Vehicle-mounted underground condition measuring device, underground condition automatic analysis system, and underground condition measuring method

Abstract

To provide a technique capable of rapidly analyzing an underground state and extracting a trouble spot and rapidly coping with the trouble spot.SOLUTION: Underground state measurement means 11 to 1n acquire and store underground state data for each predetermined section in which a probe vehicle runs. Sensor devices 21 to 2m and 3 acquire and store related information data in a predetermined section. A data integration PC5 monitors whether at least one of underground state data and related information data in a predetermined section is stored. When at least one of the underground state data and the related information data is stored, the data integration PC5 acquires the underground state data and the related information data in a predetermined section from the corresponding underground state measurement means and the sensor device, respectively, integrates the underground state data and the related information data in the predetermined acquisition section and generates integration data, and sends the integration data to a data analyzer 200 installed in a remote area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an on-board underground condition measuring device, an underground condition automatic analysis system, and an underground condition measuring method. [Background technology]

[0002] The following Patent Document 1 discloses a technique in which a vehicle equipped with an underground radar device, a video camera, a GPS device, etc. is driven while recording underground radar data, video images, position data, etc., using each device. The recorded data is temporarily stored in each device, such as the underground radar device, the video camera, and the GPS device.

[0003] Previously, one day's worth of data from each device was manually stored on a hard disk drive or other storage medium before analysis, which meant that it could take several days to obtain the analysis results. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-137461 Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention has been made in view of the above-mentioned circumstances, and a main object of the present invention is to provide a technology that enables rapid analysis of underground conditions after measurement is completed, and enables problem areas to be extracted and dealt with promptly. [Means for solving the problem]

[0006] The present invention can be expressed as the inventions described in the following items.

[0007] (Item 1) Both rovers are equipped with underground condition measurement means, sensor devices, and a PC for collecting data. the underground condition measuring means is configured to acquire and store underground condition data for each predetermined section traveled by the exploration vehicle, the sensor device is configured to acquire and store related information data in the predetermined section, The data collection PC is a process of monitoring whether at least one of the underground condition data and the related information data in the predetermined section has been saved; a process of acquiring the underground condition data and the related information data for the predetermined section from the corresponding underground condition measuring means and the corresponding sensor device, respectively, when at least one of the underground condition data and the related information data has been saved; aggregating the acquired underground condition data and the related information data in the predetermined section to generate aggregated data, and sending the aggregated data to a data analysis device installed in a remote location; It is configured to perform the following: Vehicle-mounted underground condition measurement device.

[0008] (Item 2) The underground condition measuring means, the sensor device, and the data collection PC are connected via an intranet established within the exploration vehicle. Item 1. The vehicle-mounted underground condition measuring device.

[0009] (Item 3) The data collection PC is configured to send the collected data to the data analysis device via a wireless communication line. Item 1 or 2. The vehicle-mounted underground condition measuring device.

[0010] (Item 4) The related information data is image data of the external environment in the predetermined section, or position data corresponding to the predetermined section. Item 3: The vehicle-mounted underground condition measuring device according to any one of items 1 to 3.

[0011] (Item 5) The data analysis device installed at the remote location is a virtual machine for data analysis built in the cloud, or a physical computer located at the remote location. Item 4: The vehicle-mounted underground condition measuring device according to any one of items 1 to 4.

[0012] (Item 6) The vehicle-mounted underground condition measuring device according to any one of items 1 to 5, the data analysis device, and a data viewing PC for viewing the analysis results by the data analysis device, The data viewing PC is configured to receive and display the analysis results from the data analysis device. Automatic underground condition analysis system.

