WO2016013132A1 - トンネル覆工面調査システムおよびトンネル覆工面調査システムに用いる車両 - Google Patents
トンネル覆工面調査システムおよびトンネル覆工面調査システムに用いる車両 Download PDFInfo
- Publication number
- WO2016013132A1 WO2016013132A1 PCT/JP2014/082021 JP2014082021W WO2016013132A1 WO 2016013132 A1 WO2016013132 A1 WO 2016013132A1 JP 2014082021 W JP2014082021 W JP 2014082021W WO 2016013132 A1 WO2016013132 A1 WO 2016013132A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tunnel lining
- lining surface
- photographing
- image
- circumferential direction
- Prior art date
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/38—Investigating fluid-tightness of structures by using light
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0033—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining damage, crack or wear
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0091—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by using electromagnetic excitation or detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0008—Industrial image inspection checking presence/absence
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/58—Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2201/00—Features of devices classified in G01N21/00
- G01N2201/06—Illumination; Optics
- G01N2201/062—LED's
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2201/00—Features of devices classified in G01N21/00
- G01N2201/12—Circuits of general importance; Signal processing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30184—Infrastructure
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/701—Line sensors
Definitions
- the present invention relates to a tunnel lining surface inspection system and a vehicle used in the tunnel lining surface inspection system, and in particular, the damage state such as cracks on the tunnel lining surface is visualized by an image to investigate the soundness (degradation degree) of the tunnel.
- the present invention relates to a system and a vehicle.
- Patent Document 1 JP 2014-95627 A
- the tunnel lining surface is constructed for each span.
- the tunnel lining surface is divided into joints for each span, and each span is given a span number (covering number) that identifies a portion of the tunnel lining surface.
- the present invention has been made in view of such circumstances, and the image of the tunnel lining surface obtained by running the vehicle is processed into an image showing both sides of the tunnel lining surface for each span, and for each span, The solution is to be able to investigate the soundness (degradation level) of the tunnel.
- the first invention is A tunnel lining surface inspection system for photographing an image of a tunnel lining surface by a photographing means mounted on the vehicle while the vehicle is traveling in a tunnel, and processing the image into a survey target image for investigating the tunnel lining surface,
- An imaging means mounted on the vehicle and having an imaging range of one side surface of both sides of the tunnel lining surface;
- the photographing means is fixed to a first photographing position where one side surface of both sides of the tunnel lining surface can be photographed, and the photographing means is reversed so that the photographing means is disposed on both side surfaces of the tunnel lining surface.
- Fixing / reversing means for fixing one side surface of the other to a second photographing position capable of photographing,
- a first image showing one side surface of both sides of the tunnel lining surface photographed by the photographing means in a state where the photographing means is fixed at the first photographing position, and the photographing means comprises the first 2 with the same span of the tunnel lining surface as compared with the second image showing the other side surface of both sides of the tunnel lining surface imaged by the imaging means in a state fixed to the imaging position 2
- the tunnel lining surface inspection system is provided with an image processing means for synthesizing an image showing both sides of the tunnel lining surface for each span of the tunnel lining surface.
- the second invention is the first invention
- the imaging means includes a plurality of line sensors that are arranged along the circumferential direction of the tunnel lining surface and shoot an image of each area along the circumferential direction of the tunnel lining surface
- the image processing means includes In a state where the plurality of line sensors are fixed at the first imaging position, an image of each area captured by the plurality of line sensors and the plurality of line sensors are fixed at the second imaging position. Both sides of the tunnel lining surface for each span of the tunnel lining surface, by matching the images of each area photographed by the plurality of line sensors in the state and indicating the part that becomes the same span of the tunnel lining surface It is characterized in that it is synthesized with an image showing.
- the imaging means are arranged along the circumferential direction of the tunnel lining surface, and a plurality of line sensors that shoot images of each area along the circumferential direction of the tunnel lining surface Including
- the fixing / reversing means is a member that is rotatable by 90 ° in the circumferential direction of the tunnel lining surface with the drive shaft as the center of rotation, and the number of line sensors are arranged along the circumferential direction of the tunnel lining surface.
- the L-shaped member and the L-shaped member are positioned at the first photographing position, and the L-shaped member is rotated by 90 ° in the circumferential direction of the tunnel lining surface.
- positioning means for positioning to the second photographing position when positioned at the second photographing position.
- the fourth invention is A vehicle used in a tunnel lining surface inspection system, A photographing means having a photographing range of at least one side surface of both sides of the tunnel lining surface, An imaging means including a plurality of line sensors arranged along the circumferential direction of the tunnel lining surface and taking images of each area along the circumferential direction of the tunnel lining surface; The photographing means is fixed to a first photographing position where one side surface of both sides of the tunnel lining surface can be photographed, and the photographing means is reversed so that the photographing means is disposed on both side surfaces of the tunnel lining surface.
- Fixing / reversing means for fixing the other one side surface to a second photographing position capable of photographing, and a member that is rotatable by 90 ° in the circumferential direction of the tunnel lining surface with the drive shaft as the center of rotation.
- the number of line sensors positions the L-shaped member disposed along the circumferential direction of the tunnel lining surface and the L-shaped member at the first photographing position, and the L-shaped Fixing / reversing means including positioning means for positioning the member at the second photographing position when the member is rotated 90 ° in the circumferential direction of the tunnel lining surface and located at the second photographing position.
- Tunnel lining surface survey system It is a vehicle used for the system.
- the present invention it is possible to acquire images on both sides of the tunnel lining surface by running a vehicle equipped with a photographing means having a photographing range on one side of the both sides of the tunnel lining surface. According to the present invention, an image showing both sides of the tunnel lining surface is obtained for each span.
- the soundness (degradation degree) of the tunnel lining surface can be investigated for each span, and the investigation result can be managed for each span.
- FIG. 1 is a diagram showing a left side surface of a vehicle used in a tunnel lining surface inspection system according to the present invention.
- FIG. 2 is a cross-sectional view showing a state in which the vehicle is traveling on the left lane in the tunnel, and is a diagram showing a state where the lining surface of the tunnel is photographed using a line sensor and a halogen lamp.
- FIG. 3 is a diagram corresponding to FIG. 2, and is a cross-sectional view showing a state where the vehicle is traveling in the overtaking lane on the right side in the tunnel.
- FIG. 4 is a plan view showing the configuration of the fixing / reversing means.
- FIG. 5 is a view showing a state in which the photographing means is fixed at the second photographing position.
- FIG. 6 is a cross-sectional view of the stage member and the L-shaped member, and is a view showing a cross-section taken along the line AA in FIG.
- FIG. 7 is a view corresponding to FIG. 4 and is a view showing a modification in which the illuminating means provided on the L-shaped member is changed to an LED unit instead of a halogen lamp.
- FIG. 8 is a diagram showing an internal configuration of the LED unit
- FIG. 8A is a transverse sectional view showing the inside in the state of FIG. 7, and
- FIG. 8B is a longitudinal sectional view.
- FIG. 9 is a diagram illustrating a procedure of processing performed in the tunnel lining surface inspection system according to the embodiment.
- FIGS. 10A, 10B, 10C, 10D, and 10E are diagrams for explaining image processing performed in a personal computer.
- FIGS. 11A and 11B are diagrams for explaining the distortion correction image processing (FIG. 10B).
- FIGS. 12A, 12B, and 12C are diagrams for explaining the distortion correction image processing (FIG. 10B).
- FIGS. 13A and 13B are diagrams for explaining processing (FIG. 10C) for matching the images and instructing a portion having the same span on the tunnel lining surface.
- FIGS. 14A, 14B, and 14C are diagrams for explaining oblique correction (upward correction) image processing (FIG. 10D).
- FIGS. 15A and 15B are diagrams for explaining processing (FIG. 10E) for compositing an image showing both sides of the tunnel lining surface for each span of the tunnel lining surface.
- FIG. 16 is a diagram illustrating a survey example of the soundness (degradation degree) of the tunnel lining surface.
- FIG. 1 shows a left side surface of a vehicle 1 used in a tunnel lining surface inspection system according to the present invention.
- the vehicle 1 is a work vehicle based on a work truck used for road maintenance work, for example.
- the loading platform portion of the vehicle 1 has a container shape, and a door on one side surface (left side surface in FIG. 1) of the container and a ceiling door of the container can be opened and closed.
- FIG. 1 shows a state in which the door is opened.
- the photographing means 10 and the illuminating means 20 are provided on the loading platform of the vehicle 1 so that the lining surface of the tunnel can be photographed and illuminated when the door of the vehicle 1 is opened.
- the photographing means 10 is assumed to be a line sensor (camera).
- three line sensors 10a, 10b, and 10c are assumed.
- they are referred to as line sensors 10.
- the illumination means 20 is assumed to be a halogen lamp. Note that a metal halide lamp (HID) or LED illumination may be used as a light source.
- HID metal halide lamp
- 12 halogen lamps 20a, 20b, 20c, 20d, 20e, 20f, 20g, 20h, 20i, 20j, 20k, and 20l are assumed.
- the 12 halogen lamps 20a to 20l are represented, they are referred to as halogen lamps 20.
- the line sensor 10 is fixed to the fixing / reversing means 30 so that the direction perpendicular to the traveling direction of the vehicle 1 is the direction of the collimation line 11a.
- the line sensor 10 photographs the photographing range 11 with a predetermined angle of view that extends in the depth direction and the viewer direction with respect to the drawing of FIG.
- the halogen lamp 20 is fixed to the fixing / reversing means 30 so as to project light in a direction perpendicular to the traveling direction of the vehicle 1.
- the positional relationship between the line sensor 10 and the halogen lamp 20 is set so that the collimation line 11 a of the line sensor 10 falls within the irradiation range 21 of the halogen lamp 20.
- the image processing unit 40 receives image data captured by the line sensor 10 and performs image processing for generating an image of the tunnel lining surface.
- FIG. 2 is a cross-sectional view showing a state in which the vehicle 1 is traveling on the left lane 150L in the tunnel, and the line sensor 10 and the halogen lamp 20 are used to photograph the lining surface 100 of the tunnel. Is shown.
- the road surface on the left side of the tunnel center line TC in the drawing is referred to as a left traveling lane 150L
- the road surface on the right side of the tunnel center line TC in the drawing is referred to as a right overtaking lane 150R.
- the left side of the tunnel lining surface 100 delimited by the tunnel center line TC is a left side surface 100L
- the right side of the tunnel lining surface 100 delimited by the tunnel center line TC is a right side surface 100R.
- the imaging means 10 is an imaging means having an imaging range of at least one side surface (the left side surface 100L in FIG. 2) of both side surfaces 100L and 100R of the tunnel lining surface 100.
- a plurality of (three in the embodiment) line sensors 10a, 10b, and 10c that are arranged along the circumferential direction of 100 and that respectively photograph the areas 100A, 100B, and 100C along the circumferential direction of the tunnel lining surface 100; It consists of
- Each of the line sensors 10a, 10b, and 10c has an angle of view of 61 °. Accordingly, in each of the areas 100A, 100B, and 100C, a part of the adjacent areas overlaps.
- the illumination unit 20 has an irradiation range of at least one side surface (the left side surface 100L in FIG. 2) of both side surfaces 100L and 100R of the tunnel lining surface 100.
- the lamps 20a to 20l are included (see FIG. 4).
- the fixing / reversing means 30 fixes the photographing means 10 to the first photographing position where the left side surface 100L, which is one of the both sides of the tunnel lining surface 100, can be photographed, and reverses the photographing means 10.
- the photographing means 10 is a fixing / reversing means for fixing the right side surface 100 ⁇ / b> R, which is the other side surface of the both sides of the tunnel lining surface 100, to a second photographing position capable of photographing, and rotates the drive shaft 31.
- the center is a member that is rotatable by 90 ° in the circumferential direction of the tunnel lining surface 100, and a plurality (three in FIG.
- the L-shaped member 32 and the L-shaped member 32 are positioned at the first photographing position, and the L-shaped member 32 is 90 ° in the circumferential direction of the tunnel lining surface 100. Rotated In addition, it is configured to include positioning means (not shown in FIG. 2 and described later in FIG. 4) for positioning to the second imaging position when positioned at the second imaging position.
