JP7425769B2 - Road structure condition monitoring system and method - Google Patents

Description

The present invention relates to a system that monitors the condition of road structures and detects the occurrence of an abnormality in the road structure or a sign of the occurrence of an abnormality.

BACKGROUND ART Conventionally, as a system for monitoring the state of a road structure, a monitoring system is known in which a sensor is attached to a road structure and a detection signal from the sensor is periodically acquired (see Patent Document 1). For example, in a bridge monitoring system, sensors are attached to bearings, expansion and contraction devices, main girders, etc. The sensors used are generally displacement systems, accelerometers, strain gauges, etc. With such a monitoring system, it is possible to reduce the frequency of a manager's on-site visits to inspect road structures, thereby reducing management costs.

JP2020-79544A

However, in order to properly operate the above system, it is necessary to periodically inspect and replace the sensors attached to the road structures, but the lifespan of the sensors is much longer than the lifespan of the road structure itself. short. Therefore, even if the administrator does not need to inspect the road structures, he or she must regularly visit the site to inspect the sensors. Therefore, the effect of reducing management costs is not large. Additionally, if you are going to the site regularly to inspect the sensors, you can also consider inspecting the road structures at that time. That is, although the conventional system described above has the significance of being able to remotely monitor road structures, it has a small cost reduction effect from the maintenance and operation standpoint.

Furthermore, road structures are widely distributed throughout the country, and their managers vary. For this reason, it is not realistic to install sensors on all road structures across the country and to periodically inspect the sensors. Therefore, the number of road structures that can be monitored is actually limited. Since road structures are generally constructed to be sturdy, the probability that a particular road structure that is being monitored is damaged and that data at the time of damage can be obtained from the road structure is extremely small. As described above, since it is difficult to obtain data at the time of damage, it is difficult to construct a determination logic for determining the occurrence of an abnormal state in monitoring.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a road structure condition monitoring system with low management cost.

In order to achieve the above object, the road structure condition monitoring system according to the present invention includes one or more on-vehicle sensors mounted on a vehicle, and a position detection device provided on the vehicle to detect its own position. , one or both of the detection data detected by the on-vehicle sensor installed in the vehicle and the processed data obtained by processing the detection data according to predetermined rules are used as characteristic data and position information is added, and the data is transmitted via a mobile communication network. a storage server that stores characteristic data and position information transmitted from the transmission means of the plurality of vehicles; and a storage server that stores characteristic data and position information transmitted from the plurality of vehicle transmission means; a road structure state estimation device for estimating the state , the in-vehicle sensor includes a tire position sensor that detects the relative height of the tire with respect to the vehicle body or a tire air pressure sensor that detects the air pressure of the tire, and the transmitting means is characterized in that the amount of periodic change in the height or the air pressure during traveling is transmitted to the outside as characteristic data indicating the deflection of the deck slab in the bridge axis direction, with position information added thereto .
Further, the road structure condition monitoring system according to the present invention includes one or more on-vehicle sensors mounted on a vehicle, a position detection device provided on the vehicle for detecting its own position, and a position detection device provided on the vehicle for detecting its own position. , transmission of either or both of the detection data detected by the on-vehicle sensor and the processed data obtained by processing the detection data according to predetermined rules as characteristic data and with location information added, and transmitted to the outside via a mobile communication network; means, a storage server for accumulating characteristic data and position information transmitted from the transmitting means of the plurality of vehicles, and a road structure for estimating the state of the road structure based on the plurality of accumulated characteristic data and position information. the vehicle-mounted sensor includes an acceleration sensor that detects the acceleration of the vehicle in a direction perpendicular to the road surface, and the transmission means transmits the periodic change amount of the acceleration to the vibration of the bridge girder. It is characterized in that it is transmitted to the outside as characteristic data indicating and with location information added.

According to the present invention, one or both of detection data detected by an on-vehicle sensor installed in a vehicle and processed data obtained by processing the detection data according to predetermined rules is stored in a storage server together with position information as feature data. Ru. Then, the road structure state estimation device estimates the state of the road structure based on the plurality of feature data and position information.

