JP2869740B2 - Viaduct inspection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to properties of viaducts of viaducts such as expressways and railways,
Further, the present invention relates to a viaduct inspection device capable of inspecting the condition of an outer wall of a building such as a building.

[Conventional technology]

Bridges of viaducts such as expressways have been in operation for many years,
During construction, various unpredictable damages and property changes may occur.

In order to maintain and maintain the original functions of the above structure, it is extremely important to carry out dotted line surveys with appropriate accuracy and to obtain accurate information.

The damage and change in properties of the bridge body in the viaduct include cracks that occur mainly on concrete slabs and changes in properties that occur locally on the bridge girder.

Conventional inspections of viaducts are performed directly on foot under the viaduct, or visually inspected with binoculars, or visually inspected by taking a construction scaffold or inspection car and approached by taking photographs and sketching, so-called visual viewpoint lines. Is the main subject.

In recent years, an inspection using a television camera has been performed instead of the above-mentioned visual inspection.

Further, as an apparatus for the above inspection, Japanese Patent Application Laid-Open No. Sho 60-1331
No. 06 and JP-A-63-107603, a self-propelled vehicle having a boom device is parked and fixed on a viaduct, and the end of the boom device is turned under the bridge. The lower surface of the bridge body is photographed with a television set provided at the end of the boom device, or a worker performs a predetermined operation on a work table provided at the end of the boom device. There is something.

Further, as shown in JP-B-63-65766 and JP-A-62-284804, there is also known an inspection device in which a worktable can be moved along a bridge girder under a bridge body. .

[Problems to be solved by the invention]

Of the above conventional technologies, in the case of visual inspection, oversight of damage and subjectivity of the inspector are easily reflected in the inspection result,
In addition, there are problems that workability and safety are inferior due to many posture posture operations and high-altitude operations, and that the operator is forced to perform difficult work.

In the case of using a television camera instead of visual observation, the resolution is finite, so that there is a problem that the detection accuracy is low in the case of shooting a wide area.

Further, in the case of the above-mentioned known examples of JP-A-60-13310 and JP-A-63-107603, since the automobile must be fixed on the viaduct with an outrigger or the like, one installation is required. There is a problem that the inspection range around the vehicle is limited, there is a loss time required for repeated small movements, the work efficiency of the inspection is poor, and this vehicle obstructs other vehicles.

Further, the above known examples are disclosed in JP-B-63-65766 and JP-A-63-284.
In the one disclosed in Japanese Patent No. 804, there is no problem of inefficiency due to the small movement of the vehicle and hindering other vehicles, but in the former, the suspension member is fixed to the bridge girder in advance. Therefore, there is a problem that any bridge girder cannot be inspected at any time and inspection work cannot be performed flexibly, and in the latter case, the bridge girder cannot move in the longitudinal direction. It is unsuitable for an inspection device that uses a laser measurement device continuously and has a problem that it takes time to move.

The present invention has been made in consideration of the above, and it is possible to continuously measure the surface texture of a floor slab with high accuracy by using a laser measurement device, thereby improving inspection accuracy, workability, and safety. The case where the laser measurement device is used by suspending it on a bridge girder and the case where it is used by mounting it on a lift car can be arbitrarily selected, and thereby, the range of the measurement target such as a floor slab can be widened, It is an object of the present invention to provide a viaduct inspection device having high mobility.

[Means for solving the problem]

In order to achieve the above object, a viaduct inspection device according to the present invention is provided so as to be detachably fixed to a bridge girder spanned between pillars of the viaduct, and to be elongated in the length direction of the bridge girder, and further guided in the longitudinal direction. A base end portion of a link mechanism that is horizontally bendable is connected to a frame provided with rails and a base that is detachably engaged with a guide rail of the frame so as to be rotatable in the horizontal direction. At the end of the mechanism, a sensor base is provided so as to be able to move up and down and rotate in the horizontal direction, and a laser that scans laser light incident from a laser head upward with a predetermined swing width on this sensor base and this laser scanner. A laser measuring device that supports a light detection sensor that detects the amount of reflected laser light that has been scanned by scanning, and a laser meter that is mounted on the roof of a measuring vehicle so as to be movable in the front-rear direction and that is mounted on the upper end portion. It is composed of a lifting device having a lifting platform for supporting the base of the device detachably.

