WO2016013133A1 - 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
- WO2016013133A1 WO2016013133A1 PCT/JP2014/082022 JP2014082022W WO2016013133A1 WO 2016013133 A1 WO2016013133 A1 WO 2016013133A1 JP 2014082022 W JP2014082022 W JP 2014082022W WO 2016013133 A1 WO2016013133 A1 WO 2016013133A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tunnel lining
- slit laser
- lining surface
- installation
- vehicle
- Prior art date
Links
Images
Classifications
-
- 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
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
-
- 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
- G01N2021/9548—Scanning the interior of a cylinder
-
- 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
- G01N2201/02—Mechanical
- G01N2201/021—Special mounting in general
- G01N2201/0216—Vehicle borne
-
- 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
- G01N2201/061—Sources
- G01N2201/06113—Coherent sources; lasers
-
- 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
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, obtains an image showing a three-dimensional shape including the height information of the tunnel lining surface and determines the soundness (degradation degree) of the tunnel.
- the present invention relates to a system and a vehicle for investigation.
- Patent Document 1 the present applicant has already applied the surface of the traveling road surface by a light cutting method using photographing means and slit laser light projecting means mounted on the vehicle while the vehicle is running.
- a traveling road surface survey system that measures three-dimensional shapes (crossing direction, longitudinal direction, height) is proposed.
- Patent Document 1 JP 2014-95627 A
- the tunnel lining surface determines whether it is a crack that may lead to flaking, even if a crack is photographed in the visualization image only with two-dimensional information without height information. I can't.
- the present invention has been made in view of such circumstances, and a tunnel lining surface is obtained by a light cutting method using a photographing unit and a slit laser beam projecting unit mounted on the vehicle while the vehicle is traveling in the tunnel. It is an object of the present invention to provide a tunnel lining surface inspection system that can measure the three-dimensional shape of the surface of the slab and accurately determine whether it is a crack that may lead to flaking, and a vehicle that uses it.
- the first invention is While the vehicle is traveling in the tunnel, the tunnel lining surface is measured by measuring the three-dimensional shape of the surface of the tunnel lining surface by the light cutting method using the photographing means and the slit laser beam projection means mounted on the vehicle.
- a tunnel lining surface inspection system that processes images to be investigated for investigation, An arcuate or substantially arcuate installation surface corresponding to one side surface of both sides of the tunnel lining surface, and a photographing means / slit laser light projecting means installation means mounted on the vehicle, A plurality of slit laser beam projecting means for projecting long slit laser beams respectively along the circumferential direction of the tunnel lining surface, toward each area along the circumferential direction of one side surface of the both sides of the tunnel lining surface, Arranged along the circumferential direction of the arc-shaped or substantially arc-shaped installation surface, A plurality of imaging means for imaging each area along the circumferential direction of one side surface of both sides of the tunnel lining surface from a direction different from the projection direction of the plurality
- Photographing means / slit laser light projection means installation means The photographing means / slit laser light projecting means setting means is fixed to a first measurement position capable of measuring the three-dimensional shape of one side surface of both sides of the tunnel lining surface, and the photographing means / slit laser Fixing / reversing means for reversing the light projecting means installation means by 180 degrees around the vertical center axis and fixing the three-dimensional shape of the other side surface of the both sides of the tunnel lining surface to a second measuring position capable of measuring
- the photographing means / slit laser beam projecting means installation means fixed at the first measurement position the three-dimensional shape measurement result of one side surface of the measured tunnel lining surface, and the photographing means /
- the tunnel lining surface is investigated using the three-dimensional shape measurement result on the other side surface of the measured tunnel lining surface. It is a tunnel lining surface inspection system provided with the image processing means processed into
- the second invention is the first invention, While the vehicle is traveling in the tunnel, the tunnel lining surface is measured by measuring the three-dimensional shape of the surface of the tunnel lining surface by the light cutting method using the photographing means and the slit laser beam projection means mounted on the vehicle.
