WO2021241536A1 - 構造物の検査方法及び検査システム - Google Patents

構造物の検査方法及び検査システム Download PDF

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Publication number
WO2021241536A1
WO2021241536A1 PCT/JP2021/019703 JP2021019703W WO2021241536A1 WO 2021241536 A1 WO2021241536 A1 WO 2021241536A1 JP 2021019703 W JP2021019703 W JP 2021019703W WO 2021241536 A1 WO2021241536 A1 WO 2021241536A1
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Prior art keywords
region
image
internal state
detected
inspecting
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Ceased
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PCT/JP2021/019703
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English (en)
French (fr)
Japanese (ja)
Inventor
直史 笠松
那緒子 吉田
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Fujifilm Corp
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Fujifilm Corp
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Priority to JP2022526555A priority Critical patent/JPWO2021241536A1/ja
Publication of WO2021241536A1 publication Critical patent/WO2021241536A1/ja
Priority to US18/050,911 priority patent/US20230111766A1/en
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/38—Concrete; Lime; Mortar; Gypsum; Bricks; Ceramics; Glass
    • G01N33/383—Concrete or cement
    • 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
    • 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
    • G01M5/0008—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of bridges
    • 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
    • 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
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
    • G01N21/3581—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light using far infrared light; using Terahertz radiation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N22/00—Investigating or analysing materials by the use of microwaves or radio waves, i.e. electromagnetic waves with a wavelength of one millimetre or more
    • G01N22/02—Investigating the presence of flaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N25/00—Investigating or analyzing materials by the use of thermal means
    • G01N25/72—Investigating presence of flaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/043—Analysing solids in the interior, e.g. by shear waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/045—Analysing solids by imparting shocks to the workpiece and detecting the vibrations or the acoustic waves caused by the shocks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0654—Imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/20—Metals
    • G01N33/204—Structure thereof, e.g. crystal structure
    • G01N33/2045—Defects
    • 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
    • G01N21/8806—Specially adapted optical and illumination features
    • G01N2021/8845—Multiple wavelengths of illumination or detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/023—Solids
    • G01N2291/0232—Glass, ceramics, concrete or stone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/028—Material parameters
    • G01N2291/0289—Internal structure, e.g. defects, grain size, texture

Definitions

  • the present invention relates to a structure inspection method and inspection system.
  • Infrared photography is known as a non-destructive inspection method for structures (for example, Patent Documents 1, 2, etc.).
  • an infrared camera is used to capture a thermal image of the surface of a structure, and the presence of an internal abnormality is estimated based on the obtained thermal image.
  • the structure Under the influence of outside air and sunlight, the structure repeatedly absorbs heat from the outside to the inside and dissipates heat from the inside to the outside.
  • the abnormal part with the cavity functions as a heat insulating layer. As a result, a temperature difference occurs between the abnormal part and the healthy part without abnormality.
  • the abnormal part and the healthy part are displayed in different colors on the thermal image. Therefore, by observing the thermal image, it is possible to determine the presence or absence of an abnormality that has occurred inside the structure. In addition, since the abnormal part usually occurs locally, the position where the abnormal part occurs can be determined by observing the thermal image.
  • the present invention has been made in view of such circumstances, and an object of the present invention is to provide a structure inspection method and system capable of easily detecting an abnormal portion and inspecting the internal state of the abnormal portion in detail. do.
  • the region where the floating is estimated is detected as the first region based on the thermal image, and the structure of any one of (1) to (7) is detected. How to inspect things.
  • the structure is a structure made of reinforced concrete
  • the region where the floating is estimated is detected as the first region based on the thermal image
  • the leaked region is the second region based on the visible light image.
  • the step of measuring the internal state of the inspection target area, the floating is detected in the inspection target area by the measurement, and the detected floating depth is within a predetermined range.
  • a method of inspecting a structure including a step of inspecting the integrity of the reinforcing bar in the area to be inspected.
  • An infrared camera that captures a thermal image of the structure and an image pickup device that captures an image that visualizes the internal state of the structure are provided, and there is an abnormality inside the structure from the thermal image captured by the infrared camera.
  • a structure inspection system that, when an estimated area is detected, captures an image that visualizes the internal state of the area with an image pickup device and measures the internal state of the area.
  • an abnormal part can be easily detected and the internal state of the abnormal part can be inspected in detail.
  • Schematic configuration diagram of the inspection system used for inspection of structures Block diagram showing an example of the hardware configuration of the inspection device body Block diagram of the functions of the inspection device body
  • a flowchart showing the inspection procedure of the first embodiment A flowchart showing the inspection procedure of the second embodiment.
  • a flowchart showing the inspection procedure of the third embodiment A flowchart showing the inspection procedure of the fourth embodiment.
  • Floating concrete means that the area near the surface of concrete is floating. Floating concrete means that the concrete near the surface is losing its integrity with the concrete inside due to continuous cracking inside the concrete.
  • FIG. 1 is a schematic configuration diagram of an inspection system used for inspecting a structure.
  • the inspection system 1 of the present embodiment includes an infrared camera 10, a visible light camera 20, a millimeter wave camera 30, and an inspection device main body 40.
  • the infrared camera 10 captures a thermal image of the surface of the structure O to be inspected.
  • the thermal image represents the temperature distribution (heat distribution) on the surface of the subject.
  • the infrared camera 10 is communicably connected to the inspection device main body 40.
  • the form of communication is not particularly limited.
  • the image data of the thermal image captured by the infrared camera 10 is output to the inspection device main body 40.
  • the visible light camera 20 captures a visible light image of the surface of the structure O to be inspected.
  • the visible light image is an image obtained by imaging a subject with sensitivity in the wavelength band of visible light (generally 380 nm to 780 nm).
  • the visible light camera 10 is a general digital camera (portable terminal, etc.) equipped with a CMOS image sensor (complementary metal-oxide semiconductor device image sensor), a CCD image sensor (charge-coupled device image sensor), or the like. Can be used).
  • CMOS image sensor complementary metal-oxide semiconductor device image sensor
  • CCD image sensor charge-coupled device image sensor
  • a digital camera capable of color photography is used. Therefore, a color image is taken as a visible light image.
  • the color image is an image (so-called RGB image) having each intensity value (brightness value) of R (red; red), G (green; green), and B (blue; blue) in pixel units.
  • the visible light camera 20 is communicably connected to the inspection device main body 40. The form of communication is not particularly limited.
  • the image data of the visible light image captured by the visible light camera 20 is output to the inspection device main body 40.
  • the infrared camera 10 and the visible light camera 20 have almost the same angle of view, and image the same range from almost the same position. For example, they are installed side by side on the same tripod via a bracket, and the subject is imaged from almost the same position.
  • the millimeter wave camera 30 captures a millimeter wave image that visualizes the internal state of the structure O to be inspected.
  • the millimeter wave camera 30 is one of the means for measuring the internal state of the structure.
  • the millimeter wave camera 30 is an example of an image pickup device that captures an image that visualizes the internal state of a structure.
  • the millimeter-wave camera 30 of the present embodiment is composed of a so-called active millimeter-wave camera. An active millimeter-wave camera irradiates a subject with millimeter waves, receives the reflected waves, and generates a millimeter-wave image that visualizes the internal state of the subject.
  • the millimeter wave is an electromagnetic wave having a wavelength of 1 to 10 mm and a frequency of 30 to 300 GHz.
  • the millimeter-wave camera 30, for example, electronically or mechanically scans a millimeter-wave beam to form a two-dimensional image of the internal state of a subject within an angle of view.
  • imaging can be speeded up.
  • a plurality of receiving antennas can be arranged in one direction and scanned in a direction orthogonal to the arrangement direction to form a two-dimensional image.
  • MIMO Multiple Input Multiple Output
  • MIMO is a technology that creates virtual receiving antennas that exceed the number of receiving antennas mounted by transmitting signals from multiple antennas. By adopting MIMO radar technology, the resolution can be further improved.
  • the millimeter wave camera 30 is communicably connected to the inspection device main body 40.
  • the form of communication is not particularly limited.
  • the image data of the millimeter wave image captured by the millimeter wave camera 30 is output to the inspection device main body 40.
  • the inspection device main body 40 receives and processes image data output from the infrared camera 10, the visible light camera 20, and the millimeter wave camera 30.
  • the inspection device main body 40 is composed of a computer including an operation unit, a display unit, and the like.
  • FIG. 2 is a block diagram showing an example of the hardware configuration of the inspection device main body.
  • the inspection device main body 40 includes a CPU (Central Processing Unit) 41, a RAM (Random Access Memory) 42, a ROM (Read Only Memory) 43, an HDD (Hard Disk Drive) 44, and a communication interface (Interface). It is configured to include an IF) 45, an operation unit 46, a display unit 47, and the like.
  • the ROM 43 and / or the HDD 44 stores a program executed by the CPU 41 and various data.
  • the operation unit 46 is composed of, for example, a keyboard, a mouse, a touch panel, and the like.
  • the display unit 47 is composed of, for example, a liquid crystal display (Liquid Crystal Display, LCD), an organic EL display (Organic Light Emitting Display Display, OLED display), or the like.
  • the infrared camera 10, the visible light camera 20, and the millimeter wave camera 30 are communicably connected to the inspection device main body 40 via the communication interface 45.
  • FIG. 3 is a block diagram of the functions of the inspection device main body.
  • the inspection device main body 40 mainly has the functions of the image acquisition unit 40A, the image processing unit 40B, and the display control unit 40C. These functions are realized by the CPU 41 executing a predetermined program.
  • the image acquisition unit 40A acquires image data obtained by imaging from each camera in response to an instruction from the user input via the operation unit 46. Specifically, the image data of the thermal image is acquired from the infrared camera 10, the image data of the visible light image is acquired from the visible light camera 20, and the image data of the millimeter wave image is acquired from the millimeter wave camera 30.
  • the image processing unit 40B performs predetermined image processing on the image data in response to an instruction from the user input via the operation unit 46.
  • the image processing here includes a process of generating image data for display and a process of detecting a region where floating is estimated from the image with respect to a thermal image.
  • a known technology can be adopted.
  • a technique of detecting the floating of concrete from a thermal image can be adopted by using an image recognition model generated by machine learning, deep learning, or the like.
  • the type of machine learning algorithm is not particularly limited.
  • an algorithm using a neural network such as RNN (Recurrent Neural Network), CNN (Convolutional Neural Network) and MLP (Multilayer Perceptron) can be used.
  • RNN Recurrent Neural Network
  • CNN Convolutional Neural Network
  • MLP Multilayer Perceptron
  • the image processing unit 40B When the process of automatically detecting the floating from the thermal image is performed, the image processing unit 40B generates an image including the detection result as an image for display. For example, it generates an image in which the detected float is surrounded by a frame. In addition, the image processing unit 40B generates, as necessary, an image in which a visible light image and a thermal image are arranged in parallel, an image in which a thermal image is superimposed on the visible light image, and the like as an image for display. When generating an image in which a thermal image is superimposed on a visible light image, for example, an image in which a semitransparent thermal image is superimposed on a visible light image is generated. In addition, an image in which only the region where the floating is estimated is superimposed is generated. In this case, a region where floating is estimated is cut out from the thermal image, and an image superimposed on the corresponding position of the visible light image is generated.
  • the image processing unit 40B performs processing for correcting the parallax generated between the infrared camera 10 and the visible light camera 20 as necessary. Parallax correction is required, for example, when an image is taken close to the subject.
  • the display control unit 40C displays the image captured by each camera on the display unit 47 in response to an instruction from the user input via the operation unit 46.
  • FIG. 4 is a flowchart showing the inspection procedure of the present embodiment.
  • step S1 screening for floats using thermal images is performed (step S1).
  • an infrared camera 10 is used to capture a thermal image of the surface of the structure O to be inspected.
  • the visible light image is also captured by the visible light camera 20 at the same time as the thermal image is captured.
  • the term “simultaneous” here is a concept that includes a range that is considered to be substantially simultaneous.
  • the captured thermal image and visible light image are output to the inspection device main body 40.
  • the inspection device main body 40 takes in the thermal image and the visible light image output from the infrared camera 10 and the visible light camera 20 and displays them on the display unit 47 in response to an instruction from the user.
  • the thermal image and the visible light image are displayed side by side on the same screen, for example.
  • the position can be easily identified.
  • the process of automatically detecting the floating of the thermal image is performed, the result is also displayed.
  • the detected floating area (the area where the floating is estimated) is displayed surrounded by a frame.
  • the corresponding area of the visible light image is also displayed surrounded by a frame. This makes it possible to easily identify the floating region on the visible light image.
  • the user confirms the image displayed on the display unit 47 of the inspection device main body 40 and screens the float. That is, the region where the float is estimated is detected.
  • the region where the float is estimated is an example of the first region.
  • the floating area has a temperature difference from the surrounding healthy area. Therefore, by observing the thermal image, the region presumed to be floating can be discriminated.
  • the detection target area is an area imaged by the infrared camera 10.
  • a process to measure the internal state is performed.
  • a millimeter-wave image is captured and the internal state of the target region is confirmed in detail (step S3).
  • This process is carried out in the following procedure.
  • the area where the float is detected is imaged by the millimeter wave camera 30.
  • a region including a portion where floating is detected is set as a detailed confirmation target region, and the set region is imaged by the millimeter wave camera 30.
  • the detailed confirmation target area is set to a part of the thermal image. For example, an area in which a floating area is detected and surrounded by a rectangular frame is set as a detailed confirmation target area.
  • the area to be confirmed in detail exceeds the imaging range of the millimeter-wave camera 30, imaging is performed in a plurality of times. That is, the area to be confirmed in detail is divided into a plurality of areas, and an image is taken for each area.
  • the captured millimeter-wave image is output to the inspection device main body 40.
  • the inspection device main body 40 takes in the millimeter wave image output from the millimeter wave camera 30 and displays it on the display unit 47 in response to an instruction from the user.
  • the displayed millimeter-wave image is an image that visualizes the internal state of concrete, and by checking this image, the presence or absence of floating and the state can be confirmed in detail.
  • step S4 it is determined whether or not the inspection of all areas has been completed. That is, it is determined whether or not the inspection of all the areas to be inspected is completed. When the inspection of all areas is completed, the inspection process is terminated. On the other hand, if the inspection of all areas is not completed, the process returns to step S1 and the above series of processes are repeatedly executed.
  • the floating is detected based on the thermal image, and the internal state is confirmed in detail only when the floating is detected.
  • This makes it possible to efficiently carry out highly accurate inspections. That is, while the inspection of the float by the thermal image can easily inspect a wide range, there is a problem in resolution, but by inspecting the region where the float is detected in the thermal image by the millimeter wave image, the internal state can be examined in detail. You can know. Further, since the imaging of the millimeter wave image is limited to a part, the imaging can be completed in a short time. As a result, both accuracy and time can be achieved, and highly accurate inspection can be efficiently performed.
  • FIG. 5 is a flowchart showing the inspection procedure of the present embodiment.
  • step S11 screening for floats using thermal images is performed (step S11). As a result of the screening, it is determined whether or not there is a float in the inspection target area (step S12).
  • step S13 an inspection by hitting is carried out. That is, the work of hitting the area where the float is detected with a hammer for inspection and confirming the presence or absence of peeling is performed.
  • step S14 the presence or absence of abnormality is determined.
  • step S15 the detailed confirmation work of the internal state by the millimeter wave image is performed (step S15). That is, the area in which the float is detected is imaged by the millimeter wave camera 30, and the work of confirming the internal state in detail is performed by the millimeter wave image obtained by the image pickup.
  • step S16 After confirming the details, it is determined whether or not the inspection of all areas has been completed (step S16). When the inspection of all areas is completed, the inspection process is terminated. On the other hand, if the inspection of all areas is not completed, the process returns to step S11, and the above series of processes are repeatedly executed.
  • the float is detected based on the thermal image, and when the float is detected, the inspection by hitting is performed. If no abnormality is detected by the impact inspection, a millimeter-wave image is taken to check the internal state in detail. As a result, highly accurate inspection can be performed more efficiently. That is, if peeling occurs in the inspection by hitting, it is an obvious abnormality, and the subsequent detailed inspection can be omitted. On the other hand, if the inspection by impact does not cause peeling, it is necessary to confirm the internal state in detail. In this case, a millimeter wave image is captured, so that the internal state can be confirmed in detail.
  • the presence or absence of abnormality is inspected by the presence or absence of peeling of the hitting portion, but the presence or absence of abnormality may be inspected by hitting sound.
  • tapping sound inspection So-called tapping sound inspection. In this case, if no abnormality is detected in the inspection by tapping sound, a millimeter wave image is taken.
  • the present embodiment it is determined whether or not a detailed inspection using a millimeter-wave image is necessary based on both the thermal image and the visible light image. Specifically, floating is detected in both thermal images and visible light images, and when floating is detected in both images, a detailed inspection using millimeter-wave images is performed.
  • Floating from the visible light image is detected, for example, by detecting the leaked part.
  • water leakage including rust juice
  • the leak point is an example of the second region.
  • the processing is performed by the image processing unit 40B.
  • the image processing unit 40B When the leaked portion is automatically detected from the visible light image, the image processing unit 40B generates an image including the detection result as an image for display. For example, in a visible light image, an image in which the detected leaked part is surrounded by a frame is generated as an image for display.
  • the temperature of the area where water leakage has occurred is lower than that of the surrounding healthy area. Therefore, the leaked part can be detected from the thermal image. That is, by detecting a region whose temperature is relatively lower than that of the surrounding region, a region where water leakage is estimated can be detected. In the present embodiment, as one of the regions where floating is estimated, a region whose temperature is relatively lower than that of the surroundings is detected from the thermal image.
  • the thermal image and the visible light image are individually displayed on the display unit 47 according to the instruction from the user. In addition, it is displayed in parallel on the same screen according to an instruction from the user. The user can determine the leaked part by checking the display of the display unit 47.
  • FIG. 6 is a flowchart showing the inspection procedure of the present embodiment.
  • step S21 screening for floats using thermal images is performed (step S21). As a result of the screening, it is determined whether or not there is a float in the inspection target area (step S22).
  • step S23 screening of water leaks by visible light images is performed (step S23).
  • the screening for water leakage using visible light images is performed by the following procedure.
  • the visible light camera 20 is used to capture a visible light image of the surface of the structure O to be inspected.
  • the visible light image is captured at the same time as the thermal image is captured.
  • the captured visible light image is output to the inspection device main body 40.
  • the inspection device main body 40 takes in the visible light image output from the visible light camera 20 and displays it on the display unit 47 in response to an instruction from the user.
  • the user confirms the image displayed on the display unit 47 of the inspection device main body 40 and screens for water leakage.
  • the presence or absence of water leakage in the inspection target area is determined (step S24).
  • the visible light image and the thermal image are displayed in parallel on the same screen according to the instruction from the user. In addition, it is displayed individually according to an instruction from the user.
  • step S25 When floating is detected from the thermal image and water leakage is detected from the visible light image, it is determined whether or not the locations are the same (step S25). That is, it is determined whether or not the floating region detected in the thermal image and the water leakage region detected in the visible light image are the same region. It should be noted that the same region here includes those that are recognized to be almost the same.
  • step S26 the detailed confirmation work of the internal state by the millimeter wave image is performed (step S26). That is, a work is performed in which a region in which floating and water leakage are detected is imaged by the millimeter wave camera 30, and the internal state is confirmed in detail by the millimeter wave image obtained by the image pickup.
  • step S27 After confirming the details, it is determined whether or not the inspection of all areas has been completed (step S27). When the inspection of all areas is completed, the inspection process is terminated. On the other hand, if the inspection of all areas is not completed, the process returns to step S21, and the above series of processes are repeatedly executed.
  • the necessity of detailed inspection by the millimeter wave image is determined based on both the thermal image and the visible light image. This makes it possible to efficiently carry out highly accurate inspections.
  • the leaked portion is detected from the visible light image to detect the region where the floating is estimated, but the type of abnormality detected from the visible light image is limited to this. is not it. Any abnormality (damage) of the type that is presumed to be floating may be used. For example, it is possible to detect a region where floating is estimated by detecting a predetermined pattern of cracks, free lime, discoloration of concrete, and the like. Free lime is a phenomenon in which components such as calcium oxide in concrete leak to the outside together with water such as rainwater.
  • the abnormal portion has a luminance distribution and an RGB value distribution different from those of other regions, the abnormal portion can be automatically detected from the visible light image by searching for a change in the luminance value and / or the RGB value.
  • an abnormal part when automatically detected from a visible light image, it is possible to add a process for determining the type of the detected abnormality. That is, it is also possible to add a process for determining what kind of abnormality is, such as cracks, water leakage, and free lime. This process can be performed using, for example, an image recognition model generated by machine learning, deep learning, or the like.
  • FIG. 7 is a flowchart showing the inspection procedure of the present embodiment.
  • the detailed confirmation work of the internal state by the millimeter wave image is performed (step S31). That is, the work of imaging the inspection target area with the millimeter-wave camera 30 and confirming the internal state in detail with the millimeter-wave image obtained by the imaging is performed.
  • the inspection target area is an area where floating is estimated. For example, it is within a certain range centered on the center of the floating area or the center of gravity.
  • step S32 it is determined whether or not the float is detected.
  • step S33 the depth of the generated float is estimated from the millimeter wave image.
  • the specified range is set based on the concrete cover thickness of the structure to be inspected.
  • the specified range is set to 4 to 5 cm.
  • step S35 the work of confirming the soundness of the reinforcing bar in detail is performed (step S35).
  • a non-destructive inspection method is adopted for the inspection of the soundness of the reinforcing bar. For example, it is carried out by an electromagnetic induction method, an electromagnetic wave radar method, or the like.
  • the electromagnetic induction method radiates a magnetic field line (primary magnetic field) toward the concrete from the magnetic field generation part of the exploration equipment, and detects the secondary magnetic field caused by the induced current generated in the conductive material (reinforcing bar) in the concrete. It is a method to detect the reinforcing bar and measure its position by detecting it with a unit and comparing the increase and decrease of the primary magnetic field and the secondary magnetic field.
  • the receiving section receives the electromagnetic waves reflected at the interface with substances (reinforcing bars) with different electrical properties, and the reinforcing bars are used. This is a method of detection.
  • the soundness of the reinforcing bars in the vicinity thereof is inspected as necessary. This makes it possible to inspect the internal state of the abnormal part in more detail.
  • the electromagnetic induction method, the electromagnetic wave radar method, etc. are adopted as a method for non-destructively inspecting the soundness of the reinforcing bar, but the method for inspecting the soundness of the reinforcing bar in a non-destructive manner is It is not limited to this.
  • a radiation transmission method, an ultrasonic method, or the like can be adopted.
  • the internal state of the structure is measured by visualizing the internal state of the structure using a millimeter-wave camera, but the method of measuring the internal state of the structure is limited to this. It is not something that will be done. For example, using electromagnetic waves such as microwaves and terahertz waves, or devices that visualize the internal state using ultrasonic waves (microwave imaging device, terahertz imaging, ultrasonic imaging device, etc.), the internal state of the structure can be determined. It can be measured. It is also possible to measure the internal state of the structure by adopting a non-destructive inspection method such as a non-contact acoustic exploration method. In addition, a known non-destructive exploration method can be adopted.
  • a non-destructive inspection method such as a non-contact acoustic exploration method.
  • the present invention works particularly effectively when inspecting reinforced concrete structures such as bridges, tunnels, dams, and buildings, but the application of the present invention is not limited thereto. In addition, for example, the same can be applied to a structure whose surface is made of tile, brick, or the like.
  • the abnormality (damage) to be inspected is not limited to this.
  • the present invention is particularly effective for inspecting internal abnormalities that are difficult to see from the surface.
  • Imaging with an infrared camera, a visible light camera, and a millimeter wave camera can also be performed by mounting the infrared camera, the visible light camera, and the millimeter wave camera on an unmanned aircraft (so-called drone), an unmanned traveling vehicle, or the like.
  • an infrared camera, a visible light camera, and a millimeter-wave camera are mounted on an unmanned aerial vehicle or the like to image an inspection target
  • the image can be automatically captured.
  • it may be configured to automatically fly a predetermined route and capture an image of an inspection target.
  • the inspection device main body is realized by a so-called stand-alone computer, but it can also be realized by a client-server type system.
  • the server may have a function of automatically detecting floats and the like from thermal images and visible light images.
  • the hardware that realizes the main body of the inspection device can be configured with various processors.
  • the circuit configuration can be changed after manufacturing CPU and / or GPU (Graphic Processing Unit), FPGA (Field Programmable Gate Array), which are general-purpose processors that execute programs and function as various processing units.
  • a dedicated electric circuit which is a processor having a circuit configuration specially designed for executing a specific process such as a programmable logic device (Programmable Logic Device, PLD), an ASIC (Application Specific Integrated Circuit), etc. Is done.
  • One processing unit constituting the inspection support device may be composed of one of the above-mentioned various processors, or may be composed of two or more processors of the same type or different types.
  • one processing unit may be configured by a plurality of FPGAs or a combination of a CPU and an FPGA.
  • a plurality of processing units may be configured by one processor.
  • one processor is configured by a combination of one or more CPUs and software, as represented by a computer such as a client or a server.
  • the processor functions as a plurality of processing units.
  • the various processing units are configured by using one or more of the above-mentioned various processors as a hardware-like structure.
  • the hardware-like structure of these various processors is, more specifically, an electric circuit (cyclery) in which circuit elements such as semiconductor elements are combined.
  • Inspection system 10 Infrared camera 20 Visible light camera 30 Millimeter wave camera 40 Inspection device main unit 40A Image acquisition unit 40B Image processing unit 40C Display control unit 41 CPU 42 RAM 43 ROM 44 HDD 45 Communication interface 46 Operation unit 47 Display unit O Structure S1 to S4 Inspection procedure S11 to S16 Inspection procedure S21 to S27 Inspection procedure S31 to S35 Inspection procedure

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