In addition, the light detection sensor is provided on both sides in the scanning direction of the laser scanner, and a laser head is provided on the frame, and between the laser head and the laser scanner,
A laser light transmission device was provided via a frame, a link mechanism, and a sensor base.

In addition, the laser measurement device performs high-speed scanning of laser light, detects the amount of reflected laser light, and detects the distance in the measurement extension direction, and performs a non-contact measurement of the surface texture of the floor slab, and a crack from the sensor system. A signal transmission processing device that performs signal distortion correction, synthesis, and contrast correction, and performs high-speed arithmetic processing of measurement information, and records measurement information from this signal transmission processing device and reproduces measurement information, thereby achieving high-density measurement information. A data recording device that performs recording and reproduction, an image display device that performs quantization and image display of a crack signal from the data recording device, and performs an image monitor at a measurement site;
From the output from the data recording device, a data analysis device that determines crack locations from large-scale images, extracts crack feature data, recognizes cracks from the extracted results, outputs the results, and automatically processes property evaluation parameters. Has become.

(Operation)

If the frame can be engaged with the bridge girder, the frame is moved to the site by a lift truck, and the elevator is raised to fix the frame to the bridge girder. In this state, the link mechanism is bent while moving the base of the laser measurement device with respect to the frame, so that the sensor base provided at the tip of the link mechanism moves parallel to the bridge girder and the width of the floor slab. After that, the sensor base is moved in a zigzag locus having a rectangular shape. At this time, a laser beam is scanned on the lower surface of the floor slab by a laser scanner provided on the sensor base, and the amount of reflected light is detected by a light detection sensor provided on the sensor base. The signal detected by the light detection sensor is processed by the laser measuring device to detect the surface properties of the floor slab.

If the frame cannot be fixed to the bridge girder, remove the frame from the base of the laser measuring device. Then, the laser measuring device performs the above-mentioned inspection operation by moving the lifting device in the front-rear direction of the measuring vehicle while being fixed to the lifting table of the lifting device.

〔Example〕

 An embodiment of the present invention will be described with reference to the drawings.

1 to 3, reference numeral 1 denotes a viaduct deck, and the deck 1 is supported by a plurality of bridge girders 3 stretched between piers 2. Each of the bridge girders 3 has an I-shaped cross section, and right and left flange portions project from the lower end on both sides in the longitudinal direction over the entire length.

Reference numeral 4 denotes a frame formed in a rectangular shape. Clamp members 5a and 5b opposed to each other in the width direction are provided with feed screws 6 at two positions separated in the longitudinal direction on the upper surface of the frame 4.
It is supported and provided. Feed screw 6 is a double clamp member
5a, 5b are reverse screw at the position where they screw together,
By rotating the feed screw 6, the clamp members 5a, 5
b moves forward and backward symmetrically and clamps and unclamps. Both ends of the feed screw 6 are supported by brackets 7, 7 erected at both ends of the frame 4, and are driven by a gear motor 8.

On the lower side of the frame 4, guide rails 9, 9 facing in the width direction are provided over the entire length in the longitudinal direction.

On the other hand, reference numeral 10 denotes a base, and a guide roller mechanism 11 is provided on an upper portion of the base 10 so as to be disengageably and slidably engaged with the guide rails 9, 9 of the frame 4 from its longitudinal ends. It is. The guide roller mechanism 11 has a motor 12
And a pinion gear 13 driven by the gears. The pinion gear 13 meshes with a rack 14 provided on the outer side of the frame 4.

A base end of a first arm 16a of a link mechanism 16 is connected to the base 10 via a bearing 17 so as to be rotatable in the horizontal direction and to be rotatably driven by a motor 18. A base end of a second arm 16b is similarly connected to a distal end of the first arm 16a so as to be rotatable in the horizontal direction and to be rotatably driven by a motor 19. A support table 20 is provided at the tip of the second arm 16b, and a lift bar 21 is supported on the support table 20 so as to be slidable in the vertical direction. A rack is provided on the side surface of the lift bar 21 in the longitudinal direction. A pinion gear (not shown) accommodated in the support base 20 meshes with the rack, and the pinion gear is driven by a motor 23 to drive the lift bar. 21 goes up and down.