- a vehicle used in a tunnel lining surface inspection system that processes an image to be investigated for investigation An arcuate or substantially arcuate installation surface corresponding to one side surface of both sides of the tunnel lining surface, and a photographing means / slit laser light projecting means installation means mounted on the vehicle, A plurality of slit laser beam projecting means for projecting long slit laser beams respectively along the circumferential direction of the tunnel lining surface, toward each area along the circumferential direction of one side surface of the both sides of the tunnel lining surface, Arranged along the circumferential direction of the arc-shaped or substantially arc-shaped installation surface, A plurality of imaging means for imaging each area along the circumferential direction of one side surface of both sides of the tunnel lining surface from a direction different from the projection direction of the plurality of slit laser beams, Corresponding to each of the light means, it is arranged at a predetermined distance in the vehicle traveling direction from the installation position of the slit laser light projecting means along the circumferential direction of the arc
- Photographing means / slit laser light projection means installation means The photographing means / slit laser light projecting means setting means is fixed to a first measurement position capable of measuring the three-dimensional shape of one side surface of both sides of the tunnel lining surface, and the photographing means / slit laser Fixing / reversing means for reversing the light projecting means installation means by 180 degrees around the vertical center axis and fixing the three-dimensional shape of the other side surface of the both sides of the tunnel lining surface to a second measuring position capable of measuring It is a vehicle used for the tunnel lining surface inspection system provided with.
- the third invention is the first invention,
- the plurality of slit laser light projecting means and the plurality of photographing means are arranged in a zigzag pattern along the circumferential direction of the arcuate or substantially arcuate installation surface.
- the fourth invention is the second invention,
- the plurality of slit laser light projecting means and the plurality of photographing means are arranged in a zigzag pattern along the circumferential direction of the arcuate or substantially arcuate installation surface.
- the surface 3 of the tunnel lining surface including the height information is obtained by the light cutting method using the photographing means and the slit laser light projecting means mounted on the vehicle.
- FIG. 1 is a left side view 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 the tunnel covering is performed by a light cutting method using an imaging unit and a slit laser beam projection unit mounted on the vehicle. It is a figure which shows a mode that the three-dimensional shape of the surface of a construction surface is measured.
- FIG. 3 is a perspective view showing the photographing means / slit laser light projecting means installation means.
- FIG. 4 is a diagram showing the relationship between the light projecting direction of the slit laser light projected from the slit laser light projecting means and the photographing direction (collimation line) of the photographing means, and FIG. FIG. 4 is a view as seen from the direction of arrow A in FIG. 3, that is, from the right side of the vehicle, and FIG. 4B is a perspective view.
- FIG. 5 is a cross-sectional view showing a state in which the vehicle is traveling on the right traveling lane in the tunnel.
- FIG. 6 is a diagram illustrating a procedure of processing performed in the tunnel lining surface inspection system according to the embodiment.
- FIG. 7 (a) is a diagram showing cracks formed at the joints of the tunnel lining surface and cracks formed other than the joints, and FIG.
- FIG. 7 (b) is a crack formed at the joints of the tunnel lining surface.
- FIG. 7C is an enlarged view of a crack formed on the tunnel lining surface other than the joint line.
- FIG. 8 is a diagram illustrating an example of image processing performed in a personal computer.
- Imaging means 10 (a to 10f) Imaging means 20 (20a to 20f) Slit laser light projecting means 30 Imaging means / slit laser light projecting means installation means 31 Arc surface or substantially arc surface installation surface 40 fixed / reversed Means 41 Drive shaft 100 Tunnel lining surface 100A to 100L each area
- 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 (10a, 10b, 10c, 10d, 10f) and the laser light projecting means 20 (20a, 20b, 20c, 20d, 20e, 20f) are used when the tunnel of the vehicle 1 is opened. It is provided on the loading platform of the vehicle 1 so that the lining surface can be photographed and illuminated.
- the photographing means 10 and the laser light projecting means 20 are installed in the photographing means / slit laser light projecting means installing means 30.
- the photographing means / slit laser beam projecting means installation means 30 includes an installation surface 31 having an arcuate surface shape or a substantially arcuate surface shape.
- a plurality (six) of slit laser beam projecting means 20a, 20b, 20c, 20d, 20e, 20f and a plurality (six) of imaging means 10a, 10b, 10c, 10d, 10f are arcuate or substantially arcuate surfaces.
- a zigzag pattern is arranged along the circumferential direction of the installation surface 31.
- the image processing unit 50 receives the image data captured by the imaging unit 10 and performs image processing for generating a three-dimensional 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 light cutting using the photographing means 10 and the slit laser light projecting means 20 mounted on the vehicle 1 is shown.
- This shows how the three-dimensional shape of the surface of the tunnel lining surface 100 is measured by the method.
- 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 101L
- the right side of the tunnel lining surface 100 delimited by the tunnel center line TC is a right side surface 101R.
- the illuminating means 20 is arranged around the tunnel lining surface 100 toward the respective areas 100A, 100B, 100C, 100D, 100E, and 100F along the circumferential direction of the left side surface 101L that is one side surface of the both sides of the tunnel lining surface 100.
- a plurality of (six in the embodiment) slit laser light projecting means 20a, 20b, 20c, 20d, 20e, and 20f that project the long slit laser light L along the direction are configured.
- the six slit laser light projecting means 20a to 20f are represented, they will be referred to as slit laser light projecting means 20.
- the imaging means 10 (not shown in FIG. 2, refer to FIG. 1) is an area camera, and each area 100A, 100B along the circumferential direction of the left side surface 101L which is one side surface of the both sides of the tunnel lining surface 100. , 100C, 100D, 100E, and 100F, each of which includes a plurality of (six in the embodiment) imaging means 10a, 10b, 10c, 10d, 10e, and 10f that take images from a direction different from the direction in which the slit laser light L is projected. It consists of In the following, when the six photographing units 10a to 10f are represented, they are referred to as the photographing unit 10.
- the slit laser beam projecting unit 20 and the imaging unit 10 are an imaging unit / slit laser beam having an arcuate or substantially arcuate installation surface 31 corresponding to one side surface of both side surfaces 101L and 101R of the tunnel lining surface 100. It is installed in the light projecting means setting means 30.
- FIG. 3 is a perspective view showing the photographing means / slit laser light projecting means installation means 30.
- the six photographing means 10a to 10f correspond to the six slit laser light projecting means 20a to 20f, respectively, and are slit lasers along the circumferential direction of the arcuate or substantially arcuate installation surface 31.
- the light projecting unit 20 is disposed away from the installation location by a predetermined distance d in the vehicle traveling direction.
- the photographing means / slit laser beam projecting means setting means 30 includes a member 32 in which a cross section parallel to the circumferential direction of the tunnel lining surface 100, that is, a cross section perpendicular to the traveling direction of the vehicle 1 is formed in a fan shape.
- the pair of slit laser light projecting means 20 and the photographing means 10 are arranged on the installation surface 31 corresponding to the arc surface or the substantially arc surface of the fan-shaped member 32 at equal intervals or substantially equal intervals along the circumferential direction. Is arranged.
- a plurality (six) of slit laser beam projecting means 20a, 20b, 20c, 20d, 20e, 20f and a plurality (six) of the imaging means 10a, 10b, 10c, 10d, 10f are arcuate or Arranged in a staggered manner along the circumferential direction of the substantially arcuate surface 31.
- the slit laser beams L projected from the respective slit laser beam projecting means 20a, 20b, 20c, 20d, 20e, and 20f and irradiated to the respective areas 100A, 100B, 100C, 100D, 100E, and 100F are adjacent to each other. It can be avoided that objects overlap each other (see FIG. 2). For this reason, it is not necessary to consider the interference of the slit laser beam L when setting the device, and the device can be easily set.
- the fixing / reversing means 40 includes a drive shaft 41 that is a vertical center axis C of the photographing means / slit laser beam projecting means installation means 30 and a stage 42.
- the stage 42 is fixed to the frame of the vehicle 1.
- the photographing means / slit laser light projecting means installation means 30 is fixed at a first measurement position capable of measuring the three-dimensional shape of the left side surface 101L which is one of the side surfaces 101L and 101R of the tunnel lining surface 100.
- the drive shaft 41 is driven to rotate relative to the stage 42 by a motor or the like, and the photographing means / slit laser light projecting means installation means 30 is inverted 180 degrees around the vertical center axis C, and tunneling is performed.
- the three-dimensional shape of the right side surface 101R which is the other one side surface of the both side surfaces 101L and 101R of the lining surface 100 is fixed to a second measurement position where measurement is possible.
- FIGS. 2 and 3 show a state in which the photographing means / slit laser light projecting means setting means 30 is fixed at the first measurement position.
- FIG. 4 is a diagram showing the relationship between the light projecting direction of the slit laser light L projected from the slit laser light projecting means 20 and the photographing direction of the photographing means 10 (collimation line 11a).
- FIG. 4A is a view as seen from the direction of arrow A in FIG. 3, that is, from the right side of the vehicle 1.
- FIG. 4B is a perspective view.
- the slit laser beam L is projected in a direction perpendicular to the surface of the tunnel lining surface 100, and the circumferential direction of the tunnel lining surface 100, that is, the traveling direction of the vehicle 1.
- a long slit laser beam L is irradiated along a perpendicular direction.
- the imaging means 10 images the slit laser light L irradiated to the surface of the tunnel lining surface 100 from an oblique direction with a collimation line 11 a inclined with respect to the surface of the tunnel lining surface 100.
- the slit laser light L applied to the surface is photographed as a straight line.