[0013] (Item 7) acquiring and storing underground condition data for each predetermined section traveled by the exploration vehicle; acquiring and storing related information data within the predetermined section; a step of monitoring by a data collection PC whether at least one of the underground condition data and the related information data in the predetermined section has been saved; When at least one of the underground condition data and the related information data is saved, the data aggregating PC acquires the underground condition data and the related information data for the predetermined section; a step in which the data aggregating PC aggregates the acquired underground condition data and the related information data in the predetermined section to generate aggregated data, and sends the aggregated data to a data analysis device installed in a remote location; An underground condition measurement method comprising: [Effects of the Invention]

[0014] According to the technology of the present invention, the generated aggregated data can be used to quickly analyze underground conditions, thereby enabling problem areas to be identified and addressed promptly. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a block diagram showing a schematic configuration of an underground condition automatic analysis system according to an embodiment of the present invention; [Figure 2] 2 is a flowchart illustrating an analysis method using the system of FIG. 1. [Figure 3] FIG. 2 is an explanatory diagram for explaining a data aggregation procedure in the system of FIG. [Figure 4] FIG. 2 is an explanatory diagram showing an example of a display screen of a data analysis result in the system of FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0016] An automatic underground condition analysis system according to one embodiment of the present invention will be described with reference to the accompanying drawings. This system is composed of an on-board underground condition measurement device 100, a data analysis device 200, and a data viewing PC 300 for viewing the analysis results obtained by the data analysis device 200.

[0017] (vehicle-mounted underground condition measuring device) The vehicle-mounted underground condition measuring device 100 comprises multiple underground radar devices 11-1n, multiple recording devices 21-2m, a GNSS device 3, an Ethernet switch 4, and a data aggregation PC 5. All of these are mounted on a probe (not shown). Here, the multiple underground radar devices 11-1n are an example of underground condition measuring means, and the multiple recording devices 21-2m and the GNSS device 3 are examples of sensor devices. An example of a probe vehicle is described in Patent Document 1. In this embodiment, the numbers of the underground radar devices 11-1n and the recording devices 21-2m are n and m, respectively, where 1≦n and 1≦m. n and m may be the same or different. The subscripts n and m in the reference symbols indicate the number of devices. Figure 1 exemplarily shows two underground radar devices 11 and 12 and two recording devices 21 and 22.

[0018] (ground penetrating radar device) The underground radar devices 11 to 1n are configured to acquire and store underground radar data (corresponding to an example of underground condition data) for each predetermined section that the exploration vehicle has traveled. As the underground radar devices 11 to 1n, for example, the one described in Patent Document 1 can be used, and therefore a detailed description thereof will be omitted.

[0019] (Recording device) The recording devices 21-2m are configured to acquire and store video data (corresponding to an example of related information data) of the external environment in a predetermined section. As the recording devices 21-2m, for example, digital video cameras as described in Patent Document 1 can be used, and detailed description thereof will be omitted. In this embodiment, at least four recording devices are used so that images of the front, rear, left, and right sides of the vehicle can be recorded, but the present invention is not limited to this and any number of recording devices can be used.

[0020] (GNSS device) The GNSS device 3 is configured to acquire and store position data (corresponding to an example of related information data) corresponding to a predetermined section. It is also possible to use a plurality of GNSS devices 3. As the GNSS device 3, for example, the GPS device described in Patent Document 1 can be used, and therefore a detailed description thereof will be omitted.

[0021] Recording devices and GNSS devices are examples of sensor devices. Sensor devices are preferably capable of identifying whether data was acquired at the same location as other sensor devices using synchronization signals, timestamps, etc. These devices are essentially groups of devices that operate independently.

[0022] (Ethernet switch) The Ethernet switch 4 connects the underground radar devices 11-1n, the recording devices 21-2m, the GNSS device 3, and the data collection PC 5 via a LAN, creating an intranet within the rover. As a result, the underground radar devices 11-1n, the recording devices 21-2m, the GNSS device 3, and the data collection PC 5 of this embodiment are connected via the intranet created within the rover. The data collection PC 5 can always refer to the data folders of the underground radar devices 11-1n, the recording devices 21-2m, and the GNSS device 3.

[0023] (Data collection PC) PC5 for data aggregation is (1) A process of monitoring whether underground condition data in a predetermined section has been stored in the underground radar devices 11 to 11 n; (2) When the underground condition data is saved, the underground condition data is acquired from the underground radar devices 11 to 1 n, and further, related information data in a predetermined section is acquired from the recording devices 21 to 2 m and the GNSS device 3 sensor device; (3) A process of aggregating underground condition data and related information data in a predetermined section to generate aggregated data, and sending the aggregated data to a data analysis device 200 installed in a remote location. The data aggregation PC 5 is configured to send the aggregated data to the data analysis device 200 via a wireless communication line. Here, a mobile communication network such as 4G LTE or 5G can be used as the wireless communication line, but it is not limited to this and other wireless communication lines such as WiFi can also be used. The detailed operation of the data aggregation PC will be described later.