Above the lift bar 21, a sensor base 24 is attached by a motor 22 so as to be rotatable about a vertical axis. A laser scanner 25 is provided at the center of rotation of the sensor base 24. The laser scanner 25 scans the laser beam 27 from the laser head 26 incident thereon with a predetermined swing width upward. The above laser head 26
Is attached to the first arm 16a. The above laser head 26
The first mirror 28a provided at the pivot of the arms 16a and 16b, the second mirror 28b provided at the tip of the second arm 16b, and the third mirror 28c provided at the sensor base 24 Is transmitted via the Internet. The first mirror 28
The transmission between a and the second mirror 28b is performed via the tube 29. The transmission of the laser light may be replaced by a light guide such as an optical fiber without using a mirror.

On the sensor base 24, two light detection sensors 30a, 30 separated from each other in the scanning direction are provided on both sides of the scanning surface of the laser scanner 25.
b, 30c, 30d are oriented in a direction intersecting the scanning surface of the laser scanner 25. 31 is a television camera, and 31a is a positioning sensor. This laser scanner 25 and light detection sensor
The configuration and operation of 30a to 30d will be described later as a laser measurement device.

Reference numeral 32 denotes a measuring vehicle for mounting the entire measuring mechanism including the base 10 on a bridge girder.
An elevating device 32a having 33 is mounted movably in the front-rear direction while being guided by a guide rail 32b. Clamp members 34a and 34b that clamp both side ends of the base 10 in the width direction are rotatably provided on both sides in the longitudinal direction of the elevating table 33.
On the other hand, as shown in FIG. 3, an intermediate portion is rotatably supported at a central portion of the elevating table 33 opposite to the clamp members 34a and 34b so that the rotating link 35 can be rotationally driven by a motor 36. Each end of the rotating link 35 is provided with a link 37.
The clamp members 34a and 34b are connected to the base ends of the clamp members 34a and 34b through the a and 37b, and the clamp members 34a and 34b operate as clamps and unclamps when the pivot link 35 rotates. ing.

As shown in FIG. 2, the lift 33 of the lift 32a may be attached to the lift 32a via an XY table 33a. In this case, the lift 33 is connected to the lift 32a by X. -Can move in the Y direction. 47 is the floor plate 1 of the sensor stand 24
Is a distance meter that detects the moving distance of the bridge girder in the extension direction.

The measuring vehicle 32 is provided with a measuring room 38.
Cable from 38 to the measuring mechanism fixed on the elevator 33
39 is extendably connected. The cable 39 includes a laser head, electric wires for driving each motor, and a cooling water hose for cooling the laser head.

 The operation of the above configuration will be described below.

(1) First, at the measurement site, if it is known in advance that the frame 4 can be attached to the bridge girder 3, that is, the cross-sectional shape of the bridge girder 3 at the site is I-shaped, and the frame 4 is clamped by the clamp members 5a, 5b. When the base 10 to which the frame 4 is coupled can be clamped by the clamp members 34a and 34b, the base 10 is headed to the measurement site.

(2) After arriving at the site, after positioning, the elevating platform 33 of the measuring vehicle 32 is moved up and positioned under the bridge girder 3 of the frame 4 while checking with the TV camera 31, and provided on the frame 4. Clamping is performed on the flanges on both sides of the bridge girder 3 by the clamp members 5a and 5b.

(3) Unclamp the clamp members 34a and 34b of the lift table 33 to separate the lift table 33 from the base 10, lower the lift device 32a, and move the measuring vehicle 32 to the safety zone while extending the cable 39. . If there is a safety zone in the median strip, transfer to there.

(4) After positioning the sensor stand 24 supporting the sensor system at the measurement start position, measurement is started. At this time, as the base 10 moves along the guide rail 9 over substantially the entire length of the frame 4 and the link mechanism 16 bends and rotates, the sensor base 24 is moved to the frame as shown in FIG. 4 is measured over a rectangular zigzag measurement path over a length several times the length of the frame 4 and over a wide range from one side front to the other side front of the frame 4. You.