- the slit laser light L irradiated on the surface is photographed with distortion.
- FIG. 5 is a cross-sectional view showing a state in which the vehicle 1 is traveling on the right traveling lane 150R in the tunnel.
- the imaging means / slit laser beam projecting means installation means 30 is inverted 180 degrees around the vertical center axis C from the first imaging position and fixed at the second measurement position by the fixing / reversing means 40. Is shown.
- the slit laser beam projecting means 20f, 20e, 20d, 20c, 20b, and 20a are the areas 100G, 100H, and 100I along the circumferential direction of the right side surface 101R that is the other side surface of the both sides of the tunnel covering surface 100.
- 100J, 100K, and 100L, long slit laser beams L are projected along the circumferential direction of the tunnel lining surface 100, respectively.
- the photographing means 10f, 10e, 10d, 10c, 10b, and 10a are areas along the circumferential direction of the right side surface 101R that is the other side surface of the both sides of the tunnel lining surface 100.
- 100G, 100H, 100I, 100J, 100K, and 100L are photographed from directions different from the direction in which the slit laser light L is projected.
- a plurality (six) of slit laser beam projecting means 20a, 20b, 20c, 20d, 20e, 20f and a plurality (six) of imaging means 10a, 10b, 10c, 10d, 10f are These are arranged in a zigzag pattern along the circumferential direction of the arcuate or substantially arcuate installation surface 31 (see FIG. 3).
- the slit laser beams L projected from the respective slit laser beam projecting means 20f, 20e, 20d, 20c, 20b, and 20a and irradiated to the respective areas 100G, 100H, 100I, 100J, 100K, and 100L are adjacent to each other. It can be avoided that things overlap each other.
- FIG. 6 shows a procedure of processing performed in the tunnel lining surface inspection system of the embodiment.
- the vehicle 1 travels along the left travel lane 150L. While the vehicle 1 is running, the six photographing units 10a to 10f and the slit laser beam projecting units 20a to 20f are operated. As a result, the slit laser beams L irradiated to the respective areas 100A, 100B, 100C, 100D, 100E, and 100F of the left side surface 101L of the tunnel lining surface 100 are each of the six photographing units 10a, 10b, 10c, 10d, 10e, Images are sequentially taken as the vehicle 1 advances by 10f. The image data of the areas 100A to 100F on the left side surface 101L of the tunnel lining surface 100 photographed by the photographing means 10a to 10f is taken into the image processing unit 50 (see FIG. 2; step 201).
- the photographing means / slit laser light projecting means installation means 30 is inverted 180 degrees around the vertical center axis C by the fixing / reversing means 40, and the photographing means 10a to 10f and the slit laser light projecting means 20a to 20f are turned on.
- the position is fixed at the second measurement position (step 202).
- the vehicle 1 With the photographing means 10a to 10f and the slit laser light projecting means 20a to 20f fixed at the second measurement position, the vehicle 1 is caused to travel along the overtaking lane 150R on the right side.
- the six photographing units 10a to 10f and the slit laser beam projecting units 20a to 20f are operated.
- the slit laser beams irradiated to the respective areas 100G, 100H, 100I, 100J, 100K, and 100L of the right side surface 101R of the tunnel lining surface 100 are respectively provided with six photographing units 10f, 10e, 10d, 10c, 10b, and 10a.
- the images are sequentially taken as the vehicle 1 travels.
- the image data of each area 100L to 100G of the right side surface 101R of the tunnel lining surface 100 photographed by each photographing means 10f to 10a is taken into the image processing unit 50 (see FIG. 5; step 203).
- the image data of the areas 100A to 100F of the left side surface 101L of the tunnel lining surface 100 and the image data of the areas 100G to 100L of the right side surface 101R taken into the image processing unit 50 are, for example, external for image processing. It is taken into the personal computer (step 204).
- FIG. 7A shows a portion of a crack 301 formed at the joint of the tunnel lining surface 100 and a portion of a crack 302 formed other than the joint.
- FIG. 7B is an enlarged view of the crack 301 formed at the joint of the tunnel lining surface 100
- FIG. 7C is an enlarged view of the crack 302 formed at a portion other than the joint of the tunnel lining surface 100. is there. In either case, it can be seen that the cracks 301 and 302 have a lift of about 1 mm on the surface.
- the seam is a weak portion in strength and is likely to crack. It is impossible to determine whether a crack formed on the tunnel lining surface 100 is accompanied by a lift of 1 mm or more, which leads to flaking, with only a visible image.
- FIG. 8 shows an example of image processing performed in a personal computer.
