JP3142182B2 - Viaduct inspection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a viaduct inspection apparatus capable of inspecting the properties of viaducts of viaducts such as expressways and railways, and the condition of the outer walls of buildings such as buildings.

[0002]

2. Description of the Related Art A viaduct of a viaduct such as a highway may undergo various unforeseeable damages and changes in properties at the time of construction due to long-term operation. In order to maintain and maintain the original functions of the above structure, it is extremely important to carry out inspections and surveys at an appropriate frequency 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.

[0003] Conventional inspection of viaducts is carried out directly on foot under an overpass or by visual inspection with binoculars, or by visual inspection and photography by approaching on a construction scaffold or inspection vehicle.
The so-called visual inspection that performs sketching is mainly performed. In recent years, an inspection using a television camera has been performed instead of the above-mentioned visual inspection. Further, as a device for the above inspection, as shown in JP-A-60-133106 and JP-A-63-107603, a self-propelled vehicle having a boom device is parked and fixed on a viaduct. , The tip of the boom device is wrapped around the lower side of the bridge body, and the lower surface of the bridge body is photographed with a television provided at the tip of the boom device, or the work provided at the tip of the boom device. There is a type in which an operator rides on a table to perform a predetermined operation. In addition, Japanese Patent Publication No. 63-65766
As described in Japanese Patent Application Laid-Open No. 62-284804, there is also known an inspection device in which a worktable can be moved along a bridge girder under a bridge body. Further, as a device capable of solving the above-mentioned problem of the conventional technology, there is a viaduct inspection device proposed by the present applicant in Japanese Patent Application Laid-Open No. 3-260206.

[0004]

Among the conventional techniques described above, in the case of visual inspection, oversight of damage and subjectiveness of the inspector are likely to be reflected in the inspection result. In addition, workability and safety are inferior, and there is a problem that the worker is forced to work hard. 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, JP 60-13310 No. 6 is the known example, when those shown in JP-A-63-107603, since must be fixed on a viaduct by outrigger like a car, once There is a problem that the inspection range per installation is limited, there is a loss time required for repeated small movements, the efficiency of the inspection work is low, and this vehicle obstructs other vehicles. Further, the above known examples are disclosed in JP-B-63-65766 and JP-A-62-65766.
In the one disclosed in Japanese Patent No. 284804, there is no problem of inefficiency due to the small movement of the vehicle and hindering other vehicles, but the former is such that the suspension member is fixed to the bridge girder in advance. Therefore, any bridge girder cannot be inspected at any time, and there is a problem that the inspection work cannot be performed flexibly.In the latter case, the bridge girder cannot be moved in the longitudinal direction. It is not suitable for an inspection device that uses a laser measurement device because it is discontinuous, and has a problem that it takes time to move. Further, the one disclosed in Japanese Patent Application No. 2-59683 ( see Japanese Patent Application Laid-Open No. 3-260206 ) according to the applicant of the present application solves the above-described problems of the conventional examples, and Inspection work can be performed in a short working time without oversight of damage or subjectivity of the inspector over a wide range of the conventional technique. (1) The lifting device that supports the base end of the link mechanism with the laser measurement device attached to the tip slides on the roof of the measurement vehicle and in the longitudinal direction of the vehicle. The amount of movement of the measuring vehicle in the left-right direction is small, so that the measurement range is limited to the left-right direction of the vehicle. (2) A lifting device supporting the base end of the link mechanism is provided on the roof of the measuring vehicle, I will move over Because it is now in the height of the vehicle increases,
Therefore, the position of the center of gravity of the vehicle is increased, the stability of the vehicle in the left-right direction is deteriorated, and the vehicle is hardly compact in the up-down direction. In addition, (3) measurement of a high crosslink requires a height, but it is difficult to increase the height due to the limitation of the above (2).

[0005] The present invention has cans is considered that the primarily oversight or damage over a wide area in a lower surface of the deck of the viaduct, no subjective difference inspector, moreover inspection in a short working time Can be performed, and
The inspection work over a wide range can be performed with a simple operation, and the above inspection can be performed using a laser measuring device, so that the surface properties of the floor slab can be continuously measured with high accuracy, and the inspection accuracy, workability, Not only can safety be improved, but also the measurement range on both the left and right sides can be greatly expanded with respect to the traveling direction of the measuring vehicle, and inspection of high-altitude bridge decks higher than usual from the road surface It is an object of the present invention to provide a viaduct inspection device capable of improving the stability in the left and right directions and making the device vertically compact .

[0006]

In order to achieve the above object, an elevated inspection apparatus according to the present invention is provided with a telescopic boom 7 which extends and retracts on a measuring vehicle 4 so as to be capable of turning and raising and lowering. A first rotating member 11 that rotates vertically with respect to the distal end, a second rotating member 12 that rotates left and right with respect to the first rotating member 11, An angle maintaining mechanism 10 including a rotation device for controlling the rotation of the rotation members 11 and 12 is provided.
The pivot table 13 is provided so as to pivot about an axis perpendicular to the respective pivot centers of the pivot tables 1 and 12.
The first arm 29 is slidably engaged with the first
9, a second arm 36 is rotatably provided at the tip of the scanning arm 9. The second arm 36 has a scanning device for scanning light on a surface to be inspected, and a light detection sensor for detecting reflected light of light scanned by the scanning device. An inspection device having a 49 is slidably provided.

[0007]

[Operation] The telescopic boom 7 is turned, raised and lowered, and expanded and contracted, so that the tip of the telescopic boom 7 has an angle maintaining mechanism 1.
The inspection device attached via the 0, 1st, and 2nd arms 29 and 36 moves up and down, moves back and forth, and moves left and right. The attitude of the inspection device at this time is controlled by the operation of the angle maintaining mechanism 10. The inspection device is moved to the inspection position by each operation of the telescopic boom 7, the turning and moving of the first arm 29, and the turning of the second arm 36. The scanning operation for inspection of the inspection device is performed by the inspection device. Is moved along the second arm 36.

[0008]

[Embodiment] An embodiment of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a viaduct floor slab, and the floor slab 1 is supported by a plurality of bridge girders 3 spanned between piers 2. Reference numeral 4 denotes a measuring vehicle, and a lift mechanism 5 is provided at a rear end of the measuring vehicle 4. The lift mechanism 5 includes a swivel base 6 that is swiveled in a horizontal direction by a swivel motor (not shown), a telescopic boom 7 that is mounted on the swivel base 6 so as to be able to move up and down, and raises and lowers the telescopic boom 7. It comprises an undulating cylinder 8. The telescopic boom 7 has a multi-stage boom structure that can be telescopically moved by a telescopic cylinder, and an angle maintaining mechanism 10 is provided at the distal end of a distal boom 9 of the telescopic boom 7.

The angle maintaining mechanism 10 includes a first rotating member 11 that rotates vertically with respect to the tip boom 9, and a second rotating member 12 that rotates left and right with respect to the first rotating member 11.
A turning table 13 is provided on the upper surface side of the second turning member 12 of the angle maintaining mechanism 10 so as to be turnable.
The center of rotation of the swivel table 13 is the first and second arms 2
9, 9 and 36 are perpendicular to the respective rotation axes.

The first rotating member 11 is pivotally supported via a bearing on a support shaft 15 provided on a bracket 14 fixed to the distal end boom 9, and is rotated by a cylinder device 16. I have. A yoke member 17 is provided below the first rotating member 11.

The second rotating member 12 is connected to the first rotating member 11.
Are pivotally supported by a rotation holding mechanism 18 provided at the distal end of the head.
A pair of left and right brackets 1 is provided below the second rotating member 12.
9a, 19b are provided, and both brackets 19a, 19b are provided.
A feed screw 21 that is rotated by a rotary motor 20 is supported between 19b. A nut member 22 is screwed onto the feed screw 21, and a yoke member 17 provided below the first rotating member 11 is engaged with a trunnion 23 provided on the nut member 22. A wall wheel mechanism 25 connected to the shaft 24 of the turntable 13 is provided inside the second rotating member 12.
When the screw shaft 26 is rotated by a rotary motor 27, the turntable 13 is turned.

A slide rail 28 is provided on the upper surface of the swivel table 13, and a first arm 29 is slidably engaged with the slide rail 28. A rack 30 is provided on the side surface of the first arm 29 in the longitudinal direction.
A pinion gear 31 meshing with the pinion 0 is supported by a bracket 32 fixed to the revolving base 13 side, and a rotation motor 33 is connected to a shaft of the pinion gear 31.

A support table 3 is provided at one end of the first arm 29.
4 is fixedly mounted, and a turning shaft 35 is supported and supported on the support base 34 with its axis provided in the vertical direction. An intermediate portion of the second arm 36 is fixedly supported on the upper end of the turning shaft 35. .
The turning shaft 35 is connected to a rotation motor 38 via a worm wheel mechanism 37 provided in the support base 34.

A sliding rail 39 is provided on the upper surface of the second arm 36.
The scanner box 40 is slidably engaged with the slide rail 39. Both ends of an endless chain 41 are connected to both sides of the scanner box 40 in the moving direction, and the chain 41 is wound around chain wheels 42 and 43 provided at both ends in the longitudinal direction of the second arm 36. And this chain 41 is provided et the driving sprocket wheel on the side second arm 36 4
4 and a rotation motor 45 is connected to the drive chain wheel 44.

On the upper surface of the scanner box 40, a laser scanner 46 is provided upward, and on both sides of the scanner box 40, support arms 47, 48 are provided so as to protrude. At the distal end of 48, light detection sensors 49, 49 are provided toward the scanning line of the laser scanner 46. Light detection sensor
The supporting arms 47 and 48 provided with the support 49 are wires 47a,
48a.

On the upper surface of the first arm 29, an inclinometer 50 for checking the horizontality of the first arm 29 in the front-rear direction and the left-right direction is provided. Scanner box 40
On the upper surface (or the upper surfaces of the support arms 47 and 48)
A height sensor 51 that emits ultrasonic waves upward and measures the distance to the floor slab 1 is provided.

FIG. 6 shows a control system of the apparatus of the present invention.
In the figure, 52 is a system controller, 53 is a hydraulic unit controller, 54 is a hydraulic pump, 55 is a target input device for inputting a target value to the system controller 52, 56
Reference numerals a and 56b denote an attitude controller and a position controller connected to the controller 52 via target indicators 57a and 57b, respectively, which are mounted in the measuring vehicle 4. The hydraulic oil from the hydraulic pump 54 is supplied to the swing motor 5 a of the lift mechanism 5 and the telescopic cylinder 7 of the telescopic boom 7.
a, is supplied to the undulating cylinder 8. Further, the turning and undulating angles of the telescopic boom 7 are detected by the turning angle detection sensor 7b and the undulation angle detection sensor 8a, respectively, and are fed back to the system controller 52. Further, the angle maintaining mechanism 10 is controlled by the attitude controller 56a.
A drive command is input to the cylinder device 16 and the rotary motor 20, and the inclination of the angle maintaining mechanism 10 in the front-rear direction and the left-right direction is measured by the inclinometer 50 according to the attitude controller 56a.
Feedback.

A rotation motor 27 for rotating the first arm 29, a rotation motor 33 for sliding the first arm 29, a rotation motor 38 for rotating the second arm 36, and a second arm 3.
6 to the rotary motor 45 sliding on
b, and the detection values from the position detection sensors 27a, 38a, 45a of these rotary motors and the rotation position detection sensor 36a of the second arm 36 are fed back to the position controller 56b. I have.

The operation of the above configuration will be described below. (1) When the measuring vehicle 4 is moving and at rest, as shown in FIG. 1, the telescopic boom 7 of the lift mechanism 5 is shortened, and protrudes and moves along the roof of the measuring vehicle 4. No.
Similarly, the two arms 29 and 36 are folded and stored on the roof of the measuring vehicle 4. (2) At the time of measurement, the measurement vehicle 4 is moved to the site, and is fixed by a stabilizer (not shown) attached to the measurement vehicle 4 as necessary. (3) The telescopic boom 7 of the lift mechanism 5 is extended while being activated by the extension of the undulating cylinder 8, and the first arm 29 is made parallel to the floor plate 1 by controlling the angle maintaining mechanism 10 in coordination therewith.

[0020] By inputting the inclination with respect to the height and horizontal plane from the floor plate 1 to be measured to the input device 55 road, from the input device 55, a signal based on the input is entered in the system controller 52, which By
The telescopic boom 7 of the lift mechanism 5 is extended while being activated, and the angle maintaining mechanism 10 is operated to raise the second arm 36 to the target height, and to move the second arm 36 to the floor slab 1.
And keep it parallel. At this time, the distance from the scanner box 40 to the floor slab 1 is detected by the height sensor 51, and the parallelism with the floor slab 1 is detected by the inclinometer 50, and the respective detection signals are fed to the system controller 52. Back.

The inclination of the floor slab 1 with respect to the horizontal plane is stored in the system controller 52 based on the detection value of the height sensor 51 at different positions at this time when the second arm 36 is horizontally moved by the angle maintaining mechanism 10. . C
It can be calculated by calculating with the PU.

(5) From the above state, the first arm 29 is turned and slid with respect to the turntable 13, and further, the second arm 36 is turned with respect to the first arm 29 and the second arm 36 is turned. Scanner box 40 with respect to arm 36
, The scanner box 40 is reciprocated at a predetermined speed in a fixed direction, and is moved little by little in a direction perpendicular to the reciprocating direction. At the same time, the floor slab 1 is scanned by the laser scanner 46. , And scans the scanned image with light detection sensors 49 and 4.
Detect at 9.

In the above operation, the scanner box 40
Reciprocation of the scanner box 4 with respect to the second arm 36
0, and the scanner box 40 can be moved in the direction perpendicular to the reciprocating direction by sliding the first arm 29 with respect to the swivel 13. When a large movement is performed, such as when the measurement position is changed, the turning operation of the first arm 29 and the second arm 36 and the respective sliding operations are performed, and the measuring operation is performed by the sliding of the first and second arms 29 and 36 described above. Made by operation. (6) After the completion of the measurement, the telescopic boom 7 is contracted and lowered, the first and second arms 29 and 36 are folded, and these are stored on the roof of the measuring vehicle 4.

[0024]

According to the present invention, the inspection work can be carried out in a short working time without oversight of damage and subjectiveness of the inspector over a wide range of the entire lower surface of the floor slab. By using a laser measuring device, the surface properties of the floor slab can be continuously measured with high accuracy, and the inspection accuracy, workability, and safety can be improved. Thus, the measurement range on both the left and right sides can be greatly expanded, and the inspection of the floor slab with a high altitude bridge higher than usual from the road surface can be performed from the road surface. Further, according to the present invention, since the movable portion of the inspection device is configured to move up and down, the height of the supporting portion of the inspection device is low, and therefore the height of the measuring vehicle is also reduced except for the cabin portion on which the operator rides. Therefore, the stability of the vehicle body in the left-right direction can be improved, and the vehicle body can be made compact in the up-down direction.

According to the present invention, in particular, an inspection device including a scanning device for scanning light on a surface to be inspected and a light detection sensor for detecting reflected light of light scanned by the scanning device is provided on the second arm 36. On the other hand, the linear movement and the first arm 29 supporting the second arm 36 also linearly move, so that the linear movement operation of the inspection device can be smoothly performed, and the movement operation of the inspection device can be controlled. The system can also be simplified with more linear operations.

[Brief description of the drawings]

FIG. 1 is a side view showing a state where a movable portion of an inspection device is stored.

FIG. 2 is an overall perspective view showing a configuration of an inspection device.

FIG. 3 is a partially cutaway side view showing the angle maintaining mechanism.

FIG. 4 is a partially broken plan view showing the angle maintaining mechanism.

FIG. 5 is a partially cutaway front view showing the angle maintaining mechanism.

FIG. 6 is a block diagram showing an example of a control system of the device of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Floor slab, 2 ... Bridge pier, 3 ... Bridge girder, 4 ... Measuring car, 5 ... Lift mechanism, 6 ... Revolving pedestal, 7 ... Telescopic boom, 8 ... Undulating cylinder, 9 ... Tip boom, 10 ... Angle maintaining mechanism, 11 , 1
2 First and second rotating members, 13 Turning table, 14 Bracket, 15 Support shaft, 16 Cylinder device, 17 Yoke member, 18 Rotation holding mechanism, 19a, 19b
A pair of brackets , 20, 27, 33, 38, 45: rotary motor, 21: feed screw, 22: nut member, 23: trunnion, 24: shaft, 25, 37: worm wheel mechanism, 26: screw shaft, 28, 39 ... Sliding rail, 29,3
Reference numeral 6: first and second arms, 30: rack, 31: pinion gear, 32: bracket , 34: support base, 35: rotating shaft, 40: scanner box, 41: chain, 42, 4
3 ... Chain wheel, 44 ... Drive wheel chain, 46 ... Laser scanner, 4
7, 48 support arm, 49 light detection sensor , 50 inclinometer, 51 height sensor, 52 system controller, 53 hydraulic unit controller, 54 hydraulic pump, 55 target input device, 56a attitude controller ,
56b: Position controller, 57a, 57b: Target indicator.

Continued on the front page (72) Inventor Masahiro Ouchi 1-10-407, Suwaharadanchi, Wako-shi, Saitama (72) Inventor Akio Kobe 93-44, Okido-cho, Midori-ku, Chiba-shi, Chiba Prefecture (72) Inventor Kyoichi Takada Kanagawa Prefecture 990-3 Yanagishima Beach, Chigasaki-shi (72) Kenichi Amari 991-10 Otaniguchi, Urawa-shi, Saitama (72) Inventor Masumi Murano 1355-2 Nihongi, Mizuho-cho, Nishitama-gun, Tokyo (72) Inventor Toshihiko Fukuhara Hiratsuka, Kanagawa Prefecture 1200 Ichimanda, Komatsu Manufacturing Laboratory, Inc. (72) Inventor Koichi Shimadzu, Mita 1200, Kanagawa Prefecture Manda 1200 Komatsu Manufacturing Research Laboratory, Inc. (72) Inventor Tomoaki Murakami 1322 Tsujido, Fujisawa, Kanagawa Prefecture 72) Inventor Yoshiaki Harazoe Kanagawa 1844, Mayor of Fujisawa Prefecture, Japan (56) References JP-A-5-65704 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) E01D 19/10

Claims (1)

(57) [Claims] 1. A telescopic boom (7) that expands and contracts is provided on a measuring vehicle (4) so as to be capable of turning and raising and lowering, and the distal end of the telescopic boom (7) is vertically rotated with respect to the distal end. A first rotating member (1), and a first rotating member (11)
A second rotating member (12) that rotates left and right with respect to
An angle maintaining mechanism (10) comprising a rotating device for controlling the rotation of each of the rotating members (11, 12) is provided, and the second rotating member (12) of the angle maintaining mechanism (10) is provided with a swivel table. (13) is provided so as to turn around an axis perpendicular to the turning center of each of the turning members (11, 12), and the first turning table (13) is provided on the turning table (13). The arm (29) is slidably engaged, and the second arm (36) is pivotally provided at the tip of the first arm (29).
The arm (36) is slidably provided with a scanning device for scanning light on a surface to be inspected and an inspection device having a light detection sensor (49) for detecting reflected light of light scanned by the scanning device. A special feature of viaduct inspection equipment.