot after the acceleration period, or focus on the relationship between the latent period of the degradation level or the progress period and the acceleration period. It is also possible to change the program according to the purpose of the survey.

c. In addition, the automatic flight control GPS 9 of the automatic flight control device 10 is operated to partially automate the flight path to avoid unexpected situations such as a collision between the aerial mobile device 2 and a bridge, or to perform efficient shooting. May be obtained.

  In addition to the flight route by the automatic flight control device 10 using the automatic flight control GPS 9, the bridge design drawing data is input to the automatic flight control device 10 of the aerial mobile device 2 in advance to control the flight route. May be.

  Further, the automatic flight control device 10 using the automatic flight control GPS 9 includes, in advance, data of the bridge design drawing, important photographing points between the bridge girders, how the shutter operating position of the photographing device 1, and the focus position. Further, it is possible to input in detail whether to perform magnification of the shooting position, shooting time, etc., and to control data not only for the flight path but also for shooting conditions.

(4) Irradiation method by the measurement function unit 8 of the aerial mobile device 2 for obtaining an optimal photographing effect Deterioration level determination (determined by the above-described deterioration tendency data and the comparison processing unit (not shown) of the information processing apparatus ( Irradiation light of the measurement function unit 8 so as to optimally irradiate the laser beam irradiation method by the measurement function unit 8 based on the incubation period, progress period, acceleration period (first period), acceleration period (late period), deterioration period) The measurement function unit 8 may be programmed with respect to the type and size.

  For example, when the deterioration level is the incubation period or the development period, the distance between the laser beam points is usually set, and the laser beam irradiation interval (for example, 0.5 mm to 1 mm in diameter) is used to investigate in detail the damaged part after the acceleration period. It is also possible to irradiate a plurality of points.

As described above, according to the first embodiment, it is not necessary to control traffic around the bridge using an aerial mobile device, and the bridge damage can be accurately performed with low cost and simple work. The effect that a state investigation can be performed is acquired.

  In the first embodiment, the bridge damage state investigation system and the investigation method using the aerial mobile device have been mainly described. However, the present invention is not limited to this field, and the bridge and other constructions are not limited. Of course, it can be applied to corrosion inspection of general steel girders and cracks in the connection part of steel materials.

Whole system explanatory drawing of the damage state investigation method of the bridge concerning this Embodiment 1 Plane outline explanatory drawing of the aerial mobile device 2 concerning this Embodiment 1. FIG. Side surface explanatory drawing of the aerial mobile device 2 concerning this Embodiment 1. FIG. Illustration of deterioration trend data stored in database A Explanatory drawing explaining conventional bridge inspection work

1: Image pickup device 2: Aerial mobile device 3: Operation system unit 4: Receiver 4
5: Rotor 7: Image data transmission unit 6: Illumination unit 8: Measurement function unit 9: GPS for automatic flight control
10: Automatic flight control device

Claims (4)

Airborne mobile device, imaging device mounted on the airborne mobile device, imaging data transmitter mounted on the airborne mobile device for transmitting data captured by the imaging device, and mounted on the airborne mobile device for inspection In order to recognize the damage level of the bridge that is the target part, the measurement function part that provides the dimensional standard is compared with the image data and the deterioration tendency data of the bridge stored in the database to determine the determined deterioration level. A bridge damage state investigation system comprising: an automatic flight control device that controls a flight path of the aerial mobile device .   The bridge damage state investigation system according to claim 1, further comprising a ground-side receiving device that receives imaging data from the imaging data transmission unit. Airborne mobile device, imaging device mounted on the airborne mobile device, imaging data transmitter mounted on the airborne mobile device for transmitting data captured by the imaging device, and mounted on the airborne mobile device for inspection In order to recognize the damage level of the bridge that is the target part, the measurement function part that provides the dimensional standard is compared with the image data and the deterioration tendency data of the bridge stored in the database to determine the determined deterioration level. And a measurement function unit control unit for controlling the measurement function unit, and a bridge damage state investigation system provided. The bridge damage state investigation system according to claim 3, further comprising a ground-side receiving device that receives imaging data from the imaging data transmission unit.

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