- reference numeral 111 denotes a joint that divides each span of the tunnel lining surface 100.
- the three-dimensional image 120 is a height image showing the height of the tunnel lining surface 100 for each two-dimensional position in the circumferential direction of the tunnel lining surface 100 and the traveling direction of the vehicle 1. For example, the higher the part, the lighter the color changes, and the lower the part, the darker the color.
- the crack 303 shown in the three-dimensional image 120 is displayed lightly and the crack 304 is displayed darkly, it can be determined that the crack 304 has a higher lift and a higher risk of flaking.
- the technology of this infrared thermal image analysis apparatus is to remove information on the temperature gradient superimposed on the infrared image and display an image in which the difference between the healthy part and the damaged part becomes clearer.
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Immunology (AREA)
- General Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- Pathology (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Lining And Supports For Tunnels (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
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およびスリットレーザ光投光手段とを用いた光切断法によって、トンネル覆工面の表面の3次元形状を計測して、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、
トンネル覆工面の両側面のうち片側側面に対応する円弧面状あるいは略円弧面状の設置面を有し、前記車両に搭載される撮影手段/スリットレーザ光投光手段設置手段であって、
トンネル覆工面の両側面のうち片側側面の周方向に沿った各エリアに向けて、トンネル覆工面の周方向に沿って長いスリットレーザ光をそれぞれ投光する複数のスリットレーザ光投光手段が、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、配置されるとともに、
トンネル覆工面の両側面のうち片側側面の周方向に沿った各エリアを、前記複数のスリットレーザ光の投光方向とは異なる方向からそれぞれ撮影する複数の撮影手段が、複数のスリットレーザ光投光手段にそれぞれに対応して、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、スリットレーザ光投光手段の設置箇所から、車両進行方向に所定距離離間して配置された撮影手段/スリットレーザ光投光手段設置手段と、
前記撮影手段/スリットレーザ光投光手段設置手段を、トンネル覆工面の両側面のうち一方の片側側面の3次元形状を計測可能な第1の計測位置に固定させるとともに、前記撮影手段/スリットレーザ光投光手段設置手段を鉛直中心軸回りに180度反転させて、トンネル覆工面の両側面のうち他方の片側側面の3次元形状を計測可能な第2の計測位置に固定させる固定・反転手段と、
前記撮影手段/スリットレーザ光投光手段設置手段が前記第1の計測位置に固定された状態で、計測されたトンネル覆工面のうち一方の片側側面の3次元形状計測結果と、前記撮影手段/スリットレーザ光投光手段設置手段が前記第2の計測位置に固定された状態で、計測されたトンネル覆工面のうち他方の片側側面の3次元形状計測結果とを用いて、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。
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およびスリットレーザ光投光手段とを用いた光切断法によって、トンネル覆工面の表面の3次元形状を計測して、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に用いる車両であって、
トンネル覆工面の両側面のうち片側側面に対応する円弧面状あるいは略円弧面状の設置面を有し、前記車両に搭載される撮影手段/スリットレーザ光投光手段設置手段であって、
トンネル覆工面の両側面のうち片側側面の周方向に沿った各エリアに向けて、トンネル覆工面の周方向に沿って長いスリットレーザ光をそれぞれ投光する複数のスリットレーザ光投光手段が、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、配置されるとともに、
トンネル覆工面の両側面のうち片側側面の周方向に沿った各エリアを、前記複数のスリットレーザ光の投光方向とは異なる方向からそれぞれ撮影する複数の撮影手段が、複数のスリットレーザ光投光手段にそれぞれに対応して、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、スリットレーザ光投光手段の設置箇所から、車両進行方向に所定距離離間して配置された撮影手段/スリットレーザ光投光手段設置手段と、
前記撮影手段/スリットレーザ光投光手段設置手段を、トンネル覆工面の両側面のうち一方の片側側面の3次元形状を計測可能な第1の計測位置に固定させるとともに、前記撮影手段/スリットレーザ光投光手段設置手段を鉛直中心軸回りに180度反転させて、トンネル覆工面の両側面のうち他方の片側側面の3次元形状を計測可能な第2の計測位置に固定させる固定・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。
複数のスリットレーザ光投光手段と複数の撮影手段は、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、千鳥状に配置されることを特徴とする。
複数のスリットレーザ光投光手段と複数の撮影手段は、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、千鳥状に配置されることを特徴とする。
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およびスリットレーザ光投光手段とを用いた光切断法によって、トンネル覆工面の表面の3次元形状を計測して、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、
トンネル覆工面の両側面のうち片側側面に対応する円弧面状あるいは略円弧面状の設置面を有し、前記車両に搭載される撮影手段/スリットレーザ光投光手段設置手段であって、
トンネル覆工面の両側面のうち片側側面の周方向に沿った各エリアに向けて、トンネル覆工面の周方向に沿って長いスリットレーザ光をそれぞれ投光する複数のスリットレーザ光投光手段が、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、配置されるとともに、
トンネル覆工面の両側面のうち片側側面の周方向に沿った各エリアを、前記複数のスリットレーザ光の投光方向とは異なる方向からそれぞれ撮影する複数の撮影手段が、複数のスリットレーザ光投光手段にそれぞれに対応して、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、スリットレーザ光投光手段の設置箇所から、車両進行方向に所定距離離間して配置された撮影手段/スリットレーザ光投光手段設置手段と、
前記撮影手段/スリットレーザ光投光手段設置手段を、トンネル覆工面の両側面のうち一方の片側側面の3次元形状を計測可能な第1の計測位置に固定させるとともに、前記撮影手段/スリットレーザ光投光手段設置手段を鉛直中心軸回りに180度反転させて、トンネル覆工面の両側面のうち他方の片側側面の3次元形状を計測可能な第2の計測位置に固定させる固定・反転手段と、
前記撮影手段/スリットレーザ光投光手段設置手段が前記第1の計測位置に固定された状態で、計測されたトンネル覆工面のうち一方の片側側面の3次元形状計測結果と、前記撮影手段/スリットレーザ光投光手段設置手段が前記第2の計測位置に固定された状態で、計測されたトンネル覆工面のうち他方の片側側面の3次元形状計測結果とを用いて、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画像加工手段と
を備えたトンネル覆工面調査システム。 - 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およびスリットレーザ光投光手段とを用いた光切断法によって、トンネル覆工面の表面の3次元形状を計測して、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に用いる車両であって、
トンネル覆工面の両側面のうち片側側面に対応する円弧面状あるいは略円弧面状の設置面を有し、前記車両に搭載される撮影手段/スリットレーザ光投光手段設置手段であって、
トンネル覆工面の両側面のうち片側側面の周方向に沿った各エリアに向けて、トンネル覆工面の周方向に沿って長いスリットレーザ光をそれぞれ投光する複数のスリットレーザ光投光手段が、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、配置されるとともに、
トンネル覆工面の両側面のうち片側側面の周方向に沿った各エリアを、前記複数のスリットレーザ光の投光方向とは異なる方向からそれぞれ撮影する複数の撮影手段が、複数のスリットレーザ光投光手段にそれぞれに対応して、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、スリットレーザ光投光手段の設置箇所から、車両進行方向に所定距離離間して配置された撮影手段/スリットレーザ光投光手段設置手段と、
前記撮影手段/スリットレーザ光投光手段設置手段を、トンネル覆工面の両側面のうち一方の片側側面の3次元形状を計測可能な第1の計測位置に固定させるとともに、前記撮影手段/スリットレーザ光投光手段設置手段を鉛直中心軸回りに180度反転させて、トンネル覆工面の両側面のうち他方の片側側面の3次元形状を計測可能な第2の計測位置に固定させる固定・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。 - 複数のスリットレーザ光投光手段と複数の撮影手段は、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、千鳥状に配置されることを特徴とする請求項1記載のトンネル覆工面調査システム。
- 複数のスリットレーザ光投光手段と複数の撮影手段は、前記円弧面状あるいは略円弧面状の設置面の周方向に沿って、千鳥状に配置されることを特徴とする請求項2記載のトンネル覆工面調査システムに用いる車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/904,740 US9810642B2 (en) | 2014-07-25 | 2014-12-03 | Tunnel lining surface inspection system and vehicle used in tunnel lining surface inspection system |
KR1020157020724A KR102164374B1 (ko) | 2014-07-25 | 2014-12-03 | 터널 복공면 조사 시스템 및 터널 복공면 조사 시스템에 이용하는 차량 |
SG11201600838SA SG11201600838SA (en) | 2014-07-25 | 2014-12-03 | Tunnel lining surface examination system and vehicle used in tunnel lining surface examination system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014-152323 | 2014-07-25 | ||
JP2014152323A JP6373111B2 (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 |
---|---|
WO2016013133A1 true WO2016013133A1 (ja) | 2016-01-28 |
Family
ID=55162684
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2014/082022 WO2016013133A1 (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 (5)
