JPH03260206A - Apparatus for inspecting elevated bridge - Google Patents

Abstract

PURPOSE:To enhance inspection accuracy by providing a base stand to the upper end of the lift apparatus on the roof of a vehicle to provide the base end of a link mechanism and the sensor stand provided at the leading end thereof in a rotatable manner and mounting a measuring apparatus supporting a laser scanner and a light detection sensor on the sensor stand. CONSTITUTION:The roof of a vehicle 4 is loaded with a lift apparatus 8 in a forwardly and rearwardly movable manner and a base stand 9 is provided at the upper end of the lift apparatus 8 and the base end part of a bendable link mechanism 10 is connected to the base stand in a horizontally revolvable manner. Next, a sensor stand 17 is provided at the leading end part of the link mechanism 10 in a vertically movable and horizontally rotatable manner. Subsequently, a laser measuring apparatus formed from a laser scanner 18 allowing the laser beam 20 incident from a laser head 19 to upwardly scan in predetermined amplitude and light detection sensors 23a - 23d detecting the reflected quantity of the laser beam 20 is supported on a sensor stand 17. The under surface of a floor panel 1 scanned by the laser beam 20 using the laser scanner 18 to detect the reflected quantity of the laser beam. By this constitu tion, inspection work can be performed within a short working time.

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]

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 carry out inspection surveys at an appropriate frequency 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.

Additionally, instead of the above-mentioned visual inspection, inspection using a television camera has become popular in recent years.

Furthermore, as a device for the above inspection, JP-A-60-13
As shown in JP-A No. 3108 and JP-A No. 63-107603, 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.

[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 the subjective differences of the inspector 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. Another problem was that workers were forced to do 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-J, No. 07603, the vehicle must be fixed on the elevated bridge using outriggers, so the inspection range per installation is limited, and repeated small movements are required. There is loss time required,
In addition to poor inspection efficiency, this vehicle also poses a problem of getting in the way of other vehicles.

The present invention has been developed in consideration of the above-mentioned problems, and it is possible to perform inspection work in a short time without overlooking damage over a wide range of the entire lower surface of the floor slab, without subjecting the inspector to subjective differences, and, The purpose of the above inspection is to provide a viaduct inspection device that can continuously measure the surface properties of deck slabs with high precision and improve inspection accuracy, workability, and safety by using a laser measurement device. It is something to do.

[Means to solve the problem]

In order to achieve the above object, the viaduct inspection device according to the present invention has an elevating device mounted on the roof of a vehicle so as to be movable in the front and rear directions, and a base provided at the upper end of the elevating device, which is mounted horizontally on a base provided at the upper end of the elevating device. The base end of the bendable link mechanism is connected so as to be rotatable in the horizontal direction, and a sensor stand is provided at the tip of the link mechanism so as to be able to move up and down and rotate in the horizontal direction. The structure supports a laser measurement device consisting of a laser scanner that scans an incident laser beam upward at a predetermined amplitude, and a photodetection sensor that detects the amount of reflected light of the laser beam scanned by the laser scanner. ing.

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 the laser beam is transmitted between the laser head and the laser scanner via the frame, link mechanism, and sensor stand. A device was installed.

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]

Park the vehicle at a suitable location under the viaduct, raise the lifting device, position the base at the upper end of this lifting device at the specified height, and then move the lifting device and start the link mechanism. By the bending operation, the sensor stand provided at the tip of this link mechanism is moved in a rectangular zigzag shape parallel to the bridge girder and in the width direction of the deck slab. And at this time,
A laser scanner installed 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 installed on the sensor stand.

〔Example〕

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

In Figure 1, 1 is the deck slab of the viaduct, and this deck 1
is supported by a plurality of bridge girders 3 extending between bridge piers 2.

Reference numeral 4 denotes a measuring car, and a pair of guide rails 5, 5 are provided on the roof of this measuring car 4, at the front and rear.
A guide frame 6 is slidably mounted on 5. A lifting device 8 having a parallel link structure is attached to the guide frame 6 and is raised and lowered by a hydraulic cylinder 7. Reference numeral 9 denotes a base mounted on the upper end of this lifting device 8. On the upper surface of this base 9, the base end of the first arm 10a of the link mechanism 10 is horizontally rotatable and connected to the motor 11. It is connected so that it can be rotated. Also, this first arm 1
A base end portion of a second arm 10b is similarly coupled to the distal end of the arm 0a so as to be rotatable in the horizontal direction and to be rotatably driven by the motor 12. A support stand 13 is provided at the tip of the second arm 10b, and a lift par 14 is provided on this support stand 13.
is supported slidably 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 13 meshes with this rack, and the pinion gear is connected to the motor 16.
The lift par 14 is raised and lowered by being driven by.

A sensor stand 17 is attached to the upper end of the lift par 14 so as to be rotatable about a vertical axis by a motor 15. A laser scanner 18 is located at the center of rotation of the sensor stand 17.
is the provision. This laser scanner 18 is mounted on the base 9
Laser light 20 incident from a laser head 19 provided on the lower surface of the laser beam is scanned upward at a predetermined amplitude. The laser beam 20 from the laser head 19 is transmitted to a mirror 21a provided at one end of the base 9 and a second mirror 21b2 provided at the base of the first arm 10a of the link mechanism 10. 3rd mirror 2
1c1 Fourth mirror 2 provided at the tip of the second arm 10b
The signal is transmitted via the fifth mirror 21e provided on the 1d1 sensor stand 17. In addition, the second. Third. Fourth
Transmission is made between the respective mirrors 21b to 21c via a tube 22. Note that the transmission of this laser light is not limited to the use of mirrors (it may also be replaced with a light guide such as an optical fiber).

The sensor stand 17 has two photodetection sensors 23a spaced apart in the scanning direction on both sides of the scanning surface of the laser scanner 18;
23b, 23c, and 23d are provided in a direction intersecting the scanning plane of the laser scanner 18. Also, the sensor stand 17
A television camera 24, a positioning sensor 24a1, and a distance meter 47 are provided. This distance meter 47 detects the distance of the sensor stand 17 in the extending direction of the floor slab 1, and uses a roller type that moves along the lower surface of the bridge girder 3, for example.

The measurement wheel 4 has a measurement chamber 25, and the measurement chamber 25 and the measurement mechanism section on the base 9 side are connected by cables connected to the lifting device 8.

These cables include electric wires for driving the laser head 19 and each motor, and cooling water hoses for cooling the laser head 19.

The operation of the above configuration will be explained below.

(1) Move the measurement vehicle 4 to the site.

(2> Operate the lifting device 8 to raise the base 9.

(3) The sensor stand 17 that supports the sensor system is operated back and forth to adjust its parallelism and position with the floor slab 1.

(4) After positioning the sensor stand 17 that supports the sensor system at the measurement start position, start measurement. At this time, the lifting device 8
By moving along the guide rails 5, 5 and by bending and rotating the link mechanism 10, the sensor stand 17 moves around the measuring wheel 4 and lifts the lifting device 8, as shown in FIG. The measurement is carried out along a rectangular zigzag measurement path over a wide range several times the length of movement and from one side of the measuring wheel 4 to the other side. At this time, if the width of the floor slab 1 is wide, the lane in which the measuring vehicle 4 is positioned is changed as shown in FIG.

(5) After the measurement is completed, the lifting device 8 is lowered and stored, and the work is completed.

Next, the configuration of the laser measurement device is made up of a sensor system including a laser head 19, a laser scanner 18, photodetection sensors 23a to 23d, 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.

l) A laser head 19 that oscillates and outputs the laser beam 20 necessary for measurement, and a laser power source 40° that drives this laser head 19 and controls the laser power.2) A cooling water circulation system that cools the inside of the laser head 19!
41° 3) Laser transmission/focusing mechanism that transmits and focuses the laser beam 20 output from the laser head 19 to the laser scanner 18 42° This is a mirror group and tube interposed between the laser head 19 and the laser scanner 18 It consists of 22 mag.

4) Laser scanner 1 that scans laser light 20 at high speed
8 and a driver 43° that drives this 5) Photodetection sensor 2 consisting of a high-speed, high-sensitivity sensor that detects the amount of reflected light of the laser beam 20 scanned by the laser scanner 18 on the floor slab 1
3a-23d06) Preamplifier 45° for high-speed amplification of the output signal of each photodetection sensor 23a-23d 7) High-voltage power supply 46° for controlling the sensitivity and response speed of photodetection sensor 23a-23d 8) In the extension direction of floor slab 1 Rangefinder 47° that detects distance 9) Scanning controller 48° that performs high-precision speed control of the laser scanner 18 and HD signal generation, etc. 10) Rangefinder controller 49° that controls the rangefinder 47 and processes distance signals (2) Signal transmission processing device 44 This is a part that transmits measurement information, performs high-speed arithmetic processing, and outputs it to the data recording device.The main components and functions are as follows.

1) Data multiplex transmission device 50 for optical multiplex transmission of measurement information, etc. Note that this device ft 50 may not be used in particular, and measurement information may be directly connected to the scanning controller 48 or the like.

2) Nonlinear amplifier 51 that performs distortion correction of cracked signals
, a synthesis circuit 52 that synthesizes crack signals, and a shading corrector 53 that performs shading correction of the crack signals. (3) Data recording device 55 This records and reproduces measurement information at high density. This includes an input interface 56, a transport 57,
It consists of an output interface 58.

(4) Image display device f59 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.

1) 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 are occurring from a large-scale image; 3) Extract the characteristic data of cracks and use certified 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 f59 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 1
At step 8, the amount of reflected light of the laser beam irradiated onto the lower surface of the floor slab 1 is detected by the four light detection sensors 23a to 23d.

Changes in the amount of detected light at this time are processed in each part of the block diagram shown in FIG. 3, and cracks appearing on the lower surface of the floor slab 1 are detected.

At this time, the amount of reflected light of the laser beam 20 by the light detection sensors 23a to 23d is detected by the light detection sensors 23a to 23d.
3d are placed on each side of the scanning direction of the laser scanner 18, so that when the sensor stand 17 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 light detection sensor on either side of the laser scanner 18 in the scanning direction is always opposed to the scanning part of the laser beam 20, thereby preventing detection failure. Further, since each photodetection sensor is arranged apart from each other in the scanning direction, as shown in FIG. 5, the entire scanning length is completely detected by two photodetection sensors.

The signal processing of measurement information in the signal transmission processing device 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 7 (A) shows the resolution before correction, Figure 7 (B)
indicates the resolution after correction. Further, FIG. 8A shows the contrast before correction, and FIG. 8(B) shows the contrast after correction.

Further, the results of the image distortion correction performance investigation of the nonlinear amplifier 51 are shown in FIG. In this figure, a is before correction, and 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.

Furthermore, in addition to the above-mentioned embodiment, as shown in FIG. 11, the base 9 can be tilted to the side by 90 degrees, so that the sensor stand 24 can tilt the building 80 as shown in FIG. The properties of the side walls can be inspected in the same manner as the inspection of the floorboard 1 described above.

As an example of means for tilting the base 9, as shown in FIG. The device 83 is provided to be rotatably driven, and the base 9 is mounted on this rotary base 82 .

〔Effect of the invention〕

According to the present invention, there is no oversight of damage over a wide range of the entire lower surface of the floor slab 1, no subjective differences among inspectors, and inspection work can be carried out in a short time. Moreover, by using a laser measuring device for the above-mentioned inspection, the surface properties of the floor slab 1 can be continuously measured with high accuracy, and inspection accuracy, workability, and safety can be improved.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a perspective view;
FIG. 2 is a trajectory diagram of a sensor stand, FIG. 3 is a block diagram of a laser measuring device, FIGS. 4 and 5 are explanatory diagrams of the detection action of a photodetection sensor, and FIG. 6 is a diagram. Figures 7 (A) and (B) and Figures 8 (A) and (B) are explanatory diagrams for signal processing of measurement information, Figure 9 is a diagram showing the results of an image distortion correction performance survey, and Figure 10 The figure is a diagram showing the results of a shading correction performance investigation, FIG. 11 is a sectional view showing the main part of another embodiment, and FIG. 12 is a diagram showing its working state. 1 is a floor slab, 2 is a bridge pier, 3 is a bridge girder, 4 is a measuring car, 8 is a lifting device, 10 is a link mechanism, 17 is a sensor stand, 18 is a laser scanner, 19 is a laser head, 20 is a laser beam, 2
3a to 23d are light detection sensors. Figure 2

Claims (3)

[Claims] (1) A lifting device is mounted on the roof of the vehicle so as to be movable in the longitudinal direction, and the base end of a link mechanism that can be bent horizontally is attached to a base provided at the upper end of the lifting device. A sensor stand is attached to the tip of the link mechanism so that it can be moved up and down and rotated horizontally, and the laser beam incident from the laser head is directed upward at a predetermined amplitude on the sensor stand. 1. A viaduct inspection device characterized by supporting a laser measuring device consisting of a laser scanner that scans by the laser scanner, and a photodetection sensor that detects the amount of reflected light of the laser beam scanned by the laser scanner. (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).