JP6932057B2 - Road surface property survey device and road surface property survey system - Google Patents

Description

The present invention relates to a road surface property investigation device and a road surface property investigation system for investigating the properties of a paved road surface.

After the start of service, repeated passage of vehicles and the like causes defects such as rutting, cracking, and deterioration of flatness on the pavement surface. In order to appropriately repair such defects on the road surface, the road surface properties of the pavement surface to be surveyed have been investigated by a device for investigating the road surface properties mounted on the vehicle.

For example, Patent Document 1 discloses an apparatus for investigating a location where cracks and blistering occur on a pavement surface, and in particular, in paragraphs 0055 to 0065, the height of the pavement surface is obtained from data measured by a slit laser. A configuration is disclosed in which an image is generated, analyzed, and combined with a visible image of a pavement surface to confirm a blistering occurrence portion.

Japanese Unexamined Patent Publication No. 2014-095627

According to the conventional technique as described in Patent Document 1, there is a possibility that all the protruding portions detected by the slit laser are displayed as the locations where blistering occurs. That is, as shown in FIG. 6A, when the grooving 21 is provided in the transverse direction of the road surface 20, the portion shown in FIG. Cannot be sorted. Further, the conventional technique does not provide a means for selecting whether the raised portion generated on the pavement surface is corrugation or blistering. That is, the conventional technique does not have a means for selecting, investigating, and analyzing unevenness due to blistering, corrugation, grooving, and the like.

Therefore, an object of the present invention is to provide a road surface property investigation device and a road surface property investigation system for appropriately investigating and analyzing the properties of a paved road surface.

(1) An optical road surface property investigation device that investigates road surface properties while traveling on the road surface (road surface 20) by itself, and collects point cloud data by measuring the unevenness of the road surface (road surface 20) at predetermined intervals. Illuminated by the measuring means (high-density laser scanner 2), the light projecting means (road surface illuminator 4) that irradiates the road surface (road surface 20) with visible light from the horizontal direction, and the light projecting means (road surface illuminator 4). The visible shadow image imaging means (visible image imaging camera 3) for capturing the shadow image of the road surface (road surface 20), the point cloud data collected by the optical measuring means (high-density laser scanner 2), and the above-mentioned point cloud data. At least the position of the raised portion and / or the depressed portion existing on the road surface (road surface 20) by superimposing the shadow image of the road surface (road surface 20) captured by the visible shadow image imaging means (visible image imaging camera 3). A road surface property investigation device characterized by having a road surface property analysis means (data analysis system) for specifying a shape and dimensions.

(2) The road surface property analysis means (data analysis system) can extract at least blister rings from the raised portions existing on the road surface (road surface 20) and specify at least the position, shape, and dimensions of the blister rings. The road surface property investigation device according to (1) above.

(3) An optical measuring means (high-density laser scanner 2) for collecting point group data by measuring unevenness of the road surface (road surface 20) at predetermined intervals, which is a road surface property investigation system for investigating road surface properties. A visible image of a light projecting means (road surface illuminator 4) that irradiates the road surface with visible light from a horizontal direction and a shadow image of the road surface (road surface 20) illuminated by the light projecting means (road surface illuminator 4). The point group data collected by the shadow image imaging means (visible image imaging camera 3), the optical measuring means (high density laser scanner 2), and the visible shadow image imaging means (visible image imaging camera 3) are imaged. Road surface property analysis means (data analysis system) that superimposes a shadow image of the road surface (road surface 20) to specify at least the position, shape, and dimension of a raised portion and / or a depressed portion existing on the road surface (road surface 20). And, a road surface property investigation system characterized by having.

(4) The road surface property analysis means (data analysis system) can extract at least blister rings from the raised portions existing on the road surface (road surface 20) and specify at least the position, shape, and dimensions of the blister rings. The road surface property investigation system according to (3) above.

According to the configurations of (1) and (3) above, the point cloud data collected by the optical measuring means (high-density laser scanner 2) and the road surface imaged by the visible shadow image capturing means (visible image capturing camera 3). The shadow image of (road surface 20) is collected and recorded by the road surface property analysis means (data analysis system), and the point cloud data and the shadow image are superimposed. This makes it possible to specify the exact position (coordinate position), shape and dimension (three-dimensional shape, dimension) of the raised portion and / or the depressed portion existing on the road surface (road surface 20) together with the shadow image. ing.

