Self-propelled road inspection device
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- TOHOKU UNIV
- Filing Date
- 2024-11-19
- Publication Date
- 2026-05-29
Smart Images
Figure 2026088957000001_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to an inspection device for detecting abnormalities in the ground, and more particularly to a self-propelled road inspection device that can temporarily stop a measuring instrument at a measurement point while traveling for measurement.
Background Art
[0002] The cross-sectional structure of a general road is, in the case of asphalt pavement, as shown in the cross-sectional view of FIG. 7, from the top, the surface layer (dense graded asphalt concrete), the base layer (coarse graded asphalt concrete), the upper subgrade (graded crushed stone), the lower subgrade (crushed gravel) and the roadbed. In the case of concrete pavement, as shown in the cross-sectional view of FIG. 8, it consists of the surface layer (cement concrete slab), the subgrade (gravel) and the roadbed. In the case of a bridge, as shown in the cross-sectional view of FIG. 9, it consists of the surface layer, the bridge leveling layer, the slab waterproof layer and the slab. In such a road layered with multiple layers, there may be buried objects or buried pipes. Also, there may be cavities, looseness, delamination between layers, etc. These may cause depressions or sinkholes in the road in the future, leading to accidents and posing a danger to the vehicles traveling on it. Therefore, laws such as the Road Law oblige regular inspections of roads.
[0003] Conventionally, various methods such as elastic wave exploration (impact echo method), ground penetrating radar exploration, high-density surface wave exploration, horizontal magnetic exploration, electrical exploration, and EM exploration (electromagnetic methods) have been used for underground inspection. Ground penetrating radar exploration emits electromagnetic waves (pulse waves) from the ground surface into the ground. The part where the electrical properties of the ground change becomes the reflection surface of the electromagnetic wave, and the reflected wave returns to the ground surface. By the radar capturing this reflected wave, the position of the target object is grasped from the round-trip time from when the radio wave is emitted until the reflected wave returns and the radio wave irradiation direction. It is possible to non-destructively explore the shallow underground ground structure, buried objects, cavities, etc.
[0004] As a technology for inspecting the underground of roads, for example, as described in Patent Document 1 "Road Inspection Vehicle," a road inspection vehicle for performing a road inspection method has been proposed, which includes a visible light imaging unit for capturing visible light images of the object to be inspected, an infrared imaging unit for capturing infrared images of the object to be inspected, a shape measurement unit for measuring the shape of a structure or equipment based on the reflected light of scanning light projected from a light projection unit, a driving sound detection unit for detecting sounds generated as the vehicle moves, a vibration detection unit for detecting vibrations generated as the vehicle moves, a permeability detection unit for detecting the permeability of the pavement surface based on the amount of attenuation of sound waves irradiated onto the pavement surface, and a storage means for storing the inspection information collected by the visible light imaging unit, infrared imaging unit, shape measurement unit, driving sound detection unit, vibration detection unit, or permeability detection unit in association with location information. [Prior art documents] [Patent Documents]
[0005] [Patent Document 1] Japanese Patent Publication No. 2011-242293 [Overview of the project] [Problems that the invention aims to solve]
[0006] To inspect large areas such as roads, the prevailing method involves moving the inspection equipment during the inspection. For example, seismic wave exploration (impact sound exploration) is a method in which elastic waves are input into the road and the reflected waves generated when the elastic waves hit the object being measured are received. When inputting elastic waves into the road, the input device, such as a hammer, must be in contact with the road surface. Similarly, the receiving device, such as a sensor that receives the reflected waves, must also be in contact with the road surface. When measurements were taken while the vehicle was moving with the input and receiving devices in contact with the road surface, noise was generated due to friction between the two devices and the road surface, making measurement impossible (Figure 10).
[0007] Another method involves moving the inspection device 60, stopping it at the inspection location, and then using the transmitting and receiving device 61 to inspect the road underground. However, repeatedly starting and stopping the inspection device 60, which weighs several tens to several hundred kilograms, requires a great deal of energy and may adversely affect the electronic equipment it carries. Furthermore, this method is more time-consuming than the inspection method performed while driving, making it inefficient.
[0008] The inventors of this invention focused on the fact that the equipment used to actually inspect the road underground takes only a short time to perform the inspection. Therefore, they considered how to create a state in which only the inspection equipment is stationary relative to the ground within a moving inspection device.
[0009] This invention was devised to solve the aforementioned problems. Specifically, the object of this invention is to provide a self-propelled road inspection device and an inspection method therefor, which, in a moving inspection device, allows for accurate inspections to be performed in a time-saving manner and in a shorter time compared to conventional methods, by keeping only the equipment to be inspected stationary relative to the ground for a predetermined period of time. [Means for solving the problem]
[0010] The self-propelled road inspection device 1 of the present invention is an inspection device that inspects the road surface while traveling, and comprises a vehicle body 20 having a traveling device that travels at a constant speed, measuring equipment 50 for measuring abnormalities inside the road, and a reciprocating device 40 attached to the bottom surface of the vehicle body that moves the measuring equipment back and forth parallel to the direction of travel of the vehicle body. The measuring equipment and the reciprocating device are loaded onto the vehicle body, and while traveling, the measuring equipment is moved in the opposite direction at the same speed as the vehicle body by the reciprocating device, so that the measuring equipment can be temporarily stationary relative to the ground for measurement.
[0011] It is preferable to further include a lifting mechanism 51 that lowers the measuring instrument so that it touches the ground when the reciprocating device moves the measuring instrument from the front to the rear of the vehicle body and holds it stationary relative to the ground, and raises the measuring instrument so that it is lifted away from the road surface when the reciprocating device returns the measuring instrument from the rear to the front of the vehicle body.
[0012] When the reciprocating device returns the measuring instrument from the rear to the front of the vehicle, it is preferable that the measuring instrument be moved at a speed faster than the vehicle's travel speed.
[0013] It is preferable that the vehicle body is equipped with tracks 31 as a means of propulsion.
[0014] Preferably, the vehicle body consists of an upper body 21 and a lower body 22, with the upper body equipped with control equipment and a battery, and the lower body equipped with measuring equipment and a reciprocating device, and is configured so that the upper body and lower body can be combined during inspection runs and separated during transport. [Effects of the Invention]
[0015] According to the self-propelled road inspection device of the present invention, the measuring instrument can be temporarily stationary relative to the ground by moving at the same speed in the opposite direction to the vehicle's direction of travel using a reciprocating device. Because the measuring instrument is stationary relative to the ground, friction between the instrument and the road surface is eliminated, suppressing noise. Furthermore, elastic waves and electromagnetic waves emitted by the measuring instrument can be received at the same location as the transmission point. In other words, more accurate measurements are possible than when the measuring instrument is moving. Furthermore, because the inspection device is constantly moving, inspections can be completed in a shorter time compared to when the vehicle is stationary. In addition, by avoiding repeated starts that require significant energy, inspections can be performed in an energy-efficient manner. [Brief explanation of the drawing]
[0016] [Figure 1] Side view of the self-propelled road inspection device of the present invention. [Figure 2]Side view of the self-propelled road inspection device of the present invention in a separated state. [Figure 3] Bottom view of the self-propelled road inspection device of the present invention. [Figure 4] Schematic diagram showing the state of measurement while traveling. [Figure 5] Flow chart when performing inspection. [Figure 6] Perspective view of the self-propelled road inspection device of the present invention. [Figure 7] Cross-sectional view showing the state of asphalt paving. [Figure 8] Cross-sectional view showing the state of concrete paving. [Figure 9] Cross-sectional view showing the state of paving of a bridge. [Figure 10] Schematic diagram showing the state of measurement by a conventional inspection device.
Embodiment for Carrying out the Invention
[0017] An example of the implementation of the self-propelled road inspection device of the present invention will be described using the drawings.
[0018] <Overall Outline> FIG. 1 is a side view of the self-propelled road inspection device 1 of the present invention seen through from the side. The self-propelled road inspection device 1 includes a vehicle body 20, a traveling device 30, a reciprocating device 40, and a measuring device 50. The reciprocating device 40 is provided on the lower surface of the vehicle body 20 having the traveling device 30, and the measuring device 50 is attached to the reciprocating device 40 to perform measurement while traveling. The operator of the self-propelled road inspection device 1 wirelessly controls movement instructions, inspection instructions, etc. by a controller called a proportional system.
[0019] <Vehicle Body> The vehicle body 20 is a housing that houses various devices necessary for measurement. As shown in the side view of Figure 2, the vehicle body 20 can be composed of a detachable upper body 21 and a lower body 22. Separating it into two parts distributes the weight and makes it easier to transport by hand. During driving inspections, the upper body 21 and the lower body 22 are combined for use. Of course, the vehicle body 20 may also be used as a single unit without separation.
[0020] The upper vehicle body 21 is a rectangular prism-shaped housing that contains control equipment 23 such as a sequencer and a battery 24. Its top surface is equipped with various operation buttons (not shown) and an emergency stop button 25, and its sides are equipped with intake and exhaust fans (not shown). A commercially available portable battery can be used as the battery 24. Using a portable battery allows for easy attachment, removal, replacement, and charging. It is preferable to provide multiple emergency stop buttons 25. In this embodiment, they are located diagonally opposite each other in a plan view from the front and rear. This arrangement allows the operator to quickly press the emergency stop button 25 and stop the self-propelled road inspection device 1 regardless of which side they are on.
[0021] The sides and top of the upper body 21 should be provided with windows 26 and doors 27 to allow for inspection and operation of the interior. Alternatively, the side panels could be easily attached and detached instead of windows and doors. Alternatively, the side panels could not be provided at all.
[0022] The lower body 22 is a U-shaped frame in side view, with support columns at the four corners, and is equipped with a running gear 30, a reciprocating gear 40, measuring instruments 50, etc. The lower body 22 has frames rising at the front and rear in the direction of travel, and the upper body 21 fits between them and is integrated by being secured with snap fasteners on the sides. There are two snap fasteners on each side, for a total of eight. Of course, the number of snap fasteners may be less or more than this.
[0023] <Traction device> The underside of the vehicle body 20 is equipped with a running gear 30. A track 31 may be used as the running gear 30. Alternatively, wheels 32 may be used, or a combination of these may be used. In this embodiment, the vehicle is equipped with a track 31 at the front as a drive system and a wheel 32 at the rear as a driven wheel. A commercially available crawler unit can be used as the track 31. For the wheel 32 used as the driven wheel, it is preferable to use a caster or the like that which can rotate freely on a flat surface. By using the track 31, the vehicle can move in a straight line without swaying from side to side, even on uneven surfaces such as asphalt concrete. In addition, it can continue to move without getting caught even if there are craters or cracks in the road surface. Furthermore, by using the track 31, it is possible to perform pivot turns and super-pivot turns, and the vehicle can turn in tight spaces, making inspection work easier even on roads with limited width.
[0024] It is preferable to offer multiple selectable travel speeds. The speed of the reciprocating device 40, described later, should also be available in multiple options to match the travel speed. By slowing down the travel speed, the time the measuring instrument 50 remains stationary relative to the ground can be increased. Furthermore, the measurement interval can be shortened by completing the measurement and starting the next measurement before the measuring instrument 50 reaches the rear end. Conversely, if the time required for measurement is short, the inspection work can be completed in a shorter time by increasing the travel speed. Alternatively, the speed of the reciprocating device 40 can be determined by calculating the speed from the rotational speed of the traveling device 30. By making it reciprocate in accordance with the actual speed, more accurate measurements can be performed.
[0025] <Reciprocating device> The underside of the vehicle body 20 is equipped with a reciprocating mechanism 40. Figure 3 is a bottom view of the self-propelled road inspection device 1, seen from below. The reciprocating device 40 consists of a rail 41, a shaft 42, and a drive unit 43. The measuring instrument 50 is suspended from a rail 41, which is arranged parallel to the direction of travel of the vehicle, so as to be able to move back and forth. At this time, a part of the measuring instrument 50 grips a shaft 42, which is arranged parallel to the rail, and a lead screw (not shown) is provided on the shaft 42. The drive unit 43 is a prime mover such as a motor that generates rotational force. As the drive unit 43 rotates the shaft 42, the lead screw causes the measuring instrument 50 to move back and forth on the rail 41. In other words, the direction of movement of the measuring instrument 50 can be changed by the direction of rotation of the shaft 42, and the speed of movement of the measuring instrument 50 can be changed by the rotation speed.
