JP6349607B2 - Cavity exploration method and risk assessment method - Google Patents

Description

  The present invention relates to a method for exploring a cavity in a coastal quay or embankment and its risk assessment.

  A depression / collapse in a coastal quay or embankment may occur due to a cavity generated in the inside (Non-Patent Document 1). In order to prevent the collapse and collapse of these facilities, it is effective to investigate the presence and extent of underground cavities in the vicinity of these facilities. Taking a river embankment as an example, as described in Patent Document 1, there are high-density electric exploration, EM exploration, surface wave exploration, and S-wave exploration methods for nondestructive exploration methods for abnormalities or damage in the ground. . However, the fact that none of the methods has reached a level where it can be efficiently and effectively implemented remains unchanged.

  High-density electrical exploration and EM exploration have problems that resolution is not sufficient, workability and cost are problems, surface wave exploration is cost-effective but unsuitable for depth exploration, and accuracy is poor. is there. In the case of two-dimensional exploration, the S-wave exploration also has problems such as the occurrence of noise such as reflection data from the side of the side line and the workability resulting from the narrow scope of this exploration method. This point does not change even in the case of three-dimensional exploration using S waves proposed by Patent Document 2.

  On the other hand, as shown in Patent Documents 1 to 3, non-destructive exploration in which an electromagnetic wave radar is mounted on a vehicle and travels on a road has begun to be used for a cavity investigation under the road with its efficiency as a weapon. The electromagnetic radar device loaded on the moving body accumulates the data to be measured in the recording device to be loaded, determines the cavity by post data processing and analysis, and estimates its location and spread. In some cases, it can be specified.

  Fortunately, large shore quay or embankment facilities often have facilities where vehicles can pass. These include quay wharfs, revetment roads, and embankment roads. In this case, the present invention was born from a study on whether or not cavity exploration by electromagnetic wave radar developed for the purpose of road maintenance can be utilized for the maintenance of these facilities.

  Figure 1 shows a schematic representation of the cavities found on a quay or embankment. In particular, the present invention focuses on the cavity at the quay boundary when searching for the cavity of the target surface R from the electromagnetic wave radar. It can be detected by the electromagnetic wave radar that a cavity is generated under the road installed on the upper surface of the quay or the embankment like the top edge road. More precisely, its existence can be estimated. The determination of the existence of a cavity only by analysis with an electromagnetic wave radar is a nondestructive inspection, so it can only be estimated. On the other hand, if there is a crack in the quay, when the water is filled from the crack in the quay, it penetrates into the soil, and when the water level is pulled, the earth and sand flows out into the water with the water from the soil, resulting in the creation of cavities, It is believed that there are many cases of growth. Therefore, if there is a crack in the quay, there is usually a high possibility that there is a cavity around it. However, since the inside is also invisible, it is unavoidable to estimate the existence of the cavity. FIG. 2 shows a state from the occurrence of corrosion of a steel sheet pile or damage to the caisson joint on the quay wall surface until the backfilling material or the like flows out into the water by sucking, and the cavity expands and grows to collapse. Just because there is a crack in the quay, it cannot be concluded immediately that there is a cavity that needs immediate attention or should be monitored. Therefore, the electromagnetic wave radar is used to investigate the cavity from above, and at the same time, the side wall of the quay or embankment is imaged from the side, cracks in the side wall are recognized, and the probability of the existence of the cavity is increased by combining the two pieces of information, improving the cavity recognition rate. This is one of the objects of the present invention. The inventor's rule of thumb is that if these two phenomena are observed at the same location, the existence of the cavity may be recognized with a considerable degree of probability. Whether or not the rule of thumb is valid can be verified by sampling a small-diameter hole and a remote scope camera image at a point where the existence of the cavity is specified by such a method.

The use of both measurements will be described in more detail than the prior art. Whether it is a road, a quay or a dyke, a physical survey by a boring survey is usually performed where an anomalous part has a non-destructive inspection or visual inspection. For route roads, cavities occur due to various factors in the ground, and the evidence to estimate the existence is limited to estimation by reflected wave measurement, even if it is an electromagnetic wave radar exploration method. It is believed that. On the other hand, the side of the quay or the dike is often exposed in the open space, and in this case, it is often possible to recognize some damage such as cracks and cracks by another method, such as visual inspection. . In such a case, the probability of the existence of dangerous cavities increases by combining information on the existence of cavities estimated from electromagnetic wave radar and cracks, cracks, etc., from the side survey, and a boring survey is conducted to confirm the existence of the cavities. Although the necessity is reduced and the scale of the boring survey for grasping the scale of repair work can be reduced, there are few examples of such technical examinations so far. Non-Patent Document 2 is one of the examples of coastal levee exploration cases using electromagnetic wave radar, but as a trial study, the principle of walking and exploring abnormal parts visually inspected by electromagnetic wave radar was studied. However, it has not yet reached the establishment of a method for efficiently conducting surveys on riverbanks, coastlines, and a large number of port facilities across a wide range of areas, and establishing a method for determining that there are cavities. Here, damage to the quay can be classified by its structure. For example, in the case of a sheet pile mooring berth,
○ For steel sheet piles, it refers to corrosion / cracking, and drilling / steel corrosion / surface scratches / corrosion of joints, etc. with visual resolution. It refers to peeling, corrosion of reinforcing bars, etc. (Non-patent Document 3). A method of measuring and managing the degree of damage and evaluating the degree of risk thereof in a time series has not been established.

  By the way, civil engineering facilities are very long, and when observing and recording side-specific parts that occur on the side wall of a quay or embankment, it is possible to record data only on the spot, even if the basic form is to record it in a photograph or visually inspect the image. It is important to save and use the records as well as the records. Then, it is required to be stored as a digital image that can be accessed randomly in a form that can be used by a computer. Various technologies have been developed for how to record digital images of civil engineering facilities, and methods and software products that connect multiple still images to create a single continuous image are provided (Non-Patent Documents) 4). However, in many cases, it is intended to provide an overall bird's-eye view, and creates a continuous image with a precise resolution of 10 centimeters of the side wall of the port / river civil engineering facility targeted by the present invention and its precise position. There is no provision of a method for realizing the process of record management.

  In addition, since the civil engineering facility is long, it is necessary to move the viewpoint of the video camera in order to acquire a plurality of image frames used to create the digital single image. For this purpose, it is convenient to move the video camera in the air or on the water. However, if the side is to be photographed from a moving body such as a real helicopter with the necessary resolution, it is necessary to photograph the side of the civil engineering facility, which causes a safety problem and increases the cost. A real boat is not always close to the embankment. Then, it can be seen that the model aircraft is convenient, but the small aircraft has a problem with the mounting capacity of the measuring device, and also has a problem in terms of flight speed and safety management. Thus, it has been proposed to move and photograph civil engineering facilities using an unmanned small helicopter.

  Then, how to recognize and manage the position with an unmanned mobile body also becomes a problem. For the position measurement of a mobile object, a method for calculating the position from the signal strength of the beacon using a plurality of beacons for transmitting a signal and a radio wave identification reader, for example, a method for calculating the position from the signal strength of the three beacon signals, A method of calculating the position of the radio wave identification reader from the distance between beacons by a triangulation method is known and proposed (for example, Patent Document 4). However, it is inconvenient to install beacons throughout the civil engineering facilities in areas that need to be surveyed over a wide area, because it increases time and cost. If the position measurement of an unmanned small helicopter using satellite GPS signals can be used at least easily, it cannot be said that the accuracy is sufficient. Therefore, in the present invention, a position marker device such as a beacon is mounted on a mobile body such as a base station vehicle, and a marker device such as a beacon or a signal signal detection device is mounted on an unmanned small helicopter and a base station vehicle to increase the relative position between them. It has been recognized that the conventional technology lacks the ability to create a single image with high accuracy by obtaining the accuracy and the base station vehicle and the geographical position with high accuracy.

  In recent years, lasers and ultrasonic waves have been used for position measurement of small-scale moving bodies. The distance measurement method using not only accurate position grasping but also object recognition such as obstacles in the vicinity of the moving body is advantageous in that the device can be downsized. This is convenient for use as a device mounted on an unmanned small helicopter or a vehicle-mounted device. Various proposals have been made for these distance measuring methods and devices, but there are few examples used for position measurement of unmanned small helicopters. Patent Document 5 proposes a survey by a laser scanner when used for surveying a fixed object, but it is a survey of a fixed object and has a different use and cannot be used as it is in the present invention. Patent document 6 is proposed as using a stereo camera for the measurement of the distance between vehicles. It has a complicated configuration for vehicle safety applications and cannot be used as it is in the present invention. Patent Document 7 proposes a position detection system based on ultrasonic distance measurement for convenience in use in the dark, but it is not the one of the flying object which is the application of the present invention and cannot be used as it is.

When a large-scale natural disaster such as an earthquake occurs, damage to the quay or embankment covers a wide area, and it is necessary to quickly grasp and respond to the damage . To that end, of course, once a natural disaster has occurred, it is naturally required to identify the quay or embankment at the damaged site and grasp the damage. to grasp the situation of the embankment, quickly foresaw the will would that abnormal point increased risk in the event of a disaster, it is prompted to advance to quickly grasp the damage depending on the degree of risk that has been grasped.

JP-A-5-87945 JP-A-8-62339 JP 2004-301610 A Special table 2010-531973 JP 2006-220476 A JP2012-226635 JP2009-8528

"Ishikawa Coast Straight Embankment Countermeasures", Kanazawa River National Highway Office http://www.hrr.mlit.go.jp/library/happyoukai/h16/pdf/f/f_15.pdf “Cavity exploration of coastal dike using radar” Technical Report 25, 33-55, Hei 15 Maintenance of port facilities based on life cycle management, http://www.fujii-kiso.co.jp/topics/forum/kenshuu/2009/016.pdf Aviation still image creation technology NETIS registration TH-010024-Vhttp: //www.nhs-inc.co.jp/img/mofix.pdf

The main subject of this invention is providing the risk evaluation method of a quay or embankment depression using an electromagnetic wave radar.
More specifically, by utilizing side surface specific part information such as side walls from side images and the estimation data of underground cavities by electromagnetic wave radar measured from the road, it is possible to identify the cavities existing in the quay or embankment and its danger. It is to conduct sex assessment, foresee these collapse points and prevent them in advance.
More specifically, for example, from a high-speed moving object, a plurality of continuous surface images of the captured side singular part images and electromagnetic wave radar reflected wave cross-sectional images are created, and the two are precisely matched, so that the surface and underground damage are detected. to improve the accuracy of specifying the actual cavity that exists in the basement performs a butt, combined against the geographical information, be useful for civil engineering facilities repair plan, such as a quay or embankment through its risk assessment, to help in disaster prevention in the future of the region It is to provide a method that can do this .

The present invention that has solved the above problems is as follows.
<Invention of Claim 1>
Scan the area under evaluation from the upper side of the quay or embankment in the course of movement by a vehicle loaded with an electromagnetic wave radar that injects electromagnetic waves into the evaluation area in the depth direction, and detects the reflected wave with respect to the incident wave above. A reflected wave underground cross-sectional image is created using the reflected wave data, and a quay or levee cavity exploration step for exploring an underground cavity using the cross-sectional image;
A moving body different from the vehicle is moved, and an external side surface exposed to outside air different from the scanning surface of the quay or embankment is imaged by a side imaging camera mounted on the moving body to obtain a side image, and a quay or embankment is obtained. The side survey process of the quay or embankment to identify the unique part of the side of
Matching the reflected wave underground cross-sectional image and the side image in a scanning direction,
A method for exploring a quay or embankment cavity, wherein the underground cavity and the singular part of the side surface are associated with each other to identify an actual cavity.

<Effect>
Scanning the electromagnetic wave radar in the process of movement by the vehicle carrying it, the size and depth of the cavity top surface (electromagnetic reflection surface from above) can be obtained , moving a moving body different from the vehicle, An external side wall exposed to the outside air different from the scanning surface of the quay or levee is imaged by a side imaging camera mounted on this, and a peculiar part such as a crack or fatigue of the side wall is recognized, and there is a cavity by combining two pieces of information. The probability of depression is improved, the cavity recognition rate is improved , and the risk of depression can be accurately evaluated .
In order to identify the actual cavity by combining the two pieces of information, the radar reflected wave underground cross-sectional image obtained in the cavity exploration process and the side image obtained in the side survey process are scanned in the scanning direction (running direction) in screen units. By matching and matching the position of the cavity and the side specific part on the image after matching, it is possible to accurately and efficiently relate these .

According to the present invention, a real cavity can be identified, and even when urgent investigation is required in the event of a disaster, the cavity can be quickly identified and identified, so the risk of depression caused by the cavity can be evaluated quickly and accurately. I can do it . In addition, the exploration of cavity exploration data is accumulated in time series, and in order to investigate the degree of danger caused by the cavity, matched radar reflected wave underground cross-sectional images and side images are recorded and saved, and the timely data is recalled to make judgments that are excellent for observation. Can be provided at the same time.

<Invention of Claim 2>
For the position identification of the moving body, at least one of a laser scanner rangefinder, a beacon and a marker radio wave identification reader mounted on a plurality of moving bodies, a stereo camera, a stereo image recognition rangefinder, or an ultrasonic rangefinder The method for exploring a cavity of a quay or embankment according to claim 1, wherein:

Since the side to be imaged is long, the image is taken from the moving body . Of such moving bodies, those that are remotely operated or autonomously operated are preferably employed, and for example, a moving means such as a helicopter or a water boat is preferably selected .
Measurement of the position of these moving objects in the air or on the water is necessary both for managing the operations of the moving objects and for managing the side images.
If a high-accuracy GPS device can be loaded by capturing a plurality of GPS beacon signals, it is also possible to accurately measure the position of the moving body. For example, the loading capacity of the moving body to be remotely controlled is limited, There is also a risk of damage due to loading of expensive equipment on the surface of the water, etc. Considering these factors, it is preferable to achieve position measurement by other means.
If the vehicle is equipped with an electromagnetic wave radar , a high function GPS can be installed .

