WO2012127602A1

WO2012127602A1 - Internal deformation detection assistance device, internal deformation detection assistance program, and internal deformation detection assistance method

Info

Publication number: WO2012127602A1
Application number: PCT/JP2011/056753
Authority: WO
Inventors: 満明内間; 秀樹島村; 山本　耕平; 陽一杉本
Original assignee: 株式会社パスコ
Priority date: 2011-03-22
Filing date: 2011-03-22
Publication date: 2012-09-27

Abstract

[Problem] To provide an internal deformation detection assistance device, an internal deformation detection assistance program, and an internal deformation detection assistance method capable of assisting the detection of the locations of internal deformations by identifying heat distribution on the basis of surface irregularities. [Solution] When a measurement result acquisition unit (36) obtains measurement results from a laser scanner and an infrared heat measurement device, a conversion unit (38) converts the measurement result obtained by the measurement result acquisition unit (36) from the infrared heat measurement device into image data and generates a thermal image. On the basis of measurement position coordinate values of the infrared heat measurement device and the laser scanner as measured by a coordinate measurement device, a mapping unit (40) maps the thermal image generated by the conversion unit (38) to the irregularity data of the measurement results from the laser scanner. A display control unit (46) displays the thermal image and the corresponding irregularity data, assisting the user to inspect for internal deformations in the object under inspection.

Description

Internal change detection support device, internal change detection support program, and internal change detection support method

The present invention relates to an internal deformation detection support device, an internal deformation detection support program, and an internal deformation detection support method.

Conventionally, a technique has been proposed in which the temperature distribution of the surface of a structure such as a road is measured with an infrared camera, and abnormal points (deformations) such as cracks and separation inside the road are detected based on this temperature distribution. (For example, the following patent document 1). This is to capture the internal deformation by utilizing the fact that the surface temperature of the internal deformation portion is higher or lower than the surface temperature of the healthy part.

JP 11-337493 A

However, in general, even when the surface of a structure such as a road is uneven, a temperature distribution is generated on the surface. Therefore, the conventional technique has a problem that it cannot be identified whether the measured temperature distribution is based on internal deformation or surface irregularities.

An object of the present invention is to provide an internal deformation detection support device, an internal deformation detection support program, and an internal deformation detection support method that can identify temperature distribution based on surface irregularities and assist in detecting an internal deformation location. It is to provide.

In order to achieve the above object, a first embodiment of the present invention is an internal deformation detection support device, which measures unevenness on an object surface and measures the temperature of the object surface. Infrared heat measurement means for converting, conversion means for converting the measurement result of the infrared heat measurement means into image data, the image data and unevenness data measured by the unevenness measurement means, the infrared heat measurement means The image processing apparatus includes: association means for associating based on a measurement position with the unevenness measuring means; image display means for displaying the image data and unevenness data associated with the association means.

In the second embodiment, the internal deformation detection support device further receives a deformed portion receiving means for receiving a deformed portion in the input image of the infrared heat measurement result and the deformed portion receiving means. And an unevenness determining means for determining the size of the unevenness of the deformed portion.

According to a third embodiment, in the internal deformation detection support device, the conversion means expresses the temperature level of the surface of the object by changing or the presence or absence of the density, color, figure, or pattern of the image. Features.

Further, in the fourth embodiment, in the internal deformation detection support device, the unevenness data is a numerical value of the difference between the concave portion and the convex portion, or a numerical value of the difference between the average value of the concave and convex portions and the convex portion. Features.

Further, the fifth embodiment is an internal deformation detection support program, in which a computer acquires unevenness measurement result acquisition means for acquiring the unevenness measurement result of the object surface, and acquires the measurement result of the temperature of the object surface. Temperature measurement result acquisition means, conversion means for converting the temperature measurement result into image data, association means for associating the image data and the data of the unevenness measurement result based on the temperature measurement position and the unevenness measurement position, the image It is made to function as an image display means which displays data and the data of the unevenness measurement result matched by the matching means.

In addition, the sixth embodiment is an internal deformation detection support method that acquires a measurement result of unevenness on the surface of an object, acquires a measurement result of a temperature of the object surface, and uses the temperature measurement result as image data. The image data and the unevenness measurement result data are associated with each other based on the temperature measurement position and the unevenness measurement position, and the image data and the associated unevenness measurement result data are displayed. It is characterized by that.

According to the present invention, it is possible to identify the temperature distribution based on the unevenness of the surface and assist the user in accurately detecting the internal deformation location.

