State determination device, state determination method, and program

Abstract

This state determination device comprises: a ground surface information acquisition means that acquires ground surface displacement using a measurement image acquired from a ground surface measurement device; a region setting means for setting, on the basis of ground surface displacement, the quantity of sensor information processed for each prescribed region, the quantity being used in processing for acquiring the sensor information from a sensor information acquisition device; a sensor information processing means that processes the sensor information on the basis of the quantity of the sensor information processed that corresponds to each of the set regions; a state determination means that determines the state of a structure using the processed sensor information; and an output means that outputs the determined state of the structure.

Description

Technical Field

[0001] The present disclosure relates to a state determination device, a situation determination method, and a recording medium.

Background Art

[0002] There is a technique for grasping the state of a predetermined area on the ground from an image acquired by a synthetic aperture radar (hereinafter referred to as "SAR"). For example, Patent Document 1 discloses a technique for extracting an area where the state of the ground surface acquired by a radar device such as SAR has changed over time.

[0003] On the other hand, there is a technique for determining the state of a road or a runway using an image acquired by a drive recorder mounted on a vehicle. For example, Patent Document 2 discloses an in-vehicle device that performs image recognition processing on an image captured by a camera or the like provided in the own vehicle, and detects an abnormal state of the road, such as a depression in the road or the occurrence of other disasters.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the determination using SAR cannot determine the detailed conditions such as the road surface. On the other hand, although the determination using a drive recorder can grasp the detailed conditions of structures such as the road surface, the analysis using a drive recorder has a large amount of data to be processed. In addition, in the investigation range, there are areas that should be investigated in detail and areas that can be investigated roughly to some extent. However, in the investigation using a drive recorder, the areas that should be investigated in detail in advance cannot be grasped.

[0006] An example of the object of the present disclosure is to provide a state determination device and the like that enable appropriate state determination of a structure while reducing the amount of data to be processed.

Means for Solving the Problems

[0007] The state determination device according to one embodiment of the present invention includes: a ground information acquisition means for acquiring ground displacement using a measurement image acquired from a ground measurement device; a region setting means for setting, for each predetermined region, the amount of sensor information to be used in the process of acquiring sensor information from a sensor information acquisition device based on the ground displacement; a sensor information processing means for processing the sensor information based on the amount of sensor information corresponding to the set region; a state determination means for determining the state of the structure using the processed sensor information; and an output means for outputting the determined state of the structure.

[0008] The situation determination method according to one embodiment of the present invention includes: acquiring ground displacement using a measurement image acquired from a ground measurement device; setting, for each predetermined region, the amount of sensor information to be used in the process of acquiring sensor information from a sensor information acquisition device based on the ground displacement; processing the sensor information based on the amount of sensor information corresponding to the set region; determining the state of the structure using the processed sensor information; and outputting the determined state of the structure.

[0009] A recording medium according to one embodiment of the present invention acquires ground displacement using a measurement image acquired from a ground measurement device, and based on the ground displacement, sets the processing amount of sensor information used in the process of acquiring sensor information from a sensor information acquisition device for each predetermined region, processes the sensor information based on the processing amount of the sensor information corresponding to the set region, determines the state of a structure using the processed sensor information, and records a program that causes a computer to output the determined state of the structure.

Effect of the Invention

[0010] An example of the effect according to the present disclosure is that it is possible to enable appropriate state determination of a structure while reducing the amount of data processing.

Brief Description of the Drawings

[0011]

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Mode for Carrying Out the Invention

[0012] <First Embodiment> With reference to the drawings, the first embodiment of the present invention will be described.

[0013] [Description of Configuration] FIG. 1 is a block diagram showing an example of the configuration of a state determination device 10 according to the first embodiment. The state determination device 10 includes a ground information acquisition unit 101, a region setting unit 102, a sensor information processing unit 103, a state determination unit 104, and an output unit 105. Each configuration may store at least a part of the information specified by each configuration, the acquired information, and the determined information in a storage unit (not shown). In this case, each configuration may acquire necessary information from the storage unit. The state determination device 10 is a device for determining the state of deterioration of a structure or the like based on sensor information acquired from a sensor information acquisition device. Examples of the structure include civil engineering structures such as roads, bridges, railway sleepers, dikes, piers, revetments, or runways.

[0014] FIG. 2 is a conceptual diagram showing an example of the configuration of the state determination device 10 according to the first embodiment and its surroundings. As shown in FIG. 2, the state determination device 10 is used as a system including a computer 510, a drive recorder 520 as an example of a sensor information acquisition device, an SAR 530, a terminal device 540 as an example of a display device, and a vehicle 550 as an example of a moving body. The network 580 is a communication path that interconnects each device and system. Note that the state determination device 10 (computer 510) and the drive recorder 520 may be directly connected or may be connected via a cloud or the like.

[0015] The drive recorder 520 outputs sensor information to the state determination device 10. The drive recorder 520 is mounted on a moving body, for example, to acquire sensor information. Examples of the moving body include a vehicle and a drone. Further, instead of the drive recorder 520, sensor information may be acquired using a fixed camera such as an omnidirectional camera or an in-vehicle built-in camera attached to the moving body, or a camera mounted on a smartphone or a tablet brought into the moving body by a person or the like.

[0016] The SAR 530 is a radar system that transmits and receives radio waves while a flying object such as an artificial satellite or an aircraft moves, and obtains an image equivalent to that of an antenna with a large aperture. The SAR 530 outputs a measurement image (SAR image) or ground displacement to the state determination device 10.

[0017] The terminal device 540 displays information regarding the state of the structure output by the state determination device 10. The terminal device 540 may be any device as long as it can display information regarding the state of the structure. The terminal device 540 may be a terminal device of a road administrator such as a local government.

[0018] The number of components included in FIG. 2 is an example. For example, the drive recorder 520 may be singular or plural. Alternatively, at least some of the drive recorders 520 may not be mounted on the vehicle 550. Note that, for easy understanding, FIG. 2 shows the drive recorder 520 outside the vehicle 550. However, the drive recorder 520 may be mounted inside the vehicle 550.

[0019] Returning to FIG. 1, the ground information acquisition unit 101 acquires ground displacement using the measurement image acquired from the ground measurement device. Specifically, the ground information acquisition unit 101 acquires a SAR image from the SAR 530, analyzes the acquired SAR image, and acquires the ground displacement. Alternatively, the ground information acquisition unit 101 may directly acquire the ground displacement from the SAR 530. The ground information acquisition unit 101 may acquire, as the ground displacement, the maximum value or the average value of the ground displacement in grid units obtained by drawing equally spaced grid lines on the map to divide the sections. Alternatively, the ground information acquisition unit 101 may acquire the ground displacement only in the road surface area on the map. Note that the ground information acquisition unit 101 may acquire the observation result using multi-spectrum from the SAR 530. In this case, the ground information acquisition unit 101 may analyze the type of the ground surface in addition to the ground displacement using the acquired observation result. The ground information acquisition unit 101 outputs the acquired ground displacement to the region setting unit 102. Also, the ground information acquisition unit 101 may acquire the ground displacement using the SAR image stored in the cloud system configured using the cloud computing to which the drive recorder 520 is connected.

[0020] Based on the ground displacement acquired by the ground information acquisition unit 101, the region setting unit 102 sets the processing amount of the sensor information used in the process of acquiring the sensor information from the sensor information acquisition device for each predetermined region. In the present disclosure, the predetermined region is a region specified according to the magnitude of the ground displacement. The region setting unit 102, for example, specifies a region with a large ground displacement based on the ground displacement acquired by the ground information acquisition unit 101. The region setting unit 102, for example, specifies a region where the ground displacement such as ground subsidence is larger than a predetermined threshold value for the region where the SAR image is acquired. Alternatively, considering the error, the region setting unit 102 may specify a region where the ground displacement is larger than the threshold value and a predetermined range around the region (for example, a range of several tens of meters around). The magnitude of the ground displacement is expressed, for example, by the ground displacement speed or the cumulative ground displacement amount. The ground displacement speed is the degree of change of the ground displacement (subsidence or uplift) with respect to time (for example, mm / year). The region setting unit 102 may specify a region where the ground surface is rapidly displaced and the ground displacement has a non-linear movement even if it is not a region where the ground displacement is larger than the threshold value.

[0021] Next, the area setting unit 102 sets the amount of sensor information processing used in the process of acquiring sensor information from the sensor information acquisition device for the specified area and the other areas. Note that the area setting unit 102 may specify not one but a plurality of areas. Also, the area setting unit 102 may specify several types of areas according to the magnitude of the ground displacement. In this case, the area setting unit 102 sets the amount of sensor information processing respectively according to the magnitude of the ground displacement. Specifically, the area setting unit 102 sets the amount of sensor information processing so that the larger the magnitude of the ground displacement, the larger the amount of sensor information processing. The area setting unit 102 outputs to the sensor information processing unit 103 together with the amount of sensor information processing for the specified area.

[0022] Here, the amount of sensor information processing will be described. The amount of sensor information processing is the amount of sensor information processing used in the process of acquiring sensor information from the sensor information acquisition device. The process of acquiring sensor information is at least one of the process of acquiring sensor information from the sensor information acquisition device (also simply referred to as the "acquisition process"), the process of uploading the sensor information acquired from the sensor information acquisition device to the state determination device (also simply referred to as the "upload process"), or the state determination process of the structure by the state determination unit 104 (also simply referred to as the "state determination process"). The amount of sensor information processing used in these processes of acquiring sensor information can be set, for example, by the frequency of processing sensor information or the amount of processing per unit time of sensor information used in one-time processing (for example, bit rate).

[0023] The processing amount of sensor information in the acquisition process is defined by, for example, the resolution of the image acquired from the drive recorder 520, the number of shots per running distance recorded by the drive recorder 520, or the running interval of the moving body equipped with the drive recorder 520 when the sensor information is an image (including moving images and still images). The area setting unit 102 can set, for each area, a resolution such as 1920×1080, 1024×768, or 720×480 as the resolution of the image acquired from the drive recorder 520. Further, the area setting unit 102 can set, for each area, the frequency of acquiring sensor information such as, for example, one shot per 10 m of running distance, one shot per 100 m of running distance, or not acquiring images in a predetermined section as the number of shots per running distance recorded by the drive recorder 520. The area setting unit 102 sets, for example, to reduce the number of shots or not to take shots for the number of shots per running distance because it is difficult to clearly capture the state of the structure at night or on a day with bad weather. The area setting unit 102 can set, as the running interval of the moving body, not to run and acquire data daily, weekly, monthly, or for a certain period. The area setting unit 102 sets, for example, to increase the running interval for seasons with large surface displacements during the snowmelt period in early spring regarding the running interval. Further, when the sensor information is a moving image, the area setting unit 102 can set, for each area, the frame rate of the moving image to be acquired as the processing amount of the sensor information in the acquisition process.

[0024] The processing amount of sensor information in the upload process is defined, for example, by the frequency of uploading sensor information acquired from the drive recorder 520. The area setting unit 102 can set, for each area, the frequency of uploading images, such as uploading all the images acquired by the drive recorder 520 to the state determination device 10 when the sensor information is an image, uploading a part of the images acquired by the drive recorder 520 (for example, one in every 10 images), or not uploading images in a predetermined interval. Also, regarding the frequency of uploading images, settings such as uploading every day, uploading one image per week, uploading one image per month, or not uploading for a predetermined period can be made. When the sensor information is a moving image, the area setting unit 102 can set, for each area, the frame rate of the moving image uploaded to the state determination device 10 as the processing amount of sensor information in the upload process.

[0025] The processing amount of sensor information in the state determination process is defined, for example, by the frequency of using the sensor information uploaded to the state determination device 10 for state determination. The area setting unit 102 can set, for each area, the frequency of use for state determination, such as using all the images uploaded to the state determination device 10 for state determination when the sensor information is an image, using a part of the uploaded images (for example, one in every 10 images) for state determination, or not using images in a predetermined interval for state determination. Also, regarding the frequency of using images for state determination, settings such as using one image per day, using one image per week, using one image per month, or not using for a predetermined period can be made. When the sensor information is a moving image, the area setting unit 102 can set, for each area, the frame rate of the moving image used by the state determination unit 104 for state determination of the structure as the processing amount of sensor information in the state determination process.

[0026] The area setting unit 102 may set a fixed value for the processing amount of sensor information set for each of the above-described predetermined areas, or may receive a value set by the user from an input device (not shown). Also, the processing amount of sensor information uploaded by the drive recorder 520 to the state determination device 10 and the processing amount of sensor information in the acquisition process may be different.

[0027] With reference to the drawings, an example in this case will be described. FIG. 3 is a diagram for explaining an example of acquisition of processing for acquiring sensor information from a sensor information acquisition device by the sensor information processing unit 103 according to the first embodiment. In FIG. 3, the lines are roads. The ellipses are areas where the ground displacement set by the area setting unit 102 is large. The area setting unit 102 sets the processing amount of sensor information for the area of the elliptical portion and the other areas. The area setting unit 102, for example, sets the frame rate (processing amount) of the sensor information acquired by the sensor information acquisition device mounted on the drive recorder 520. For example, when driving on a road included in the range of the elliptical portion, the area setting unit 102 increases the frame rate of the sensor information (for example, 30 fps). On the other hand, when driving on a road other than the road included in the range of the elliptical portion, the area setting unit 102 decreases the frame rate of the sensor information (for example, 1 fps). The sensor information processing unit 103 can set the acquisition frequency of the sensor information in the range of, for example, 0 (not acquiring sensor information) to 60 fps. Also, the sensor information processing unit 103 can similarly set the frame rate in the upload process or the state determination process of the sensor information. For example, the sensor information processing unit 103 can set the frame rate to 30 fps in the acquisition process, 15 fps in the upload process, and 10 fps in the state determination process for a predetermined area. In this case, the sensor information processing unit 103 reduces the frame rate of the sensor information acquired from the sensor information acquisition device and uploads it to the state determination device 10. Also, the sensor information processing unit 103 further reduces the frame rate of the uploaded sensor information and outputs it to the state determination unit 104 (that is, state determination in the state determination unit 104).

[0028] Note that, as described above, the area setting unit 102 may identify an area where the degree of deterioration of a structure is presumed to be high, such as an area where soil is filled or an area where the ground displacement is larger than the predicted settlement, even if the area is not an area where the ground displacement is larger than the threshold value. For example, regarding the ground displacement correlated with construction, the area setting unit 102 identifies an area where the ground displacement is larger than the ground displacement predicted based on information related to the construction. Also, regarding the area where a building exists, the area setting unit 102 identifies an area where the inclination of each building is larger than the ground displacement predicted by machine learning using a stratum and precipitation. On the other hand, depending on the type of the ground surface, there is an area where the ground displacement has no correlation with climate and temperature. Regarding such an area, the area setting unit 102 does not have to identify it because the ground displacement is as predicted.

[0029] The sensor information processing unit 103 processes the sensor information based on the processing amount of the sensor information corresponding to the area set by the area setting unit 102. The processing of the sensor information is, for example, acquisition of the sensor information, upload to the state determination device of the sensor information, or output to the state determination unit 104. The sensor information processing unit 103 acquires the sensor information according to the processing amount (data acquisition amount) of the sensor information corresponding to the area including the position information during traveling. The position information includes, for example, the position on the map, latitude and longitude, GNSS (Global Navigation Satellite System), or position information by GPS (Global Positioning System). Also, when acquiring the sensor information, the sensor information processing unit 103 acquires the date and time when the sensor information was acquired and the information on the position where the sensor information was taken together with the sensor information.

[0030] The sensor information processing unit 103 uploads the sensor information or inputs it to the state determination unit 104 according to the processing amount of the sensor information corresponding to the area including the position information where the sensor information was acquired. The sensor information processing unit 103 outputs to the state determination unit 104 while processing the sensor information in this way.

[0031] The state determination unit 104 determines the state of the structure using the sensor information input by the sensor information processing unit 103. For example, the state determination unit 104 determines the deterioration state of the structure using a model that has learned, as teacher data, sensor information such as an image of the structure captured as sensor information and acceleration. In this embodiment, a method for determining the state of road deterioration as the structure will be described.

[0032] Road deterioration is deterioration that occurs in a paved road due to factors such as vehicle travel and rainfall. There are multiple types of road deterioration. Road deterioration is classified into multiple types including, for example, cracks, potholes, rutting, and unevenness of the road surface. Cracks may be classified into different types such as straight cracks and grid cracks depending on their shape. A straight crack is a single linear crack. A grid crack is, for example, a crack in the shape of a grid that occurs when vertical and horizontal straight cracks are connected. Road cracks generally tend to progress into straight cracks, grid cracks, and potholes.

[0033] Various indicators are used as indicators representing the degree of road deterioration. In the present disclosure, the degree of road deterioration is represented by a deterioration level. The deterioration level may be any one of indicators including the crack degree, the number of potholes, the size of potholes, the amount of rutting, or the flatness. Further, the deterioration level may be determined based on a combination of a plurality of indicators representing the degree of road deterioration.

[0034] The crack degree is represented by any one of the shape, length, area, number of cracks, or a combination thereof. The crack ratio is an example of the crack degree. The crack ratio is represented by, for example, 100×(area of cracks / area of the road section). In this case, the value of the deterioration level ranges from 0% to 100%. The area of cracks is calculated by an arbitrary method. Note that the calculation method of the crack ratio is not particularly limited, and known calculation methods other than the above can be applied.

[0035] The size of a pothole is represented by, for example, any one of the area, width, length, depth of the pothole, or a combination thereof. The rut depth is the depth of rutting where the vehicle's travel path is lower than other road surfaces due to the vehicle's load and friction with the tires.

[0036] The degree of cracking, the number and size of potholes, and the rut depth may be calculated based on measurement data obtained by measuring the road surface with a sensor. Alternatively, these indicators may be calculated based on the recognition result of recognizing road deterioration from an image of the road.