[0024] (Data analysis equipment) The data analysis device 200 of this embodiment is a data analysis virtual machine built in the cloud. However, using the cloud is not essential; a data analysis device can also be built using a dedicated server. In this case, the data analysis device 200 is configured as a physical computer located in a remote location. The data analysis device 200 is configured to perform various required data analyses (e.g., detecting voids under the road surface) using aggregated data sent from the data aggregation PC 5. The data analysis device 200 also generates various data to be displayed on the data viewing PC 300 and transmits the data to the data viewing PC 300 in response to a request from the data viewing PC 300. Furthermore, the data analysis device 200 automatically begins analysis upon detecting the receipt of the aggregated data. The analysis means used in the data analysis device 200 can be conventional (e.g., AI analysis), and a detailed description thereof will be omitted.

[0025] (PC for viewing data) The data viewing PC 300 is connected to the data analysis device 200 via the Internet. The data viewing PC 300 is configured to display on a browser various data received from the data analysis device 200. In this example, for example, a radar data display section 7, a video image display section 8, and a measurement position display section 9 are displayed on the browser of the data viewing PC 300.

[0026] The radar data display unit 7 displays the analysis results of underground conditions obtained by the underground radar devices 11 to 1 n. In Fig. 4, the data from the underground radar is displayed, and the locations of underground cavities detected by the analysis can be highlighted in a square frame.

[0027] The video image display unit 8 displays video images of the external environment at the position (section) corresponding to the underground radar data displayed on the radar data display unit 7. In the example of Fig. 4, video images (video images acquired by the corresponding recording devices) of the front, rear, left, and right sides at the position (section) corresponding to the underground radar data are displayed.

[0028] The measurement position display unit 9 displays on a map the positions (sections) corresponding to the underground radar data. The positions on the map can be identified by the GNSS data acquired by the GNSS device 3. In the example of Fig. 4, the sections corresponding to the displayed underground radar data are indicated on the map by dashed lines.

[0029] (Method of analyzing underground conditions) The underground condition analyzing method according to this embodiment will be described below with further reference to FIGS.

[0030] (Step SA-1 in Figure 2) First, the vehicle is driven in the location to be investigated (for example, a road in a designated area). As the vehicle is driven, the underground radar devices 11 to 1 n, the recording devices 21 to 2 m, the GNSS device 3 Each of the devices records the ground-penetrating radar data, video data, and position data as files.

[0031] (Steps SA-2 to SA-4 in Figure 2) The data collection PC 300 monitors the data folders of each of the underground radar devices 11 to 1n in near real time. When a new data file is created in any of the underground radar devices 11 to 1n, the data collection PC 300 copies the new data from that underground radar device. Furthermore, the data collection PC 300 copies current video data and location information from the other underground radar devices, the recording devices 21 to 2m, and the GNSS device 3. These operations will be explained in more detail later.

[0032] (Step SA-5 in Figure 2) The data aggregation PC 5 processes the copied data as needed. For example, each piece of data may contain data that is not relevant to subsequent processing. Or, for example, video data may have an unnecessarily high resolution. In such cases, unnecessary data may be deleted or the resolution may be reduced. Data compression may also be performed. These processes can reduce the data volume. The data aggregation PC 5 aggregates each piece of copied data (after data processing) to generate aggregated data. The aggregated data is a set of data that combines multiple pieces of data acquired by multiple devices, organized by measurement location.

[0033] In this embodiment, the data aggregation PC 3 performs steps SA-2 to SA-4 in parallel during data processing and subsequent processing (such as uploading), and if there is a data update, the subsequent processing is also performed in parallel. This allows vehicle operation and measurement to be performed continuously. This improves the efficiency of the measurement work.

[0034] (Steps SA-6 to SA-8 in Figure 2) Next, the data aggregation PC 5 sends the aggregated data to the data analysis device 200. After receiving the aggregated data, the data analysis device 200 automatically analyzes the data and saves the analysis results. The aggregated data is a set of data in which multiple pieces of data acquired by multiple devices are compiled for each measurement section (or measurement location), so there is an advantage that there is no need to check the timestamps one by one during analysis.