It is a figure which shows the example of the vehicle carrying the internal deformation detection assistance apparatus concerning embodiment. It is a figure which shows the example of the hardware constitutions of the computer which comprises the control apparatus shown by FIG. It is a functional block diagram of a control device concerning an embodiment. It is a figure which shows the example of the thermal image of the measurement result of the road surface temperature by an infrared heat measuring device. It is a figure which shows the example of the uneven | corrugated image showing the measurement result of a laser scanner, and the thermal image of the measurement result of the road surface temperature by an infrared thermal measurement apparatus. It is a flowchart of the example of operation | movement of the internal deformation detection assistance apparatus concerning embodiment.

Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings.

FIG. 1 shows an example of a vehicle equipped with the internal deformation detection support device according to the embodiment. In FIG. 1, the internal deformation detection support device mounted on a vehicle 100 includes an infrared heat measurement device 10, a laser scanner 12, a coordinate measurement device 14, a distance generation unit 15, and a control device 16.

The infrared heat measuring device 10 includes an infrared camera, and measures the temperature of the surface of an object such as a road surface or a building wall. In general, when a deformation such as a crack, a gap, or a separation occurs inside the object that changes the object from the original state, the components of the object such as asphalt and the air inside the crack Due to the different heat capacities, when heated by sunlight or cooled by cold air at night, the surface of the target object is different between the part where the internal deformation is present and the part where the deformation is not present. The temperature is different and a temperature distribution occurs. Since air usually has a smaller heat capacity than components of the object, the surface temperature of the portion where the deformation is present is higher during the day than the portion where the deformation is not present, and the temperature is low at night. However, if rainwater or the like has entered the deformed part such as the above cracks and the water is stagnant, the heat capacity of the water is large. The surface temperature of the part where the deformation exists is lower than the part where there is no change, and the temperature is higher at night. In any case, since the temperature distribution is generated on the surface of the object in the portion where the deformation is present and the portion where the deformation is not present, the surface temperature of the object is measured by the infrared heat measuring device 10. By doing so, the occurrence of internal deformation can be detected. The infrared camera preferably uses intermediate infrared light having a wavelength of 3 to 8 μm. This is because the sensitivity can be improved by using infrared rays in the above wavelength range, and the resolution can be improved by increasing the shutter speed by the electronic shutter method. Further, in order to avoid noise caused by reflection of sunlight from the surface of the object, it is preferable that the infrared camera be photographed at a predetermined angle with respect to the object surface.

The laser scanner 12 is a device that measures the distance between each point on the surface of an object such as a road surface and itself, emits laser light to the surface of the object, receives a reflected wave from the surface of the object, and receives the surface of the object. It is the structure which detects the distance. When the laser scanner 12 measures the distance between each point on the surface of the object and itself, the laser scanner 12 scans with a laser beam in a direction orthogonal to the traveling direction of the vehicle, and the vehicle advances while repeating this. Then, the distance to itself is calculated for each point on the surface of the object from the data of the reflected wave obtained in this way. The unevenness of the surface of the object can be known from the change in the distance between each point on the surface of the object thus obtained and the laser scanner 12. Although it is affected by weather conditions (sunlight irradiation angle, temperature, etc.) and object conditions (surface area, thickness, etc.), in general, if the unevenness of the surface of the object is large, compared to the flat part in the daytime due to sunlight irradiation The temperature distribution on the surface of the object due to the unevenness is due to the fact that the temperature of the convex part tends to rise and the heat dissipation becomes large at night and the temperature of the uneven part tends to decrease compared to the flat part. appear. In the present embodiment, the unevenness on the surface of the object is measured by the laser scanner 12, and the temperature distribution caused by the unevenness included in the temperature distribution on the surface of the object measured by the infrared heat measurement apparatus 10 is identified. Deformation can be detected accurately.

The coordinate measuring device 14 includes a GPS (Global Positioning System) receiver, and measures coordinate values (for example, longitude, latitude, altitude) of measurement positions of the infrared thermal measurement device 10 and the laser scanner 12. Note that the coordinate measuring device 14 preferably includes a gyro for complementing the GPS data.

The distance generating means 15 generates a pulse signal for each predetermined traveling distance of the vehicle. The infrared heat measuring device 10 and the laser scanner 12 are configured to perform respective measurements in synchronization with the pulse signal generated by the distance generating means 15. The coordinate measuring device 14 also measures coordinate values in synchronization with the pulse signal. With such a configuration, even if the vehicle speed of the vehicle 100 according to the present embodiment fluctuates, the infrared heat measurement device 10 and the laser scanner 12 can always perform measurements at constant distance intervals. As the distance generating means 15, for example, a non-contact type speed / distance meter using the principle of a spatial filter can be used.

The control device 16 is configured by an appropriate computer and performs imaging of the measurement result of the infrared heat measurement device 10. The control device 16 may be configured not to be mounted on the vehicle 100 but to acquire measurement data of the infrared heat measurement device 10 and the laser scanner 12 via an appropriate communication unit or storage medium. Further, the infrared heat measurement device 10 and the laser scanner 12 may be mounted on different vehicles, and the control device 16 may integrate the measurement data later.

FIG. 2 shows an example of a hardware configuration of a computer constituting the control device 16 shown in FIG. In FIG. 2, the control device 16 includes a central processing unit (for example, a CPU such as a microprocessor can be used) 18, a random access memory (RAM) 20, a read-only memory (ROM) 22, an input device 24, a display device. 26, a communication device 28, and a storage device 30, and these components are connected to each other by a bus 32. In addition, the input device 24, the display device 26, the communication device 28, and the storage device 30 are each connected to the bus 32 via the input / output interface 34.

The CPU 18 controls the operation of each unit described later based on a control program stored in the RAM 20 or the ROM 22. The RAM 20 mainly functions as a work area for the CPU 18, and the ROM 22 stores a control program such as BIOS and other data used by the CPU 18.

The input device 24 includes a keyboard, a pointing device, and the like, and is used by a user to input operation instructions and the like.

The display device 26 is composed of a liquid crystal display or the like, and displays an image or the like of the measurement result of the infrared heat measurement device 10. The display device 26 may be provided in another computer or the like.

The communication device 28 includes a USB (Universal Serial Bus) port, a network port, and other appropriate interfaces, and is used by the CPU 18 to exchange data with an external device via a communication means such as a network. Further, the measurement results of the infrared heat measurement device 10 and the laser scanner 12 may be transmitted to an external device via the communication device 28.

The storage device 30 is a storage device such as a hard disk, and stores various data necessary for processing to be described later. The storage device 30 can be a digital versatile disk (DVD), a compact disk (CD), a magneto-optical disk (MO), a flexible disk (FD), a magnetic tape, an electrical erasure, and an erasable and rewritable instead of a hard disk. A read-only memory (EEPROM), flash memory or the like may be used.

FIG. 3 shows a functional block diagram of the control device 16 according to the embodiment. In FIG. 3, the control device 16 includes a measurement result acquisition unit 36, a conversion unit 38, an association unit 40, a deformed part reception unit 42, an unevenness determination unit 44, a display control unit 46, and a communication unit 48. These functions are realized by, for example, the CPU 18 and a program for controlling the processing operation of the CPU 18.

The measurement result acquisition unit 36 acquires the measurement results of the infrared heat measurement device 10, the laser scanner 12, and the coordinate measurement device 14. The acquired measurement result is output to the conversion unit 38, the association unit 40, and the unevenness determination unit 44.

The conversion unit 38 converts the measurement result of the infrared heat measurement device 10 into image data (thermal image). In this case, the level of the temperature of the object surface, which is a measurement result of the infrared heat measurement apparatus 10, is expressed by changing or the presence or absence of the density, color, figure, or pattern of the image. Further, the conversion unit 38 may convert the height data of the unevenness from the measurement result of the laser scanner 12 into an image of a projection such as a quadrangular prism or a cylinder. In this case, the height data of the unevenness is made to correspond to the height of the protrusion.For example, the larger the numerical value of the difference between the concave portion and the convex portion, or the average value of the unevenness and the difference value of the convex portion, the higher the protrusion. indicate.

The associating unit 40 includes the infrared thermal measurement device 10 and the laser in which the coordinate measurement device 14 measures the thermal image that is the result of the conversion process of the conversion unit 38 and the unevenness data of the object surface that is the measurement result of the laser scanner 12. The correspondence is made based on the coordinate value of the measurement position of the scanner 12. In this case, the relative position between the GPS receiver constituting the coordinate measuring device 14, the infrared heat measuring device 10 and the laser scanner 12, and the measurement direction of the infrared heat measuring device 10 and the laser scanner 12 (the shooting direction of the infrared camera and the laser scanner 12). The coordinate value of the surface of the object measured by the infrared thermal measurement device 10 and the laser scanner 12 can be determined based on the laser irradiation direction). The associating unit 40 performs asperity data associating processing for each pixel of the thermal image or for each predetermined range composed of a plurality of pixels according to the determined coordinate value of the object surface. Or you may match the said uneven | corrugated data with the image of the protrusion which the conversion part 38 converted for every thermal image of the imaging | photography range of the infrared camera of the infrared thermal measurement apparatus 10 once.

When the user confirms the image of the measurement result of the infrared heat measuring device 10 on the display device 26 and designates the deformed portion with the input device 24, the deformed portion receiving unit 42 It is received as a deformed portion in the thermal image of the infrared thermal measurement result converted by the conversion unit 38.

The unevenness determination unit 44 determines the size of the unevenness of the deformed portion received by the deformed portion reception unit 42 based on the measurement result of the laser scanner 12. In this determination, for example, the conversion unit 38 converts the measurement result of the infrared heat measurement device 10 based on the numerical value of the difference between the concave portion and the convex portion, or the numerical value of the difference between the average value of the concave and convex portions and the convex portion, and a preset threshold value. The size of the unevenness is determined to be large, medium, or small for each pixel or a plurality of pixels of the thermal image obtained as described above. In this case, the correspondence between the measurement result of the laser scanner 12 and the pixel of the thermal image can be determined by the association unit 40. As a result, the user determines that the irregularity of the portion designated as the deformed portion is “small”, and determines that the portion is not internally deformed when “large”, In the case of “medium”, it is possible to easily make a judgment such as conducting a more precise investigation.

The display control unit 46 causes the display device 26 to display the thermal image of the conversion result of the conversion unit 38. In addition, a line drawing such as a circle surrounding the deformed portion received by the deformed portion receiving unit 42 and information on the size of the concavities and convexities determined by the concavity and convexity determining unit 44 (large, medium and small display or projection image) are also displayed. 26 is preferable.

The communication unit 48 exchanges the measurement results of the infrared heat measurement device 10, the laser scanner 12, and the coordinate measurement device 14, the processing results of the control device 16, and the like with an external device via the communication device 28.

4 (a), (b), and (c) show examples of thermal images of road surface temperature measurement results by the infrared thermal measurement device 10. FIG. This example shows the daytime measurement results of three locations on the road, and FIG. 4 (a) is an example where the unevenness of the road surface is large and a temperature distribution based on the unevenness occurs. 4 (b) and 4 (c) are examples in which the unevenness of the road surface is small, but FIG. 4 (b) is an example in which a temperature distribution based on the air gap inside the road is generated, and FIG. This is an example in which a temperature distribution based on stagnant water is generated. 4A, 4 </ b> B, and 4 </ b> C, the higher the temperature due to the processing of the conversion unit 38, the more white the image is displayed.

In the example shown in FIG. 4 (a) and the examples shown in FIGS. 4 (b) and 4 (c), the high temperature part is only displayed in white and the low temperature part is only displayed in black. It is impossible to distinguish between the temperature distribution on the road surface due to the unevenness and the temperature distribution based on the internal deformation. Therefore, in the present embodiment, based on the measurement result of the laser scanner 12, information regarding road surface unevenness is displayed together with the thermal image.

For example, the location indicated by the arrow I in FIG. 4A is a convex portion and the temperature is high. Therefore, the numerical value of the unevenness is displayed at the location of the convex portion indicated by the arrow I or the location where the letter “I” is written. In this case, the display control unit 46 calculates the numerical value of the difference between the concave portion and the convex portion, or the difference between the average value of the concave and convex portions and the difference between the convex portions based on the pixel of the thermal image and the road surface unevenness data associated with the association unit 40. Numerical values and the like can be displayed. Alternatively, the unevenness height data may be displayed as protrusions for each pixel, and the unevenness of the road surface may be visually displayed.

5 (a) and 5 (b) show a concavo-convex image (a) representing the measurement result of the laser scanner 12 and a thermal image of the road surface temperature measurement result by the infrared thermal measurement device 10 that captures a portion corresponding to a part thereof. An example of b) is shown. These images are associated by the association unit 40. 5A and 5B, the locations indicated by the arrows A correspond to each other and are convex portions. The road surface unevenness image illustrated in FIG. 5A is displayed as an image different from the thermal image in FIG. A projection corresponding to a numerical value such as a difference between a concave portion and a convex portion or height data of the concave and convex portions may be displayed together with the concave and convex image.

Furthermore, the deformed portion receiving unit 42 receives the deformed portion specified by the user using the input device 24, and the size of the unevenness determined by the unevenness determining unit 44 is, for example, “large”, “medium”, “small”, or the like. May be displayed at the location indicated by the arrow I or at the location where the “I” character is written.