According to the configurations of (2) and (4) above, in addition to the effects obtained by the configurations of (1) and (3) above, the shape of the shadow appearing in the captured shadow image is analyzed. It is possible to determine whether the point cloud data detected as the raised portion is blistering, corrugation, or due to the influence of grooving, and it is possible to accurately determine on the road surface (road surface 20). It is possible to specify the position (coordinate position), shape and dimension (three-dimensional shape, dimension) of the existing blister ring.

It is a side view, a front view and a rear view which show an example of the road surface property investigation apparatus in this invention. It is a top view which shows an example of the investigation range of the road surface property in an Example of this invention. It is a figure which shows an example of the work flow of the road surface property investigation in the Example of this invention. It is a top view explaining the setting mode of the traveling guidance of the investigation range in the Example of this invention. It is a figure which shows the example of the visible shadow image acquired in the Example of this invention, and the example of the image which superposed the point cloud data and the visible shadow image. It is a figure explaining the problem in the prior art.

The road surface property investigation device and the road surface property investigation system of the present invention will be described below with reference to the drawings, taking the nighttime road surface property investigation on the runway of the airport as an example.

(Road surface property survey device)
FIG. 1 shows a device configuration of the road surface property survey device 100 of this embodiment, FIG. 1 (a) shows a side view of the road surface property survey device 100, and FIG. 1 (b) shows a front view. A rear view is shown in FIG. 1 (c).

The road surface condition investigation device 100 of this embodiment can investigate the road surface condition while traveling by itself, and as shown in FIG. 1, the road surface property investigation device 100 rotates 200 times per second above the rear part of the base vehicle 1. It is equipped with a high-density laser scanner 2 capable of acquiring point cloud data of about 1 million points, and when it runs at an interval of about 3 mm in the transverse direction of the road surface 20 at a speed of 15 km / h, it is about about in the longitudinal direction of the road surface 20. It is possible to acquire point cloud data at intervals of 2 cm. Then, as shown by the broken arrow in FIG. 1A, laser light is received and emitted from the high-density laser scanner 2 in the direction perpendicular to the road surface 20.

Further, above the front portion of the vehicle 1, a visible image imaging camera 3 that captures a visible shadow image of the road surface 20 in front of the vehicle 1 in the traveling direction is mounted. In this embodiment, it is possible to capture about 10 color images of 5 million pixels per second.

Further, the front bumper portion of the vehicle 1 is equipped with a road surface illuminator 4 that illuminates the road surface 20 in front of the vehicle 1 in the traveling direction from the horizontal direction. As a result, as shown in an example of the visible shadow image of FIG. 5A, a shadow S of a raised portion or a depressed portion of the road surface can be generated on the road surface. In this embodiment, four road surface illuminators 4 using high-illuminance LEDs are installed as shown in FIG. 1 (b), but the number of installed road surface illuminators and the illuminance can be appropriately set.

Further, a GNSS receiver 7 for measuring equipment for giving position information (coordinates) to the data acquired by the high-density laser scanner 2 and the visible image imaging camera 3 is mounted on the upper part of the vehicle 1.

Further, in this embodiment, in order to precisely specify the traveling position of the road surface property investigation device 100 in the investigation target range of the road surface property, a traveling guidance system by a known real-time kinematic GPS (RTK-GPS / GNSS) is applied. A GNSS receiver 5 for driving guidance and a wireless receiver 6 for receiving position information from a GNSS fixed station 10 installed near the investigation target range of road surface properties in real time are mounted on the upper part of the vehicle 1. Has been done.

In this embodiment, the airport coordinates (so-called local coordinates) are acquired from the position information obtained by the driving guidance GNSS receiving device 5 and the wireless receiving device 6, and the positions received by the measuring device GNSS receiving device 7 described above. It is linked to information (coordinates). With such a configuration, it is possible to give more accurate airport coordinates to the data acquired by the high-density laser scanner 2 and the visible image capturing camera 3 described above and record the data.

(Method of road surface property survey)
Hereinafter, a method of investigating the road surface properties of an airport runway using the road surface property investigation device 100 of the present invention will be described. FIG. 2 shows a plan view of the survey range 50a on the airport runway 50. Since the width W of the runway 50 is very large, in order to accurately survey the road surface properties using the road surface property survey device 100, a plurality of survey ranges 50a are divided in the transverse direction as shown in the figure, and each section is divided into a plurality of sections. It is necessary to run the road surface property investigation device 100 in the longitudinal direction to investigate the road surface property. In this embodiment, the traveling lanes of the road surface property investigation device 100 are set by dividing into 9 sections.

The survey range in the cross-sectional direction in which the road surface condition can be investigated by one running of the road surface property investigation device 100 is approximately 15 to 20 m, but in order to acquire the point cloud data on the road surface more precisely by the high-density laser scanner 2. In addition, in this embodiment, the traveling lane width W1 of the road surface property investigation device 100 is set to 5 to 7.5 m. The value of the traveling lane width W1 is not necessarily limited to this embodiment, and can be set arbitrarily.

Then, when the road surface property survey device 100 is used to investigate the road surface property, the road surface property survey device 100 is run according to the arrows (1) to (9) as shown in FIG. 2 to investigate the road surface property. .. This enables a precise survey of road surface properties over the entire width of the survey range 50a.

The work flow of the road surface property survey in this embodiment will be described below based on the flow chart shown in FIG.

(1-Running guidance setting S100)
In this embodiment, in order to precisely investigate the road surface properties of the runway 50 having a very large width W, as shown in FIG. 2 above, a plurality of traveling lanes are set by the road surface property investigation device 100 in the transverse direction. doing. However, there are few landmarks for nighttime surveys on the runway, and if the vehicle deviates from the travel lane during travel, there will be some omissions in the survey. Therefore, in this embodiment, by applying a running guidance system using a known real-time kinematic GPS (RTK-GPS / GNSS), the running position of the precise road surface property survey device 100 can be determined in real time for the driver of the vehicle 1. It is configured so that it is navigated and does not deviate from the set driving lane.

Therefore, first, as shown in FIG. 4, the GNSS fixed station 10 and the radio transmission device 11 are installed in the vicinity of the survey range 50a in the runway 50. Subsequently, the position coordinates of the four corners (illustrated a, b, c, d) of the survey range 50a are acquired by the GNSS mobile station 5 and the wireless receiving device 6, and the above four corners (illustrated a, b) are connected to the setting terminal 8 of the traveling guidance system. , C, d) input the position coordinates. Then, in the setting terminal 8 of the traveling guidance system, the width W1 of the traveling lane to be set is input, and the traveling guidance is set in the traveling lanes (1L) to (9L) as shown in FIG.

(2-Equipped with driving guidance system S110)
Subsequently, the GNSS mobile station 5 and the wireless receiving device 6 used in the above S100 and the navigation monitor (not shown) of the traveling guidance system are mounted on the vehicle 1 of the road surface property survey device 100.

(3-Start of road surface condition survey by driving guidance S120)
Subsequently, the road surface property survey device 100 is arranged at the survey start position of the survey range 50a, the traveling guidance system of the road surface property survey device 100 is activated, and the road surface illuminator 4 is turned on. After the road surface illuminator 4 is turned on, the direction and angle of the road surface illuminator 4 are finely adjusted so that shadows can be appropriately seen according to the undulations of the road surface. When there is a raised portion on the road surface, a shadow S is generated behind the raised portion B as shown in the schematic cross-sectional view of FIG. 6B, and a visible shadow image is imaged by the visible image capturing camera 3 described later. This makes it possible to confirm the existence of the raised portion B and its rough shape and scale.

Next, the high-density laser scanner 2 of the road surface property investigation device 100 is started to start the acquisition of the point cloud data of the road surface, and the visible image imaging camera 3 illuminates the road surface illuminator 4 (a). ) Is started to capture a visible shadow image of the road surface. After that, according to the driving instruction of the navigation monitor (not shown) of the driving guidance system provided in the driver's seat of the vehicle 1, as shown in FIG. 2, the vehicle travels in each traveling lane of the investigation range 50a to investigate the road surface condition. I do.

In this embodiment, the road surface property survey device 100 is run at a speed of 15 km / h to investigate the road surface properties, and point cloud data is acquired at intervals of about 3 mm in the transverse direction and about 2 cm in the longitudinal direction. The traveling speed is not limited to the speed, and the traveling speed can be appropriately set according to the width of the survey range and the required survey accuracy.

(4-Point cloud data and visible shadow image superimposition S130)
The point cloud data obtained by the high-density laser scanner 2 of the road surface property survey device 100 and the visible shadow image of the road surface captured by the visible image imaging camera 3 are data analysis mounted on the vehicle 1 of the road surface property survey device 100. It is collected and recorded in a system (not shown), and it is possible to superimpose the above point cloud data and a visible shadow image by an analysis program.

(5-Analysis of road surface properties, determination S140)
FIG. 5B shows an example of the image 210 displayed by superimposing the point cloud data and the visible shadow image. As shown in the figure, by superimposing the visible shadow image of the raised portion existing on the road surface and the point cloud data T, the position (airport coordinates), shape and dimensions of the raised portion correspond to the visible shadow image. Will be recorded accurately. Therefore, whether the point cloud data detected as the raised portion by analyzing the shape of the shadow appearing in the visible shadow image is blistering or corrugation, or due to the influence of grooving. It is possible to select and judge whether or not.

In the data analysis system that analyzes the above-mentioned visible shadow image and point group data, it is possible to determine the road surface property as described above by visually observing the point group data and the visible shadow image, but imaging is possible. It is also possible to perform image analysis of the shadow of the visible shadow image and program it so that if the shape / dimension of the shadow exceeds a predetermined threshold, it is automatically determined to be corrugation. With this configuration, it is possible to automatically select corrugation and blistering, and at the same time, it is possible to automatically select point cloud data detected as a raised portion. , It is possible to investigate and judge the road surface properties in a short time. For example, in the case of corrugation that occurs on the road surface, it has the characteristic of being raised horizontally in the transverse direction, so by setting the threshold of the aspect ratio of the raised part in the data analysis system, corrugation and blistering are automatically performed. Can be sorted into.

(Other embodiments)
Examples of the road surface property investigation device and the road surface property investigation system according to the present invention are as described above, but the embodiments of the present invention are not necessarily limited to the above examples.

For example, in the above embodiment, the embodiment on the runway of the airport has been described, but the present invention is not limited to the runway of the airport, and the present invention is not limited to the runway of the airport. It can be applied to parking lots and the like.

Further, in the above embodiment, a driving guidance system based on real-time kinematic GPS (RTK-GPS / GNSS) is used when the road surface property survey device 100 travels, but it is not always necessary to use the driving guidance system. Whether or not to use it can be selected as appropriate according to the situation of the survey target.

Further, in the above embodiment, blistering and corrugation generated on the road surface were investigated, but the investigation is not limited to this, and the existence of potholes can be investigated and determined in the same manner.

Further, in the above embodiment, an example in which the data analysis system is mounted on the vehicle 1 and the point group data and the visible shadow image are superimposed by the analysis program has been described, but it is not necessarily limited to such an embodiment. Instead, the point group data and the visible shadow image data recorded by the road surface property survey device 100 may be stored in a recording medium and superposed on a desktop PC or the like to analyze and judge the road surface property. ..

Although various embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to these embodiments. The scope of the present invention is shown by the scope of claims rather than the description of the above-described embodiment, and further includes all modifications within the meaning and scope equivalent to the scope of claims. Further, the specific input information and the like described in the above examples can be changed as long as the problem of the present invention is solved.

1 Vehicle 2 High-density laser scanner 3 Visible image imaging camera 4 Road surface illuminator 20 Road surface 100 Road surface property survey device

Claims (4)

It is a road surface property survey device that investigates the road surface properties while traveling on the road surface.
An optical measuring means for collecting point cloud data by measuring the unevenness of the road surface at predetermined intervals,
A light projecting means that irradiates the road surface with visible light from the horizontal direction,
A visible shadow image capturing means for capturing a shadow image of the road surface illuminated by the light projecting means, and a visible shadow image capturing means.
At least the position of the raised portion and / or the depressed portion existing on the road surface by superimposing the point cloud data collected by the optical measuring means and the shaded image of the road surface captured by the visible shadow image capturing means. Road surface property analysis means for specifying the shape and dimensions,
A road surface property investigation device characterized by having. The road surface property analysis device according to claim 1, wherein the road surface property analysis means can extract at least blister rings from the raised portions existing on the road surface and specify at least the position, shape, and dimensions of the blister rings. It is a road surface property survey system that investigates road surface properties.
An optical measuring means that collects point cloud data by measuring the unevenness of the road surface at predetermined intervals,
A light projecting means that irradiates the road surface with visible light from the horizontal direction,
A visible shadow image capturing means for capturing a shadow image of the road surface illuminated by the light projecting means, and a visible shadow image capturing means.
At least the position of the raised portion and / or the depressed portion existing on the road surface by superimposing the point cloud data collected by the optical measuring means and the shaded image of the road surface captured by the visible shadow image capturing means. Road surface property analysis means for specifying the shape and dimensions,
A road surface property survey system characterized by having. The road surface property investigation system according to claim 3, wherein the road surface property analysis means can extract at least blister rings from the raised portions existing on the road surface and specify at least the position, shape, and dimensions of the blister rings.

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