- the illumination means 20 is similarly located at the first photographing position, and illuminates and fixes the photographing areas 100A, 100B, and 100C corresponding to the first photographing position.
- the reversing unit 30 is at the second shooting position, the illumination unit 20 is similarly positioned at the second shooting position, and the shooting areas 100D, 100E, and 100F (see FIG. 3) corresponding to the second shooting position are displayed. Illuminate.
- FIG. 3 is a view corresponding to FIG. 2, and is a cross-sectional view showing a state in which the vehicle 1 is traveling in the overtaking lane 150 ⁇ / b> R on the right side in the tunnel.
- FIG. 3 shows a state in which the photographing means 10 and the illumination means 20 are positioned and fixed at the second photographing position by being reversed 90 degrees clockwise from the first photographing position (FIG. 2) by the fixing / reversing means 30. Is shown.
- the photographing means 10 photographs the right side surface 100 ⁇ / b> R of the tunnel lining surface 100. That is, the line sensors 10a, 10b, and 10c respectively photograph the areas 100D, 100E, and 100F along the circumferential direction of the tunnel lining surface 100.
- the illumination means 20 illuminates the right side surface 100R of the tunnel lining surface 100. That is, the twelve halogen lamps 20a to 20l irradiate the respective areas 100D, 100E, and 100F along the circumferential direction of the tunnel lining surface 100 with light.
- FIG. 4 is a plan view showing the configuration of the fixing / reversing means 30.
- the L-shaped member 32 has arms 32L and 32R that are symmetric with respect to the target axis m1 passing through the drive shaft 31 that is the center of rotation, and the arms 32L and 32R having the same length intersect with each other vertically and are integrally formed.
- 12 halogen lamps 20a to 20l are arranged on the upper surface 32S of the L-shaped member 32 so as to be symmetrical.
- a triangular stage member 33 is attached to the inner corner portion of the L-shaped member 32 so as to be symmetrical with respect to the target axis m1.
- Three line sensors 10a, 10b, and 10c are arranged on the upper surface 33S of the stage member 33 so as to be symmetrical with respect to the target axis m1.
- the positioning means 34 includes a T-shaped member 35.
- the T-shaped member 35 is fixed to a frame installed on the loading platform of the vehicle 1.
- the L-shaped member 32 is rotated relative to the T-shaped member 35 fixed to the frame with the drive shaft 31 as a rotation center.
- the drive shaft 31 is driven by drive means such as a motor (not shown).
- the T-shaped member 35 is a member that is bilaterally symmetric with respect to the target axis m2 that passes through the drive shaft 31, and arms 35L, 35R, and 35M having the same length from the drive shaft 31 to the end are perpendicularly intersected and formed integrally.
- the arms 35L, 35R, and 35M are formed with holes 35a, 35b, and 35c that are equidistant from the drive shaft 31, respectively.
- the arms 32L and 32R of the L-shaped member 32 are formed with holes 32a and 32b that are equidistant from the drive shaft 31.
- FIG. 4 shows a state in which the photographing means 10 is fixed at the first photographing position.
- a pin (not shown) is inserted into the hole 35c and the hole 32a, and a pin (not shown) is inserted into the hole 35b and the hole 32b, so that the photographing unit 10 and the illumination unit 20 are in the first photographing position. Fixed to.
- FIG. 5 shows a state in which the photographing means 10 is fixed at the second photographing position.
- FIG. 6 shows a cross section of the stage member 33 and the L-shaped member 32, and shows a cross section taken along line AA in FIG.
- the upper surface 33 ⁇ / b> S of the stage member 33 is provided at a position higher than the upper surface 32 of the L-shaped member 32. Therefore, the line sensor 10 is attached at a position higher than the halogen lamp 20.
- the line sensor 10 and the halogen so that the collimation line 11a of the line sensor 10 does not interfere with the halogen lamp 20 or the like while the collimation line 11a of the line sensor 10 enters the irradiation range 21 of the halogen lamp 20.
- the positional relationship of the lamp 20 is set. Note that the angle of view 11 of the line sensor 10 extends in the depth direction and the viewer direction in the drawing of FIG.
- FIG. 7 is a view corresponding to FIG. 4 and shows a modification in which the illuminating means 20 provided on the L-shaped member 32 is changed to the LED unit 20 instead of the halogen lamp 20. That is, four LED units 20A, 20B, 20C, and 20D are arranged on the upper surface 32S of the L-shaped member 32 so as to be symmetrical. The four LED units 20A, 20B, 20C, and 20D have the same irradiation range 21 as the halogen lamps 20a to 20l.
- FIG. 8 is a diagram showing an internal configuration of the LED unit 20, FIG. 8 (a) is a cross-sectional view seen from the top surface of FIG. 7, and FIG. 8 (b) is a longitudinal sectional view seen from the cross-section of FIG. is there.
- the LED unit 20 includes a line-shaped LED board 22 in which a plurality of LEDs 22 a are arranged along the circumferential direction of the tunnel lining surface 100 (direction perpendicular to the traveling direction of the vehicle 1), and the line-shaped LED board 22.
- a lens that refracts emitted light a cylindrical rod lens 23 having a length in the longitudinal direction corresponding to the LED arrangement length of the line-shaped LED substrate 22, and light 25 refracted by the rod lens 23.
- Cover glass 24 that passes through and emits to the outside, and a fan 26 for cooling the line-shaped LED substrate 22.
- the photographing unit 10 is configured by the three line sensors 10a, 10b, and 10c has been described.
- a larger number of photographing units may be used.
- You may comprise by the imaging
- one line sensor 20 having a photographing range capable of photographing one side surface of the tunnel lining surface 100 is attached to the fixing / reversing means 30, and the left side surface 100L is secured by one line sensor 20 at the first photographing position. , And then reversed 90 ° so that the right side surface 100R is captured by one line sensor 20 at the second imaging position, and both side surfaces 100L of the tunnel lining surface 100 are captured by one line sensor 20. Implementation of photographing 100R is also possible.
- FIG. 9 shows a processing procedure performed by the tunnel lining surface inspection system of the embodiment.
- the vehicle 1 is driven along the left driving lane 150L. While the vehicle 1 is running, the three line sensors 10a, 10b, 10c and the halogen lamps 20a-20l are operated. Thereby, each area 100A, 100B, 100C of the left side surface 100L of the tunnel lining surface 100 is sequentially photographed by the three line sensors 10a, 10b, 10c. Data of the images of the areas 100A, 100B, and 100C of the left side surface 100L of the tunnel lining surface 100 photographed by the line sensors 10a, 10b, and 10c is taken into the image processing unit 40. (See FIG. 2; step 201).
- step 202 the line sensors 10a, 10b and 10c and the halogen lamps 20a to 20l are reversed by 90 ° by the fixing / reversing means 30 (step 202).
- the vehicle 1 With the line sensors 10a, 10b and 10c and the halogen lamps 20a to 20l fixed at the second photographing position, the vehicle 1 is driven along the right overtaking lane 150R.
- each area 100D, 100E, 100F of the right side surface 100R of the tunnel lining surface 100 is sequentially photographed by the three line sensors 10a, 10b, 10c.
- Data of the images of the areas 100D, 100E, and 100F on the right side surface 100R of the tunnel lining surface 100 photographed by the line sensors 10a, 10b, and 10c is taken into the image processing unit 40. (See FIG. 3; step 203).
- the image data of each area 100A, 100B, 100C of the left side surface 100L of the tunnel lining surface 100 and the image data of each area 100D, 100E, 100F of the right side surface 100R captured by the image processing unit 40 are used for image processing. For example, it is taken into an external personal computer (step 204).
- step 205 distortion correction image processing described later is performed (step 205).
- the images of the areas 100A, 100B, 100C, 100D, 100E, and 100F photographed by the three line sensors 10a, 10b, and 10c are brought into contact with each other, and the same span S of the tunnel lining surface 100 is obtained. Is designated (step 206).
- step 207 oblique correction (upward correction) image processing, which will be described later, is performed.
- the spans S1, S2,... Sn of the tunnel lining surface 100 are combined with images 110-1, 110-2... 110-n showing both side surfaces 100L, 100R of the tunnel lining surface 100 (step 208).
- FIG. 10 is a diagram for explaining image processing performed by a personal computer.
- each image 110A, 110B, 110C, 110D, 110E, 110F showing each area 100A, 100B, 100C, 100D, 100E, 100F of the left side surface 100L and the right side surface 100R of the tunnel lining surface 100 is captured (FIG. 10A )), Distortion correction image processing is performed on each of the images 110A, 110B, 110C, 110D, 110E, and 110F (FIG. 10B), and the images 110A, 110B, 110C, 110D, 110E, and 110F are matched, A part having the same span S on the tunnel lining surface 100 is indicated (FIG. 10C), and oblique correction (upward correction) image processing is performed (FIG. 10D), and the spans S1, S2,. Images 110-1 showing both side surfaces 100L, 100R of the tunnel lining surface 100 for each Sn 10-2 ... combined into 110-n (FIG. 10 (e)).
- FIG. 11 and 12 are diagrams for explaining the distortion corrected image processing (FIG. 10B).
- the imaging unit 10 When the imaging unit 10 is installed on the tunnel lining surface 100 so that the collimation of the imaging unit 10 is orthogonal, the surface of the tunnel lining surface 100 is condensed due to water droplets or the like due to the positional relationship between the illumination unit 20 and the imaging unit 10. In this case, specular reflection occurs, and condensation is partially reflected in the image captured by the photographing unit 10, so that it may be difficult to determine a defect such as a crack to be originally captured. In order to avoid this, it is effective to incline the irradiation direction axis of the illumination unit 20 and the imaging direction axis (collimation) of the imaging unit 10.
- the collimation line 11a of the photographing means (line sensor) 10 is perpendicular to the vertical direction, that is, the ceiling surface of the tunnel lining surface 100, as viewed from the side of the vehicle 1.
- the angle ⁇ (for example, 8 °) is inclined forward with respect to the direction, and the collimation line 11a of the photographing means (line sensor) 10 is horizontal as seen from the upper surface of the vehicle 1 as shown in FIG.
- the photographing means (line sensor) 10 is installed so as to be inclined forward by an angle ⁇ (for example, 8 °) with respect to the direction, that is, the direction perpendicular to the side surface of the tunnel lining surface 100.
- the irradiation direction of the illumination means (halogen lamp) 20 is similarly inclined.
- FIG. 12A shows the relationship between the collimation line 11 a of the imaging means (line sensor) 10 and the joint 111 of the tunnel lining surface 100.
- the spans S1, S2,... Of the tunnel lining surface 100 are delimited by joints 111 orthogonal to the traveling direction of the vehicle 1 (the direction of the center line TC of the tunnel).
- the direction of the collimation line 11a and the direction of the joint 111 intersect at a predetermined angle ⁇ , Since the timing at which the quasi-line 11a passes through the joint 111 is different for each pixel, the joint 111 in the image photographed by the photographing means (line sensor) 10 is distorted in a curved shape (FIG. 12B). ).
- FIG. 13 is a diagram for explaining a process (FIG. 10C) of matching the images 110A to 110F and instructing a part having the same span S of the tunnel lining surface 100.
- FIG. 10C a process of matching the images 110A to 110F and instructing a part having the same span S of the tunnel lining surface 100.
- This processing is performed using the joint 111 that has been linearized by the distortion correction image processing as a reference line.
- the images 110A, 110B, and 110C obtained for the left side surface 100L of the tunnel lining surface 100 are arranged on the screen of the personal computer so as to be at the same position.
- the alignment is performed by using the joint 111 that is a straight line as a reference line.
- tunnel lining surfaces 100 that specify positions such as KP (kilo post), span number (lining number), and illumination number. Each image is captured, and these are used as a guide. In addition, the position may be recognized.
- part which becomes the same span S of the tunnel lining surface 100 is instruct
- the portions of the images 110A, 110B, and 110C that become the span S1 are 110A-1, 110B-1, and 110C-1 (hereinafter, used as codes indicating the image data of the span S1), respectively.
- the image data 110A-1, 110B-1, 110C-1 for identifying the parts 110A-1, 110B-1, 110C-1 that are the same span S1 are stored in the folder L1 in the lane 1 (the driving lane 150L). Stored in association with the address indicating S1.
- image data specifying the same spans S2, S3,... Sn, and specifying the same spans S2, S3,... Sn are stored in the folder L1 in lane 1 (traveling lane 150L). Store it.
- portions of the images 110D, 110E, and 110F that become the span S1 are 110D-1, 110E-1, and 110F-1, respectively (hereinafter, the image data of the span S1 is converted to the image data of the span S1.
- Image data 110D-1, 110E-1, and 110F-1 that specify the portions 110D-1, 110E-1, and 110F-1 having the same span S1 are represented by Lane 2 ( It is stored in the folder L2 of the overtaking lane 150R) in association with the address indicating the span S1.
- image data specifying the same spans S2, S3,... Sn is specified in the folder L2 in the lane 2 (passing lane 150R). Store it.
- FIG. 14 is a diagram for explaining the obliqueness correction (upward correction) image processing (FIG. 10D).
- FIG. 14A shows the positional relationship between the tunnel lining surface 100 and the line sensors 10a, 10b, and 10c.
- the line sensors 10a, 10b, and 10c are offset from the tunnel center line TC. Therefore, the collimation lines 11a of the line sensors 10a, 10b, and 10c are not directly opposed to the tunnel lining surface 100 that is the object to be photographed, and are inclined. For this reason, in the line sensors 10a, 10b, and 10c, the near tunnel lining surface 100 is imaged large, and the far tunnel lining surface 100 is imaged small.
- the area imaged by the line sensor 10 (for example, the line sensor 10c) is indicated by 100C, for example.
- 100C the imaging area 100C
- each divided area 100C-1, Of the 100C-2, 100C-3, 100C-4, and 100C-5 the tunnel lining surface 100 is imaged the largest in the divided area 100C-1 closest to the line sensor 10, and the divided area 100C- farthest from the line sensor 10 is captured. 5, the tunnel lining surface 100 is imaged the smallest.
- image processing is performed so that the tunnel lining surface 100 that is the object to be imaged is captured at an actual size in each area of the image.
- ⁇ an angle indicating an imaging direction (collimation line 11a) of the line sensor 10 (an angle with respect to the horizontal line HL)
- X Two-dimensional horizontal position of the line sensor 10 (lens, sensor) (relative position with respect to the center line TC of the tunnel)
- Y Two-dimensional vertical position of line sensor 10 (lens, sensor) (relative position with reference to tunnel road surfaces 150L and 150R)
- ⁇ angle of view of line sensor 10
- each of the divided areas 100C-1, 100C-2, 100C-3, 100C-4, and 100C-5 is a photographing object.
- Image processing is performed so that the tunnel lining surface 100 is imaged at an actual size.
- FIG. 15 shows a process of combining images 110-1, 110-2,... 110-n showing both side surfaces 100L, 100R of the tunnel lining surface 100 for each span S1, S2,. )) Is a diagram for explaining.
- the image data 110A-1, 110B-1, and 110C-1 associated with the address indicating the span S1 are read from the folder L1 in the lane 1 (the driving lane 150L).
- the image data 110D-1, 110E-1, and 110F-1 associated with the address indicating the span S1 are read from the folder L2 in the lane 2 (the passing lane 150R).
- each area 100A, 100B, 100C, 100D, 100E, and 100F a part of adjacent areas is photographed.
- the corresponding point PT is instructed in consideration of the overlap.
- the images 110A-1, 110B-1, 110C-1, 110D-1, 110E-1, and 110F-1 are synthesized with respect to the corresponding point PT, and the tunnel covering is performed.
- images 110-1 of the left and right side surfaces 100L and 100R are obtained.
- the vehicle 1 equipped with the imaging means 10 having the imaging range on one side surface of the both sides 100L and 100R of the tunnel lining surface 100 is caused to travel, so that the tunnel lining surface 100 Images of both side surfaces 100L and 100R can be acquired.
- image images 110-1, 110-2,... 110-n showing both side surfaces 100L, 100R of the tunnel lining surface 100 are obtained for each span S1, S2,.
- the soundness (degradation degree) of the tunnel lining surface 100 can be investigated for each span S1, S2,... Sn, and the investigation result can be managed for each span S1, S2,.
- FIG. 16 shows a survey example of the soundness (degradation degree) of the tunnel lining surface 100.
- FIG. 16 shows the images 110-1, 110-2, 110-3, 110-4, 110-5, and 110-6 of each span S1, S2, S3, S4, S5, and S6 read out from the file L3, and the personal computer
- the state of continuous display on the screen is shown.
- the operator performs a process of drawing a crack 300 by specifying a cracked portion that may be peeled off from the image of the tunnel lining surface 100 on the screen.
- the width, length, direction, shape, and density of the crack 300 are extracted for each span S1, S2, S3, S4, S5, and S6, and each of the spans S1, S2, S3, S4, S5, and S6.
- the image data 110-1, 110-2, 110-3, 110-4, 110-5, and 110-6 are stored in association with each other. Similarly, the presence / absence of efflorescence and other occurrences of deformation may be extracted.
- the above-described image processing performed by the personal computer may be performed by a semi-automatic process in which a part thereof is performed manually, or may be performed by an automatic process.
Abstract
Description
特許文献1:特開2014-95627号
トンネル内を車両が走行中に、当該車両に搭載した撮影手段によって、トンネル覆工面の画像を撮影し、トンネル覆工面を調査するための調査対象画像に加工するトンネル覆工面調査システムであって、
前記車両に搭載され、トンネル覆工面の両側面のうち片側側面の撮影範囲を有する撮影手段と、
前記撮影手段を、トンネル覆工面の両側面のうち一方の片側側面を撮影可能な第1の撮影位置に固定させるとともに、前記撮影手段を反転させて、前記撮影手段を、トンネル覆工面の両側面のうち他方の片側側面を撮影可能な第2の撮影位置に固定させる固定・反転手段と、
前記撮影手段が前記第1の撮影位置に固定された状態で、前記撮影手段によって撮影されたトンネル覆工面の両側面のうち一方の片側側面を示す第1の画像と、前記撮影手段が前記第2の撮影位置に固定された状態で、前記撮影手段によって撮影されたトンネル覆工面の両側面のうち他方の片側側面を示す第2の画像とを突き合わせて、トンネル覆工面の同一スパンとなる部位を指示することにより、トンネル覆工面のスパン毎にトンネル覆工面の両側面を示す画像に合成する画像加工手段と
を備えたトンネル覆工面調査システムであることを特徴とする。
前記撮影手段は、トンネル覆工面の周方向に沿って配列され、トンネル覆工面の周方向に沿った各エリアの画像を撮影する複数のラインセンサを含むものであり、
前記画像加工手段は、
前記複数のラインセンサが前記第1の撮影位置に固定された状態で、前記複数のラインセンサによって撮影された各エリアの画像と、前記複数のラインセンサが前記第2の撮影位置に固定された状態で、前記複数のラインセンサによって撮影された各エリアの画像とを突き合わせて、トンネル覆工面の同一スパンとなる部位を指示することにより、トンネル覆工面のスパン毎にトンネル覆工面、の両側面を示す画像に合成するものである
ことを特徴とする。
前記撮影手段は、トンネル覆工面の周方向に沿って配列され、トンネル覆工面の周方向に沿った各エリアの画像を撮影する複数のラインセンサを含むものであり、
前記固定・反転手段は、駆動軸を回転中心に、トンネル覆工面の周方向に、90°回転自在な部材であって、前記数のラインセンサが、トンネル覆工面の周方向に沿って配置されたL字状の部材と、当該L字状の部材を、前記第1の撮影位置に位置決めするとともに、前記L字状の部材が、トンネル覆工面の周方向に、90°回転されて、前記第2の撮影位置に位置されたときに当該第2の撮影位置に位置決めする位置決め手段とを含むものであることを特徴とする。
トンネル覆工面調査システムに用いる車両であって、
トンネル覆工面の両側面のうち少なくとも片側側面の撮影範囲を有する撮影手段であって、
トンネル覆工面の周方向に沿って配列され、トンネル覆工面の周方向に沿った各エリアの画像を撮影する複数のラインセンサを含む撮影手段と、
前記撮影手段を、トンネル覆工面の両側面のうち一方の片側側面を撮影可能な第1の撮影位置に固定させるとともに、前記撮影手段を反転させて、前記撮影手段を、トンネル覆工面の両側面のうち他方の片側側面を撮影可能な第2の撮影位置に固定させる固定・反転手段であって、駆動軸を回転中心に、トンネル覆工面の周方向に、90°回転自在な部材であって、前記数のラインセンサが、トンネル覆工面の周方向に沿って配置されたL字状の部材と、当該L字状の部材を、前記第1の撮影位置に位置決めするとともに、前記L字状の部材が、トンネル覆工面の周方向に、90°回転されて、前記第2の撮影位置に位置されたときに当該第2の撮影位置に位置決めする位置決め手段とを含む固定・反転手段と
を備えたトンネル覆工面調査システムに用いる車両であることを特徴とする。
34 位置決め手段 100 トンネル覆工面 S(S1、S2、S3…Sn) スパン
110-1、110-2、110-3…110-n 合成された画像
X:ラインセンサ10(レンズ、センサ)の2次元水平方向位置(トンネルのセンターラインTCを基準とする相対位置)
Y:ラインセンサ10(レンズ、センサ)の2次元鉛直方向位置(トンネルの路面150L、150Rを基準とする相対位置)
φ:ラインセンサ10の画角
上記パラメータθ、X、Y、φが得られ、トンネルの形状を示すデータがたとえばCAD図面によって得られると、図14(b)において、各分割エリア100C-1、100C-2、100C-3、100C-4、100C-5毎に、ラインセンサ10からトンネル覆工面100までの距離d1、d2、d3、d4、d5が求められる。
Claims (4)
- トンネル内を車両が走行中に、当該車両に搭載した撮影手段によって、トンネル覆工面の画像を撮影し、トンネル覆工面を調査するための調査対象画像に加工するトンネル覆工面調査システムであって、
前記車両に搭載され、トンネル覆工面の両側面のうち片側側面の撮影範囲を有する撮影手段と、
前記撮影手段を、トンネル覆工面の両側面のうち一方の片側側面を撮影可能な第1の撮影位置に固定させるとともに、前記撮影手段を反転させて、前記撮影手段を、トンネル覆工面の両側面のうち他方の片側側面を撮影可能な第2の撮影位置に固定させる固定・反転手段と、
前記撮影手段が前記第1の撮影位置に固定された状態で、前記撮影手段によって撮影されたトンネル覆工面の両側面のうち一方の片側側面を示す第1の画像と、前記撮影手段が前記第2の撮影位置に固定された状態で、前記撮影手段によって撮影されたトンネル覆工面の両側面のうち他方の片側側面を示す第2の画像とを突き合わせて、トンネル覆工面の同一スパンとなる部位を指示することにより、トンネル覆工面のスパン毎にトンネル覆工面の両側面を示す画像に合成する画像加工手段と
を備えたトンネル覆工面調査システム。 - 前記撮影手段は、トンネル覆工面の周方向に沿って配列され、トンネル覆工面の周方向に沿った各エリアの画像を撮影する複数のラインセンサを含むものであり、
前記画像加工手段は、
前記複数のラインセンサが前記第1の撮影位置に固定された状態で、前記複数のラインセンサによって撮影された各エリアの画像と、前記複数のラインセンサが前記第2の撮影位置に固定された状態で、前記複数のラインセンサによって撮影された各エリアの画像とを突き合わせて、トンネル覆工面の同一スパンとなる部位を指示することにより、トンネル覆工面のスパン毎にトンネル覆工面の両側面を示す画像に合成するものである
請求項2記載のトンネル覆工面調査システム。 - 前記撮影手段は、トンネル覆工面の周方向に沿って配列され、トンネル覆工面の周方向に沿った各エリアの画像を撮影する複数のラインセンサを含むものであり、
前記固定・反転手段は、駆動軸を回転中心に、トンネル覆工面の周方向に、90°回転自在な部材であって、前記数のラインセンサが、トンネル覆工面の周方向に沿って配置されたL字状の部材と、当該L字状の部材を、前記第1の撮影位置に位置決めするとともに、前記L字状の部材が、トンネル覆工面の周方向に、90°回転されて、前記第2の撮影位置に位置されたときに当該第2の撮影位置に位置決めする位置決め手段とを含むものである請求項1または2に記載のトンネル覆工面調査システム。 - トンネル覆工面調査システムに用いる車両であって、
トンネル覆工面の両側面のうち少なくとも片側側面の撮影範囲を有する撮影手段であって、
トンネル覆工面の周方向に沿って配列され、トンネル覆工面の周方向に沿った各エリアの画像を撮影する複数のラインセンサを含む撮影手段と、
前記撮影手段を、トンネル覆工面の両側面のうち一方の片側側面を撮影可能な第1の撮影位置に固定させるとともに、前記撮影手段を反転させて、前記撮影手段を、トンネル覆工面の両側面のうち他方の片側側面を撮影可能な第2の撮影位置に固定させる固定・反転手段であって、駆動軸を回転中心に、トンネル覆工面の周方向に、90°回転自在な部材であって、前記数のラインセンサが、トンネル覆工面の周方向に沿って配置されたL字状の部材と、当該L字状の部材を、前記第1の撮影位置に位置決めするとともに、前記L字状の部材が、トンネル覆工面の周方向に、90°回転されて、前記第2の撮影位置に位置されたときに当該第2の撮影位置に位置決めする位置決め手段とを含む固定・反転手段と