Country | Link |
---|---|
US (1) | US9810642B2 (ja) |
JP (1) | JP6373111B2 (ja) |
KR (1) | KR102164374B1 (ja) |
SG (1) | SG11201600838SA (ja) |
WO (1) | WO2016013133A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107356211A (zh) * | 2017-07-10 | 2017-11-17 | 山西省交通科学研究院 | 一种隧道智能检测车及其检测方法 |
CN112036425A (zh) * | 2020-05-09 | 2020-12-04 | 中铁四局集团有限公司 | 一种隧道空洞状态雷达波谱图像识别模型构建方法及隧道空洞状态雷达波谱图像识别方法 |
WO2021225084A1 (ja) * | 2020-05-07 | 2021-11-11 | 富士フイルム株式会社 | 損傷評価装置、方法及びプログラム |
Families Citing this family (18)
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 |
JP6844193B2 (ja) * | 2016-10-21 | 2021-03-17 | 株式会社大林組 | 覆工コンクリートの調査装置および覆工コンクリートの調査方法 |
CN106524998B (zh) * | 2016-11-01 | 2019-02-12 | 中国地质大学(武汉) | 基于三维激光扫描技术测量隧道线状出露结构面的方法 |
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 |
JP2018105804A (ja) * | 2016-12-28 | 2018-07-05 | 首都高Etcメンテナンス株式会社 | 計測情報取得方法および電界強度測定用作業車 |
CN108318490A (zh) * | 2017-01-17 | 2018-07-24 | 南京熊猫信息产业有限公司 | 一种隧道病害检测装置 |
JP6772425B2 (ja) * | 2017-02-24 | 2020-10-21 | 国際航業株式会社 | 走行型トンネル覆工撮影装置、及び走行型トンネル覆工撮影方法 |
CN107655898B (zh) * | 2017-10-10 | 2023-11-03 | 山西省智慧交通研究院有限公司 | 一种用于公路隧道检测的立体扫描机器人及其实施方法 |
US10657666B2 (en) * | 2017-12-22 | 2020-05-19 | Symbol Technologies, Llc | Systems and methods for determining commercial trailer fullness |
JP2019207172A (ja) * | 2018-05-30 | 2019-12-05 | 東日本旅客鉄道株式会社 | トンネル覆工表面検査装置および検査用車両 |
CN109696160B (zh) * | 2018-12-13 | 2022-04-12 | 中交二公局东萌工程有限公司 | 一种隧道加工的激光定位方法 |
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 |
WO2021068746A1 (zh) * | 2019-10-08 | 2021-04-15 | 上海市东方海事工程技术有限公司 | 隧道巡检图像采集装置、隧道巡检系统及隧道巡检方法 |
CN111692979B (zh) * | 2020-06-17 | 2021-11-05 | 中交一公局厦门工程有限公司 | 一种基于热成像检测隧道二衬布料高度的系统及检测方法 |
CN112268797B (zh) * | 2020-10-09 | 2022-07-19 | 武汉威思顿环境系统有限公司 | 一种隧道全方位综合检测仪 |
CN113280866B (zh) * | 2021-06-16 | 2022-12-09 | 清华大学 | 一种用于隧道的自动检修系统及检修方法 |
CN113960049A (zh) * | 2021-10-19 | 2022-01-21 | 中南大学 | 一种隧道表面病害检测装置及检测方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05256633A (ja) * | 1991-06-13 | 1993-10-05 | East Japan Railway Co | 鉄道トンネル覆工変状撮影方法 |
JP2011095222A (ja) * | 2009-11-02 | 2011-05-12 | Tosetsu Doboku Consultant:Kk | トンネルの内壁検査システムおよびトンネルの内壁検査方法 |
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 (10)
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 |
JP3715588B2 (ja) * | 2002-06-03 | 2005-11-09 | アジア航測株式会社 | 構造物の壁面調査装置 |
US8958079B2 (en) * | 2004-06-30 | 2015-02-17 | Georgetown Rail Equipment Company | System and method for inspecting railroad ties |
US7243431B2 (en) * | 2005-04-11 | 2007-07-17 | Godwin W Lee | Trailer hitch alignment device |
KR100933329B1 (ko) * | 2007-08-23 | 2009-12-22 | (주)가온기술 | 터널 매핑 자동화 장치 및 방법 |
EP2241675B1 (en) * | 2009-04-11 | 2016-06-15 | Hmoud Sayaf Al Shahrani | Security gates device |
KR101454103B1 (ko) | 2013-01-24 | 2014-10-23 | 현대중공업 주식회사 | 선박평형수 처리장치용 필터 |
JP6444086B2 (ja) * | 2014-07-25 | 2018-12-26 | 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 |
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 |
