JP6845434B2 - Condition inspection method, equipment and program for columnar structures - Google Patents

Description

The present invention relates to a method, an apparatus and a program for inspecting the state of a columnar structure such as a utility pole or a concrete pole.

Conventionally, workers have been involved in inspection work and soundness diagnosis work required for maintenance of columnar structures (hereinafter referred to as concrete pillar members) composed of reinforced concrete members and prestressed concrete members such as utility poles and concrete poles. The method is to go to the place where the concrete pillar members to be inspected are installed and inspect them one by one according to the prescribed inspection flow. However, this method requires a lot of time and labor because a series of operations are performed manually.

On the other hand, the inspection vehicle is equipped with a 3D laser scanner (3D laser surveying instrument), camera, GPS, IMU (inertial measuring device), and odometer (mileage meter), and while traveling on the road, surrounding buildings, roads, and bridges. A mobile mapping system that comprehensively performs 3D survey of an outdoor structure including, etc., and acquires the 3D shape of the outdoor structure by collecting the 3D coordinates of a large number of points on the surface of the outdoor structure. (Mobile Mapping System: MMS) is known (see, for example, Non-Patent Document 1). In this system, the absolute three-dimensional coordinates of the irradiated point are acquired as point cloud data (hereinafter referred to as point cloud data) by the laser beam shining on the surface of the outdoor structure, and the more irradiation points there are, the more. , A precise three-dimensional shape can be reproduced.

"Mitsubishi Mobile Mapping System High Precision GPS Mobile Measuring Device", [online], July 2013, Mitsubishi Electric Corporation, [Search on September 24, 2013], Internet <URL: http://www.mitsubishielectric .co.jp/mms/>

However, when inspecting concrete pillar members such as utility poles and concrete poles, the conventional method has the following problems to be solved.
That is, the concrete column members are basically installed vertically with respect to the ground. The displacement of the column member includes a "tilt" that creates an angle with the vertical direction and a "deflection" that causes the member itself to bend, and conventional inspection work and soundness diagnosis work are not used to measure the displacement. Contact type displacement meters and total stations are used. However, in order to separate this inclination and deflection, it is necessary to measure at many points. Further, when the diameter of the column member is large or when there is a cross-sectional change (taper), the measurement accuracy is lowered.

Further, since the load acts on the concrete column member in all directions, the deflection and the inclination occur three-dimensionally (all directions). In the non-contact displacement meter, a laser can be used to obtain the distance from the displacement meter itself to the column member. However, the measurement is unidirectional due to the directionality of the laser, and a displacement meter machine must be installed to set a reference point, which makes it difficult to measure from the roadway side or when there is an obstacle. In addition, in order to precisely fix the point to be measured, it is necessary to attach a target (mark) in advance. Further, it is not possible to grasp the position of the column member having a circular cross section on the central axis.

In addition, in the conventional inspection work and soundness diagnosis work, the presence or absence of cracks and the crack width must be visually measured by the inspection worker directly using a crack scale or the like. For this reason, many workers are required, and at the same time, oversights and mistakes in judgment may occur, and the accuracy of inspection and diagnosis varies widely. Furthermore, since the replacement of the concrete column member is determined only by the superficial condition such as the crack width and the presence or absence of rust juice, there is a risk of overlooking the structural danger caused by the internal reinforcing bar strain and concrete strain.

In addition, as a result of inspection work and soundness diagnosis work, if it is detected that the utility pole is tilted, bent or cracked more than specified, it can be replaced with a new utility pole to deteriorate it due to bending or aging. Avoiding damage or collapse. However, since the column members of the same type are installed without diagnosing the load conditions (acting load, etc.) and the foundation ground conditions, the concern that similar deterioration damage and collapse will occur several years later is still unsolved.

The present invention has been made by paying attention to the above circumstances, and the purpose of the present invention is to make it possible to accurately estimate the acting load applied to the columnar structure, thereby improving the efficiency of inspection work and soundness diagnosis work. It is an object of the present invention to provide a method, an apparatus and a program for state inspection of a columnar structure with improved accuracy.

First embodiment of the present invention in order to achieve the above object, obtains the 3D point group data representing the three-dimensional coordinates definitive multiple points on the surface of the pillar-like structures that are measured by the measuring unit, the 3 in to that way or apparatus checks the state of the columnar structure to perform a device for inspecting a state of the original on the columnar structure dimensions point cloud data, the columnar structure on the basis of the 3D point group data Is created as a three-dimensional model, the deflection of the columnar structure is detected based on the created three-dimensional model data, and information representing the detected deflection and the format of the columnar structure. Based on the above, the acting load applied to the columnar structure is estimated , the inclination angle of the columnar structure with respect to the ground surface is calculated based on the created three-dimensional model data, and the calculated inclination angle is calculated. The amount of ground deformation of the columnar structure is calculated based on the estimated acting load .

In the second aspect of the present invention, when the columnar structure is composed of a concrete member having reinforcing bars, the reinforcing bar strain and the concrete strain of the columnar structure are further calculated based on the estimated acting load. It was made like this.

Third aspect of the invention, on the basis of the calculated rebar strain and concrete strain, have each line calculation of determination and crack width of the presence or absence of cracks of the columnar structure, preset the crack width The replacement time of the columnar structure is determined by comparing with the crack width threshold .

According to the first aspect of the present invention, the deflection of the columnar structure is detected based on the three-dimensional model data of the columnar structure, and the columnar structure is based on the deflection and the information indicating the type of the columnar structure. The acting load applied to the object is estimated. Therefore, as compared with the case of using a non-contact type displacement meter, the deflection of the columnar structure can be detected easily and accurately, and the acting load applied to the columnar structure can be estimated based on this deflection. Further, the inclination angle of the columnar structure with respect to the ground surface is calculated based on the created three-dimensional model data, and the amount of ground deformation of the columnar structure is calculated based on the calculated inclination angle and the above-mentioned acting load. To. Therefore, it is possible to quantitatively diagnose the foundation ground conditions, which makes it possible to more accurately determine the necessity of ground improvement and high-strength foundation.

According to the second and third aspects of the present invention, the reinforcing bar strain and concrete strain of the columnar structure are calculated based on the estimated acting load, and further based on the calculated reinforcing bar strain and concrete strain. The presence or absence of cracks in the columnar structure is determined, and if there are cracks, the crack width is calculated. Therefore, the presence or absence of cracks and the width of cracks can be confirmed without relying on the visual measurement work of the inspection worker, thereby reducing the occurrence of oversights and judgment errors and reducing the variation in inspection and diagnosis accuracy. be able to. In addition, it becomes possible to accurately grasp the degree of structural danger of the columnar structure based on the reinforcing bar strain and the concrete strain, which makes it possible to replace the columnar structure at an appropriate timing. ..

That is, according to the present invention, it becomes possible to accurately estimate the acting load applied to the columnar structure, thereby improving the efficiency and accuracy of the inspection work and the soundness diagnosis work. , Devices and programs can be provided.

FIG. 1 is a schematic configuration diagram of a system for carrying out an inspection method for a columnar structure according to an embodiment of the present invention. FIG. 2 is a block diagram showing a detailed configuration of an arithmetic unit used in the system shown in FIG. FIG. 3 is a diagram showing a flow of inspection control processing and the content of the processing in the arithmetic unit shown in FIG. FIG. 4 is a flowchart showing a processing procedure and processing contents of the extraction processing unit among the inspection controls shown in FIG. FIG. 5 is a diagram showing an example of the relationship between the amount of deflection and the height of the concrete column member when the acting load applied to the concrete column member is used as a parameter. 6 (a) and 6 (b) are diagrams for explaining an example of a method for calculating the amount of ground deformation to which an analysis model using a ground spring is applied. 7 (a) and 7 (b) are diagrams for explaining an example of a method for calculating the amount of ground deformation to which an analysis model using a ground spring is applied. 8 (a) and 8 (b) are diagrams for explaining another example of the ground deformation amount calculation method to which the analysis model using the ground spring is applied.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.
[One Embodiment]
(Constitution)
FIG. 1 is a schematic configuration diagram of a system for carrying out a state inspection method for a columnar structure according to an embodiment of the present invention.
The system according to this embodiment includes, for example, a three-dimensional laser scanner 1, a camera 2, a GPS (Global Positioning System) receiver 3, an IMU 4 as an inertial measurement unit, an odometer 5 as a mileage meter, and a memory. The medium 10 and the inspection device 11 are provided. All of these are mounted on the inspection vehicle MB. The inspection device 11 may be installed in the building, and the measurement data stored in the storage medium 10 of the inspection vehicle MB may be transmitted to the inspection device via a wireless line.

The system according to the present embodiment uses a three-dimensional laser scanner 1, a camera 2, a GPS receiver 3, an IMU 4, and an odometer 5 while the inspection vehicle MB is running, and uses reinforced concrete concrete, which is a columnar structure to be inspected. A three-dimensional survey is performed on the surface of the column member 6. For example, each measurement data output from the above three-dimensional laser scanner 1, camera 2, GPS receiver 3, IMU 4, and odometer 5 can be used as three-dimensional distance data to an outdoor structure, image data, vehicle position coordinate data, and the like. The vehicle acceleration data and the vehicle mileage data are stored in the storage medium 10 in association with the measurement time. As a result, the storage medium 10 stores three-dimensional point cloud data representing three-dimensional (XYZ) coordinates at a plurality of points on the surface of the concrete column member 6 and image data of the surface of the concrete column member 6.

FIG. 2 is a functional block diagram showing a detailed configuration of the inspection device 11 among the systems shown in FIG.
The inspection device 11 is composed of, for example, a personal computer or a server computer, and includes, for example, a central processing unit (CPU), a storage unit, and an interface unit for input / output and communication as hardware. Further, as software, an extraction processing unit 12, an arithmetic processing unit 13, and a safety diagnosis processing unit 14 are provided. Note that these processing units 12, 13 and 14 are all realized by causing the CPU to execute a program stored in a program memory in a storage unit (not shown).

The extraction processing unit 12 has a 3D modeling unit 121 and a deflection or the like calculation unit 122. The 3D modeling unit 121 performs a process of creating 3D model data of the concrete column member 6 based on the 3D point cloud data stored in the storage medium 10. The deflection and the like calculation unit 122 quantitatively calculates the "position", "thickness", "inclination angle" and "deflection" of the concrete column member 6 based on the three-dimensional coordinate information possessed by the above 3D model data. Perform processing.

The arithmetic processing unit 13 includes an acting load calculation unit 131, a strain calculation unit 132, a crack determination unit 133, and a ground deformation amount calculation unit 134. The acting load calculation unit 131 is based on the "deflection" calculated by the extraction processing unit 12 and the data (shape dimension, physical property value and diameter) indicating the type of the concrete column member stored in advance in the storage unit. Then, the process of calculating the "working load" applied to the concrete column member 6 is performed.

The strain calculation unit 132 performs a process of calculating the reinforcing bar strain and the concrete strain based on the “working load” calculated by the working load calculating unit 131 and the type data of the column member stored in the storage unit. .. To calculate these strains, a reinforced concrete cross-section balance calculation method or the like is used.

The crack determination unit 133 calculates the tensile stress based on the concrete strain calculated by the strain calculation unit 132, and compares the calculated value of the tensile stress with the tensile strength included in the data indicating the type of the column member. By doing so, the presence or absence of cracks is determined. Further, the width of the crack is calculated by multiplying the interval between the cracks by the strain difference between the reinforcing bar and the concrete.

The ground deformation amount calculation unit 134 stores the concrete column member 6 in advance based on the inclination angle of the concrete column member 6 calculated by the deflection calculation unit 122 and the action load calculated by the action load calculation unit 131. The process of calculating the amount of deformation of the ground is performed using the data indicating the stored foundation ground type. The data indicating the foundation ground type includes the foundation ground condition and the consolidation condition.

The safety diagnosis processing unit 14 has a bias / excess determination unit 141 for the acting load, a structural safety diagnosis unit 142, a safety diagnosis unit 143 for deterioration, and a safety diagnosis unit 144 for the foundation ground. ing.

The bias / excess determination unit 141 of the acting load allows the acting load by comparing the acting load calculated by the acting load calculating unit 131 with the allowable value of the load included in the form data of the concrete column member. Performs processing to determine whether there is an excess or bias with respect to the value. Then, when it is determined that there is excess or bias, message information for instructing the review of the mounting position and load of the additional device installed on the concrete column member 6, for example, the transformer, the closure 8, and the cable 7 is generated. And output.

The structural safety degree diagnosis unit 142 compares the reinforcing bar strain and the concrete strain calculated by the strain calculation unit 132 with each threshold value of the strain stored in advance in the storage unit, thereby performing the structural safety degree. To diagnose. Then, a process of outputting information representing the diagnosis result is performed.

The safety degree diagnosis unit 143 for deterioration diagnoses the safety degree for deterioration by comparing the determination result of the presence or absence of cracks and the crack width obtained by the crack determination unit 133 with the threshold value stored in advance in the storage unit. To do. Then, a process of outputting information representing the diagnosis result is performed.

The safety level diagnosis unit 144 for the foundation ground compares the amount of deformation of the ground calculated by the above-mentioned unit for calculating the amount of deformation of the ground 134 with the permissible value stored in advance in the storage unit. Then, when the calculated amount of deformation of the ground exceeds the permissible value, it is diagnosed as "unsafe", and a process of outputting information indicating the diagnosis result is performed.

(motion)
Next, the operation by the inspection device 11 configured as described above will be described. FIG. 3 is a flowchart showing the processing procedure and the processing content.

In the inspection vehicle MB, three-dimensional distance data, vehicle position coordinate data, and vehicle acceleration data at a plurality of points on the surface of the concrete column member 6 are used by the measurement units 1, 2, 3, 4, and 5 constituting the MMS, respectively. And the mileage data of the vehicle is measured. Then, the three-dimensional (XYZ) coordinates at each of the above points represented by these measurement data are stored in the storage medium 10 as three-dimensional point cloud data.

(1) Processing by the extraction processing unit 12 The inspection device 11 reads the 3D point cloud data from the storage medium 10 in step S10. Then, in step S11, the extraction processing unit 12 first creates 3D model data of the concrete column member 6 from the 3D point cloud data under the control of the 3D modeling unit 121. Subsequently, in step S12, under the control of the deflection and the like calculation unit 122, the “position”, “thickness”, “inclination angle” and the “inclination angle” of the concrete column member 6 are based on the three-dimensional coordinate information of the above 3D model data. Quantitatively calculate "deflection".

FIG. 4 is a flowchart showing a specific example of the processing procedure and the processing content in the extraction processing unit 12.
As shown in FIG. 4, the extraction processing unit 12 reads the point cloud data from the storage medium 10 in step S31. Then, under the control of the 3D modeling unit 121, first, in step S32, the scan lines are clustered for each scan line of the laser scanner from the position information and the like of the point cloud data. Subsequently, in step S33, the shape of the irradiated object is estimated from the position information (XYZ coordinates) of the point cloud data on the same scan line. Then, a pole-shaped object is searched from the estimation result of this shape. Next, in step S34, candidates for concrete column members are narrowed down by creating a circle based on a point cloud of the same altitude, and in step S35, circles are overlapped vertically with respect to the candidates for concrete column members, and step S36. In, the centers of the overlapped circles are connected to exclude the candidates having an unnatural shape, and the remaining candidates are used as the three-dimensional model data of the concrete column member 6. That is, the three-dimensional model data is created based on the external features of the concrete column member 6.

Next, under the control of the deflection or the like calculation unit 122, the extraction processing unit 12 uses the coordinate information at the centers of the plurality of circles constituting the model in the 3D model data of the concrete column member 6 created above in step S37. , "Position", "thickness", "inclination angle" and "deflection" of the concrete column member 6.

(2) Processing by the arithmetic processing unit 13 Next, the inspection device 11 executes the following various arithmetic processes under the control of the arithmetic processing unit 13.
(2-1) Calculation of acting load Under the control of acting load calculation unit 131, the arithmetic processing unit 13 stores the “deflection” calculated by the deflection and the like calculation unit 122 of the extraction processing unit 12 in step S13. The "acting load" applied to the concrete column member 6 is calculated based on the form data (shape dimension, physical property value and diameter) of the concrete column member 6 stored in advance in the column member type database 135 of the unit. ..

FIG. 5 shows an example of the deflection curve used for calculating the acting load. This deflection curve is the height of the concrete column member 6 when a load of 2.25 kN, 2.50 kN, or 2.75 kN is applied, based on the form data (shape dimensions, physical property values, and diameter) of the concrete column member 6. The relationship with the amount of deflection is shown by a convex function.

The acting load calculation unit 131 plots the amount of deflection actually calculated by the deflection or the like calculation unit 122 of the extraction processing unit 12 on the deflection curve, and selects a curve (convex function) having the closest shape. For example, if the amount of deflection actually calculated now is plotted at the points indicated by ○ in FIG. 5 , in this case, the deflection curve is selected because it substantially matches the deflection curve of 2.50 kN, and the acting load is 2. Estimated to be .50 kN.

The shape of the deflection curve (convex function) may be determined by dividing it into an effective region of the entire cross section, a reinforced concrete region, and a plastic region by using the theory of the reinforced concrete structure. Here, for the pillar member type, a database is created in advance for each route on which the inspection vehicle MB is traveled, and this is stored in the storage unit, and a database corresponding to the route traveled during actual measurement is selected to select the above-mentioned acting load. It is good to use it for the calculation of. In addition, regarding the shape dimensions and physical property values of concrete column members, a database is created in advance for each type and stored in the storage unit, and the database corresponding to the concrete column member to be measured is selected to calculate the above acting load. Good to use.

(2-2) Calculation of Reinforcing Bar Strain and Concrete Strain The calculation processing unit 13, under the control of the strain calculation unit 132, in step S14, the “working load” calculated by the working load calculating unit 131 and the storage unit. Reinforcing bar strain and concrete strain are calculated as follows based on the type data of the pillar members stored in.

That is, the reinforcing bar strain and the concrete strain are calculated by unbalancing the forces of the concrete in the reinforced concrete cross section. For example, by inputting the shape and dimensions of the concrete cross section, the position of the reinforcing bar in the cross section, the strength and elastic coefficient of the reinforcing bar and concrete, and the acting moment (or strain), and performing the above balance calculation, the reinforcing bar strain, the reinforcing bar stress, the concrete strain, And concrete stress is calculated and output. The calculation method for the balance of reinforced concrete cross sections is described in detail in "Learn Concrete-Structure-", published by Riko Tosho Co., Ltd., pp. 40-43, supervised by Hidetetsu Umehara.

(2-3) Determining cracks Under the control of the crack determination unit 133, the arithmetic processing unit 13 determines the presence or absence of cracks as follows based on the concrete strain calculated by the strain calculation unit 132 in step S15. judge.
That is, cracks occur when the tensile stress (acting force) exceeds the tensile strength (resistive force). Therefore, from the concrete strain ε _{t calculated above,}
σ _t = Ec × ε _t
Calculating the tensile stress sigma _t by, compared with the tensile stress sigma _t tensile strength f _t. Then, when sigma _t> f _t, it determines that the crack has occurred. However, Ec is the Young's modulus of concrete.

Subsequently, the crack determination unit 133 calculates the width of the crack as follows. That is, if the width of the crack is w,
Crack width w = Crack interval L × (Reinforcing bar strain ε _s − Concrete strain ε _csh )
As described above, it is calculated by multiplying the crack interval L by the strain difference between the reinforcing bar and concrete.

The general formula for calculating the crack width is "Concrete Standard Specification [Design]", JSCE Concrete Committee p.223 (lower) -226, and the formula for concrete columns is "Continued". "Evaluation of cracking characteristics of loaded centrifugal concrete columns", Annual Proceedings of Concrete Engineering, Vol.37, No1, 2015 p.405 (left column).

(2-4) Calculation of Ground Deformation Amount The calculation processing unit 13 determines the inclination angle of the concrete pillar member 6 calculated by the deflection and the like calculation unit 122 in step S16 under the control of the ground deformation amount calculation unit 134. Based on the acting load calculated by the acting load calculation unit 131, the amount of deformation of the ground is calculated as follows using the data indicating the foundation ground format stored in advance in the foundation ground format database 136 of the storage unit. calculate.

That is, the amount of ground deformation can be obtained by unbalancing the forces when the ground tilts (rotates) by analysis using a ground spring.
For example, when the concrete column member 6 is directly planted in the ground 9 as shown in FIGS. 6 (a) and 6 (b) and the ground displacement δ is generated by applying the load P, FIG. 7 ( It can be explained as the displacement of the ground spring as shown in a) and (b). The ground displacement (ground deformation amount) δ at this time is when the ground stress [N / mm ³ ] is σ and the ground reaction force coefficient (spring constant [N / mm ³ ]) is k.
σ ＝ k × δ
Is defined as. However, the load P is when the cross-sectional area [mm ² ] as the controlled area of the ground spring is A.
P = σA
The ground reaction force coefficient k is when the deformation coefficient of the ground (elastic modulus [N / mm ² ]) as the hardness of the ground spring is E and the distance to the fixed boundary [mm] is L.
k = E / L
It is expressed as. The ground reaction force coefficient k is generally determined by the type of ground and the N value. There are various ways to determine k, and the road bridge specification and the Minatoken method are common.

On the other hand, when the structure of the underground portion of the concrete column member is different, for example, as shown in FIGS. 8A and 8B, the foundation portion 9A is installed in the ground 9, and the concrete column member 6 is installed in the foundation portion 9A. Is planted and fixed, the amount of ground deformation is defined as a ground spring with respect to the foundation portion 9A.

Of the above explanations, regarding the ground reaction force, "Revised Railway Structure Design Standards / Explanation (Foundation Structure)", Steel Pipe Pile / Steel Sheet Sheet Technology Association, Internet <URL: www.jaspp For calculation examples according to .com / shiryou / pdf / sekkeikeisanrei_1603.pdf> and the Road Bridge Specification, see "Chapter 3 Pile Foundation Design", Internet <URL: http://www.forum8.co.jp /product/uc1/douro/gamen/syaonrei03.htm> For the behavior when a horizontal load is applied, see Akio Nakase, "Easy-to-understand foundation construction method Chapter 4 Pile foundation", Kashima Publishing Co., Ltd., pp. 89-94 Each is described in detail in.

(3) Processing by the Safety Degree Diagnosis Processing Unit 14 Next, the inspection device executes the following determination and various diagnostic processes under the control of the safety degree diagnosis processing unit 14.
(3-1) Judgment of bias / excess of acting load The safety diagnosis processing unit 14 has an action calculated by the working load calculation unit 131 in step S17 under the control of the bias / excess determination unit 141 of the acting load. By comparing the load with the load tolerance stored in the load tolerance storage unit 145 of the storage unit, it is determined whether or not the calculated acting load exceeds or is biased with respect to the load tolerance. For the load capacity, use the one defined by the type data of the concrete column member. Then, when it is determined that there is excess or bias, in step S18, message information instructing the review of the installation state of various devices additionally installed on the concrete column member 6 is generated and output.

By confirming the above message information, the maintenance worker or the like can review the mounting position and load of, for example, the transformer, the closure 8, or the cable 7 for each concrete column member.

(3-2) Structural Safety Diagnosis The safety diagnosis processing unit 14 then, under the control of the structural safety diagnosis unit 142, reinforces strain calculated by the strain calculation unit 132 in step S19. And the concrete strain is compared with each threshold of the strain stored in advance in the strain threshold storage unit 146 of the storage unit to diagnose the structural safety. Then, the information representing the diagnosis result is output. The strain threshold is set to, for example, 1.1 to 1.5 times the strain at the time of design or the strain at the time of initial construction. It is also possible to add the number of years elapsed as the creep strain of the concrete on the compression side.

Based on the above diagnosis results, maintenance workers, etc. shall determine the necessity of reinforcement or replacement without overlooking the structural danger caused by the reinforcing bar strain and concrete strain generated inside the concrete column member 6. Is possible.

(3-3) Diagnosis of Safety for Deterioration The safety diagnosis processing unit 14 also determines the presence or absence of cracks obtained by the crack determination unit 133 in step S20 under the control of the safety diagnosis unit 143 for deterioration. By comparing the result and the crack width with the crack width threshold stored in advance in the crack width threshold storage unit 147 of the storage unit, the degree of safety against deterioration is diagnosed. Then, the information representing the diagnosis result is output. The threshold value of the crack width is set to, for example, 0.5 to 2.0 times the crack width (for example, 0.2 mm) which is a guideline for replacing the concrete column member 6.
Based on the above diagnosis result, the maintenance worker or the like can accurately determine the replacement time of the concrete column member 6.

(3-4) Diagnosis of safety level for the foundation ground The safety level diagnosis processing unit 14 further controls the ground level of the foundation ground by the safety level diagnosis unit 144, and in step S21, the ground is calculated by the ground deformation amount calculation unit 134. The amount of deformation of is compared with the permissible value of the amount of ground deformation stored in advance in the storage unit 148 of the permissible value of the amount of ground deformation of the storage unit. Then, if the calculated amount of deformation of the ground exceeds the above allowable value, the hardness of the ground is insufficient and there is a possibility of collapse in the future, so the ground is diagnosed as "unsafe" and the diagnosis result is used. Output the information shown. Based on this diagnosis result, maintenance workers can consider ground improvement and use of high-strength foundations.

(effect)
As described in detail above, in one embodiment, three-dimensional point cloud data consisting of three-dimensional coordinates at a plurality of points on the surface of the concrete pillar member 6 is acquired, and the concrete pillar member 6 is based on the three-dimensional point cloud data. Create 3D model data of. Then, the deflection of the concrete column member 6 is detected based on the created three-dimensional model data, and the acting load applied to the concrete column member 6 is estimated based on the deflection and the form data of the concrete column member 6. Further, based on this acting load, the reinforcing bar strain and the concrete strain of the concrete column member 6 are calculated, and based on the result, the presence or absence of cracks in the concrete column member 6 is determined, and when the cracks are confirmed. Calculates the width of the crack. Further, the inclination angle of the concrete column member 6 with respect to the ground surface is calculated based on the three-dimensional model data, and the amount of ground deformation of the concrete column member 6 is calculated from the inclination angle and the above-mentioned acting load to diagnose the safety level of the ground. I try to do it.

Therefore, by detecting the deflection of the concrete column member 6 using the three-dimensional model data of the concrete column member 6, the deflection of the concrete column member 6 can be easily and accurately performed as compared with the case of using the non-contact type displacement meter. It can be detected, and the acting load applied to the concrete column member 6 can be quantitatively estimated based on this deflection.

Further, the reinforcing bar strain and the concrete strain in the concrete pillar member 6 are calculated based on the estimated acting load, and further, the presence or absence of cracks in the concrete pillar member 6 is determined based on the calculated reinforcing bar strain and the concrete strain. And the crack width is calculated. Therefore, the presence or absence of cracks and the width of cracks can be measured without relying on the visual measurement work of the inspection worker, thereby reducing the occurrence of oversights and judgment errors and reducing the variation in inspection and diagnosis accuracy. be able to. In addition, the degree of structural danger of the concrete column member 6 can be accurately grasped based on the reinforcing bar strain and the concrete strain, so that the concrete column member 6 can be replaced at an appropriate timing. It becomes.

Further, the inclination angle of the concrete column member 6 with respect to the ground surface is calculated based on the three-dimensional model data of the concrete column member 6, and the amount of ground deformation is calculated based on the inclination angle and the acting load. Therefore, it is possible to quantitatively diagnose the foundation ground conditions, which makes it possible to more appropriately determine the necessity of ground improvement and high-strength foundation.

[Other Embodiments]
The present invention is not limited to the above embodiment. For example, the columnar structure is not limited to a utility pole, a telegraph pole, or the like, and may be a pole for lighting or a pole for monitoring in which a camera or the like is installed. Further, the function of the inspection device may be provided in the cloud computer.
In addition, the configuration and installation location of the inspection device, the procedure of each treatment, the treatment content, and the like can be variously modified without departing from the gist of the present invention.

In short, the present invention is not limited to the above-described embodiment as it is, and at the implementation stage, the components can be modified and embodied within a range that does not deviate from the gist thereof. In addition, various inventions can be formed by an appropriate combination of the plurality of components disclosed in the above-described embodiment. For example, some components may be removed from all the components shown in the embodiments. In addition, components from different embodiments may be combined as appropriate.

1 ... 3D laser scanner, 2 ... camera, 3 ... GPS receiver, 4 ... IMU as inertial measurement unit, 5 ... odometer as mileage meter, 6 ... concrete pillar member, 7 ... cable, 8 ... closure, 10 ... storage medium, 11 ... arithmetic unit, 12 ... extraction processing unit, 13 ... arithmetic processing unit, 14 ... safety diagnosis processing unit, 121 ... 3D modeling unit, 122 ... deflection calculation unit, 131 ... acting load calculation unit, 132 ... Strain calculation unit, 133 ... Crack determination unit, 134 ... Ground deformation amount calculation unit, 141 ... Working load bias / excess determination unit, 142 ... Structural safety diagnosis unit, 143 ... Safety degree diagnosis unit for deterioration, 144 ... Safety diagnosis unit for foundation ground, 145 ... Load tolerance storage unit, 146 ... Strain threshold storage unit, 147 ... Crack width threshold storage unit, 148 ... Ground deformation allowance storage unit.

Claims (5)

Get the 3D point group data representing the three-dimensional coordinates of definitive multiple points on the surface of the pillar-like structures that are measured by the measuring unit, checks the state of the columnar structure on the basis of the 3D point group data It is a method of inspecting the condition of columnar structures executed by the equipment to be used.
Based on the three-dimensional point cloud data, a process of creating a three-dimensional model data three-dimensional model of the columnar structure,
The process of detecting the deflection of the columnar structure based on the created three-dimensional model data, and
A process of estimating the acting load applied to the columnar structure based on the detected deflection and information representing the type of the columnar structure, and
The process of calculating the inclination angle of the columnar structure with respect to the ground surface based on the created three-dimensional model data, and
A process of calculating the amount of ground deformation of the columnar structure based on the calculated inclination angle and the estimated acting load, and
A method for inspecting the state of a columnar structure comprising. When the columnar structure is composed of a concrete member having reinforcing bars,
The process of calculating the reinforcing bar strain and concrete strain of the columnar structure based on the estimated acting load, respectively.
The method for inspecting the state of a columnar structure according to claim 1, further comprising. Based on the calculated reinforcing bar strain and concrete strain, the process of determining the presence or absence of cracks in the columnar structure and calculating the crack width, respectively.
The process of comparing the crack width with a preset threshold of the crack width to determine the replacement time of the columnar structure, and
The method for inspecting the state of a columnar structure according to claim 2, further comprising. An acquisition unit that acquires 3D point cloud data representing 3D coordinates at a plurality of points on the surface of a columnar structure measured by the measurement unit.
Based on the 3D point cloud data, a 3D model creation unit that creates 3D model data that is a 3D model of the columnar structure, and
A deflection detection unit that detects the displacement of the columnar structure based on the created three-dimensional model data, and
An estimation unit that estimates the acting load applied to the columnar structure based on the detected displacement and information representing the type of the columnar structure.
An inclination angle calculation unit that calculates an inclination angle with respect to the ground surface of the columnar structure based on the created three-dimensional model data.
A ground deformation amount calculation unit that calculates the ground deformation amount of the columnar structure based on the calculated inclination angle and the estimated acting load.
A condition inspection device for a columnar structure comprising. A program that causes a processor to execute a process corresponding to each process included in the method for inspecting the state of a columnar structure according to any one of claims 1 to 3.