(5) After the measurement is completed, the measuring vehicle 32 returns to the same position as at the time of setting.

(6) The elevating platform 33 is moved up to receive the base 10 of the measuring mechanism and descend.

On the other hand, if it is known that the frame 4 cannot be attached to the bridge girder 3 at the measurement site,
Or remove frame 4 and leave frame 4 at the base. Then, at the site, (1) the elevator 33 is raised by the elevator 32a.

(2) The sensor base 24 supporting the sensor system is operated in the front-back direction to adjust the parallelism and the position with the floor slab 1.

(3) The measurement is started after positioning the sensor base 24 supporting the sensor system at the measurement start position. At this time, the lifting device 32a
Is moved along a guide rail 32b provided on the roof of the measuring vehicle 32, and the link mechanism 16 is bent and rotated, so that the sensor base 24 is moved to the measuring vehicle 32 as shown in FIG.
Around a distance several times the moving length of the lifting / lowering device 32a, and a rectangular zigzag measurement path extending from the front part of one side of the measuring vehicle 32 to the front part of the other side. Measured. At this time, if the width of the floor slab 1 is wide, the lane in which the measuring vehicle 32 is located is changed as shown in FIG. The measurement may be performed while moving the measuring vehicle 32.

(4) After the measurement is completed, the lifting device 32a is lowered and stored, and the operation is completed.

Next, a sensor system including a laser head 26, a laser scanner 25, and light detection sensors 30a to 30d, and a configuration of a laser measurement device including a signal transmission processing device, a data recording device, an image display device, and an automatic data analysis device connected thereto. The operation will be described with reference to FIG.

(1) Sensor system The sensor system measures the surface properties of the floor slab in a non-contact manner by high-speed scanning of laser light, sensing of the amount of reflected laser light, and detection of the distance in the measurement extension direction. It is as follows.

1) A laser head 26 for oscillating and outputting a laser beam 27 necessary for measurement, and a laser power supply 40 for driving the laser head 26 and controlling the laser power.

2) Cooling water circulation device 4 for cooling the inside of the laser head 26
1.

3) A laser transmission / focusing mechanism 42 for transmitting / focusing the laser beam 27 output from the laser head 26 to the laser scanner 25.

This is composed of a mirror group, a tube 29 and the like interposed between the laser head 26 and the laser scanner 25.

4) Laser scanner 25 that scans laser beam 27 at high speed
And a driver 43 for driving this.

5) Photodetection sensors 30a to 30d, which are high-speed and high-sensitivity sensors that detect the amount of reflected laser light scanned on the floor 1 by the laser scanner 25.

6) A preamplifier 45 that amplifies the output signals of the light detection sensors 30a to 30d at high speed.

7) A high-voltage power supply 46 for controlling the sensitivity and response speed of the light detection sensors 30a to 30d.

8) A distance meter 47 for detecting the moving distance of the floor slab 1 in the extending direction.

9) A scanning controller 48 that performs high-precision speed control of the laser scanner 25 and HD signal generation.

10) Distance meter controller 49 that controls the distance meter 47 and processes the distance signal.

(2) Signal transmission processing device This is a portion that transmits measurement information and performs high-speed arithmetic processing and outputs the result to a data recording device. The main components and functions are as follows.

1) A data multiplex transmission device 50 that performs optical multiplex transmission of measurement information and the like. Note that this apparatus 50 may be directly connected to the scanning controller 48 or the like without using the device 50 in particular.

2) Non-linear amplifier to correct distortion of cracked signal 5
1. A cracking signal processing circuit 44 comprising a combining circuit 52 for combining cracking signals and the like, and a shading collector 53 for shading correction of the cracking signal.

3) Data recording device 55 This is a device that records and reproduces measurement information at high density.
7, consisting of an output interface 58.

(4) Image display device 59 This is a device which quantizes a crack signal and outputs / displays it on an image display.
0, consisting of a picture monitor 61.

(5) Automatic data analysis device 62 This is a system for automatically processing measurement results off-line, and its main components and functions are as follows.

