Object Evaluation System, Evaluation Method, and Program

Abstract

To evaluate strength characteristics of an object such as the ground over a wide range.SOLUTION: A data acquisition section 31 acquires, from a laser scanner, point group data representing displacements of an object in time sequence, which are generated by a load of a vehicle 10 upon traveling. A processing section 32 performs processing related to strength characteristics evaluation of the object using the point group data acquired by the data acquisition section 31. The processing section 32, for a first embodiment, evaluates bearing resistance of an underground continuous wall W corresponding to the displacements in a horizontal direction of an upper end part of the ground continuous wall W. An output section 33 outputs an evaluated result by the processing section 32.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a technique for evaluating the strength characteristics of an object that undergoes displacement.

Background Art

[0002] Conventionally, as a method for quality control of embankments, a proof rolling test in which a vehicle is driven to visually observe the deflection of the ground surface is known. However, this method depends on experience and intuition and may lack objectivity.

[0003] For example, Patent Document 1 discloses a technique for more objectively measuring the compaction degree of an earth structure using a Schmidt hammer, a load cell attached to the tip of the Schmidt hammer, and an indicator capable of displaying the load applied to the load cell. However, this technique is not suitable for measuring large-scale earth structures, and the application target is limited to the ground surface of the ground.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the present invention is to provide a technique capable of evaluating the strength characteristics of a wide range of ground and objects other than the ground by a simple method.

Means for Solving the Problems

[0006] To solve the above problems, the present invention moves along with a vehicle that travels along the extending direction of an object while abutting on the extreme upper end surface of the object. Then, irradiate a laser on a range including the contact point where the roller of the vehicle in the horizontal direction of the upper end face edge contacts the running surface and the end position that is not displaced by the load of the vehicle in the running direction of the vehicle. A laser scanner that generates point cloud data representing, in time series, each end position in the horizontal direction of the upper end edge caused by the load of the vehicle during travel, a data acquisition unit that acquires, from the laser scanner, the point cloud data representing, in time series, each end position in the horizontal direction of the upper end edge caused by the load of the vehicle during travel, and, using the acquired point cloud data, on the line connecting the set of ground contact points where the rollers of the vehicle are in contact with the travel surface, according to the difference between the end position in the horizontal direction of the upper end edge when displaced by the load of the vehicle and the end position in the horizontal direction of the upper end edge when not displaced by the load, a processing unit that performs processing related to the soundness evaluation as the strength characteristic of the object, and performs processing to evaluate the soundness as smaller when the difference is larger and to evaluate the soundness as larger when the difference is smaller. Provided is an object evaluation system characterized by comprising the processing unit. Also, the present invention moves together with a vehicle that travels on an object Then, when the vehicle moves along the extending direction of the object along the upper end face edge of the object, irradiate a laser on a range including the contact point where the roller of the vehicle in the horizontal direction of the upper end face edge contacts the running surface and the end position that is not displaced by the load of the vehicle in the running direction of the vehicle. A laser scanner that generates point cloud data representing, in time series, each end position in the horizontal direction of the upper end edge of an object when the vehicle travels along the extending direction of the object while passing over the upper end edge of the object, and that generates point cloud data representing, in time series, each position in the vertical direction of the traveling surface of the vehicle when the vehicle travels on the object; a data acquisition unit that acquires, from the laser scanner, the point cloud data representing, in time series, each end position in the horizontal direction of the upper end edge of the object when the vehicle travels along the extending direction of the object while passing over the upper end edge of the object, and that acquires, from the laser scanner, the point cloud data representing, in time series, each position in the vertical direction of the traveling surface of the vehicle when the vehicle travels on the object; and a processing unit that performs processing related to the soundness evaluation as an intensity characteristic of the object using the acquired point cloud data, the processing unit evaluating the soundness to be lower as the difference between the end position in the horizontal direction of the upper end edge of the object when the vehicle is displaced by the load of the vehicle on the line connecting the set of contact points where the rollers of the vehicle are in contact with the traveling surface when the vehicle travels along the extending direction of the object while passing over the upper end edge of the object and the end position in the horizontal direction of the upper end edge of the object when not displaced by the load is larger, and evaluating the soundness to be higher as the difference is smaller, and when the vehicle travels on the object, evaluating the soundness to be lower as the difference between the position in the vertical direction of the traveling surface where the load of the vehicle acts during traveling and the position in the vertical direction of the traveling surface where the load does not act is larger, and evaluating the soundness to be higher as the difference is smaller. An object evaluation system is provided, characterized by comprising the above components.