[0035] The analysis results are generated as data that can be displayed on, for example, a browser on the data viewing PC 300, and are stored in the data analysis device 200. In addition, the data analysis device 200 generates various related data that should be displayed on the browser in conjunction with the analysis results (i.e., corresponding to the measurement section), and stores the data analysis device 200. Note that it is not essential to display the analysis results on the browser of the data viewing PC 300; for example, it is also possible to display the results on some program on the data viewing PC 300.

[0036] (Step SA-9 in Figure 2) In response to a command from the data viewing PC 300, the data analysis device 200 sends the analysis results that it has saved to the data viewing PC 300.

[0037] The system of this embodiment can generate analysis results almost in real time. Users can also view the analysis results and related information whenever necessary. Therefore, this technology allows for rapid analysis of underground conditions, enabling problem areas to be identified and addressed promptly.

[0038] (Detailed procedure for data monitoring) The data monitoring procedure described in steps SA-2 to SA-4 of FIG. 2 will now be described in more detail with further reference to FIG.

[0039] (Step SB-1 in Figure 3) The data aggregation PC 5 first acquires a file list of the data folders in the underground radar devices 11 to 1n (file numbers 001 and 002 in the illustrated example). For ease of explanation, the following description will be given for one underground radar device 11, but the operation is similar for each underground radar device. In this example, file numbers are assigned consecutively in the order of generation.

[0040] (Step SB-2 in Figure 3) The data aggregating PC 5 then continues to acquire the file list in the data folder in the underground radar device 11 at regular time intervals. Here, the time interval for acquiring the file list is, for example, about one second to several minutes, but is not limited to this and may be shorter or longer. An interval of about several minutes can be said to be sufficient real-time for the purpose of detecting underground conditions. When the data aggregating PC 5 acquires a new file list, it compares it with the file list immediately before and updates the information in the file list. During this time, the underground radar device 11 continues to perform measurements.

[0041] (Step SB-3 in Figure 3) When the underground radar device 11 finishes measuring a predetermined section, a new data file (file number 003 in the illustrated example) is added to the data folder in the underground radar device 11.

[0042] (Step SB-4 in Figure 3) When acquiring and updating a new file list, the data aggregating PC 5 can detect that a new data file 003 has been added by comparing it with the previous file list. This allows the data aggregating PC 5 to detect that the measurement work in the underground radar device 11 has ended. Note that if the underground radar device 11 creates a file when it starts measurement, the data aggregating PC 5 can detect the end of measurement by checking that writing of data to the file has ended.

[0043] (Step SB-5 in Figure 3) Then, the data aggregating PC 5 copies the newly added data file 003 from the underground radar device 11. Furthermore, the latest data files at that time are copied from the other sensor devices, namely, the recording devices 21 to 2m and the GNSS device 3.

[0044] In this way, the above-mentioned data monitoring can be carried out continuously.

[0045] In this embodiment, the above operation acquiring and storing underground condition data for each predetermined section traveled by the exploration vehicle; acquiring and storing related information data within a predetermined section; a step in which the data aggregation PC 5 monitors whether underground condition data in a predetermined section has been saved; When the underground condition data is stored, a data aggregating PC 5 acquires the underground condition data and related information data in a predetermined section; The data aggregation PC can aggregate underground condition data and related information data in a specified section to generate aggregated data, and send the aggregated data to a data analysis device installed in a remote location.

[0046] The above-described embodiment is merely an example and does not represent essential components of the present invention. The configuration of each part is not limited to the above, as long as the gist of the present invention can be achieved.

[0047] For example, in the above-described embodiment, the underground condition is assumed to be a cavity under the road surface, but this is not limited to this, and the underground condition may also be, for example, the condition of buried pipes, the condition of the paved road surface, the condition of underground structures, etc.

[0048] Furthermore, in the above embodiment, AI is used as an example of data analysis means, but a method that does not use AI may also be used.

[0049] Furthermore, in the above embodiment, the data analysis results are viewed using the browser of the data viewing PC 300, but it is also possible to download the necessary data and display the analysis results.

