JPH03260205A - Viaduct inspection equipment - Google Patents

Abstract

PURPOSE:To enhance inspection accuracy by providing a base stand on the under surface of a frame to connect the base end of a link mechanism to the base stand and providing a sensor stand at the leading and of the link mecha nism in a vertically movable and horizontally rotatable manner and supporting a laser scanner and a measuring apparatus on the sensor stand. CONSTITUTION:The floor panel of an elevated bridge is supported by the I- shaped bridge girder 3 stretched over bridge piers 2a, 2b and a base stand 11 is provided on the under surface of the frame 4 in the longitudinal direction of the floor panel 1 in a movable manner and the base end part of a link mechanism 17 made bendable horizontally is connected to the base stand 11 in a revolvable manner. Further, a sensor stand 24 is provided at the leading end of link mechanism 17 in a vertically movable and horizontally rotatable manner. Then, a laser measuring apparatus upporting a laser scanner 25 allowing the laser beam 15 from a laser head 16 to scan upwardly and light detection sensors 28a - 28d detecting the reflected quantity of the laser beam 15 is mounted on the sensor stand 24. By this constitution, the surface properties of the floor panel can be continuously measured with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a viaduct inspection device for inspecting the condition of bridge bodies of viaducts on expressways, railways, etc.

[Conventional technology]

BACKGROUND OF THE INVENTION As the bridge bodies of elevated bridges such as expressways have been in service for many years, they are subject to various types of damage and changes in properties that cannot be predicted at the time of construction.

In order to properly maintain and manage the original functions of the above-mentioned structures, it is extremely important to conduct inspections with appropriate accuracy and obtain accurate information.

Damage and changes in the properties of the bridge body in elevated bridges mainly include cracking phenomena that occur in concrete slabs and changes in properties that occur locally in bridge girders.

Conventional inspections of viaducts mainly involve so-called visual inspections, such as directly walking under the viaduct, visual inspection using binoculars, or approaching the area on construction scaffolding or an inspection vehicle, and performing visual inspections, photographs, and sketches. It becomes.

Furthermore, in place of the above-mentioned visual inspection, inspection using a television camera has also come to be carried out in recent years.

Furthermore, as a device for the above inspection, JP-A-60-13
As shown in Japanese Patent Laid-Open No. 3106 and JP-A-63-107803, a self-propelled vehicle equipped with a boom device is parked and fixed on an elevated bridge, and the tip of the boom device is wrapped around the underside of the bridge body. Then, the underside of the bridge body can be photographed on TV using a television device installed at the tip of the boom device, or workers can perform the designated work while riding on a workbench installed at the tip of the boom device. There is something I did.

Also, Japanese Patent Publication No. 83-85766, Japanese Patent Publication No. 82-2848
As shown in each publication of No. 04, an inspection device is also known in which a work platform is movable along the bridge girder on the underside of the bridge body.

[Problem to be solved by the invention]

Among the conventional techniques mentioned above, in the case of visual inspection, it is easy for damage to be overlooked and subjective differences among inspectors are reflected in the inspection results, and workability and safety are poor because work is often done in a supine position or at high places. Moreover, there is a problem in that workers are forced to perform arduous work.

Furthermore, when a television camera is used instead of visually, the resolution is limited, so there is a problem in that the detection accuracy is low when photographing a wide area.

Furthermore, the above-mentioned known example, JP-A-60-13310,
In the case of the method disclosed in Japanese Patent Application Laid-Open No. 63-107803, the vehicle must be fixed on the elevated bridge using outriggers, so the inspection range per installation is limited and the time required for repeated small movements is wasted. There is a problem that not only is inspection efficiency low, but the vehicle also gets in the way of other vehicles.

In addition, the above-mentioned publicly known examples include Japanese Patent Publication No. 63-85786 and Japanese Patent Publication No. 63-85786.
The method disclosed in Publication No. 2-284804 does not have the problems of inefficiency due to the small movement of the vehicle and interference with other vehicles, but in the former case, the suspension members are fixed to the bridge girder in advance. Therefore, it is not possible to inspect any bridge girder section at any time, and there is a problem that inspection work cannot be carried out flexibly and the measuring section is prone to shaking. The movement of the bridge girder in the longitudinal direction is discontinuous, making it unsuitable for an inspection device using a laser measuring device, and there are other problems such as it takes a long time to move.

The present invention has been developed in consideration of the above-mentioned problems.During measurement, it is possible to measure continuously without interfering with other traffic, and it is possible to widen the measurable range with a small device. Since the body sway and the sensor system are synchronized, the measurement result can be measured with less influence of height positional deviation.Furthermore, by using a laser measurement device for the above measurement, the surface texture of the floor slab can be continuously measured with high precision. Measurable, inspection accuracy,
To provide an elevated bridge inspection device that can improve workability and safety, allow mechanical and fair judgment of measurement results, and further enable quantitative understanding of evaluation parameters necessary for maintenance management. The purpose is to

[Means to solve the problem]

In order to achieve the above object, the viaduct inspection device according to the present invention is capable of being removably fixed to a bridge girder extending between the pedestals of a viaduct, and is attached to a base on the lower surface of a frame elongated in the length direction of the bridge girder. A base is provided so as to be movable in the longitudinal direction thereof, and a base end of a link mechanism which can be bent horizontally is connected to the base so as to be rotatable in the horizontal direction.A sensor is attached to the tip of the link mechanism. A table is provided that can be raised and lowered and rotated horizontally, and a laser scanner that scans the laser beam incident from the laser head upward with a predetermined amplitude is mounted on the sensor table, and a laser beam scanned by the laser scanner is mounted on the sensor table. The configuration supports a laser measurement device consisting of a photodetection sensor that detects the amount of reflected light.

In addition, the above-mentioned photodetection sensors are provided on both sides in the scanning direction of the laser scanner, and a laser head is provided on the frame, and a laser measurement device is connected between the laser head and the laser scanner via the frame, link mechanism, and sensor stand. has been established.

Furthermore, the laser measurement device performs high-speed scanning of laser light, detects the amount of reflected laser light, and detects the distance in the measurement extension direction, and includes a sensor system that performs non-contact measurement of the surface condition of the floor slab, and a sensor system that detects cracks from the sensor system. A signal transmission processing device that performs signal distortion correction, synthesis, and contrast correction, and performs high-speed calculation processing of measurement information; and a signal transmission processing device that performs high-speed calculation processing of measurement information, and records measurement information from this signal transmission processing device, and reproduces measurement information, and provides high-density measurement information. A data recording device that performs recording and reproduction, and quantization and image display of crack signals from the data recording device,
From the output from the image display device that monitors images at the measurement site and the data recording device, we determine the crack location from the large-scale image, extract crack characteristic data, recognize the crack from the extraction results, output the results, and evaluate the properties. It consists of an automatic data analysis device that automatically processes parameters.

[For production]

By bending the link mechanism while fixed to the Framera bridge girder without moving the base relative to this frame, the sensor stand provided at the tip of the link mechanism moves parallel to the bridge girder, and Moving in the width direction of the floor slab, the sensor table is eventually moved in a rectangular zigzag trajectory. At this time, a laser scanner provided on the sensor stand scans the lower surface of the floor slab with laser light, and the amount of reflected light is detected by a light detection sensor provided on the sensor stand. The signal detected by the photodetection sensor is processed by a laser measurement device to detect the surface texture of the floor slab.

〔Example〕

Embodiments of the present invention will be described based on the drawings.

In Figures 1 to 3, 1 is the deck slab of the viaduct;
This deck slab 1 is supported by a plurality of bridge girders 3 extending between piers 2a and 2b.

Each bridge girder 3 has an I-shaped cross section, and left and right flanges protrude over the entire length from the lower end on both sides in the longitudinal direction.

Reference numeral 4 denotes a frame formed in a rectangular shape, and clamp members 5 facing each other in the width direction are provided at two locations spaced apart in the longitudinal direction at the center of the upper surface of the frame 4 in the width direction.
a and 5b are supported by a feed screw 6. The feed screw 6 has a reverse thread at the position where both the clamp members 5a and 5b are screwed together, and by rotating the feed screw 6, the clamp members 5a and 5b advance and retreat symmetrically to clamp and unclamp. It looks like this. Both ends of the feed screw 6 are supported by brackets 7.7 erected at both ends of the frame 4, and are driven by a gear motor 8.

A rail 9 is fixed to the widthwise central portion of the lower surface of the frame 4 over substantially the entire length of the frame 4.

Then, the movable table 10 is engaged with this rail 9 by dovetail groove,
They are slidably engaged in the longitudinal direction.

This moving table 10 has a certain length along the rail 9, and a base 11 is provided on the lower surface thereof. Further, a rack 12 is provided on the lower surface of the frame 4 in parallel with the rail 9, and a pinion gear 14 provided on the movable table 10 and driven by a motor 13 is meshed with this rack 12. The rotation causes the base 11 to move via the movable table 10 along the lower surface of the frame 4 over substantially the entire length thereof.

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

A base end portion of a first arm 17a of a link mechanism 17 is coupled to the base 11 so as to be horizontally rotatable and rotatably driven by a motor 18. Also, this first arm 17a
The base end of the second arm 17b is similarly coupled to the distal end of the second arm 17b so as to be freely rotatable in the horizontal direction and to be rotatably driven by the motor 19. At the tip of the second arm 17b is a support base 2.
0 is provided, and a lift par 21 is supported on this support base 20 so as to be slidable in the vertical direction. A rack is provided on the side surface of the lift par 21 in the longitudinal direction, and a pinion gear (not shown) housed in the support base 20 meshes with this rack, and by driving this pinion gear with the motor 23, the lift par 21 is designed to go up and down.

A sensor stand 24 is attached to the upper part of the lift par 21 so as to be rotatable about a vertical axis by a motor 22. A laser scanner 25 is located at the center of rotation of the sensor stand 24.
is the provision. The laser scanner 25 is configured to scan the laser beam 15 incident thereon from the laser head 16 upward at a predetermined amplitude. The laser beam 15 from the laser head 16 is transmitted to first and second mirrors 26a and 26b provided at one end of the frame 4,
A third arm provided at the base of the first arm 17g of the link mechanism 17
The signal is transmitted via a fourth mirror 26d provided at the pivot point of both arms of the mirror 26C1, a fifth mirror 26e provided at the tip of the second arm 17b, and a sixth mirror 26f provided on the sensor stand 24. ing. In addition, the third mirror 2
6c and the fourth mirror 26d, the light is transmitted through a tube 27 made of a light guide such as an optical fiber.

The sensor stand 24 has two photodetection sensors 28a spaced apart in the scanning direction on both sides of the scanning surface of the laser scanner 25.
28b, 28c, and 28d are provided in a direction intersecting the scanning plane of the laser scanner 25. Further, 29 is a television camera, and 29a is a positioning sensor. The structure and operation of the laser scanner 25 and the photodetection sensors 28a to 28d will be described later as a laser measurement device.

Reference numeral 30 denotes a lift vehicle for mounting the measuring mechanism section including the frame 4 on the bridge girder 3, and a lifting platform 31 is provided on the lift vehicle 30 via a lifting device 32. Lifting platform 31
Clamp members 32a and 32b for clamping both ends of the frame 4 are rotatably provided on both sides in the longitudinal direction. On the other hand, both clamp members 32a of the lifting table 31.

As shown in FIGS. 2 and 3, a rotary link 33 is provided at the center opposite to 32b so that the intermediate portion can be rotatably supported and rotated by a motor 34. Each end of the movable link 33 is connected to the base end of each clamp member 32a, 32b via a link 34a, 34b, respectively, and when the rotary link 33 rotates, the clamp members 32a-, 32b are clamped. It is designed to operate as an unclamp.

Reference numeral 35 denotes a measuring vehicle, and this measuring vehicle 35 has a measuring chamber 36, and an elevating boom device 37 is provided on the roof so as to be movable up and down. The elevating boom device 37 supports cables connecting the measuring mechanism section attached to the bridge girder 3 and the measuring wheel 35. These cables include electric wires for driving the laser head 16 and each motor, and cooling water hoses for cooling the laser head 16. Measuring car 3
5 is placed on the side of the road.

The operation of the above configuration will be explained below.

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

(2) After positioning the lift vehicle 30, connect the control cable between the measurement vehicle 35 and the measurement mechanism section.

(3) Raise the platform 31 of the lift vehicle 30, position the frame 4 below the bridge girder 3 while checking with the television camera 29, and clamp members 5a provided on the frame 4;
5b are clamped to the flanges on both sides of the bridge girder 3.

(4) The clamp members 32a and 32b of the lifting platform 31 are unclamped from the frame 4, the lifting platform 31 is lowered, and both vehicles 30 and 35 are moved to the safety zone. At this time, if there is a safe zone in the median strip, both vehicles may wait there.

(5) After positioning the sensor stand 24 that supports the sensor system at the measurement start position, start measurement. At this time, the base 11 moves along the rail 9 over substantially the entire length of the frame 4, and the link mechanism 17 bends and rotates, so that the sensor stand 24 is moved along the frame 4 as shown in FIG. The measurement is performed by passing through a measurement path in a rectangular zig-sag shape over a wide range several times the length of the frame 4, and from the front of one side of the frame 4 to the front of the other side, with the center at the center. .

(6) After the measurement is completed, the measurement wheel 35 and the lift car 30 return to the same position as when they were set.

(7) Raise the elevator platform 31, receive the measurement mechanism section, and lower it.

(8) Disconnect the control cable to complete the work.

Next, the configuration of the laser measurement device is made up of a sensor system including a laser head 16, a laser scanner 25, photodetection sensors 28a to 28d, etc., and a signal transmission processing device connected thereto, a data recording device, an image display device, and an automatic data analysis device. and its operation will be explained based on FIG.

(1) Sensor system The sensor system non-contactly measures the surface quality of the floor slab by scanning the laser beam at high speed, sensing the amount of reflected laser beam, and detecting the distance in the measurement extension direction.The main components are as follows. It is as follows.

■) A laser head 16 that oscillates and outputs the laser beam 15 necessary for measurement, and a laser power source 40° that drives this laser head 16 and controls the laser power. 2) A cooling water circulation device 41 that cools the inside of the laser head 16. 3) Laser transmission and focusing mechanism 42 that transmits and focuses the laser beam 15 output from the laser head 16 to the laser scanner 25 This is a mirror group and tube 27 interposed between the laser head 16 and the laser scanner 25 Consists of etc. Note that the entire length of this may be constructed from a light guide such as an optical fiber.

4) Laser scanner 2 that scans laser light 15 at high speed
5) and a driver 43° that drives this 5) A light detection sensor 28a consisting of a high-speed, high-sensitivity sensor that detects the amount of reflected laser light scanned by the laser scanner 25 on the floor slab 1
~28d0B) Preamplifier 45° that amplifies the output signal of each photodetection sensor 28a to 28d at high speed 7) High voltage power supply 46° that controls the sensitivity and response speed of photodetection sensor 28a to 28d 8) Distance in the extension direction of floor slab 1 Distance meter 47° for detecting distance This distance meter 47 is not shown in FIG. 1, but is provided on the sensor stand 24.

9) Scanning controller 48° that performs high-precision speed control of the laser scanner 25 and HD signal generation, etc. 10) Distance meter controller 49° that controls the distance meter 47 and processes distance signals 2) Signal transmission processing device 44 This is a measurement It is a part that transmits information, performs high-speed arithmetic processing, and outputs it to a data recording device.The main components and functions are as follows.

■) Data multiplex transmission device 50° that performs optical multiplex transmission of measurement information, etc. 2) Nonlinear amplifier 5 that performs distortion correction of crack signals
1. A crack signal processing circuit 54 consisting of a synthesis circuit 52 for synthesizing crack signals, and a shading corrector 53 for shading correction of the crack signals. 3) Data recording device 55 This records and reproduces measurement information at high density. Something,
This is an input interface 56, a transformer 57
, an output interface 58.

(4) Image display device 59 This quantizes the crack signal and outputs and displays it on the image display.
, a picture monitor 61.

(5) Automatic data analysis device 62 This is a system that automatically processes measurement results offline, and its main components and functions are as follows.

I) A data server and display 63°, which are large-capacity memories that store the original image data and processed data reproduced from the data recording device 55; 2) A primary judgment processor 65°, which determines where cracks or cracks are occurring from the large-scale image; and 3) Extract the characteristic data of the crack and send it to the recognition processor 6.
Extraction processor 67° 4) Recognition processor 66° that recognizes cracks from feature data based on predetermined criteria 5) Image memory 68 and display 69° that display processing results 6) Control of each device and a system controller 70 having a man-machine interface function In the above configuration, the laser device 40, the cooling water circulation device 4
1 and the signal transmission processing device 44 to the image display device 59 are installed in the measurement room 36 of the measurement vehicle 35, and the automatic data analysis device 62 is installed in a separate office building.

In the laser measurement device having the above configuration, the laser scanner 2
At step 5, the amount of reflected light of the laser beam irradiated onto the lower surface of the floor slab 1 is detected by four light detection sensors 28a to 28d.

Changes in the amount of detected light at this time are processed in each part of the block diagram shown in FIG. 5, and the cracks appearing in the area (2) of the floor slab 1 are detected.

At this time, the amount of reflected light of the laser beam 15 by the light detection sensors 28a to 28d is detected by the light detection sensors 28a to 28d.
8d are arranged on each side of the scanning direction of the laser scanner 25, so that when the sensor stand 22 is moved in the longitudinal direction of the bridge girder 3 as shown by the arrow, as shown in FIG. Even with the crossbeam 71, the photodetection sensor on either side of the laser scanner 25 in the scanning direction is always opposed to the scanning part of the laser beam 15, thereby preventing detection failure. Further, since each photodetection sensor is arranged apart from each other in the scanning direction, as shown in FIG. 7, the entire scanning length is completely detected by two photodetection sensors.

The signal processing of measurement information in the signal transmission processing device shown in the block diagram shown in FIG. It will be planned.

In other words, since the distance between the laser scanner 25 and the floor slab within the laser beam scan varies depending on the location as shown in FIG. and image contrast is reduced. Therefore, cracks can be detected on both sides with the same accuracy as in the center, and cracks can be recognized on site. Figure 9 (A) shows the resolution before correction, Figure 9 (B)
indicates the resolution after correction. Further, FIG. 10(A) shows the contrast before correction, and FIG. 10(B) shows the contrast after correction.

Further, the results of an investigation on the image distortion correction performance of the non-linear amplifier 51 are shown in FIG. In this figure, a is before correction, b
is after correction. Further, the results of the shading correction performance investigation of the shading corrector 53 are shown in FIG. In the figure, C is before correction, and d is after correction.

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

In addition, in the above operation, the television camera 31 installed on the sensor stand 24 detects the properties of the bridge appendages and the sensor stand 24
Used to monitor to ensure that it does not come into contact with bridge body attachments when moving.

