JP6001206B1 - Bridge inspection device - Google Patents

Abstract

[PROBLEMS] A bridge having a relatively simple structure, which can effectively prevent a fall, can be operated with less effort, can be prevented from traveling, can inspect a relatively wide range of bridge members, and has less danger in use. Provide inspection equipment. A floor slab inspection device 1 drives a bar member 2, two wheels 3 provided near one end of the bar member 2, a magnet 4 provided at one end of the bar member 2, and the wheel 3. A motor 5 to be operated, a support portion 11 provided at the other end of the rod member 2, an operation input portion 12 for receiving an input for commanding the operation of the wheel 3, and a camera 6 disposed in the vicinity of one end of the rod member 2 The laser distance meters 16A, 16B, 17A, and 17B for detecting the inspection position are provided. The wheels 3 come into contact with the running surface S of the floor slab by the magnetic force of the magnets 4. When the inspector 40 located on the bottom plate of the box girder presses the forward button of the operation input unit 12, the wheel 3 rotates and the floor slab inspection device 1 travels. The inspector 40 follows the floor slab inspection apparatus 1 while holding the support portion 11. [Selection] Figure 3

Description

  The present invention relates to a member having a downward surface of a bridge and a bridge inspection device for inspecting members around the member.

  Steel slabs as members of road bridges are light in comparison with concrete slabs and the like, and are therefore widely used mainly for bridges between long supports.

  In recent years, with the aging deterioration of steel slabs, fatigue damage frequently occurs in the welded portion between the deck plate and members such as vertical ribs. Such fatigue damage of the steel slab may cause cracks, potholes, etc. in the pavement on the steel slab, so it is important to detect it early and repair it. Therefore, in bridge maintenance management, as a primary inspection method to detect fatigue damage of steel slabs, close inspection is performed by an inspector approaching and checking the inspection points of steel slabs, and coating cracks A phenomenon associated with fatigue damage such as rust and rust is detected.

  In order for the inspector to visually observe the steel slab, there is a method in which a ladder or a stepladder is installed inside the box girder, and the inspector climbs on this ladder to approach the members such as the deck plate and the vertical rib. However, this method has a problem that the inspector is exposed to the risk of falling. In addition, there is a method of bringing the inspector closer to the bottom surface of the steel deck and vertical ribs by using a bucket type aerial work vehicle, but it is possible to move the aerial work vehicle with the inspector placed at a high place. Can not. Therefore, every time the inspection position is changed, it is necessary to repeatedly lower the bucket, the inspector gets out of the bucket and the work vehicle at high altitude moves, and then the inspector gets on the bucket again and raises the bucket. Therefore, the method using an aerial work vehicle has a problem that inspection efficiency is poor.

  In order to solve such a problem, there is a pole camera in which a camera is fixed to one end of a long bar member and a support portion is provided at the other end. In an inspection using a pole camera, an inspector located inside the box girder or on the ground grasps the support part of the bar member and takes the camera close to the inspection point such as the bottom surface of the steel deck and vertical ribs. And visually check the inspection location through the captured image. However, since the camera with a relatively large mass is fixed to one end of the rod member, the pole camera has a high center of gravity, and it is difficult to stably support it by grasping the support portion at the other end. Therefore, there is a problem that the camera may be damaged due to contact with a member such as a vertical rib, and a photographed image may be blurred.

  Therefore, recently, an inspection device has been proposed that travels in contact with the bottom surface of a steel slab with a magnetic force. This inspection device is opposed to the support wheel in contact with the lower surface of the deck plate of the steel deck, the permanent magnet disposed at a position facing the deck plate, the guide wheel in contact with the side surface of the vertical rib, and the side surface of the vertical rib. An ultrasonic flaw detector is provided that emits ultrasonic waves toward the welded portion between the permanent magnet disposed at the position and the deck plate and the vertical rib. In this inspection device, the guide wheel is brought into contact with the longitudinal rib by the magnetic force of the permanent magnet, and the support wheel is brought into contact with the deck plate by the magnetic force of the permanent magnet, and travels on the lower surface of the deck plate along the longitudinal rib. While traveling along the longitudinal ribs, the welded portion between the longitudinal ribs and the deck plate is configured to be detected by an ultrasonic flaw detector.

JP 2008-249510 A

  However, since the steel plate slab inspection device supports the mass only by the magnetic force of the permanent magnet, try to travel on the uneven surface where there are attachment plates and bolts and nuts, such as the attachment portion of the deck plate. Then, there are inconveniences that the inspection device falls and inconveniences that the inspection device stops and cannot run. Specifically, there is a possibility that the support wheel rides on the convex portion of the deck plate, the permanent magnet moves away from the deck plate, the magnetic force is insufficient, and the inspection device falls. In order to prevent the inspection device from dropping, a wire is stretched along the bottom surface of the deck plate and the inspection device is run by engaging with this wire, or a safety net is installed under the deck plate to run the inspection device. It is necessary to let Therefore, there is a problem that the operation of the inspection device is troublesome.

  Moreover, the inspection device for the steel slab may cause the permanent magnet to approach the convex portion of the deck plate, resulting in excessive magnetic force, and the permanent magnet may be fixed to the convex portion, making it impossible to run. Further, the support wheel fits into the concave portion of the deck plate, the permanent magnet approaches the lower surface of the deck plate, the magnetic force becomes excessive, and the permanent magnet is fixed to the deck plate, and there is a possibility that the running becomes impossible.

  Further, the steel floor slab inspection device travels with the guide wheels in contact with the side surfaces of the longitudinal ribs by the magnetic force of the permanent magnets, so that the inspection location is limited to a range along the longitudinal ribs. Further, the steel plate slab inspection apparatus includes a permanent magnet and a guide wheel for traveling along the longitudinal ribs, so that the structure is complicated, and there is a problem that the manufacturing cost is likely to increase and the mass is likely to increase. is there.

  Further, the steel floor slab inspection device needs to be installed on the lower surface of the deck plate when the inspection is started, and needs to be removed from the lower surface of the deck plate when the inspection is completed. Thus, in order to install or remove the inspection device from the lower surface of the deck plate, it is necessary for the inspector to approach the lower surface of the deck plate with a ladder or a stepladder and handle the inspection device with a relatively large mass. As a result, there is a problem that inspectors are exposed to the risk of falling. These problems are not limited to floor slabs such as steel slabs, but are common when inspecting members having a downward surface such as beams and girders and the surrounding members.