[0050] In the above-described embodiment, an underground radar device is used as an example of the underground condition measuring means, but the underground condition measuring means is not limited to this, and a falling weight deflectometer, a thermometer, an ultrasonic measuring device, etc. may also be used.

[0051] Furthermore, in the above-described embodiment, a recording device and a GNSS device are exemplified as sensor devices, but the present invention is not limited to these, and other devices such as an inertial measurement unit, a line scan camera, a laser scanner, and a lidar can also be used.

[0052] Furthermore, in the above-described embodiment, the underground condition data is monitored to determine whether it has been saved, and the related information data is acquired as a trigger. However, the data aggregation PC 5 may be configured to monitor whether the related information data for a specified section has been saved, and acquire the underground condition data as a trigger. In this case, when the related information data is saved, the data aggregation PC 5 acquires the underground condition data for the specified section and the related information data from the corresponding underground condition measurement means and sensor device, respectively. The data aggregation PC 5 then aggregates the acquired underground condition data and the related information data to generate aggregated data, which can then be sent to a data analysis device installed in a remote location. In this case, the procedure may be substantially the same as in the above-described embodiment. [Explanation of symbols]

[0053] 11~1n Underground radar device (means for measuring underground conditions) 21~2m Recording device (sensor device) 3 GNSS device (sensor device) 4. Ethernet Switch 5. Data collection PC 7 Radar data display 8 Video image display section 9 Measurement position display section 100 Vehicle-mounted underground condition measuring device 200 Data analysis equipment 300 PCs for viewing data

Claims

1. Both are equipped with underground condition measurement means, sensor devices, and a PC for data collection mounted on the rover. the underground condition measuring means is configured to acquire and store underground condition data for each predetermined section traveled by the exploration vehicle, the sensor device is configured to acquire and store related information data for each predetermined section, The data collection PC is a process of automatically and continuously monitoring at regular time intervals whether at least one of the underground condition data and the related information data in the predetermined section has been saved; The data aggregating PC detects that at least one of the underground condition data and the related information data has been saved, and, using this as a trigger, automatically acquires the latest underground condition data and the related information data at that time in the specified section from the corresponding underground condition measuring means and the corresponding sensor device, respectively; a process of automatically generating aggregated data by aggregating the acquired underground condition data and the related information data in the predetermined section, and automatically sending the aggregated data to a data analysis device installed in a remote location; It is configured to perform the following: Vehicle-mounted underground condition measurement device.

2. The underground condition measuring means, the sensor device, and the data collection PC are connected via an intranet established within the exploration vehicle. The vehicle-mounted underground condition measuring device according to claim 1 .

3. The data collection PC is configured to send the collected data to the data analysis device via a wireless communication line. The vehicle-mounted underground condition measuring device according to claim 1 or 2.

4. The related information data is image data of the external environment in the predetermined section, or position data corresponding to the predetermined section. The vehicle-mounted underground condition measuring device according to any one of claims 1 to 3.

5. The data analysis device installed at the remote location is a virtual machine for data analysis built in the cloud, or a physical computer located at the remote location. The vehicle-mounted underground condition measuring device according to any one of claims 1 to 4.

6. The vehicle-mounted underground condition measuring device according to any one of claims 1 to 5, the data analysis device, and a data viewing PC for viewing the analysis results obtained by the data analysis device, The data viewing PC is configured to receive and display the analysis results from the data analysis device. Automatic underground condition analysis system.

7. acquiring and storing underground condition data for each predetermined section traveled by the exploration vehicle; acquiring and storing related information data for each predetermined section; a step of automatically and continuously monitoring at regular time intervals by a data aggregating PC whether at least one of the underground condition data and the related information data in the predetermined section has been saved; a step in which a data aggregating PC detects that at least one of the underground condition data and the related information data has been saved, and triggers the data aggregating PC to automatically acquire the latest underground condition data and the related information data at that time in the specified section; a step in which the data aggregating PC aggregates the acquired underground condition data and the related information data in the predetermined section to automatically generate aggregated data, and automatically sends the aggregated data to a data analysis device installed in a remote location; An underground condition measurement method comprising:

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