Vehicles are equipped with various sensors, and the number and types of sensors have increased in recent years. Furthermore, in recent years, many vehicles have appeared that are equipped with wireless communication functions and are capable of data communication with the outside. In the present invention, such a vehicle is used to collect and accumulate characteristic data, and the condition of a road structure is estimated by analyzing the accumulated characteristic data. This makes it possible to acquire and accumulate characteristic data related to road structures from a wide range across the country without attaching sensors to the road structures. Therefore, it is possible to monitor the condition of road structures with low management costs.

System configuration diagram of road structure condition monitoring system Vehicle functional block diagram, Functional block diagram of road structure condition estimation device

DESCRIPTION OF THE PREFERRED EMBODIMENTS A road structure condition monitoring system according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a system configuration diagram of a road structure condition monitoring system, FIG. 2 is a functional block diagram of a vehicle, and FIG. 3 is a functional block diagram of a road structure condition estimation device.

As shown in FIG. 1, the road structure condition monitoring system includes an accumulation server 200 that acquires and accumulates data from a plurality of vehicles 100, and a road structure condition estimation device 300.

Vehicle 100 is configured to be able to communicate data with storage server 200 via a network. The type and implementation form of the network, that is, the communication path, between the vehicle 100 and the storage server 200 do not matter. The network, ie, the communication path, between vehicle 100 and storage server 200 may be different for each vehicle 100. The network, ie, the communication path, between vehicle 100 and storage server 200 may be changed as vehicle 100 moves. In this embodiment, each vehicle 100 is accommodated in a mobile communication network 500, and each vehicle 100 is configured to be able to communicate data with the storage server 200 via the mobile communication network 500 and the Internet 400.

The storage server 200 and the road structure state estimation device 300 are arranged on a network so that they can communicate data with each other. The type of network, implementation form, etc. do not matter. Further, the storage server 200 and the road structure state estimation device 300 may be placed in different networks, or may be placed in the same network. A plurality of storage servers 200 may be provided. In this embodiment, the storage server 200 and the road structure state estimation device 300 are located on the Internet 400. In other words, the storage server 200 and the road structure state estimation device 300 are implemented as a cloud server. Users of this system can access the road structure state estimation device 300 and the storage server 200 using a user terminal 600 placed in the local network. In other examples, storage server 200 may be located in mobile communication network 500. In this case, storage server 200 can be implemented as an edge server in mobile communication network 500. In another example, the road structure state estimation device 300 is placed in the user's local network.

As shown in FIG. 2, the vehicle 100 includes a plurality of types of in-vehicle sensors 110, a position detection section 120, a GNSS (Global Navigation Satellite System) receiving device 130, a detected data processing section 140, and a feature data transmission section 150. , and a communication device 160.

The on-vehicle sensor 110 is a sensor that detects various behaviors of various parts of the vehicle and the state of the surrounding environment of the vehicle. In the present invention, an on-vehicle sensor includes not only a single-function sensor element, but also a combination of multiple sensor elements with different functions, and a sensor equipped with various circuits necessary to function as a sensor. Examples of the in-vehicle sensor 110 include an acceleration sensor, an angular velocity sensor, a light sensor, an infrared sensor, a vibration detection sensor, a distortion detection sensor, a camera for image capturing, a microphone for detecting sound, an ultrasonic sensor, and an inertial measurement unit (IMU). There are various types such as Inertial Measurement Unit). The on-vehicle sensor 110 according to the present invention can also be used as a sensor already installed in the vehicle 100 for operation of the vehicle 100. Examples include acceleration sensors used in active suspensions, vehicle speed sensors, acceleration sensors used in airbags, outside temperature sensors for air conditioners, cameras that monitor the front and rear, and acceleration sensors and air pressure sensors built into tires. Sensors can be used.

Position detection unit 120 detects the current position of vehicle 100. Various methods can be used for position detection by the position detection unit 120. In the example shown in FIG. 2, the position detection unit 120 can acquire position information measured by the GNSS receiving device 130, and use this position information to detect the current position. The position detection unit 120 can correct the position information measured by the GNSS receiving device 130 using detection data from one or more on-vehicle sensors 110 and position data acquired from the communication device 160.

The GNSS receiving device 130 is a well-known device related to a satellite positioning system, and detects the current position based on signals received from positioning satellites. The GNSS receiving device 130 also detects the current time based on signals received from positioning satellites.

The detection data processing unit 140 generates processed data by processing detection data detected by any vehicle-mounted sensor 110 according to a predetermined rule. Here, the predetermined rules can be arbitrarily set depending on the object to be monitored and the type of monitoring. For example, the processed data can be one or more pieces of data corresponding to detected data processed from any in-vehicle sensor 110. Further, the processed data can be one piece of data obtained by processing detection data from a plurality of on-vehicle sensors 110. Further, the processed data can be one or more pieces of data obtained by processing a plurality of pieces of detection data acquired over time from any vehicle-mounted sensor 110. The processing data may be a continuous value or may be a discrete value such as on/off.

The feature data transmitting unit 150 uses either or both of detection data from an arbitrary in-vehicle sensor 110 and processing data generated by the detection data processing unit 140 as feature data, and further uses the detection data detected by the position detection unit 120 in the feature data. The location information of the vehicle 100 is added thereto and transmitted to the storage server 200. The transmission timing of the characteristic data can be arbitrarily set depending on the object to be monitored and the monitoring mode, and also according to the timing at which the detected data processing section 140 generates the processing data. For example, the feature data transmitter 150 may transmit feature data to the storage server 200 in real time every time data is generated in the on-vehicle sensor 110 or the detected data processor 140. For example, the feature data transmitting unit 150 temporarily stores data generated in the on-vehicle sensor 110 or the detected data processing unit 140 for a certain period or a certain capacity, and stores the characteristic data in the storage server 200 after a certain period of time or after reaching a certain capacity. may be sent all at once. Further, the feature data transmitter 150 can further add time information at the time of data generation or data transmission to the feature data.

As described above, the processing of the detection data processing section 140 and the characteristic data transmission section 150 can be arbitrarily set depending on the object to be monitored and the monitoring form. Specific examples of processing by the detection data processing section 140 and the feature data transmission section 150 will be described in detail in the embodiments described below.

Communication device 160 is a device for connecting to mobile communication network 500. The communication device 160 can include a plurality of devices depending on the network serving as the communication path with the storage server 200. In some embodiments, communication device 160 may obtain location information from mobile communication network 500.

The storage server 200 is composed of a known information processing device including a main processing unit, a main storage device, an auxiliary storage device (storage), an input/output device, a communication device, and the like. The storage server 200 may be implemented in any manner, and may be implemented using dedicated hardware or by installing a program on a general-purpose computer. Further, the storage server 200 may be distributed and implemented in a plurality of devices. In this embodiment, storage server 200 is implemented as a cloud server on the Internet 400.

The storage server 200 receives characteristic data, location information, and time information from the vehicle 100 and stores them in a predetermined storage. If the data received from the vehicle 100 does not include time information, the storage server 200 can store the time information at the time of data reception from the vehicle 100 together with the received feature data and position information in a predetermined storage. The storage server 200 allows the road structure state estimation device 300 to refer to the stored data.

The road structure state estimation device 300 is composed of a known information processing device including a main processing unit, a main storage device, an auxiliary storage device (storage), an input/output device, a communication device, and the like. The implementation form of the road structure state estimation device 300 is not limited; it may be implemented using dedicated hardware, or it may be implemented by installing a program on a general-purpose computer. Further, the road structure state estimation device 300 may be distributed and implemented in a plurality of devices. In this embodiment, the road structure state estimation device 300 is implemented as a cloud server on the Internet 400. A user can access the road structure state estimation device 300 using a user terminal 600 placed in the local network.

As shown in FIG. 3, it includes an accumulated data acquisition section 310, a road structure information storage section 320, a case information storage section 330, and a state estimation section 340.

The accumulated data acquisition unit 310 acquires accumulated data from the accumulation server 200. The accumulated data acquisition unit 310 can acquire only data regarding arbitrary road structures from the accumulation server 200. In this case, the accumulated data acquisition unit 310 can acquire the position information of the road structure from the road structure information storage unit 320 and extract the accumulated data from the accumulation server 200 using the position information. The road structures to be acquired may be set in advance or may be set each time by the user.

The road structure information storage unit 320 stores various information regarding road structures. The information stored in the road structure information storage section 320 may be input by the user, or may be acquired and input from outside. The information stored in the road structure information storage unit 320 can include position information of road structures. Further, the information stored in the road structure information storage unit 320 can include estimation parameters used for estimating abnormality of the road structure, such as threshold values.

The case information storage unit 330 stores characteristic data (hereinafter referred to as "case data") regarding road structure abnormalities that occurred in the past in a predetermined period and a predetermined position range. The case data is referred to in the state estimation unit 340. The case data may be input by the user, or may be obtained and input from an external source such as the storage server 200. Note that in the present embodiment, the case information storage unit 330 stores case data regarding abnormalities in road structures that occurred in the past. Information necessary for extracting case data regarding an abnormality of an object may be stored.

The state estimating unit 340 estimates the state of the road structure by analyzing data stored in the storage server 200. Various data analysis methods can be used. In addition, the state estimation unit 340 monitors the feature data stored in the storage server 200 and detects behavior of the feature data that differs from the normal (normal) pattern, thereby preventing the occurrence of an abnormality and the occurrence of the abnormality. Estimating the position or a sign of abnormality occurrence and the position related to the sign. Various abnormality estimation methods can be used. For example, the state estimation unit 340 can use well-known abnormality determination logic such as outlier detection, change point detection, and abnormal region detection. Further, for example, the state estimation unit 340 can perform abnormality determination etc. using analysis technology in the field of so-called artificial intelligence. The state estimation unit 340 can refer to information stored in the case information storage unit 330 for state estimation processing. The state estimation unit 340 performs machine learning based on the information stored in the case information storage unit 330, and can be implemented as an estimation engine subjected to this machine learning.

In some embodiments, the state estimating unit 340 estimates the occurrence of an abnormality and the position associated with the occurrence of the abnormality, or the sign of the occurrence of the abnormality and the position associated with the sign, based on changes over time in the characteristic data.

In some embodiments, the state estimating unit 340 compares case data in a predetermined period and a predetermined position range regarding an abnormality of a road structure that occurred in the past, and compares the case data regarding the abnormality occurring in the past and the position or position related to the abnormality occurrence. Estimate the sign of abnormality occurrence and the position related to the sign.

In some embodiments, the feature data includes vehicle feature data regarding the behavior of the vehicle when the vehicle is running, and environmental feature data regarding the environment around the vehicle, and the state estimation unit 340 uses the vehicle feature data and the environment features. Based on the correlation with the data, the occurrence of an abnormality and the position related to the occurrence of the abnormality, or the sign of the occurrence of the abnormality and the position related to the sign are estimated.

When the state estimation unit 340 detects the occurrence of an abnormality in the road structure or detects a sign of the occurrence of an abnormality, it outputs the time when the abnormality has occurred or the time when the abnormality is predicted to occur, and its position information as an estimation result. Furthermore, when the state estimating unit 340 detects the occurrence of an abnormality in the road structure or detects a sign of the occurrence of an abnormality, it can notify the user.

According to the road structure condition monitoring system according to the present embodiment, either or both of the detection data detected by the on-vehicle sensor 110 provided in the vehicle 100 and the processed data obtained by processing the detection data according to a predetermined rule, The characteristic data is stored in the storage server 200 together with the position information. Then, the road structure state estimation device 300 estimates the state of the road structure based on the plurality of feature data and position information. In this way, characteristic data related to road structures is acquired and accumulated from a wide range of areas across the country without the need to attach sensors to road structures, making it possible to monitor the condition of road structures at low management costs. be able to.

Although one embodiment of the present invention has been described in detail above, the present invention is not limited to the above embodiment, and various improvements and changes may be made without departing from the gist of the present invention. .

For example, in the embodiment described above, the vehicle 100 includes the detection data processing section 140 that processes detection data from the on-vehicle sensor 110 according to predetermined rules, but this detection data processing section 140 may be omitted. Good too. In this case, the feature data transmitter 150 transmits the detection data from the on-vehicle sensor 110 to the storage server 200 as feature data.

Further, in the above embodiment, the storage server 200 and the road structure state estimation device 300 are implemented as different devices, but they may be implemented as an integrated device.

Furthermore, the user terminal 600 of the user of the road structure condition monitoring system may be a mobile communication terminal carried along with the user. Further, the user terminal 600 may be placed in any vehicle 100.

This embodiment detects weld cracks in a bridge.

In this embodiment, a microphone built into a tire is used as the in-vehicle sensor 110. The detection data processing unit 140 detects the occurrence of abnormal noise based on the sound detected by the microphone and removes the steady running sound generated by the contact between the tires and the road surface, and detects the occurrence of the abnormal noise. Processed data. More specifically, the detection data processing unit 140 removes the sound originating from the vehicle 100 by taking the difference from the running sound before one rotation of the tire. Thereby, the detection data processing unit 140 can detect "abnormal noise" originating from the road structure, such as squeaks from weld cracks and reflected sounds from gaps in RC (Reinforced Concrete) slabs. When the feature data transmitting unit 150 detects an "abnormal noise", it transmits this as feature data to the storage server 200 together with position information. Note that the difference is not limited to the difference from one revolution before, but may be the difference from several revolutions ago or the average value of the past several revolutions.

The state estimating unit 340 of the road structure state estimating device 300 estimates the occurrence of an abnormality or a sign of the occurrence of an abnormality such as "welding crack in a bridge" at a position related to the feature data based on the frequency of the feature data. Here, the state estimation unit 340 excludes feature data at the position of a predetermined structural element included in the road structure from being processed. Whether it is a predetermined structural element or not can be stored in advance in the road structure information storage unit 320, and this information can be referred to. This makes it possible to eliminate known singular points that cause "abnormal noise", such as bridge expansion and contraction devices and manholes.

Note that as the on-vehicle sensor 110 that detects the running sound of the vehicle 100, other sensors such as a microphone provided in the frame of the vehicle 100 or a vibration sensor provided in the frame of the vehicle 100 may be used instead of the microphone built in the tire. It's okay.

This embodiment detects an abnormality in the expansion/contraction device play in a bridge.

In this embodiment, the in-vehicle sensors 110 include an acceleration sensor that detects the acceleration of the vehicle 100 in a direction perpendicular to the road surface, a speed sensor that detects the speed of the vehicle 100 in the traveling direction, and an outside temperature sensor that detects the outside temperature of the vehicle 100. Use. The acceleration sensor can also be used as an acceleration sensor for an airbag provided in the vehicle 100. The speed sensor can also be used as a vehicle speed sensor provided in the vehicle 100. The outside temperature sensor can also be used as an outside temperature sensor for the air conditioner of the vehicle 100.

The detection data processing unit 140 monitors the detection data by the acceleration sensor while recording it for a predetermined period of time, and when a large acceleration is detected, outputs the acceleration data before and after that as processed data. When the detection data processing unit 140 outputs the processed data, the feature data transmitting unit 150 adds the detection data of the speed sensor and the detection data of the outside temperature sensor to the processed data as feature data, and converts the feature data into position information. It is also transmitted to the storage server 200.

If the movable bearing is damaged, it is thought that the relationship between outside temperature and acceleration will change. Therefore, the state estimating unit 340 of the road structure state estimating device 300 detects the occurrence of an abnormality called "abnormality between expansion/contraction device play" and the location or sign of the occurrence of the abnormality based on the change in the correlation between acceleration and outside temperature. and estimate the position related to the sign. Here, the detected acceleration of the vehicle 100 in a direction perpendicular to the road surface at a certain point changes depending on the speed of the vehicle 100. Therefore, in the estimation process described above, by correcting the acceleration using the speed, the influence of the speed on the acceleration can be removed and accuracy can be improved. Note that the expansion and contraction device clearance is approximately equal to the bearing movement amount.

Note that a tire air pressure sensor that detects tire air pressure may be used instead of the acceleration sensor.

This example is for understanding the degree of deck damage in a bridge.

In this embodiment, a tire position sensor provided on the active suspension of the vehicle 100 is used as the on-vehicle sensor 110. The tire position sensor is a sensor that detects the relative height of the tire with respect to the frame of the vehicle 100. In other words, the tire position sensor detects the amount of expansion and contraction of a spring constituting the suspension or the amount of expansion and contraction of a shock absorber.

When an RC deck slab with slab spans in the direction of the bridge axis (slabs that are driven down by intermediate cross beams) ages, the slabs slightly wave in the direction of the bridge axis (the cross beams where no deflection occurs) The valley between the peaks and crossbeams). Cars that drive on top of this have their suspensions expand and contract regularly. Therefore, the detected data processing unit 140 outputs processed data indicating the deflection of the deck slab in the bridge axis direction based on the amount of periodic change in height, which is data detected by the tire position sensor while the vehicle 100 is running. The characteristic data transmitting unit 150 transmits the processed data as characteristic data to the storage server 200 together with position information.

The state estimation unit 340 of the road structure state estimation device 300 can grasp the degree of deck damage based on the data stored in the storage server 200. Furthermore, the state estimating unit 340 uses the degree of floor slab damage as a degree of abnormality, and based on the degree of abnormality, the state estimating unit 340 determines the occurrence of an abnormality called "floor slab damage", the position related to the abnormality occurrence, the sign of the abnormality occurrence, and the sign of the abnormality. Such a position can be estimated. The deflection of an aged RC floor slab is on the order of 1 to 0.1 mm and cannot be detected by humans, but according to this embodiment, the deflection can be detected.

Note that a tire air pressure sensor that detects tire air pressure may be used instead of the acceleration sensor.

This embodiment detects vibrations of a bridge.

In this embodiment, an acceleration sensor forming an active suspension is used as the on-vehicle sensor 110. This acceleration sensor allows the vibration of the bridge girder to be detected while the vehicle 100 is traveling on the bridge. Moreover, this acceleration sensor can detect vibrations of the bridge girders even when the vehicle 100 is stopped on the elevated bridge due to traffic jams or the like. The characteristic data transmitting unit 150 transmits the detection data of the acceleration sensor as characteristic data to the storage server 200 together with position information.

The state estimating unit 340 of the road structure state estimating device 300 can detect vibrations of the bridge based on the data stored in the storage server 200. Further, the state estimating unit 340 can estimate the occurrence of an abnormality and the position related to the occurrence of the abnormality, or a sign of the occurrence of the abnormality and a position related to the sign, based on the vibration of the bridge.

100...Vehicle 110...In-vehicle sensor 120...Position detecting unit 130...GNSS receiving device 140...Detected data processing unit 150...Feature data transmitting unit 200...Storage server 300...Road structure state estimation device 310...Stored data acquisition unit 320...Road Structure information storage section 330... Case information storage section 340... State estimation section 400... Internet 500... Mobile communication network 600... User terminal

Claims (7)

one or more on-vehicle sensors installed in the vehicle;
a position detection device provided on the vehicle to detect its own position;
Either or both of the detection data detected by the on-vehicle sensor installed in the vehicle and the processed data obtained by processing the detection data according to predetermined rules are used as characteristic data and position information is added, and the data is transmitted via a mobile communication network. A transmission means for transmitting to the outside,
an accumulation server that accumulates characteristic data and position information transmitted from the transmission means of the plurality of vehicles;
a road structure state estimation device that estimates the state of the road structure based on the plurality of accumulated feature data and position information ;
The in-vehicle sensor includes a tire position sensor that detects the relative height of the tire with respect to the vehicle body or a tire air pressure sensor that detects the air pressure of the tire,
The transmitting means transmits the periodic amount of change in the height or the air pressure while the vehicle is traveling as characteristic data indicating the deflection of the deck slab in the bridge axis direction, and adds position information to the outside.
A road structure condition monitoring system characterized by: one or more on-vehicle sensors installed in the vehicle;
a position detection device provided on the vehicle to detect its own position;
Either or both of the detection data detected by the on-vehicle sensor installed in the vehicle and the processed data obtained by processing the detection data according to predetermined rules are used as characteristic data and position information is added, and the data is transmitted via a mobile communication network. A transmission means for transmitting to the outside,
an accumulation server that accumulates characteristic data and position information transmitted from the transmission means of the plurality of vehicles;
a road structure state estimation device that estimates the state of the road structure based on the plurality of accumulated feature data and position information ;
The on-vehicle sensor includes an acceleration sensor that detects acceleration of the vehicle in a direction perpendicular to the road surface,
The transmitting means transmits the periodic change amount of the acceleration as characteristic data indicating vibration of the bridge girder and with position information added thereto.
A road structure condition monitoring system characterized by: Claim 1, wherein the road structure state estimating device estimates an abnormality occurrence and a position related to the abnormality occurrence, or a sign of the abnormality occurrence and a position related to the sign, based on a change over time of the characteristic data. Or the road structure condition monitoring system according to 2 . The road structure state estimation device compares the characteristic data in a predetermined period and a predetermined position range regarding abnormalities of road structures that have occurred in the past, and calculates the occurrence of an abnormality and the position related to the abnormality occurrence or the occurrence of the abnormality. The road structure condition monitoring system according to any one of claims 1 to 3, characterized in that the system estimates a sign and a position related to the sign. The characteristic data includes vehicle characteristic data regarding the behavior of the vehicle when the vehicle is running, and environmental characteristic data regarding the environment around the vehicle,
The road structure state estimation device is characterized in that it estimates the occurrence of an abnormality and the position related to the occurrence of the abnormality, or a sign of the occurrence of the abnormality and the position related to the sign, based on the correlation between vehicle characteristic data and environmental characteristic data. A road structure condition monitoring system according to any one of claims 1 to 4 . A plurality of vehicles each having one or more on-vehicle sensors and a position detection device that detects its own position may generate either detection data detected by the on-vehicle sensors and processed data obtained by processing the detection data according to predetermined rules. a data transmission step of transmitting both as feature data and with location information added to the outside via a mobile communication network;
a data accumulation step in which a storage server accumulates characteristic data and position information transmitted from the plurality of vehicles;
The road structure state estimation device includes an estimation step of estimating the state of the road structure based on the plurality of accumulated feature data and position information,
The in-vehicle sensor includes a tire position sensor that detects the relative height of the tire with respect to the vehicle body or a tire air pressure sensor that detects the air pressure of the tire,
In the data transmission step, the amount of periodic change in the height or the air pressure during traveling is transmitted to the outside as characteristic data indicating the deflection of the deck slab in the bridge axis direction, with position information added thereto.
A method for monitoring the condition of a road structure, characterized in that: A plurality of vehicles each having one or more on-vehicle sensors and a position detection device that detects its own position may generate either detection data detected by the on-vehicle sensors and processed data obtained by processing the detection data according to predetermined rules. a data transmission step of transmitting both as feature data and with location information added to the outside via a mobile communication network;
a data accumulation step in which a storage server accumulates characteristic data and position information transmitted from the plurality of vehicles;
The road structure state estimation device includes an estimation step of estimating the state of the road structure based on the plurality of accumulated feature data and position information,
The on-vehicle sensor includes an acceleration sensor that detects acceleration of the vehicle in a direction perpendicular to the road surface,
In the data transmission step, the periodic change amount of the acceleration is transmitted to the outside as characteristic data indicating the vibration of the bridge girder and with position information added thereto.
A method for monitoring the condition of a road structure, characterized in that:

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