1) A data server and a display 63, which are large-capacity memories for storing original image data and processed data reproduced from the data recording device 55.

2) A primary determination processor 65 that determines a location where a crack has occurred from a large-scale image.

3) Extract the characteristic data of the crack and use the recognition processor 66
Extraction processor 67 to output to

4) A recognition processor 66 for recognizing and processing cracks from the feature data based on predetermined criteria.

5) Image memory 68 and display 69 for displaying distance results.

6) A system controller 70 having functions of controlling each device and man-machine interface.

In the above configuration, the laser power supply 40 and the cooling water circulation device 41
The signal processing circuit 44 and the image display device 59 are provided in the measuring room 38 of the measuring vehicle 32, and the automatic data analysis device 62 is installed in a building designated by another office.

In the laser measuring device having the above configuration, a laser scanner
At 25, the four light detection sensors 30a to 30d detect the reflected light amounts of the laser light applied to the lower surface of the floor slab 1.

The change in the detected light amount at this time is processed in each part of the block diagram shown in FIG. 6 to detect a crack appearing on the lower surface of the floor slab 1.

At this time, the amount of reflected light of the laser beam 27 by the light detection sensors 30a to 30d is detected by two light detection sensors 30a to 30d on both sides in the scanning direction of the laser scanner 25, respectively. As shown in the figure, even if there is a horizontal girder 71 when the sensor base 24 is moved in the longitudinal direction of the bridge girder 3 as shown by an arrow, one of the light detection sensors on either side of the laser scanner 25 in the scanning direction. Does not necessarily face the scanning portion of the laser beam 27 and does not cause detection failure. Further, since the respective light detection sensors are arranged apart from each other in the scanning direction, as shown in FIG. 8, two light detection sensors are detected without fail over the entire length of the scanning.

The signal processing of the measurement information in the crack signal processing circuit 44 in the block diagram shown in FIG. 6 is performed by a non-linear amplifier (image distortion correction circuit) 51 and a shading collector (shading correction circuit) 53 to achieve high accuracy and high quality. Is achieved.

That is, since the distance between the laser scanner 25 and the floor slab in the scanning of the laser beam differs depending on the location as shown in FIG. 9, the measurement accuracy is larger at both sides than the center of the scanning width AB. And the contrast of the image is reduced. Therefore, cracks are detected at the same accuracy on both sides as in the center, and cracks can be recognized on site. FIG. 10 (A) shows the resolution before correction, and FIG. 10 (B) shows the resolution after correction. FIG. 11A shows the contrast before correction, and FIG. 11B shows the contrast after correction.

FIG. 12 shows the results of an investigation on the image distortion correction performance of the non-linear amplifier 51. In this figure, a is before correction and b is after correction. FIG. 13 shows the results of an examination of the shading correction performance of the shading collector 53. In the figure, b is before correction, and a is after correction.

In the invention, color information can be obtained by using an RGB laser as a laser light source.

In the above operation, the television camera 31 installed on the sensor base 24 is used for detecting the properties of the bridge accessory and monitoring the sensor base 24 so that it does not contact the bridge accessory when the sensor base 24 moves. When it is desired to grasp the properties of the bridge appendix in detail, the lift bar 21 is moved up and down to approach the bridge appendage and detect it in detail.

Further, in addition to the above embodiment, as shown in FIG.
By allowing the 10 to be tilted 90 degrees to the side, the properties of the side wall of the building 80 can be inspected by the sensor base 24 in the same manner as the inspection of the floor plate 1 described above, as shown in FIG. .

As an example of a means for tilting the base 10, as shown in FIG. 14, a rotating base 81 is rotatable sideways with respect to a lifting table 33b provided at an upper end of a lifting apparatus 32a, and a cylinder. Device 82
The rotation base 81 is mounted on the rotation base 81 so as to be rotatable.
c is mounted on the XY table 33a.

