JP6598196B2 - Nondestructive inspection method and nondestructive inspection system for structures - Google Patents

Description

  The present invention relates to a nondestructive inspection method and a nondestructive inspection system for a structure, and is particularly useful when applied to, for example, inspecting a concrete column that is a closed space.

  Electric poles are known as pillars for laying electric wires in the air. Concrete poles are widely used as this type of utility pole. Such a concrete column is formed by arranging a large number of reinforcing bars that are long in the vertical direction in a cylindrical shape, filling the concrete, and integrating the reinforcing bars and the concrete into a cylindrical shape. As a result, a concrete column having a predetermined strength is obtained by complementing a weak point of concrete that is strong in compressive force but weak in tensile force with a reinforcing bar. In other words, by integrating with the reinforcing bar, the reinforcing bar takes charge of the tensile force so that both the tensile force and the compressive force have sufficient strength.

  In this type of concrete column, compressive stress acts on the opposite side where tensile stress acts, and as a result, cracks due to the compressive stress may occur. Such cracks may occur not only on the outer peripheral surface of the concrete column but also on the inner peripheral surface. The cracks on the outer peripheral surface can be easily judged by visually checking the state of the outer peripheral surface, but the concrete column state is changed from the internal space of the concrete column that is a closed space to the height direction of the concrete column. A method for nondestructive inspection simply and accurately over a wide range has not been proposed. When cracks on the inner peripheral surface proceed, problems such as rainwater infiltrating from the cracks and corroding the reinforcing bars occur. Therefore, accurately grasping the condition of the inner peripheral surface of the concrete pillar is important for the maintenance and management of the concrete pillar and the distribution network and the like using the concrete pillar.

  As a method for nondestructive inspection of abnormal states such as breakage of reinforcing bars of concrete columns, a nondestructive inspection method as disclosed in Patent Document 1 has been proposed. In this patent document 1, the reinforcing bar is magnetized by moving the permanent magnet on the concrete body along the longitudinal direction of the reinforcing bar of the concrete column. Thus, a magnetic field is generated along the longitudinal direction of the reinforcing bar. Thereafter, the permanent magnet is removed and the magnetic sensor is moved on the concrete body along the longitudinal direction of the reinforcing bar, while the residual magnetic flux density of the reinforcing bar on the surface of the concrete body is perpendicular to the longitudinal direction of the reinforcing bar. The magnetic flux density component in the direction is measured, and the presence or absence of a broken portion is determined based on the distribution of the magnetic flux density component along the longitudinal direction of the reinforcing bar.

JP 2006-177841 A

  The nondestructive inspection method disclosed in Patent Document 1 is not based on image information on the inner peripheral surface. On the other hand, the lower part of the inner peripheral surface of the concrete column can be obtained by inserting the optical fiber into the internal space of the concrete column through a small through hole such as a scaffold bolt and suspending it. However, the image information on the upper part cannot be easily obtained by the same method.

  The present invention has been made in view of the above circumstances, and is capable of inspecting the state of a structure based on image information of the inner peripheral surface of the structure in a structure having a closed space such as a concrete pillar. An object is to provide an inspection method and a non-destructive inspection system.

According to the destructive inspection method of the reference example of the present invention , the imaging unit is moved up and down in the internal space of the structure that is long in the vertical direction, and an image of the inner peripheral surface of the structure is captured by the imaging unit. The structure is inspected.

As a result, the imaging means is moved up and down in the internal space of the structure, the image of the inner peripheral surface of the structure is taken by the imaging means, and the state of the structure is inspected based on the image. In the structure having the structure, the state of the structure can be inspected based on the image information of the inner peripheral surface of the structure.

Further, characterized by elevating the balloon integrally with the buoyancy of the wind ship.

Thereby , an imaging means can be raised / lowered easily by using a balloon.

Further, a neck portion comprising a supply port of the air body is longer than the thickness dimension of the structure of the narrow insertion opening formed on the outer periphery of the structure, the balloon deflated, the gas filling port of the neck An insertion step of inserting the opening into the internal space of the structure through the insertion port with the opening facing the outside, and a balloon inserted into the internal space of the structure into the surrounding gas through the neck A gas filling step of filling a gas having a lower specific gravity, a rising step of raising the balloon filled with the gas and the internal space of the structure together with the imaging means, and the balloon above the inner space. An imaging step of taking an image of the inner peripheral surface of the structure via the imaging means in the lowering step of lowering the balloon after being raised to a position and at least one of the raising step or the lowering step And having And wherein the door.

Thereby , buoyancy can be given to a balloon and the internal space of a structure can be raised / lowered. As the balloon moves up and down, image information on the inner peripheral surface of the structure can be obtained by the imaging means, so that the state, that is, the state of the inner peripheral surface such as cracks and cracks can be accurately inspected.

The front Symbol lowering step, by pulling the string which is connected to the balloon, characterized in that lowering the balloon together with the imaging unit against the buoyancy.

Thereby, the balloon can be surely lowered by pulling the string, and the image information of the inner peripheral surface of the structure can be obtained by the imaging means when the balloon is lowered. When pulling the string, the worker can pull the string according to the imaging situation, and the worker can pull the string, so that the state of the inner peripheral surface can be reliably imaged. It is also possible to mechanically pull the string by a winding means or the like.

The front Symbol lowering step, by pulling out gradually internal gas from said balloon inflated, characterized in that by lowering the buoyancy lowers the balloon with the image pickup means.

As a result, the balloon is lowered by venting the gas from the balloon, so that the balloon is automatically lowered with the passage of time without using human hands or mechanical means. Image information can be obtained. For this reason, it is not necessary to be present at the time of photographing, and an efficient inspection can be performed by collecting after a predetermined time has elapsed. In particular, when inspecting a large number of structures, it is possible to perform a very efficient inspection by preparing a plurality of devices and collecting the devices collectively after the completion of automatic imaging.

  When venting the gas, a throttle valve or a valve member capable of controlling the gas flow rate can be used. Further, by applying a rubber or resin film having an appropriate gas permeability as a balloon material, gas can be extracted from the balloon over time without providing a special mechanism. In addition, it is also possible to use a balloon on which aluminum is vapor-deposited and to remove gas from the lacking part by partially omitting vapor deposition.

Further, in the internal space prior to pre-Symbol increasing step, to fill a gas having a larger specific gravity than gas filled into the balloon, in the gas filling process, the gas specific gravity is smaller than the gas filled in the inner space It is characterized by filling.

Thereby, larger buoyancy can be generated with respect to the balloon, and the balloon can be lifted well together with accessories such as the imaging means.

Also, inserted into the insertion opening before the previous SL inserting step, a guide having an inclined surface inclined so as to face upwardly of the inner space is attached to the insertion opening, said balloon through said guide into the internal space It is characterized by doing.

Thereby, since the balloon is inserted in a state in which the axial direction thereof is directed upward of the internal space, even if the balloon becomes long, it can be lifted well without being caught between the inner peripheral surfaces of the internal space. . By the way, when the necessary buoyancy is studied in consideration of the balloon diameter regulated by the inner diameter of the structure, the balloon length may reach 70 cm or more.