A side image capturing device can be mounted on a moving body such as an autonomous flight helicopter that is remotely operated or autonomously operated to track a vehicle equipped with an electromagnetic wave radar, and images can be taken from a remote moving body . By configuring the communication network between the control facility of the moving body and the moving body, when it is assumed that the simultaneous data transmission to the vehicle of the recording system in real time, to can lead to a reduction in the weight of the imaging apparatus of the autonomous flying helicopter It is also advantageous in terms of data maintenance in the event of an autonomous flight helicopter failure. Autonomous flight helicopter having such a tracking feature, can be miniaturized, highly economical inexpensive.

The configuration and effects of each moving body position measuring means are listed.

[Mode using laser scanner rangefinder]
When using a laser scanner rangefinder, for example,
A laser scanner for irradiating the moving body;
A rotation mechanism for rotating the laser scanner up and down or left and right;
A target reflector mounted on a moving body that measures the distance to the laser scanner;
A photoreceiver or camera that receives the reflected light from the reflector of the laser scanner light that irradiates the target reflector; and
When receiving a photoreceiver signal or a camera image signal, an image recognition device for distance measurement that measures the distance or azimuth between the laser scanner and the target reflector,
There is an aspect of a communication mechanism that transmits and receives at least one data of the distance between the moving bodies or the direction.

[Effects of laser scanner rangefinder]
In such a position measurement system, the laser scanner rotates up and down or left and right to catch the reflector, and laser light is emitted toward the target reflector with a predetermined pulse width. Measure distance between reflectors, measure azimuth by reflected light receiving camera and image recognition device, send and receive distance and azimuth data between moving bodies, move moving body equipped with target reflector from moving body equipped with laser scanner The position can be identified. By adopting such a method, a lightweight and inexpensive mechanism can be realized, an observation system starting from a vehicle equipped with an electromagnetic wave radar can be constructed, and reliable provision of information that contributes to ensuring the operation of appropriate mobile objects If a means for providing a side image is provided and data is transferred at the same time, a real-time observation method can be realized, and rapid evaluation of the cavity risk can be realized.

[Aspect using multiple beacons]
In the position identification of the moving body when using a beacon and a beacon rangefinder mounted on a plurality of moving bodies, for example,
Beacon signs mounted on multiple mobiles;
A rangefinder that measures the distance between mobiles equipped with beacons,
A transmitter for transmitting the distance data;
If a beacon radio wave is received, a radio wave identification reader that calculates a current position using a plurality of beacon signals may identify a relative position of a mobile body equipped with the radio wave identification reader from a mobile body equipped with a beacon mark.

[Effects of multiple beacons]
By receiving multiple beacon signals, a mobile object such as a helicopter can measure the position based on the sign information, but in some cases, it is practical to install all fixed signs in a long and wide area from the viewpoint of time or economy. Not right. Therefore, a beacon is mounted on a vehicle equipped with an electromagnetic wave radar and a vehicle that accompanies it, and a mobile object such as a helicopter can be positioned by a radio wave identification reader by using beacon signal signals from three or more vehicles. it can. In this measurement system, for example, the distance between vehicles is measured and maintained by a range finder that measures the distance between beacon-mounted ground moving bodies that maintain and maintain the relationship between the signs because the signs move, and a moving object such as a helicopter. To send as location calculation basic information. By incorporating such a mechanism, the relative position with the beacon can be accurately calculated, which can contribute to remote control or autonomous operation. In other words, by adopting such a method, a lightweight and inexpensive mechanism can be realized, an observation system starting from a vehicle equipped with electromagnetic wave radar is constructed, and information that contributes to ensuring the operation of an appropriate mobile object is reliably provided. Providing means that can use images and simultaneously transferring image data can also realize real-time observation methods, opening the way for rapid assessment of cavity risk.

[Mode using multiple beacons and radio wave direction detector]
There is also an aspect in which a plurality of beacons and a radio wave direction detector are used to identify the position of the moving object when using a beacon and a beacon rangefinder mounted on a plurality of moving objects. This aspect is, for example,
Beacons on two ground mobiles,
A range finder that measures the distance between mobiles equipped with beacons,
A transmitter for transmitting the distance data;
Radio wave direction detector,
When a beacon radio wave is received, a radio wave identification reader that calculates a current position from the beacon radio wave reception direction and the distance measures a relative position of the mobile body equipped with the radio wave identification reader from the beacon-equipped mobile body.

[Effects of multiple beacons and radio wave direction detectors]
The basis of this measurement system is as follows. A mobile object such as a helicopter can measure the position by receiving two beacon signals and detecting the direction of the sign information. However, in some cases, installing fixed signs in a long and wide area is a periodical and economical aspect. Not realistic. Therefore, beacons are originally mounted on vehicles equipped with electromagnetic wave radar and accompanying vehicles, and by using two or more beacon signals, mobile objects such as helicopters are measured by radio wave direction detectors and radio wave identification readers. can do. Here, since the sign moves, the distance between vehicles, for example, measures or maintains the distance between the beacon-mounted ground moving objects that regulate and maintain the relationship between the signs, so that the moving object such as a helicopter Send as location calculation basic information. Or, if you have a large in-vehicle GPS, you can measure the position with high accuracy, so you can grasp the position of the vehicle equipped with a beacon sign relatively easily, and if you use these, you will not be able to install the GPS in the helicopter. The target position can be determined. By incorporating such a mechanism, the relative position with the beacon can be accurately calculated based on the principle of triangulation, which can contribute to remote control or autonomous operation. In other words, by adopting such a method, a lightweight and inexpensive mechanism can be realized, an observation system starting from a vehicle equipped with electromagnetic wave radar is constructed, and information that contributes to ensuring the operation of an appropriate mobile object is reliably provided. Providing means that can use images and simultaneously transferring image data can also realize real-time observation methods, opening the way for rapid assessment of cavity risk.

[Mode using stereo camera]
When using a stereo camera and a stereo image identification rangefinder, for example, for identifying the position of the moving object, an optical identification mark attached to the ground moving object,
A stereo camera mounted on any of the moving bodies;
If the image data of a stereo camera is received, there exists an aspect which consists of a stereo image recognition apparatus which measures the distance and azimuth | direction with an optical identification mark.

[Effects of stereo camera]
In this measurement system, the distance between moving bodies is measured with the parallax of multiple cameras, and the communication system that transmits distance data between the moving bodies is used as a measurement method that links data with the ground station. Both are realized with one device. There is an advantage that the tracking function of the ground station mobile body can be provided at the same time. By adopting such a method, it is possible to realize a comprehensive lightweight and inexpensive mechanism, to build an observation system starting from a vehicle equipped with a beacon sign, and to provide information that contributes to ensuring the operation of appropriate mobile objects By providing a means for reliably providing a side image and further simultaneously transferring data, a real-time observation method can be realized, and a rapid evaluation of the cavity risk can be realized.

[Mode using ultrasonic rangefinder]
In the case of using an ultrasonic rangefinder, for example, a distance mechanism of the moving body, for example, a rotation mechanism that rotates the ultrasonic oscillation unit and the sensor unit up and down or left and right,
A target reflector mounted on a moving body that measures the distance from the ultrasonic oscillator;
If the ultrasonic reflected wave is received, the distance between the moving objects is measured by an ultrasonic distance meter that measures the distance between the ultrasonic oscillator and the target reflector,
An optical identification mark attached to the ground moving body for orientation identification of the moving body and a camera mounted on any of the moving bodies;
A turning mechanism for turning the camera up and down or left and right;
When the image data of the camera is received, the orientation from the moving object is measured by the image recognition process by the image recognition device that measures the orientation of the optical identification mark, and the data is linked to the ground station by the communication mechanism. There is a mode in which a distance is measured using an ultrasonic distance meter.

[Operation effect of ultrasonic rangefinder]
Since ultrasonic waves also detect reflection from the water surface, there is an advantage that they can be shared for altitude measurement applications on the water surface. By adopting such a method, a simple and inexpensive mechanism can be realized, an observation system starting from a vehicle equipped with a beacon sign can be constructed, and information provided to ensure the operation of an appropriate mobile object can be reliably provided. If a means for providing a side image is provided and data is transferred at the same time, a real-time observation method can be realized, and rapid evaluation of the cavity risk can be realized.

<Invention of Claim 3>
In the cavity exploration step, a distance measuring counter that displays the distance from the starting point of the measurement section is recorded in the reflected wave underground cross section image as an index key, and in the side surface inspection step, a distance measuring counter is recorded in the side image as an index key. , the reflected wave underground section point image and the range counter to the side surface image is recorded as the collation point, matching the reflected wave subsurface cross-sectional image and a side image according to claim 1 or 2, wherein the cavity exploration how the quay or embankment according .

  In order to create a reflected wave underground cross-sectional image over the entire measurement section of the quay or dike facility, it is necessary to establish a reference for the laser scanning direction. A distance measurement counter that displays the distance from the measurement starting point (for example, one counter for every 1 cm) is recorded in the image attribute, so that a single image of the reflected wave underground cross-sectional image is created immediately after imaging. The side images standardized by the counter are mapped using the distance measuring counter as a key, and the cavity recognized by both images and the position where the side specific part matches is recognized as a cavity matched by matching. If it can be determined on the spot as a real cavity together with the detailed judgment of the cross-sectional image, it will be possible to quickly grasp the abnormal location of the facility at the measurement site, and it will be possible to take on-site response according to the timing of re-precise measurement etc. .

<Invention of Claim 4>
A reflective surface that identifies an actual cavity using the cavity exploration method according to any one of claims 1 to 3 and reflects electromagnetic waves from above based on the reflected wave underground sectional image obtained by the cavity exploration method. Detecting the top surface of the cavity and determining the depth of the top surface of the cavity, the greater the size of the top surface of the cavity and the shallower the top surface of the cavity, the higher the risk of depression. A method of evaluating the degree of cavities or levee cavities to be evaluated.

The inventor believes that the cavity top surface is a surface that forms a projected image from above and is easily observable because it reflects the electromagnetic waves from above first, so that the size and depth of the cavity top surface can be seen from above. It can be accurately acquired by the electromagnetic wave radar, and at the same time, the side wall of the quay or embankment is imaged from the side, the singular part such as crack or fatigue on the side is recognized, and the probability of the existence of the cavity is increased by combining the two pieces of information. The present invention was made with the knowledge that the cavity recognition rate was improved and the risk of depression could be accurately evaluated.
Moreover, in order to be able to determine the existence of a cavity by combining the two pieces of information, it is necessary to recognize that the cavity estimated from the electromagnetic wave radar from above and the singular part of the side recognized from the side are close to each other. In that determination, the radar reflected wave underground cross-sectional image and the side image obtained by the cavity exploration method are matched in the radar scanning direction (traveling direction in the case of the side image) in units of images, and on the image after matching It was found that the relationship between the cavities and the side specific parts can be accurately and efficiently related .

  According to the present invention, the recognition rate of an actual cavity can be improved, and even when urgent investigation is required in the event of a disaster, the cavity can be quickly identified and identified, so the risk of collapse caused by the cavity is reduced. The effect of being able to evaluate quickly and accurately is obtained. If this is the case, repair cavities with a high risk of causing collapse of the quay or embankment roads or the collapse of these facilities first, and repair such cavities with extremely low risk without repairing or delaying the repair time. The repair plan can be carried out quickly and easily in a timely manner, and in the event of a major disaster, the risk determined in advance from the exploration of cavities, dam or dam side wall damage, location information, facility damage information or facility attribute information, etc. Depending on the degree, for the registered danger points that are predicted to increase the probability of road collapse or facility collapse due to natural disasters, immediately after the occurrence of a disaster, search for the geographical information below and start the investigation. Can do. Facility damage information or facility attribute information registered by quay or embankment geographical information, cavity survey result information, ground side image is organically combined and evaluated and registered as a risk, so the system can respond quickly It is possible to conduct a progress survey of the risk level of a wide range of disaster areas in a short period of time. And for the progress investigation of the risk level, if the matched radar reflected wave underground cross-sectional image and side image are recorded and saved and the timely data can be recalled, the progress determination can be objectively performed, and the accuracy of the risk level determination can be improved. It is valid. By the way, Patent Document 2 discloses that “the order of the risk of the depression of the paved road is given from the three-dimensional shape of the upper part of the cavity”, but the dimensions and depth of the cavity top surface are used as indices. That is not disclosed.

<Invention of Claim 5>
The matched reflected wave underground cross-sectional image and the side image are corrected by a distance measuring counter by collating with a geographical marker, a distance measuring counter is assigned to the geographical distance, and a specific part of the cavity or side surface is assigned to the geographical information image. how to evaluate the cavity risk quay or embankment according to claim 4, wherein wherein the superimposed display information.

  Even if the cavity and the specific part on the side are specified using the distance measurement counter from the starting point and the measurement starting point as a key, it is convenient that the time series management of the cavity is associated with geographical information. For this purpose, the measurement data and the geographical data are associated with geographical signs such as intersections, wharfs, etc., and the distance obtained from the distance measurement counter is corrected, and the starting point provided by the distance measurement counter is provided. The accuracy of the distance from is to be maintained. Here, the association with the geographical information of the cavity position can also be performed by an on-vehicle high-precision GPS.

<Invention of Claim 6>
5. The method for evaluating a cavity risk of a quay or embankment according to claim 4, wherein the risk is evaluated from the cavity estimation information obtained by the cavity exploration method and side surface specific part information or high tide level or low tide level.