  Therefore, the problem of the present invention is that it is possible to effectively prevent the fall with a relatively simple structure, to operate with less effort, to prevent the inability to travel, to inspect a relatively wide area of the bridge, and to be in danger of use. It is to provide a bridge inspection device with a small amount.

In order to solve the above problems, the bridge inspection device of the present invention includes a bar member,
A wheel provided at one end of the bar member and in contact with the downward surface of the bridge member;
A magnet installed at one end of the bar member and causing the wheel to contact the downward surface of the member by a magnetic force acting between the member and the ferromagnetic member;
A drive unit for driving the wheel;
A support provided at the other end of the bar member;
An operation input unit for receiving an input for commanding the operation of the wheel;
Inspection equipment arranged in the vicinity of one end of the bar member;
The inspection device includes a position specifying unit that specifies a position to be inspected.

  According to the above configuration, in order to inspect the bridge member, when an inspector holds the support portion to support the bridge inspection device and brings the wheel close to the ferromagnetic member, a magnetic force is generated between the magnet and the member. In effect, this magnetic force causes the wheel to contact the downwardly facing surface of the member. When the inspector inputs to the operation input unit to instruct the operation of the wheel, the drive unit drives the wheel in response to this, and the bridge inspection device moves. The said operation input part can be formed so that the instruction | command of the advance of a wheel, backward, a right turn, and a left turn can be input, for example. Further, the check member may turn right and turn left by turning the rod member around the axis. The inspector moves following the moving bridge inspection apparatus while holding the support portion. When the bridge inspection device reaches the inspection location, inspection is performed by the inspection equipment. The position where the inspection device performs the inspection is specified by the position specifying unit. This position specifying unit is, for example, a distance meter that measures a distance from a predetermined reference, a satellite signal receiving device that receives a signal from a positioning satellite, or a base station that receives a position specifying signal from a radio communication base station A signal receiving apparatus can be included. Further, as the inspection device, a visible light imaging device, an infrared imaging device, an ultrasonic flaw detector, or the like can be used.

  In addition, the bridge inspection device according to the present invention is configured such that when the wheel is driven and moved by the drive unit, the wheel rides on the convex portion existing on the surface of the ferromagnetic member of the bridge, and the magnetic force between the member and the magnet is increased. Even if it decreases, since the inspector supports the other end of the bar member with the support portion, it is possible to effectively prevent the bridge inspection device from falling. Therefore, since it is not necessary to prevent the fall using a wire, a safety net, or the like as in the conventional inspection device, the member can be inspected with little effort.

  Further, in this bridge inspection device, the magnet approaches the ferromagnetic member of the member due to the magnet approaching the convex portion of the ferromagnetic member existing on the bridge or the wheel fitting into the concave portion of the member. Therefore, even if the magnetic force between the members becomes excessive, the inspector who supports the other end of the bar member at the support portion can pull the bar member, so that the bridge inspection device is moved against the magnetic force. Can do. Therefore, it is possible to easily prevent the bridge inspection device from being disabled.

  In addition, since the bridge inspection device of the present invention is moved by the wheel driven by the drive unit, it can move over a wider range than the conventional inspection device that travels in contact with the side surface of the vertical rib, and can inspect a wide range of the bridge. . In addition, the bridge inspection device of the present invention has a relatively simple structure because there are no magnets and wheels corresponding to the side surfaces of the vertical ribs as in the conventional inspection device. Therefore, it can be manufactured at a lower cost than the conventional one and can be made lighter.

  In the bridge inspection device of the present invention, when an inspection is started, an inspector lifts one end side of the bar member, and brings the magnet and the wheel at one end of the bar member closer to the ferromagnetic member. On the other hand, when the inspection is finished, the inspector moves the magnet and the wheel at one end of the bar member away from the ferromagnetic member and lowers the one end side of the bar member. These operations can be performed by an inspector, for example, on the bottom plate of a box girder or on the ground, so that it is necessary to climb a ladder or a stepladder to install or remove the inspection device on a member as in the past. There is no. Therefore, the inspector can safely perform the inspection work without being exposed to the danger of dropping from the ladder or the like.

  Moreover, since the position inspection part can specify the position which inspection equipment inspects for the bridge inspection apparatus of this invention, it can reduce the effort which an inspector specifies an inspection position. Here, it is preferable that the bridge inspection apparatus includes a storage device that stores information related to inspection of the inspection equipment, and stores information related to the position specified by the position specifying unit in association with information related to the inspection. Moreover, it is preferable that a bridge inspection apparatus is provided with the transmission apparatus which transmits the information regarding inspection of inspection equipment, and the information regarding the position which the position specific | specification part specified by this transmission apparatus is linked | related with the information regarding inspection, and transmits. The information transmitted by the transmitting device is preferably received by a receiving device installed on the ground or at a remote location and stored in a storage device connected to the receiving device.

  In the present invention, the ferromagnetic member refers to a member that is formed of a ferromagnetic material such as steel, for example, and a magnetic force acts between the magnet and the magnet.

  Moreover, if the member which can apply the bridge inspection apparatus of this invention has a downward surface, for example, a bridge member, such as a floor slab, a girder, a rib, a stiffener, an upper chord material, and a lower chord material, corresponds widely. . Further, the floor slab is not limited to a steel slab, and steel having a concrete floor slab having a main girder such as a box girder or I girder formed of a ferromagnetic material, a bottom steel plate formed of a ferromagnetic material, or the like. Other floor slabs such as concrete composite slabs are also included. According to the bridge inspection device of the present invention, it is possible to inspect members such as floor slabs, girders, ribs, stiffeners, upper chord members and lower chord members, and members around the members.

  In the bridge inspection apparatus according to an embodiment, the position specifying unit includes a distance meter that measures a distance from a member constituting the bridge.

  According to the said embodiment, the position which inspection equipment inspects can be pinpointed with the distance from the member which comprises a bridge with the distance meter of a position specific | specification part. Here, the members constituting the bridge are not limited to the members to be inspected, and members other than the objects to be inspected and the members constituting the bridge are widely applicable. For example, a member attached to a floor slab, a member attached to a girder or a girder, a member attached to a rib or a rib, a member attached to a bridge pier or a bridge pier, a member forming various facilities of a bridge, or a sign And the like.

The bridge inspection device of one embodiment includes an axle attached at right angles to the vicinity of one end of the bar member,
And two wheels provided at both ends of the axle.

  According to the said embodiment, two wheels contact the downward surface of the member of a bridge, these wheels are driven by a drive part, and a bridge inspection apparatus moves. Since the axle provided with two wheels is attached at right angles to the rod member, the rod member is disposed in a plane perpendicular to the plane with which the wheel contacts. Accordingly, the traveling direction of the bridge inspection device can be easily grasped and operated, and the direction in which the inspection device faces can be easily grasped and adjusted. Here, the traveling direction of the two wheels can be easily changed by rotating the rod member extending at right angles to the axle around the axis. Further, the traveling direction may be easily changed by forming the drive unit so that the two wheels can be driven independently, and making the rotation speeds of the two wheels different from each other. Further, when the wheel moves while being driven by the drive unit, an anti-torque that is a reaction of the driving force input to the wheel is generated, but the anti-torque can be effectively reduced by the gravity of the rod member. Therefore, this bridge inspection device can travel stably.

  The bridge inspection device of one embodiment is formed so that the magnetic force between the magnet and the ferromagnetic member increases or decreases according to the rotation angle of the rod member around the axle.

  According to the above embodiment, when the inspector operates the support portion to change the rotation angle of the rod member around the axle, the magnet at one end of the rod member contacts and separates from the ferromagnetic member. The magnetic force between the magnet and the ferromagnetic member increases or decreases. For example, when the rotation angle of the rod member around the axle is set to an angle that is normal to the surface of the ferromagnetic member, the maximum magnetic force can be applied between the magnet and the ferromagnetic member. . On the other hand, the magnetic force between the magnet and the ferromagnetic member can be reduced by setting the rotation angle of the rod member around the axle to an angle in the direction of inclination with respect to the surface of the ferromagnetic member. Therefore, at the time of inspection of the bridge member, by holding the rod member in the normal direction of the ferromagnetic member, the magnetic force between the magnet and the ferromagnetic member is ensured, and the bridge inspection device is placed on the downward surface of the member. It is possible to travel stably along. On the other hand, when the inspection of the bridge member is completed, the magnetic force between the magnet and the ferromagnetic member is reduced by rotating the rod member around the axle and tilting it with respect to the surface of the ferromagnetic member. The wheel can be easily detached from the downward surface of the member. Also, if the magnetic force becomes excessive due to the convex portion of the ferromagnetic member approaching the magnet, the rod member is rotated around the axle and tilted with respect to the surface of the ferromagnetic member to strengthen the magnet. An excessive magnetic force between the magnetic member and the magnetic member can be easily reduced.

  The bridge inspection apparatus of one Embodiment has an imaging device with which the said inspection apparatus image | photographs the member of the said bridge.

  According to the above-described embodiment, the bridge member is photographed by the imaging device, and the inspector visually recognizes the photographed image, so that the proximity of the member can be visually confirmed at a position away from the bridge member. Here, the imaging device may be a visible light imaging device that captures a visible light image, or may be an infrared imaging device that captures an infrared image. Moreover, you may provide the illuminating device which illuminates the member of a bridge with an imaging device, This illuminating device may irradiate visible light, or may irradiate infrared rays and an ultraviolet-ray. By displaying an image photographed by the imaging device on a display device via a wired or wireless transmission device, it is possible to perform close visual observation of a bridge member in real time. Here, the member imaged by the imaging apparatus may be a member that contacts the wheel, or may be a member that is different from the member that contacts the wheel. The inspector who visually recognizes the captured image of the imaging device may be an inspector different from the inspector who operates the support unit.

  The bridge inspection apparatus of one Embodiment is provided with the illumination part which irradiates light to the imaging position of the said imaging device.

  According to the above embodiment, the state of the bridge member at the imaging position can be clearly imaged by the imaging device by irradiating the illumination unit with light. Here, the illumination unit may irradiate not only visible light but also invisible light such as ultraviolet rays and infrared rays.

  In the bridge inspection device according to an embodiment, the illumination unit irradiates light in a direction inclined with respect to a direction in which the imaging device captures an image.

  According to the above-described embodiment, the illumination unit irradiates light in a direction inclined with respect to the direction in which the imaging device captures images, thereby emphasizing unevenness and cracks existing on the surface of the bridge member and capturing images. be able to. Therefore, the effect of inspection by the bridge inspection device can be enhanced.

  The bridge inspection device according to an embodiment is configured such that the imaging device can be remotely operated in the imaging direction.

  According to the above-described embodiment, since the imaging direction of the imaging device can be remotely operated, an inspector who operates the bridge inspection device, or an inspector existing around or at a remote position of the bridge inspection device, takes a captured image of the imaging device. It is possible to change the shooting direction of the image pickup apparatus while viewing the image. Therefore, a visual inspection of a desired member of the bridge can be performed.

  In the bridge inspection device of one embodiment, the bar member has flexibility.

  According to the embodiment, when a magnetic force is acting between the magnet at one end of the bar member and the ferromagnetic member, an axial force is applied toward the other end side of the flexible bar member. By doing so, the rod member can be bent and the one end portion of the rod member can be inclined with respect to the surface of the ferromagnetic member. Thereby, since the magnetic force between the magnet at one end of the rod member and the ferromagnetic member can be weakened, the wheel and the magnet can be easily detached from the member. Here, the rod member can be formed of aluminum, carbon fiber, glass fiber, or the like.

  In one embodiment of the bridge inspection apparatus, the magnet is a neodymium magnet.

  According to the above embodiment, by using a neodymium magnet, the wheel can be brought into contact with the surface of the ferromagnetic member of the bridge with a relatively small magnet, so that the weight of the bridge inspection device can be effectively reduced. Can do.

  In the bridge inspection device according to one embodiment, the magnet is an electromagnet.

  According to the embodiment, by supplying electric power to the electromagnet, the wheel can be brought into contact with the surface of the ferromagnetic member of the bridge by the magnetic force of the electromagnet. In addition, when the electromagnet approaches the ferromagnetic member excessively and the magnetic force becomes excessive, the magnetic force can be appropriately reduced by reducing the power supplied to the electromagnet, and the electromagnet is fixed to the ferromagnetic member. Can be prevented. Further, when the electromagnet is excessively moved away from the ferromagnetic member and the magnetic force becomes excessively small, the power supplied to the electromagnet can be increased to appropriately increase the magnetic force, thereby preventing the wheel from being detached from the member. In this way, by using the electromagnet, the magnetic force can be appropriately adjusted according to the relationship with the member, so that the inspection work can be performed stably.

It is a front view which shows the bridge inspection apparatus of embodiment of this invention. It is a side view of a bridge inspection apparatus. It is sectional drawing which shows a mode that a bridge inspection apparatus is used inside a box girder. It is a side view which shows a mode that a wheel contacts the lower surface of a floor slab. It is a cross-sectional view which shows a mode that a steel deck is inspected inside a box girder. It is a longitudinal cross-sectional view which shows a mode that a steel deck is inspected inside a box girder. It is a side view which shows a mode that a wheel is made to detach | leave from the lower surface of a floor slab. It is a front view which shows the bridge inspection apparatus provided with the illuminating device in the bar member. It is a front view which shows the bridge inspection apparatus provided with the illuminating device in the edge part of an axle. It is a side view which shows the bridge inspection apparatus provided with the illuminating device in the edge part of an axle. It is a side view which shows the normal mode of a bar member. It is a side view which shows a mode that the bar member was bent.

  Hereinafter, the present invention will be described in detail with reference to the illustrated embodiments.

  FIG. 1 is a front view showing a bridge inspection apparatus according to an embodiment of the present invention, and FIG. 2 is a side view of the bridge inspection apparatus. The bridge inspection device of the first embodiment is a floor slab inspection device that travels along a downward surface of a floor slab as a member of a bridge. This floor slab inspection device 1 is used for inspecting a member positioned on the lower surface side of a floor slab of a road bridge by an inspector positioned below the floor slab. The floor slab inspection apparatus 1 includes a bar member 2, two wheels 3 provided near one end of the bar member 2, a magnet 4 provided at one end of the bar member 2, and a motor 5 that drives the wheel 3. A support portion 11 provided at the other end of the rod member 2, an operation input portion 12 that receives an input for commanding the operation of the wheel 3, and a camera 6 as an inspection device disposed in the vicinity of one end of the rod member 2. And laser distance meters 16A, 16B, 17A, and 17B as four distance meters provided closer to the support portion 11 than the camera 6 of the bar member 2 is provided.

The bar member 2 is formed of an aluminum hollow pipe and is configured by connecting a plurality of divided units. A male screw and a female screw are threaded at both ends of the division unit, and the rod member 2 is assembled by sequentially screwing the ends of the division unit. The full length of the bar member 2 can be adjusted by adjusting the number of divided units to be connected in accordance with the distance from the position of the inspector to the inspection position of the floor slab. When lifting the bar member 2, the portion on one end side of the divided unit provided with the wheel 3 and the camera 6 is directed to the floor slab side, and then another divided unit is sequentially placed on the other end side of the divided unit. Connect to increase the overall length. Thereby, the wheel 3 and the camera 6 on the one end side of the bar member 2 can be easily lifted and brought close to the floor slab. Further, after the inspection is completed, one end side of the bar member 2 can be easily lowered by sequentially separating the divided units from the other end side. Moreover, since the bar member 2 can be divided into a plurality of division units, it can be made compact, and can be easily carried into, for example, a box girder. In addition, the rod member 2 may be configured to be extendable and retractable by taking in and out a plurality of divided units housed in a telescopic shape. Further, the bar member 2 may be formed of glass fiber, carbon fiber, stainless steel, or the like in addition to aluminum, or may be formed of a solid member.

  The wheel 3 is connected to both ends of an axle 10 that is pivotally attached to the rod member 2 at a right angle in the vicinity of one end of the rod member 2. The wheel 3 has a rubber belt-like tire that generates an appropriate frictional force between a resin-made disk-like wheel and a running surface S of a floor slab that is attached to the outer periphery of the wheel.

  The magnet 4 is a ring-shaped permanent magnet fixed to the opposite end of the bar member 2, and is formed of a neodymium magnet. The magnet 4 is formed such that a predetermined gap is provided with respect to the traveling surface S when the wheel 3 contacts the traveling surface S. The magnet 4 has a magnetic force that brings the wheel 3 into contact with the steel surface when the wheel 3 is brought close to the steel surface as a ferromagnetic member. The magnetic force generated between the magnet 4 and the steel is 2 to 3 times the weight of the floor slab inspection device 1 with the wheel 3 in contact with the steel surface and the magnet 4 being closest to the steel. Is set to

  The motor 5 is supplied with electric power from a battery (not shown) and generates driving force for the wheels 3. The motor 5 is integrally provided with a speed reducer 7 connected to an output shaft, and a rotational force is transmitted to the axle 10 by a drive shaft 8 and a transmission gear 9 connected to the speed reducer 7. The motor 5, the transmission 7, the drive shaft 8, and the transmission gear 9 constitute a drive unit. The motor 5 may be one having output shafts at both ends, and the wheels 3 may be connected to the output shafts at both ends.

  The camera 6 is a visible light imaging device that captures a visible light image, and is a small size using a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. It is formed with a digital camera. Two cameras 6 are provided on the rod member 2 on both the front and rear sides in the traveling direction of the wheels 3. One camera 6 is arranged with the lens 13 facing the left side in the traveling direction, and the other camera 6 is disposed with the lens 13 facing the right side in the traveling direction. Each camera 6 is attached so that the angle can be changed with respect to the axis of the bar member 2. The angle of the camera 6 with respect to the bar member 2 may be changed manually, or may be changed by a remote operation by an inspector. In the camera 6, an illumination device as an illumination unit formed of a plurality of LEDs (Light Emitting Diodes) 14 is attached around a lens 13. The LED 14 emits white light, and when the illuminance to be inspected is low, the LED 14 is made to emit light to increase the illuminance to be inspected and take a clear image. The LED 14 may control on / off and emission intensity according to the brightness detected by the camera 6, or an inspector may adjust on / off and emission intensity. The camera 6 is connected to a display device (not shown) via a cable as a transmission device, and is configured to output a real-time moving image or a still image.

  The support portion 11 is formed of a rubber tubular body that is fitted to the other end of the bar member 2, and is formed so that an inspector grips and easily supports the floor slab inspection device 1. The inspector is configured to operate the floor slab inspection device 1 while holding the support portion 11 to travel, and to move following the traveling floor slab inspection device 1. The support portion 11 is gripped by an inspector and receives a turning force around an axis, whereby the axle 10 on one end side rotates around the rod member 2 and the traveling direction of the wheel 3 is changed to perform steering. It is like that. In addition, the support part 11 should just be the other end part of the rod member 2 which an inspector can hold | grip, and other parts, such as a cylindrical body, are not essential. Further, the support portion 11 may be formed by knurling the other end portion of the bar member 2.

  The operation input unit 12 is formed by a push button provided on the wheel 3 side of the support unit 11 so that an inspector holding the support unit 11 presses the finger with a finger to instruct and input the driving direction of the wheel 3. Is formed. For example, the operation input unit 12 preferably has “forward” and “reverse” buttons that command the wheels 3 to be driven in opposite directions. The operation input unit 12 is preferably a momentary button that drives the wheel 3 only while the button is pressed. In this case, when the inspector accidentally releases his / her hand from the support portion 11, the driving of the wheel 3 can be automatically stopped. In addition, the two wheels are formed so that the drive unit can be driven independently. The operation input unit 12 is provided with “right turn” and “left turn” buttons, and when each button is pressed, You may make it rotate in each direction by changing rotation speed mutually.

  The four laser distance meters 16A, 16B, 17A, and 17B measure the distance to the object based on the laser light emitted toward the object and the reflected light reflected by the object. As the laser distance meter, various laser distance meters such as a triangulation method, a TOF (Time Of Flight) method, a phase difference detection method, and the like can be used depending on a laser light processing method. The four laser distance meters 16A, 16B, 17A, and 17B are installed so as to measure distances in four directions perpendicular to each other in a plane perpendicular to the extending direction of the bar member 2. That is, the right laser distance meter 16A that measures the distance from the object in the right direction from the reverse direction to the forward direction, the left laser distance meter 16B that measures the distance from the object in the left direction, and the object in the forward direction It has a front laser distance meter 17A that measures the distance and a rear laser distance meter 17B that measures the distance between the object in the backward direction. The number of distance meters installed in the floor slab inspection apparatus 1 and the measurement direction can be set as appropriate. Moreover, the distance meter can use what measures distance by electromagnetic waves and an ultrasonic wave besides what measures distance with a laser.

  The floor slab inspection device 1 is connected to a power supply device and an information processing device (not shown). The power supply device supplies power to the motor 5 of the drive unit, the camera 6 as an inspection device, the laser distance meters 16A, 16B, 17A, and 17B as distance meters, and the information processing device, and is formed of a storage battery. It is preferable to do this. The power supply device may have a transformer or a rectifier and be connected to a commercial power supply to supply power to the drive unit, the inspection device, the distance meter, and the information processing device. The information processing apparatus includes a display device, a storage device, a central processing unit, and an input / output device. This information processing apparatus displays the photographed image of the camera 6 on the display device, and specifies the position of the floor slab inspection device 1 based on the measured values of the laser distance meters 16A, 16B, 17A, 17B. Thus, the information processing apparatus functions as the position specifying unit of the present invention. Furthermore, the information processing apparatus stores the captured image of the camera 6 and the measurement distances of the laser distance meters 16A, 16B, 17A, and 17B in a storage device. The information processing apparatus can be configured by a notebook personal computer or a tablet terminal. The power supply device and the information processing device are preferably formed so as to be attachable to the body of the inspector by means of a mounting tool such as a shoulder belt or a waist belt. A wireless communication device may be connected to the camera 6 and the laser distance meters 16A, 16B, 17A, and 17B, and a wireless communication device may be connected to the information processing device. Thereby, the captured image of the camera 6 and the measurement distances of the laser distance meters 16A, 16B, 17A, and 17B can be transmitted to the information processing apparatus by wireless communication. A wireless communication device that communicates with the wireless communication device connected to the camera 6 and the laser distance meters 16A, 16B, 17A, and 17B is installed at a remote position away from the inspection position, and an information processing device is installed in the wireless communication device. May be connected, and a photographed image of the camera 6 may be displayed on the display device of the information processing apparatus, and another inspector may perform a visual inspection. Further, the floor slab inspection device 1 may be provided with various accessory devices according to the type of the inspection device, and the accessory device may be formed so as to be attachable to the inspector together with the power supply device, or the inspection device and the accessory device are wirelessly connected. You may connect by a communication apparatus and may arrange | position an accessory apparatus in a remote position.

  Hereinafter, the case where the floor slab inspection apparatus 1 of this embodiment is used for the inspection of the steel slab as a floor slab will be described.

  FIG. 3 shows a bridge having a steel deck 20 and a box girder 26 that supports the steel deck 20, an inspector 40 enters the box girder 26, and the inspector 40 is positioned on the bottom plate 27 of the box girder 26. It is the figure which showed a mode that it inspects, doing. The steel slab 20 constitutes the superstructure of the road bridge, and includes a deck plate 21 as a ferromagnetic member made of steel, a vertical rib 22 fixed to the lower surface of the deck plate 21 by welding, The pavement 23 is provided. An inspector 40 located on the bottom plate 27 of the box girder 26 wears a mounting unit 41 including a power supply device and an information processing device with a mounting tool, The distance data line is connected to the mounting unit 41. The power line is a line that supplies power to the motor 5, the camera 6, and the laser distance meters 16A, 16B, 17A, and 17B, and the image data line is a line through which data of a captured image is transmitted from the camera 6, The data line is a line through which measurement distance data is transmitted from the laser distance meters 16A, 16B, 17A, and 17B. Subsequently, the information processing apparatus is turned on, and the camera 6 and the laser distance meters 16A, 16B, 17A, and 17B are initialized. Subsequently, the inspector 40 holds the support portion 11 at the other end of the bar member 2 to support the floor slab inspection device 1 and lifts one end side of the bar member 2. When the wheel 3 at one end of the bar member 2 approaches the lower surface of the deck plate 21, the wheel 3 comes into contact with the traveling surface S that is the lower surface of the deck plate 21 by the magnetic force of the magnet 4 as shown in FIG. 4.

  Subsequently, the inspector 40 turns on the power of the camera 6, displays a photographed image of the camera 6 on the display device, and adjusts the brightness and photographing direction of the image. For example, when the photographed image is dark, the LED 14 is caused to emit light through the operation input unit connected to the camera 6. Further, for example, when checking fatigue damage occurring in the welded portion 25 between the deck plate 21 and the vertical rib 22, the tilt angle of the camera 6 is changed through the operation input unit connected to the camera 6, and the display device is used. Adjust so that the weld 25 is displayed. The inspector 40 turns on the laser distance meters 16A, 16B, 17A, and 17B, displays the measured distances of the laser distance meters 16A, 16B, 17A, and 17B on the display device, and confirms the current position. .

  Thereafter, the inspector 40 presses the forward button of the operation input unit 12, operates the motor 5 to drive the wheels 3, and causes the floor slab inspection apparatus 1 to travel. The inspector 40 confirms the traveling direction of the wheel 3 by video or visual observation displayed on the display device, and adjusts the traveling direction of the wheel 3 by rotating the support portion 11 around the axis as necessary. In this way, the welding portion 25 is photographed by the camera 6 while the floor slab inspection apparatus 1 is traveling in the extending direction of the vertical ribs 22. The photographed image is displayed on a display device of the information processing apparatus, and the inspector 40 performs close-up visual confirmation for confirming fatigue damage of the welded portion 25 through the display device. When the captured image of the camera 6 is transmitted by wireless communication to an information processing apparatus installed at a remote position, an inspector at the remote position performs a visual inspection through the display device of the information processing apparatus. The captured image of the camera 6 is stored in the storage device of the information processing apparatus in association with the shooting time.

  The floor slab inspection apparatus 1 measures the inspection position by using laser distance meters 16A, 16B, 17A, and 17B when performing inspection with the camera 6 as an inspection apparatus. FIG. 5 is a transverse sectional view showing a state in which the steel deck 20 is inspected inside the box girder 26, and FIG. 6 is a longitudinal sectional view. The laser distance meters 16A, 16B, 17A, 17B measure the distance between the member of the box girder 26 where the inspector 40 is located and the floor slab inspection device 1. Based on this measurement distance, the information processing device of the mounting unit 41 specifies the position of the floor slab inspection device 1 in the box girder 26. The room where the inspector 40 of the box girder 26 is located is surrounded by the front and rear diaphragms 30A and 30B and the left and right webs 28A and 28B. The diaphragms 30A and 30B are provided with openings 31 through which the inspector 40 moves. The bottom plate 27 on which the inspector 40 is placed is provided with vertical ribs 29 extending in the bridge axis direction.

  In FIG. 5, when the floor slab inspection device 1 moves forward from the back of the page toward the front, the right laser distance meter 16A on the right side as viewed from the traveling direction applies the laser beam 18A to the web 28A on the right side of the inspector 40. Irradiate and measure the distance between this right web 28A. Further, the left laser distance meter 16B on the left side as viewed from the traveling direction irradiates the left web 28B of the inspector 40 with the laser beam 18B, and measures the distance to the left web 28B. Based on the distances measured by the right laser distance meter 16A and the left laser distance meter 16B, the position of the box girder 26 in the direction perpendicular to the bridge axis of the floor slab inspection device 1 is detected by the information processing device. In FIG. 6, when the floor slab inspection device 1 moves forward from the right side to the left side of the page, the front laser rangefinder 17 </ b> A on the front side as viewed from the traveling direction applies laser light to the diaphragm 30 </ b> A on the front side of the inspector 40. 19A is irradiated, and the distance between the front diaphragm 30A is measured. Further, the rear rear laser range finder 17B as viewed from the traveling direction irradiates the rear diaphragm 30B of the inspector 40 with the laser light 19B, and measures the distance from the rear diaphragm 30B. Based on the distances measured by the front laser distance meter 17A and the rear laser distance meter 17B, the position in the bridge axis direction of the floor slab inspection device 1 in the box girder 26 is detected by the information processing device. The coordinates of the floor slab inspection device 1 in the box girder 26 are specified by the position perpendicular to the bridge axis and the position in the bridge axis direction. The specified coordinates of the floor slab inspection device 1 are displayed together with the captured image of the camera 6 on the display device of the information processing device.

  The measurement distances of the laser distance meters 16A, 16B, 17A, and 17B and the coordinates of the floor slab inspection device 1 calculated by the information processing device are stored in the storage device of the information processing device in association with the measurement time. Since the captured image of the camera 6 is stored in the storage device of the information processing apparatus in association with the imaging time, the measurement distances of the laser distance meters 16A, 16B, 17A, and 17B associated with the measurement time, and the time Therefore, the shooting position of the shot image can be specified with high accuracy. Therefore, after the inspector 40 inspects, when the inspector 40 and other inspectors visually check the photographed image of the camera 6 and visually inspect the damage, the photographed image is displayed. By confirming the associated measurement distance, the location of the damage can be accurately identified.

  When the inspection by the floor slab inspection device 1 is completed, the inspector 40 moves the support portion 11 to rotate the bar member 2 around the axle 10. As shown in FIG. 7, when the bar member 2 makes a separation angle θ with respect to the normal line of the running surface S that is the lower surface of the deck plate 21, the magnetic force by the magnet 4 is caused by the gravity acting on the floor slab inspection device 1. And the wheel 3 is detached from the running surface S.

  When the wheel 3 is detached from the traveling surface S, one end side of the bar member 2 is lowered, the floor slab inspection device 1 is disposed on the bottom plate 27 of the box girder 26, and the inspection is completed.

  When the floor slab inspection apparatus 1 of the present embodiment travels on the wheel 3 and moves, the floor slab inspection apparatus 1 is provided with a bolt nut that protrudes from the lower surface of the deck plate 21 that is the traveling surface S, or a convex portion formed by an attachment plate or the like. The wheel 3 may ride up. In such a case, the magnet 4 moves away from the deck plate 21 and the contact force of the wheel 3 decreases. However, since the inspector 40 supports the other end of the bar member 2 with the support portion 11, the floor slab inspection device 1. Can be easily prevented from falling. Thus, since the floor slab inspection device 1 of this embodiment can prevent falling from the deck plate 21, it is not necessary to perform the fall prevention by a wire, a safety net, etc. like the conventional inspection device, and as a result. Thus, the inspection can be performed with less effort than in the past. In addition, riding on convex parts, such as a bolt nut, can be prevented by providing a conical avoidance member in the side surface of the wheel 3. FIG. Specifically, the avoidance member is disposed on the side surface of the vehicle 2 so that the side surface of the wheel 3 is covered with the bottom surface of the cone and the apex of the cone is positioned on the rotation axis of the wheel 3. According to this avoidance member, when the wheel 3 approaches the convex portion and the side surface of the avoidance member comes into contact, the reaction force in the direction of moving the wheel 3 away acts on the avoidance member, so that the climbing to the convex portion is effectively prevented. it can.

  Further, the floor slab inspection device 1 of the present embodiment is such that when the magnet 4 approaches a convex portion such as a bolt nut projecting on the lower surface of the deck plate 21 or a corner portion of the attachment plate, the convex portion of the ferromagnetic material is projected. In some cases, the magnetic force between the two parts is excessive, the magnet 4 is fixed, and the floor slab inspection device 1 stops traveling. Further, when the wheel 3 is fitted in the concave portion present in the deck plate 21 and the magnet 4 approaches the deck plate 21, the magnetic force between the deck plate 21 is excessive and the magnet 4 is fixed. 1 may stop. Even in such a case, since the inspector 40 supports the other end of the bar member 2 with the support portion 11, the magnet 4 and the deck plate 21 can be released by pulling the bar member 2. . Therefore, it is possible to easily prevent the floor slab inspection device 1 from running.

  Further, the floor slab inspection apparatus 1 of the present embodiment can move forward and backward by input to the operation input unit 12 with the two wheels 3 in contact with the lower surface of the deck plate 21. It can be made to turn by turning 2 around an axis. Therefore, it is possible to travel on the lower surface of the deck plate 21 with a high degree of freedom.

  Further, the floor slab inspection apparatus 1 according to the present embodiment allows the inspector 40 to perform the lifting when the inspection is started and the lowering when the inspection is completed while being located on the bottom plate 27 of the box girder 26. Can do. Accordingly, there is no need to climb a ladder or a stepladder to install or remove the inspection device on the floor slab, so that the inspector 40 can safely perform the inspection work without being exposed to the danger of falling from the ladder or the like. .

  In the above embodiment, the camera 6 has a plurality of LEDs 14 provided around the lens 13, and light is irradiated by the LEDs 14 in substantially the same direction as the shooting direction of the camera 6. You may provide the illuminating device which irradiates light from the direction inclined with respect to the imaging | photography direction. For example, as shown in FIG. 8, an arm member 34 extending from the rod member 2 in a substantially right angle direction is provided, and an illumination device 33 having a white light emitting LED is attached to the tip of the arm member 34. A camera 36 that does not include an illumination device is installed closer to the wheel 3 than the arm member 34 of the bar member 2. The direction of the light 35 emitted from the illuminating device 33 and the optical axis 37 of the lens that is the photographing direction of the camera 36 are set to form an angle α. Thereby, at the photographing position 45 of the camera 36, damage such as cracks can be clearly photographed by enhancing the shadow of light. Here, the angle α formed by the direction of the light 35 from the illumination device 33 and the optical axis 37 of the camera 36 is preferably 30 ° or more, and more preferably 45 ° or more.

  As shown in FIG. 9, an illuminating device 38 as an illuminating unit having a white light emitting LED may be attached to the end of the axle 10 exposed to the outside of the wheel 3. FIG. 10 is a side view showing the illumination device 38 installed at the end of the axle 10. The direction of the light 39 emitted from the illuminating device 38 and the optical axis 37 of the lens of the camera 36 installed on the rod member 2 are set to form an angle β. Thereby, at the photographing position P of the camera 36, damage such as cracks can be clearly photographed by enhancing the shadow of light. Here, the angle β formed by the direction of the light 39 from the illumination device 38 and the optical axis 37 of the camera 36 is preferably 30 ° or more, and more preferably 45 ° or more.

  In the above embodiment, the magnet 4 formed of a permanent magnet is provided at one end of the bar member 2, but an electromagnet is provided at one end of the bar member 2, and an operation input unit for adjusting the magnetic force of the electromagnet is supported by the support unit. 11 and the inspector 40 may adjust the magnetic force of the electromagnet as necessary. For example, when the inspection is started, the inspector 40 holds the support portion 11 to support the floor slab inspection device 1, lifts one end side of the bar member 2, and the wheel 3 approaches the lower surface of the deck plate 21. Sometimes, electric power is supplied to the electromagnet to generate a magnetic force, and the wheel 3 is brought into contact with the deck plate 21. Further, when the electromagnet approaches the deck plate 21 excessively and the magnetic force becomes excessive, the power supplied to the electromagnet is reduced to reduce the magnetic force, thereby preventing the inconvenience of the electromagnet being fixed to the deck plate 21. When the electromagnet moves away from the deck plate 21 and the magnetic force becomes too small, the power supplied to the electromagnet is increased to increase the magnetic force, thereby preventing the wheels 3 from being detached from the deck plate 21. As described above, by using the electromagnet, the magnetic force can be appropriately adjusted according to the state of the deck plate 21, so that the inspection work can be stably performed.

  In the above-described embodiment, the rod member 2 is usually linear as shown in FIG. 11, but the wheel 3 may be easily detached from the running surface S by providing flexibility. That is, when the bar member 2 has flexibility, as shown in FIG. 12, when the axial force directed to the deck plate 21 as shown by the arrow A is applied to the support portion 11, the rod member 2 faces the running surface S. Curved in a convex shape. Thereby, since the part of the one end side of the bar member 2 inclines with respect to the normal line of the running surface S, the wheel 3 can be detached from the running surface S when the inclined angle reaches the leaving angle θ. it can.

  Moreover, in the said embodiment, although the inspector 40 located on the baseplate 27 of the box girder 26 performed the inspection using the floor slab inspection apparatus 1, the bridge inspection apparatus of this invention is the ground, an aerial work vehicle, It may be used by an inspector located on the work platform.

  Moreover, in the said embodiment, although the floor plate inspection apparatus 1 was used, the visual inspection through the picked-up image of the camera 6 was performed about the welding part 25 of the deck plate 21 and the vertical rib 22 which the steel floor plate 20 has, but steel An inspection of other members of the floor slab 20 may be performed. In addition to the camera 6, the steel deck 20 may be inspected using an inspection device such as an ultrasonic flaw detector. Moreover, the bridge inspection apparatus of the present invention is not limited to the steel slab 20 but can be applied to a concrete slab or a steel concrete composite slab. For example, a steel member such as a box girder or I-girder provided on the lower surface of a concrete floor slab, or a member such as a bottom steel plate provided on the lower surface of a steel concrete composite floor slab is used by the floor slab inspection device of the present invention. It is also possible to check.

  Moreover, in the said embodiment, although the inspection position by the inspection apparatus of the floor slab inspection apparatus 1 was specified by the position specific part containing laser distance meter 16A, 16B, 17A, 17B, a position specific part is a distance meter by an ultrasonic wave. The inspection position may be specified, or the inspection position may be specified by measuring the rotational speed of the wheel 3 with a hall sensor or the like to detect the travel distance. The position specifying unit includes a satellite signal receiving device that receives a signal from a positioning satellite such as a GPS (Global Positioning System), and based on the signal received by the satellite signal receiving device, determines the inspection position of the inspection device. You may specify. The position specifying unit includes a base station signal receiving device that receives a position specifying signal from a radio communication base station such as a mobile phone base station, and based on the signal received by the base station signal receiving device, the inspection device The inspection position may be specified.

  Moreover, in the said embodiment, although LED14 of the illuminating device formed integrally with the camera 6 and LED of the illuminating devices 33 and 38 formed separately from the camera 36 emitted white light, the illuminating device is an ultraviolet ray. Such other light may be emitted. For example, a flexible fluorescent layer containing a fluorescent paint is formed on the surface of a target member for detecting cracks, and a hard coating film is formed on the surface. When the target member is cracked, the hard coating film is also cracked. On the other hand, the flexible fluorescent layer is stretched without cracking, and the fluorescent layer is exposed between the cracks of the coating film. By causing the fluorescent layer to emit light by irradiating ultraviolet rays and photographing with the cameras 6 and 36 as imaging devices, cracks can be detected effectively. Further, although the lighting device uses an LED as a light source, it may have other light sources such as an organic EL (Electroluminescence), an inorganic EL, a heat radiation type incandescent light emitter, and a photoluminescence light emitter.

  Further, in the above embodiment, the floor slab inspection device that travels along the lower surface side of the floor slab and inspects the member located on the lower side of the floor slab has been described. A bridge inspection device that travels along a downward surface of another member of the bridge such as an upper chord member of a truss may be used. The bridge inspection device travels easily along the downward surface of the bridge member, and can easily and efficiently inspect the traveling member, the lower side of the traveling member, and the surrounding members. Further, the downward surface of the floor slab 20 is a vertically downward surface extending in the horizontal direction, but may be an inclined surface as long as it faces downward. According to the present invention, a downwardly inclined surface of a bridge member can be safely and easily inspected by a bridge inspection device by an operation of an inspector located below the member.

DESCRIPTION OF SYMBOLS 1 Floor slab inspection apparatus 2 Bar member 3 Wheel 4 Magnet 5 Motor 6,36 Camera 10 Axle 11 Support part 12 Operation input part 13 Camera lens 14 LED
16A, 16B, 17A, 17B Laser distance meter 20 Steel floor slab 21 Deck plate 22 Vertical rib 26 Box girder 27 Box girder bottom plate 33, 38 Lighting device 40 Inspector 41 Mounting unit

Claims (10)

A bar member;
A wheel provided at one end of the bar member and in contact with the downward surface of the bridge member;
A magnet installed at one end of the bar member and causing the wheel to contact the downward surface of the member by a magnetic force acting between the member and the ferromagnetic member;
A drive unit for driving the wheel;
A support provided at the other end of the bar member;
An operation input unit for receiving an input for commanding the operation of the wheel;
Inspection equipment arranged in the vicinity of one end of the bar member;
A bridge inspection apparatus comprising: a position specifying unit that specifies a position at which the inspection device performs inspection. In the bridge inspection device according to claim 1,
The above-mentioned position specifying part has a distance meter which measures the distance from the member which constitutes the above-mentioned bridge, The bridge inspection device characterized by things. In the bridge inspection device according to claim 1,
An axle mounted at a right angle in the vicinity of one end of the bar member;
A bridge inspection device comprising two wheels provided at both ends of the axle. In the bridge inspection device according to claim 3,
The bridge inspection device, wherein the magnetic force between the magnet and the ferromagnetic member is increased or decreased according to the rotation angle of the rod member around the axle. In the bridge inspection device according to claim 1,
The bridge inspection device, wherein the inspection device includes an imaging device for photographing the member of the bridge. In the bridge inspection device according to claim 5,
A bridge inspection device comprising an illumination unit that irradiates light at an imaging position of the imaging device. In the bridge inspection device according to claim 6,
The bridge inspection device, wherein the illumination unit emits light in a direction inclined with respect to a direction in which the imaging device captures an image. In the bridge inspection device according to claim 5,
A bridge inspection device, wherein the imaging device is formed so that a photographing direction can be remotely operated. In the bridge inspection device according to claim 1,
A bridge inspection device, wherein the magnet is a neodymium magnet. In the bridge inspection device according to claim 1,
A bridge inspection device, wherein the magnet is an electromagnet.

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