〔The invention's effect〕

ADVANTAGE OF THE INVENTION According to this invention, the surface property of a floor slab can be continuously measured with high precision by a laser measuring device, and inspection precision, workability, and safety can be improved. In addition, it is possible to arbitrarily select a case where the laser measurement device is used by suspending it on a bridge girder and a case where the laser measurement device is mounted on a measurement vehicle, thereby making it possible to widen a range of a measurement target such as a floor slab. In addition, high mobility can be achieved.

[Brief description of the drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a perspective view,
FIG. 2 is a sectional view of the clamp portion, and FIG. 3 is a III-I of FIG.
FIG. 4 is a sectional view taken along the line II. FIG. 4 and FIG. 5 are movement locus diagrams of the measuring vehicle. FIG. 6 is a block diagram of the laser measuring device.
FIG. 8 is an explanatory view of the detection operation of the light detection sensor, FIG.
10 (A), (B), FIGS. 11 (A), (B) are explanatory diagrams for signal processing of measurement information, FIG. 12 is a diagram showing image distortion correction performance investigation results, FIG. Is a diagram showing shading correction performance investigation results, FIG. 14 is a sectional view showing a main part of another embodiment, and FIG. 15 is a working state diagram thereof. 1 is a floor slab, 2 is a pier, 3 is a bridge girder, 4 is a frame, 5a, 5b,
34a and 34b are clamp members, 9 is a guide rail, 10 is a base, 11 is a roller mechanism, 16 is a link mechanism, 24 is a sensor base,
25 is a laser scanner; 26 is a laser head;

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toshihiko Fukuhara 1200 Manda, Hiratsuka-shi, Kanagawa Prefecture, Komatsu Ltd.Laboratory (72) Inventor Koichi Shimadzu 1200, Manda, Hiratsuka-shi, Kanagawa Komatsu Ltd., Laboratory (72) Inventor Tomoaki Murakami 1200 Manda, Hiratsuka-shi, Kanagawa Prefecture Inside the Komatsu Equipment Hiratsuka Office (72) Inventor Kunio Soike 1200 Manda, Hiratsuka-shi, Kanagawa Prefecture Inside Komatsu Equipment Hiratsuka Office (58) Field surveyed (Int.Cl. ⁶ , DB name) ) E01D 19/10

Claims (3)

(57) [Claims] 1. A frame in which a bridge girder is detachably fixed to a spanned bridge girder between bridge pillars, is elongated in the length direction of the bridge girder, and is further provided with a guide rail in a longitudinal direction, and a guide rail of the frame. To the base that is detachably engaged with
The base end of a link mechanism that can be bent in the horizontal direction is connected rotatably in the horizontal direction, and a sensor base is provided at the distal end of the link mechanism so as to be able to move up and down and rotate in the horizontal direction. Laser measurement that supports a laser scanner that scans laser light incident from a laser head upward with a predetermined swing width, and a photodetection sensor that detects the amount of reflected laser light scanned by the laser scanner. It comprises a device and an elevating device which is mounted on the roof of the measuring vehicle so as to be movable in the front-rear direction thereof and has an elevating platform at the upper end for supporting the base of the laser measuring device in a detachable manner. A viaduct inspection device, characterized in that: 2. A light detection sensor is provided on both sides in the scanning direction of a laser scanner, and a laser head is provided on a frame, and between the laser head and the laser scanner,
The viaduct inspection device according to claim 1, wherein a laser light transmission device is provided via a frame, a link mechanism, and a sensor base. 3. A laser measuring device comprising: a high-speed scanning of a laser beam;
A sensor system that detects the amount of reflected laser light and the distance in the measurement extension direction to perform non-contact measurement of the surface condition of the floor slab, and performs distortion correction, synthesis, and contrast correction of crack signals from the sensor system, and performs measurement. A signal transmission processing device that performs high-speed arithmetic processing of information; a data recording device that records measurement information from the signal transmission processing device and reproduces the measurement information to perform high-density recording and reproduction of the measurement information; and a data recording device. An image display device that performs quantization and image display of a crack signal, and performs an image monitor at a measurement site;
From the output from the data recording device, a data analysis device that determines crack locations from large-scale images, extracts crack feature data, recognizes cracks from the extracted results, outputs the results, and automatically processes property evaluation parameters. The viaduct inspection device according to claim 1, wherein: