JPH03260207A - Apparatus for inspecting elevated bridge - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a viaduct inspection device that is capable of inspecting the properties of bridge bodies of viaducts such as expressways and railways, as well as the condition of external walls of buildings and other buildings. It is.

[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 carry out inspection surveys at an appropriate frequency and to 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-80-13
As shown in JP-A No. 3106 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 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 No. 80-13310,
In the respective publications of JP-A-63-107603, it is only possible to inspect the bottom surface of the elevated road slab where self-propelled vehicles are parked; When attempting to inspect the floor slabs of roads, there was a drawback in that a self-propelled vehicle had to be moved on each road.

The present invention has been developed in consideration of the above-mentioned problems, and allows inspection of the surface of the floor slab without overlooking damage or subjective differences among inspectors, and in a short work time.Furthermore, inspection vehicles can It is possible to inspect both the lower surface of the floor slab of the elevated road where the vehicle is parked and the lower surface of the floor slab above it.In addition, it is also possible to inspect the vertical wall on the side of the vehicle being inspected. The object of the present invention is to provide a highly versatile viaduct inspection device that can perform a wide range of inspection operations such as inspection of elevated viaducts and side walls of buildings.

[Means to solve the problem]

In order to achieve the above object, the viaduct inspection device according to the present invention has a base mounted on the roof of a measurement vehicle so as to be movable in the front and rear directions, and a first beam member can be protruded from the base in the lateral direction. A second beam member is supported on the tip of the first beam member via a rotating base, and is slidable in a direction perpendicular to the first beam member and centered on an axis parallel to the first beam member. A third beam member is rotatably supported on one end of the second beam member via another rotation base, and the third beam member is rotatably supported with respect to the second beam member. A sensor stand is slidably supported on this third beam member, and the laser beam incident from the laser head is directed to a predetermined direction. The structure supports a laser measurement device consisting of a laser scanner that scans with the amplitude and a photodetection sensor that detects the amount of reflected light of the laser beam scanned by the laser scanner.

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 result, output the result, and perform property evaluation. It consists of an automatic data analysis device that automatically processes Toto parameters.

[For production]

By rotating the second beam member relative to the first beam member,
The position of the third beam member supporting the sensor stand is changed from the upper side of the measuring car to the lower side. By sliding the second beam member with respect to the first beam member, the height of the third beam member is changed, and the position of the sensor stand relative to the floor slab in the height direction is adjusted.

By moving the base, the sensor stand moves along the floor slab together with each of the beam members, and the surface of the floor slab is inspected by a laser measuring device supported on the sensor stand. Furthermore, by making the third beam member vertical and moving the sensor stand along it, the side wall of the building can be inspected.

〔Example〕

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

1 in the figure is a measurement vehicle. A guide rail 2 is provided on the roof of this in the front and back direction, and a base 3 is slidably mounted on the guide rail 2. The base 3 and the guide rail 2 are engaged with each other through a rack and pinion gear (both not shown), and by rotating the pinion gear provided on the base 3 side with a motor 4, the base 3 is guided. rail 2
It is designed to move along the

A first beam member 5 is supported on the base 3 so as to be slidable in a direction perpendicular to the moving direction of the base 3.
By driving a motor 6 provided on the base 3, the rack and pinion gears are engaged to slide.

As shown in FIG. 4, a cylindrical body 8 is fixed to the tip of the first beam member 5, and a first rotating base 9 is attached to the cylindrical body 8.
It is provided so that it can rotate freely around an axis parallel to the beam member 5 and is driven by a motor. A second beam member 11 is slidably supported on the first rotating base 9, and by driving a motor 12 provided on the rotating base 9, the rack 13 and the pinion 14 are engaged. It is designed to slide vertically.

As shown in FIG. 5, a cylindrical body 1 is attached to one end of the second beam member 11.
5 is fixed to the cylinder body 15, and a second rotating base 16 is attached to this cylinder body 15.
is provided so as to be rotatable about an axis parallel to the second beam member 11 and driven by a bracket motor 17 . A third rotary base 18 is rotatably driven by a bracket motor 19 on this second rotary base 16 so as to be rotatable about an axis perpendicular to the rotation axis of the second rotary base 16. It is designed so that A base end of a third beam member 20 is rotatably driven by a bracket motor 21 on the third rotation base 18 so as to be rotatable about an axis perpendicular to the rotation axis of the third rotation base 18. It is connected so that it is connected.

22 is a sensor stand, and this sensor stand 22 is slidably mounted on the third beam member 20, and is connected to the third beam member by a drive mechanism such as a rack (not shown), a pinion gear, and a motor that drives the pinion gear. It is designed to move over approximately the entire length of 20.

A laser scanner 23 is provided on the sensor stand 22, and this laser scanner 23 receives a laser beam 24 incident thereon.
is scanned in a direction away from the third beam member 20 at a predetermined amplitude. The sensor stand 22 is also provided with two photodetection sensors 25a on both sides of the scanning surface of the laser scanner 23, spaced apart in the scanning direction.

25a, 25c, and 25d are provided in a direction intersecting the scanning plane of the laser scanner 23.

Reference numeral 26 denotes a laser head provided on the ceiling of the measurement vehicle 1 facing rearward, and the laser beam 24 oscillated from this laser head 26 is transmitted to the laser scanner 23 by a laser beam transmission means. ing. A first mirror 2 provided at the rear of the measuring vehicle 1 as an example of this laser beam transmission means.
7a1 Second mirror 27 provided at the rear end of the guide rail 2
b1 Third mirror 27 provided on the base 3 c1 Fourth mirror 2 provided on the first rotating base 9 provided at the tip of the first beam member 5
7d1 Consists of a fifth mirror 27e provided on the second rotating base 13 provided at the tip of the second beam member 11. Note that among these mirrors, the intermediate mirror may be replaced with a flexible tube such as an optical fiber.

The measurement vehicle 1 has a measurement chamber 28, and the measurement chamber 28, the laser head 26, and the light detection sensors 25a of the sensor stand 22.
25d and each motor etc. are connected by cables (not shown). These cables include electric wires, fluid piping, cooling water hoses, etc. 29 is a contact prevention sensor provided on the sensor stand 22, and 29a is a monitoring television camera provided on the second rotating base 16.

The operation of the above configuration will be explained below.

◎When inspecting the floor slab above the measurement vehicle (Fig. 1) (1)
Move measurement vehicle 1 to the site.

(2) The first beam member 5 is extended to the side of the measurement wheel 1.

(3) The first rotating base 9 is rotated to vertically stand the second beam member 11, and the second beam member 11 is raised.

(4) Turn the third beam member 20 so that it is parallel to the lower side of the road slab 1.

(5) While pointing the sensor stand 22 upward, move it up and down, back and forth, and left and right to check the distance and parallelism between the floor slab l and the sensor system.
and adjust the position. This adjustment is performed remotely by a monitoring television camera provided on the second rotating base 16.

The vertical movement of the sensor stand 22 is performed by the vertical movement of the second beam member 11, the longitudinal movement is performed by the movement of the base 3, and the horizontal movement is performed by the movement of the first beam member 5 and the movement of the sensor stand 22. At this time, a contact prevention sensor 29 provided on the sensor stand 22 monitors the sensor stand 22 and the second beam member 11 so that they do not come into contact with the bridge attachment.

(6) By moving the base 3, the first beam member 5, and the sensor stand 22, the sensor stand 22 is moved to the floor slab 1 as shown in FIG.
The lower surface of the floor slab 1 is inspected using a sensor system by moving along a rectangular zigzag trajectory 30 along the lower surface of the floor slab 1. At this time, as shown in FIG. 7, the measuring car 1 is sequentially
By moving as shown in (3), the lower surface of the wide floor slab 1 can also be inspected. Note that it is also possible to continuously measure between piers by moving the measuring vehicle 1 forward or backward while measuring.

◎When inspecting the underside of the floor slab of the road where the measuring vehicle is parked (Fig. 2) In this case, rotate the first rotating base 9 and rotate the second beam member 11 in the opposite direction to the above case. This is the same as the above case except that the third beam member 20 is positioned below the lower floor slab 1.

◎When inspecting the side wall of a building (Figure 3).

The measurement vehicle 1 is parked near a building, and the third beam member 20 is set vertically to perform an inspection operation.

Next, the configuration of the laser measurement device is made up of a sensor system including a laser head 26, a laser scanner 23, photodetection sensors 25a to 25d, 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.

(1) A laser head 26 that oscillates and outputs the laser beam 24 necessary for measurement, and a laser power source 40° that drives this laser head 26 and controls the laser power. (2) Cooling water circulation that cools the inside of the laser head 26 Device 41° (3) Laser transmission/focusing mechanism 42° that transmits and focuses the laser beam 24 output from the laser head 26 to the laser scanner 23 This is a group of mirrors interposed between the laser head 26 and the laser scanner 23 and/or a flexible tube.

(4) A laser scanner 23 that causes the laser beam 24 to travel at high speed, and a driver 43° that drives this (5) High speed and high sensitivity that detects the amount of reflected light of the laser beam that is scanned on the floor slab 1 by the laser scanner 23 Light detection sensor 2 consisting of a sensor
5a to 25d0 (6) Preamplifier 45° for high-speed amplification of the output signal of each photodetection sensor 25a to 25d (7) High voltage power supply 46° for controlling the sensitivity and response speed of photodetection sensor 25a to 25d (8) Floor slab 1 A 47° rangefinder that detects the distance in the extension direction (9) A 48° scanning controller that controls the high precision speed of the laser scanner 23 and creates HD signals, etc. (10) A rangefinder that controls the rangefinder 47 and processes distance signals Controller 49° (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 50 may not be used in particular, and the measurement information may be directly connected to the scanning control 48 or the like.

2) Nonlinear amplifier 5 that performs distortion correction of cracked 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 includes input interface 56, transport 5
7, an output interface 58.

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

5) Data automatic 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 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 man 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 28 of the measurement vehicle 1, and the automatic data analysis device 62 is installed in another building such as an office.

In the laser measurement device having the above configuration, the laser scanner 2
3, 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 25a to 25d.

Changes in the amount of detected light at this time are processed in each part of the block diagram shown in FIG. 8, 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 24 by the light detection sensors 25a to 25d is detected by the light detection sensors 25a to 25d.
5d are placed on each side of the scanning direction of the laser scanner 23, 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 light detection sensor on either side of the laser scanner 23 in the scanning direction is always opposed to the scanning part of the laser beam 24, thereby preventing detection failure. Furthermore, since each photodetection sensor is arranged apart from each other in the scanning direction, as shown in FIG. 10, the entire scanning length is detected by two photodetection sensors without fail.

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 23 and the floor slab during laser beam scanning differs depending on the location as shown in FIG. 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 12 (A) shows the resolution before correction, and Figure 12 (A) shows the resolution before correction.
B) shows the resolution after correction.

In addition, Fig. 13A shows the contrast before correction; Fig. 13A shows the contrast before correction;
B) shows the contrast after correction.

Further, the results of an investigation on the image distortion correction performance 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.

〔Effect of the invention〕

According to the present invention, the surface of the floor slab 1 can be inspected without overlooking damage or with subjective differences among inspectors, and moreover, can be carried out in a short working time. Furthermore, it is possible to inspect both the lower surface of the elevated road slab where the inspection vehicle is parked and the lower surface of the floor slab above it, as well as the vertical wall surface on the side of the inspection vehicle. Thus, it is possible to obtain a highly versatile viaduct inspection device that can perform a wide range of inspection operations such as inspection of two-story viaducts and side walls of buildings.

[Brief explanation of drawings]

The drawings show embodiments of the present invention, and include Fig. 1, Fig. 2,
3 is a perspective view and a front view showing embodiments with different usage modes, FIG. 4 is a cross-sectional view showing the configuration of the section viewed from the ■ arrow in FIG. 1, and FIG. 5 is a section viewed from the V arrow in FIG. 1. FIG. 6 is a cross-sectional view taken along the line Vl-Vl in FIG. 5, and FIG.
The figure is a trajectory diagram of the sensor stand, Figure 8 is a block diagram of the laser measurement device, Figures 9 and 10 are explanatory diagrams of the detection action of the photodetection sensor, Figures 11 and 12 (A), (B ), FIGS. 13(A) and (B) are explanatory diagrams for signal processing of measurement information,
Figure 14 is a diagram showing the results of the image distortion correction performance survey, Figure 15
The figure is a diagram showing the results of a shading correction performance investigation. 1 is the measuring car, 3 is the base, 5, 11.20 is the first, second,
3rd beam member, 9, 16. 18 are first, second and third rotation bases, 22 is a sensor stand, 23 is a laser head, 25a-
25d is a light detection sensor. …Kubbu Expressway Technology Center / Evening Foundation

Claims (1)

[Claims] A base is mounted on the roof of the measuring vehicle so as to be movable in the front and rear directions, and a first beam member is supported on the base so as to be able to protrude laterally, and the tip of the first beam member is A second beam member is supported via a rotation base in the section so as to be slidable in a direction perpendicular to the first beam member and rotatable about an axis parallel to the first beam member.
A third beam member is attached to one end of the beam member via another rotating base so as to be rotatable relative to the second beam member and centered on an axis parallel to the longitudinal direction of the third beam member. A laser scanner that is rotatably connected, has a sensor stand slidably supported on the third beam member, and scans the sensor stand with a laser beam incident from a laser head at a predetermined amplitude; A viaduct inspection device characterized by supporting a laser measurement device comprising a photodetection sensor that detects the amount of reflected laser light scanned by a 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).