  In addition to the position and shape of the cavity by the electromagnetic wave radar, for example, facility attribute information such as tide level height and tidal difference at low tide, for example, sucking out soil into the sea due to tide level fluctuations, or rivers due to fluctuations in water level during rainfall The risk level is determined by comprehensively judging risk factors such as information on facility damage such as cracks that have been sucked out from the soil, and information on side parts such as side part positions (heights). To evaluate. This risk allows foreseeing future disasters, prioritizing surveys in the event of a disaster, and prioritizing repair work, giving you the option to take comprehensive disaster countermeasures.

<Invention of Claim 7>
The size of the cavity top surface estimated by the method of exploring the cavity using an electromagnetic wave radar, the position size of the cavity top surface is adjacent to the side surface specific part specified by the side image, and the dimension of the cavity top surface The greater the depth of the cavity and the shallower the depth of the cavity, the higher the risk of depression, and the time series statistical value transition of the cavity and the time series statistical value transition of the side singular part are considered, 7. The degree of risk is evaluated based on the fact that at least one of the dimension of the cavity top surface or the depth of the cavity top surface exceeds a threshold value, and the risk of depression on the quay or embankment is high. A method for evaluating the cavity risk according to any one of the above items.

  The larger the dimension of the top of the cavity, the higher the possibility of collapsing, and if there are side parts such as side walls, there is a high possibility that a cavity will be generated around it, and the growth rate and rising speed of the generated cavity will be higher. fast. Therefore, a more accurate evaluation can be performed by performing an evaluation in consideration of such factors. Considering the statistical factors in consideration of the presence of surrounding cavities and the time series history, determining the evaluation threshold, and assigning and managing the cavity risk to those exceeding that value will manage many cavities This is convenient.

  As described above, according to the present invention, the side specific part information such as the side wall obtained by the side imaging and the estimation data of the existence of the underground cavity by the electromagnetic wave radar are mutually utilized, and the cavity existing under the quay or the embankment is efficiently identified and its It is possible to conduct risk assessments and predict the collapse of large riverbanks, coastlines or harbor facilities, and prevent accidents.

It is a quay or embankment cavity and its growth diagram. It is a figure from surface damage of a quay or embankment to depression. It is a block diagram of the whole process. It is a creation framework figure of side image data. It is a single plane data creation figure by normalization of a plurality of image frames. It is an apparatus block diagram with the one aspect | mode which mounted the side surface photography camera in the electromagnetic wave radar mounting vehicle. It is a normalization processing step figure of a side multiple image frame. Equipment configuration in one aspect of side survey by autonomous flight type helicopter It is a functional lineblock diagram concerning a side investigation by an autonomous flight type helicopter. FIG. 6 is another implementation diagram using a beacon. It is the schematic of an electromagnetic wave radar. It is a block diagram of a radar system. It is a top view which shows the sensor array example of a radar system. It is a top view which shows the sensor array example of a radar system. It is the schematic of an exploration vehicle. It is the schematic which shows the processing process of a radar system. It is the schematic which shows the acquisition outline | summary of reflected wave data. It is explanatory drawing which shows the multi-value conversion principle of reflected wave data. It is a figure of a running direction longitudinal section image, a horizontal section image, and a vehicle width direction longitudinal section image. It is explanatory drawing which shows the detection principle of a cavity. It is a running direction longitudinal cross-section image which shows the example of a cavity. It is explanatory drawing after a matching process result. It is explanatory drawing of the dimension and depth of a cavity top surface. It is a figure which shows the danger evaluation criteria of a depression. It is explanatory drawing which shows a cavity growth factor. It is explanatory drawing which shows a cavity growth factor. It is explanatory drawing which shows a cavity growth factor. It is explanatory drawing which shows a cavity growth factor. It is a horizontal cross-sectional image in the case of having a cavity growth factor (branch pipe). It is a figure which shows a risk time series analysis step. It is a figure which displays a cavity risk map. It is another figure which displays a cavity risk map.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
[overall structure]
As shown in FIG. 3, the cavity exploration method and its risk assessment method are
Cavity exploration process that uses electromagnetic wave radar to detect cavities, estimate and record their existence,
A side surface inspection process for acquiring side surface image data of the side wall / slope surface captured in the side surface image and recording necessary management information;
A data matching process that matches the image information recorded by the cavity exploration process and the side surface inspection process, and correlates the cavity estimation and the side surface specific part data;
A risk assessment process that identifies the presence of dangerous cavities from these data and determines the risk,
Various views to display the risk level,
Consists of Observe and record the ground image of the side wall in the side survey process, record the electromagnetic wave intensity distribution map of the underground section by the electromagnetic wave radar in the cavity exploration process, synchronize and collate both data in the data matching process, and in the risk assessment process Cavity-related data obtained from both data is evaluated, and the risk is judged and recorded. These data are recorded and stored in time series, and the current or future risk is evaluated and predicted and the results are displayed.

[Side survey process]
In the side inspection process, a side image of a side wall or a slope is obtained from side imaging, and singular part information, part position, location information, facility damage information, and facility attribute information of a quay or embankment are recorded and stored. Predetermined attribute information of the location where an abnormality has been identified by image processing or visual inspection by side inspection is transmitted to the integrated image processing sub-process of the data matching process and recorded and stored together with the image.
Functional elements that make up the side survey process:
The side surface inspection process includes a mobile station equipped with a camera and a ground station that controls communication of the mobile station. When measuring with a configuration in which a side-view camera is mounted on a vehicle equipped with an electromagnetic wave radar, it is sufficient for the mobile station to include a shooting camera as a minimum configuration, and communication control in this case is sufficient to connect to the LAN of the ground station. . The side image data creation framework implemented in the side surface inspection process is shown in FIG. 4 and will be described in detail below.

The side surface photographing method of the coastal quay or embankment exploration method and the risk evaluation method thereof according to the present invention includes a case where a side surface photographing camera is mounted on a vehicle equipped with an electromagnetic wave radar and a vehicle equipped with an electromagnetic wave radar such as an autonomous flight type helicopter. And a case where a side-view camera is mounted on a separate moving body. In any case, the framework for creating the side image data in the side surface survey process is as follows: 1. As shown in FIG. Preparation → 2. Shooting and measurement → 3. Data recording → 4. This is the flow of post-processing.
1. Preparation means planning, equipment resource arrangement, equipment setup, and in some cases, rehearsal implementation etc. is executed in advance.
2. Shooting and measurement refer to performing processing for capturing an observation target region with an area sensor camera and transferring the data to a ground station for data recording. Information for specifying the position of the shooting point is measured simultaneously with the shot image, and data is transferred at the same time. In the case of a configuration in which a side-view camera is mounted on a vehicle equipped with an electromagnetic wave radar, the shooting location is fixed, so a vehicle travel distance pulse is transmitted in real time as a management index for the distance between the vehicle reference point and the shooting center. . The captured image data is managed as temporally planar data with reference to the vehicle travel distance pulse.
3. Data recording refers to a process of recording photographed image data in the ground station storage device with reference to the travel distance pulse of the vehicle. The recording here is raw data, and the measurement data is only recorded in order in a time-series line signal or frame unit.
4). Post-processing refers to processing for reconstructing and normalizing observation target area data as a single plane without overlap. Since each image frame of the photographed image has an overlapping portion, the normalized data excluding the overlapping portion is recorded on the basis of the travel distance pulse of the vehicle. With this storage plane, the side image is managed as it looks. Call one of these as a side view to identify the location of the anomaly, cracks, low tide, and high tide level.

Hereinafter, the side surface inspection process will be described in detail.
<Mobile station>
There are various methods for acquiring side image data of a side wall or a slope by side photographing. If it's the coast, you can shoot the quay or levee slope from the sea side with the photographic equipment mounted on the ship, and if it's a river, you can shoot the levee slope from the water with the photographic equipment installed on the ship, You can also take a picture of the embankment on the opposite bank from the top of the river embankment. Recording data and mileage information, and in some cases geographical information, are recorded and stored at the same time. Preferably, as described below, an investigation using a camera mounted on an in-vehicle arm or a camera equipped with an autonomous flight type helicopter is taken close to the side-specific part. It is excellent in accuracy and efficiency in that it can be done.

Create single plane data by normalizing multiple image frames:
The on-board camera of the vehicle 10 equipped with the electromagnetic wave radar is equipped with an area shooting model. Shooting images include overlapping images, blurred image portions, etc., and simply connecting a plurality of frames does not provide a bird's-eye view of the observation facility. Therefore, normalization processing is performed. FIG. 5 is a diagram showing creation of single plane data by normalizing a plurality of image frames. The observation data is sequentially arranged on the entire image memory plane 254, the overlapping portions of the plurality of image frames 255 are deleted using the geographical sign as a landmark, and the deficient portions are managed as blank information. Normalization produces a continuous still image single plane 260 as shown in FIG. If a distance measuring counter is embedded as a marker in this planar image information, the traveling direction of the side image is managed in a one-to-one relationship with the traveling distance. Thus, the side map is virtually arranged in the storage space like a single plane on the storage area memory with the distance measuring counter as the vehicle traveling direction X dimension and the vertical direction as the Y dimension. As shown in FIG. 6, this configuration is an aspect of an embodiment of the invention that is photographed when an arm 309 is attached to a vehicle 10 equipped with an electromagnetic wave radar and an area sensor camera 305 for side surface photography is disposed at the tip of the arm 309. It is easy to understand if explained in. In this case, since the position and distance between the photographing point of the side image data and the electromagnetic wave radar measurement point are specified, there is an advantage that it is not necessary to observe this physical quantity separately and post-processing becomes easy. The ground station shown in FIG. 3 is omitted.

FIG. 7 shows processing steps for side surface investigation in the case of image recording by an area sensor camera. In this case, the image is recorded in units of frame refresh time, for example, every 1/30 seconds. If the moving speed of the vehicle moves in a section corresponding to the frame visual field in 1/30 seconds, there is no shift in each map that is captured and recorded by the frame, that is, the imaging target area, but this synchronization is difficult. Further, as described below, when the ground surface is photographed from a moving body different from the vehicle, a disturbance such as shaking enters, so that the refresh cycle of the plurality of image frames 255 on the entire image memory plane 254 and the movement of the vehicle It can be said that volume and synchronization are impossible. That is, since the side map 255 of each frame moves in the running direction and fluctuates in the direction perpendicular to the running direction, the distance measuring counter is recorded and stored together with the moving image frame, and after the post-processing, the distance measuring counter is set at the marked position of each frame. The single plane data 260, which is positioned and excluding the vertical and horizontal overlapping portions between the frames, is reconstructed on the image memory plane. For example, post-processing is performed by extracting and superimposing characteristic objects such as signs in the image to connect the image frames 255 and eliminating unnecessary ones. Hereinafter, processing steps will be described in detail.
1. In the preparation step, the area sensor camera is prepared (processing 1.1). The travel distance pulse counter is prepared (process 1.2).
2. In the photographing and measurement process, an image of the revetment retaining wall or quay is photographed (Process 2.1). On the other hand, the mileage pulse counter managed by the vehicle 10 equipped with the electromagnetic wave radar is measured (processing 2.2). When it is assumed that the area sensor camera is attached to the arm 309 of the vehicle 10 equipped with the electromagnetic wave radar, the mileage pulse counter is received via the in-vehicle LAN, and the moving body is different from the vehicle 10 equipped with the electromagnetic wave radar. When the side inspection process functions, the mobile station receives a travel distance pulse counter through a wireless LAN or the like that assumes a communication function. There are various reception methods of the mileage pulse counter. In another embodiment, when the time stamp of the central computer of the cavity exploration process and the time stamp of the computer of the side inspection process are synchronized via a wireless LAN, the time stamp of the central computer of the cavity exploration process and the mileage pulse counter are set. One method is to receive the data in a pair so that the synchronized time stamp and image frame number of the image recording apparatus in the side surface inspection process can be compared. Various methods and devices have been proposed for synchronizing both time stamps. For example, conforming to IEEE 1588 is one aspect.
In another aspect, even when using a computer that controls the cavity search process and a computer that does not synchronize the clocks of the side inspection process and computer, the cavity search process / image processing apparatus uses a computer clock and a mileage pulse counter.・ Data is recorded simultaneously with the image, and the computer clock and the image are recorded in the side inspection process / image processing apparatus. In order to correct the clock difference between the two computers by simple processing, the difference between each computer clock is measured when the time signal received by each computer or the external clock is received, the cavity search process, clock and side investigation process, Measure the clock difference and use it as the calibration value. Correction is achieved by complementing the difference during measurement from calibration values performed at two time points, for example, before and after the start of measurement, and associating the image frame of the side surface inspection process with the travel distance pulse counter.
In yet another aspect, visual effects are combined to achieve this. Even in the case of using equipment that cannot synchronize the clock between the central computer of the cavity exploration process and the side inspection process / computer, laser emission is performed on the vehicle 10 equipped with the electromagnetic wave radar instead of sending and receiving the mileage pulse counter as data to the side inspection process. A field or LED is provided for the number of bits of the display numerical value, and the distance measuring counter is displayed in binary display, and this display is placed in the side view field of view and the distance measuring counter is read from the image. If 32 laser emitters are provided, it is possible to display a ranging counter up to 32 bits. In this way, the data transmission time due to the transmission / reception of the mileage pulse counter can be shortened, and even if the difference time occurs, only the transmission time generated in the vehicle equipped with the electromagnetic wave radar is limited. Only a few correction values are required, the variation of calibration values due to environmental factors is reduced and the process is simplified, and in many cases, the correction values are expected to be small and negligible. Is done. Depending on these embodiments, there are some variations in the contents to be prepared, measured, or recorded in the preparation process, the main process, and the data recording process. It depends on the measurement accuracy and speed, specifically the measurement resolution and the moving speed of the vehicle equipped with the electromagnetic wave radar, and the following is a mileage pulse counter assuming that it is synchronized by a preferred method. The description continues with the first implementation of transmitting.
3. In the data recording process, index information in which the video and the video frame are associated with the count number of the travel distance pulse is recorded by the revetment retaining wall or the video recording device on the quay (Process 3.1). The count number of the travel distance pulse is synchronized with that in the cavity exploration process. If synchronization cannot be achieved and the difference affects the resolution of about 10 centimeters, it is necessary to consider the calibration method described above.
4). In the post-processing step, the image of the revetment retaining wall or quay is reproduced (Process 4.1). For example, digital reproduction is performed by frame advance. Refer to the index that records the relationship between the distance pulse count (ranging counter) and the number of video frames (Processing 4.2), process the video, extract feature points such as signs in the image, match them, They are connected (Process 4.3). Reproduction and extraction and matching of feature points in the image may be automated by image processing. Extraction and identification of feature points are captured by changes in luminance and hue, and the frames are connected by moving ΔX and ΔY in superposition. When stitching together, the distance pulse count value is linked to the fixed point marker photographed in the frame. By doing so, this alignment process can be considerably automated (process 4.3).
When the single plane data 260 is created for the side surface in this way, an abnormal portion 510 such as a crack is specified on this plane (see FIG. 31). For this specification, various methods such as extracting a portion having a large luminance change in image processing and extracting a non-geometric pattern when connected can be used. The normalization processing step (FIG. 7) of the side recording data in the case of image recording by the area sensor camera is the same as the processing of the underground sectional image (horizontal section or vertical section) of the laser reflected wave by the area sensor in the cavity exploration process. .

Next, a specific mode in which a side-view camera is mounted on an autonomous flight type helicopter will be described. In an environment where the arm cannot be used, it is convenient to take a side view with the autonomous flight type helicopter described below. In FIG. 8, the apparatus structure in one aspect | mode of the side imaging | photography by an autonomous flight type helicopter is shown. In FIG. 9, the functional structure of the side surface investigation process in an autonomous flight type helicopter mounting structure is shown. The side survey process function consists of a mobile station and a ground station. The details will be described below.

The mobile station and the ground station are communicatively connected via a wireless LAN, and control data and imaging data are transmitted from the autonomous flight type helicopter 300 to the vehicle-mounted ground station online. The devices connected to the wireless LAN are synchronized, for example, in units of 10 to 100 microseconds according to the IEEE 1588 system, and the distance counter and time stamp are associated with each other in the distance counter control subfunction of the ground station. Records are managed. The mobile station reflects the laser scanner light, receives the distance and azimuth from the source via the wireless LAN, directs the camera and shooting point for tracking the ground station-equipped vehicle 10, and tracks the ground station-equipped vehicle 10. It has a navigation sub-function to indicate By the navigation sub function, the target flight point is determined as a difference accompanying the movement of the vehicle 10 mounted on the ground station, and the navigation steering direction is instructed to the steering sub function. The maneuvering subfunction automatically maneuvers the autonomous flight type helicopter 300 .

The side-facing camera mounted on the mobile station captures the object to be photographed by a transmission command from the facility side-surface photographing control subfunction of the ground station via wireless LAN, or preferably captures the object to be photographed by automatic image recognition. The captured data is transferred to the image processing temporary storage sub-function. In many cases, it is sufficient for the shooting range to be indicated below the vehicle 10 mounted on the ground station.
The image processing temporary storage sub-function temporarily records the image data together with the time stamp in the mobile station, and the data is transmitted to the ground station through a transmission path having a low priority, and the integrated image processing sub-process of the data matching process. Recorded and saved in

  The vehicle-mounted ground station is provided with a navigation control subfunction, and communicates with the navigation subfunction of the mobile station to properly control tracking to the ground station vehicle. The vehicle-mounted ground station is equipped with a facility side imaging control sub-function, which captures an imaging target by a transmission command via a wireless LAN, or preferably captures an imaging target by automatic image recognition, and captures imaging data as an image processing sub-function. To be transferred to. According to the side surface inspection process shown in FIGS. 8 and 9, side surface photographing by the autonomous flight type helicopter 300 is as follows.

  The autonomous flight type helicopter 300 receives control from the vehicle 10 mounted on the ground station and performs remote control or autonomous flight. Control data and observation image data are transmitted and received between the autonomous flight helicopter 300 and the ground station antenna 304 mounted on the vehicle 10 by radio signals. The autonomous flight type helicopter 300 is equipped with a photographing camera 301 for tracking the ground station moving body 10 and a camera 302 for observing the facility side surface. It has an autopilot function that tracks the moving object mark 303 by the camera 301. When remotely maneuvered so that the moving body marker 303 enters the field of view of the camera 301, the autonomous flight helicopter 300 enters the autopilot mode by radio control. The laser light emitted from the laser scanner 310 disposed on the moving body is reflected by the reflecting mirror mirror 311, and the laser reflected light is received by the light receiving body and the camera installed on the moving body. By receiving the reflected light, the distance between the autonomous flight helicopter 300 and the vehicle 10 is calculated by a laser rangefinder, and the direction of the autonomous flight helicopter 300 viewed from the vehicle 10 is determined by the helicopter monitoring camera 312. As a result, the position of the autonomous flight type helicopter 300 viewed from the vehicle 10 is specified. The imaging camera 301 for tracking the moving body 10 always places the vehicle 10 in the field of view of the imaging area and tracks the vehicle 10. This tracking may be performed by a remote shooting function of a tracking camera or a remote control mechanism of the autonomous flight type helicopter 300, or preferably by an automatic monitoring mechanism and an autonomous navigation mechanism. That is, in this automatic tracking, the moving body marker 303 is colored to make it easy to recognize the tracking target, and the moving body marker 303 is recognized as an automatic tracking target by image processing, and is tracked by the automatic steering function. The distance and direction measured by the laser ranging system are distributed to the autonomous flight helicopter 300 by wireless communication, and used as a driving navigation basic condition of the autopilot function. The reflection mirror 311 may be ball-shaped, cylindrical or flat, or may be a hemispherical polyhedral mirror ball 311 as shown in the figure.

In this embodiment, the autonomous flight type helicopter 300 moves the observation position with the movement of the vehicle mounted on the ground station to be tracked, and the autonomous flight type over the levee slope or quay from above the levee slope or the sea near the quay. Remote photographing is performed by a side photographing camera 302 mounted on the helicopter 300. At the same time, the tide level mark at the time of high tide is also photographed, and both the positional relationship when the singular part is photographed are recorded and recorded.
The side image data may be collected and analyzed after landing by mounting an image recording device on the autonomous flight type helicopter 300, but is preferably wirelessly transmitted to the ground station-equipped vehicle 10 in real time. By doing so, imaging data is maintained even if an accident such as an emergency landing of the autonomous flight type helicopter 300 occurs.

In addition, the relative position of the autonomous flight type helicopter 300 and the vehicle 10 equipped with the electromagnetic wave radar can be measured, for example, in another embodiment shown in FIG.
The beacon (radio wave marker) 330 is mounted on the electromagnetic wave radar-equipped vehicle 10 and the vehicle 360 that travel while maintaining a certain distance, and the directional measurement and triangulation to each beacon is performed by the automatic direction detector 370 equipped with the autonomous flight helicopter 300. Find by the principle of. In this way, the relative position between the autonomous flight helicopter 300 and the electromagnetic wave radar-equipped vehicle 10 can be recognized in real time. If the distance L between the vehicle 10 and the vehicle 360 is also measured in real time and transmitted to the autonomous flight helicopter 300, a more flexible and accurate measurement can be determined by the triangulation principle. Although the accuracy is lowered, the position of the autonomous flight type helicopter 300 can be determined from the signal intensity of only one beacon mounted on the electromagnetic wave radar-equipped vehicle 10 and the azimuth measurement to the beacon to correct the route .

  In addition, the relative position between the autonomous flight type helicopter 300 and the vehicle 10 equipped with the electromagnetic wave radar can be measured by another embodiment using three beacons instead of the configuration of two beacons and a direction detector. That is, the beacon is mounted on each of the three vehicles, and the autonomous flight type helicopter 300 measures the strength of each beacon signal so that the relative position of each vehicle can be determined by the mileage pulse counter of each vehicle or the The position of the autonomous helicopter can be calculated from these measured with a sonic rangefinder. This embodiment has an advantage that the equipment mounted on the autonomous flight type helicopter can be reduced in weight as compared with that of FIG.

Furthermore, as another embodiment, as shown in FIG. 8, if the photographing camera 301 for tracking the moving body 10 of the autonomous flight type helicopter 300, that is, if the tracking camera is a stereo camera, the camera from the parallax of the two cameras is used. The distance between 301 and the moving body 10 can be determined by processing with a stereo camera image processing apparatus.

In principle, the image recording storage timing of the timing and side survey image recording storage in the vehicle 10 of the ground station equipped, but may be offset, measured when shifting the timing position information to the absolute geographic information Will be based on a map with geographic information as a key. If the image recording and storage in the vehicle 10 mounted on the ground station and the image recording and storage of the side surface survey are performed at the same time, there is an advantage that the matching of both image data becomes easier and the result can be judged in a few hours after the measurement is performed.

<Determination of post-processing and side wall damage>
The content of the post-processing is the case of the frame video processing described above. Since each frame has an overlapping portion, the normalized data excluding the overlapping portion is recorded on the basis of the mileage pulse of the vehicle. With this storage plane, side-view data is managed as it looks. Identify the locations of abnormalities on this side, cracks, low tide and high tide water level positions.
The abnormality of the levee may be determined by image processing from the side image, or the abnormality may be determined visually from the screen, and the damaged portion of the levee may be recorded as an image attribute. In this case, the damaged part is recognized on the single plane data 260.

[Cavity exploration process]
The processing for the cavity exploration process is the same as that in FIG. 4 in the case of the side-view data, but it is a so-called tomographic image, so the amount of information to be handled is large and the analysis is complicated, so the post-processing is diverse. .
1. In photographing and recording, an electromagnetic wave is used instead of the video signal from the visible light camera and the imaging unit, and the received signal of the reflected electromagnetic wave is transferred to the in-vehicle recording device together with the travel distance pulse of the vehicle by the radar.
2. Data recording refers to the process of recording radar received data in the ground station storage device based on the vehicle mileage pulse. The recording here is raw data, and the measurement data is ordered and recorded in line units or array units. It is the same as stopping.
3. In the post-processing, an electromagnetic wave intensity data image (corresponding to a camera-captured image) at a depth setting level in each place is created. By this memory plane, the cavity exploration data is managed like a cross-sectional image. We will examine the parts and attributes that are abnormal in this aspect. Here, analysis is performed from various angles to create cavity estimation data. This cross section has both a horizontal cross section in the running direction and a vertical cross section, and the cross section in the width direction is used as needed depending on how to retrieve the stored data, but this is difficult to use for matching.

Hereinafter, the function of the cavity exploration process will be described in detail based on one embodiment of the present invention.
<Cavity exploration>
The target surface R of the present invention is not particularly limited as long as it is on the upper surface of a quay or embankment, such as a quay or embankment with a risk of sinking. For example, a port wharf, revetment road, river embankment road, harbor The apron in can be targeted at any surface of these facilities. It does not matter whether the target surface R is a paved surface (regardless of the type of pavement, such as asphalt pavement or concrete pavement) or a non-paved surface. The electromagnetic wave radar-equipped vehicle is preferably the same as the ground station vehicle in the side surface inspection process, and in this case, the vehicle described in FIG. 6 or FIG. 8 is the same. Since the exploration of the cavities includes the management of geographical location information, the amount of processing is greater than that in the side survey process. Make a plan before data measurement and conduct a field survey in advance. In addition to confirming the start and end points of the planned section and strict management of the measurement start point. For that purpose, track line management of the runway is performed, and additional measurement information management is performed. Data processing is also more complex and has various considerations. A boring survey may be performed to confirm the obtained cavity estimation, and reducing the burden of the survey is also an object of the present invention as described above.

Hereinafter, a cavity exploration process using an electromagnetic wave radar will be described in detail based on one embodiment.
<Measurement>
The present invention uses an electromagnetic wave radar to search below the target surface R. As electromagnetic wave radar, various electromagnetic wave radar systems (for example, SIR3000) manufactured by GSSI (USA), RC radar (for example, Handy Search NJJ-95B) manufactured by Japan Radio Co., Ltd. Known devices such as a device (for example, Light Esper) and a radar probe (for example, iron seeker) manufactured by Komatsu Engineering can be used without particular limitation. Hereinafter, specific examples will be described.

  FIG. 11 is a schematic diagram of an electromagnetic wave radar. Symbol a is a sensor a in which an electromagnetic wave transmission / reception antenna and a transmission / reception circuit are integrated in a case, symbol c is an array antenna in which n sensors a are connected in parallel, and symbol b is an array antenna c. 1 shows a control subsystem for switching the function of each sensor a by switching and individually performing transmission / reception and signal processing. The array antenna c and the control subcomponent b constitute a radar system k.

  As the sensor a used in the radar system, one using impulse transmission by a step waveform and having a center band of 0.1 to 1 GHz is preferable. Since the wavelength becomes longer when performing, sufficient exploration can be performed to a certain depth (about 1.5 m). As the frequency of electromagnetic waves increases, the attenuation in the object becomes more severe.However, in the case of a quay or embankment cavity survey, there are some that have a deeper depth of investigation, and the center frequency is lower than in the case of a route road. It is preferable to set the resolution to about 10 cm after setting the wavelength as low as 500 MHz, setting the wavelength long, and performing sufficient exploration to a certain depth (about 1.5 m).

  From each sensor a controlled by the control unit b, electromagnetic waves are oscillated substantially vertically from the target surface R toward the inside. And the reflected wave from under the object surface R is received by each sensor a. The reflected wave received by each sensor a is output to the data processing device as data converted from an analog signal to a digital signal via the control unit b.

  More specifically, the radar system k can be configured as shown in FIG. That is, the sensor a in the radar system k is configured by the transmission unit Tx and the reception unit Rx, and power supply to the n sensors a is supplied by, for example, the power supply battery 31 provided in the control unit b. Is fed to each circuit in the control unit b.

  The transmission command to the transmission unit of the n sensors a is sequentially transmitted by the switch switching control circuit 34 sequentially switching the first changeover switch 34a, and the timing of this switching is the timing source oscillation circuit. This is performed by a clock pulse of several tens of MHz generated at 33b. For example, the switching is sequentially performed every period of the timing clock pulse, and after a few μs, the n sensors a of the array antenna are made a round.

  The electromagnetic wave transmitted by the transmission unit Tx of each sensor a repeats reflection and transmission with respect to the measurement object, and receives the internal state as a reflection signal by the reception unit Rx of the sensor a. The received reflected signal is sampled according to the synchronizing signal from the synchronizing signal generation circuit 33, converted into low frequency received signals 1 to n, and output from each sensor. The received signals output from the sensors are processed in the switch switching circuit 34 by the A / D conversion circuit 35 and the buffer 36, and are sequentially output to the data processing device by switching the second selector switch 34b. .

  FIG. 13A shows the single array state shown in FIG. 11 when the radar system k is shown in FIG. 11. If the distance between the sensors a in the vehicle width direction (sub-scanning direction) is d, the resolution of this single array state is d. It becomes. On the other hand, as shown in FIG. 13B, this array antenna c2 can obtain m times the resolution by arranging the array antennas c1 of the single array of n columns in m rows in a staggered manner. This determines the horizontal resolution. The array antenna c2 arranged in m rows has a resolution of d / m with respect to the resolution d of the array antenna c1 in the single array. Further, as shown in FIG. 14, an array antenna c3 in which sensors a are arranged in m rows × n columns may be used. In this configuration, the search can be performed in a range of m rows × n columns at a time without moving the array antenna c3.

  During the exploration, the operator may perform the measurement while sequentially moving the antenna. However, as shown in FIG. 15, while the exploration vehicle 10 such as an automobile equipped with the radar system k is traveling on the object surface R, It is desirable to perform a search at a predetermined interval in the traveling direction over the entire investigation target area on the surface R. In addition to the radar system k, the exploration vehicle 10 shown in FIG. 15 includes an optical distance meter (or a rotary distance meter) 11, a camera 12 for imaging the state of the target surface R, and a GPS device 13. These output signals are input to the data processing device 14. A general-purpose computer can be used as the data recording device 14. A control device 15 for controlling devices such as the data processing device 14 is mounted on the vehicle, and is also connected to an in-vehicle LAN that communicates with functional devices in the side surface inspection process.

  If the arrangement direction of the sensors a in the radar system k is the sub-scanning direction, and the direction perpendicular to the sub-scanning direction and the electromagnetic wave transmission direction is the main scanning direction, the main scanning direction of the radar system k is the traveling direction of the exploration vehicle 10. Thus, the travel distance associated with travel is input from the distance meter 11 to the data processing device 14.

  FIG. 16 shows a process for processing information obtained by moving the radar system k in the main scanning direction. The radar system k is supported on the object surface R to be inspected and moved along the main scanning direction. At that time, the control unit b drives, for example, n sensors a (1, 2,... N) in order, and the reflected wave data at each position in the sub-scanning direction is output momentarily in the main scanning direction. . That is, as shown in FIG. 17, the reflected wave data (intensity (amplitude) and depth (time)) 50 has a predetermined reflected wave detection interval (position interval in the traveling direction) in the main scanning direction and in the sub-scanning direction. It is acquired at each detection position 40 determined by a predetermined reflected wave detection interval (sensor array interval). These detection intervals can be appropriately determined, but are preferably about 10 cm. The reflected wave detection interval in the main scanning direction (position interval in the traveling direction) and the reflected wave detection interval in the sub-scanning direction (sensor array interval) can be made different. For roads with a high traffic volume, such as revetment roads, the detection interval is preferably 10 cm or less (of course, it does not include 0 and is wider than 0). It can be about 5 cm. In this case, the difference between the reflected wave detection interval in the main scanning direction (position interval in the traveling direction) and the reflected wave detection interval in the sub-scanning direction (sensor array interval) is, for example, that the former is about 1 to 5 cm. This means that the latter can be made wider than that, for example, about 6 to 10 cm.

  The acquired reflected wave data 50 at each detection position 40 is recorded in a storage device (not shown) built in or connected to the data processing device 14 in association with the position information of each detection position 40. At this time, the raw data of the position information of each detection position 40 is the movement distance in the main scanning direction and the sensor array interval in the sub-scanning direction, but is converted into three-dimensional coordinates as necessary and recorded together with the raw data. The reflected wave data 50 is waveform data, but can be recorded together with other data as necessary.

<Detection of cavity>
If the reflected wave data 50 is acquired over the entire investigation target region on the target surface R by the above measurement, then the acquired data 50 is analyzed to detect a cavity. The method for detecting the cavities at this stage is not particularly limited, and the method described in Patent Document 3 can also be adopted. For example, an image below the target surface R is created as described below, and the cavities are formed based on the images. Can be detected. If the existence of cavities has already been identified in past investigations, the purpose is to identify the size of the cavities after the growth, but the method itself is the same as described here.

  That is, based on the acquired data 50, the traveling direction longitudinal cross-sectional image representing the reflected wave intensity (amplitude) at each depth at each reflected wave detection position 40 in shades (see FIG. 19). Create depth.). For example, as shown in FIG. 18, the reflected wave intensity at each depth at each reflected wave detection position 40 is multivalued. Multi-value conversion can be performed by an appropriate method. For example, the upper limit value 70 on the positive side and the lower limit value 71 on the negative side are respectively set with the reflected wave intensity 0 as the median value, and the intensity lower limit value 70 to the intensity upper limit value 71 are set. The range of the reflected wave intensity value is equally divided into multiple stages (if it is 3 or more, it is suitable for creating a visualized image to be described later if it is about 256 or 65536), and at each reflected wave detection position 40 The number of steps corresponding to the reflected wave intensity at each depth can be set as the multi-level reflected wave intensity at that position. The “depth” can be obtained from the propagation speed of electromagnetic waves and the time from transmission of electromagnetic waves to reception of reflected waves. Then, as shown in FIG. 19, the horizontal axis is the travel direction distance, the vertical axis is the depth, and the unit pixel having the gradation of the multilevel reflected wave intensity at each travel direction position and each depth is two-dimensionally represented. By arranging them, a traveling direction longitudinal section image 80 can be created. In addition, the crosshair of each image in FIG. 19 shows the corresponding position between images. The travel direction longitudinal cross-sectional image 80 is created for all the reflected wave detection positions 40 in the vehicle width direction, and any one (for example, the center in the vehicle width direction) or a plurality (for example, three of the both ends in the vehicle width direction and the center portion). Only) may be created. The traveling direction longitudinal cross-sectional image 80 may be created in real time while the vehicle is traveling for obtaining the reflected wave data 50, or may be created collectively after the reflected wave data 50 is obtained. In addition, according to the knowledge of the present invention, in roads that are not different from general roads such as revetment roads, the cavities are shallower than 60 cm, and cavities in deep positions are unlikely to cause depressions, so a predetermined depth (1.5 m, etc.) It is also a preferable form that the longitudinal cross-sectional image 80 in the traveling direction is created only in the shallower area.

  Since it is difficult to determine the cavity only with the longitudinal cross-sectional image 80 in the traveling direction, for example, as shown in FIG. 19, the horizontal sectional image 90 expressing the reflected wave intensity at an arbitrary depth in shades, or the vehicle width at an arbitrary traveling direction position It is preferable to create a directional longitudinal cross-sectional image 100 and comprehensively determine from these images 80, 90, 100. The horizontal cross-sectional image 90 and the vehicle width direction vertical cross-sectional image 100 can be created, for example, by the same method as the traveling direction vertical cross-sectional image 80 described above. That is, the horizontal cross-sectional image 90 multi-values the reflected wave intensity at each depth at each reflected wave detection position 40, the horizontal axis is the travel direction distance, the vertical axis is the vehicle width direction distance, and each position at the target depth. It can be created by two-dimensionally arranging unit pixels having the gradation of the multilevel reflected wave intensity. In addition, the vehicle width direction longitudinal cross-sectional image 100 multi-values the reflected wave intensity at each depth at each reflected wave detection position 40, the horizontal axis is the vehicle width direction distance, the vertical axis is the depth, and the target traveling direction position is It can be created by two-dimensionally arranging unit pixels having gradations of multilevel reflected wave intensity at each position. When creating these images 90 and 100, if there are a plurality of cavities with different positions, the images 90 and 100 can be created for each cavity. Of course, the images 90 and 100 can be created at any position different from the cavity.

  When searching for a cavity, it is preferable to first use the longitudinal section images 80 and 100. For example, in the longitudinal cross-sectional images 80 and 100, a portion where the reflected wave is positive and stronger than the surroundings (hereinafter also referred to as a strong signal portion), that is, a portion where a black layer portion overlaps below a white layer portion in the illustrated example. 81 is likely to be a cavity. Therefore, this strong signal portion 81 can be detected as a cavity. FIG. 20 is a comparative diagram showing an example of the relationship between the layer structure under the normal asphalt pavement surface, the reflected wave polarity, and the traveling direction longitudinal section image 80. In this example, in a place where there is no cavity, as shown in FIG. 20 (a), the relative permittivity εr increases toward the lower layer, and the reflected wave between the target surface R and the layer has a negative polarity (black to white in the image). On the other hand, in a place where there is a cavity, as shown in FIG. 20B, the relative permittivity εr of the cavity portion is the smallest, and electromagnetic waves are reflected positively on the top surface of the cavity (white in the image). To black), the shape of the top of the cavity appears.

  When searching for a cavity, the shape of the strong signal portion 81 is also a reference in addition to the reflection polarity and the reflected wave intensity. For example, the wedge-shaped (or dome-shaped) strong signal portion 81 shown in FIG. 21A is the most common one generated in the hollow portion. This shape is due to the fact that the independent cavity often has a dome shape. On the other hand, the intermittent strong signal part 81 shown in FIG. 21 (b) is often generated in the upper part of the multi-tubular pipe or in the cavity when the concrete plate is removed, and the strong signal part shown in FIG. 21 (c). 81 is generated in a cavity caused by consolidation settlement on the side of the structure. Moreover, the strong signal part 81 shown in FIG.21 (d) generate | occur | produces in the space | gap in the change points (change place etc.) of a pavement structure. Therefore, the coincidence between the shape of the strong signal portion 81 and these shapes is evaluated, and when they coincide, it can be detected as a cavity.

  In the case of surveys on embankments and revetments, buried objects may be placed on the embankments. In this case, the following treatment is preferable. That is, when the strong signal portion 81 is found based on the longitudinal cross-sectional image in this way, the shape of the strong signal portion 81 matches the shape of the embedded object such as a tube based on the horizontal cross-sectional image 90 in the strong signal portion 81 next. It is also preferable to evaluate the sex and detect it as a cavity only if it does not match. As a result, it is possible to discriminate buried objects and cavities that are difficult to distinguish only by the reflection polarity. In particular, when such a horizontal cross-sectional image 90 is created, if the reflected wave detection is performed at a fine interval of 10 cm or less, the shape of the embedded object such as a tube appears clearly, so that the difference between the cavity and the embedded object can be easily distinguished. Further, if there is an embedded object under the target surface R, there is a high possibility that a cavity is generated around the object. Therefore, as shown in FIG. 29, the strong signal part 81 that touches or overlaps the strong signal part 82 of the embedded object 122 is provided. If detected, the possibility of the cavity 85 can be determined to be extremely high.

  The detection process of the cavity and the buried object described above can be performed by an operator visually, but may be performed by directly processing the acquired data by a computer, in which case it is necessary to generate an image. Absent.

  In the case where the existence of the cavity is estimated as described above, the geographical information and attributes such as the depth and size of the cavity are recorded and stored.

[Data matching process]
Side shot data transferred and stored in the vehicle-mounted ground station is transferred from the ground station vehicle and the shooting position direction and distance measured from the time stamp, laser rangefinder or helicopter flight image recorded in the shot data. The distance measurement counter is recorded simultaneously with the image, and the relative positions of the in-vehicle ground station and the mobile station are determined, or preferably both images are synchronized with the distance measurement counter. The location of the embankment side specific part is preferably the same as the side surface position of the cavity determined from the vehicle position and the vehicle from the side of the embankment side specific part determined from the side shot image, if the in-vehicle ground station and the cavity exploration vehicle are the same. The side line position of the levee side surface specific part is easily determined from the position. In this way, the specific part information, facility information, and side images of the quay or bank are transferred and stored in the integrated image processing sub-process. In this case, the geographical position can be assigned later by the calibration of the geographical indicator and the distance measuring counter, or can be assigned according to the in-vehicle GPS standard.

<Matching of cavity and side specific part>
Important embankment side singularities identified from the location of the cavities estimated by vehicle cavity exploration and side surveys must be matched by position data with the image data provided by each, and it is necessary to correlate each estimated cavities with the side singularities There is. The two data are associated with each other so that the risk of collapse and collapse of the bank can be evaluated from both information. Data that has been successfully matched is recorded as a match key. It is one method to manage both of them together as the identified consecutively increasing match key numbers, but in order to perform this match quickly and easily, matching between the side image and the radar reflected wave underground section image is performed in advance. It is preferable to keep it. This is because identification determination is easy if the matched images are compared and compared. For this reason, the integrated image processing sub-process described in detail below is processed.

