JP5717246B2 - Inspection device - Google Patents

Description

  The present invention relates to a self-propelled inspection device that inspects cables, wires, and the like and an inspection method thereof.

  Cables such as power transmission lines may be damaged by natural disasters, birds and beasts or human activities. If left unattended, it may cause damage such as cable disconnection or insulation failure. Inspection is needed. Until now, the faulty route is identified by electrical measurement, and the cable sheath is finally identified visually for the faulty part.

  As a method of this, climbing on a power pole and visually inspecting it, hanging a ladder on the cable, ascending the ladder and visually inspecting it, hanging the air rider on the cable, an operator rides on the air rider, Either a method of visually inspecting while moving, or a method in which an operator gets on a bucket provided in an aerial work vehicle, approaches it to a cable, and visually inspects from that bucket is adopted. .

  However, in these methods, there is a problem that the worker is in danger because of the work at a high place, and the inspection range by one inspection is limited, and the cable between the utility poles cannot be inspected. In addition, it cannot be used in a place where an aerial work vehicle cannot be parked, and even if it can be parked, there are problems such as obstructing other traffic.

  Therefore, the cable jacket observation device is placed on the aerial cable wired in the air by a lift from the ground, and the appearance of the desired part of the aerial cable is photographed with the camera while moving on the aerial cable by remote control by the control means from the ground. However, there has been proposed a cable jacket observation apparatus that displays the appearance image on a display means and inspects the jacket state of an aerial cable (see, for example, Patent Document 1). In this way, by photographing the appearance of the aerial cable by remote control and inspecting it as an image, it is possible to safely and continuously inspect the jacket state of the aerial cable without affecting the environment under the aerial cable. .

  Cables are not limited to transmission lines, but are also used for cable-stayed bridges and suspension bridges. The cable stayed bridge has a structure in which the cable stretched straight from the main tower directly supports the bridge girder, and the suspension bridge has a cable that is bent between the main towers, and the bridge girder is supported by a hanger rope hanging from the cable. . Damage to cables and hanger ropes requires regular inspection because of the danger of the bridge girder falling.

  As an inspection method for this cable, set a rope on the top of the main tower, descend from the top of the tower, reach the cable, attach a pulley to the cable, connect it to the harness, and use this pulley to follow the cable. It is safe and smooth to descend, and a method of observing the deterioration of the cable closely and directly is adopted.

  Also, at the position where the crane can reach, use a crane, place an operator on the bucket provided at the end of the crane, bring it close to the cable, and visually inspect from the bucket, or the position where the crane cannot reach As for, a method of inspecting with a telescope from the ground or from the top of the main tower is also adopted.

  However, inspection with a crane needs to be closed, and requires movement of the crane, which takes time and costs. In addition, there is a problem with safety because of the work at high places. In the visual inspection, only severe deterioration can be detected, and even when such deterioration is detected, the position cannot be accurately specified. In addition, the deterioration situation cannot be recorded with a photograph or the like, and there are cases where it is impossible to inspect the entire circumference of the cable, and there is a problem in safety in the inspection from the top of the main tower.

Japanese Patent Laid-Open No. 7-260453

  Therefore, cables such as cable-stayed bridges and suspension bridges can be recorded with a photograph or the like by photographing the external appearance of the cables by remote control like cables for power transmission lines and inspecting them as images. And safety can be ensured.

  However, in the method described in Patent Document 1, a camera support unit and an arm that move the line of sight of a camera three-dimensionally with respect to the cable, even when the external appearance of the cable is photographed by remote operation and the inspection is performed by video, Since it is necessary to provide a camera moving unit composed of a motor, a drive unit that moves the camera moving unit along the cable, and an elevator that places them on the cable, it cannot be provided at low cost, and the movement also takes time. Therefore, there is a problem that it is difficult to inspect around the cable. In addition, the photographing apparatus using such a large arm has a problem that the photographing position cannot be easily controlled.

  Therefore, it has been desired to provide an apparatus that can be inspected with simple control over the entire circumference of the cable, can be inspected in a short time, and can be provided at a low cost.

  The present invention has been made in view of the above problems, and includes a frame member having a passage through which a cylindrical body such as a utility pole or a cable or a rope is passed, and is formed at both ends in the longitudinal direction of the frame member and is continuous with the passage. The frame member is provided so as to protrude from the frame member toward the center of the opening, and abuts against the outer surface of the cylinder or the rope through the passage to support the frame member on the cylinder or the rope, and It includes traveling support means capable of moving the frame member in the longitudinal direction of the cylinder or rope, and a plurality of photographing means attached to the frame member so as to face the cylinder or rope in the circumferential direction. A cylinder or rope inspection device is provided.

  The frame member is separable into two parts for attachment to a cylindrical body or the like, and is connected using a joint for connecting them. This frame member can be configured using a rectangular tube having a rectangular cross section and a joint including a fitting portion for fitting the rectangular tubes to connect the rectangular tubes. In addition, the frame member may be a rectangular plate attached so as to close the side opening formed by the square tube and the joint excluding the opening at both ends formed by the square tube and the joint. As the plate, a transparent plate can be used so that the inside can be visually recognized by a telescope or the like.

  Further, the frame member can include a cover that covers the openings at both ends, and the cover has a hole through which the cylindrical body or rope can be inserted, and is provided so as to protrude toward the center of the hole. A brush may be provided to clean the outer surface of the body or rope.

  The travel support means is provided at each end where the opening of the frame member is formed, and is supported at least three roller support portions projecting toward the center of the opening, and rotatably supported by each roller support portion. At least three rollers in contact with the outer surface of the rope, and power means for rotating the at least one roller.

  The plurality of photographing means is composed of, for example, four photographing means, and can be attached every 90 ° so as to face the cylindrical body or the rope in the circumferential direction. When the frame member is attached with the above plate, the plurality of photographing means are installed inside the frame member, and the appearance of the outer surface of the cylindrical body or the rope is difficult to see. For this reason, it is possible to provide a plurality of light sources that are provided adjacent to each of the plurality of photographing units and irradiate light in a range where the photographing unit photographs.

  The inspection device can further include a wire coupled to the frame member to pull and recover the device in the event of a failure or the like. This inspection device receives a signal by wireless communication, responds to the signal, transmits image data of an image photographed by the photographing means, and outputs a control means for outputting a signal for rotating or stopping the roller to the power means. Furthermore, it can be provided.

  When the cylindrical body or the rope is a cable extending obliquely or horizontally, in the above configuration, the device may rotate and the damage position may not be known. Therefore, it is preferable that a weight is provided at one position of the frame member so that the apparatus does not rotate around the cable.

  The identification of the damage location is important in the subsequent repair work. If only the damaged part is photographed, it will take time to find the position later. Therefore, it is preferable to further include a distance measuring means for measuring the number of rotations of the roller such as an encoder and calculating the distance to the position. The measured distance is recorded as distance information together with the photographed image, and can be used when specifying the damage position in the subsequent construction. Thereby, the damage position can be specified in a short time.

  In the present invention, in addition to the inspection device for the cylindrical body or rope, an inspection method performed by the inspection device can also be provided. In this inspection method, a frame member having an opening formed at both ends in the longitudinal direction and a passage continuing to the opening is attached to the cylinder or the rope so that the cylinder or the rope passes through the passage. The traveling support means provided so as to protrude from the frame member toward the center of the frame is brought into contact with the outer surface of the cylinder or rope that is passed through the passage, and the frame member is supported by the cylinder or rope A step of photographing the outer surface of the cylindrical body or rope with a plurality of photographing means attached to the frame member in a circumferential direction opposite to the cylindrical body or rope, and the frame member with the travel support means Moving the cylinder or the rope in the length direction. In addition, the inspection method includes a step of determining whether or not the image of the cylindrical body or rope is photographed to the end, and when it is determined that the image is not photographed to the end, the moving step and the photographing step are executed. Let

  By providing the inspection device and the inspection method of the present invention, inspection can be performed even when the cable extends in an oblique direction, and close-up photography can be performed, so that even fine degradation can be found. it can. In addition, since the deterioration situation and the position can be grasped at a place where the worker is away, safety can be improved.

  This inspection device is a small device that does not require an arm or elevator to support it, and does not require a vehicle to move it. Disappear. Moreover, since an arm, an elevator, and a vehicle are unnecessary, it can be provided at low cost and can be inspected at low cost.

  In addition, the inspection device can store the situation as electronic data of the photographed image, so that it can be confirmed again and used for appropriate measures.

  The magnitude of damage to the cable, etc., is important information in the subsequent repair work as well as its position, but the inspection device of the present invention has a constant distance from the surface of the cable etc. to each photographing means and a constant focal length. Therefore, the captured image can be accurately developed on a plane, and the width, length, and area of damage can be calculated with higher accuracy.

  In addition, the photographing unit can acquire a continuous image of a moving image, but it is also possible to calculate the depth of damage by performing image analysis using a plurality of still images cut out from the moving image. . Since the inspection device provided with the distance measuring means can measure the damage position and the moving distance, if the measurement can be performed with high accuracy, the depth can be obtained simply by the principle of triangulation.

The figure which showed the structural example of the inspection apparatus of this invention. The figure which illustrated the cable-stayed bridge and the suspension bridge. The figure which illustrated the cover used for the inspection device of the present invention. The flowchart figure which showed the flow of the inspection method of this invention.

  FIG. 1 is a diagram showing a configuration example of an inspection apparatus according to the present invention. Since the embodiment shown in FIG. 1 is one configuration example, the present invention is not limited to this embodiment.

  The inspection device of the present invention is a self-propelled inspection robot for detecting damage to a cylindrical body or a rope. Examples of cylinders to be inspected include power poles, water pipes, drain pipes, gas pipes, etc., and ropes such as electric cables such as power transmission lines, communication cables such as optical fiber cables, cable-stayed bridges, etc. Examples include a cable extending straight from the main tower in order to support the main girder, a main cable extending between the main towers to support the bridge girder of the suspension bridge, and a hanger rope connecting the main cable and the bridge girder.

  Here, the cable-stayed bridge and the suspension bridge will be briefly described with reference to FIGS. 2 (a) and 2 (b). These bridges are often selected when the distance between both ends of the bridge exceeds 200 m. As shown in FIG. 2 (a), the cable-stayed bridge has a foundation built on the bottom of a river or the sea, and a main tower 20 is constructed on the foundation from steel or reinforced concrete (RC). The main girder 22 is directly supported by a cable 21 extending in an oblique direction. The number of main towers 20 is often two, but may be one or three or more. Only the compressive force acts on the main tower 20.

  The cable 21 connects the main tower 20 and the main girder 22 and supports the main girder 22. The cable 21 is stretched left and right across the main tower 20, balances the forces applied to the left and right, and increases the number of cables 21 to reduce the force acting on each cable. The main girder 22 is a part through which people and cars pass.

  As shown in Fig. 2 (b), the suspension bridge has a foundation built on the bottom of a river or the sea, and a main tower 23 is constructed of steel or reinforced concrete on the foundation. Anchor ledges 24 and A so-called foundation is constructed, and the main cable 25 is stretched between the main tower 23 and the anchor ledge 24, between the main towers 23, and has a structure that supports the bridge girder 27 by a hanger rope 26 suspended from the main cable 25. .

  The main tower 23 is a tower that supports the main cable 25 and is provided at two positions at about 1/4 of the total length from both banks. The anchor ledges 24 are provided at both ends of the bridge and play a role of anchors for connecting the main cables 25. The main cable 25 is hung on the main tower 23, and a steel wire is used. The hanger rope 26 is suspended vertically from the main cable 25 and supports the bridge girder 27. The length varies depending on the position, and a twisted wire rope is used. The bridge girder 27 is a portion where roads and railroads are provided and people and vehicles pass.

  Hereinafter, the inspection device of the present invention will be described in detail as an inspection device for accurately grasping the deterioration state and position of the cable 21 of the cable-stayed bridge shown in FIG. Referring again to FIG. 1, this inspection device is provided with a frame member 11 having a passage through which a cable 21 is passed, and the center of an opening 10 formed at both ends in the longitudinal direction of the frame member 11 and continuing to the passage. The frame member 11 is provided so as to protrude from the frame member 11, abuts against the outer surface of the cable 21 through the passage, supports the frame member 11 to the cable 21, and moves the frame member 11 in the length direction of the cable 21. The travel support means 12 can be moved, and the frame member 11 includes four light sources 13 and four photographing means 14 that are attached to the cable member 21 in the circumferential direction.

  The frame member 11 can be formed by using a plurality of aluminum square tubes as shown in FIG. 1 and connecting portions fitted to the square tubes by three-way joints 15 extending in three directions. The joint 15 has a fitting portion extending in three directions, ie, an x-axis, a y-axis, and a z-axis that are perpendicular to each other. The square tube has a rectangular cross section and is hollow, and the joint 15 is slightly tapered toward the tip, and when pushed, the end having a large cross section is intimately adhered to the inner surface of the square tube and is strong. A fastening force is generated.

  For example, the frame member 11 as shown in FIG. 1 can be made by connecting eight square tubes having a length of 430 mm and four square tubes having a length of 500 mm and using the eight joints 15 described above. . In this case, two openings 10 are formed by eight square tubes having a length of 430 mm, and they are arranged at both ends and connected by four square tubes having a length of 500 mm, whereby the cable 21 passes therethrough. A passage is formed.

  In addition, the frame member 11 is formed by cutting four rectangular tubes having a length of 430 mm arranged on the lower side into, for example, two 100 mm and 330 mm at the cutting portion A, and extending them in two directions (not shown) It connects so that it may connect using a joint. In this joint, the fitting portion extends in a direction different by 180 °. By removing this joint and releasing the connection, the frame member 11 can be separated into two parts. By entering the frame member 11 and connecting again by the joint, the cable 21 passes through the passage. The frame member 11 can be attached to the cable 21.

  The frame member 11 made of a square tube has four openings on its side, but the side opening is closed with a rectangular plate so that the light source 13 and the photographing means 14 can be used even in rainy weather. The inspection work can be performed without getting wet. As this rectangular plate, a plastic resin plate, a wooden plate, or the like can be used. As the plastic resin, polyvinyl chloride, polyethylene, polypropylene, ABS resin (acrylonitrile butadiene styrene resin) or the like can be used. Moreover, it can form with a transparent board so that an internal mode can be visually recognized with a telescope. As the transparent plate, an acrylic plate can be adopted in consideration of strength. These plates can be bonded and connected to the square tube using an adhesive, a drill screw or the like.

  Even if a square tube is not used, it is possible to use only four rectangular plates and join them to form a box as the frame member 11. Further, the frame member 11 is not limited to the box shape, and may be a cylindrical shape. The frame member 11 formed in a box shape or a cylindrical shape in this way forms a continuous hole from one opening through the inside to the other opening, and the hole serves as a passage through which the cable 21 passes. Also in this case, since it is necessary to put the cable 21 inside, the plate joined to the lower side is cut into two, and the two are connected by the connecting means. As the connecting means used here, any means known so far can be used. For example, the connecting means can be connected by using a plurality of joints extending in two directions as described above.

  The travel support means 12 is not limited to this, but the openings 10 formed at both ends in the longitudinal direction of the frame member 11, specifically speaking, in the above example, four 430 mm square tubes are connected to the joint 15. Projecting from the four 430 mm square tubes constituting the end of the frame member 11, specifically speaking, the end of the frame member 11 toward the center of the opening 10 formed by connecting Four roller support portions 16 provided so as to rotate, each roller support portion 16 being rotatably supported and contacting the outer surface of the cable 21, and the same number of rollers 17 as the roller support portions 16 and one And a motor 18 as power means for rotating the roller 17.

  The roller support portion 16 is provided to be separated from each other so as to protrude from the frame member 11 toward the center of the opening 10, and has two recesses or holes into which the rotation shaft of the roller 17 can be inserted. Consists of arms. These arms can be extended and contracted, and can be adjusted according to the diameter of the cable. The roller 17 is composed of a rotation shaft and a cylindrical contact portion provided around the rotation shaft. The rotation shaft protrudes from the contact portion in the longitudinal direction, and both end portions thereof are fitted into the recesses of the arm or inserted into the holes of the arm, so that the roller 17 can be rotated. The motor 18 rotates the roller 17 at a predetermined rotational speed in response to an instruction from a control means (not shown), that is, a signal input.

  The rotation shafts of the roller support portion 16 and the roller 17 can be formed of a plastic resin, a metal such as steel or aluminum, but a metal is preferable from the viewpoint of strength. Since the contact portion of the roller 17 abuts on the outer surface of the cable 21 and supports the frame member 11 on the cable 21, it is preferable that the adhesion is good and the frictional resistance with the outer surface of the cable 21 is large. It can be formed from a material. Examples of the elastic material include rubber, and natural rubber, isoprene rubber, urethane rubber, chloroprene rubber, and other synthetic rubbers can be used.

  In the embodiment shown in FIG. 1, four roller support portions 16 and 17 are provided at one end portion of the frame member 11, and four are provided at the other end portion. However, if the frame member 11 can be appropriately supported by the cable 21 and the frame member 11 can be moved in the length direction of the cable 21, it is not necessary to provide a total of eight, and three are provided at each end. It may be a configuration. Moreover, you may provide more than that.

  The motors 18 as power means may be provided in each roller 17, but if at least one roller 17 can be rotated, the other rollers follow and rotate, so that one or more numbers may be provided. In the embodiment shown in FIG. 1, one motor 18 is provided to move the frame member 11. However, when the power of one motor 18 is insufficient, a necessary number of motors can be provided. .

  The four light sources 13 are four LED lights, the four photographing means 14 are four CCD cameras, and are attached to the center position of the square pipe that forms the longitudinal direction of the frame member 11. In this case, the light source 13 and the photographing unit 14 are attached every 90 ° so as to face the outer surface of the cable 21. One certain light source and photographing means irradiates light around a range of −45 ° to 45 ° in the circumferential direction of the cable 21 to photograph the range, and the second light source and photographing means are arranged in the circumferential direction. Light is irradiated around the range of 45 ° to 135 °, and the range is photographed. The third light source and photographing means irradiates light around the range of 135 ° to 225 °, and photographs the range. And the last 4th light source and imaging | photography means irradiate light centering on the range of 225 degrees-315 degrees (-45 degrees) of the circumferential direction, and image | photograph the range.

  As the light source 13, a light bulb, a fluorescent lamp, or the like can be used, but an LED light having low power consumption, a long life, and a small size is preferable. The light source 13 is necessary when the side portion of the frame member 11 is blocked by a rectangular plate because the appearance of the outer surface of the cable 21 is difficult to see, but the side portion is blocked. If it is not covered or is covered with a transparent plate, it may not be necessary. However, when the outer surface of the cable 21 is inspected in detail, it is desirable to provide the light source 13 because the brighter one is easier to inspect. Examples of the photographing means 14 include a camera equipped with a CCD image sensor or a CMOS image sensor using a photodiode. These cameras can include a storage device for recording captured images.

  Here, the four light sources 13 and the photographing means 14 are used. However, if the surroundings of the cable 21 can be appropriately photographed over one round, the number of light sources 13 and the number of photographing means 14 may be three or less, or five for higher accuracy. The above is also possible. For example, when the frame member 11 is formed in a hollow cylindrical shape, and the light source 13 and the photographing unit 14 are configured to be movable so as to be able to make one rotation in the circumferential direction using a rail member or the like, a plurality of such It is not necessary to use a light source and photographing means, and it is possible to perform inspection with only one light source and photographing means.

  The inspection device can further comprise a wire connected to the frame member 11 to pull and recover the device in the event of a failure or the like. The inspection apparatus receives a signal by wireless communication, transmits image data of an image captured by the imaging unit 14 in response to the signal, and outputs a signal for rotating or stopping the roller 17 to the motor 18. It is possible to further comprise control means for The control means may be a control circuit including a CPU, a memory, and a communication device.

  At this time, the inspection device can receive the signal by the antenna and send it to the control means. However, if the distance from the PC or the like that transmits the signal is increased, it becomes difficult to reach the radio wave, so the received radio wave is amplified. You can have a booster to do it. In addition to these, devices necessary for wireless communication can be provided as necessary.

  In the case of a cable extending diagonally or horizontally, such as a cable of a cable-stayed bridge or a power transmission line, if the cable is simply supported by the traveling support means 12, this inspection device rotates, and the detected damage position is known. It may disappear. Therefore, a weight is provided at one location of the frame member 11 so that the inspection device can be prevented from rotating around the cable. In the case of the inspection device shown in FIG. 1, the rotation of the device can be suppressed by attaching a weight to a square tube positioned directly below the cable in the longitudinal direction of the frame member 11. A weight having a predetermined mass and shape can be directly attached to the lower surface of the square tube using an adhesive or the like, or may be attached via a string.

  The identification of the position where the damage photographed by the imaging means 14 has occurred is important in the subsequent repair work. If only the damaged part is photographed, it will take time to find the position later. Therefore, at least one of the rollers 17 may be further provided with a distance measuring means for measuring the number of rotations of the roller 17 such as an encoder and calculating the distance to the position. The distance measured by the distance measuring means is recorded together with an image taken as distance information, and can be used when specifying a damaged position in later construction. Thereby, the damage position can be specified in a short time.

  When the above control means is provided, the control means associates the distance information measured with the photographed image and transmits it to the PC used by the worker by wireless communication, and displays the distance together with the photographed image on the display screen. It can be stored as data in a storage device such as a PC.

  In addition to the location of damage to cables etc., the size is also important information for the subsequent repair work. In the inspection device of the present invention, the distance from the surface of a cable or the like to each photographing means 14 is constant as shown in FIG. Then, since the focal length is constant, the photographed image can be accurately developed on a plane, and as a result, the width, length, and area of damage can be calculated with higher accuracy. Here, the distance from the surface of the cable or the like to each photographing means 14 is constant, but may not be constant if it is not necessary to calculate the width of such damage with high accuracy. .

  The photographing means 14 can acquire continuous images based on moving images. Since the position of the LED illumination is fixed, in the case of deep scratches (damage that is not parallel to the longitudinal direction of the cable), an image in which the shadow position continuously changes is obtained. For this reason, the depth of damage can be calculated by cutting out a plurality of still images from a moving image and performing image analysis using them. For example, the depth of damage can be calculated by generating three-dimensional image data from a plurality of still images, performing data analysis of the three-dimensional image data, and digitizing the data. These processes can be performed using any expression or program known so far.

  Moreover, since the inspection apparatus provided with the distance measuring means can measure the damage position and the moving distance, if the measurement can be performed with high accuracy, the depth can be obtained simply by the principle of triangulation. Specifically, the distance between two points on the cable is measured accurately through the damaged part, and the angle between the straight line connecting those points and the straight line connecting these points and the deepest part of the damage is photographed. From the image, the depth can be determined from these angles and the distance between the two positions.

  The inspection device of the present invention can be configured such that the side portions of the frame member 11 are closed with a plate and the openings 10 formed at both ends thereof are opened to the atmosphere, but a cover is provided to close the openings 10. Is also possible. FIG. 3 is a view showing an example of a cover that can be attached to the inspection device shown in FIG. 1.

  The cover 30 has a shape and size into which the frame member 11 can be inserted, and can be attached by fitting. The cover 30 is also provided with a hole 31 through which the cable 21 is passed, and, like the frame member 11, it can be separated into two parts for attachment to the cable 21, and they are connected by a joint (not shown).

  In FIG. 3, the cover 30 has a square shape in accordance with the shape of the end of the frame member 11, a first plate 32 having a hole 31 through which the cable 21 passes in the center, and the first plate 32. When the frame member 11 is inserted into the surface, the second plate 33 is adjacent to the side of the frame member 11. Consists of

  The cover 30 is provided with a fitting groove or protrusion at a predetermined position of the second plate 33 so as not to be easily detached from the frame member 11, and with a protrusion or fitting groove at a position corresponding to that of the frame member 11. It is preferable that they can be fitted together. It is also possible to provide other mechanisms so far known so as not to be easily detached from the frame member 11.

  Moreover, the cover 30 can be provided with a brush 34 for cleaning the outer surface of the cable 21 so as to extend toward the center of the hole 31 provided in the center. The brush 34 is composed of a number of elongated animal hairs and fibers provided so as to protrude toward the center from the periphery of the hole 31 formed in the first plate 32 in a circular shape. The brush 34 can remove soil, sand, and the like attached to the outer surface of the cable 21 while the frame member 11 is moved by the travel support means 12. The soil, sand, and the like can be removed from the surface of the cable 21 by adhering to the brush 34, accumulating in the cover 30, and dropping onto the ground below the inspection device attached to the cable 21.

  Next, an inspection method for accurately grasping the deterioration state and position of the cable 21 using the above-described inspection apparatus will be described in detail with reference to the flowchart shown in FIG. Starting from step 400, first, in step 410, an inspection device is attached to the cable 21, and the travel support means 12 provided in the inspection device is brought into contact with the outer surface of the cable 21 and supported by the cable 21.

  By removing the joint extending in two directions, the inspection device separates the frame member 11 to which the traveling support means 12, the light source 13 and the photographing means 14 are attached into two, and moves the upper frame member to the upper side of the cable 21. Then, the lower frame member is moved from the lower side of the cable 21 and connected using a joint, so that the cable 21 can be attached so as to pass through the passage of the frame member 11. When attached in this manner, the rubber roller of the travel support means 12 protruding from the frame member 11 toward the center of the opening 10 contacts the outer surface of the cable 21, and the frame member 11 is caused by a large frictional resistance between the rubber roller and the cable 21. Is supported by the cable 21.

  Next, in step 420, the four light sources 13 and the photographing means 14 attached to the frame member 11 and facing the cable 21 in the circumferential direction irradiate the outer surface of the cable 21 with light, and photograph. The photographed image is stored as image data in a storage device when the photographing means 14 is provided, and is transmitted to a PC or the like used by a worker by wireless communication or the like.

  In step 420, after the outer surface of the cable 21 is photographed around the cable 21 by the four photographing means 14, the process proceeds to step 430, where it is determined whether the cable 21 has been photographed to the end. If the frame member 11 is in the middle of the cable 21, there is still a portion to be photographed, so it is determined that it is not the last, and if the end of the cable 21 is reached and the photographing is finished at that position, the last Judge. This determination can be made by, for example, the control means described above. Although it is necessary to take a picture when the end is reached, it is not necessary to take a picture again after the picture is taken.

  If it is determined that it is not the last, the process proceeds to step 440, and the frame member 11 is moved by a certain distance in the length direction of the cable 21. This fixed distance may be any distance as long as adjacent images overlap, but the number of images to be captured decreases when the number of overlapping portions is as small as possible, and the number of data to be stored This is preferable in that the amount of memory used can be reduced. Therefore, a distance that minimizes the overlap as much as possible can be determined in advance and moved by that distance.

  After moving in this way, the process returns to step 420 again and the outer surface of the cable 21 is photographed using the four light sources 13 and the photographing means 14. Then, in step 430, it is determined whether the image has been taken to the end. Therefore, the process from step 420 to step 440 is repeated until the end of the cable 21 is reached and the photographing at the end is completed.

  On the other hand, if it is determined at step 430 that it is the last, there is no part to be photographed on this cable 21, so the process proceeds to step 450 and the inspection is terminated. This completes the inspection of one cable. If there is a cable that has not been checked yet, the process starts again from step 400 and the same check is performed.

  The inspection apparatus and the inspection method of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the above-described embodiments, and other embodiments, Additions, changes, deletions, and the like can be made within the scope that can be conceived by those skilled in the art, and any embodiment is included in the scope of the present invention as long as the effects and advantages of the present invention are exhibited.

DESCRIPTION OF SYMBOLS 10 ... Opening, 11 ... Frame member, 12 ... Traveling support means, 13 ... Light source, 14 ... Imaging means, 15 ... Joint, 16 ... Roller support part, 17 ... Roller, 18 ... Motor, 20 ... Main tower, 21 ... Cable 22 ... main girder, 23 ... main tower, 24 ... anchor ledge, 25 ... main cable, 26 ... hanger rope, 27 ... bridge girder, 30 ... cover, 31 ... hole, 32 ... first plate, 33 ... second Board, 34 ... Brush

Claims (9)

An inspection device for inspecting a deterioration state of a cylindrical body or a rope,
A frame member having a passage through which the cylindrical body or rope is passed;
Formed at both ends in the longitudinal direction of the frame member and projecting toward the center of the opening continuous with the passage, abutting on the outer surface of the cylindrical body or rope through the passage; Travel support means capable of supporting the frame member on the cylindrical body or rope and moving the frame member in the longitudinal direction of the cylindrical body or rope;
A plurality of photographing means attached to the frame member in a circumferential direction opposite to the cylindrical body or rope ;
In order to prevent the inspection device from rotating about the cylindrical body or mesh, the lower surface of the frame member located directly below the cylindrical body or mesh or the string on the lower surface Inspection device including a weight to be attached . Further comprising a distance measuring means for measuring a distance to the inspection apparatus is moved, inspection apparatus according to claim 1. The inspection device according to claim 1 or 2 , wherein the plurality of imaging units are attached at regular intervals in the circumferential direction, and the distance from the surface of the cylindrical body or rope is the same. The travel support means is provided at each end portion of the frame member where the opening is formed, and is supported rotatably by each of the roller support portions and at least three roller support portions protruding toward the center of the opening. is an outer surface of the cylindrical body or rope-like material and at least three rollers in contact, and a power means for rotating at least one of said rollers, inspection apparatus according to any one of claims 1 to 3 . The frame member is formed using a rectangular tube having a plurality of cross-sections, a plurality of joints including fitting portions that are fitted to the square tube, and a plurality of rectangular transparent plates. 5. The inspection device according to any one of 4 above. The inspection device is provided close to each of the plurality of imaging means further comprises a plurality of light sources for emitting light in a range in which the imaging unit captures any one of claims 1 to 5 Inspection equipment as described in. Covers for covering the openings formed at both ends of the frame member are provided, and the cover has a hole through which the cylindrical body or rope can be inserted, and projects toward the center of the hole. provided, comprising a brush for cleaning the outer surface of the cylinder or rope-like material, inspection apparatus according to any one of claims 1-6. Further comprising a wire connected to the frame members, inspection apparatus according to any one of claims 1-7. Control means for receiving a signal by wireless communication and transmitting image data of an image photographed by the photographing means in response to the signal or outputting a signal for rotating or stopping the roller to the power means; The inspection device according to claim 4 provided.