JP2869741B2 - Viaduct inspection device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a viaduct inspection device for inspecting the status of viaducts of viaducts such as expressways and railways.

[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, it is not possible to inspect any bridge girder at any time, the inspection work cannot be performed flexibly, and the measurement unit is easily shaken. It is not suitable for an inspection device using a laser measurement device because the movement in the longitudinal direction is discontinuous, and there is a problem that it takes time to move.

The present invention has been made in consideration of the above. During measurement, it is possible to continuously measure without obstructing other traffic at all, and it is possible to widen a measurable range with a small device, and furthermore, a bridge Because the body shake and the sensor system are synchronized, the measurement result can be measured with less influence of height displacement, and by using a laser measurement device for the above measurement,
The surface properties of the floor slab can be continuously measured with high accuracy, and the inspection accuracy, workability, and safety can be improved.The measurement results can be judged fairly mechanically, and the evaluation parameters required for maintenance and management It is an object of the present invention to provide a viaduct inspection device capable of quantitatively grasping.

[Means for solving the problem]

In order to achieve the above object, a viaduct inspection device according to the present invention is provided on a lower surface of a frame which is detachably fixed to a bridge girder spanned between pillars of the viaduct and is elongated in the length direction of the bridge girder. A table is provided movably in the longitudinal direction of this,
To this base, a 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 front end of the link mechanism so as to be able to move up and down and rotate in the horizontal direction, The sensor base includes a laser scanner that scans laser light incident from a laser head upward with a predetermined swing width, and a light detection sensor that detects the amount of reflected laser light scanned by the laser scanner. It is configured to support a laser measurement device.

The light detection sensors are provided on both sides in the scanning direction of the laser scanner, and a laser head is provided on the frame, and the laser light is transmitted between the laser head and the laser scanner via a frame, a link mechanism, and a sensor base. Equipment was provided.

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;
It consists of an automatic data analyzer that judges crack locations from large-scale images based on the output from the data recording device, extracts crack feature data, recognizes cracks from the extracted results, outputs the results, and automatically processes property evaluation parameters. ing.

(Operation)

With the frame fixed to the bridge girder, by bending the link mechanism while moving the base with respect to this frame, the sensor base provided at the end of the link mechanism moves parallel to the bridge girder and the floor After moving in the width direction of the plate, the sensor base is eventually 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.

〔Example〕

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

1 to 3, reference numeral 1 denotes a deck of a viaduct, and the deck 1 is supported by a plurality of bridge girders 3 extending between piers 2a and 2b. 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 opposing each other in the width direction are provided at the center of the upper surface of the frame 4 in the width direction and at two places separated in the longitudinal direction.
5a and 5b are provided supported by the feed screw 6. The feed screw 6 is reversely screwed at a position where the two clamp members 5a and 5b are screwed into each other. By rotating the feed screw 6, the clamp members 5a and 5b advance and retreat symmetrically to clamp and unclamp. It has become. 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.

A rail 9 is fixed to the center of the lower surface of the frame 4 in the width direction over substantially the entire length of the frame 4. A movable table 10 is slidably engaged with the rail 9 in the longitudinal direction by dovetail groove engagement. The moving table 10 has a length along the rail 9, and a base 11 is provided on a lower surface of the moving table 10. A rack 12 is provided on the lower surface of the frame 4 in parallel with the rail 9, and a pinion gear 14 provided on the moving table 10 and driven by a motor 13 is meshed with the rack 12. The rotation causes the base 11 to move along the lower surface of the frame 4 through the movable base 10 over substantially the entire length thereof.

A laser head 16 for oscillating a laser beam 15 horizontally to one side of the frame 4 is provided on the upper surface of the frame 4.

A base end of a first arm 17a of a link mechanism 17 is coupled to the base 11 so as to be rotatable in a horizontal direction and to be driven to rotate by a motor 18. A base end of a second arm 17b is similarly connected to a distal end of the first arm 17a so as to be rotatable in the horizontal direction and to be rotationally driven by a motor 19. A support table 20 is provided at the tip of the second arm 17b,
A lift bar 21 is slidably supported on the support base 20 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 15 from the laser head 16 incident thereon with a predetermined swing width upward. Laser head 16 above
The laser light 15 from the first is provided on one end of the frame 4.
The second mirrors 26a and 26b and the first arm 1 of the link mechanism 17
A third mirror 26c provided at the base of 7a, a fourth mirror 26d provided at the pivot of both arms, a fifth mirror 26e provided at the tip of the second arm 17b, and a sixth mirror provided at the sensor base 24 26f
Is transmitted via the Internet. The transmission between the third mirror 26c and the fourth mirror 26d is performed via a tube 27 formed of a light guide such as an optical fiber.

On the sensor base 24, on both sides of the scanning surface of the laser scanner 25,
Two light detection sensors 28a, 28b, 28 separated in the scanning direction
c and 28d are provided in a direction crossing the scanning surface of the laser scanner 25. 29 is a television camera, and 29a is a positioning sensor. The configuration and operation of the laser scanner 25 and the light detection sensors 28a to 28d will be described later as a laser measurement device.

Reference numeral 30 denotes a lift truck for mounting the measurement mechanism including the frame 4 on the bridge girder 3.
31 is provided via a lifting device 32. Clamp members 32a and 32b for clamping both side ends of the frame 4 are provided on both sides in the longitudinal direction of the elevating table 31 so as to be rotatable. On the other hand, as shown in FIGS. 2 and 3, an intermediate portion is rotatably supported at a central portion of the elevating table 31 opposed to the two clamp members 32a and 32b, and a rotating link 33 is rotated by a motor 34. It is provided so that it can be driven.
The clamp members 32a and 32b are connected to the base ends of the clamp members 32a and 32b via 34a and 34b, and the clamp members 32a and 32b operate as clamps and unclamps by rotating the rotation link 33. I have.

Reference numeral 35 denotes a measuring vehicle. The measuring vehicle 35 has a measuring room 36, and an elevating boom device 37 is provided on the roof so as to be able to move up and down. The lifting / lowering boom device 37 supports cables connecting the measuring mechanism unit attached to the bridge girder 3 and the measuring vehicle 35. These cables include the laser head 16 and electric wires for driving each motor and the laser head 16.
Including a cooling water hose for cooling. The measuring vehicle 35 is arranged beside the road.

 The operation of the above configuration will be described below.

(1) The measurement vehicle 35 and the lift vehicle 30 move to the measurement site as a set.

(2) After the positioning of the lift vehicle 30, the control cable is connected between the measurement vehicle 35 and the measurement mechanism.

(3) Raise the elevator 31 of the lift car 30 and use the TV camera
While confirming at 29, the frame 4 is positioned below the bridge girder 3 and clamped to the flanges on both sides of the bridge girder 3 by the clamp members 5a and 5b provided on the frame 4.

(4) The clamp members 32a and 32b of the lift table 31 are unclamped from the frame 4 to descend the lift table 31, and both vehicles 30, 35 move to the safety zone. At this time, if there is a safety zone in the median strip, both vehicles may wait on the spot.

(5) After positioning the sensor base 24 supporting the sensor system at the measurement start position, measurement is started. At this time, as the base 11 moves along the rail 9 over substantially the entire length of the frame 4 and the link mechanism 17 bends and rotates, the sensor base 24 moves the frame 4 as shown in FIG. Around the length of several times the length of the frame 4,
In addition, a wide range from the front part on one side of the frame 4 to the front part on the other side is measured through a measurement path in a zigzag shape having a rectangular shape.

(6) After the measurement is completed, the measuring vehicle 35 and the lift vehicle 30 return to the same positions as when they were set.

(7) The elevator 31 is moved up, the measuring mechanism is received, and it descends.

(8) The control cable is disconnected and the operation is completed.

Next, a laser measuring device including a laser head 16, a laser scanner 25, a sensor system including light detection sensors 28a to 28d, and a signal transmission processing device connected thereto, a data recording device, an image display device, and an automatic data analysis device. The configuration and 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 16 for oscillating and outputting a laser beam 15 required for measurement, and a laser power supply 40 for driving the laser head 16 and controlling laser power.

2) Cooling water circulation device 4 for cooling the inside of the laser head 16
1.

3) A laser transmission / focusing mechanism 42 for transmitting / focusing the laser light 15 output from the laser head 16 to the laser scanner 25.

It comprises a group of mirrors interposed between the laser head 16 and the laser scanner 25, a tube 27 and the like. Note that the entire length may be constituted by a light guide such as an optical fiber.

4) Laser scanner 25 that scans laser beam 15 at high speed
And a driver 43 for driving this.

5) Photodetection sensors 28a to 28d composed of high-speed and high-sensitivity sensors for detecting 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 28a to 28d at high speed.

7) A high-voltage power supply 46 for controlling the sensitivity and response speed of the light detection sensors 28a to 28d.

8) A distance meter 47 for detecting the distance of the floor slab 1 in the extension direction. Although not shown in FIG. 1, the distance meter 47 is provided on the sensor base 24.

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.

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 temporary determination processor 65 for determining 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) An image memory 68 for displaying the processing result and a display 69.

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

In the above configuration, the laser device 40, the cooling water circulation device 41
From the crack signal processing circuit 44 to the image display device 59 are provided in the measurement room 36 of the measurement vehicle 35, 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 28a to 28d 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. 5, and the cracks appearing on the lower surface of the floor slab 1 are detected.

At this time, the amount of reflected light of the laser light 25 by the light detection sensors 28a to 28d is detected by two light detection sensors 28a to 28d 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 22 is moved in the longitudinal direction of the bridge girder 3 as shown by the 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. 7, two light detection sensors are detected without fail over the entire scanning length.

The crack signal processing circuit in the block diagram shown in FIG.
In the signal processing of the measurement information at 44, high accuracy and high quality are achieved by a non-linear amplifier (image distortion correction circuit) 51 and a shading collector (shading correction circuit) 53.

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. 8, the measurement accuracy is larger at both sides longer 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. 9A shows the resolution before correction, and FIG. 9B shows the resolution after correction. FIG. 10A shows the contrast before correction, and FIG. 10B shows the contrast after correction.

FIG. 11 shows the result of the image distortion correction performance investigation performed by the non-linear amplifier 51. In this figure, a is before correction and b is after correction. FIG. 12 shows the results of a shading correction performance investigation performed by 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 29 installed on the sensor base 24 is used for detecting the properties of the bridge appendage and monitoring the sensor base 24 so that it does not come into contact with the bridge appendage when moving. 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.

〔The invention's effect〕

According to the present invention, it is possible to continuously measure that other traffic is completely obstructed during the measurement. Moreover, the measurable range can be widened with a small device. Furthermore, since the sensor system is synchronized with the shaking of the bridge body, measurement can be performed with little influence of height displacement on the measurement result. Further, by using a laser measuring device for the above measurement, the surface properties of the floor slab can be continuously measured with high accuracy, and the inspection accuracy, workability, and safety can be improved. In addition, the measurement results can be judged fairly mechanically, and the evaluation parameters required for maintenance can be quantitatively grasped.

[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.
The figure is a block diagram of the laser measuring device, FIG. 6 and FIG. 7 are explanatory diagrams of the detection operation of the light detection sensor, FIG. 8, FIG. 9 (A), (B), FIG. B) is an explanatory diagram for signal processing of measurement information, FIG. 11 is a diagram showing a result of an image distortion correction performance check, and FIG. 12 is a diagram showing a shading correction performance check result. 1 is a floor slab, 2a and 2b are piers, 3 is a bridge girder, 4 is a frame, 5a,
5b is a clamp member, 9 is a rail, 10 is a moving body, 11 is a base, 17 is a link mechanism, 15 is a laser beam, 16 is a laser head, 24 is a sensor table, 25 is a laser scanner, and 28a and 28d are light. A detection sensor, 44 is a signal transmission processing device, 55 is a data recording device, 59 is an image display device, and 62 is an automatic data analysis device.

──────────────────────────────────────────────────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 base is provided on a lower surface of a frame which is detachably fixed to a bridge girder spanned between pillars of a viaduct and is elongated in a length direction of the bridge girder, and is movably provided in a longitudinal direction of the frame. To this base, a 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 front end of the link mechanism so as to be able to move up and down and rotate in the horizontal direction, The sensor base includes a laser scanner that scans laser light incident from a laser head upward with a predetermined swing width, and a light detection sensor that detects the amount of reflected laser light scanned by the laser scanner. A viaduct inspection device that supports a laser measurement device. 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;
It consists of an automatic data analyzer that judges crack locations from large-scale images based on the output from the data recording device, 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: