Patent Application
20220178735
The present invention relates to a displacement measurement apparatus for a structure, a displacement measurement method for a structure, and a storage medium.
When a vehicle passes through a structure such as a bridge, a load is applied to the structure and the structure is displaced. A variety of technologies are proposed to measure such a displacement of a structure.
For example, Patent Literature 1 describes a technology of measuring the deflection quantity of a bridge when a vehicle passes through the bridge, by using images captured by a video camera and a digital camera. Specifically, a feature of a vehicle travelling on a bridge is identified from a moving image captured by a video camera capturing the bridge, and at the timing that the vehicle is determined to be passing through the bridge, the bridge is captured by the digital camera, and distribution of the deflection quantity of the bridge is detected based on the captured image. Further, in Patent Literature 1, detection of an overloaded vehicle and the soundness evaluation of the bridge are performed on the basis of the distribution of the measured deflection quantity.
On the other hand, Patent Literature 2 discloses a travel control assisting method to assist travel control by a crew in order to reduce the alarming time in a wireless crossing control system for performing crossing control by using radio. In Patent Literature 2, when a train approaches a crossing, an on-vehicle device transmits the position and speed information of the own train to a crossing control device at given intervals. The crossing control device calculates an arrival estimation time of the train that will be taken until the train reaches the position of the crossing from the current position, on the basis of the position and the speed of the train received from the on-vehicle device. In Patent Literature 2, it is based on the premise that the crossing control device can receive the position and the speed of the train from the on-vehicle device in real time. Therefore, when a communication delay occurs, an error in the arrival estimation time may increase.
However, in the technology described in Patent Literature 1, a video camera must be provided at a position from which a vehicle travelling on a structure such as a bridge can be captured. Therefore, for a structure in which side walls of a bridge are covered with soundproof walls, or a structure having no appropriate place nearby for providing a video camera, a traveling vehicle cannot be captured, so that it is difficult to measure the displacement quantity when the vehicle is traveling.
An object of the present invention is to provide a displacement measurement apparatus for a structure that solves the problem described above.
A displacement measurement apparatus for a structure, according to one aspect of the present invention, includes
an acquisition means for acquiring displacement quantity in a time-series manner, the displacement quantity being generated at a measurement part of the structure by the weight of a vehicle that travels on the structure;
a detection means for detecting the position and the clock time of the vehicle that travels a pre-passage area of the measurement part;
an estimation means for estimating the arrival time that the vehicle arrives at the measurement part, from the position of the measurement part and the position and the clock time of the vehicle; and
a control means for controlling the acquisition means on the basis of the estimated arrival time.
A displacement measurement method for a structure, according to another aspect of the present invention, includes
acquiring displacement quantity in a time-series manner, the displacement quantity being generated at a measurement part of the structure by the weight of a vehicle that travels on the structure;
detecting the position and the clock time of the vehicle that travels a pre-passage area of the measurement part;
estimating the arrival time that the vehicle arrives at the measurement part, from the position of the measurement part and the position and the clock time of the vehicle; and
controlling the acquiring on the basis of the estimated arrival time.
A computer-readable storage medium, according to another aspect of the present invention, stores therein a program for causing a computer to perform processing of:
acquiring displacement quantity in a time-series manner, the displacement quantity being generated at a measurement part of the structure by the weight of a vehicle that travels on the structure;
detecting the position and the clock time of the vehicle that travels a pre-passage area of the measurement part;
estimating the arrival time that the vehicle arrives at the measurement part, from the position of the measurement part and the position and the clock time of the vehicle; and
controlling the acquiring on the basis of the estimated arrival time.
With the configurations as described above, the present invention is able to measure the displacement quantity of a structure when a vehicle is traveling on the structure even in the case of a structure in which an image of a traveling vehicle cannot be captured.
The camera 120 is an image capturing device that captures an area 141 existing on a surface of a structure 140 in which displacement is measured, at a predetermined frame rate. The structure 140 is, in the case of the present embodiment, a bridge in which a road 150 such as a highway crosses over a river or the like. In order to simplify the description, it is assumed that the road 150 has one lane and that a vehicle travels from the right side to the left side of the sheet. In the present embodiment, the area 141 is a part of a floor system that is a diagnosis part of the bridge. However, the structure 140 is not limited to a bridge. The structure 140 may be an elevated structure of a road or a railroad. The size of the area 141 is several tens centimeters square, for example. The camera 120 is attached to a platform on a tripod (neither is illustrated) so as to allow the capturing direction of the camera to be fixed in any direction. The camera 120 may be a high-speed camera equipped with a charge-coupled device (CCD) image sensor or a complementary MOS (CMOS) image sensor having a pixel capacity of about several thousands pixels, for example. Further, the camera 120 may be a visible light and black and white camera or may be an infrared camera or a color camera. The camera 120 has a GPS sensor that measures the position of the camera. The camera 120 also has an azimuth sensor that measures the capturing direction of the camera and an acceleration sensor. The camera 120 is connected with the computer 110 via the cable 121, but may be connected with the computer 110 wirelessly.
The vehicle detection device 130 is configured to detect the position, the clock time, and the speed of a vehicle that travels a pre-passage area 151 of the structure 140. The pre-passage area 151 means a road section that is passed by a vehicle before the vehicle passes through the structure 140. The section length of the pre-passage area 151 can be set arbitrarily. For example, the section length of the pre-passage area 151 may range from several tens meters to several kilometers. The vehicle detection device 130 is also configured to transmit vehicle detection data including the detected position, clock time, and speed of the vehicle to the computer 110 via a wireless network such as a mobile communication network.
The computer 110 is configured to acquire an image of the area 141 of the structure 140 captured by the camera 120 via the cable 121. The computer 110 is also configured to measure the deflection quantity of the area 141 of the structure 140 on the basis of an image acquired from the camera 120. The computer 110 is also configured to receive vehicle detection data transmitted from the vehicle detection device 130. The computer 110 is also configured to estimate the clock time when the vehicle reaches the area 141 that is a measurement part of the structure 140 on the basis of the received vehicle detection data. The computer 110 is also configured to control the timing of acquiring an image of the area 141 by the camera 120, on the basis of the estimated arrival time.
The computer 110 is also configured to calculate a reference value to be used for calculating the weight of the vehicle whose weight is unknown and a reference value to be used for determining the soundness of the structure, on the basis of the deflection quantity of the area 141 caused by traveling of the vehicle. The computer 110 is also configured to calculate the weight of a vehicle, whose weight is unknown, traveling on the structure 140, by using the calculated reference value. The computer 110 is also configured to perform deterioration diagnosis of the structure 140 by using the calculated reference value.
Exemplary configurations of the vehicle detection device 130 have been described above. Next, an exemplary configuration of the computer 110 will be described.
The camera I/F unit 111 is connected to the camera 120 via the cable 121. The camera 120 has a main unit 122 including an image sensor, an optical system, and the like, and the GPS sensor 123, the azimuth sensor 124, and the acceleration sensor 125 described above. The camera I/F unit 111 is configured to perform data transmission and reception between the main unit 122, the GPS sensor 123, the azimuth sensor 124, and the acceleration sensor 125, and the arithmetic processing unit 117.
The communication I/F unit 112 is configured of a data communication circuit, and is configured to perform data communication with the vehicle detection device 130 via a wireless network such as a mobile communication network. The communication I/F unit 113 is configured of a data communication circuit, and is configured to perform data communication with an external device, not shown, via wired or wireless communication. The operation input unit 114 includes operation input devices such as a keyboard and a mouse, and is configured to detect an operation by an operator and output it to the arithmetic processing unit 117. The screen display unit 115 is configured of a screen display device such as a liquid crystal display (LCD), and is configured to display, on a screen, various types of information such as a processing result according to an instruction from the arithmetic processing unit 117.
The storage unit 116 is configured of storage devices such as a hard disk and a memory, and is configured to store therein processing information and a program 1161 necessary for various types of processing in the arithmetic processing unit 117. The program 1161 is a program for implementing various processing units by being read and executed by the arithmetic processing unit 117, and is read in advance from an external device or a storage medium, not illustrated, via a data input-output function of the communication IN unit 113 and is stored in the storage unit 116. The main processing information to be stored in the storage unit 116 includes camera position/direction 1162, an image 1163, deflection quantity 1164, the vehicle detection data 1165, arrival time 1166, a reference value 1167, vehicle weight 1168, and a diagnosis result 1169.
The camera position/direction 1162 includes position data representing the installation position of the camera 120 and capturing direction data representing the capturing direction. For example, the position data includes longitude, latitude, and height representing the position of the camera 120 measured by the GPS sensor 123. The capturing direction data is data representing the capturing direction of the camera 120 calculated on the basis of data measured by the azimuth sensor 124 and the acceleration sensor 125 provided to the camera 120. The capturing direction is configured of three angles of pitch, roll, and yaw representing the posture of the camera 120.
The image 1163 is time-series images captured by the camera 120 for detecting the deflection quantity. The image 1163 may be a plurality of frame images constituting the moving image of the area 141 of the structure 140 captured by the camera 120. Each frame image has a captured time attached thereto.
The deflection quantity 1164 is time-series data representing the deflection quantity caused in the area 141 of the structure 140 by the weight of the vehicle that travels on the structure 140. The deflection quantity 1164 is generated based on the image 1163. The deflection quantity 1164 includes the acquisition time (measurement time) and a value of the deflection quantity.
The vehicle detection data 1165 is data including the position, the clock time, and the vehicle speed of the vehicle detected by the vehicle detection device 130.
The arrival time 1166 is the clock time that the vehicle arrives at the area 141 that is the measurement part of the structure 140. The arrival time 1166 is calculated based on the vehicle detection data 1165.
The reference value 1167 is deflection quantity of the structure 140 per unit weight. The reference value 1167 is equivalent to δ/M, where M represents the vehicle weight applied to the area 141 of the structure 140, and δ represents the deflection quantity of the area 141 at that time. Such a reference value is constant in a short period. Therefore, by using such a value, it is possible to calculate the weight of the vehicle that travels on the structure 140. Moreover, since the reference value as described above increases in the long term due to aging degradation of the floor system constituting the structure 140, by using the value, it is possible to perform deterioration diagnosis of the structure 140. Note that the reference value 1167 is not limited to the aforementioned example. The reference value 1167 may be a coefficient specifying any relational expression established between the vehicle weight applied to the structure 140 and the deflection quantity. Further, the reference value 1167 is applied with a time stamp showing the calculated date and time.
The vehicle weight 1168 is data representing the estimated weight of the vehicle whose weight is unknown, calculated by using the reference value 1167.
The diagnosis result 1169 is data representing the result of deterioration diagnosis of the structure 140 performed by using the reference value 1167. The diagnosis result 1169 includes an ID specifying the structure 140 to be diagnosed and the area 141, presence or absence of deterioration, diagnosis date/time, and the like.
The arithmetic processing unit 117 has a processor such as MPU and the peripheral circuits, and is configured to read and execute the program 1161 from the storage unit 116 to allow the hardware and the program 1161 to cooperate with each other to thereby implement the various processing units. Main processing units implemented by the arithmetic processing unit 117 include a camera position/direction acquisition unit 1171, an image acquisition unit 1172, a deflection acquisition unit 1173, a vehicle detection data receiving unit 1174, an arrival time estimation unit 1175, a control unit 1176, a reference value calculation unit 1177, a vehicle weight calculation unit 1178, and a diagnosis unit 1179.
The camera position/direction acquisition unit 1171 is configured to acquire the position of the camera 120 measured by the GPS sensor 123 through the camera I/F unit 111. The camera position/direction 1171 is also configured to acquire the azimuth angle and the acceleration in three directions namely length, width, and height, measured by the azimuth sensor 124 and the acceleration sensor 125 via the camera I/F unit 111, and calculate the capturing direction represented by the posture of the camera 120, that is, three angles namely pitch, roll, and yaw, from the acquired azimuth angle and the acceleration. Further, the camera position/direction acquisition unit 1171 is configured to store the acquired camera position and the calculated capturing direction in the storage unit 116 as the camera position/direction 1162.
The image acquisition unit 1172 is configured to acquire time-series images captured by the camera 120 via the camera I/F unit 111, and store the captured time-series images in the storage unit 116 as the image 1163.
The deflection acquisition unit 1173 is configured to acquire, in a time-series manner, the deflection quantity caused in the area 141 of the structure 140 by the weight of the vehicle traveling on the structure 140, on the basis of the image 1163 stored in the storage unit 116, and store the acquired time-series data of the deflection quantity in the storage unit 116 as the deflection quantity 1164. For example, the deflection acquisition unit 1173 reads all of the images 1163 stored in the storage unit 116, and measures a temporal change in the deflection quantity of the surface of the structure 140 from the images. For example, in the case of capturing the floor system of a bridge from below by the camera 120, a capturing distance H from the camera to the floor system is decreased by the deflection quantity δ caused in the floor system of the bridge by the vehicle weight. Therefore, the captured image is expanded with the optical axis of the camera being the center, and an apparent displacement δi caused by the deflection occurs. A relationship δi=yf{1/(H−δ)−1/H} is established, where H represents the capturing distance, δi represents displacement, δ represents the deflection quantity, y represents the distance from the optical axis of the camera at the displacement calculation position, and f represents the focus distance of the camera. Therefore, by detecting the displacement δi of each frame image by the digital image correlation method or the like, it is possible to calculate the deflection quantity of the surface of the structure 140 of each frame image from the aforementioned expression. Note that the capturing distance H can be measured in advance by a laser range finder for example, and the distance y can be calculated from the displacement calculation position of the image and the optical axis of the camera, and f is known for each capturing device.
The vehicle detection data receiving unit 1174 is configured to receive, via the communication IF unit 112, vehicle detection data transmitted from the vehicle detection device 130, and store it in the storage unit 116 as the vehicle detection data 1165.
The arrival time estimation unit 1175 is configured to estimate the clock time when the vehicle arrives at the area 141 that is a measurement part of the structure 140, on the basis of the vehicle detection data 1165 stored in the storage unit 116. The arrival time estimation unit 1175 estimates the arrival time t according to the following expression:
t=t
b+[(xb,yb)−(xt,yt)]/v (1)
In Expression 1, xb and yb represent the longitude and the latitude of the vehicle, tb represents the clock time when the vehicle stays at the position of the longitude and the latitude, and v represents the speed of the vehicle, which are included in the vehicle detection data 1165. Further, in Expression 1, xt and yt represent the longitude and the latitude of the area 141. The arrival time estimation unit 1175 is configured to calculate the longitude and the latitude of the area 141 by the method that is the same as the triangulation, from the longitude and the latitude of the camera 120 included in the camera position/direction 1162 stored in the storage unit 116, the capturing direction of the camera 120, and the distance between the camera 120 and the area 141 acquired and stored in advance. Further, [(xb, yb)−(xt, yt)] represents a linear distance from the position of the longitude xt and the latitude yt to the position of the longitude xb and the latitude yb.
However, the method of estimating the arrival time is not limited to the method described above. For example, the arrival time estimation unit 1175 may use the default speed vd having been set and stored in advance, instead of the speed v of the vehicle in Expression 1. According to this method, the arrival time can be estimated even when the vehicle speed cannot be detected on the vehicle detection device 130 side.
The arrival time estimation unit 1175 may also use the longitude xc and latitude yc of the camera 120, instead of the longitude xt and the latitude yt of the area 141 in Expression 1. With this method, the arrival time can be estimated easily in the case where the camera 120 is installed almost immediately below the area 141.
Further, the arrival time estimation unit 1175 may calculate the route length of the road 150 from the position of the longitude xt and the latitude yt to the position of the longitude xb and the latitude yb from the map information, and use the calculated route length instead of [(xb, yb)−(xt, yt)] in Expression 1. Further, when the vehicle detection data includes information of the course of the vehicle, the arrival time estimation unit 1175 may calculate the route length from the map information on the basis of the course information, and use the calculated route length instead of [(xb, yb)−(xt, yt)] in Expression 1. With the method described above, it is possible to estimate the arrival time more accurately.
The arrival time estimation unit 1175 is configured to store the arrival time, calculated by the method described above, in the storage unit 116 as the arrival time 1166.
The control unit 1176 is configured to control the timing of acquiring an image of the area 141 by the camera 120, on the basis of the arrival time 1166 stored in the storage unit 116. For example, the control unit 1176 is configured to calculate an error in the arrival time 1166, and during the period from the time before the arrival time 1166 by the error to the time after the arrival time 1166 by the error, control the image acquisition unit 1172 to continuously acquire images. An estimated error may be a certain percentage of the difference between the current time and the arrival time 1166, for example. Further, a certain percentage may be a value corresponding to the estimated accuracy of the arrival time estimation method. That is, when the estimation accuracy is low as in the case of an estimation method using the default speed, the certain percentage is set to be larger, while when the estimation accuracy is high as in the case of an estimation method using the detected vehicle speed, the value of the certain percentage is set to be smaller. However, the control method is not limited to that described above. For example, the control unit 1176 may allow the image acquisition unit 1172 to perform the acquisition during the period from the time before the arrival time 1166 by a certain period of time, up to the time after the arrival time 1166 by a certain period of time.
The reference value calculation unit 1177 is configured to calculate the reference value 1167 on the basis of the deflection quantity 1164 stored in the storage unit 116 and a vehicle weight given, and store the calculated value in the storage unit 116.
The vehicle weight calculation unit 1178 is configured to calculate the weight of a vehicle, whose weight is unknown, traveling on the structure 140, on the basis of the reference value 1167 stored in the storage unit 116. Further, the vehicle weight calculation unit 1178 is configured to store the calculated weight in the storage unit 116 as the vehicle weight 1168.
The diagnosis unit 1179 is configured to perform deterioration diagnosis of the structure 140, on the basis of the reference value 1167 stored in the storage unit 116. Further, the diagnosis unit 1179 is configured to store the diagnosis result in the storage unit 116 as the diagnosis result 1169.
The exemplary configuration of the computer 110 has been described. Next, operation of the displacement measurement apparatus 100 will be described. Operation of the displacement measurement apparatus 100 is divided into the following three categories:
(1) Calculation of reference value
(2) Measurement of weight of a vehicle whose weight is unknown
(3) Deterioration diagnosis of structure.
First, an operation of calculating the reference value 1167 will be described.
An operator installs a measurement device group including the computer 110 and the camera 120, and the vehicle detection device 130 on site, and when preparation for calculating a reference value has been set, the operator operates the vehicle detection device 130 and inputs a reference value calculation instruction from the operation input unit 114 to the computer 110. Then, the vehicle detection device 130 starts the processing illustrated in
The vehicle detection device 130 detects the position, the clock time, and the speed of a vehicle that travels the pre-passage area 151 of the structure 140 on the road 150 (step S1). Then, the vehicle detection device 130 transmits vehicle detection data including the detected position, clock time, and speed of the vehicle, to the computer 110 (step S2).
For example, in the case of the vehicle detection device 130-1 illustrated in
Further, in the case of the vehicle detection device 130-2 illustrated in
Further, in the case of the vehicle detection device 130-3 illustrated in
Further, in the case of the vehicle detection device 130-4 illustrated in
The vehicle detection data receiving unit 1174 of the computer 110 repeatedly performs steps S12 to S15 for a certain period of time (steps S11, S16). A certain period of time may be any period if it is sufficient for acquiring statistical information. For example, a certain period of time may be several hours or one day, but is not limited thereto.
At step S12, the vehicle detection data receiving unit 1174 receives, via the communication I/F unit 112, vehicle detection data from the vehicle detection device 130, and stores it in the storage unit 116 as the vehicle detection data 1165. At step S13, the arrival time estimation unit 1175 estimates the time when the vehicle arrives at the area 141 according to Expression 1 described above, on the basis of the vehicle detection data 1165 stored in the storage unit 116, and stores it in the storage unit 116 as the arrival time 1166. At step S14, the control unit 117 calculates the start time and the end time of image capturing, on the basis of the arrival time 1166 stored in the storage unit 116, and when the start time of image capturing arrives, the control unit 1176 allows the image acquisition unit 1172 to acquire images. The image acquisition unit 1172 acquires images of the camera 120 at a predetermined frame rate via the camera I/F unit 111, and stores them in the storage unit 116 as the images 1163. At this point of time or a previous point of time, the camera position/direction acquisition unit 1171 acquires detection results of the GPS sensor 123, the azimuth sensor 124, and the acceleration sensor 125, via the camera IF unit 111, and stores them in the storage unit 116 as the camera position/direction 1162. At step S15, when the end time of image acquisition arrives, the control unit 1176 allows the image acquisition unit 1172 to end image acquisition.
Then, the deflection acquisition unit 1173 acquires time-series data of the deflection quantity in the area 141 of the structure 140 on the basis of the images 1163 stored in the storage unit 116, and stores it in the storage unit 116 as the deflection quantity 1164 (step S17).
Then, the reference value calculation unit 1177 performs the processing described below to calculate the reference value 1167, and stores it in the storage unit 116. First, the reference value calculation unit 1177 detects all deflection sections from the deflection quantity 1164 stored in the storage unit 116 and, for each deflection section, calculates a maximum value of the deflection quantity, and creates a list of maximum values of the deflection quantities (step S18). Then, the reference value calculation unit 1177 generates distribution of the maximum values of the deflection quantity described in the list (step S19). For example, the reference value calculation unit 1177 generates a list in which the maximum values of the deflection quantity are shown in the ascending order, as distribution. Alternatively, the reference value calculation unit 1177 generates a histogram in which the maximum values of the deflection quantity are sectioned by the class, and the appearance frequency for each class is put into a graph.
Then, the reference value calculation unit 1177 extracts the deflection quantity corresponding to a specific vehicle type from the distribution (step S20). For example, when the specific vehicle type is a passenger car, since a passenger car belongs to a small-sized vehicle, the deflection quantity thereof tends to be smaller compared with the deflection quantity of a large-sized vehicle. Therefore, the deflection quantity corresponding to a passenger car tends to appear on the lower side in the distribution. Accordingly, the reference value calculation unit 1177 extracts the deflection quantity corresponding to a passenger car from the lower side distribution of the displacement quantity in the distribution. Meanwhile, when the specific vehicle type is a large-sized vehicle, the deflection quantity thereof tends to appear in the upper side in the distribution. Therefore, the reference value calculation unit 1177 extracts deflection corresponding to the large-sized vehicle from the upper-side distribution of the displacement quantity in the distribution.
Then, the reference value calculation unit 1177 calculates a reference value on the basis of the extracted deflection quantity and the weight of the specific vehicle type that is provided and stored in advance (step S21). For example, when the specific vehicle type is a passenger car, the reference value calculation unit 1177 calculates a reference value by dividing the extracted deflection quantity by the vehicle weight of the passenger car. Meanwhile, when the specific vehicle type is a large-sized vehicle, the reference value calculation unit 1177 calculates a reference value by dividing the extracted deflection quantity by the vehicle weight of the large-sized vehicle.
In the above description, a reference value is calculated by a statistical method. However, it is also possible to calculate a reference value by allowing an inspection vehicle, whose weight is known, to travel. The inspection vehicle may be a special heavy vehicle such as a road sprinkler, but is not limited thereto. A heavy truck may be used if it is a heavy vehicle whose weight is know. On the inspection vehicle, the vehicle detection device 130-1 described in
The acquisition unit 1302 of the vehicle detection device 130-1 mounted on the inspection vehicle acquires the position of the inspection vehicle and the current time from the GPS sensor 1301, acquires the speed of the inspection vehicle from the speed sensor 1302, and transmits vehicle detection data including the position of the inspection vehicle, the current time, and the speed to the computer 110, upon request from an operator or periodically.
In the computer 110, operations similar to steps S12, S13, S14, S15, and S17 of
Next, an operation of measuring the weight of a vehicle whose weight is unknown, traveling on the structure 140, will be described. Note that measurement of the weight of a vehicle whose weight is unknown is performed using the latest reference value 1167 measured in (1).
An operator installs a measurement device group including the computer 110 and the camera 120, and the vehicle detection device 130 on site, and when preparation for calculating a reference value is set, the operator operates the vehicle detection device 130 and also inputs an instruction for measuring the vehicle weight from the operation input unit 114 to the computer 110. Then, the vehicle detection device 130 starts the processing illustrated in
The operation of the vehicle detection device 130 for measuring the vehicle weight is basically the same as the operation for calculating the reference value. The vehicle detection device 130 detects the position, the clock time, and the speed of a vehicle that travels the pre-passage area 151 of the structure 140 on the road 150 (step S1). Then, the vehicle detection device 130 transmits the detected vehicle detection data including the detected position, clock time, and speed of the vehicle, to the computer 110 (step S2).
When the vehicle detection data receiving unit 1174 of the computer 110 receives vehicle detection data from the vehicle detection device 130 via the communication I/F unit 112, the vehicle detection data receiving unit 1174 stores it in the storage unit 116 as the vehicle detection data 1165 (step S31). Then, the arrival time estimation unit 1175 estimates the time when the vehicle arrives at the area 141 according to Expression 1 described above, on the basis of the vehicle detection data 1165 stored in the storage unit 116, and stores it in the storage unit 116 as the arrival time 1166 (step S32). Then, the control unit 117 calculates the start time and the end time of image capturing, on the basis of the arrival time 1166 stored in the storage unit 116, and when the start time of image capturing comes, the control unit 1176 allows the image acquisition unit 1172 to acquire images (step S33). The image acquisition unit 1172 acquires images of the camera 120 at a predetermined frame rate via the camera I/F unit 111, and stores them in the storage unit 116 as the images 1163. At this point of time or a previous point of time, the camera position/direction acquisition unit 1171 acquires detection results of the GPS sensor 123, the azimuth sensor 124, and the acceleration sensor 125, via the camera IF unit 111, and stores them in the storage unit 116 as the camera position/direction 1162.
When the time to end image acquisition comes, the control unit 1176 allows the image acquisition unit 1172 to end image acquisition (step S34). Then, the deflection acquisition unit 1173 acquires time-series data of the deflection quantity at the area 141 of the structure 140 on the basis of the images 1163 stored in the storage unit 116, and stores it in the storage unit 116 as the deflection quantity 1164 (step S35). Then, the vehicle weight calculation unit 1178 extracts the maximum value of the deflection quantity from the deflection quantity 1164 stored in the storage unit 116 (step S36). Then, the vehicle weight calculation unit 1178 calculates the weight of the vehicle by dividing the maximum value of the deflection quantity by the reference value, and stores it in the storage unit 116 as the vehicle weight 1168 (step S37). Further, the vehicle weight calculation unit 1178 may display the calculated vehicle weight on the screen display unit 115 or/and transmit it to an external terminal via the communication I/F unit 113. Alternatively, the vehicle weight calculation unit 1178 may compare the calculated vehicle weight 1168 with the maximum weight of the vehicle allowed to travel on the structure 140, and when the vehicle weight 1168 exceeds the maximum weight, the vehicle weight calculation unit 1178 may display an alert on the screen display unit 115 or/and transmit an alert message to an external device via the communication I/F unit 113.
Next, an operation of performing deterioration diagnosis of the structure 140 will be described. Deterioration diagnosis of the structure 140 is performed through comparison between the past reference value 1167 measured and stored in (1) and the latest reference value acquired at the time of diagnosis.
An operator installs a measurement device group including the computer 110 and the camera 120, and the vehicle detection device 130 on site, and when preparation for allowing a vehicle to travel on the structure 140 is set, the operator operates the vehicle detection device 130 and also inputs an instruction for deterioration diagnosis from the operation input unit 114 to the computer 110. Then, the vehicle detection device 130 starts the processing illustrated in
First, the computer 110 performs an operation similar to that for calculating a reference value to thereby acquire the latest reference value of the structure 140, and stores it in the storage unit 116 as a new reference value 1167 (step S41). Then, the diagnosis unit 1179 reads out all of the reference values 1167 from the storage unit 116, and compares the latest reference value thereof with a past reference value (step S42). The past reference value to be used may be one that was taken a certain period (for example, half a year) ago. Alternatively, the past reference value to be used may be a reference value that was taken before the occurrence date of a disaster such as an earthquake that has occurred immediately before. Then, the diagnosis unit 1179 determines presence or absence of deterioration of the structure 140 on the basis of the comparison result described above (step S43). For example, when the latest reference value is larger than the past reference value by a certain percentage or a certain value, the diagnosis unit 1179 determines that the structure 140 is deteriorated, and if it is not larger, the diagnosis unit 1179 determines that it is sound.
As described above, according to the present embodiment, it is possible to measure the displacement quantity of the structure 140 when a vehicle is traveling on the structure 140 even in the case of the structure 140 in which an image of the traveling vehicle cannot be captured. This is because the present embodiment includes the vehicle detection device 130 that detects the position, the clock time, and the speed of a vehicle that travels a pre-passage area of a measurement part of the structure 140, and the computer 110 includes the image acquisition unit 1172 for acquiring, in a time-series manner, deflection quantity caused in the measurement part of the structure 140 by the weight of the vehicle that travels on the structure 140, and the control unit 1176 that estimates the clock time that the vehicle arrives at the measurement part from the position, the clock time, and the speed of the vehicle detected by the vehicle detection device 130 and from the position of the measurement part and controls the image acquisition unit 1172 on the basis of the estimated time.
Further, according to the present embodiment, since the clock time that the vehicle will arrive at the measurement part is estimated from the position, the clock time, and the speed of the vehicle detected by the vehicle detection device 130 and the position of the measurement part, it is possible to estimate the arrival time without being affected by the communication delay between the vehicle detection device 130 and the computer 110.
Further, according to the present embodiment, since the image acquisition unit 1172 is controlled on the basis of the clock time when the vehicle arrives at the measurement part, it is possible to prevent wasteful continuous capturing of the structure by the image acquisition unit 1172 during a period in which the vehicle does not travel.
Further, according to the present embodiment, it is possible to calculate a reference value showing the relationship between the vehicle weight applied to the structure 140 and the deflection quantity of the structure 140. Further, according to the present embodiment, by using the reference value, it is possible to calculate the weight of the vehicle, whose weight is unknown, traveling on the structure 140. Further, according to the present embodiment, deterioration diagnosis of the structure 140 can be performed with use of the reference value.
The present embodiment can be applied with various additions and modifications as described below.
While estimation of the arrival time is performed by the computer 110 in the above description, it may be performed by the vehicle detection device 130. In the configuration of estimating the arrival time by the vehicle detection device 130, a means similar to the arrival time estimation unit 1175 provided to the computer 110 is provided to the vehicle detection device 130 side. At that time, in the case of performing processing to obtain the position of the area 141 that is a measurement part from the camera position/direction 1162 by the computer 110, the configuration is made to transmit the obtained longitude and latitude of the area 141 from the computer 110 to the vehicle detection device 130. Alternatively, in the case of performing processing to obtain the position of the area 141 that is a measurement part from the camera position/direction 1162 by the vehicle detection device 130, the configuration is made to transmit the camera position/direction 1162 from the computer 110 to the vehicle detection device 130.
Further, in the case of performing estimation of the arrival time by the vehicle detection device 130, the timing to start operation of the image acquisition unit 1172 on the basis of the arrival time and the timing to end the operation may be controlled remotely from the vehicle detection device 130. In the configuration of remotely controlling the image acquisition unit 1172 from the vehicle detection device 130, a means similar to the control unit 1176 provided to the computer 110 is provided to the vehicle detection device 130 side, and the configuration is made to transmit a control signal from the vehicle detection device 130 to the computer 110 via communication.
Further, while the control unit 1176 controls the image acquisition unit 1172 on the basis of the arrival time in the above description, it is possible to control the image acquisition unit 1172 on the basis of the arrival time and other types of information. Other types of information may include the type of a vehicle that arrives at the measurement part at the arrival time, but is not limited thereto.
Further, while the deflection quantity is detected in the above description, displacement quantity to be detected is not limited to the deflection quantity. For example, in the case where the structure 140 has a crack, when a load is applied to the structure 140, the width of the crack expands. Therefore, the width of the crack in the structure may be detected as the displacement quantity.
Further, in the above description, displacement of the structure 140 is detected on the basis of an image captured by a camera capturing the structure 140. However, a sensor that detects displacement of the structure 140 is not limited to a camera. For example, the deflection quantity of the structure 140 may be detected by a laser range finder. Alternatively, displacement such as deflection quantity and a crack width of the structure 140 may be detected by a deflection gauge, for example.
Next, a second exemplary embodiment of the present invention will be described with reference to
Referring to
The acquisition means 201 is configured to acquire, in a time-series manner, displacement quantity that is generated at a measurement part of the structure by the weight of a vehicle that travels on the structure. The acquisition means 201 may be configured similarly to the image acquisition unit 1172 and the deflection acquisition unit 1173 of
The detection means 202 is configured to detect the position and the clock time of a vehicle that travels a pre-passage area of the measurement part of the structure. The detection means 202 may be configured similarly to the vehicle detection device of
The estimation means 203 is configured to estimate the arrival time that the vehicle arrives at the measurement part, from the position of the measurement part of the structure and the position and the clock time of the vehicle. The estimation means 203 may be configured similarly to the arrival time estimation unit 1175 of
The control means 204 is configured to control the acquisition means 201, on the basis of the arrival time estimated by the estimation means 203. The control means 204 may be configured similarly to the control unit 1176 of
The displacement measurement apparatus 200 for a structure, configured as described above, operates as described below. First, the detection means 202 detects the position and the clock time of a vehicle that travels a pre-passage area of the measurement part of the structure. Then, the estimation means 203 estimates the arrival time that the vehicle arrives at the measurement part, from the position of the measurement part of the structure and the position and the clock time of the vehicle. Then, the control means 204 controls the acquisition means 201, on the basis of the arrival time estimated by the estimation means 203. The acquisition means 201 is configured to acquire, in a time-series manner, the displacement quantity that is generated at the measurement part of the structure by the weight of the vehicle that travels on the structure.
Since the present embodiment is configured and operates as described above, the present embodiment is able to measure the displacement quantity of a structure when a vehicle is traveling on the structure, even in the case of a structure in which an image of a traveling vehicle cannot be captured. This is because the detection means 202 detects the position and the clock time of a vehicle that travels a pre-passage area of a measurement part of the structure, the estimation means 203 estimates the arrival time that the vehicle arrives at the measurement part from the position of the measurement part of the structure and the position and the clock time of the vehicle, and the control means 204 controls the acquisition means 201 that acquires, in a time-series manner, the displacement quantity that is generated at the measurement part of the structure by the weight of the vehicle that travels on the structure.
While the present invention has been described with reference to the exemplary embodiments described above, the present invention is not limited to the above-described embodiments. The form and details of the present invention can be changed within the scope of the present invention in various manners that can be understood by those skilled in the art.
The present invention is applicable to the case of measuring the displacement quantity such as deflection quantity of a structure generated by a vehicle passing through the structure such as a bridge.
The whole or part of the exemplary embodiments disclosed above can be described as, but not limited to, the following supplementary notes.
A displacement measurement apparatus for a structure, the apparatus comprising:
acquisition means for acquiring displacement quantity in a time-series manner, the displacement quantity being generated at a measurement part of the structure by weight of a vehicle that travels on the structure;
detection means for detecting a position and clock time of the vehicle that travels a pre-passage area of the measurement part;
estimation means for estimating arrival time that the vehicle arrives at the measurement part, from a position of the measurement part and the position and the clock time of the vehicle; and
control means for controlling the acquisition means on a basis of the estimated arrival time.
The displacement measurement apparatus for the structure, according to supplementary note 1, wherein
the detection means is configured to detect the position and the clock time of the vehicle, on a basis of a detection result by a sensor that is mounted on the vehicle and detects the position and the clock time of the vehicle.
The displacement measurement apparatus for the structure, according to supplementary note 3, wherein
the detection means is configured to detect the position and the clock time of the vehicle, on a basis of a position of a reference point set in the pre-passage area and a detection result by a sensor that detects clock time that the vehicle passes through the reference point.
The displacement measurement apparatus for the structure, according to supplementary note 1, wherein
the detection means is configured to detect the position and the clock time of the vehicle, on a basis of a position of a reference point set in the pre-passage area and an analysis result of an image captured by an imaging device that images the vehicle that passes through the reference point.
The displacement measurement apparatus for the structure, according to any of supplementary notes 1 to 4, wherein
the estimation means is configured to calculate a period of time necessary for the vehicle to move from the position of the vehicle to the position of the measurement part at a vehicle speed that is set and stored in advance, and calculate the arrival time from the calculated period of time and the detected clock time.
The displacement measurement apparatus for the structure, according to any of supplementary notes 1 to 4, wherein
the detection means is further configured to detect speed of the vehicle, and
the estimation means is configured to calculate a period of time necessary for the vehicle to move from the detected position of the vehicle to the position of the measurement part at the detected vehicle speed, and calculate the arrival time from the calculated period of time and the detected clock time.
The displacement measurement apparatus for the structure, according to any of supplementary notes 1 to 4, wherein
the detection means is further configured to detect a course of the vehicle, and
the estimation means is configured to calculate a period of time necessary for the vehicle to move from the detected position of the vehicle to the position of the measurement part according to the detected course, and calculate the arrival time from the calculated period of time and the detected clock time.
The displacement measurement apparatus for the structure, according to any of supplementary notes 1 to 7, wherein
the estimation means is configured to calculate the position of the measurement part, on a basis of a detection result by a sensor that detects a capturing direction of a camera that images the measurement part and a detection result by a sensor that detects a position of the camera.
The displacement measurement apparatus for the structure, according to any of supplementary notes 1 to 8, wherein
the control means is configured to allow the acquisition means to perform the acquisition during a period from a clock time before the arrival time by a certain period of time to a clock time after the arrival time by a certain period of time.
The displacement measurement apparatus for the structure, according to any of supplementary notes 1 to 8, wherein
the control means is configured to calculate an error in the arrival time, and allow the acquisition means to perform the acquisition during a period from a clock time before the arrival time by the error to a clock time after the arrival time by the error.
A displacement measurement method for a structure, the method comprising:
acquiring displacement quantity in a time-series manner, the displacement quantity being generated at a measurement part of the structure by weight of a vehicle that travels on the structure;
detecting a position and clock time of the vehicle that travels a pre-passage area of the measurement part;
estimating arrival time that the vehicle arrives at the measurement part, from a position of the measurement part and the position and the clock time of the vehicle; and
controlling the acquiring on a basis of the estimated arrival time.
A computer-readable storage medium storing therein a program for causing a computer to perform processing of:
acquiring displacement quantity in a time-series manner, the displacement quantity being generated at a measurement part of the structure by weight of a vehicle that travels on the structure;
detecting a position and clock time of the vehicle that travels a pre-passage area of the measurement part;
estimating arrival time that the vehicle arrives at the measurement part, from a position of the measurement part and the position and the clock time of the vehicle; and
controlling the acquiring on a basis of the estimated arrival time.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2019/012992 | 3/26/2019 | WO | 00 |