[0013] In addition, the present invention moves together with a vehicle that travels along the extending direction of an object while passing over the upper end edge of the object Then, irradiate a laser on a range including the contact point where the roller of the vehicle in the horizontal direction of the upper end face edge contacts the running surface and the end position that is not displaced by the load of the vehicle in the running direction of the vehicle. A laser scanner, from which point cloud data representing, in time series, each end position in the horizontal direction of the upper end edge caused by the load of the vehicle during travel is generated, and a step of acquiring the point cloud data representing, in time series, each end position in the horizontal direction of the upper end edge; and using the acquired point cloud data, on a line connecting a set of ground contact points where the rollers of the vehicle are in contact with the running surface, according to the difference between the end position in the horizontal direction of the upper end edge when displaced by the load of the vehicle and the end position in the horizontal direction of the upper end edge when not displaced by the load, a processing unit that performs processing related to the soundness evaluation as the strength characteristic of the object, and performs processing of evaluating the soundness as smaller when the difference is larger and evaluating the soundness as larger when the difference is smaller. Provided is an object evaluation method characterized by comprising the above steps. Also, when the vehicle travels along the extending direction of the object along the upper end edge of the object, the present invention moves together with the vehicle Then, irradiate a laser on a range including the contact point where the roller of the vehicle in the horizontal direction of the upper end face edge contacts the running surface and the end position that is not displaced by the load of the vehicle in the running direction of the vehicle. A laser scanner that obtains point cloud data representing, in time series, each end position in the horizontal direction of the edge of the upper end surface from a laser scanner that generates the point cloud data, and a laser scanner that moves together with the vehicle when the vehicle travels on an object and generates point cloud data representing, in time series, each position in the vertical direction of the traveling surface of the vehicle, and obtains point cloud data representing, in time series, each position in the vertical direction of the traveling surface of the vehicle; and a step of performing processing related to soundness evaluation as an intensity characteristic of the object using the obtained point cloud data, wherein when the vehicle travels along the extending direction of the object on the edge of the upper end surface of the object, on a line connecting a set of contact points where the rollers of the vehicle are in contact with the traveling surface, the larger the difference between the end position in the horizontal direction of the edge of the upper end surface when displaced by the load of the vehicle and the end position in the horizontal direction of the edge of the upper end surface when not displaced by the load, the lower the soundness is evaluated, and the smaller the difference, the higher the soundness is evaluated, and when the vehicle travels on the object, the larger the difference between the position in the vertical direction of the traveling surface where the load of the vehicle acts during traveling and the position in the vertical direction of the traveling surface where the load does not act, the lower the soundness is evaluated, and the smaller the difference, the higher the soundness is evaluated. An object evaluation method is provided, characterized by comprising the above steps.

[0014] Further, the present invention relates to a computer that moves together with a vehicle that travels along the extending direction of an object on the edge of the upper end surface of the object Then, irradiate a laser on a range including the contact point where the roller of the vehicle in the horizontal direction of the upper end face edge contacts the running surface and the end position that is not displaced by the load of the vehicle in the running direction of the vehicle. A laser scanner, from which point cloud data representing, in time series, each end position in the horizontal direction of the upper end edge generated by the load of the vehicle during travel is generated, and a step of acquiring the point cloud data representing, in time series, each end position in the horizontal direction of the upper end edge; and using the acquired point cloud data, on the line connecting the set of ground contact points where the rollers of the vehicle are in contact with the running surface, according to the difference between the end position in the horizontal direction of the upper end edge when displaced by the load of the vehicle and the end position in the horizontal direction of the upper end edge when not displaced by the load, a processing unit that performs processing related to the soundness evaluation as the strength characteristic of the object, and performs processing of evaluating the soundness as smaller as the difference is larger and evaluating the soundness as larger as the difference is smaller, and provides a program for executing the steps. Further, the present invention relates to a case where a computer moves together with the vehicle when the vehicle travels along the extension direction of the object upper end edge of the object. Then, irradiate a laser on a range including the contact point where the roller of the vehicle in the horizontal direction of the upper end face edge contacts the running surface and the end position that is not displaced by the load of the vehicle in the running direction of the vehicle. A laser scanner that acquires point cloud data representing, in time series, each end position in the horizontal direction at the edge of the upper end surface from a laser scanner that generates the point cloud data, and that, when the vehicle travels on an object, is a laser scanner that moves together with the vehicle and acquires point cloud data representing, in time series, each position in the vertical direction of the traveling surface of the vehicle from a laser scanner that generates the point cloud data; and a step of performing processing related to soundness evaluation as an intensity characteristic of the object using the acquired point cloud data, wherein when the vehicle travels along the extending direction of the object on the edge of the upper end surface of the object, the soundness is evaluated to be lower as the difference between the end position in the horizontal direction of the edge of the upper end surface when displaced by the load of the vehicle on the line connecting the set of contact points where the rollers of the vehicle are in contact with the traveling surface and the end position in the horizontal direction of the edge of the upper end surface when not displaced by the load is larger, and the soundness is evaluated to be higher as the difference is smaller, and when the vehicle travels on the object, the soundness is evaluated to be lower as the difference between the position in the vertical direction of the traveling surface where the load of the vehicle acts during traveling and the position in the vertical direction of the traveling surface where the load does not act is larger, and the soundness is evaluated to be higher as the difference is smaller. A program is provided for causing the above steps to be executed.

Effect of the Invention

[0015] According to the present invention, it becomes possible to evaluate the strength characteristics of a wide range of ground and objects other than the ground.

