JP6602625B2 - Structure inspection system - Google Patents

Description

  The present invention relates to an inspection system for the surface condition of a structure such as a road or a runway. In particular, it is a small-sized system that can detect deterioration or cracks of a concrete pavement surface by image processing and can be moved manually or autonomously. The present invention relates to a structure inspection system.

  Conventionally, a road surface inspection system (for example, refer to Patent Document 1) that detects cracks and the like generated on a road surface by photographing a road surface with an in-vehicle camera while traveling on a paved road and analyzing the captured image, travels on a paved surface. A deterioration investigation system (for example, see Patent Document 2) for investigating the deterioration state of a concrete plate, or a road surface unevenness evaluation system (for example, see Patent Document 3) that is mounted on a general vehicle and evaluates road surface unevenness is proposed. Has been.

  All of these are mounted on self-propelled vehicles and are premised on inspecting the road surface while traveling.

  On the other hand, a road surface crack measuring device (see, for example, Patent Document 4) mounted on a carriage and continuously measuring and recording cracks on a paved road surface such as a road or a runway by image processing is directed toward the road on the measurement vehicle. A road surface property measuring machine (see, for example, Patent Document 5) that can be disposed and can measure and evaluate road surface properties such as a crack rate has also been proposed.

  None of these are self-propelled by themselves, so it is assumed that the vehicle is towed on a road or the like.

JP 2014-86826 A JP 2011-237283 A JP2013-79889A JP-A-4-240555 Japanese Patent Laid-Open No. 3-56805

  The devices and systems described in the above patent documents are premised on being directly mounted on the vehicle or towed. For this reason, it has been difficult to operate in a space where a vehicle is difficult to enter, such as a train station platform or a sidewalk.

  In addition, the crack measuring device described in Patent Document 4 and the road surface property measuring instrument described in Patent Document 5 that are premised on being pulled by a vehicle on a road or the like cannot be moved by human power if they are downsized as they are. It may be possible. However, in the crack measurement device described in Patent Document 4, as described in paragraph 0022 of the specification, etc., the data output from the measurement processing device is taken back and then analyzed by a personal computer or the like. It is attached to processing. In the road surface property measuring machine described in Patent Document 5, as described in the lower left column, lines 5 to 8 on page 3 of the specification, first, the road surface is photographed by the video camera 2 and the image is taken. Since the image is reproduced and the cracked portion is confirmed, the image is reproduced after the road surface is once photographed. Therefore, none of these crack measuring devices and road surface property measuring machines confirms or analyzes the image of the road surface being photographed in real time.

  In view of such problems of the prior art, the object of the present invention is to detect deterioration or cracks of a concrete pavement surface or the like by image processing, and it can be moved by human power or autonomously, and in real time while moving, etc. It is to provide a structure inspection system that can be confirmed.

  In order to achieve the above object, a structure inspection system according to the present invention includes an imaging unit for imaging an imaging area on a placement surface, an illumination unit that illuminates the imaging area, and the placement surface described above. A position change detection unit that detects a change in position due to movement of the camera, an imaging timing control unit that controls the timing of imaging by the imaging unit based on the position change detected by the position change detection unit, and imaging by the imaging unit An image acquisition / analysis unit that acquires and analyzes the image data obtained, a display unit that displays at least one of the image data acquired by the image acquisition / analysis unit or an analysis result thereof, and a storage unit that stores the image data And a gripping part for gripping it to be moved, wherein the display part is arranged so that display contents can be visually recognized in a state of gripping the gripping part.

  According to the structure inspection system having such a configuration, movement by human power is possible, and an image of a road surface being photographed in real time can be easily confirmed during movement.

  Alternatively, the structure inspection system according to the present invention includes an imaging unit for imaging an imaging region on the placement surface, an illumination unit that illuminates the imaging region, and a positional change caused by movement on the placement surface. A position change detection unit for detecting the image, an imaging timing control unit for controlling the timing of imaging by the imaging unit based on the position change detected by the position change detection unit, and an image data captured by the imaging unit. An image acquisition / analysis unit that performs acquisition and analysis, a storage unit that stores the image data, self-propelled means for moving at least the imaging unit and the illumination unit, and the image acquired by the image acquisition / analysis unit And a display unit that displays at least one of the data and the analysis result thereof at a location distant from the imaging unit.

  According to the structure inspection system having such a configuration, autonomous movement is possible, and an image of a road surface being photographed in real time during movement can be easily confirmed.

  The structure inspection system according to the present invention further includes an absolute position detector (for example, GPS) that detects absolute position information, and the image acquisition analysis unit includes the image data captured by the imaging unit and the absolute position detection. The absolute position information detected by the instrument may be acquired and analyzed.

  According to the structure inspection system of the present invention, movement by human power or autonomous movement is possible, and images and the like can be easily confirmed in real time during movement.

It is a side view showing a schematic structure of structure scanner 100 concerning a 1st embodiment of the present invention. 2 is a block diagram showing an electrical schematic configuration of a structure scanner 100. FIG. It is a side view showing a schematic structure of structure scanner 100A concerning a 2nd embodiment of the present invention.

  Embodiments of the present invention will be described below with reference to the drawings.

<Configuration of First Embodiment>
FIG. 1 is a side view showing a schematic configuration of a structure scanner 100 according to the first embodiment of the present invention. FIG. 2 is a block diagram illustrating an electrical schematic configuration of the structure scanner 100.

  As shown in FIG. 1, a structure scanner 100 for inspecting a concrete pavement surface 40 and the like extends in a vertical direction to a flat box-shaped structure scanner main body 10 and a rear end portion of the structure scanner main body 10. The notebook computer 20 that is supported by the upper part of the attached frame 30 and controls the operation of the structure scanner 100 and the sub-frame 32 that is provided on the upper part of the frame 30 so as to extend forward in the horizontal direction lower the imaging direction. A line camera 11 that images a strip-shaped area 40a that is a long and narrow imaging area perpendicular to the moving direction on the concrete pavement surface 40 that is supported and placed on the surface, and the rear end of the frame 30 in the horizontal direction. A handle 31 for extending when the structure scanner 100 is moved. That.

  The notebook personal computer 20 (particularly a display 20b described later) and the handle 31 are preferably as close as possible to facilitate operation and display confirmation. It is preferable to arrange the display contents so as to be visible. However, there may be a configuration in which the connection between the structure scanner main body 10 and the notebook computer 20 is wireless, and the display 20b is confirmed at a place away from a person pushing the structure scanner main body 10. .

  Examples of the concrete pavement surface 40 to be inspected include, but are not limited to, a railway station platform, an airport apron, a runway, and a bridge. Also, paving is not necessarily limited to concrete.

  As shown in FIG. 1, wheels 15 are respectively attached to the front and rear of the side surface of the structure scanner main body 10. By supporting the four wheels 15 including those attached to the opposite side surface, the structure scanner 100 can be easily moved manually by pushing the handle 31. In order to reduce vibration at the time of movement as much as possible, it is preferable to use a tire having seismic isolation for the wheel 15.

  The structure scanner main body 10 is disposed slightly behind the position corresponding to the belt-like region 40a, and illuminates the belt-like region 40a with high uniformity from obliquely above, an illumination power source 12b dedicated to the LED light 12a, and wheels. The encoder 13 is arranged so as to be linked to the rotation of 15 and detects the moving distance of the structure scanner 100 on the concrete pavement surface 40 and the like, and the line camera 11 uses the moving distance detected by the encoder 13. And an electrical box 14 that houses a synchronization unit 14a (described later with reference to FIG. 2) that performs imaging.

  The line camera 11 is a monochrome digital camera having a resolution capable of sufficiently identifying cracks such as the concrete pavement surface 40, and functions as an imaging unit. For example, when the camera body 11a is a C-mount camera, it is preferable to use a wide-angle lens 11b (for example, about 28 mm) so that the entire width of the structure scanner body 10 can be imaged. However, a plurality of cameras may be arranged side by side and images captured by them may be combined, or scanning may be performed in a direction orthogonal to the moving direction with one camera. A color camera may also be used.

  Examples of the LED illumination 12a that is an illumination unit include, but are not limited to, LED illumination that uses a white LED as a light source and illuminates an elongated strip-shaped region with high brightness and high uniformity. Two or more LED illuminations may be combined (for example, arranged both before and after the position corresponding to the belt-like region 40a), or a light source other than the LED may be used. It is preferable that the type, arrangement, direction, and the like of the illumination make it possible to capture as clearly as possible cracks in the concrete pavement surface 40 and the like.

  The illumination power source 12b is a dedicated power source that makes the light emission amount of the LED illumination 12a variable by a pulse dimming method or a voltage dimming method. When the pulse dimming method is used, it is necessary to pay attention to the timing of imaging so that uneven illumination or the like does not occur in the captured image when the shutter speed of imaging by the line camera 11 is particularly high. However, such a dedicated power source is not always essential depending on the type of illumination used.

  The encoder 13 which is a position change detection unit is arranged so as to be linked to the rotation of one bearing portion of the wheel 15 in order to detect a position change due to the movement of the structure scanner 100, and is arranged at a constant rotation amount (angle). A pulse signal is generated. Thereby, the positional change of the structure scanner 100, specifically, the moving distance can be detected from the relationship with the outer circumferential length of the wheel 15.

  The synchronization unit 14 a that functions as an imaging timing control unit controls the timing of imaging by the line camera 11 based on the pulse signal generated from the encoder 13. Specifically, every time a predetermined number of pulse signals are counted, the imaging by the line camera 11 is performed synchronously. Thereby, every time the structure scanner 100 moves by a certain distance, it is possible to perform imaging by the line camera 11. At this time, the LED illumination 12a may be flashed in synchronization with the imaging timing of the line camera 11.

  As shown in FIG. 1, a battery 18 is attached to the upper surface of the structure scanner main body 10, and an illumination power source 12b, an encoder 13, and the like inside the structure scanner main body 10 are connected via a connector (not shown). Power is supplied to the synchronization unit 14a and the like. However, the attachment of the battery 18 is not limited to the upper surface of the structure scanner main body 10 and may be built in the structure scanner main body 10 if possible.

  As shown in FIG. 2, the notebook personal computer 20 that functions as an image acquisition / analysis unit controls the operation of each unit of the structure scanner 100 on its main body, and acquires and analyzes image data captured by the line camera 11. A CPU 20a to perform, and a display 20b as a display unit for displaying image data and analysis results acquired by the CPU 20a are provided. As the image acquisition / analysis unit, a general-purpose notebook computer may be used as described above, or a dedicated information processing apparatus may be used.

  Further, a large-capacity hard disk 21 is externally attached to the notebook computer 20 as a storage unit. However, such an external hard disk 21 is not essential. Instead of the external hard disk 21, a hard disk of a type that can be accommodated in the notebook computer 20 or a nonvolatile memory may be used as the storage unit.

  Connection between the structure scanner main body 10 and the line camera 11 or the notebook personal computer 20 is performed by a cable 22 (not shown in FIG. 1), but these connections may be wireless.

<Inspection by structure scanner 100>
Next, an inspection method using the structure scanner 100 will be described.

  First, the structure scanner 100 is placed on the concrete pavement surface 40 to be inspected, and after the preparation work before starting the movement on the notebook computer 20 side, the LED illumination 12a is turned on, and the handle 31 is pushed to push the structure. The scanner 100 is started to move forward at a constant speed as much as possible.

  When the wheel 15 is rotated by the movement of the structure scanner 100, a pulse signal is generated from the encoder 13 for every fixed rotation amount (angle). The synchronization unit 14a synchronously performs imaging by the line camera 11 every time a predetermined number of pulse signals are counted. As a result, it is possible to continuously image the band-like regions 40a at a constant distance on the concrete pavement surface 40 and the like.

  The notebook computer 20 acquires the image data of the band-like area 40a imaged by the line camera 11 for each imaging, stores the data in the external hard disk 21 as necessary, and performs various image processing and analysis by the CPU 20a. The deterioration or crack of the concrete pavement surface 40 is detected. For specific analysis, for example, a method disclosed in an apparatus or system as described in each of the above-described patent documents as background art can be applied.

  If information such as a drawing or a map of the concrete pavement surface 40 to be inspected is input in advance, based on the movement start point information of the structure scanner 100 and the distance interval between the imaged belt-like regions 40a, It is also possible to automatically superimpose the image data of the band-like area 40a on a map or the like and display it on the display 20b. The notebook computer 20 is supported near the handle 31, and the display on the display 20b can be checked in real time while the structure scanner 100 is moved. Thereby, it is possible to perform the inspection work while easily confirming whether the band-like region 40a on the concrete pavement surface 40 or the like is clearly imaged without omission. Further, if each image data of the band-like region 40a superimposed on a drawing or a map is used, an inspection report or the like can be efficiently created.

Second Embodiment
The second embodiment will be described below, which is not moved by human power as in the first embodiment but can be moved by self-propelled means. The same constituent members as those in the first embodiment are denoted by the same reference numerals, and different points will be mainly described.

  FIG. 3 is a side view showing a schematic configuration of a structure scanner 100A according to the second embodiment of the present invention.

  As shown in FIG. 3, the structure scanner 100A for inspecting the concrete pavement surface 40 and the like includes a flat box-shaped structure scanner main body 10A, a moving direction on the placed concrete pavement surface 40, and the like. And a line camera 11 that captures an image of a belt-like region 40a, which is an elongated imaged region that is orthogonal. The line camera 11 includes a rear frame 30A attached to the rear end portion of the structure scanner main body 10A so as to extend in the vertical direction and a front frame 33 attached to extend to the front end portion of the structure scanner main body 10A in the vertical direction. The sub-frame 32 is supported horizontally so that the imaging direction is downward.

  Wheels 15 are attached to the front and rear of the side surface of the structure scanner main body 10A, respectively, and a battery 18 is attached to the upper surface of the structure scanner main body 10A.

  Further, the structure scanner main body 10A is arranged slightly behind the position corresponding to the belt-like region 40a, and illuminates the belt-like region 40a with high uniformity from obliquely above, and an illumination power source 12b dedicated to the LED light 12a, The encoder 13 is arranged so as to be interlocked with the rotation of the wheel 15 and detects the moving distance of the structure scanner 100 on the concrete pavement surface 40 and the like, and the line camera based on the moving distance detected by the encoder 13. 11 and an electrical box 14A containing a control unit for controlling each unit.

  Furthermore, the structure scanner 100A incorporates a drive unit 19 (such as a motor) that drives the wheels 15 in order to allow the structure scanner main body 10A to autonomously move by self-propelling, while surrounding obstacles, etc. Are provided at the front end of the structure scanner main body 10 </ b> A and the front end of the sub-frame 32.

  In addition to the movement in the front-rear direction by the drive unit 19 and the wheel 15, the movement direction may be changed. It may be a radio control type or a remote control type, and may be steerable by an operator's operation from a remote location. What is moved by self-running may be limited to the line camera 11, the LED illumination 12a, the illumination power supply 12b, the battery 18, and the like. The obstacle detection sensor 34 may be added to the rear end portion or the side surface of the structure scanner main body 10A.

  Further, the connection between the structure scanner main body 10A and the notebook computer 20 is wireless, and image data and analysis results captured by the line camera 11 are displayed on the display 20b at a location away from the structure scanner main body 10A. May be.

  According to such a configuration, the inspection of the concrete pavement surface 40 and the like can be automatically performed without human intervention, and the burden on the operator who performs management or the like can be reduced.

<Other embodiments>
The structure scanner 100 may include an absolute position detector such as a normal GPS (Global Positioning System) or an indoor GPS.

  In the structure scanner 100 described above, the encoder 13 only knows the movement distance on the straight line from the movement start point. However, by using it together with the absolute position detector, a two-dimensional spread can be made on the concrete pavement surface 40 and the like. It is also possible to make the area having the inspection object.

  The absolute position detector may be built in the notebook computer 20 or provided near the handle 31.

  It should be noted that the present invention can be implemented in various other forms without departing from the spirit or main features thereof. Therefore, the above-mentioned embodiment is only a mere illustration in all points, and should not be interpreted limitedly. The scope of the present invention is indicated by the claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Structure scanner main body 10A Structure scanner main body 11 Line camera (imaging part)
11a Camera body 11b Lens 12a LED illumination (illumination part)
12b Illumination power supply 13 Encoder (travel distance detector)
14 electrical box 14A electrical box 14a synchronization unit 15 wheel 18 battery 19 drive unit 20 notebook computer 20a CPU (control unit)
20b Display (display section)
21 External hard disk (storage)
22 Cable 30 Frame 30A Rear frame 31 Handle (grip)
32 Sub-frame 33 Front frame 34 Obstacle detection sensor 40 Concrete pavement surface 40a Strip region 100 Structure scanner (structure inspection system)
100A structure scanner (structure inspection system)

Claims (3)

It has a body with wheels attached,
The body is
An imaging unit for imaging an imaging area on the mounting surface;
An illumination unit that illuminates the imaged region;
A position change detection unit for detecting a position change due to movement on the placement surface, and
An imaging timing control unit that controls the timing of imaging by the imaging unit based on the position change detected by the position change detection unit;
An image acquisition and analysis unit for acquiring and analyzing image data captured by the imaging unit;
A display unit for displaying at least one of the image data acquired by the image acquisition analysis unit or the analysis result;
A storage unit for storing the image data,
A grip portion for gripping the main body to move by human power;
The display unit displays the image data superimposed on a drawing or map of the area to be imaged, and is arranged so that display contents can be viewed in real time during movement by human power while holding the grip unit. A structure inspection system that can be moved by manpower. An imaging unit for imaging an imaging area on the mounting surface;
An illumination unit that illuminates the imaged region;
A position change detection unit for detecting a position change due to movement on the placement surface, and
An imaging timing control unit that controls the timing of imaging by the imaging unit based on the position change detected by the position change detection unit;
An image acquisition and analysis unit for acquiring and analyzing image data captured by the imaging unit;
A storage unit for storing the image data;
Self-propelled means for autonomously moving at least the imaging unit and the illumination unit;
A display unit that displays the image data acquired by the image acquisition analysis unit and the analysis result thereof at a location away from the imaging unit ;
The display unit, the structure inspection system characterized you to view by superimposing the image data on a drawing or map of the imaged region. In the structure inspection system according to claim 1 or 2,
Further equipped with an absolute position detector for detecting absolute position information,
The structure inspection system is characterized in that the image acquisition / analysis unit acquires and analyzes the image data captured by the imaging unit and the absolute position information detected by the absolute position detector.

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