In the present embodiment, as described above, since the degree of unevenness can be displayed on the thermal image or on an image different from the thermal image, the deformation inside the object can be identified based on the measurement result of the laser scanner 12. . That is, the user excludes a portion having large unevenness as shown in FIG. 4A from the thermal image, and detects only the portions shown in FIGS. 4B and 4C having small unevenness as internal deformed portions. be able to. Note that, as described above, FIG. 4B is a temperature distribution based on the space inside the road, and the temperature of the road surface corresponding to the space indicated by the arrow II is high (displayed in white). ) FIG. 4C shows a temperature distribution based on the water stagnating inside the road, and the temperature of the road surface corresponding to the water stagnating point indicated by the arrow III is low (displayed in black).

FIG. 6 shows a flow of an operation example of the internal deformation detection support apparatus according to the embodiment. In FIG. 6, the measurement result acquisition part 36 acquires the measurement result of the laser scanner 12 (S1). Moreover, the measurement result acquisition part 36 also acquires the measurement result of the infrared thermal measurement apparatus 10 (S2).

The conversion unit 38 converts the measurement result of the infrared thermal measurement apparatus 10 acquired by the measurement result acquisition unit 36 into image data, and generates a thermal image (S3). The associating unit 40 is a measurement result of the laser scanner 12 based on the coordinate values of the measurement positions of the infrared thermal measurement device 10 and the laser scanner 12 measured by the coordinate measurement device 14 for the thermal image generated by the conversion unit 38. Corresponding to the unevenness data (S4). In this case, the unevenness data may be associated with each predetermined range consisting of each pixel or a plurality of pixels of the thermal image, or the unevenness is described for each thermal image acquired by one imaging of the infrared camera of the infrared thermal measurement device 10. The data may be associated with the projection image converted by the conversion unit 38.

The display control unit 46 displays the thermal image and the uneven data corresponding thereto on the display device 26, and supports the user's internal deformation detection task by the user (S5).

The above-described program for executing each step of FIG. 6 can be stored in a recording medium, and the program may be provided by communication means. In this case, for example, the above-described program may be regarded as an invention of a “computer-readable recording medium on which a program is recorded” or an invention of a “data signal”.

10 infrared thermal measurement device, 12 laser scanner, 14 coordinate measurement device, 15 distance generation means, 16 control device, 18 CPU, 20 RAM, 22 ROM, 24 input device, 26 display device, 28 communication device, 30 storage device, 32 Bus, 34 input / output interface, 36 measurement result acquisition unit, 38 conversion unit, 40 association unit, 42 deformation location reception unit, 44 unevenness determination unit, 46 display control unit, 48 communication unit, 100 vehicle.

Claims

Unevenness measuring means for measuring unevenness on the surface of the object;
An infrared heat measuring means for measuring the temperature of the surface of the object;
Conversion means for converting the measurement result of the infrared heat measurement means into image data;
An associating means for associating the image data with the unevenness data measured by the unevenness measuring means based on the measurement positions of the infrared heat measuring means and the unevenness measuring means;
Image display means for displaying the image data and unevenness data associated by the association means;
An internal deformation detection support device comprising:
The internal deformation detection support device according to claim 1 further includes a deformed portion receiving means for receiving a deformed portion in the image of the input infrared heat measurement result, and a deformed portion received by the deformed portion receiving means. An internal deformation detection support device comprising: unevenness determination means for determining the size of the unevenness of the internal deformation.
3. The internal deformation detection support device according to claim 1 or 2, wherein the conversion means expresses the level of the temperature of the object surface by changing or the presence or absence of the density, color, figure, or pattern of the image. A featured internal deformation detection support device.
The internal deformation detection support device according to any one of claims 1 to 3, wherein the unevenness data includes a numerical value of a difference between a concave portion and a convex portion, or an average value of the concave and convex portions and a difference between the convex portions. An internal deformation detection support device characterized by being a numerical value.
Computer
Concavity and convexity measurement result acquisition means for acquiring the measurement result of the unevenness on the surface of the object,
Temperature measurement result acquisition means for acquiring the measurement result of the temperature of the object surface;
Conversion means for converting the temperature measurement result into image data;
Corresponding means for associating the image data with the unevenness measurement result data based on the temperature measurement position and the unevenness measurement position
Image display means for displaying the image data and the data of the unevenness measurement result associated by the association means;
An internal deformation detection support program characterized by functioning as
Acquire the measurement results of unevenness on the surface of the object,
Obtain the measurement result of the temperature of the object surface,
Converting the temperature measurement result into image data;
The image data and the unevenness measurement result data are associated based on the temperature measurement position and the unevenness measurement position,
An internal deformation detection support method, comprising: displaying the image data and the associated unevenness measurement result data.