Brief Description of the Drawings

[0016]

Figure 1

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Figure 13

Mode for Carrying Out the Invention

[0017] An example of a mode for carrying out the present invention will be described. [First Embodiment] FIG. 1 is a block diagram showing an example of the overall configuration of an object evaluation system 1 according to a first embodiment of the present invention. The object evaluation system 1 includes a vehicle 10, a laser scanner 20 provided on the vehicle 10, and an object evaluation device 30 that performs processing related to the evaluation of the strength characteristics of an object. The vehicle 10 functions as a heavy object for applying a load to the object. For example, it is various construction heavy machines (dump trucks, cranes, trailers, compaction rollers, etc., and it is desirable that the total vehicle weight is 10 tons or more). The vehicle 10 travels while applying displacement due to a load to the object, and the laser scanner 20 moves together with the traveling vehicle 10. The laser scanner 20 is a device that outputs point cloud data indicating the three-dimensional coordinates of the portion irradiated with the laser light. The scanning method of the laser scanner 20 may be, for example, an active stereo method in which a special graphic pattern is irradiated from an infrared light source and the graphic pattern is detected by an infrared camera, or a time-of-flight method that utilizes the time difference until the reflected light is received after irradiating the laser light. Any method can be adopted. In this embodiment, the active stereo method that enables faster and wider scanning is used. The object evaluation device 30 is a computer that performs processing related to the evaluation of the strength characteristics of the object based on the point cloud data output from the laser scanner 20. The laser scanner 20 and the object evaluation device 30 may be configured to be able to perform real-time communication wirelessly or by wire, or the data acquired and output by the laser scanner 20 may be configured to be input to the object evaluation device 30 via a predetermined storage medium such as a USB (Universal Serial Bus) memory.

[0018] Various objects can be considered as the object whose strength characteristics are evaluated. In this first embodiment, the object is a diaphragm wall such as reinforced concrete continuously constructed underground. And the traveling surface on which the vehicle travels is the ground surface at the very edge of the upper end surface of the diaphragm wall. Note that the distance as the very edge is preferably about 100 cm as the distance between the traveling side end of the upper end surface of the diaphragm wall and the end of the vehicle wheel or roller on the diaphragm wall side of the traveling vehicle.

[0019] Figure 2 is a diagram showing the hardware configuration of the object evaluation device 30. Physically, the object evaluation device 30 is configured as a computer device including a processor 3001, a memory 3002, a storage 3003, a communication device 3004, an input device 3005, an output device 3006, and a bus connecting these devices. Each of these devices operates by power supplied from a power source (not shown). In the following description, the term "device" can be read as a circuit, a device, a unit, etc. The hardware configuration of the object evaluation device 30 may be configured to include one or more of the devices shown in Figure 2, or may be configured without including some of the devices.

[0020] Each function in the object evaluation device 30 is realized by causing the processor 3001 to load a predetermined software (program) onto hardware such as the processor 3001 and the memory 3002, so that the processor 3001 performs calculations, controls communication by the communication device 3004, acquires data transmitted from other devices, and controls at least one of reading and writing data in the memory 3002 and the storage 3003.

[0021] The processor 3001 controls the entire computer by operating an operating system, for example. The processor 3001 may be constituted by a central processing unit (CPU) including an interface with peripheral devices, a control device, an arithmetic device, a register, etc.

[0022] The processor 3001 reads a program (program code), software module, data, etc. from at least one of the storage 3003 and the communication device 3004 into the memory 3002, and executes various processes according to these. As the program, a program for causing a computer to execute at least a part of the operations described later is used. The functional blocks of the object evaluation device 30 may be stored in the memory 3002 and realized by a control program operating in the processor 3001. Various processes may be executed by one processor 3001, or may be executed simultaneously or sequentially by two or more processors 3001. The processor 3001 may be implemented by one or more chips. Note that the program may be transmitted to the object evaluation device 30 via a telecommunication line and installed in the memory 3002 or the storage 3003.

[0023] The memory 3002 is a computer-readable recording medium and may be constituted by at least one of, for example, ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), RAM (Random Access Memory), etc. The memory 3002 may be referred to as a register, cache, main memory (main storage device), etc. The memory 3002 can store a program (program code), software module, etc. executable for implementing the method according to the present embodiment.

[0024] Storage 3003 is a computer-readable recording medium and may be composed of at least one of, for example, an optical disc such as a CD-ROM (Compact Disc ROM), a hard disk drive, a solid state drive, a flexible disk, a magneto-optical disk (e.g., a compact disc, a digital versatile disc, a Blu-ray (registered trademark) disc), a smart card, a flash memory (e.g., a card, a stick, a key drive), a floppy (registered trademark) disk, a magnetic strip, etc. Storage 3003 may also be referred to as an auxiliary storage device.

[0025] Communication device 3004 is hardware (a transceiver device) for performing communication between the laser scanner 20 and the object evaluation device 30 via at least one of wired or wireless, and is also referred to as, for example, a network device, a network controller, a network card, a communication module, etc.

[0026] Input device 3005 is an input device (e.g., a keyboard, a mouse, a microphone, a switch, a button, etc.) for receiving an external input. Output device 3006 is an output device (e.g., a display, a speaker, an LED lamp, etc.) for performing an output to the outside. Note that the input device 3005 and the output device 3006 may have an integrated configuration (e.g., a touch panel).

[0027] Object evaluation device 30 may be configured to include hardware such as a microprocessor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc., and some or all of each functional block may be realized by the hardware. For example, processor 3001 may be implemented using at least one of these hardware.

[0028] FIG. 3 is a diagram showing an example of the functional configuration of the object evaluation device 30. Each function realized by the object evaluation device 30 is realized by causing a processor 3001 to perform calculations by loading a predetermined software (program) onto hardware such as the processor 3001, the memory 3002, etc., controlling communication by the communication device 3004, or controlling at least one of reading and writing data in the memory 3002 and the storage 3003.

[0029] The data acquisition unit 31 acquires point cloud data representing the time-series displacement of the object, which is caused by the load of the vehicle 10 during travel, from the laser scanner.