  Here, the geographical position of the vehicle can be determined by GPS, but it is determined from the distance traveled by the optical distance meter and the geographical position of the starting point that can be measured with stable accuracy without being affected by the environment. It is convenient to determine, and an accurate vehicle geographical position can be easily determined. If necessary, it is possible to recognize the geographical position with high accuracy by correcting the geographical mark, but the matching itself can be performed without the need for this operation.

<Integrated image processing sub-process>
++ Mapping of side image frame and electromagnetic wave radar reflected wave data ++
In the side image, it may be difficult to accurately measure the distance between the side-specific part recognized from the screen and the vehicle due to disturbance at the time of shooting from the image as it is. In the example of a configuration in which a side-view camera is mounted on a vehicle, the embodiment is illustrated as a case of creating a side map when area shooting is performed, but when a side image is shot from a moving body different from the vehicle This difficulty is significantly increased. This is because, for example, when shooting from a flying object that autonomously flies, the angle at which the facility side is viewed from the flying object and the front-rear position distance vary depending on the flight situation. Then, it is understood that it is important to match the side image data and the electromagnetic wave radar reflected wave data in order to associate each estimated cavity with the side singular part. This process is performed in the integrated image processing sub-process shown in FIG.
The angle at which the facility side is viewed from the flying object and the front-rear position distance are grasped and recorded in the captured image from the flying object. On the other hand, the facility image taken from the flying object is disturbed by various elements, and is blurred and recorded. When an image frame is recorded at a predetermined number of frames per second, for example, 30 frames (screens), an end to end of a certain frame overlaps with a recording area covered by the preceding and succeeding frames. This overlap is usually caused by a difference in speed due to fluctuations in speed, shaking of the flying object, etc. Although it is one method to ignore the disturbance and identify the abnormal position of the side of the facility from independent observation or image processing for each frame, there is a lack of systematic location grasping. Therefore, even if an omission occurs, the omission may also occur in the verification. Then, after recognizing the overlap of individual frames, the image storage area can be reconstructed as one continuous video space to eliminate duplication, and the area where shooting was lost can be recorded and managed as missing. preferable. That is, the overlapping area of the frame is cut off and the recorded image is reconstructed so that the continuous recording area becomes a continuous observation area. The normalization of the photographing plane is the same as extracting and matching feature points in an image frame and connecting the frames. It is convenient to match the reference point to be connected with the sensor position of the vehicle 10 and identify the observation position by the vehicle distance pulse counter (ranging counter). If a distance pulse counter is linked to the center of the frame, the position covered by the screen frame is synchronized with the map position generated from the electromagnetic wave radar, and the side surface shooting area is also specified. That is, a distance pulse counter is appropriate as the primary key constituting this single plane as described above. Thus, the vehicle position (distance from the starting point) accurately recorded by the optical distance meter of the vehicle at each management address of the storage area reconstructed like a scroll around the distance or time from the starting point. ) Is embedded, the geographical position (distance from the starting point) is also embedded in the side image from the moving body position calculated from the relative position.

In this way, for the side image storage area recorded as a single plane, the side specific part is visually identified from the video, its position, shape, etc. are recognized, and the side specific part is registered along with the attribute. The position is synchronized using the estimated cavity data from the electromagnetic radar survey on the vehicle and the positional parameters of the distance pulse counter as keys. That is, the side image storage area and the reflected wave underground cross-sectional image are mapped on a one-to-one basis. Then, it becomes possible to simplify the exact association between the singular part of the side surface and the cavity estimated from the cavity search, and the estimated cavity is re-evaluated to be specified as the cavity.
This state is clarified in FIG. 22 that displays the result of the matching process. By comparing the cavity map 411 under the road surface with the image 420 on the side surface, it is shown that the crack on the side surface and the cavity are matched (matched). Here, no corresponding crack is seen in the other cavities, but when an actual cavity is identified as shown in the road surface underground cavity map 411 and the side image 420, the reflection observed in FIG. 21 of the certain cavity is confirmed. A wave shape pattern is identified, and the existence of a similar pattern of estimated cavities increases, allowing the decision to identify cavities even if no side cracks are observed. When cavities are identified from the shape pattern of reflected waves, the hypothesis that the cavities identified from these reasons may also contain hidden damage that could not be captured by the side survey under the surface of the water. To do.
Thus, by capturing the trend of the survey section, useful risk evaluation information can be obtained without accurately associating the singular part of the side surface with the cavity estimated from the cavity exploration.

[Danger assessment process]
The risk assessment process receives the image data after matching from the data matching process, the side-specific part etc. and the data collated with the underground cavity, the collation data collated with the map information, and finally evaluates the identified cavity Originally, the risk is determined and the result of evaluating the risk of the cavity, quay or levee is displayed as a map on the screen. Side view that displays side view data, Cavity exploration view that displays cavity exploration data, Matching view that displays cavities identified by image matching results and matching, and Evaluation view that displays operations and determination results during risk determination Consists of. The evaluation view consists of prefecture windows, municipalities windows, facility windows displayed in units of quays and embankments across administrative divisions, hollow windows displaying detailed cavity images, and time series. Displays the screen after risk determination at various points of view, such as a time-series window for displaying data.
<Identification and registration of cavities>
The cavity estimated by the electromagnetic wave radar survey and the side specific part identified from the side survey are combined to identify the cavity whose risk should be evaluated, and registered as a monitoring target together with the risk assessment element in the risk assessment process. The registered danger cavities are used not only for maintenance as a repair target, but also as a recognition of regular monitoring locations, and when a natural disaster occurs, it is also used as a grasp of the emergency inspection management target.
<Cavity geometric property registration>
When the cavity is detected, as shown in FIG. 23, the top surface dimension W and the top surface depth P of the cavity 85 are obtained. The dimension W and depth P of the top surface of the cavity 85 are measured by the operator by measuring the printed matter of the images 80, 90, 100 with a ruler, or inputting (specifying) the dimension measurement positions of the images 80, 90, 100 to the computer. It can be obtained by calculating with a computer or analyzing the images 80, 90, and 100 with a computer. Then, as shown in FIG. 23, it is assumed that the larger the dimension W of the cavity top surface and the smaller the depth P of the cavity 85 top surface, the higher the risk of the depression, and the danger of the depression at each reflected wave detection position 40. Assess sex. In this way, not only the cavity 85 but also the risk of depression caused by the cavity 85 is evaluated, so that the cavity 85 with a high risk of depression is repaired first, and the cavity with a very low risk of depression is found. It is possible to easily carry out an appropriate repair plan such that 85 is not repaired or delayed.

  Since the depression occurs due to the collapse of the layer above the cavity 85, as described above, the depression is more likely to occur as the dimension W of the cavity top surface is larger. Therefore, the dimension W of the top surface of the cavity 85 can be determined as appropriate, such as the area of the top surface, the major axis, the minor axis, etc. However, if the cavity 85 extends long with a narrow width, there is a risk of collapse. There is little nature. Therefore, as the dimension W of the cavity top surface, as shown in FIG. 23B, it is preferable to use a short side W when the shape of the cavity 85 top surface is approximated to an ellipse. The method for calculating the short side by the ellipse approximation is not particularly limited, and a known method can be used as appropriate. For example, the above-described horizontal cross-sectional image is created, and the image is obtained assuming that the portion having a predetermined reflection intensity or more is the cavity 85. The short side can be calculated by detecting the coordinates of the edge by analysis and approximating the edge with an ellipse by the least square method or the like.

  The depth P of the top surface of the cavity 85 can also be determined as appropriate. The reference position is not the target surface R but an arbitrary position such as the lower surface of the asphalt mixture layer, or the depth measurement site on the top surface of the cavity 85 is Although it can be the peripheral edge of the top surface, it is desirable that the reference position is the target surface R because it can be accurately obtained from the reflected wave data 50, and the cavity 85 is highly correlated with the depression. The depth measurement site on the top surface is preferably the top of the top surface of the cavity 85. That is, as shown in FIG. 23, the depth P of the top surface of the cavity 85 is most preferably the depth from the target surface R to the top of the top surface of the cavity 85.

  In this evaluation method, as long as both the dimension of the top surface of the cavity 85 and the depth P of the top surface of the cavity 85 are used as indices, the weighting can be appropriately determined. For example, as shown in FIG. By taking the dimension W of the top surface on the horizontal axis and the depth P of the top surface of the cavity 85 on the vertical axis, a straight line having a predetermined inclination passing through the origin (the dimension W of the cavity top surface is 0 and the depth P of the cavity 85 top surface is 0). The area is divided into a plurality of depression risk areas, and the depression risk caused by the cavity 85 is ranked according to which area the detection cavity 85 belongs to depending on the top surface size and the top surface depth (in the illustrated example, the risk is high). It is possible to make an evaluation by assigning a rank in the order of A, B, and C) and a score.

  In addition, if the detected top surface dimension of the cavity 85 is small but at a shallow position, there is a high risk of depression, and the top surface dimension of the cavity 85 may not be detected accurately. The evaluation criteria shown in Fig. 24 are modified as shown in Fig. 24 (b) and Fig. 24 (c), and those with a depth of less than a predetermined depth increase the rank and score of the collapse risk regardless of the top surface dimensions. This is a preferable evaluation method. In addition, although this predetermined depth is about 20 cm in the example of illustration, it is not limited to this, For example, you may set to about 10-30 cm.

  By the way, the growth and rise of the cavity 85 are extremely important in evaluating the risk of depression. That is, the cavity 85 existing under the target surface R has different growth and rise speeds from occurrence to depression depending on the surrounding environment and the like. Therefore, in evaluating the danger of depression, such growth factors are considered, When there is a growth factor, it is preferable to evaluate the risk of depression by raising the rank or adding points, assuming that the risk of depression is higher. For example, a cavity 85 of the type shown in FIG. 1 is damaged or a gap 111 is generated in a revetment retaining wall 110 or an abutment, and seawater enters the ground 100. The water is repeatedly flowing into and out of the ground, and the soil is gradually eroded to form and grow and rise. In this case, since the relationship with the position of the high tide level 112 is also important, this is measured, the low tide position is estimated and recorded from the difference from the weather information, and the positional relationship with the specific part is managed. Reference numeral 100 indicates an asphalt mixture layer, reference numeral 101 indicates a roadbed layer, and reference numeral 102 indicates a ground layer including a roadbed. In addition, the cavity 85 of the type shown in FIG. 25 is displaced or damaged in the underground buried pipes 121 and 122 due to earthquakes or ground subsidence (particularly the connection between the main pipe 121 and the branch pipe 122 of the sewer), and during heavy rain The earth and sand flow out from the damaged part into the pipes 121 and 122, and the cavity 85 is generated and grows and rises. These can be classified as cavities 85 due to earth and sand suction, and grow and rise rapidly. Therefore, when there are these growth factors, it is evaluated that the risk is higher than that based on the evaluation result based on the top surface size and the depth of the cavity 85 (for example, the above-mentioned risk B is the following). Or A + by adding a “+” indicating a growth factor to the above-mentioned risk A.

  On the other hand, the cavity 85 of the type shown in FIG. 26A is formed by loosening due to insufficient rolling pressure during construction of the structure 130 due to consolidation or overflow of groundwater by the structure 130. As a result, the water channel 131 is generated, and the fine grains of the ground are formed by flowing out into the water channel due to rainwater intrusion and groundwater fluctuation, and grows and rises. In addition, the cavity 85 of the type shown in FIG. 26B is loosened due to insufficient rolling pressure at the time of laying, particularly in the vicinity of the multi-tube 140 such as telephone, electricity, CAB, or the congested portion of the buried object. It is formed by consolidation and sinking over time, and grows and rises. The cavity 85 of the type shown in FIG. 27 (a) is formed by the consolidation and subsidence over time when chestnut or concrete trash is mixed in the backfill 150 and there are many voids around it.・ It will rise. A cavity 85 of the type shown in FIG. 27 (b) is formed by a local loosening caused by excavation of a tube 160 such as a shield tube or a propulsion tube concentrating in one direction without being dispersed and growing.・ It will rise. A cavity 85 of the type shown in FIG. 28 (a) is formed by growing and consolidating over time when local looseness is present around the object 170 (temporary earth retaining, manhole, dead tube, etc.).・ It will rise. Cavity 85 of the type shown in FIG. 28 (b) is formed by uneven subsidence as shown by the arrows of a solid subgrade such as a concrete plate or slag, which grows and rises. It is. These can be classified as cavities 85 due to the consolidation of sediment, and the growth stops when they are compacted to some extent, but the danger increases compared to the case where there is no growth factor. Therefore, when there are these growth factors, it is evaluated that the risk is higher than that based on the evaluation result based on the top surface size and the depth of the cavity 85 (for example, the above-mentioned risk B is the following). Or A + by adding a “+” indicating a growth factor to the above-mentioned risk A. And it is also preferable to register the buried object which becomes the growth factor of these cavities together with the specified cavities and make them to be managed.

  Furthermore, the degree of risk can be evaluated differently depending on the types of these growth factors. For example, when the growth factor is “suction of sediment”, the growth rate is faster than in the case of “sediment sedimentation”, and the growth does not stop, so the risk is evaluated higher than the sediment settlement of sediment. Can do. When the growth factor is “consolidation of sediment”, the growth will stop once it has been compacted to some extent, so the risk assessment may not be high (the basic evaluation result remains as it is).

  These growth factors include buried objects 121, 122, and 130 other than buried objects whose positions are known (including buried objects whose positions can be grasped on the ground such as buried objects extending from the ground to the ground). , 140, 150, 160, and 170 cannot be grasped in advance. Therefore, not only the exploration of the cavity 85 but also the buried objects 121, 122, 130, 140, 150, 160, and 170, which are growth factors, are explored by creating and using the above-described traveling direction longitudinal sectional image 80 and horizontal sectional image. However, as shown in FIG. 29, when the cavity 85 is detected and an embedded object such as the branch pipe 122 is detected around the cavity 85, it is preferable that the evaluation of the risk of depression is higher because there is a growth factor. It is a form. Similarly, for a buried object whose position is known, when the cavity 85 is detected and there is a known buried object therearound, it is possible to make the evaluation of the risk of depression higher because there is a growth factor. And it is also preferable to register the buried object which becomes the growth factor of these cavities together with the specified cavities and make them to be managed.

  In particular, as will be described later, when monitoring changes under the target surface R based on a comparison between new and old reflected wave data 50 at the same reflected wave detection position 40, the growth and rise of the cavity 85 are monitored, and the growth rate and It is also a preferable form to obtain a higher evaluation of the risk of depression when the speed is determined and the speed is equal to or higher than a predetermined value.

  Further, for example, when the traffic volume on the target surface R is large, such as traffic on a roadway or a sidewalk, more load or vibration is applied. When the target surface R is a roadway, the position where the vehicle travels more frequently in the roadway (for example, The vehicle travels more in the lane than in the road shoulder, and the vehicle travels more in the intersection even in the lane). Therefore, in these cases, there is a high possibility that the cavities 85 are generated, and the growth speed and the rising speed of the generated cavities 85 are high. In addition, in these cases, the degree of influence at the time of the occurrence of depression (the probability of occurrence of an accident increases, the degree of traffic congestion increases, etc.) increases. Therefore, it is also proposed to perform more accurate evaluation by evaluating the risk of depression by adding these factors or adding an impact evaluation.

  That is, when the traffic volume of the target surface R is taken into account, the traffic volume of the target surface R is evaluated or known, and when the cavity 85 is detected, the traffic volume of the target surface R that detected the cavity 85 is determined. The greater the number, the higher the risk of depression due to the cavity 85, and the risk of depression is evaluated (for example, the above-mentioned risk B is assigned to the next rank A, or the risk A is the growth factor. A + can be added to indicate A +). Instead of this, an influence degree evaluation that the influence degree at the time of depression due to the cavity 85 is larger as the traffic volume of the target surface R that detects the cavity 85 is larger can be added to the risk evaluation of the depression. For example, in the case of a roadway, the degree of congestion of the road where the cavity 85 is detected is obtained from the national road / street traffic situation survey (road traffic census) general traffic survey summary table, and the congestion degree and influence degree correspondence shown in Table 1 below are obtained. Based on the table, it is also possible to evaluate the degree of influence (congestion degree due to traffic regulation) when a depression occurs by ranking.

  In addition, when the position where the cavity 85 is generated in the roadway is taken into account, when the cavity 85 is detected, the more the vehicle is traveling, the higher the danger of the depression, A sex evaluation can be performed (for example, the above-mentioned risk level B is set to the next rank A, or “+” indicating a growth factor is added to the above-mentioned risk level A and set to A +). Instead, for example, as shown in Table 2, an influence degree evaluation that the influence degree at the time of depression is larger as the detection position of the cavity 85 on the roadway is a position where the vehicle travels more is added to the risk evaluation of depression. You can also.

  On the other hand, even if the size and depth of the top surface of the cavity 85 are the same, the risk of depression will decrease as the supporting force of the layer located above the top surface of the cavity 85 is stronger. Therefore, in consideration of this, the stronger the supporting force of the layer located above the top surface of the cavity 85, the lower the risk, based on the evaluation result based on the top surface size and depth of the cavity 85. (For example, the above-mentioned risk A is assigned to the next rank B, or the above-mentioned risk A is attached with “-” indicating a risk reduction factor to A-). For example, in the case of the asphalt pavement surface shown in FIG. 25 and the like, the equivalence conversion coefficient can be regarded as the supporting force, and the thickness of each layer in this case may adopt a known value, as described above. An operator measures the reflected wave data 50 and the traveling direction longitudinal cross-sectional image 80, or directly processes the reflected wave data 50 by a computer (the data processing device 14 described above or another one) or a longitudinal section. It can be obtained by image analysis of the image.

<Time-series data collection>
The above data collection / determination cycle is repeated during normal times, and is measured immediately after the occurrence of a natural disaster, and changes in the cavity are monitored as time-series data accumulated with the degree of danger determined from the spot conditions. And rank up the risk from the change. FIG. 30 shows a step of evaluating the risk based on time series data provided by the risk evaluation process. Collect time-series data of risk assessment target locations that have already been registered for each survey (Process 1) Collect data for two purposes in time series.

<Criteria management>
One is the creation of statistical data. It is used as a comprehensive evaluation of the target section and area, or the trend analysis of the transition is performed from the collected data at a plurality of locations (processing 10). A rule and a criterion for judging the degree of danger in the transition process are created or updated from the process leading from the transition of the cavity following the time series to the collapse and collapse (process 11).

<Risk level judgment and display management>
The other is to accumulate time-series data of each monitoring target location, identify the progress of the cavity from the difference, evaluate it together with the progress of the surrounding cavity, and reassess the risk at various angles and make a judgment The risk is updated according to the rule (process 3). After the risk evaluation is completed, data is transferred to the risk level display screen management and a map is displayed (process 4).

<Monitoring>
The time series management steps shown in FIG. 30 are repeated, and the same target surface R is repeatedly surveyed under the target surface R by the electromagnetic wave radar after a predetermined period of time such as one year or six months. Based on the comparison of old and new reflected wave data 50 itself or processed data obtained by processing the reflected wave data 50 (for example, the above-described traveling direction longitudinal section image 80, vehicle width direction longitudinal section image 100, horizontal section image 90) Changes under the target surface R in the unit target region, for example, generation, growth and rise of the cavity 85 can be monitored. As a result, for example, the generation of the cavity 85, of course, it is possible to distinguish between the cavity 85 or the like that grows and rises quickly and the cavity 85 or the like that is slow, and it is easy to evaluate the necessity of repair and formulate a repair plan. Become. That is, when the cavity 85 is found deep under the target surface R, it can be determined that the risk of depression is low at that time, but if the rise or growth is fast, the risk of depression is high and the need for repair is high. It becomes. Therefore, as described above, the generation, growth and rise of the cavity 85 are monitored, and the risk of depression is re-evaluated.

  As described above, if there are the buried objects 121, 122, 130, 140, 150, 160, and 170 under the target surface R, there is a high possibility that the cavities 85 are generated around them, and the growth rate of the generated cavities 85, The rising speed is relatively fast. Therefore, when a buried object is detected based on the reflected wave data 50, if cavity generation, growth, and rise are monitored based on a comparison between the reflected wave data 50 around the detection position of the buried object, the cavity monitoring is more efficient. Can be done.

  In addition, as described above, for example, when the traffic volume on the target surface R is large, such as traffic on a roadway or a sidewalk, more loads and vibrations are applied. When the target surface R is a roadway, the position where the vehicle travels frequently in the roadway As a result (for example, the vehicle travels more in the lane than in the road shoulder, the vehicle travels more in the intersection even in the lane), more load and vibration are applied. Therefore, in these cases, there is a high possibility that the cavities 85 are generated, and the growth speed and the rising speed of the generated cavities 85 are high. In addition, in these cases, the degree of influence at the time of the occurrence of depression (the probability of occurrence of an accident increases, the degree of traffic congestion increases, etc.) increases. Therefore, cavity monitoring can be performed more efficiently by monitoring the target surface R having a traffic volume of a predetermined value or more, or by monitoring the inside of the lane (including an intersection) when the target surface R is a road surface. it can. For example, in the case of a roadway, the target surface R whose traffic volume is greater than or equal to a predetermined value is a road whose traffic volume and congestion level are greater than or equal to a predetermined value in the national road / street traffic situation survey (road traffic census) general traffic survey summary table. be able to.

  The comparison between the old and new data can be performed visually by the operator by creating the above-described traveling direction longitudinal section image 80 and horizontal section image, but can also be performed by directly processing the acquired data by a computer. In that case, it is not necessary to generate an image. Also, when comparing, the difference between the old and new reflected wave intensity at the same position was taken, and the part where the difference intensity was a predetermined value or more, or the part where it continued in the running direction or the vehicle width direction was changed. You may detect as a position. For this reason, the traveling direction longitudinal section image 80, the horizontal section image 90, and the vehicle width direction longitudinal section image 100 based on the difference intensity can be created.

<Map>
In order to make a cavity investigation plan and repair plan, it is preferable to grasp the overall picture of the danger of depressions at a local level. Therefore, based on the above-described evaluation result of the risk of depression, as shown in FIG. 31, road display on a map (which may be an aerial photograph or a combination of a map and an aerial photograph or other photographs) 500, a management section 501 It is also preferable to create a depression risk map that displays the risk of depression at that position at the survey position. The display form is not particularly limited. For example, the danger display mark 510 or the like can be attached to the position of the depression danger display. Further, as shown in the figure, the color of the management section 501 is made different between the surveyed section (solid line) and the unsurveyed section (broken line), or the color and pattern of the danger display mark 510 according to the risk level, It is also preferable to make the shape and size different. Furthermore, it is also preferable to classify colors and patterns according to the degree of risk, uninvestigated, and surveyed for each region. For example, if a cavity with a diameter exceeding the threshold of 15 centimeters exists at a depth of 15 centimeters, red if the cavity exists at a depth of 45 centimeters, and green if a cavity exists at a depth of 80 centimeters. At the same time, it can be clearly seen that there is a cavity developed in the depth direction. In addition, the size of the cavity is indicated by the display size of the display symbol (circle symbol in the case of 510), and the type of risk management object (crack, corrosion, etc.) is indicated by the shape of the display symbol (circle, triangle, rectangle, etc.) It is also preferable to display multi-dimensional attributes on a one-point display. Furthermore, it is more preferable to display the detailed view by acting on the danger display mark and display the image and attribute information of the crack 510 and the cavity 520 to enhance the display effect. It is further preferable if a view of past time series changes can be called. The display form is a display form that considers only the presence of high-risk cavities, but a display form that considers only the risk level, a display form that considers both the number of cavities and the risk level, and a display that takes into account other factors Appropriate changes such as form can be made. The area can be set as appropriate, such as dividing into squares, dividing into appropriate shapes such as triangles and hexagons, or road sections based on address display (FIG. 32). Furthermore, it is also one preferable form that the depression risk map is integrated with other maps such as a disaster prevention map, a flooded map, and an earthquake ease map.

  The embodiment according to the present invention has been described above, but the present invention is not limited to the embodiment, and various modifications can be made without departing from the spirit of the present invention.

The present invention includes the following embodiments. There are some duplicate descriptions, but they are organized and described below.
<Embodiment 1>
Scans an electromagnetic wave radar that injects electromagnetic waves in the depth direction from the upper part of the quay or embankment to the evaluation target area, detects the reflected wave with respect to the incident wave, and creates a reflected wave underground section image using the reflected wave data. , A quay or levee cavity exploration process for exploring an underground cavity by the cross-sectional image;
A side survey process of a quay or embankment that captures a side surface of a quay or embankment, obtains a side image, and identifies a specific part of the side of the quay or embankment;
Matching the reflected wave underground cross-sectional image and the side image in a scanning direction,
A cavity exploration method for a quay or embankment characterized by associating the cavities with the singular part of the side surface and identifying a real cavity,
A method for exploring a cavity in a quay or embankment in which a cavity exploration that scans the electromagnetic wave radar and an image of the side surface are simultaneously performed.

<Effect>
In addition to the function and effect of the invention according to claim 1, the following function and effect are added. Survey data of the side of a quay or levee facility using imaging and imaging of underground cavities using electromagnetic radar is obtained by separate processes. In this case, if both steps are performed at the same time and the relative positional relationship at the time of execution is recorded at the same time, it is possible to quickly evaluate the degree of risk without requiring labor and time to synchronize both data. Further, if the risk has already been evaluated and the risk assessment has already been completed, the risk can be re-evaluated based on the measurement results of both. This is because it does not take much time to determine the growth of what has been evaluated as a real cavity with a risk level. If the measurement data is transmitted to the headquarters in real time, it is possible to make a detailed determination of the occurrence of danger or the progress of risk almost simultaneously, and it is possible to respond quickly to a disaster.

<Embodiment 2>
The method for exploring a quay or embankment cavity according to the first embodiment, wherein the imaging is performed from a remotely operated mobile body or an autonomously operated mobile body.

<Effect>
Survey data of the side of a quay or levee facility using imaging and imaging of underground cavities using electromagnetic radar is obtained by separate processes. In this case, if both steps are performed at the same time and the relative positional relationship at the time of execution is recorded at the same time, it is possible to quickly evaluate the degree of risk without requiring labor and time to synchronize both data. Further, if the risk has already been evaluated and the risk assessment has already been completed, the risk can be re-evaluated based on the measurement results of both. This is because it does not take much time to determine the growth of what has been evaluated as a real cavity with a risk level. If the measurement data is transmitted to the headquarters in real time, it is possible to make a detailed determination of the occurrence of danger or the progress of risk almost simultaneously, and it is possible to respond quickly to a disaster.

<Embodiment 3>
3. The quay or embankment cavity exploration method according to any one of the first and second embodiments, wherein the moving body is a helicopter, a water boat, or a vehicle that travels on an opposite bank embankment facing the river embankment.

<Effect>
The movement of autonomously flying helicopters, etc. that are remotely operated or autonomously operated so as to track the survey data acquisition of the side of the facility captured in the side image using electromagnetic wave radar and the survey data acquisition of the side of the facility to the vehicle equipped with electromagnetic wave radar If a side imaging device is mounted on the body and simultaneous data transmission to an in-vehicle recording system is performed in real time, the imaging device of the autonomous flight helicopter can be reduced in weight, and data preservation in the event of a failure of the autonomous flight helicopter The above is also advantageous. An autonomous flight type helicopter having such a tracking function can be procured at a relatively low cost as compared with the case of using an actual aircraft, and the entire process can be suppressed at a lower cost to ensure economic efficiency.

<Embodiment 4>
The side image is picked up from a moving body, and for the position identification of the moving body, a laser scanner range finder, a beacon and radio wave identification reader mounted on a plurality of moving bodies, a stereo camera and a stereo image recognition range finder cavity exploration how the quay or embankment according to any one of the embodiments 1 to 3 using at least one of ultrasonic range finder.

<Effect>
By using these distance measuring means, a lightweight and inexpensive mechanism can be realized, an observation system based on a vehicle equipped with electromagnetic wave radar can be constructed, and information that contributes to ensuring the operation of appropriate mobile objects can be reliably provided. If a means for providing a side image is provided and data is transferred at the same time, a real-time observation method can be realized, and rapid evaluation of the cavity risk can be realized.

<Embodiment 5>
In the cavity exploration step, a distance measuring counter that displays the distance from the starting point of the measurement section is recorded in the reflected wave underground cross section image as an index key, and in the side surface inspection step, a distance measuring counter is recorded in the side image as an index key. The quay according to any one of the first to fourth embodiments, wherein the reflected wave underground cross-sectional image and the side image are matched using the point where the distance measurement counter is recorded in the reflected wave underground cross-sectional image and the side image as a verification point, or cavity exploration how the embankment.

<Effect>
Even if the cavity and the specific part on the side are specified using the distance measurement counter from the starting point and the measurement starting point as a key, it is convenient that the time series management of the cavity is associated with geographical information. For this purpose, the measurement data and the geographical data are associated with geographical signs such as intersections, wharfs, etc., and the distance obtained from the distance measurement counter is corrected, and the starting point provided by the distance measurement counter is provided. The accuracy of the distance from is to be maintained. Here, the association with the geographical information of the cavity position can also be performed by an on-vehicle high-precision GPS.

<Embodiment 6>
A reflecting surface that identifies an actual cavity using the cavity exploration method according to any one of Embodiments 1 to 5 and reflects electromagnetic waves from above based on the reflected wave underground cross-sectional image obtained by the cavity exploration method Detecting the top surface of the cavity and determining the depth of the top surface of the cavity, the greater the size of the top surface of the cavity and the shallower the top surface of the cavity, the higher the risk of depression. A method of evaluating the degree of cavities or levee cavities to be evaluated.

<Effect>
The inventor believes that the cavity top surface is a surface that forms a projected image from above and is easily observable because it reflects the electromagnetic waves from above first, so that the size and depth of the cavity top surface can be seen from above. It can be accurately acquired by the electromagnetic wave radar, and at the same time, the side wall of the quay or embankment is imaged from the side, recognizing a specific part such as a crack or fatigue on the side, and the probability of the existence of the cavity is increased by combining the two information The present invention was made with the knowledge that the cavity recognition rate was improved and the risk of depression could be accurately evaluated. Moreover, in order to be able to determine the existence of a cavity by combining the two pieces of information, it is necessary to recognize that the cavity estimated from the electromagnetic wave radar from above and the singular part of the side recognized from the side are close to each other. In that determination, the radar reflected wave underground cross-sectional image and the side image obtained by the cavity exploration method are matched in the radar scanning direction (traveling direction in the case of the side image) in units of images, and on the image after matching It was found that the relationship between the cavities and the side specific parts can be accurately and efficiently related. According to the present invention, the recognition rate of an actual cavity can be improved, and even when urgent investigation is required in the event of a disaster, the cavity can be quickly identified and identified, so the risk of collapse caused by the cavity is reduced. The effect of being able to evaluate quickly and accurately is obtained. If this is the case, repair cavities with a high risk of causing collapse of the quay or embankment roads or the collapse of these facilities first, and repair such cavities with a very low risk, such as not repairing them or delaying the repair time. The repair plan can be carried out quickly and easily in a timely manner, and in the event of a major disaster, the risk determined in advance from the exploration of cavities, dam or dam side wall damage, location information, facility damage information or facility attribute information, etc. Depending on the degree, for the registered danger points that are predicted to increase the probability of road collapse or facility collapse due to natural disasters, immediately after the occurrence of a disaster, search for the geographical information below and start the investigation. Can do. Facility damage information or facility attribute information registered by quay or embankment geographical information, cavity survey result information, ground side image is organically combined and evaluated and registered as a risk, so the system can respond quickly It is possible to conduct a progress survey of the risk level of a wide range of disaster areas in a short period of time. And for the progress investigation of the risk level, if the matched radar reflected wave underground cross-sectional image and side image are recorded and saved and the timely data can be recalled, the progress determination can be objectively performed, and the accuracy of the risk level determination can be improved. It is valid.

<Embodiment 7>
The matched reflected wave underground cross-sectional image and the side image are corrected by a ranging counter by collating with a geographical marker, a ranging counter is assigned to the geographical distance, and a cavity or side surface is specified in the geographical information image. The method for evaluating a quay or embankment cavity risk according to the sixth embodiment in which the part information is superimposed and displayed.

<Effect>
Even if the cavity and the specific part on the side are specified using the distance measurement counter from the starting point and the measurement starting point as a key, it is convenient that the time series management of the cavity is associated with geographical information. For this purpose, the measurement data and the geographical data are associated with geographical signs such as intersections, wharfs, etc., and the distance obtained from the distance measurement counter is corrected, and the starting point provided by the distance measurement counter is provided. The accuracy of the distance from is to be maintained. Here, the association with the geographical information of the cavity position can also be performed by an on-vehicle high-precision GPS.

<Embodiment 8>
The method for evaluating the cavity risk of a quay or a levee according to the embodiment 6 or 7, wherein the risk is evaluated from the cavity estimation information obtained by the method for exploring the cavity and side specific part information or high tide level or low tide level. .

<Effect>
In addition to the position and shape of the cavity by the electromagnetic wave radar, for example, facility attribute information such as tide level height and tidal difference at low tide, for example, sucking out soil into the sea due to tide level fluctuations, or rivers due to fluctuations in water level during rainfall The risk level is determined by comprehensively judging risk factors such as information on facility damage such as cracks that have been sucked out from the soil, and information on side parts such as side part positions (heights). To evaluate. This risk allows foreseeing future disasters, prioritizing surveys in the event of a disaster, and prioritizing repair work, giving you the option to take comprehensive disaster countermeasures.

<Embodiment 9>
The cavity according to any one of the above embodiments 6 to 8, wherein a depression risk map is created in which the danger of the depression is displayed on at least one of a map or a surface photograph of the earth based on the evaluation result of the cavity danger. A method of assessing risk.

<Effect>
By creating such a collapse / collapse risk map and improving the visibility, it becomes easy to grasp the whole picture in the investigation plan and the repair plan.

<Embodiment 10>
Embodiments 6 to 9 wherein when a cavity is detected by the method for exploring the cavity, the risk of depression is evaluated by setting the short side when the planar view shape of the cavity top surface is approximated to an ellipse as the dimension of the cavity top surface. The method of evaluating the cavity risk according to any one of the above.

<Effect>
Since the depression occurs due to the collapse of the upper layer of the cavity, the larger the cavity top surface, the easier it will occur, but if the cavity is elongated with a narrow width, the risk of depression will be no matter how long Few. Therefore, it is preferable to use the short side as an index when the shape of the cavity top surface is approximated to an ellipse as described in this section. In addition, the shallower the depth of the cavity, the higher the risk of depression, so these are adopted as evaluation indices.

<Embodiment 11>
The size of the cavity top surface estimated by the method of exploring the cavity using an electromagnetic wave radar, the position size of the cavity top surface is adjacent to the side surface specific part specified by the side image, and the dimension of the cavity top surface The greater the depth of the cavity and the shallower the depth of the cavity, the higher the risk of depression, and the time series statistical value transition of the cavity and the time series statistical value transition of the side singular part are considered, Embodiments 6 to 10 above in which the degree of risk is evaluated by assuming that the dimension of the cavity top surface or the depth of the cavity top surface exceeds at least one threshold value and that the risk of depression on the quay or embankment is high. The method of evaluating the cavity risk as described in any one of them.

<Effect>
The larger the dimension of the top of the cavity, the higher the possibility of collapsing, and if there are side parts such as side walls, there is a high possibility that a cavity will be generated around it, and the growth rate and rising speed of the generated cavity will be higher. fast. Therefore, a more accurate evaluation can be performed by performing an evaluation in consideration of such factors. Considering the statistical factors in consideration of the presence of surrounding cavities and the time series history, determining the evaluation threshold, and assigning and managing the cavity risk to those exceeding that value will manage many cavities This is convenient.

  INDUSTRIAL APPLICABILITY The present invention can be used for the maintenance and collapse prevention of a coastal quay or embankment.

  P: Depth of the top surface, R: Target surface, W: Dimensions of the top surface of the cavity, a ... Sensor, k ... Electromagnetic radar system, 10 ... Exploration vehicle, 11 ... Optical distance meter, 12 ... Camera, 13 ... GPS device , 14 ... Data processing device, 15 ... Control device, 40 ... Reflected wave detection position, 50 ... Reflected wave data, 80 ... Longitudinal section image in traveling direction, 81 ... Strong signal region, 85 ... Cavity, 90 ... Horizontal sectional image in traveling direction DESCRIPTION OF SYMBOLS 100 ... Vehicle width direction longitudinal cross-section image, 112 ... High tide level, 254 ... Whole image memory plane, 255 ... Image frame, 260 ... Single image memory plane after normalization, 300 ... Autonomous flight type helicopter, 301 ... Tracking camera , 302 ... side view camera, 303 ... moving object sign, 304 ... wireless antenna, 305 ... area sensor camera, 309 ... arm, 310 ... laser scanner, 311 ... reflection mirror, 31 ... helicopter surveillance camera, 323 ... side view area, 330 ... beacon, 360 ... vehicle equipped with beacon, 370 ... automatic direction detector, 410 ... estimated cavity, 411 ... cavity matching with side crack, 420 ... side crack, 500 ... survey Section, 501 ... Hazard indication mark, 510 ... Side view crack image, 520 ... Estimated cavity image

Claims (7)

The evaluation area underground from above the quay or embankment, an electromagnetic wave radar incident electromagnetic waves in the depth direction of the evaluation target area was scanned moving process by loading the vehicle, it detects a reflected wave to incident wave above , A reflected wave underground cross-sectional image is created using the reflected wave data, and a quay or embankment cavity exploration step for exploring an underground cavity by the cross-sectional image;
A moving body different from the vehicle is moved, and an external side surface exposed to outside air different from the scanning surface of the quay or embankment is imaged by a side imaging camera mounted on the moving body to obtain a side image, and a quay or embankment is obtained. The side survey process of the quay or embankment to identify the unique part of the side of
Matching the reflected wave underground cross-sectional image and the side image in a scanning direction,
A method for exploring a quay or embankment cavity, wherein the underground cavity and the singular part of the side surface are associated with each other to identify an actual cavity. For the position identification of the moving body, at least one of a laser scanner rangefinder, a beacon and a marker radio wave identification reader mounted on a plurality of moving bodies, a stereo camera, a stereo image recognition rangefinder, or an ultrasonic rangefinder cavity exploration how the quay or embankment of claim 1 wherein using. In the cavity exploration step, a distance measuring counter that displays the distance from the starting point of the measurement section is recorded in the reflected wave underground cross section image as an index key, and in the side surface inspection step, a distance measuring counter is recorded in the side image as an index key. , the reflected wave underground section point image and the range counter to the side surface image is recorded as the collation point, matching the reflected wave subsurface cross-sectional image and a side image according to claim 1 or 2, wherein the cavity exploration how the quay or embankment according .   A reflective surface that identifies an actual cavity using the cavity exploration method according to any one of claims 1 to 3 and reflects electromagnetic waves from above based on the reflected wave underground sectional image obtained by the cavity exploration method. Detecting the top surface of the cavity and determining the depth of the top surface of the cavity, the greater the size of the top surface of the cavity and the shallower the top surface of the cavity, the higher the risk of depression. A method of evaluating the degree of cavities or levee cavities to be evaluated. The matched reflected wave underground cross-sectional image and the side image are corrected by a distance measuring counter by collating with a geographical marker, a distance measuring counter is assigned to the geographical distance, and a specific part of the cavity or side surface is assigned to the geographical information image. how to evaluate the cavity risk quay or embankment according to claim 4, wherein wherein the superimposed display information. 5. The method for evaluating a cavity risk of a quay or embankment according to claim 4, wherein the risk is evaluated from the cavity estimation information obtained by the cavity exploration method and side surface specific part information or high tide level or low tide level. Identify the actual cavity using a search method of the cavity of any one of claims 1 to 3 wherein the dimensions of the cavity top surface to be estimated, the position size of the cavity top surface, specified by the side image wherein adjacent to the specific region of the side surface, the larger the size of the cavity top surface, and to evaluate the risk as a high risk of depression as a shallow depth of the cavity top surface that,
In addition, taking into account the time series statistical value transition of the cavity and the time series statistical value transition of the singular part of the side , the quay that exceeds at least one threshold value of the dimension of the cavity top surface or the depth of the cavity top surface 5. The method for evaluating a cavity risk according to claim 4 , wherein the risk is evaluated as having a high risk of depression on the bank.