を備えたトンネル覆工面調査システムに用いる車両。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/903,623 US10116871B2 (en) | 2014-07-25 | 2014-12-03 | Tunnel lining surface inspection system and vehicle used for tunnel lining surface inspection system |
CN201480064678.4A CN105765374B (zh) | 2014-07-25 | 2014-12-03 | 隧道衬砌面调査系统以及用于隧道衬砌面调査系统的车辆 |
SG11201600833YA SG11201600833YA (en) | 2014-07-25 | 2014-12-03 | Tunnel lining surface examination system and vehicle used in tunnel lining surface examination system |
KR1020157020723A KR20170034750A (ko) | 2014-07-25 | 2014-12-03 | 터널 복공면 조사 시스템 및 터널 복공면 조사 시스템에 이용하는 차량 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014-152322 | 2014-07-25 | ||
JP2014152322A JP6444086B2 (ja) | 2014-07-25 | 2014-07-25 | トンネル覆工面調査システムおよびトンネル覆工面調査システムに用いる車両 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016013132A1 true WO2016013132A1 (ja) | 2016-01-28 |
Family
ID=55162683
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2014/082021 WO2016013132A1 (ja) | 2014-07-25 | 2014-12-03 | トンネル覆工面調査システムおよびトンネル覆工面調査システムに用いる車両 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10116871B2 (ja) |
JP (1) | JP6444086B2 (ja) |
KR (1) | KR20170034750A (ja) |
CN (1) | CN105765374B (ja) |
SG (1) | SG11201600833YA (ja) |
WO (1) | WO2016013132A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111539286A (zh) * | 2020-04-15 | 2020-08-14 | 创新奇智(合肥)科技有限公司 | 衬砌线识别方法、装置及可读存储介质 |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6373111B2 (ja) * | 2014-07-25 | 2018-08-15 | 西日本高速道路エンジニアリング四国株式会社 | トンネル覆工面調査システムおよびトンネル覆工面調査システムに用いる車両 |
JP6466000B2 (ja) * | 2015-12-22 | 2019-02-06 | 三菱電機株式会社 | ぶれ検出装置 |
JP6627986B2 (ja) * | 2016-11-01 | 2020-01-08 | 三菱電機株式会社 | 移動撮像システム及び撮像方法 |
JP6927694B2 (ja) * | 2016-12-15 | 2021-09-01 | 西日本高速道路エンジニアリング四国株式会社 | トンネル覆工画像作成システム、および、トンネル覆工画像作成方法 |
JP2019033478A (ja) * | 2017-08-09 | 2019-02-28 | 株式会社リコー | 構造物壁面の撮影装置、車両、構造物壁面の撮影方法、及びトンネル壁面の撮影方法 |
EP3442213B1 (en) * | 2017-08-09 | 2020-12-09 | Ricoh Company, Ltd. | Structure wall imaging device, vehicle, and structure wall imaging method |
JP2019109136A (ja) * | 2017-12-19 | 2019-07-04 | パナソニックIpマネジメント株式会社 | 照明装置、照明装置の設置方法及び道路管理システム |
CN109696441A (zh) * | 2019-02-18 | 2019-04-30 | 中国铁路沈阳局集团有限公司科学技术研究所 | 一种铁路隧道衬砌表面状态检测车 |
JP7279438B2 (ja) | 2019-03-19 | 2023-05-23 | 株式会社リコー | 撮像装置、車両及び撮像方法 |
CN110514518B (zh) * | 2019-07-19 | 2021-03-26 | 同济大学 | 基于隧道衬砌病害特征的隧道衬砌结构服役性能检测方法 |
JP6732082B1 (ja) * | 2019-09-03 | 2020-07-29 | 三菱電機株式会社 | 画像生成装置、画像生成方法、および画像生成プログラム |
JP7329435B2 (ja) * | 2019-12-25 | 2023-08-18 | 三菱電機株式会社 | 車両及び撮影方法 |
JP7458876B2 (ja) | 2019-12-25 | 2024-04-01 | 三菱電機株式会社 | カメラユニット |
CN112326552B (zh) * | 2020-10-21 | 2021-09-07 | 山东大学 | 基于视觉和力觉感知的隧道掉块病害检测方法和系统 |
CN113256714B (zh) * | 2021-07-13 | 2021-09-24 | 湖南大学 | 隧道表面图像处理方法及系统 |
JP2023106862A (ja) * | 2022-01-21 | 2023-08-02 | 株式会社リコー | 撮像装置、撮像方法、プログラム、および撮像システム |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09284749A (ja) * | 1996-04-12 | 1997-10-31 | Furukawa Electric Co Ltd:The | トンネル内壁面の撮影方法とそれを用いた撮影装置 |
JP2003185589A (ja) * | 2001-12-20 | 2003-07-03 | Nishimatsu Constr Co Ltd | コンクリート表面の変状調査システム、および、コンクリート表面の変状調査方法 |
JP2012220471A (ja) * | 2011-04-14 | 2012-11-12 | Mitsubishi Electric Corp | 展開図生成装置、展開図生成方法及び展開図表示方法 |
JP2014095627A (ja) * | 2012-11-09 | 2014-05-22 | West Nippon Expressway Engineering Shikoku Co Ltd | 道路構造物の表面を調査する装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4888720A (en) * | 1987-12-07 | 1989-12-19 | Fryer Glenn E | Tunnel measuring apparatus and method |
JPWO2005033475A1 (ja) * | 2003-10-01 | 2006-12-14 | 株式会社日立製作所 | トンネル落盤監視システム、トンネル落盤監視方法及び土木構造物破損監視システム |
CN101957178B (zh) * | 2009-07-17 | 2012-05-23 | 上海同岩土木工程科技有限公司 | 一种隧道衬砌裂缝测量方法及其测量装置 |
CN102346013A (zh) * | 2010-07-29 | 2012-02-08 | 同济大学 | 一种隧道衬砌裂缝宽度的测量方法及装置 |
CN103674963A (zh) * | 2013-11-15 | 2014-03-26 | 上海嘉珏实业有限公司 | 一种基于数字全景摄像的隧道检测装置及其检测方法 |
-
2014
- 2014-07-25 JP JP2014152322A patent/JP6444086B2/ja active Active
- 2014-12-03 SG SG11201600833YA patent/SG11201600833YA/en unknown
- 2014-12-03 CN CN201480064678.4A patent/CN105765374B/zh not_active Expired - Fee Related
- 2014-12-03 KR KR1020157020723A patent/KR20170034750A/ko active IP Right Grant
- 2014-12-03 US US14/903,623 patent/US10116871B2/en not_active Expired - Fee Related
- 2014-12-03 WO PCT/JP2014/082021 patent/WO2016013132A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09284749A (ja) * | 1996-04-12 | 1997-10-31 | Furukawa Electric Co Ltd:The | トンネル内壁面の撮影方法とそれを用いた撮影装置 |
JP2003185589A (ja) * | 2001-12-20 | 2003-07-03 | Nishimatsu Constr Co Ltd | コンクリート表面の変状調査システム、および、コンクリート表面の変状調査方法 |
JP2012220471A (ja) * | 2011-04-14 | 2012-11-12 | Mitsubishi Electric Corp | 展開図生成装置、展開図生成方法及び展開図表示方法 |
JP2014095627A (ja) * | 2012-11-09 | 2014-05-22 | West Nippon Expressway Engineering Shikoku Co Ltd | 道路構造物の表面を調査する装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111539286A (zh) * | 2020-04-15 | 2020-08-14 | 创新奇智(合肥)科技有限公司 | 衬砌线识别方法、装置及可读存储介质 |
Also Published As
Publication number | Publication date |
---|---|
CN105765374B (zh) | 2020-04-10 |
JP6444086B2 (ja) | 2018-12-26 |
CN105765374A (zh) | 2016-07-13 |
US10116871B2 (en) | 2018-10-30 |
KR20170034750A (ko) | 2017-03-29 |
JP2016031248A (ja) | 2016-03-07 |
SG11201600833YA (en) | 2016-04-28 |
US20160227126A1 (en) | 2016-08-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6444086B2 (ja) | トンネル覆工面調査システムおよびトンネル覆工面調査システムに用いる車両 | |
JP6068099B2 (ja) | 道路構造物の表面を調査する装置 | |
JP3953988B2 (ja) | 検査装置および検査方法 | |
KR101672523B1 (ko) | 카메라용 렌즈모듈 외관 검사공법 | |
KR101711849B1 (ko) | 내면 영상 획득을 위한 광학 장치 | |
JP2019516998A (ja) | ガラス上面の粒子検出方法および装置、並びに、入射光照射方法 | |
JP6310372B2 (ja) | 検査装置 | |
JP6499139B2 (ja) | 検査装置 | |
JP6801860B2 (ja) | 被検査物の外観検査装置 | |
JP6908373B2 (ja) | 検査対象物の表面の凹凸を検査する方法及びその表面検査装置 | |
JP2021124401A (ja) | 基板の検査装置、基板の検査方法 | |
JP2003156453A (ja) | 側面検査方法 | |
JPH10274515A (ja) | 曲面検査方法及び検査用カメラユニット | |
JP4426992B2 (ja) | 合成映像撮影装置 | |
JP2011191253A (ja) | レーザ形状認識センサ及び計測装置 | |
JP2011160177A (ja) | 撮影装置、及びこの撮影装置を搭載した水中ロボット | |
JP7027926B2 (ja) | 画像検査装置および照明装置 | |
KR20110026922A (ko) | 평판의 결함 검사 장치 및 방법 | |
JP6937647B2 (ja) | 光学表示パネルの損傷検査方法 | |
JP7389321B2 (ja) | 基板の検査装置、基板の検査方法 | |
JP5490855B2 (ja) | 板状基板のエッジ検査装置 | |
JP2004279282A (ja) | ワ−クの外観検査装置 | |
JP6672897B2 (ja) | 検査装置及び回転体の検査方法 | |
JP2014224802A (ja) | 容器底部の検査方法及びそれを用いた検査装置 | |
JP2021124299A (ja) | 基板の検査装置、基板の検査方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 20157020723 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14903623 Country of ref document: US |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14898124 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 14898124 Country of ref document: EP Kind code of ref document: A1 |