[0037] The flatness may be represented by the International Roughness Index (IRI). IRI is an index that correlates the road surface with the driver's ride comfort and expresses the degree of unevenness as a numerical value. IRI may be calculated based on measurement data obtained by measuring the road surface with a sensor. Alternatively, IRI may be calculated based on the values of an acceleration sensor attached to the vehicle during travel. Specifically, for example, IRI is calculated based on the value of the vertical acceleration included in the acceleration obtained at the detection position. Note that the calculation method of IRI is not limited to the above, and known calculation methods can be adopted.

[0038] The degree of deterioration is not limited to the above-mentioned indicators. For example, any indicator representing road deterioration including the MCI (Maintenance Control Index) may be used. The value of MCI is the minimum value of the results calculated from four defining formulas using the cracking rate, rut depth, and flatness. MCI decreases as the road deteriorates.

[0039] The output unit 105 outputs the state of the structure determined by the state determination unit 104 to a predetermined notification destination. For example, when the state determination unit 104 determines the deterioration state of a road, the output unit 105 notifies a predetermined notification destination of information indicating the position and degree of deterioration of the road determined by the state determination unit 104. The output unit 105 may select the notification destination. The output unit 105 may output, for example, to the terminal device 540 of a road administrator such as a local government.

[0040] Here, examples of the state of the structure output by the output unit 105 are shown. FIG. 4 is a diagram showing an example of the output of the output unit according to the first embodiment. As shown in FIG. 4, the output unit 105 may acquire and display an index indicating the degree of road deterioration together with a road image at a point designated by the user. FIG. 4 is an image of a road on which a vehicle is running, and is taken, for example, by a camera mounted in front of a vehicle running in the left lane. In the road of FIG. 4, there is a crack at the left end of the road, and the crack is surrounded by dotted lines of different thicknesses according to its size. Also, in the example of FIG. 4, an index indicating the degree of road deterioration to be displayed can be selected, and in the example of FIG. 4, only the crack ratio is displayed. The crack ratio increases when the degree of deterioration worsens. Note that the representation of the degree of deterioration is not limited to this, and for example, the value of the degree of deterioration may be set so that the value becomes smaller when it deteriorates.

[0041] FIG. 5 is a diagram showing another example of the output of the output unit according to the first embodiment. In the output example of FIG. 5, the crack ratio for each unit obtained by dividing the road surface into predetermined sections is represented by arrows shown in three shades, and the darker the shade, the higher the crack ratio. The crack ratio for each unit may be the average value, the maximum value, or a value calculated by other statistical processing of the crack ratios at a plurality of locations calculated in the unit. Note that in the output example of FIG. 5, the directions of the arrows are different for the downward and upward directions.

[0042] Also, in the display example of FIG. 5, the output unit 105 displays the crack width in the shade of an inverted triangle, which is a predetermined symbol. For example, the crack width is divided into three levels: less than 5 mm, less than 5 to 10 mm, and 10 mm or more, and it is displayed such that the darker the shade, the thicker the crack width. To represent the crack width, the output unit 105 may display a predetermined symbol of an inverted triangle at the position where the crack is detected.

[0043] FIG. 6 is a diagram showing another example of the output by the output unit according to the first embodiment. As shown in FIG. 6, the output unit 105 may display the position of the road and the degree of deterioration (for example, the cracking rate) determined by the state determination unit 104 on the road map. In the example of FIG. 6, the degree of deterioration is indicated by symbols in three levels: "large", "medium", and "small".

[0044] [Description of Operations] FIG. 7 is a flowchart showing an example of the operation of the state determination device 10 according to the first embodiment. The ground information acquisition unit 101 acquires the ground displacement in the specified area (step S101). The area setting unit 102 sets the processing amount of the sensor information used in the process of acquiring the sensor information from the sensor information acquisition device for each predetermined area based on the ground displacement (step S102). Next, the sensor information processing unit 103 processes the data amount of the sensor information based on the processing amount of the sensor information corresponding to the area set by the area setting unit 102 (step S103). The state determination unit 104 determines the state of the structure using the sensor information (step S104). Next, the output unit 105 outputs the state of the structure determined by the state determination unit 104 (step S105).

[0045] The state determination device 10 processes the data volume of the sensor information based on the processing volume of the sensor information corresponding to the area set by the area setting unit 102 by the sensor information processing unit 103. Thereby, based on the magnitude of the ground displacement acquired from a ground measurement device (for example, SAR530), the data volume of the sensor information used for the processing up to the state determination of the structure can be adjusted. For example, the state determination device 10 can increase the data volume of the sensor information used for the state determination of the structure in an area with a large ground displacement, and decrease the data volume of the sensor information used for the state determination of the structure in an area with a small ground displacement. Therefore, according to the state determination device 10, an appropriate state determination of the structure can be made while reducing the processing volume of the sensor information. In addition, the state determination device 10 outputs the state of the structure determined by the state determination unit 104. Thereby, detailed information of the structure in an area with a large ground displacement can be provided to users and the like while reducing the processing volume of the sensor information.

[0046] [Hardware Configuration] Next, the hardware configuration of the state determination device 10 will be described. Each component of the state determination device 10 may be configured by a hardware circuit. Alternatively, in the state determination device 10, each component may be configured using a plurality of devices connected via a network. For example, the state determination device 10 may be configured using cloud computing. Alternatively, in the state determination device 10, a plurality of components may be configured by one piece of hardware. Alternatively, the state determination device 10 may be realized as a computer device including a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). In addition to the above configuration, the state determination device 10 may also be realized as a computer device further including a network interface circuit (NIC: Network Interface Circuit).

[0047] FIG. 8 is a block diagram showing an example of the hardware configuration of the state determination device 10. The state determination device 10 includes a CPU 610, a ROM 620, a RAM 630, a storage device 640, and a NIC 650, and constitutes a computer device. The CPU 610 reads a program from the ROM 620 and / or the storage device 640. Then, the CPU 610 controls the RAM 630, the storage device 640, and the NIC 650 based on the read program. And the computer including the CPU 610 controls these configurations and realizes the functions of the ground information acquisition unit 101, the area setting unit 102, the sensor information processing unit 103, the state determination unit 104, and the output unit 105 shown in FIG. 1.

[0048] When realizing each function, the CPU 610 may use the RAM 630 or the storage device 640 as a temporary storage medium for programs and data. Alternatively, the CPU 610 may read a program included in a recording medium 690 storing a computer-readable program using a recording medium reading device (not shown). Alternatively, the CPU 610 may receive a program from an external device (not shown) via the NIC 650, store it in the RAM 630 or the storage device 640, and operate based on the stored program.

[0049] The ROM 620 stores programs and fixed data executed by the CPU 610. The ROM 620 is, for example, a P-ROM (Programmable-ROM) or a flash ROM. The RAM 630 temporarily stores programs and data executed by the CPU 610. The RAM 630 is, for example, a D-RAM (Dynamic-RAM). The storage device 640 stores data and programs that the state determination device 10 stores long-term. Also, the storage device 640 may operate as a temporary storage device for the CPU 610. The storage device 640 is, for example, a hard disk device, a magneto-optical disk device, an SSD (Solid State Drive), or a disk array device. The ROM 620 and the storage device 640 are non-transitory recording media. On the other hand, the RAM 630 is a transitory recording media. And the CPU 610 is operable based on programs stored in the ROM 620, the storage device 640, or the RAM 630. That is, the CPU 610 is operable using non-transitory recording media or transitory recording media.

[0050] The NIC 650 relays data exchange with external devices (such as the drive recorder 520, the SAR 530, and the terminal device 540, etc.) via the network. The NIC 650 is, for example, a LAN (Local Area Network) card. Further, the NIC 650 may use wireless, not limited to wired. The state determination device 10 configured in this way can obtain the same effects as the state determination device 10 in FIG. 1. The reason is that the CPU 610 of the state determination device 10 can realize the same functions as the state determination device 10 in FIG. 1 based on the program.

[0051] <Second Embodiment> Next, a second embodiment of the present disclosure will be described in detail with reference to the drawings. Hereinafter, the description of the content overlapping with the above description will be omitted as long as the description of this embodiment is not unclear.

[0052] FIG. 9 is a block diagram showing an example of the configuration of the state determination device 11 according to the second embodiment. The state determination device 11 includes a ground information acquisition unit 111, a region setting unit 112, a sensor information processing unit 113, a state determination unit 114, a route calculation unit 115, and an output unit 116. The second embodiment is different from the first embodiment in that it includes a route calculation unit 115. Since the configurations other than the route calculation unit 115 and the output unit 116 are the same as the corresponding configurations of the first embodiment, the description thereof is omitted.

[0053] The route calculation unit 115 calculates a route for traveling in a region where the processing amount of sensor information is set to be higher than a threshold value by the region setting unit 112. The region where the processing amount of sensor information is set to be higher than the threshold value is a region where the ground displacement is larger than a predetermined threshold value. The route calculation unit 115 searches for a route from a designated starting point to a destination that includes the set region in the route. Traveling in the set region means, for example, traveling within the set region or around the set region. When the moving body travels along the calculated route, the sensor information processing unit 230 acquires the sensor information on the route with the processing amount set by the region setting unit 112. For example, the route calculation unit 250 acquires, as sensor information, an image of a road from a drive recorder 520. The route calculation unit 250 may acquire sensor information from the drive recorder 520, or may acquire sensor information from a device that stores the sensor information acquired by the drive recorder 520.

[0054] The starting point and the destination of the route are not particularly limited. The route calculation unit 115 may acquire at least one of the road for searching the route, the starting point, the via point, and the destination from a user or the like. In this case, it is possible to determine the state of the structures in the set region while the moving body travels along the route designated by the user.

[0055] The output unit 116 outputs the route information calculated by the route calculation unit 115 in addition to the state of the structure determined by the state determination unit 114 to a predetermined notification destination. These notification destination devices may be any device as long as they are devices mounted on the moving body.

[0056] FIG. 10 is a diagram showing an example of route information according to the second embodiment. As shown in FIG. 10, there are two types of routes, RouteA and RouteB, which travel in the set area and travel from the designated departure point to the destination. When sensor information within the set area has not been acquired, both RouteA and RouteB may be presented. Also, when sensor information on one of the route information (for example, RouteA) has already been acquired, only the other route information (RouteB) may be displayed. In this case, sensor information at different points within the area with a large ground displacement can be efficiently acquired.

[0057] Note that the route information may include structures different from roads. For example, the route information may include information related to whether a person can pass through stairs, footbridges, sidewalks on the top of embankments or the top edges of levees, roads in parks, promenades, farm roads, or piers. Also, the route information may be generated using information related to a plurality of structures.

[0058] [Description of Operations] FIG. 11 is a flowchart showing an example of the operation of the state determination device 11 according to the second embodiment. Steps S201 to S204 in this embodiment are the same as steps S101 to S104 in the first embodiment, and thus the description thereof is omitted. The route calculation unit 115 calculates a route that travels in the area where the processing amount of sensor information is set higher than the threshold by the area setting unit 112 (step S205). Finally, the output unit 116 outputs the route information calculated by the route calculation unit 115 in addition to the state of the structure determined by the state determination unit 114 (step S206).

[0059] In the state determination device 11 according to the second embodiment, the route calculation unit 115 calculates a route for traveling in a region where the processing amount of sensor information is set to be higher than a threshold value by the region setting unit 112. As a result, by traveling along the calculated route, the mobile body can preferentially acquire sensor information in a region with a large ground displacement. Therefore, the state of a region where there is a possibility of deterioration of the structure can be quickly determined. In particular, according to the state determination device 11, while the output unit 116 outputs the determination result of the state of the structure, it is possible to output route information for acquiring sensor information of the structure for which the state is to be determined next. Therefore, the state determination of the structure can be efficiently performed.

[0060] Some or all of the above embodiments may be described as follows in the appended claims, but are not limited thereto.

[0061] (Appended Claim 1) Ground information acquisition means for acquiring ground displacement using a measurement image acquired from a ground measurement device, Region setting means for setting the processing amount of sensor information used in the process of acquiring sensor information from a sensor information acquisition device for each predetermined region based on the ground displacement, Sensor information processing means for processing the sensor information based on the processing amount of the sensor information corresponding to the set region, State determination means for determining the state of the structure using the processed sensor information, Output means for outputting the determined state of the structure, A state determination device comprising:

[0062] (Appended Claim 2) The process of acquiring the sensor information is at least one of the process of acquiring sensor information from the sensor information acquisition device, the process of uploading the sensor information acquired from the sensor information acquisition device to the state determination device, or the process of determining the state of the structure by the state determination means The state determination device according to Appended Claim 1.

[0063] (Appended Claim 3) The area setting means sets the frequency of processing the sensor information for each area. The state determination device according to appended claim 1 or appended claim 2.

[0064] (Appended claim 4) The sensor information is a moving image, The area setting means sets the frame rate of the moving image for each area. The state determination device according to any one of appended claims 1 to 3.

[0065] (Appended claim 5) The sensor information is the sensor information related to the structure on which the moving body equipped with the sensor information acquisition device travels. The state determination device according to any one of appended claims 1 to 4.

[0066] (Appended claim 6) The structure is a road, The moving body is a vehicle traveling on the road. The state determination device according to appended claim 5.

[0067] (Appended claim 7) The sensor information processing means acquires a captured image of the structure as the sensor information, The output means displays information indicating the state of the structure on the captured image. The state determination device according to any one of appended claims 1 to 6.

[0068] (Appended claim 8) The output means displays information indicating the degree of deterioration of the structure on a map. The state determination device according to any one of appended claims 1 to 6.

[0069] (Appended claim 9) As information indicating the degree of deterioration of the structure, the output means displays an index representing the degree of at least any one of road cracks, potholes, rutting, and flatness anomalies of the road. The state determination device according to appended claim 7 or appended claim 8.

[0070] (Appendix 10) The apparatus further includes a path calculation means for calculating a path to travel through an area where the processing amount of the sensor information is set higher than a predetermined threshold by the area setting means. The output means outputs the calculated path information in addition to the determined state of the structure. The state determination apparatus according to any one of Appendices 1 to 9.

[0071] (Appendix 11) Obtain ground displacement using a measurement image acquired from a ground measurement device, Based on the ground displacement, set the processing amount of sensor information used in the process of acquiring sensor information from a sensor information acquisition device for each predetermined area, Process the sensor information based on the processing amount of the sensor information corresponding to the set area, Determine the state of the structure using the processed sensor information, Output the determined state of the structure Situation determination method.

[0072] (Appendix 12) Obtain ground displacement using a measurement image acquired from a ground measurement device, Based on the ground displacement, set the processing amount of sensor information used in the process of acquiring sensor information from a sensor information acquisition device for each predetermined area, Process the sensor information based on the processing amount of the sensor information corresponding to the set area, Determine the state of the structure using the processed sensor information, Outputting the determined state of the structure A recording medium for recording a program for causing a computer to execute the above.

[0073] The present invention has been described with reference to the embodiments above, but the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

Description of Reference Numerals

[0074] 10, 11 State determination device 101, 111 Ground surface information acquisition unit 102, 112 Area setting unit 103, 113 Sensor information processing unit 104, 114 State determination unit 105, 116 Output unit 115 Route calculation unit 510 Computer 520 Drive recorder 530 SAR 540 Terminal device 550 Vehicle 580 Network 610 CPU 620 ROM 630 RAM 640 Storage device 650 NIC

Claims

1. A ground information acquisition means for acquiring ground displacement using a measurement image acquired from a ground measurement device; An area setting means for setting the processing amount of sensor information used in the process of acquiring sensor information from a sensor information acquisition device for each predetermined area based on the ground displacement; A sensor information processing means for processing the sensor information based on the processing amount of the sensor information corresponding to the set area; A state determination means for determining the state of a structure using the processed sensor information; An output means for outputting the determined state of the structure; A state determination device comprising the above.

2. The process of acquiring the sensor information is at least one of the process of acquiring sensor information from the sensor information acquisition device, the process of uploading the sensor information acquired from the sensor information acquisition device to the state determination device, or the process of determining the state of the structure by the state determination means. The state determination device according to claim 1.

3. The area setting means sets, as the processing amount of the sensor information, the frequency of processing the sensor information for each area. The state determination device according to claim 1 or claim 2.

4. The sensor information is a moving image, The area setting means sets, as the processing amount of the sensor information, the frame rate of the moving image for each area. The state determination device according to any one of claims 1 to 3.

5. The sensor information is the sensor information related to the structure on which the mobile body equipped with the sensor information acquisition device travels. The state determination device according to any one of claims 1 to 4.

6. The sensor information processing means acquires, as the sensor information, a captured image of the structure. The output means displays information indicating the degree of deterioration of the structure together with the captured image. The state determination device according to any one of claims 1 to 5.

7. The output means displays information indicating the degree of deterioration of the structure on a map. The state determination device according to any one of claims 1 to 5.

8. The apparatus further comprises a path calculation means for calculating a path to travel through an area where the processing amount of the sensor information is set higher than a predetermined threshold by the area setting means. The output means outputs the calculated path information in addition to the determined state of the structure. The state determination device according to any one of claims 1 to 7.

9. Obtain ground displacement using a measurement image acquired from a ground measurement device. Based on the ground displacement, set the processing amount of sensor information used in the process of acquiring sensor information from a sensor information acquisition device for each predetermined area. Process the sensor information based on the processing amount of the sensor information corresponding to the set area. Determine the state of the structure using the processed sensor information. Output the determined state of the structure. Situation determination method.

10. Obtain ground displacement using a measurement image acquired from a ground measurement device. Based on the ground displacement, set the processing amount of sensor information used in the process of acquiring sensor information from a sensor information acquisition device for each predetermined area. Process the sensor information based on the processing amount of the sensor information corresponding to the set area. Determine the state of the structure using the processed sensor information. Outputting the determined state of the structure A program for causing a computer to execute.

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