[0026] Figure 4 is a schematic diagram illustrating the state of measurement being performed while driving. P represents the measurement point. (a) shows the vehicle traveling on the traveling device 30 with the measuring instrument 50 raised. The self-propelled road inspection device 1 starts traveling from a point before the measurement point, accelerates to a predetermined speed, and continues to travel at a constant speed. (b) shows the state after arriving at the inspection point and lowering the measuring instrument 50 by the lifting mechanism 51 and pressing it against the ground. At this point, elastic waves and electromagnetic waves are transmitted (input). (c) shows the state in which the reciprocating device 40 moves the measuring instrument 50 in the opposite direction (rearward) at the same speed as the self-propelled road inspection device 1. While the self-propelled road inspection device 1 is moving, the measuring instrument 50 remains stationary, pressed against the ground, and is able to receive signals. (d) shows the state after the reception of elastic waves and electromagnetic waves has finished, and the measuring instrument 50 has been raised by the lifting mechanism 51 to the rear end of the rail 41 and is ungrounded. It is also possible to raise the instrument before it reaches the rear end when reception is finished. (e) shows the state in which the reciprocating device 40 is moving the measuring instrument 50 to the front end of the rail 41 while moving to the next measurement point. By operating the reciprocating device 40 at a speed faster than the travel speed of the self-propelled road inspection device 1 and moving it forward, measurements can be taken at the next measurement point without delay. By increasing this speed even further, measurements can be taken at shorter intervals. By repeating the above steps, it becomes possible to measure P1, P2, etc., at predetermined intervals while moving.
[0027] Figure 5 is a flowchart illustrating the process of conducting an inspection. When the self-propelled road inspection device 1 reaches a measurement point, it first lowers the measuring instrument 50 using the lifting mechanism 51 and presses it against the ground to make contact. Simultaneously with making contact, it activates the reciprocating device 40 to move the measuring instrument 50 backward and bring it to a stationary position relative to the ground. When the measuring instrument 50 is grounded and stationary, it emits elastic waves and enters a receiving standby state. When the measuring instrument 50 receives reflected elastic waves, the lifting mechanism 51 raises the measuring instrument 50 again. Once the measuring instrument 50 has risen, the reciprocating device 40 moves the measuring instrument 50 forward for the next measurement.
[0028] <Measuring Instruments> Various types of measuring instruments 50 can be used, such as seismographs, ground-penetrating radars, and cameras. For measuring instruments that measure reflected objects such as seismic waves, electromagnetic waves, and visible light, the movement of the receiver makes accurate measurement difficult. As mentioned above, by completing transmission and reception while the measuring instrument 50 is stationary relative to the ground by the reciprocating device 40, the transmission and reception points do not shift, and noise is suppressed by eliminating friction between the measuring instrument and the road surface, allowing for more accurate measurements compared to conventional methods of measurement while moving.
[0029] In addition, work equipment can be attached instead of the measuring instrument 50. This is useful when marking or digging holes at regular intervals.
[0030] Figure 6 is a perspective view of the self-propelled road inspection device 1 from below. The measuring instrument 50 is equipped with a lifting mechanism 51. The seismic wave probe needs to be in contact with the target object when transmitting and receiving. On the other hand, when moving to the next measurement point after completing measurements, it is desirable that the measuring instrument 50 not be in contact with the ground in order to protect it. Therefore, by providing a lifting mechanism 51, the measuring instrument 50 is lowered to make contact with the ground during measurements, and raised to lift it off the ground when moving. A conventional sliding mechanism or the like can be used as the lifting mechanism 51. When not performing measurement travel, it is advisable to raise the measuring instrument 50 to its maximum height in order to protect it. <Effects and Effects>
[0031] According to the self-propelled road inspection device of the present invention, transmission and reception can be performed at the same location while the device continues to move. Furthermore, because the inspection device continues to move, inspections can be performed in a shorter time compared to methods that require stopping for measurement. The self-propelled road inspection device of the present invention is not limited to the measuring instruments used. Therefore, various measuring instruments such as seismographs, ground-penetrating radars, cameras, and infrared cameras can be used. The self-propelled road inspection device of the present invention makes it easy to transport by hand by making the inspection device, which typically weighs several tens of kilograms to about one hundred kilograms, detachable.
[0032] This invention can be used to inspect not only roads but also various other locations such as plazas. Furthermore, it can be used to inspect cracks in concrete structures, not just paved roads. For example, it is applicable to a wide range of structures, including concrete bridge decks, pier decks, railway slabs, tunnel linings, culverts, elevated road and railway bridges, and building structures. Additionally, by using a crane or similar device to levitate the self-propelled road inspection device, it can also be used to inspect walls and ceilings. [Industrial applicability]
[0033] The self-propelled road inspection device of the present invention can accurately measure underground in a short time, reduce the labor involved in inspection work, and is an invention that is expected to make a significant contribution to the field of road maintenance work. [Explanation of symbols]
[0034] 1. Self-propelled road inspection device 20 car bodies 21 Upper body 22 Lower body 23 Control equipment 24 Batteries 25 Emergency Stop Button 26 windows 27 Doors 30 Traveling device 31 Tracks 32 wheels 40 Reciprocating device 41 rails 42 shafts 43 Drive unit 50 Measuring Instruments 51 Lifting mechanism 60 Inspection device 61 Transmitting and Receiving Devices P Measurement point
Claims
1. In an inspection device that inspects the road surface while driving, A vehicle body (20) having a running gear (30) that travels at a constant speed, A measuring device (50) for measuring abnormalities inside the road, The vehicle body is equipped with a reciprocating device (40) that is attached to the bottom surface of the vehicle body and moves the measuring instrument back and forth in parallel with the direction of movement of the vehicle body, The measuring instrument and the reciprocating device are mounted on the vehicle body. While the vehicle is in motion, the reciprocating device moves the measuring instrument in the opposite direction at the same speed as the vehicle's speed, allowing the measuring instrument to temporarily stop relative to the ground for measurement. Self-propelled road inspection device (1).
2. When the measuring instrument is moved from the front to the rear of the vehicle body by the reciprocating device and stationary relative to the ground, the measuring instrument is lowered so that it touches the ground. When the reciprocating device returns the measuring instrument from the rear to the front of the vehicle body, the measuring instrument is raised so that it is away from the road surface. It is further equipped with a lifting mechanism (51), The self-propelled road inspection device according to claim 1.
3. When the reciprocating device returns the measuring instrument from the rear to the front of the vehicle body, the measuring instrument is moved at a speed faster than the vehicle body's travel speed. The self-propelled road inspection device according to claim 1.
4. The vehicle body is provided with tracks (31) as its means of running. The inspection apparatus according to claim 1.
5. The aforementioned vehicle body consists of an upper vehicle body (21) and a lower vehicle body (22). The upper body is equipped with control equipment and a battery, The lower body is equipped with the measuring instrument and the reciprocating device, The upper and lower body are configured to be combined during inspection runs, and to be separated during transport. The self-propelled road inspection device according to claim 1.
6. A vehicle body (20) having a running gear (30) that travels at a constant speed, A measuring device (50) for measuring abnormalities inside the road, A self-propelled road inspection device (1) is equipped with a reciprocating device (40) attached to the underside of the vehicle body, which moves the measuring instrument back and forth parallel to the direction of the vehicle's movement. The measuring instrument is placed in contact with the road surface, The aforementioned automatic road inspection device moves the measuring instrument in the reverse direction at the same speed as the vehicle's speed using the reciprocating device while the vehicle is moving, so that the measuring instrument temporarily stops relative to the ground to perform measurements. Before the automatic road inspection device reaches the next measurement position, the measuring instrument is moved forward by the reciprocating device. Road inspection methods.
7. By the lifting mechanism (51), When the measuring instrument is moved from the front to the rear of the vehicle body by the reciprocating device and stationary relative to the ground, the measuring instrument is lowered so that it touches the ground. When the reciprocating device returns the measuring instrument from the rear to the front of the vehicle body, the measuring instrument is raised so that it is away from the road surface. The road inspection method according to claim 6.
8. When the reciprocating device returns the measuring instrument from the rear to the front of the vehicle body, the measuring instrument is moved at a speed faster than the vehicle body's travel speed. The road inspection method according to claim 7.