[0030] Here, FIG. 4 is a front view illustrating the positional relationship among the laser scanner 20, the vehicle 10, and the object in the first embodiment, and illustrates the state when the vehicle 10 is viewed from the traveling direction of the vehicle 10. FIG. 5 is a top view illustrating the positional relationship among the laser scanner 20, the vehicle 10, and the object in the first embodiment, and illustrates the state when the vehicle 10 traveling in the traveling direction S is viewed from above. In the following description, although the vehicle 10 is different from the heavy machine described in FIGS. 4 and 5, a tightening roller will be used for explanation for the sake of convenience. FIG. 6 is a bird's-eye view illustrating the positional relationship between the load line by the roller 101 and the object in the first embodiment, and illustrates the state when the vehicle 10 traveling in the traveling direction S is viewed from above. Here, the object for which the displacement data is acquired is the diaphragm wall W illustrated in the figure. The vehicle travels along the ground surface of the ground G in the extending direction of the diaphragm wall W at the ground surface.

[0031] As illustrated in FIG. 4, the configuration of the vehicle 10 is roughly classified into a roller 101 and a vehicle body 102. The laser scanner 20 is fixed via a support tool 103 such as a pipe so as to protrude from the side surface of the vehicle body 102. The irradiation range L of the laser light of the laser scanner 20 is a region within a predetermined range including the upper end surface of the diaphragm wall W. As described above, the interval E is the interval between the vehicle-traveling-side end of the upper end surface of the diaphragm wall W and the diaphragm-wall-side end of the roller 101 of the traveling vehicle 10, and is about 100 cm.

[0032] The displacement related to the object is the horizontal displacement in the short-side direction of the upper end surface of the diaphragm wall W caused by the load of the vehicle 10 during traveling. That is, in FIG. 6, the displacement amount d related to the object is the difference between the end position P0 of the upper end surface of the diaphragm wall W at the load line O of the roller 101 (the set of contact points between the roller 101 and the object at a certain moment) where the displacement occurs due to the application of the vehicle load and the position P1 of the diaphragm wall W after the vehicle 10 has passed and the load of the vehicle 10 has been released. In FIG. 6, the illustration of the vehicle body 102, the laser scanner 20, and the support 103 is omitted so as not to complicate the configuration.

[0033] In this way, the laser scanner 20 is fixed to the vehicle 10 so as to be in a position where it can acquire the displacement related to the object within a predetermined distance range based on the contact point between the vehicle 10 and the traveling surface. Further, the laser scanner 20 is fixed to the vehicle 10 so as to be in a position where it can acquire the change over time of the displacement related to the object within a predetermined time range (that is, the time until the displacement amount d generated as the vehicle 10 travels converges due to the passage of the vehicle 10) based on the passage of the contact point between the vehicle 10 and the traveling surface. Note that the roller of the vehicle 10 serving as the reference for the predetermined range is desirably the roller corresponding to the rear wheel among the front and rear rollers of the vehicle 10 because the displacement amount is measured in comparison with after the vehicle 10 has passed.

[0034] Further, the predetermined range may be not only after the passage of the contact point of the vehicle 10 but also before the passage. When the range before the passage of the contact point of the vehicle 10 is set as the predetermined range, the displacement amount d related to the object is the difference between the end position P1 of the upper end surface of the diaphragm wall W before the load of the vehicle 10 is applied and the end position P0 of the upper end surface of the diaphragm wall W at the load line O of the roller 101. Note that the roller of the vehicle 10 serving as the reference for the predetermined range is desirably the roller corresponding to the front wheel among the front and rear rollers of the vehicle 10 at this time because the displacement amount is measured in comparison with before the passage of the vehicle 10.

[0035] Alternatively, it may be a range before and after passing through the contact point with the traveling surface of the vehicle 10 within a predetermined range (that is, from a state where no displacement occurs at the end position of the upper end surface of the underground continuous wall W before the vehicle 10 travels, displacement occurs as the vehicle 10 travels, and until the displacement converges after the vehicle 10 passes). In that case, when the value of the displacement amount d in the comparison between before the vehicle 10 travels and when the front wheel touches the ground is different from the value of the displacement amount d in the comparison between when the rear wheel of the vehicle 10 touches the ground and after the vehicle 10 passes, the average displacement amount d may be used as the displacement amount for use in the strength characteristic evaluation, but it is desirable to use the value of the larger displacement amount from the safety aspect.

[0036] In addition, as the area within a predetermined distance of the irradiation range L of the laser beam of the laser scanner 20, depending on the case, for example, from 3 m to 4 m ahead of the front wheel of the vehicle 10 or from the displacement measurement value point, up to the range where the rear wheel has advanced 3 m or more, or the range where the vehicle travels within the time required for the displacement at the displacement measurement value point to settle after the rear wheel passes is desirable.

[0037] Returning to the description of FIG. 3, the processing unit 32 performs processing related to the strength characteristic evaluation of the object using the point cloud data acquired by the data acquisition unit 31. In the first embodiment, the processing unit 32 evaluates the strength of the underground continuous wall W according to the horizontal displacement in the short side direction of the upper end surface of the underground continuous wall W. As this evaluation method, a method of dropping the value of the displacement amount d at each acquired position onto each position on the drawing of the underground continuous wall to be evaluated and evaluating the soundness of the underground continuous wall to be evaluated can be considered. Also, as this evaluation method, for example, the greater the horizontal displacement in the horizontal direction of the upper end portion of the underground continuous wall W, the lower the soundness of the underground continuous wall W is evaluated, and the smaller the horizontal displacement in the short side direction of the upper end surface of the underground continuous wall W, the greater the soundness of the underground continuous wall W is evaluated. Since the displacement amount d is due to the cross-sectional performance of the underground continuous wall W, the value of the displacement amount d at each acquired position can be dropped onto each position on the drawing of the underground continuous wall W to be evaluated, and the cross-sectional performance of the underground continuous wall W in the portion to be evaluated can be evaluated.