Moreover, when it is desired to grasp the properties of the bridge body appendage in detail, the lift par 21 is raised and lowered to bring it close to the bridge body appendage and detect it in detail.

〔Effect of the invention〕

According to the present invention, obstruction to other traffic can be continuously measured during measurement. Moreover, the measurable range can be widened with a small device.

Furthermore, since the sway of the bridge body and the sensor system are synchronized, measurements can be made with less influence of height positional deviation on measurement results. Further, by using a laser measuring device for the above measurement, the surface properties of the floor slab can be continuously measured with high precision, and inspection accuracy, workability, and safety can be improved. In addition, the measurement results can be judged mechanically and fairly, and reef evaluation parameters necessary for maintenance and management can be quantitatively understood.

[BRIEF DESCRIPTION OF THE DRAWINGS] The drawings show an embodiment of the present invention, and FIG. 1 is a perspective view;
Figure 2 is a cross-sectional view of the clamp part, Figure 3 is from ■-■ in Figure 2.
4 is a trajectory diagram of the sensor stand, FIG. 5 is a block diagram of the laser measurement device, FIGS. 6 and 7 are explanatory diagrams of the detection action of the light detection sensor, and FIG. Figure 9 (A),
(B), Figures 10 (A) and (B) are explanatory diagrams for signal processing of measurement information, Figure 11 is a line diagram showing the results of an image distortion correction performance survey, and Figure 12 is a shading correction performance survey result. FIG. 1 is a floor slab, 2a and 2b are piers, 3 is a bridge girder, 4 is a frame, 5 a and 5 b are clamp members, 9 is a rail,
10 is a moving body, 11 is a base, 17 is a link mechanism, 15 is a laser beam, 16 is a laser head, 24 is a sensor stand, 25
is a laser scanner, 28a to 28d are photodetection sensors,
44 is a signal transmission processing device, 55 is a data recording device, 59
62 is an image display device, and 62 is a data automatic analysis device.

Claims (3)

[Claims] (1) A base is provided on the lower surface of a frame that is removably attached to a bridge girder extending between the pedestals of a viaduct and is elongated in the length direction of the bridge girder, and is movable in the longitudinal direction of the frame. The base end of a link mechanism that can be bent in the horizontal direction is connected to the base so as to be rotatable in the horizontal direction, and a sensor base is provided at the tip of the link mechanism so that it can be raised and lowered and rotated in the horizontal direction. Laser measurement consists of a laser scanner that scans the laser beam incident from the laser head upward at a predetermined amplitude, and a photodetection sensor that detects the amount of reflected light of the laser beam scanned by this laser scanner. A viaduct inspection device characterized by supporting the device. (2) Photodetection sensors are provided on both sides in the scanning direction of the laser scanner, and a laser head is provided on the frame, and a laser beam is transmitted between the laser head and the laser scanner via the frame, link mechanism, and sensor stand. The viaduct inspection device according to claim 1, further comprising a transmission device. (3) The laser measurement device includes a sensor system that performs high-speed scanning of laser light, detection of the amount of reflected light of the laser light, and detection of distance in the measurement extension direction, and non-contact measurement of the surface properties of the floor slab;
A signal transmission processing device that performs distortion correction, synthesis, and contrast correction of crack signals from the sensor system and performs high-speed calculation processing of measurement information, and a signal transmission processing device that records measurement information and reproduces measurement information from this signal transmission processing device, A data recording device that performs high-density recording and reproduction of measurement information, an image display device that quantizes and displays the crack signal from the data recording device, and monitors the image at the measurement site, and the output from the data recording device. , is characterized by comprising an automatic data analysis device that determines crack locations from large-scale images, extracts crack characteristic data, recognizes cracks from the extraction results, outputs the results, and automatically processes property evaluation parameters. A viaduct inspection device according to claim (1).