US9110170B1 (en) * | 2014-08-29 | 2015-08-18 | Raytheon Company | Terrain aided navigation using multi-channel monopulse radar imaging |
-
2014
- 2014-07-25 JP JP2014152323A patent/JP6373111B2/ja active Active
- 2014-12-03 WO PCT/JP2014/082022 patent/WO2016013133A1/ja active Application Filing
- 2014-12-03 SG SG11201600838SA patent/SG11201600838SA/en unknown
- 2014-12-03 KR KR1020157020724A patent/KR102164374B1/ko active IP Right Grant
- 2014-12-03 US US14/904,740 patent/US9810642B2/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05256633A (ja) * | 1991-06-13 | 1993-10-05 | East Japan Railway Co | 鉄道トンネル覆工変状撮影方法 |
JP2011095222A (ja) * | 2009-11-02 | 2011-05-12 | Tosetsu Doboku Consultant:Kk | トンネルの内壁検査システムおよびトンネルの内壁検査方法 |
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 (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107356211A (zh) * | 2017-07-10 | 2017-11-17 | 山西省交通科学研究院 | 一种隧道智能检测车及其检测方法 |
CN107356211B (zh) * | 2017-07-10 | 2019-03-12 | 山西省交通科学研究院 | 一种隧道智能检测车及其检测方法 |
WO2021225084A1 (ja) * | 2020-05-07 | 2021-11-11 | 富士フイルム株式会社 | 損傷評価装置、方法及びプログラム |
JP7429774B2 (ja) | 2020-05-07 | 2024-02-08 | 富士フイルム株式会社 | 損傷評価装置、方法及びプログラム |
CN112036425A (zh) * | 2020-05-09 | 2020-12-04 | 中铁四局集团有限公司 | 一种隧道空洞状态雷达波谱图像识别模型构建方法及隧道空洞状态雷达波谱图像识别方法 |
Also Published As
Publication number | Publication date |
---|---|
JP6373111B2 (ja) | 2018-08-15 |
US9810642B2 (en) | 2017-11-07 |
SG11201600838SA (en) | 2016-03-30 |
JP2016031249A (ja) | 2016-03-07 |
KR20170039060A (ko) | 2017-04-10 |
KR102164374B1 (ko) | 2020-10-12 |
US20160223471A1 (en) | 2016-08-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6373111B2 (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 | |
JP4898320B2 (ja) | 構造物の欠陥検出方法および装置、ならびに欠陥検出機能を備えた荷役機械 | |
KR101097119B1 (ko) | 비전센서 시스템의 터널 내부면 손상검사 방법 | |
JP2011095222A (ja) | トンネルの内壁検査システムおよびトンネルの内壁検査方法 | |
US11494888B2 (en) | Work terminal, oil leakage detection apparatus, and oil leakage detection method | |
US20140002641A1 (en) | Tire shape testing device and tire shape testing method | |
JP2004347585A (ja) | 建築および土木構造物計測・解析システム | |
JP7010672B2 (ja) | 車輪形状測定方法 | |
JP6602625B2 (ja) | 構造物検査システム | |
WO2010084920A1 (ja) | パンタグラフ高さ測定装置及びそのキャリブレーション方法 | |
JP2017211314A (ja) | 変状部の検出方法及び変状部の検査装置 | |
JP3886875B2 (ja) | トンネル覆工の内部欠陥検査装置 | |
KR20040020261A (ko) | 영상입력에 의한 구조물의 균열 탐지장치 및 방법 | |
JP6811661B2 (ja) | 移動体撮像装置および移動体 | |
WO2019208058A1 (ja) | 移動体スキャナ | |
KR100816826B1 (ko) | 레이저 이미지를 이용한 균열측정 장치 및 방법 | |
WO2017057356A1 (ja) | 構造物撮像装置、構造物検査装置および構造物検査システム | |
JP2018159640A (ja) | トンネル切羽面の監視システムおよび監視方法 | |
JP2004117193A (ja) | トンネル覆工の内部欠陥検出装置 | |
JP2018059835A5 (ja) | ||
JP2017067485A (ja) | 構造物撮像装置、構造物検査装置および構造物検査システム | |
JP2001311709A (ja) | 構造物検査装置、及び、構造物検査方法 | |
JP2019207172A (ja) | トンネル覆工表面検査装置および検査用車両 | |
JP2003148936A (ja) | 光切断法による対象物の三次元計測方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 20157020724 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14904740 Country of ref document: US |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14897925 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: 14897925 Country of ref document: EP Kind code of ref document: A1 |