[0038] The output unit 33 outputs the evaluation result by the processing unit 32.

[0039] Next, while referring to FIG. 7, the operation of the first embodiment will be described. Hereinafter, it is assumed that the laser scanner 20 and the object evaluation device 30 are configured to be able to perform real-time communication wirelessly or by wire.

[0040] In FIG. 7, first, when measurement by the laser scanner 20 is started as the vehicle 10 travels (step S11), the data acquisition unit 31 acquires point cloud data representing the displacement in the horizontal direction of the upper end surface of the diaphragm wall W caused by the load of the vehicle 10 during travel from the laser scanner 20 (step S12).

[0041] In FIG. 7, the processing unit 32 performs processing related to the evaluation of the intensity characteristics of the object using the point cloud data acquired by the data acquisition unit 31 (step S13).

[0042] Then, the output unit 33 performs output processing such as displaying the evaluation result by the processing unit 32 in a predetermined format such as a graph format (step S14). At this time, the output unit 33 may, for example, display the bearing capacity of each position of the diaphragm wall by color-coding according to its magnitude.

[0043] According to the above first embodiment, it is possible to evaluate the bearing capacity of each position of the diaphragm wall only by running the vehicle along the long-extending diaphragm wall.

[0044] [Second Embodiment] Next, a second embodiment of the present invention will be described. The system configuration according to the second embodiment is the same as that of the first embodiment. In this second embodiment, when the vehicle 10 travels on a trestle composed of piles driven into the ground and formwork plates supported by the piles, ground bearing capacity evaluation of the target pile is performed using point cloud data representing the time-series displacement in the vertical direction of the formwork plate caused by the load of the vehicle 10 during travel.

[0045] FIG. 8 is a side view illustrating the positional relationship among the laser scanner 20, the vehicle 10, and the object in the second embodiment, and illustrates a state when the vehicle 10 is viewed from the side direction of the vehicle 10. FIG. 9 is a partial side view illustrating the positional relationship between the wheel 101 and the object in the second embodiment, and illustrates a state when the vehicle 10 traveling in the traveling direction S is viewed from the axial direction of the wheel 101. The object in the present embodiment is the formwork plate F directly above the pile R illustrated in the figure, and the vehicle travels on the formwork plate F supported by a plurality of piles R.

[0046] The laser scanner 20 is fixed to the side surface of the vehicle body 102 via a support 103 such as a pipe. The irradiation range L of the laser light of the laser scanner 20 is an area within a predetermined distance (for example, up to about 5 m) including the position where the wheel 101 is in contact with the formwork plate.

[0047] In the second embodiment, the displacement with respect to the object is the displacement in the vertical direction of the formwork plate F caused by the load of the vehicle 10 during traveling. That is, in FIG. 9, the displacement amount d with respect to the object is the difference between the position P0 of the formwork plate F at the point where the wheel 101 is in contact with the formwork plate F and the position P1 where the vehicle 10 has passed and the load has been released. That is, the position P1 is the position when the formwork plate F has once bent downward in the vertical direction due to the load applied by the vehicle 10 and then has returned completely upward in the vertical direction. In FIG. 9, the illustration of the vehicle body 102, the laser scanner 20, and the support 103 is omitted so as not to complicate the configuration.

[0048] In the second embodiment, the processing unit 32 evaluates the ground support force of the pile R that supports the formwork F according to the displacement amount d of the formwork F in the vertical direction. For this evaluation, for example, the larger the displacement amount d of the formwork F, the smaller the ground support force of the pile R at the position supporting the formwork F is evaluated, and the smaller the displacement amount d of the formwork F, the larger the ground support force of the pile R at the position supporting the formwork F is evaluated. The output unit 33 performs output processing such as displaying the evaluation result by the processing unit 32 in a predetermined format. Since the displacement amount d is caused by the ground support force of the pile directly below the formwork F, the value of the displacement amount d at each acquired position is dropped onto each position on the drawing of the trestle that is the evaluation target, and the ground support force of the pile to be evaluated can be evaluated. The displacement amount d of the formwork F is the sum of the deflection amount d1 of the pile and the deflection amount d2 of the supporting ground. Since the deflection amount d1 of the pile can be obtained as a theoretical value from the cross-sectional area, extension, and vehicle body weight of the pile, the deflection amount d2 of the supporting ground can also be obtained. Also, the spring constant, vertical ground reaction coefficient, and deformation coefficient of the ground can be obtained by dividing the vehicle body load (kN) by the displacement amount d. Further, the output unit 33 may, for example, display the ground support force of each pile R by color-coding according to its magnitude.

[0049] Regarding the wheels of the vehicle 10 that serve as a reference when measuring the displacement amount, the rear wheels of the vehicle in the traveling direction are used according to the comparison target of the displacement amount d to be measured.

[0050] According to the above second embodiment, it is possible to evaluate the support force of the piles at each position only by driving the vehicle over the entire trestle and acquiring the displacement amount d.

[0051] [Third Embodiment] Next, a third embodiment of the present invention will be described. The system configuration according to the third embodiment is the same as that of the first embodiment. In this third embodiment, when the vehicle 10 travels on the compacted ground, the strength characteristics of the ground are evaluated using point cloud data representing the time-series displacement in the vertical direction of the ground surface caused by the load of the vehicle 10 during traveling.

[0052] FIG. 10 is a front view illustrating the positional relationship among the laser scanner 20, the vehicle 10, and the object in the third embodiment, and illustrates the state when the vehicle 10 is viewed from the traveling direction of the vehicle 10. FIG. 11 is a top view illustrating the positional relationship among the laser scanner 20, the vehicle 10, and the object in the third embodiment. FIG. 12 is a partial side view illustrating the positional relationship between the roller 101 and the object in the third embodiment, and illustrates the state when the vehicle 10 traveling in the traveling direction S is viewed from the axial direction of the roller 101. A certain period of time has elapsed from the upper figure to the lower figure. The object in the present embodiment is the ground G illustrated in the figure. The vehicle travels on the ground surface of the ground G and evaluates the strength based on the acquired displacement amount d.

[0053] The laser scanner 20 is fixed to the side surface of the vehicle body 102 via a support tool 103 such as a pipe. The irradiation range L of the laser light of the laser scanner 20 is a region within a predetermined distance centered on the position where the roller 101 is in contact with the ground surface. As the region within the predetermined distance, for example, it may be set to the range up to where the roller 101 corresponding to the rear wheel of the vehicle 10 has advanced 3 m or more from the displacement measurement value point, or it may be set to the range where the vehicle 10 travels until the displacement at the displacement measurement value point settles after the roller 101 corresponding to the rear wheel of the vehicle 10 has passed. As the speed of the vehicle 10 during passage, it is desirable that it be 5 km / h or less from the viewpoint of safety in the third embodiment (and the above-described first and second embodiments). Further, due to the relationship of the shooting frequency of the point cloud data by the laser scanner, it is desirable that the speed of the vehicle 10 be 2 km / h or less. When the frame rate is 8 f / s at a speed of 2 km / h, one frame of point cloud data can be acquired every time the vehicle 10 advances by about 7 cm.

[0054] In the third embodiment, the displacement related to the object is the displacement in the vertical direction of the ground surface caused by the load of the vehicle 10 during traveling. That is, in FIG. 12, when paying attention to a certain point A on the ground surface of the ground G, the displacement amount d related to the object is the vertical position P0 when the roller 101 is in contact with the ground surface at that point A (upper part of FIG. 12), and the vertical position P1 after the vehicle 10 has passed after the load of the vehicle 10 is applied at that point A (lower part of FIG. 12). That is, the position P1 is the position when the ground surface has once bent downward in the vertical direction due to the load by the vehicle 10 and then has returned upward in the vertical direction, and the displacement amount d is the amount of bending. In FIG. 12, the illustration of the vehicle body 102, the laser scanner 20, and the support 103 is omitted so that the configuration does not become complicated. Note that the roller of the vehicle 10 serving as the measurement reference measures the displacement amount by comparing with the ground surface after the vehicle has passed, and thus is the rear wheel among the front and rear rollers of the vehicle 10.

[0055] In the third embodiment, the processing unit 32 evaluates the strength characteristics of the ground according to the displacement amount d in the vertical direction of the ground surface. This evaluation, for example, evaluates that the strength of the ground is smaller as the displacement amount d of the ground surface is larger, and evaluates that the strength of the ground is larger as the displacement amount d of the ground surface is smaller. The output unit 33 performs output processing such as displaying the evaluation result by the processing unit 32 in a predetermined format.

[0056] Here, FIG. 13 is a diagram showing an example of point cloud data detected at a certain time by the laser scanner 20. In the diagram, the "distance" on the horizontal axis means the distance from the origin (0.0) where the ground surface of the ground G and the contact point of the roller 101 touch the ground to each position in the moving direction (+) of the vehicle 10 and in the opposite direction (-). The "displacement amount" on the vertical axis means the vertical position of the ground G (ground surface) at each position of the ground G. As explained in FIG. 12, the "maximum displacement amount" is the displacement amount d from when the load of the vehicle 10 is applied and the ground surface bends downward in the vertical direction until it returns completely upward in the vertical direction. Here, for example, if the standard for the soundness of the strength of the ground is that if the displacement amount d (maximum displacement amount - displacement amount after unloading) is less than 5 mm, the soundness is passed, the displacement amount d in the example of FIG. 13 is 14.33 mm, and therefore the ground is rejected.

[0057] According to the third embodiment described above, it is possible to evaluate the strength of the ground at each position simply by running a vehicle over the entire area of ​​the compacted ground.

[0058] [Variations] The present invention is not limited to the above-described embodiment. The above-described embodiment may be modified as follows. In addition, two or more of the following modifications may be combined and implemented.

