JP6628669B2 - Structure surface inspection apparatus, structure surface inspection system including the same, and structure surface inspection method - Google Patents

Description

  The present invention relates to a structure surface inspection apparatus for inspecting the surface of a structure, a structure surface inspection system including the same, and a structure surface inspection method.

  BACKGROUND ART Conventionally, there has been proposed a structure surface inspection apparatus that captures an image of a road surface that is a surface of a structure along with movement of an inspection vehicle that is a moving means, and inspects a surface property of the structure using the captured image. (For example, see Patent Document 1).

  The structure surface inspection apparatus of Patent Document 1 uses a gas laser that emits a laser beam from both ends, and measures one of two laser beams emitted from the gas laser through an optical fiber cable to measure road surface properties. It is taken out as a light source for use.

Japanese Patent Publication No. 7-28062

  On the other hand, in such a structure surface inspection apparatus for inspecting the properties of a road surface, the cost of a light source or the like for irradiating light is often high. For this reason, it is required that the entire structure surface inspection apparatus be further reduced in cost.

  Accordingly, it is an object of the present invention to provide a structure surface inspection apparatus, a structure surface inspection system including the same, and a structure surface inspection method capable of realizing cost reduction in solving the above problems. It is in.

  In order to achieve the above object, a structure surface inspection apparatus of the present invention is mounted on a moving unit, and is a structure surface inspection apparatus for inspecting a surface of a structure with movement of the moving unit. An irradiation unit that irradiates linear light extending in a direction intersecting the moving direction toward the surface of the object, and a surface of the structure where the light is irradiated by the irradiation unit along a direction intersecting the moving direction. A line camera for capturing an image, and a direction in which light is irradiated by the irradiation unit and a direction in which the image is captured by the line camera are arranged on the same plane.

  Further, the structure surface inspection system of the present invention is a structure surface inspection system, comprising: the structure surface inspection device; and an inspection vehicle as a moving unit equipped with the structure surface inspection device. Along with the movement, the surface of the structure is inspected using the structure surface inspection device mounted on the inspection vehicle.

  Further, the structure surface inspection method of the present invention is a structure surface inspection method for inspecting the surface of the structure along with the movement of the moving means, wherein the irradiation unit moves in the direction of movement toward the surface of the structure. Irradiating linear light extending in the direction intersecting with, and, by a line camera, imaging the surface of the structure of the portion where the light is illuminated by the irradiating unit along the direction intersecting the movement direction, And the direction of light irradiation by the irradiation unit and the direction of imaging by the line camera are arranged on the same plane.

  ADVANTAGE OF THE INVENTION According to the structure surface inspection apparatus of this invention, the structure surface inspection system provided with the same, and the structure surface inspection method, cost reduction can be implement | achieved.

1 is a schematic plan view of a structure surface inspection apparatus according to an embodiment. Schematic side view of a structure surface inspection apparatus according to an embodiment Schematic rear view of the structure surface inspection apparatus according to the embodiment

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

(Embodiment)
1, 2, and 3 are diagrams illustrating a schematic configuration of a structure surface inspection system 2 according to the embodiment.

  The structure surface inspection system 2 is a system for inspecting the surface of a road 4 (FIG. 2) which is an example of a structure extended in the longitudinal direction A. The structure surface inspection system 2 includes an inspection vehicle 3 that is an example of a moving unit that moves along the longitudinal direction A of the road 4 (movement direction M), and a structure surface inspection device 5 mounted on the inspection vehicle 3. . The structure surface inspection device 5 is a device that inspects the surface of the road 4 as the inspection vehicle 3 moves, and includes a line laser 6, a line camera 8, and a 3D camera 10. The structure surface inspection system 2 inspects the surface of the road 4 using the structure surface inspection device 5 mounted on the inspection vehicle 3.

  As shown in FIG. 1, the line laser 6, the line camera 8 and the 3D camera 10 are all mounted on a mounting member 12. The attachment member 12 is a member for attaching and fixing the line laser 6, the line camera 8, and the 3D camera 10 to the inspection vehicle 3. The mounting member 12 in the present embodiment is configured by two rod-shaped members fixed so as to extend in the longitudinal direction A of the road 4 on the roof of the inspection vehicle 3.

  In the present embodiment, the line laser 6, the line camera 8, the 3D camera 10, and the mounting member 12 are arranged symmetrically. Specifically, the line laser 6 includes left and right line lasers 6a and 6b, the line camera 8 includes left and right line cameras 8a and 8b, the 3D camera 10 includes left and right 3D cameras 10a and 10b, The mounting member 12 includes left and right mounting members 12a and 12b.

  The line laser 6 is an irradiating unit that irradiates the surface of the road 4 with a linear laser extending in the lateral direction B of the road 4. The linear laser emitted by the line laser 6 is used as light for enabling the line camera 8 and the 3D camera 10 to image the surface of the road 4 even at night or the like. As shown in FIG. 2, in the present embodiment, the line laser 6 is disposed so as to face directly below (vertically downward). That is, the irradiation direction C of the laser by the line laser 6 is set to the vertical direction. The width of the laser irradiated by the line laser 6 (along the longitudinal direction A) is, for example, 3 to 5 mm.

  As shown in FIG. 3, the left line laser 6a is disposed so as to irradiate a laser including an area including the left half area of the road 4, and the right line laser 6b includes the right half area of the road 4. It is arranged to irradiate the area with a laser. By irradiating the surface of the road 4 with the laser from the line laser 6a and the line laser 6b, it is possible to irradiate the entire range of the road 4 in the short direction B.

  A line camera (also referred to as a line scan camera or a line sensor camera) 8 is an imaging unit that captures an image of the surface of the road 4 where light is irradiated by the line laser 6. The line camera 8 according to the present embodiment has a linear image sensor, and uses the linear image sensor to image the surface of the road 4 in a line along the lateral direction B to generate a 2D image of the surface of the road 4. The 2D image generated by the line camera 8 is mainly used to inspect the surface of the road 4 for cracks.

  The line camera 8 is arranged so as to face directly below similarly to the line laser 6. That is, the imaging direction D of the road 4 by the line camera 8 is set to the vertical direction. As described above, the irradiation direction C of the laser by the line laser 6 as the irradiation unit and the imaging direction D of the line camera 8 as the imaging unit are set on the same plane (vertical plane in the present embodiment) P.

  The width at which the line camera 8 captures an image (along the longitudinal direction A) is, for example, 1 mm.

  As shown in FIG. 3, the left line camera 8a is arranged so as to capture an area including the left half area of the road 4, and the right line camera 8b is arranged to capture an area including the right half area of the road 4. It is arranged to image. By imaging the surface of the road 4 from the line camera 8a and the line camera 8b, the entire range (for example, one lane) of the road 4 in the lateral direction B can be imaged.

  As shown in FIGS. 1 and 2, the line laser 6 and the line camera 8 are mounted at the same position on the mounting member 12 along the longitudinal direction A. In order to realize such an arrangement, as shown in FIGS. 1 and 3, the line laser 6 is mounted inside the mounting member 12 (along the transverse direction B), and the line camera 8 is mounted outside the mounting member 12. Installed.

  The 3D camera 10 is an imaging unit that captures an image of the surface of the road 4 like the line camera 8. The 3D camera 10 generates a 3D image of the surface of the road 4 where light is irradiated by the line laser 6. More specifically, the surface of the road 4 where the laser is irradiated by the line laser 6 is imaged along the lateral direction B, and a 3D image is generated by a light cutting method. The 3D image generated by the 3D camera 10 is mainly used for inspecting the surface of the road 4 for rutting.

  In order to use the light sectioning method, the imaging direction E (FIG. 2) in which the 3D camera 10 captures an image is set to a direction that intersects the light irradiation direction C of the line laser 6 that is the irradiation unit. In the present embodiment, the imaging direction E in which the 3D camera 10 captures images is set obliquely downward toward the road 4. For this reason, the 3D camera 10 itself is also arranged so as to be included in the plane Q intersecting with the plane P on which the line laser 6 and the line camera 8 are arranged. As shown in FIGS. 1 and 2, the 3D camera 10 is attached to the attachment member 12 at a position different from the position along the longitudinal direction A where the line laser 6 and the line camera 8 are attached (rear in the present embodiment).

  The left 3D camera 10a is arranged to capture an area including the left half area of the road 4, and the right 3D camera 10b is arranged to capture an area including the right half area of the road 4. . By imaging the surface of the road 4 from the 3D camera 10a and the 3D camera 10b, the entire range of the road 4 in the lateral direction B can be imaged. In FIG. 3, illustration of the 3D camera 10 and the inspection vehicle 3 is omitted.

  In such a configuration, the structure surface inspection system 2 irradiates the surface of the road 4 with a linear laser by the line laser 6 as the inspection vehicle 3 moves along the longitudinal direction A of the road 4. Keep doing. The surface of the road 4 is irradiated with a laser extending in the lateral direction B of the road 4. An image of the surface of the road 4 can be captured regardless of the area irradiated with the laser at night or the like. In a state where the surface of the road 4 is continuously irradiated with the laser by the line laser 6, an image is taken by the line camera 8 and the 3D camera 10. Specifically, the line camera 8 and the 3D camera 10 image the same area of the surface of the road 4 where the laser from the line laser 6 is irradiated. That is, the line camera 8 and the 3D camera 10 capture an image of the area irradiated by the line laser 6. The line camera 8 mainly captures an image of a regular reflection light component in which light emitted by the line laser 6 on the same plane P is regularly reflected on the surface of the road 4. Thereby, cracks and the like on the road surface can be inspected. On the other hand, the 3D camera 10 captures an image obliquely with respect to the irradiation direction of the line laser 6, and mainly captures the diffuse reflection light component of the light of the line laser 6 diffusely reflected on the surface of the road 4. As a result, it is possible to inspect for irregularities on the road surface. The imaging of the line camera 8 generates a 2D image of the surface of the road 4, and the imaging of the 3D camera 10 generates a 3D image of the surface of the road 4. The 2D image captured by the line camera 8 and the 3D image captured by the 3D camera 10 are stored in a control unit (not shown) provided in the structural surface inspection system 2. Thereafter, the imaging by the line camera 8 and the 3D camera 10 is continuously performed, and the generated continuous 2D image and 3D image are stored in the control unit.

  These stored images are ultimately used to inspect the surface properties of the road 4. Specifically, the 2D image captured by the line camera 8 is used to inspect the surface of the road 4 for cracks, and the 3D image captured by the 3D camera 10 is used to inspect the rutting of the surface of the road 4. used.

  According to such an inspection method, using the structure surface inspection device 5 (the line laser 6, the line camera 8, and the 3D camera 10) mounted on the inspection vehicle 3, the road 4 is moved along with the movement of the inspection vehicle 3. Surface properties (cracks, ruts) can be inspected. In particular, in the present embodiment, the laser irradiation direction C of the line laser 6 and the imaging direction D of the line camera 8 are arranged on the same plane P. By setting the light irradiation direction C and the imaging direction D on the same plane P as described above, it is possible to suppress the displacement between the irradiation range of the line laser 6 and the imaging range of the line camera 8 due to the movement of the inspection vehicle 3. Can be. Thereby, the imaging by the line camera 8 can be performed more reliably. In such a configuration, since the line laser 6 and the line camera 8 are also arranged on the same plane P, efficient arrangement in the structure surface inspection system 2 becomes possible, leading to cost reduction.

  In addition, the area where the line camera 8 takes an image and the area where the 3D camera 10 takes an image are set within the same range where the line laser 6 irradiates the laser. As described above, since the same light source is assigned to the line camera 8 and the 3D camera 10, efficient arrangement in the structure surface inspection system 2 becomes possible, which can lead to cost reduction. Further, the imaging direction E of the 3D camera 10 is inclined with respect to the irradiation direction C of the line laser 6. With such an arrangement, the 3D camera 10 can more reliably generate a 3D image using the light sectioning method.

  On the other hand, as a method different from the structure surface inspection system 2 of the present embodiment, it is assumed that separate light sources and optical systems are used for the line camera 8 and the 3D camera 10. In this case, since the line camera 8 performs imaging at a higher imaging rate than the 3D camera 10, it is desired to assign illumination with higher luminance. Therefore, it is assumed that the 3D camera 10 is assigned the same line laser 6 as in the embodiment, while the line camera 8 is assigned a higher-luminance illumination device (for example, metal halide, halogen, or the like). However, such a high-luminance illuminating device is very expensive, and because of its high luminance, it is likely to cause disturbance light to the laser light source by the line laser 6. For this reason, it is necessary to arrange a high-luminance illuminating device so as to irradiate a position distant from the irradiation position of the line laser 6, which requires higher luminance and increases the cost. On the other hand, in the structure surface inspection system 2 of the present embodiment, since the line laser 8 which is the same light source and optical system is assigned to the line camera 8 and the 3D camera 10, it is necessary to provide a high-intensity illumination device. And a significant cost reduction can be realized. In addition, since a disturbance element to the laser light source by the line laser 6 can be eliminated, the imaging accuracy can be improved.

  As described above, the structure surface inspection apparatus 5 according to the present embodiment is mounted on the inspection vehicle 3 (moving means) and removes the surface of the road 4 (structure) extending in the longitudinal direction A (in the longitudinal direction A). This is a device for performing inspection as the inspection vehicle 3 moves along (along). The structure surface inspection device 5 includes a line laser 6 (irradiation unit) that irradiates linear light extending toward the surface of the road 4 in the short direction B of the road 4 (the direction intersecting the movement direction M). The structure surface inspection apparatus 5 further includes a line camera 8 for imaging the surface of the road 4 at a portion irradiated with light by the line laser 6 along the short direction B of the road 4 (direction intersecting the moving direction M). Is provided. Further, the irradiation direction C of light by the line laser 6 and the imaging direction D by the line camera 8 are arranged on the same plane P. By arranging the irradiation direction C by the line laser 6 and the imaging direction D by the line camera 8 on the same plane P in this manner, the line laser 6 and the line camera 8 It can be arranged efficiently, leading to a cost reduction of the structure surface inspection device 5.

  In addition, the structure surface inspection apparatus 5 of the present embodiment further includes a 3D camera 10 that captures an image of the surface of the road 4 where light is irradiated by the line laser 6 and generates a 3D image by a light cutting method. . The imaging direction E of the 3D camera 10 is arranged on a plane Q that intersects a plane P including the irradiation direction C of light from the line laser 6 and the imaging direction D of the line camera 8. According to such a configuration, by imaging the road 4 from the direction E different from the irradiation direction C of the line laser 6, a 3D image can be generated by the 3D camera 10 using the light cutting method. Further, by arranging the irradiation direction C by the line laser 6 and the imaging direction D by the line camera 8 on the same plane P and providing the 3D camera 10 on a different plane Q, efficient arrangement becomes possible. This leads to a cost reduction of the surface inspection device 5.

  In addition, the structure surface inspection system 2 of the present embodiment includes a structure surface inspection device 5 and an inspection vehicle 3 as a moving unit on which the structure surface inspection device 5 is mounted. The structure surface inspection system 2 inspects the surface of the road 4 (extended in the longitudinal direction A) with the movement of the inspection vehicle 3 (along the longitudinal direction A) on the surface of the structure mounted on the inspection vehicle 3. Inspection is performed using the device 5. By arranging the irradiation direction C by the line laser 6 and the imaging direction D by the line camera 8 on the same plane P in this manner, the line laser 6 and the line camera 8 It can be arranged efficiently, leading to a cost reduction of the structure surface inspection device 5.

  Further, the structure surface inspection method of the present embodiment is a structure surface inspection for inspecting the surface of the road 4 (extended in the longitudinal direction A) with the movement of the inspection vehicle 3 (along the longitudinal direction A). Is the way. The structure surface inspection method includes a step of irradiating the line laser 6 with linear light extending in the short direction B of the road 4 (direction intersecting the movement direction M) toward the surface of the road 4. In the structure surface inspection method, the line camera 8 further captures an image of the surface of the road 4 where the light is irradiated by the line laser 6 along the short direction B of the road 4 (the direction intersecting the moving direction M). Including the step of: Further, the irradiation direction C of light by the line laser 6 and the imaging direction D by the line camera 8 are arranged on the same plane P. By arranging the irradiation direction C by the line laser 6 and the imaging direction D by the line camera 8 on the same plane P in this manner, the line laser 6 and the line camera 8 They can be arranged efficiently, leading to cost reduction.

  Further, the structure surface inspection method according to the present embodiment uses a 3D camera from a direction E included in a plane Q that intersects a plane P that includes an irradiation direction C of light by the line laser 6 and an imaging direction D by the line camera 8. The method further includes the step of using 10 to image the surface of the road 4 where light is irradiated by the line laser 6, and generating a 3D image by a light section method. As described above, by imaging the road 4 from the direction E different from the irradiation direction C by the line laser 6, the 3D camera 10 can generate a 3D image. In addition, by arranging the irradiation direction C of the line laser 6 and the imaging direction D of the line camera 8 on the same plane P and arranging the 3D camera 10 on a different plane Q, efficient arrangement becomes possible and cost reduction. Leads to.

  As described above, the present invention has been described with reference to the above embodiment, but the present invention is not limited to the above embodiment. For example, in the embodiment, the case where the 3D camera 10 is provided in addition to the line camera 8 has been described. However, the present invention is not limited to such a case, and the 3D camera 10 may be omitted. Even in such a case, by arranging the irradiation direction C of the line laser 6 and the imaging direction D of the line camera 8 on the same plane P, the imaging by the line camera 8 can be performed more reliably and the efficiency can be improved. Layout becomes feasible, leading to cost reduction.

  Further, in the embodiment, the case where both the irradiation direction C by the line laser 6 and the imaging direction D by the line camera 8 are vertical is described. However, the present invention is not limited to such a case. May be inclined in different directions. Even in the case of tilting in this manner, by providing the imaging direction of the 3D camera 10 on a plane that intersects with the irradiation direction of the line laser 6, a 3D image can be generated by the 3D camera 10.

  In the embodiment, the case where the surface of the road 4 is inspected as an example of the structure has been described. However, the present invention is not limited to such a case, and the surface of an arbitrary structure such as a tunnel may be inspected.

  Further, in the embodiment, the case where the line laser 6 emits linear light extending in the short direction B of the road 4 has been described, but the invention is not limited to such a case. In addition to the short direction B of the road 4, linear light extending in a direction intersecting with the moving direction M of the inspection vehicle 3 may be applied. Similarly, a case has been described in which the line scan camera 8 and the 3D camera 10 also perform imaging along the short direction B of the road 4, but the invention is not limited to such a case. The image may be taken in the direction in which the linear light emitted by the line laser 6 extends, that is, in the direction intersecting with the moving direction M of the inspection vehicle 3.

  In the embodiment, the case where the line laser 6 for irradiating a laser is used as the light source for the line camera 8 and the 3D camera 10 has been described, but the present invention is not limited to such a case. As long as it irradiates linear light, any irradiating unit such as a line LED illumination may be employed.

  Further, in the embodiment, a case has been described in which the components of the structure surface inspection device 5 are arranged symmetrically. However, the present invention is not limited to such a case, and only one component may be provided. The resolution can be improved by providing a plurality of components of the structure surface inspection device 5.

  INDUSTRIAL APPLICABILITY The present invention is applicable to any structure surface inspection apparatus for inspecting the surface properties of a structure, a structure surface inspection system including the same, and a structure surface inspection method.

2 Structure surface inspection system 3 Inspection vehicle (moving means)
4 roads (structures)
5 Structure surface inspection device 6, 6a, 6b Line laser 8, 8a, 8b Line camera 10, 10a, 10b 3D camera 12, 12a, 12b Mounting member A Longitudinal direction B Short direction C Irradiation direction D Imaging direction E Imaging direction M Moving direction

Claims (3)

A structure surface inspection apparatus mounted on the moving means, for inspecting the surface of the structure with the movement of the moving means,
An irradiation unit that irradiates linear light extending toward a surface of the structure in a direction intersecting the movement direction,
A line camera for imaging the surface of the structure of the part where light is irradiated by the irradiation unit along a direction intersecting with the movement direction,
Arrange the irradiation direction of light by the irradiation unit and the imaging direction by the line camera on the same plane ,
The apparatus further includes a 3D camera that captures an image of a surface of a structure where light is irradiated by the irradiation unit and generates a 3D image by a light cutting method,
A structure surface inspection apparatus in which an imaging direction by a 3D camera is arranged on a plane that intersects a plane including an irradiation direction of light by an irradiation unit and an imaging direction by a line camera . A structure surface inspection device according to claim 1 ,
An inspection system as a moving means equipped with a structure surface inspection apparatus, and a structure surface inspection system,
A structure surface inspection system that inspects the surface of a structure using a structure surface inspection device mounted on the inspection vehicle as the inspection vehicle moves. A structure surface inspection method for inspecting the surface of a structure with movement of a moving unit,
Irradiating a linear light extending in a direction intersecting with the moving direction toward the surface of the structure by the irradiation unit;
By a line camera, imaging the surface of the structure of the portion where light is irradiated by the irradiation unit along a direction intersecting the moving direction,
Arrange the irradiation direction of light by the irradiation unit and the imaging direction by the line camera on the same plane ,
Using a 3D camera, the surface of the structure where the light is radiated by the irradiating unit from the direction included in the plane that intersects the plane that includes the irradiating direction of the light by the irradiating unit and the imaging direction by the line camera. A method for inspecting a surface of a structure , further comprising imaging and generating a 3D image by a light section method.

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