In order to achieve the above object, a nondestructive inspection method for a structure according to the present invention according to claim 1 raises and lowers an imaging means in an internal space of a structure elongated in the vertical direction, and the imaging means A method of taking an image of an inner peripheral surface and inspecting the structure based on the image, wherein the imaging means moves up and down together with a flying body that moves up and down by lift due to rotation of a rotor, and a tip portion of a rotating shaft The rotor of the flying body having a plurality of rotors that are disposed around the axis of the rotor and that have a base end portion that is pivotably supported via a hinge portion with respect to the rotating shaft and that can be folded. In the state where the string is bound to the lower end portion of the flying object, the flying object is placed in the internal space of the structure through a narrow insertion port provided on the outer peripheral surface of the structure that is long in the vertical direction. Insertion step of inserting into the structure and the structure After being inserted into the internal space, the rotating means is rotated to obtain a lift, thereby raising and lowering the flying body in the internal space of the structure, and at least one of an ascending process or a descending process in the ascending / descending process On the one hand, it has an image pick-up process which picturizes the picture of the inner skin of the structure via the image pick-up means.

In the present invention according to claim 1 , the imaging means is moved up and down in the internal space of the structure, the image of the inner peripheral surface of the structure is taken by the imaging means, and the state of the structure is inspected based on the image. It is possible to inspect the state of the structure based on the image information of the inner peripheral surface of the structure in a structure having a closed space, and the imaging means is moved up and down by using a flying object that moves up and down by the lift caused by the rotation of the rotor. By using a rotor, lift can be obtained with a compact mechanism.
Since the rotor can be folded, the flying object can be satisfactorily inserted into the internal space of the structure even through a narrow insertion slot. After insertion, the rotor can be rotated to rotate through the hinge. The moving rotor can be opened by lift. As a result, the flying object can be raised and lowered in the internal space.

A nondestructive inspection method for a structure according to a second aspect of the present invention is the nondestructive inspection method for a structure according to the first aspect , wherein the insertion port has a distal end positioned at a central portion of the internal space. A flying object in a state in which the guide is inserted from the outside into the insertion port and the rotor is folded is supported from below by the guide, guided to the center, and inserted into the internal space. To do.

In the present invention according to claim 2 , the flying object can be positioned in the vicinity of the central axis of the structure, avoiding contact between the rotor and the inner peripheral surface of the structure, and the subsequent rising of the flying object is improved. Can be done.

A nondestructive inspection method for a structure according to a third aspect of the present invention is the nondestructive inspection method for a structure according to the first or second aspect , wherein the tip of the rotating shaft is inserted in the insertion step. A flying object is inserted into the internal space from the outside with the stringed electromagnet adsorbed, and the rotor is rotated by the rotating means with the rotating shaft raised to obtain a predetermined lift, and then The excitation of the electromagnet is released and the electromagnet is detached from the rotating shaft.

In the present invention according to claim 3 , in addition to being able to suspend and hold the flying object in an optimal posture when ascending through a string and an electromagnet, and not only can generate lift by the rotor in such a posture, When an appropriate lift is obtained, the electromagnet is de-energized and the flying object restraint by the string can be released. As a result, the ascending operation of the flying object is secured.

A nondestructive inspection method for a structure of the present invention according to claim 4 is the nondestructive inspection method for a structure according to any one of claims 1 to 3 , wherein the structure is cylindrical. A cylindrical concrete column in which long reinforcing bars extending in the axial direction are integrally disposed on a cylindrical portion of the concrete, and the imaging unit is an infrared imaging unit, and at least the temperature of the inner peripheral surface of the concrete column It is characterized by detecting information on the distribution of.

In this invention which concerns on Claim 4 , based on the temperature distribution of a concrete pillar, states, such as a fracture of a reinforcing bar, can be test | inspected exactly. Here, the temperature distribution is a heat distribution based on the infrared image, or a temperature distribution obtained from the heat distribution of the infrared image.

A nondestructive inspection method for a structure of the present invention according to claim 5 is the nondestructive inspection method for a structure according to claim 4 , wherein the induction heating means uses a coil wound around the concrete column. And heating the reinforcing bar.

In this invention which concerns on Claim 5 , since the reinforcement of a concrete pillar can be selectively heated, states, such as a reinforcement breakage, can be displayed more clearly by an infrared image. As a result, it is possible to more accurately inspect the state of a broken reinforcing bar or the like.

Further, in the reference example, before Symbol imaging means, a neutral buoyancy is obtained by the buoyancy of the balloon, characterized by lifting with the projectile to lift the lift by the rotation of the rotor.

Thereby, since the flying body in which the neutral buoyancy is maintained by the buoyancy of the balloon is lifted and lowered by the lifting force due to the rotation of the rotor, the flying body (imaging means) can be lifted and lowered stably.

A nondestructive inspection system for a structure according to another reference example of the present invention includes an imaging unit that lifts and lowers a balloon in an internal space of a structure that is long in the vertical direction and moves up and down integrally with the balloon. A structure non-destructive inspection system for taking an image of an inner peripheral surface of the structure and inspecting based on the image, wherein the neck portion serving as a gas supply port is a narrow insertion port provided on the outer periphery of the structure. A balloon that is longer than the dimension in the thickness direction of the structure and can be inserted into the internal space from the insertion port with the opening serving as the gas filling port of the neck facing the outside of the structure in a deflated state; A gas filling unit that fills a balloon with buoyancy from the outside of the structure; an imaging unit that is integrally moved up and down with the balloon to capture an image of an inner peripheral surface of the structure; and A data transmitter for transmitting an image signal representing the captured image; And having a data receiver for receiving the image signal.

Thereby , buoyancy can be given to a balloon and the internal space of a structure can be raised / lowered. As the balloon moves up and down, image information on the inner peripheral surface of the structure can be obtained by the imaging means, so that the state, that is, the state of the inner peripheral surface such as cracks and cracks can be accurately inspected. At this time, the state of the inner peripheral surface of the structure can be inspected in real time by transmitting and receiving data. In order to raise and lower the imaging means with balloons, it is preferable to transmit and receive data by wireless communication. By transmitting and receiving data by wireless communication, stable data transmission and reception can be performed even if buoyancy varies. Note that data transmission / reception can also be performed by wired communication.

Then, with the lowering means for lowering the front Symbol balloon, the lowering means is a cord connected to said balloon, characterized in that lowering the balloon by pulling on the string.

Thereby, the balloon can be surely lowered by pulling the string, and the image information of the inner peripheral surface of the structure can be obtained by the imaging means when the balloon is lowered. When pulling the string, the worker can pull the string according to the imaging situation, and the worker can pull the string, so that the state of the inner peripheral surface can be reliably imaged. It is also possible to mechanically pull the string by a winding means or the like.

Also, with a lowering means for lowering the front Symbol balloon, the lowering means is a gas discharge means for removing the gas from the balloon, that lowering the balloon by outgassing of the balloon by the gas release means Features.

As a result, the balloon is lowered by extracting the gas from the balloon by the gas releasing means, so that the structure is moved by the imaging means when the balloon is lowered automatically without passing through manual or mechanical means. The image information of the inner peripheral surface can be obtained. For this reason, it is not necessary to be present at the time of photographing, and an efficient inspection can be performed by collecting after a predetermined time has elapsed. In particular, when inspecting a large number of structures, it is possible to perform a very efficient inspection by preparing a plurality of devices and collecting the devices collectively after the completion of automatic imaging.

  As the gas release means, a throttle valve or a valve member capable of controlling the gas flow rate can be provided. Further, by applying a rubber or resin film having an appropriate gas permeability as a balloon material, gas can be extracted from the balloon over time without providing a special mechanism. Further, it is possible to employ a structure in which a balloon in which aluminum is vapor-deposited is used and a part of the vapor deposition is lost and gas is released from the missing part.

Also characterized in that earlier end is fitted with a guide having an inclined surface which is inclined to face upward in the inner space detachably to said slot.

As a result, the balloon can be inserted with its axial direction facing upwards of the internal space, so that the balloon can be lifted well without being caught between the inner peripheral surfaces of the internal space even when the balloon becomes long. Can do.

In order to achieve the above object, a nondestructive inspection system for a structure of the present invention according to claim 6 includes a structure imaged by an imaging means connected to a flying body that moves up and down using lift obtained by rotation of a rotor. A non-destructive inspection system for a structure to be inspected on the basis of an image of a peripheral surface, wherein the structure is distributed around the axis of the rotary shaft so that it is rotated integrally by the rotation of the rotary shaft, and the base end The rotor has a rotor that is rotatably supported by the rotating shaft via a hinge part and is foldable, and can be inserted into the internal space of the structure in a state in which the rotor is folded. A flying body that moves up and down the internal space by buoyancy generated by rotationally driving the rotor through a rotation driving means in a state inserted into the internal space, a string bound to a lower end portion of the flying body, The rotational drive means is externally controlled via a receiver integrally mounted on the projectile and an external transmitter for supplying a control signal for predetermined control of the rotational drive means to the receiver. A control means; an imaging means for picking up an image of the inner peripheral surface by moving up and down integrally with the flying object; a data transmitter for sending an image signal representing an image taken by the imaging means; and the image signal. And a data receiver for receiving.

In the present invention according to claim 6 , since the rotor can be folded, the flying object can be satisfactorily inserted into the internal space of the structure even through the narrow insertion port, and the rotor is rotated after the insertion. The rotor that rotates through the hinge portion can be opened by lift. As a result, the flying object can be raised and lowered in the internal space. At this time, the state of the inner peripheral surface of the structure can be inspected in real time by transmitting and receiving data. Since the imaging means is moved up and down by the lift of the rotor, a sufficient lifting force can be obtained, so that data can be transmitted and received by wired communication. Note that data can be transmitted and received by wireless communication.

A nondestructive inspection system for a structure according to a seventh aspect of the present invention is the nondestructive inspection system for a structure according to the sixth aspect , wherein an electromagnet that adsorbs a flying object by magnetic force through the rotating shaft; It is characterized by having separately the string which also serves as the conducting wire for power feeding connected to the electromagnet, or the conducting wire for feeding and the string separately.

In this invention which concerns on Claim 7 , it can be set as the optimal standing state for a raise by hanging | hanging the attitude | position of the flying body inserted in the internal space of the structure through the electromagnet with the string, and predetermined lift is When it is obtained, the magnetic force of the electromagnet can be released to raise the magnet well.

The structure non-destructive inspection system according to claim 8 of the present invention is the structure non-destructive inspection system according to claim 6 or 7 , wherein the rotor is vertically moved in the axial direction of the rotating shaft. It is comprised by the counter-rotating rotor arrange | positioned at each site | part of this.

In the present invention according to claim 8 , it is possible to move up and down in a stable posture by canceling the rotational torque generated on one side of the rotor with the rotational torque generated on the other side of the rotor.

A nondestructive inspection system for a structure according to a ninth aspect of the present invention is the nondestructive inspection system for a structure according to any one of the sixth to eighth aspects, wherein the rotating shaft rotates the rotation. A main body that is directly rotated by the driving means, a cylindrical rotating part that is coaxial with the main body and that is spline-fitted to the main body and that is movable in the axial direction of the main body; The upper stopper that abuts the upper end surface of the cylindrical rotating part that has moved and regulates the upper position thereof, and the lower stopper that the lower end surface of the cylindrical rotating part that has moved along the axial direction abuts and restricts the lower position thereof The rotor has a stopper, and the rotor is attached to the cylindrical rotating part via a hinge part.

In the present invention according to claim 9 , when the rotation of the rotating shaft is stopped, the lowering position of the tubular member that is lowered by the weight of the rotor is regulated by the lower stopper, and when the rotating shaft is rotated, the rotor is rotated. The ascending position of the cylindrical member that rises due to the lift by the upper stopper can be regulated by the upper stopper.

A structure nondestructive inspection system according to a tenth aspect of the present invention is the structure nondestructive inspection system according to any one of the sixth to ninth aspects, wherein the rotation shaft stops rotating. If the tip of the rotor that is suspended from the hinge portion is fixed to the rotating shaft side by the magnetic force acting between the rotating shaft side and rotation of the rotating shaft is started, the fixing by the magnetic force is performed. It is characterized in that the state is released.

In the present invention according to claim 10 , since the folded state of the rotor can be locked by magnetic force, the flying object can be smoothly inserted and removed through the insertion port.

The structure nondestructive inspection system according to claim 11 of the present invention is the structure nondestructive inspection system according to any one of claims 6 to 10 , wherein the data transmitter and the data receiver Instead of a machine, the apparatus has a storage element that moves up and down integrally with the imaging unit and stores an image signal representing an image captured by the imaging unit.

In the present invention according to claim 11 , since the image of the inner peripheral surface of the structure is stored in the memory element, the image of the inner peripheral surface of the structure imaged by collecting the memory element together with the balloon or flying object Data can be reproduced as appropriate. Therefore, by taking back the storage element, it is possible to perform post-processing such as image processing necessary in a remote laboratory or the like as well as the site where the structure exists.

A nondestructive inspection system for a structure of the present invention according to claim 12 is the nondestructive inspection system for a structure according to any one of claims 6 to 11 , wherein the structure is cylindrical. A cylindrical concrete column in which long reinforcing bars extending in the axial direction are integrally disposed on a cylindrical portion of the concrete, and the imaging unit is an infrared imaging unit, and at least the temperature of the inner peripheral surface of the concrete column It is characterized by detecting information on the distribution of.

In the present invention according to claim 12 , it is possible to accurately inspect the state of the reinforcing bar breakage or the like by the temperature distribution (heat distribution or temperature distribution).

A nondestructive inspection system for a structure according to a thirteenth aspect of the present invention is the nondestructive inspection system for a structure according to the twelfth aspect of the present invention, in which the coil wound around the concrete column and a high-frequency current are supplied to the coil. It has the induction heating means provided with the high frequency power supply which supplies.

In this invention which concerns on Claim 13 , since the reinforcement of a concrete pillar can be selectively heated, states, such as a reinforcement breakage, can be displayed more clearly by an infrared image. As a result, it is possible to more accurately inspect the state of a broken reinforcing bar or the like.

  According to the present invention, the state of the inner peripheral surface of a closed space that is communicated to the outside only through a narrow insertion port and is normally isolated from the outside, for example, a state such as a crack is satisfactorily inspected, Maintenance and management information of the structure to be inspected can be obtained easily and appropriately.

It is explanatory drawing which shows notionally the concrete pillar which is an example of the test object of this invention. It is a block diagram which shows the nondestructive inspection system which concerns on the form of the reference example of this invention. It is a schematic block diagram which expands the principal part and shows the mode at the time of insertion of the balloon in the nondestructive inspection method which concerns on the form of the reference example of this invention. It is a schematic block diagram which expands the principal part and shows the mode at the time of insertion of the balloon in the nondestructive inspection method which concerns on the form of the reference example of this invention. It is a schematic block diagram which expands the principal part and shows the mode at the time of insertion of the balloon in the nondestructive inspection method which concerns on the form of the reference example of this invention. It is a schematic block diagram which expands the principal part and shows the mode at the time of insertion of the balloon in the nondestructive inspection method which concerns on the form of the reference example of this invention. It is a figure which shows the principal part of the concrete pillar similar to FIG. 1 which carries out the nondestructive inspection of the state of a structure with the form of the reference example of this invention, (a) is a longitudinal cross-section, (b) is an expanded cross-sectional view. In view showing a flying object used in the nondestructive inspection system according to the implementation of the embodiment of the present invention in the stop state at the time of, (a) shows the schematic diagram showing in longitudinal section, A-A of (b) is (a) FIG. In view showing a flying object used in the nondestructive inspection system according to the implementation of the embodiment of the present invention in the state when the lifting, (a) shows the schematic diagram showing in longitudinal section, B-B of (b) is (a) FIG. Is a block diagram showing a nondestructive inspection system according to the implementation of the embodiment of the present invention. Aspects during insertion of the projectile in a non-destructive inspection method according to the implementation of the embodiment of the present invention, is a schematic configuration view showing an enlarged main portion. Aspects during insertion of the projectile in a non-destructive inspection method according to the implementation of the embodiment of the present invention, is a schematic configuration view showing an enlarged main portion. The final aspect of the time of insertion of the projectile in a non-destructive inspection method according to the implementation of the embodiment of the present invention, is a schematic configuration view showing an enlarged main portion. The rise at the start mode of the projectile in a non-destructive inspection method according to the implementation of the embodiment of the present invention, is a schematic configuration view showing an enlarged main portion. Aspects of ascent of the projectile in a non-destructive inspection method according to the implementation of the embodiment of the present invention, is a schematic configuration view showing an enlarged main portion. It is a schematic block diagram of the aspect which inserted the balloon in the nondestructive inspection method which concerns on another reference example, and was floated by buoyancy. It is a figure which shows the raising / lowering state of the balloon in the nondestructive inspection method which concerns on another reference example , (a) is a schematic block diagram at the time of the highest rise, (b) is a schematic block diagram in the middle of descent, (c) is at the time of completion | finish of descent | fall (D) is a schematic block diagram of the state taken out.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following embodiments, the vertically long structure is a concrete column, the inner peripheral surface to be inspected is the inner peripheral surface of the concrete column, and the narrow insertion port is a mounting hole for a scaffold bolt. . Of course, the present invention is not limited to these, but the internal space is a semi-enclosed space, and the insertion port communicating with the internal space is useful when applied to a structure that is extremely narrow compared to the internal space. Is.

<Form of reference example >
As shown in FIG. 1, the concrete column 1 is a cylinder in which a large number of long reinforcing bars (not shown in FIG. 1) are arranged in a cylindrical shape, and then filled with concrete, and the reinforcing bars and the concrete are integrated. The lower end portion is embedded in the ground from the ground 2 and is erected vertically. On this type of concrete pillar 1, scaffold bolts 3 are disposed so as to protrude horizontally at predetermined intervals in the height direction. The scaffold bolt 3 is screwed into a screw portion formed in the thickness direction from the outer peripheral surface of the concrete column 1 toward the inner peripheral surface 1A. Here, the thickness of the concrete pillar 1 is about 4 cm. Therefore, the dimension in the thickness direction of the insertion port 4 for inserting the balloon 6 is about 4 cm, and the diameter of the insertion port 4 is usually about 15 mm. On the other hand, the diameter of the internal space 5 is about 30 cm to 10 cm. Therefore, the insertion port 4 through which the internal space 5 of the concrete column 1 communicates with the outside is a narrow hole. Here, most of the concrete pillars 1 have a tapered shape in which the diameter gradually decreases from the base toward the tip.

  In this embodiment, a deflated balloon is inserted into the internal space 5 from the insertion port 4 of the concrete pillar 1 formed by removing one of the scaffold bolts 3 (the insertion method and the like will be described later), and in the internal space 5 The image information of the inner peripheral surface 1A of the concrete column 1 is collected by the image pickup means 8 connected to the balloon 6 by the string 7 by raising. Here, the raising / lowering of the balloon 6 is adjusted by pulling the string 9 connected to the balloon 6 via the imaging means 8. That is, one end of the string 9 is bound to the imaging means 8, and the other end is drawn out of the concrete pillar 1 through the insertion port 4. Therefore, the worker pulls the other end of the string 9 to adjust the height position of the balloon 6. Here, the height position of the image pickup means 8 can be specified by the length of the string 9 fed into the internal space 5, and the position on the inner peripheral surface 1A of the image picked up by the image pickup means 8 can also be specified.

  A nondestructive inspection system for inspecting the state of the inner peripheral surface 1A of the concrete pillar (structure) 1 based on such image information is shown in FIG. FIG. 2 is a block diagram showing a nondestructive inspection system according to this embodiment. The non-destructive inspection system is integrally connected to a balloon 6 with a string 7 so that an internal space 5 (see FIG. 1; the same applies hereinafter) of a concrete column 1 (see FIG. 1; the same applies hereinafter) is integrated with the buoyancy of the balloon 6. The image information of the inner peripheral surface 1A of the concrete column 1 is collected by the image pickup means 8 that rises as a whole, and the state of the inner peripheral surface 1A (see FIG. 1; the same applies hereinafter) is inspected based on the image information.

  The image pickup means 8 has a weight that can be sufficiently increased by the buoyancy of the balloon 6, and forms an image of the inner peripheral surface 1A on the ultra-small image pickup device 8A and the image pickup device 8A used in the capsule endoscope. The lens 8B and the transmitter 8C that sends the image signals collected by the image sensor 8A can be suitably configured. The image signal sent from the transmitter 8C is received by the receiver 10 outside the concrete pillar 1 and subjected to predetermined image processing by the image processing means 11 constituted by a personal computer or the like. As a result, the image of the inner peripheral surface 1A is reproduced on the monitor 12. The state of the inner peripheral surface 1A is grasped from the reproduced image.

  Note that, when an image signal is transmitted wirelessly as in this embodiment, the frequency used in wireless communication is such that radio waves used for wireless communication are not affected by the reinforcing bars 16 (see FIG. 7; the same applies hereinafter) disposed on the concrete pillar 1. Select. Incidentally, the frequency of radio waves used in wireless LAN and Bluetooth is 2 GHz or more and the wavelength is 10 cm or less. On the other hand, the interval between the reinforcing bars 16 is also 10 cm to several cm. Therefore, in this case, it is considered that the problem of shielding by the reinforcing bars 16 can be ignored.

  Furthermore, when adopting a wireless system for communication between the inside and outside of the concrete pillar 1, the quality of the communication is improved by using the insertion port 4 so that the antenna can face the interior space 5. Can be made.

  In this embodiment, the image signal is wirelessly transmitted to the external receiver 10 via the transmitter 8C. However, by forming the string 9 with a conductive wire, the image signal is imaged using the conductive wire. It may be supplied directly to the processing means 11, or a microchip storage element may be mounted, and the storage element may be recovered together with the recovery of the balloon 6. However, in consideration of the relationship with the buoyancy of the balloon 6 and in consideration of the fact that real-time image information can be obtained, the wireless system of this embodiment is more preferable. On the other hand, when the memory element is mounted, the image data of the inner peripheral surface of the concrete pillar 1 captured by collecting the memory element together with the balloon 6 can be appropriately reproduced. Therefore, by taking back the storage element, it is possible to perform post-processing such as image processing necessary in a remote laboratory or the like as well as the site where the concrete pillar 1 exists.

  As the imaging unit 8, a camera provided with an objective lens (for example, a fisheye lens) can be applied. It is also possible to support the camera in a suspended state so that it can turn freely. By moving up and down while turning the camera, the entire circumference of the inner peripheral surface of the concrete pillar 1 can be photographed from the front.

  According to this form, the buoyancy can be given to the balloon 6 and the internal space 5 of the concrete pillar 1 can be moved up and down. Then, as the balloon 6 moves up and down, the imaging means 8 can obtain image information of the inner peripheral surface 1A of the concrete column 1, so that the state, that is, the state of the inner peripheral surface 1A, such as cracks and cracks, is accurately inspected. can do.

FIGS. 3-6 is a schematic block diagram which expands a principal part and shows the mode at the time of insertion of the balloon in the nondestructive inspection method which concerns on the form of the reference example of this invention. First, as shown in FIG. 3, the deflated balloon 6 is inserted into the internal space 5 through the insertion port 4. Prior to such insertion work, the guide 13 is attached to the insertion port 4. The guide 13 is a bowl-shaped member having an inclined surface which is a curved surface inclined so that the tip in the longitudinal direction (axial direction) faces upward of the internal space 5 and has a semicircular cross-sectional shape. The balloon 6 is detachably attached to the insertion port 4 so as to be used when the balloon 6 is inserted into the internal space 5.

  The balloon 6 is placed on the guide 13 with its lower surface in contact with the guide 13. Here, the dimension L1 of the neck portion 6A of the balloon 6 which is only a passage for filling the inside of the balloon 6 with gas only in the neck 6A, which is a gas supply port in the balloon 6, is not the inflated portion. It is configured to be longer than the thickness L2. Therefore, the opening 6B at the tip serving as the gas filling port of the neck portion 6A is inserted into the internal space 5 from the insertion port 4 with the insertion port 4 facing the outside of the concrete pillar 1.

  In this state, as shown in FIG. 4, the gas filling means 14 fills the balloon 6 with a gas for generating buoyancy through the opening 6B. Here, since the internal space 5 in the normal state is filled with air, the gas filled in the balloon 6 is helium gas or hydrogen gas having a specific gravity smaller than that of air. In such a gas filling process, the balloon 6 filled with gas expands and extends toward the tip of the guide 13 along the axial direction.

  When the gas is further filled, the balloon 6 extends along the axial direction of the guide 13, and as a result, as shown in FIG. As a result, the balloon 6 finally takes a posture as shown in FIG.

  As the balloon 6 rises, the balloon 6 can be lowered against the buoyancy by pulling the string 9 coupled to the balloon 6 via the imaging means 8 after reaching the top of the internal space 5. At the time of the descent, a non-destructive inspection is performed by taking an image of the inner peripheral surface 1A by the imaging means 8 and performing predetermined image processing based on an image signal transmitted wirelessly.

  The predetermined non-destructive inspection may be based on image signals collected when the balloon 6 is raised, or may be based on both image signals when the balloon 6 is raised and when the balloon 6 is lowered.

  Further, prior to the step of ascending the balloon 6 as described above, the internal space 5 is filled with a gas having a specific gravity greater than that of the gas filling the balloon 6, and the gas filled with the gas filling means 14 is filled into the internal space 5. A gas having a specific gravity smaller than that of the gas may be used. As the gas having a large specific gravity in this case, for example, argon can be used. When these gases are filled, a predetermined buoyancy can be obtained even if the gas filling the balloon 6 is air. . Further, when the balloon 6 is filled with helium or hydrogen gas in a state in which the gas having a specific gravity greater than that of the air is filled in the internal space 5, a greater buoyancy can be obtained. Therefore, it is important to devise so as to obtain the optimum buoyancy in consideration of the weight of the imaging means 8 and the like.

  In this case, after the balloon 6 is inserted into the internal space, a gas having a specific gravity higher than that of the gas charged into the balloon 6 is filled in the internal space 5 prior to the step of raising the balloon 6 as described above, and then the bushing is performed. By closing the inlet of the insertion port 4 with, etc., leakage of the gas filled in the internal space 5 to the outside is prevented.

<Form of reference example >
Figure 7 is a drawing showing the essential components of the same concrete column with 1 to nondestructive inspection the state of the structure by the form of the reference example of the present invention, (a) is a longitudinal sectional view, (b) is an enlarged cross-section FIG. In this embodiment, the imaging means 18 is formed by obtaining an infrared image signal. Other configurations are basically the same as those of the reference example described above . Therefore, the same parts are denoted by the same reference numerals, and redundant description is omitted. However, as shown in both figures, this embodiment is designed to inspect the state of the reinforcing bar 16 in particular, and therefore an induction heating means 15 for heating the reinforcing bar 16 intensively is added.

  The induction heating means 15 includes a coil 15A for induction heating and a high frequency power source 15B that supplies a predetermined high frequency current to the coil 15A. Here, the coil 15 </ b> A is wound around the entire circumference of the concrete column 1 in the vicinity of the ground 2 of the concrete column 1. Thus, by supplying a predetermined high-frequency current from the high-frequency power source 15B to the coil 15A, the concrete pillar 1, in particular, the rebar 16 as a conductor is induction-heated. When the reinforcing bar 16 is selectively heated by such induction heating, if the reinforcing bar 16 is healthy, the reinforcing bar 16 is heated uniformly. On the other hand, when corrosion or breakage occurs, the heat transfer mode changes at the corrosion or breakage site. That is, since the way of heat transmission is deteriorated or interrupted, a remarkable difference in temperature distribution is recognized in the vicinity of the corrosion or breakage of the reinforcing bar 16. Image information representing such a temperature distribution can be obtained favorably by using the imaging means 18 as an infrared imaging means. Here, the method of collecting the image information of the inner peripheral surface 1A performed by raising and lowering the balloon 6 is not different from that of the first embodiment.

  Therefore, according to this embodiment, by processing the infrared image signal representing the state of the inner peripheral surface 1A collected by the imaging means 18 with the image processing means (not shown), the inner peripheral surface 1A of the concrete column 1 is In particular, the temperature distribution of the reinforcing bar 16 can be evaluated by analyzing the temperature distribution in the region from the central part to the upper part where the balloon 6 is moved up and down, and the state of the reinforcing bar 16 such as corrosion and breakage can be inspected.

  In this embodiment, the reinforcing bar 16 can be heated intensively using the induction heating means 15, but it is not always necessary to configure in this way. In order to obtain the contrast of the infrared image, there is no need to be particularly concerned with induction heating. Ribbon heaters as other heating means may be used, and heating by sunlight can be used without providing any special heating means.

< Embodiment >
Figure 8 is a diagram showing a flying object used in the nondestructive inspection system according to the implementation of the embodiment of the present invention in the stop state at the time of, (a) is a schematic diagram showing in longitudinal section, (b) is (a) FIG. 9 is a view showing the flying object used in the nondestructive inspection system according to the third embodiment of the present invention in the state of ascent and descent, (a) is a longitudinal section. The schematic block diagram shown, (b) is a BB 'line arrow directional view of (a). In this embodiment, a flying object (helicopter) is used instead of the balloon 6 as the lifting means in the embodiment of the reference example described above .

  The flying object shown in FIG. 8 shows a state in which the rotor is folded (a state before being inserted into the internal space 5 through the insertion port 4), and the flying object shown in FIG. The state where lift is generated is shown. As shown in both figures, the flying object I has a coaxial rotating shaft 21 and a cylindrical tubular rotating shaft 22 formed so as to be rotatable around a vertical axis by a rotation driving means 20 incorporating a motor or the like. Yes. The inner rotating member 23 rotates integrally with the rotating shaft 21, and the outer rotating member 24 rotates integrally with the cylindrical rotating shaft 22. More specifically, a plurality of splines 21A are formed on the outer peripheral surface of the rotating shaft 21 in the circumferential direction, and the inner rotating member 23 is spline fitted to each spline 21A via a spline groove. On the other hand, a plurality of splines 22A are formed on the outer peripheral surface of the cylindrical rotating shaft 22 in the circumferential direction, and the outer rotating member 24 is spline-fitted to each spline 22A via a spline groove.

  The inner rotary member 23 is rotatably fitted to the cylindrical rotary shaft 22 so that the outer peripheral surface thereof is in contact with the inner peripheral surface of the cylindrical rotary shaft 22. Thus, the inner rotating member 23 moves in the axial direction (vertical direction in the drawing) along the spline 21A of the rotating shaft 21 and rotates integrally with the rotation of the rotating shaft 21. Here, a flange portion 23A protruding in the centrifugal direction is provided at the upper end of the inner rotating member 23, and the lower end surface of the flange portion 23A abuts on the upper flange portion 22B formed at the upper end of the cylindrical rotating shaft 22. Is done. This abutting position is a lower restriction position that restricts the lowest position of the inner rotation member 23. On the other hand, a flange portion 25 that protrudes in the centrifugal direction is fixed to the top portion of the rotating shaft 21, and the upper end surface of the inner rotating member 23 that has risen is in contact with the lower end surface of the flange portion 25. This contact position is an upper restriction position that regulates the highest position of the inner rotation member 23. That is, the inner rotation member 23 rises or descends along the spline 21A between the lower restriction position (see FIG. 8A) and the upper restriction position (FIG. 9A).

  The outer rotating member 24 moves in the axial direction (vertical direction in the figure) along the spline 22A of the cylindrical rotating shaft 22 and rotates integrally with the rotation of the cylindrical rotating shaft 22. Here, the cylindrical rotating shaft 22 has a lower flange portion 22C in addition to the upper flange portion 22B. The lower flange portion 22 </ b> C is formed in the middle of the cylindrical rotating shaft 22 so as to protrude in the centrifugal direction, and abuts against the lower end surface of the outer rotating member 24 to restrict the lower position of the outer rotating member 24. On the other hand, the upper end surface of the outer rotating member 24 is brought into contact with the lower end surface of the upper flange portion 22B, and the upper position thereof is restricted. That is, the outer rotating member 24 rises or falls along the spline 22A between the lower restriction position (see FIG. 8A) and the upper restriction position (FIG. 9A).

  The two rotors 26, 27 are respectively attached to the inner rotating member 23 and the outer rotating member 24 so that the base end portions can be rotated via hinge portions 28, 29. Here, the rotor 26 and the rotor 27 are disposed so as to be shifted by 90 degrees in the circumferential direction. The rotating shaft 21 and the cylindrical rotating shaft 22 are rotated in opposite directions to rotate the rotor 26 and the rotor 27 in opposite directions. In this way, by rotating the rotor 26 and the rotor 27 in opposite directions, the flying object I can be stably raised and lowered while maintaining a standing posture along the axial direction (vertical direction). The roller is configured.

  Magnets 30 are arranged on the peripheral surface of the rotation driving means 20 so as to correspond to the rotors 26 and 27. As a result, the rotation of the rotating shaft 21 and the cylindrical rotating shaft 22 is stopped (see FIG. 8), and the tip portions of the rotors 26 and 27 suspended from the hinge portions 28 and 29 act between the magnets 30. To be fixed to the magnet 30. On the other hand, when the rotation of the rotating shaft 21 and the cylindrical rotating shaft 22 is started (see FIG. 9), the attracting force due to the magnetic force of the magnet 30 is shaken off and the fixed state by the magnet 30 is released. Thus, in this embodiment, the folded state of the rotors 26 and 27 can be locked by magnetic force.

  Such a lock structure is not always necessary. This is because the rotors 26 and 27 are suspended from the hinge portions 28 and 29 by their own weights, so that the folding itself is possible. However, by locking the folded state, the flying object I can be smoothly inserted and removed through the insertion port 4 (see FIG. 11; the same applies hereinafter).

  As shown in FIG. 8, the upper surface of the flange portion 25 is attracted to the electromagnet 31 when the rotors 26 and 27 are folded. The electromagnet 31 is formed by winding a coil 31B around the circumferential surface of a cylindrical core 31A, and the flange portion is generated by a magnetic force generated by power being supplied from the outside of the concrete column 1 through a string 32 that also serves as a power supply lead. The flying object I can be suspended through 25. Here, the maximum diameter L3 of the flying object I is smaller than the diameter of the insertion port 4. That is, in the state shown in FIG. 8 in which the rotors 26 and 27 are folded, the flying object I has a size that can be inserted into the insertion port 4.

  In the flying object I in this embodiment, in the state where the rotation of the rotating shaft 21 is stopped (the state shown in FIG. 8), the lowering position of the inner rotating member 23 that is lowered by the weight of the inner rotating member 23 and the rotor 26 is the upper flange. The lower position of the outer rotating member 24 that is regulated by the portion 22B and descends by the weight of the outer rotating member 24 and the rotor 27 is regulated by the lower flange portion 22C. On the other hand, in the state in which the rotating shaft is rotated (the state shown in FIG. 9), the rising position of the inner rotating member 23 rising by the lift obtained by the rotation of the rotor 26 is restricted by the flange portion 25 and the rotation of the rotor 27 is performed. The upper flange portion 22B regulates the rising position of the outer rotating member 24 that rises with the lift obtained by the above.

  FIG. 10 shows a block diagram of a nondestructive inspection system in the case where the state of the inner peripheral surface 1A of the concrete column 1 is nondestructively inspected based on image information collected using the flying object I as described above. The configuration of the part that collects image information in the nondestructive inspection system shown in the figure is the same as that of the first embodiment shown in FIG. Therefore, in FIG. 10, the same parts as those in FIG. On the other hand, the nondestructive inspection system has a drive control system for the flying object I. Specifically, the drive control signal generated by the controller 41 is wirelessly transmitted to the receiver 43 via the transmitter 42 to control the predetermined rotational drive of the rotational drive means 20. Here, although not shown, when combined with the information on the height position in the internal space 5 of the flying object I, control is performed so as to stop at a specific position (hover) and obtain image information of the inner peripheral surface 1A. Further, it is possible to perform optimum control of the number of rotations of the rotors 26 and 27. The height information at this time can be obtained, for example, by detecting the feed amount of the string 9 connected to the imaging means 8 into the internal space 5 as in the first embodiment.

  In this embodiment, the image signal is wirelessly transmitted to the external receiver 10 via the transmitter 8C. However, by forming the string 9 with a conductive wire, the image signal is imaged using the conductive wire. It may be supplied directly to the processing means 11, or a microchip-shaped storage element may be mounted, and the storage element may be recovered together with the recovery of the flying object I. However, in consideration of the relationship with the lift of the flying object I and in consideration of the fact that real-time image information can be obtained, the wireless system of this embodiment is more preferable. On the other hand, when the storage element is mounted, the image data of the inner peripheral surface of the concrete pillar 1 captured by collecting the storage element together with the flying object I can be reproduced as appropriate. Therefore, by taking back the storage element, it is possible to perform post-processing such as image processing necessary in a remote laboratory or the like as well as the site where the concrete pillar 1 exists.

Also in this embodiment, as in the case of the reference example, when the image signal is transmitted wirelessly, the frequency in wireless communication is set so that the radio wave used for wireless communication is not affected by the reinforcing bars 16 disposed on the concrete pillar 1. Select. Further, as in the case of the reference example, when a wireless system is adopted for communication between the inside and outside of the concrete pillar 1, the antenna should be configured to face the internal space 5 using the insertion port 4. Can improve the quality of the communication.

  According to the present embodiment, the flying space I can be lifted by the rotation of the rotors 26 and 27 to raise and lower the internal space 5 of the concrete pillar 1. As the flying object I moves up and down, image information of the inner peripheral surface 1A of the concrete pillar 1 can be obtained by the imaging means 8, so that the state, that is, the state of the inner peripheral surface 1A such as cracks and cracks can be accurately determined. Can be inspected.

11 to 15, the mode of upon insertion of the projectile in a non-destructive inspection method according to the implementation of the embodiment of the present invention, is a schematic configuration view showing an enlarged main portion. First, as shown in FIG. 11, the rotors 26 and 27 are folded, the rotors 26 and 27 are locked by the magnets 30, and the flange portions 25 are attracted to the electromagnets 31 by the electromagnets 31 through the insertion ports 4. Insert into space 5. Here, since the string 32 is connected to the electromagnet 31 and the string 9 is connected to the imaging means 8, the posture of the flying object I is shown in FIG. 11 by adjusting the tension of the string 32 and the string 9. Thus, it is set as the attitude | position which stood up so that the flange part 25 may become upper.

  Next, as shown in FIG. 12, the guide 33 is attached to the insertion port 4. The guide 33 is a bowl-shaped member having a semicircular cross-sectional shape that is mounted so as to protrude linearly into the internal space 5 so that the front end in the longitudinal direction (axial direction) faces the internal space 5. Moreover, it is formed so as to be detachable with respect to the insertion port 4 so as to be used when the flying object I is inserted into the internal space 5. Here, in a state where the string 32 that suspends the flying object I inserted in the internal space 5 in the previous step is disposed above the guide 33, the tip of the guide 33 faces the center of the internal space 5. Push. At this time, the string 9 is placed under the guide 33.

  Through this insertion process, the guide 33 is pushed in such a way that the flying object I is suspended at the center of the internal space 5 as shown in FIG. Here, by making the string 9 sufficiently long, the string 9 suspended in the internal space 5 from the internal space 5 side of the insertion opening 4 is placed along the inner peripheral surface 1A of the concrete column 1 and the distance from the flying object I. Take large enough. In this state, the rotors 26 and 27 are rotated. As a result, the rotors 26 and 27 rotate with their respective tip portions swinging out the magnetic force of magnetic attraction. The inner rotary member 23 and the outer rotary member 24 (see FIGS. 8 and 9; the same applies hereinafter) are lifted by this, along the splines 21A and 22A (see FIGS. 8 and 9; the same applies below) along the flange portion 25 and It moves upward until the position is restricted by the upper flange portion 22B (see FIGS. 8 and 9; the same applies hereinafter).

  As a result, as shown in FIG. 14, the inner rotating member 23 and the outer rotating member 24 are position-regulated by the flange portion 25 and the upper flange portion 22 </ b> B so that the rotors 26 and 27 are rotated and also serve as a power supply line. The power supply to the electromagnet 31 is stopped via the string 32 and the guide 33 is removed from the insertion port 4. Since the suction of the flange portion 25 by the electromagnet 31 is released by stopping the power supply to the electromagnet 31, the flying object I released from the restraint by the electromagnet 31 and the string 32 can freely move in the internal space 5 as shown in FIG. Go up and down. As a result, in the same manner as in the first embodiment, the image information of the inner peripheral surface 1A is collected by the imaging unit 8, and based on this, a predetermined nondestructive inspection can be performed.

  Note that the predetermined nondestructive inspection may be based on image signals collected when the flying object I is raised or lowered, or may be based on both the raised and lowered image signals.

  When the predetermined image collection is completed and the rotation of the rotors 26 and 27 is stopped, the rotors 26 and 27, the inner rotating member 23, and the outer rotating member 24 are lowered to the upper flange portion 22B and the lower flange portion 22C. The rotors 26 and 27 are folded in contact with each other and are attracted by the magnet 30 so that the flying object I is in the state shown in FIG. In such a state, since the maximum diameter L3 is smaller than the diameter of the insertion port 4, it can be recovered outside the concrete column 1 through the insertion port 4 by pulling the string 9.

  Also in this embodiment, the image pickup means 8 can be formed of a device that obtains an infrared image signal. In this case, an embodiment in which the balloon 6 shown in FIG. 7 is replaced with the flying object I and combined with the system shown in FIG. 10 is established.

< Form of reference example >
FIG. 16 is a schematic configuration diagram of a mode in which a balloon is inserted and floated by buoyancy in the nondestructive inspection method according to the embodiment of the reference example of the present invention. Moreover, FIG. 17 is a figure which shows the raising / lowering state of the balloon in the nondestructive inspection method which concerns on the form of the form of the reference example of this invention, (a) is a schematic block diagram at the time of the highest rise, (b) is in the middle of the fall (C) is a schematic block diagram at the time of completion | finish of descent | fall, (d) is a schematic block diagram of the state taken out.

Form of Reference Example are those having a gas release means for disconnecting the configuration in the form of a reference example described above, the gradual gas from the balloon 6. For this reason, the same code | symbol is attached | subjected to the same structural member as the form of the reference example shown in FIGS. 1-6, and the concrete description is abbreviate | omitted.

  As shown in FIG. 16, the neck 6A of the balloon 6 is provided with a throttle valve 51 as gas releasing means for gradually extracting gas. As in the first embodiment, filling the balloon 6 with gas raises the balloon 6 (imaging means 8) to the top.

  As time elapses, the gas gradually escapes from the balloon 6, and the balloon 6 (imaging means 8) naturally descends to the lowest position after a predetermined time has elapsed (falls without using human hands or mechanical means). An image of the inner peripheral surface of the concrete column 1 is obtained in the process in which the imaging means 8 descends over a predetermined time. After the descent, the balloon 6 and the imaging means 8 are collected from the insertion port 4 by pulling the string 9.

  That is, as shown in FIG. 17A, when the balloon 6 is filled with gas, the balloon 6 (imaging means 8) rises to the top of the concrete pillar 1. As time passes, gas escapes from the throttle valve 51, and the balloon 6 (imaging means 8) descends inside the concrete column 1 as shown in FIG. When the gas continues to escape from the throttle valve 51 and a further time elapses, the throttle valve 51 descends to the lowermost part of the concrete column 1 at the site buried in the ground as shown in FIG. In the process of descending to the lowest part, image information of the inner peripheral surface of the concrete column 1 is obtained by the imaging means 8.

  As shown in FIG. 17 (d), the balloon 6 that has descended to the bottom of the part buried in the ground (the deflated balloon 6) and the imaging means 8 are, for example, as the operator pulls the string 9 by hand. Then, it is recovered from the insertion port 4 to the outside of the concrete pillar 1.

  For this reason, it is not necessary to be present at the time of photographing, and an efficient inspection can be performed by collecting after a predetermined time has elapsed. In particular, when inspecting a large number of structures, it is possible to perform a very efficient inspection by preparing a plurality of devices and collecting the devices collectively after the completion of automatic imaging.

  As the gas discharge means, a flow rate control valve capable of controlling the gas flow rate can be provided in place of the throttle valve 51. By applying the flow rate control valve, the descent time of the balloon 6 can be controlled. Further, if the balloon 6 is made of rubber or resin film having an appropriate gas permeability, the balloon 6 itself is provided with a gas discharge means, and the inside of the balloon 6 over time without providing a special mechanism. Gas escapes naturally. Further, it is also possible to employ a structure in which a balloon in which aluminum is vapor-deposited is used and a part of the vapor deposition is lost and gas is released from the missing portion.

  The present invention has a substantially closed internal space, such as a concrete power pole or a steel tower, and it is necessary to grasp the state of the inner peripheral surface thereof and perform maintenance and inspection reasonably and accurately. It can be used in industries.

DESCRIPTION OF SYMBOLS 1 Flying object 1 Concrete pillar 1A Inner peripheral surface 3 Scaffolding bolt 4 Insertion port 5 Internal space 6 Balloon 6A Neck part 7, 9, 32 String 8 Imaging means 10 Receiver 11 Image processing means 13, 33 Guide 14 Gas filling means 15 Induction heating Means 15A Coil 15B High-frequency power supply 16 Reinforcing bar 18 Imaging means 20 Rotation drive means 21 Rotating shafts 21A, 22A Spline 22 Cylindrical rotating shaft 22B Upper flange portion 22C Lower flange portion 23 Inner rotating member 24 Outer rotating member 26, 27 Rotor 30 Magnet 31 Electromagnet 51 Throttle valve

Claims (13)

It is a method of moving up and down the imaging means in the internal space of the structure that is long in the vertical direction, taking an image of the inner peripheral surface of the structure with the imaging means, and inspecting the structure based on the image ,
The imaging means moves up and down together with a flying body that moves up and down by lift due to rotation of a rotor,
A flight having a plurality of rotors that are distributed around the tip of the rotating shaft and whose base end is pivotably supported via a hinge portion with respect to the rotating shaft and can be folded. Folding the rotor of the body and binding the string to the lower end of the flying body, the flying body is placed through the narrow insertion port provided on the outer peripheral surface of the structure that is long in the vertical direction. An insertion step of inserting into the internal space of the structure;
After being inserted into the internal space of the structure, an elevating step for moving the flying body up and down in the internal space of the structure by rotating the rotating means to obtain lift.
A non-destructive inspection method for a structure, comprising: an imaging step of taking an image of an inner peripheral surface of the structure through the imaging means in at least one of an ascending step and a descending step in the raising and lowering step . In the nondestructive inspection method of the structure according to claim 1 ,
In the insertion port, a guide is inserted into the insertion port from the outside so that the tip is located at the center of the internal space, and the flying body in a state where the rotor is folded is supported from below by the guide, A non-destructive inspection method for a structure, characterized in that the structure is inserted into the internal space while being guided to the center. In the nondestructive inspection method for a structure according to claim 1 or 2 ,
In the inserting step, a flying object is inserted into the internal space from the outside with a stringed electromagnet adsorbed on the tip of the rotating shaft, and the rotor is moved by the rotating means while the rotating shaft is raised. A non-destructive inspection method for a structure, comprising: rotating to obtain a predetermined lift, then releasing the excitation of the electromagnet and removing the electromagnet from the rotating shaft. In the nondestructive inspection method of the structure according to any one of claims 1 to 3 ,
The structure is a cylindrical concrete column in which a long reinforcing bar extending in the axial direction is integrally arranged in a cylindrical portion of a cylindrical concrete,
The non-destructive inspection method for a structure, wherein the imaging unit is an infrared imaging unit and detects at least temperature distribution information on an inner peripheral surface of the concrete column. In the nondestructive inspection method of the structure according to claim 4 ,
A non-destructive inspection method for a structure, wherein the reinforcing bar is heated by induction heating means using a coil wound around the concrete pillar. A non-destructive inspection system for a structure that inspects based on an image of an inner peripheral surface of a structure imaged by an imaging means connected to a flying body that moves up and down using lift obtained by rotation of a rotor,
By being distributed around the axis of the rotary shaft, the rotary shaft is integrally rotated by the rotation of the rotary shaft, and the base end portion is rotatably supported by the rotary shaft via a hinge part and folded. A rotor formed so as to be capable of being inserted into the internal space of the structure in a state in which the rotor is folded, and rotationally driven through the rotational drive means in the state of being inserted into the internal space. A flying body that ascends and descends the internal space with buoyancy generated by
A string bound to the lower end of the flying object;
Controlling the rotational drive means from the outside via a receiver integrally mounted on the flying object and an external transmitter for supplying a control signal for predetermined control of the rotational drive means to the receiver Control means to
Imaging means for capturing an image of the inner peripheral surface by moving up and down integrally with the flying object;
A data transmitter for transmitting an image signal representing an image captured by the imaging means;
A non-destructive inspection system for a structure, comprising: a data receiver configured to receive the image signal. The nondestructive inspection system for a structure according to claim 6 ,
An electromagnet that attracts the flying object by magnetic force through the rotating shaft;
A non-destructive inspection system for a structure having a string that also serves as a power supply lead connected to the electromagnet, or a power supply lead and a string separately. In the nondestructive inspection system for a structure according to claim 6 or 7 ,
The non-destructive inspection system for a structure, wherein the rotor is composed of counter-rotating rotors disposed at upper and lower portions in the axial direction of the rotating shaft. In the nondestructive inspection system for a structure according to any one of claims 6 to 8 ,
The rotation axis is
A main body that is directly rotated by the rotation driving means; a cylindrical rotating portion that is coaxial with the main body and is spline-fitted to the main body and that is movable in the axial direction of the main body; and the axial direction An upper stopper that contacts the upper end surface of the cylindrical rotating portion that has moved along the upper surface and regulates the upper position thereof, and a lower end surface of the cylindrical rotating portion that has moved along the axial direction contacts and restricts the lower position thereof And having a lower stopper to
The rotor is
A nondestructive inspection system for a structure, wherein the structure is attached to the cylindrical rotating part via a hinge part. In the nondestructive inspection system for a structure according to any one of claims 6 to 9 ,
When the rotation of the rotating shaft is stopped, the tip of the rotor suspended from the hinge portion is fixed to the rotating shaft by the magnetic force acting between the rotating shaft and the rotation of the rotating shaft is started. In some cases, the non-destructive inspection system for a structure is characterized in that the fixed state by the magnetic force is released. In the nondestructive inspection system for a structure according to any one of claims 6 to 10 ,
Non-destructive structure characterized by having a storage element that moves up and down integrally with the imaging unit instead of the data transmitter and data receiver and stores an image signal representing an image captured by the imaging unit. Inspection system. In the nondestructive inspection system for a structure according to any one of claims 6 to 11 ,
The structure is a cylindrical concrete column in which a long reinforcing bar extending in the axial direction is integrally arranged in a cylindrical portion of a cylindrical concrete,
The imaging means is an infrared imaging means,
A nondestructive inspection system for a structure, wherein information on at least a temperature distribution of an inner peripheral surface of the concrete column is detected. The nondestructive inspection system for a structure according to claim 12 ,
A nondestructive inspection system for a structure, comprising: an induction heating means including a coil wound around the concrete pillar and a high frequency power source for supplying a high frequency current to the coil.

Images