[0059] [Variation 1] In the above-described first to third embodiments, the laser scanner 20 was fixed to the vehicle body 102 by the support tool 103, but it may be provided on a small flying object (drone) that flies at the same speed as the vehicle 10 while maintaining the positional relationship with the vehicle 10. In this case, the attitude of the flying object or the irradiation direction of the laser scanner is controlled so that the irradiation ranges of the laser light from the laser scanners provided on the flying object are the same as the irradiation range L in the above embodiments. In particular, as control for flying the flying object at the same speed as the vehicle 10 while maintaining the positional relationship with the vehicle 10, technologies such as SLAM (Simultaneous Localization and Mapping) for realizing autonomous driving are used. In this case, if characteristic objects (markers) are required to maintain the recognition accuracy of the images captured by the flying object, for example, a plurality of these markers may be provided on the vehicle 10. The device that performs the control related to this SLAM may be mounted on the flying object or provided on another device that can communicate with the flying object. Thus, the laser scanner 20 may be provided on a flying object that moves together with the vehicle 10. Also, it is desirable that the association between the running of the vehicle 10 and the survey data by the flying object be performed based on the time axis.

[0060] [Modification Example 2] The object whose strength characteristics are evaluated is not limited to the examples of the above-described first to third embodiments. That is, in the present invention, anything that can evaluate the strength characteristics based on the point cloud data representing the time-series displacement regarding the object caused by the load of the vehicle during running can be used as the object.

[0061] [Modification Example 3] In the third embodiment, the displacement amount d of the object was the difference between the position P0 at the point where the wheel 101 was in contact with the ground surface and the position P1 after the load of the vehicle 10 was applied. That is, the position P1 was the position when the ground surface returned upward in the vertical direction after being once deflected downward in the vertical direction due to the load applied by the vehicle 10, and the processing unit 32 evaluated the ground strength based on the difference between these positions. On the other hand, the ground strength may be evaluated based on the time required from the point when the ground surface was once deflected downward in the vertical direction due to the load applied by the vehicle 10 to the point when the ground surface returned upward in the vertical direction. In this case, for example, the processing unit 32 evaluates the ground strength to be smaller as the above period is longer, and evaluates the ground strength to be larger as the above period is shorter.

Explanation of Signs

[0062] 1: Object evaluation system, 10: Vehicle, 101: Wheel (roller), 102: Vehicle body, 103: Support, 20: Laser scanner, 30: Object evaluation device, 31: Data acquisition unit, 32: Processing unit, 33: Output unit, 3001: Processor, 3002: Memory, 3003: Storage, 3004: Communication device, 3005: Input device, 3006: Output device, G: Ground, W: Submerged wall, E: Edge, d: Displacement amount, P0, P1: Positions, O: Load center line, S: Travel direction of vehicle, L: Irradiation range of laser light, R: Pile, F: Cover board.

Claims

1. A laser scanner that moves along with a vehicle traveling along the extension direction of an object at the edge of the upper end surface of the object, and irradiates a laser within a range including a ground contact point where a roller of the vehicle in the horizontal direction of the upper end surface edge contacts the traveling surface and an end position that is not displaced by the load of the vehicle in the traveling direction of the vehicle. The laser scanner generates point cloud data representing, in time series, each end position in the horizontal direction of the upper end surface edge caused by the load of the vehicle during traveling. A data acquisition unit that acquires, from the laser scanner, point cloud data representing, in time series, each end position in the horizontal direction of the upper end surface edge caused by the load of the vehicle during traveling. A processing unit that performs processing related to the soundness evaluation of the object as an intensity characteristic of the object according to the difference between the end position in the horizontal direction of the upper end surface edge when displaced by the load of the vehicle and the end position in the horizontal direction of the upper end surface edge when not displaced by the load on a line connecting a set of ground contact points where the rollers of the vehicle contact the traveling surface, using the acquired point cloud data. The processing unit performs processing to evaluate the soundness as smaller when the difference is larger and to evaluate the soundness as larger when the difference is smaller. An object evaluation system characterized by comprising the above.

2. A laser scanner that moves along with a vehicle traveling on an object, and when the vehicle moves along the extension direction of the upper end surface edge of the object, irradiates a laser within a range including a ground contact point where a roller of the vehicle in the horizontal direction of the upper end surface edge contacts the traveling surface and an end position that is not displaced by the load of the vehicle in the traveling direction of the vehicle. When the vehicle travels along the extension direction of the upper end surface edge of the object, the laser scanner generates point cloud data representing, in time series, each end position in the horizontal direction of the upper end surface edge, and when the vehicle travels on the object, the laser scanner generates point cloud data representing, in time series, each position in the vertical direction of the traveling surface of the vehicle. When the vehicle travels along the extending direction of the object at the edge of the upper end surface of the object, point cloud data representing, in time series, each end position in the horizontal direction of the edge of the upper end surface is acquired from the laser scanner, and when the vehicle travels on the object, point cloud data representing, in time series, each position in the vertical direction of the traveling surface of the vehicle is acquired from the laser scanner, a data acquisition unit; A processing unit that performs processing related to the soundness evaluation as the intensity characteristic of the object using the acquired point cloud data, when the vehicle travels along the extending direction of the object at the edge of the upper end surface of the object, on the line connecting the set of contact points where the rollers of the vehicle are in contact with the traveling surface, when displaced by the load of the vehicle, the difference between the end position in the horizontal direction of the edge of the upper end surface and the end position in the horizontal direction of the edge of the upper end surface when not displaced by the load is greater, the soundness is evaluated to be smaller, and the smaller the difference, the greater the soundness is evaluated, and when the vehicle travels on the object, the difference between the position in the vertical direction of the traveling surface where the load of the vehicle acts during traveling and the position in the vertical direction of the traveling surface where the load does not act is greater, the soundness is evaluated to be smaller, and the smaller the difference, the greater the soundness is evaluated, and a processing unit that performs the processing; An object evaluation system, characterized by comprising the above.

3. A laser scanner that moves together with a vehicle traveling along the extending direction of the object at the edge of the upper end surface of the object, irradiates a laser to a range including the contact point where the roller of the vehicle in the horizontal direction of the edge of the upper end surface is in contact with the traveling surface and the end position not displaced by the load of the vehicle in the traveling direction of the vehicle, a step of acquiring point cloud data representing, in time series, each end position in the horizontal direction of the edge of the upper end surface from a laser scanner that generates point cloud data representing, in time series, each end position in the horizontal direction of the edge of the upper end surface caused by the load of the vehicle during traveling; Using the obtained point cloud data, on the line connecting the set of contact points where the rollers of the vehicle contact the running surface, when the vehicle is displaced by the load of the vehicle, the end position in the horizontal direction of the upper end edge and the end position in the horizontal direction of the upper end edge when not displaced by the load. A processing unit that performs processing related to the soundness evaluation as the strength characteristic of the object, and performs processing to evaluate the soundness as smaller as the difference is larger and evaluate the soundness as larger as the difference is smaller. An object evaluation method characterized by comprising the above.

4. When the vehicle travels along the extending direction of the upper end edge of the object on the upper end edge of the object, it moves together with the vehicle, and the contact point where the roller of the vehicle in the horizontal direction of the upper end edge contacts the running surface, and the vehicle in the traveling direction of the vehicle. A laser scanner that irradiates a laser on a range including an end position that is not displaced by the load, and obtains point cloud data representing each end position in the horizontal direction of the upper end edge in time series from a laser scanner that generates point cloud data representing each end position in the horizontal direction of the upper end edge in time series, and when the vehicle travels on the object, a laser scanner that moves together with the vehicle, and obtains point cloud data representing each position in the vertical direction of the running surface of the vehicle in time series from a laser scanner that generates point cloud data representing each position in the vertical direction of the running surface of the vehicle in time series. A step of performing processing related to the soundness evaluation as the strength characteristic of the object using the acquired point cloud data, wherein when the vehicle travels along the extension direction of the object at the edge of the upper end surface of the object, on the line connecting the set of contact points where the rollers of the vehicle are in contact with the traveling surface, the horizontal end position of the upper end surface edge when displaced by the load of the vehicle and the horizontal end position of the upper end surface edge when not displaced by the load are compared. The greater the difference, the lower the soundness is evaluated, and the smaller the difference, the higher the soundness is evaluated. And when the vehicle travels on the object, the difference between the position in the vertical direction of the traveling surface where the load of the vehicle acts during traveling and the position in the vertical direction of the traveling surface where the load does not act is compared. The greater the difference, the lower the soundness is evaluated, and the smaller the difference, the higher the soundness is evaluated. An object evaluation method characterized by comprising the above.

5. Causing a computer to A laser scanner that moves together with a vehicle traveling along the extension direction of the object at the edge of the upper end surface of the object, irradiates a laser on a range including the contact points where the rollers of the vehicle are in contact with the traveling surface in the horizontal direction of the upper end surface edge, and the end position not displaced by the load of the vehicle in the traveling direction of the vehicle. A step of acquiring point cloud data representing the horizontal end positions of the upper end surface edge in time series from the laser scanner that generates the point cloud data representing the horizontal end positions of the upper end surface edge in time series, A processing unit that performs processing related to the soundness evaluation as the strength characteristic of the object according to the difference between the horizontal end position of the upper end surface edge when displaced by the load of the vehicle and the horizontal end position of the upper end surface edge when not displaced by the load on the line connecting the set of contact points where the rollers of the vehicle are in contact with the traveling surface using the acquired point cloud data. A step of performing processing in which the greater the difference, the lower the soundness is evaluated, and the smaller the difference, the higher the soundness is evaluated. A program for causing the above to be executed.

6. A computer, when the vehicle travels along the extending direction of the object at the edge of the upper end surface of the object, a laser scanner that moves together with the vehicle and irradiates a laser within a range including a ground contact point where a roller of the vehicle in the horizontal direction of the upper end surface edge contacts the traveling surface and an end position that is not displaced by the load of the vehicle in the traveling direction of the vehicle, and obtains point cloud data representing each end position in the horizontal direction of the upper end surface edge in time series from the laser scanner that generates the point cloud data representing each end position in the horizontal direction of the upper end surface edge in time series, and a laser scanner that moves together with the vehicle when the vehicle travels on the object, and obtains point cloud data representing each position in the vertical direction of the traveling surface of the vehicle in time series from the laser scanner that generates the point cloud data representing each position in the vertical direction of the traveling surface of the vehicle in time series; A step of performing processing related to soundness evaluation as an intensity characteristic of the object using the acquired point cloud data, when the vehicle travels along the extending direction of the object at the edge of the upper end surface of the object, the soundness is evaluated to be smaller as the difference between the end position in the horizontal direction of the upper end surface edge when displaced by the load of the vehicle and the end position in the horizontal direction of the upper end surface edge when not displaced by the load is larger on the line connecting the set of ground contact points where the rollers of the vehicle contact the traveling surface, and the soundness is evaluated to be larger as the difference is smaller, and when the vehicle travels on the object, the soundness is evaluated to be smaller as the difference between the position in the vertical direction of the traveling surface where the load of the vehicle acts during traveling and the position in the vertical direction of the traveling surface where the load does not act is larger, and the soundness is evaluated to be larger as the difference is smaller; A program for causing the above to be executed.

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