EP2172593A2 - Method and apparatus for inspecting cables - Google Patents

Abstract

The method involves receiving data using an injection unit (10) for characterizing a condition of a cable (1), where an injection device (A) includes three rolls (6) that are connected with the cable in a force-fitting manner. A cable roll is actuated by a motor (5), so that an injection device is moved to the cable, and the motor is controlled so that a predetermined position of the injection device is reproducible initiated at the coil. Data is affiliated for characterizing a condition of the cable correlated with the respective position. An independent claim is also included for an injection device for inspecting a cable, comprising three rolls.

Description

The subject of the present invention is a method for inspecting ropes and an inspection device for inspecting ropes. Method and inspection device can be used in particular for the inspection of load-bearing ropes, as used for example on bridges or similar structures.

Ropes or bars, which are installed to transfer tensile forces stationary into technical structures, such as rope or suspension bridges, must be inspected regularly to prevent the risk to third parties and the structures themselves by unexpected ruptures of ropes or rods. So far, inspections of these ropes or bars have taken place via manned inspection equipment or aerial work platforms. Unmanned inspection equipment is also known, for example from DE 203 11 395 U 1.

Since inspecting the ropes or rods are often to inspect large cable lengths, especially in suspension or rope bridges - cable lengths of several hundred meters in length are common - the following invention is based on the object to provide a method and an inspection device with which also inspect Ropes of great length, the disadvantages known from the prior art can be at least partially overcome and in particular reproducible inspection results can be obtained. This object is achieved by a method and an inspection device having the features of the independent claims.

The respective dependent claims are directed to advantageous developments.

The inventive method for inspecting ropes, in which a rope to be inspected is driven by an inspection device which carries at least one inspection device for receiving data for characterizing the state of the cable, wherein the inspection device comprises at least three rollers which are non-positively connected to the cable, wherein at least one roller is driven by at least one motor, so that the inspection device is movable on the rope, is characterized in that the at least one motor is controlled so that the inspection device anfbarer positions on the rope reproducibly anfährt and wherein at least temporarily data for State characterization of the rope to be recorded.

The term "rope" in the sense of the present invention is understood to mean an element which is suitable for absorbing tensile forces. In particular, the term "rope" includes a rope and a rod, as they are installed, for example, in rope or suspension bridges. The term "condition characterization" is understood to mean data that is characteristic of the condition of the rope or parts of the rope, such as the condition of a corrosion protection layer on the rope, the integrity of individual wires of the rope, surface corrosion of the rope, and others. The inspection device is unmanned, so it can drive automatically or remotely controlled the rope. By at least three, preferably four roles, the inspection device is in contact with the rope. In this case, a non-positive connection between the rollers and the rope is generated. Preferably, all roles are driven by a common or role-specific engine and are driven so. By driving at least one roller, the inspection device is moved on the rope. By a corresponding control of the motor, for example, a stepper motor includes and / or based on data of a corresponding sensor for position determination, a reproducible control of a specific position on the rope and / or a position-resolved data acquisition takes place on the rope.

This means that, for example, after completion of a total inspection of a rope of several 100 m or even more than 1 km in length, a very specific position on the rope, which can be defined, for example, as the distance from a cable suspension and / or a marking on the cable, can be approached is to more accurately inspect a particular defect or surface condition at that position. Thus, even with successive inspections over time occurring state changes can be observed with high precision position-resolved. In particular, it is possible to approach the position on the rope to 5 mm exactly and better again. With the method according to the invention, correspondingly large cable lengths can be regularly inspected in a reproducible manner. The data for state characterization of the rope can be recorded at predetermined time and / or location intervals or continuously.

According to an advantageous embodiment of the method according to the invention, the pressing force of the rollers is controlled to the rope.

In particular, this can be done based on the slip data of the roles on the rope. The control of the contact pressure is carried out in particular depending on the surface condition of the rope and in particular its corrosion protection, which must not be damaged. The contact force of the rollers can be varied by appropriate Anpressmotoren or manually by a corresponding bias of elastic elements on the roller suspensions and the roll material.

According to a further advantageous embodiment of the method according to the invention, the pendulum shear stress of the rope is less than 2% (percent) of the adhesive tensile strength of the surface layer, preferably a paint, on the rope.

1. a) die Einstellung der Anpresskraft der Rollen;
2. b) die Regelung der Anpresskraft der Rollen;
3. c) die Auswahl des Materials der Rollen;
4. d) die Einstellung der Anlagefläche der Rolle an dem Seil;
5. e) die Begrenzung der Beschleunigungen und/oder Antriebskräfte;
6. f) eine Dämpfung von Torkelbewegung in den Rollenlagern
7. g) die Führung von Leitungen hin zu der Inspektionsvorrichtung, insbesondere von mindestens einer Versorgungsleitung und/oder Datenleitung;
8. h) Reinigung und Trocknung der Seiloberfläche vor den Rollen

This can be avoided that the rope is damaged by the inspection with the inspection device. Pendulum shear stresses of less than 20, in particular less than 10% or even less than 2% of the adhesive tensile strength of the surface layer on the rope are particularly preferred. The pendulum shear stress arises from the combination of the drive torque with rolling and oscillating movements of the inspection device on and / or on the rope, which leads to a shearing of the rope. The pendulum shear stress can be adjusted in particular by one of the following measures:

1. a) the adjustment of the contact force of the rollers;
2. b) the regulation of the pressing force of the rollers;
3. c) the selection of the material of the rolls;
4. d) the adjustment of the contact surface of the roller on the rope;
5. e) the limitation of accelerations and / or driving forces;
6. f) a damping of Storkelbewegung in the roller bearings
7. g) the guidance of lines towards the inspection device, in particular of at least one supply line and / or data line;
8. h) Cleaning and drying the rope surface in front of the rollers

In particular, point h can be understood to mean the cleaning of the rope by small brushes and wipers mounted in front of the rollers.

1. a) mittels Magnetfelddetektion;
2. b) auf optischem Wege;
3. c) durch Aufnahme von Schwingungen;
4. d) durch Messung einer Schichtdicke mindestens einer oberflächennahen Schicht;
5. e) Ultraschallmessungen; und
6. f) Messungen der Materialhärte.

According to an advantageous embodiment of the method according to the invention, the data is recorded in at least one of the following ways:

1. a) by magnetic field detection;
2. b) by optical means;
3. c) by absorbing vibrations;
4. d) by measuring a layer thickness of at least one near-surface layer;
5. e) ultrasonic measurements; and
6. f) Measurements of material hardness.

Magnetic field detection is the measurement of induced magnetic fields in the cable. Under measurements by optical means, in particular the recording of data by means of one or more image recording devices, such as. B. cameras understood. The recording of the vibration modes can be done in particular by appropriately trained inertial sensors. By measuring a layer thickness of a layer near the surface, in particular the determination of the layer thickness of a paint and / or the corrosion protection layers, such. B. galvanizing on a rope understood by magnetic or eddy current method. By ultrasound measurements, the introduction of an ultrasound signal into the cable surface and measurement of its reflection at boundary layers are called whose disturbances are thus imaged. Measurements of the hardness of the material can be made, in particular, on a corrosion protection layer and / or a coat of the rope and / or underlying layers, preferably by suitably designed sensors in which a defined force is exerted on the cable with a corresponding probe on a defined surface and the corresponding deformation resistance of the material is determined.

According to a further advantageous embodiment of the method according to the invention, the data is transmitted to a receiver.

This transmission can in particular be wireless, for example via the formation of a wireless network (W-LAN) or wired. Of the In this case, the receiver may preferably be formed on the floor or on the surface of the structure to be inspected, for example the bridge. Due to the often large amount of data to be transmitted, the long transfer paths and the design of the cables usually made of steel with the corresponding electromagnetic interference, a wired transmission to the receiver is preferred. Commercially available and special network cables can be used for this purpose. Furthermore, the inspection device is preferably to supply power via the same or another cable so as to save weight in the construction of the inspection device by saving the weight of the batteries or batteries.

According to a further advantageous embodiment, location information is recorded with the data, which are correlated with the position on the cable during the recording of the data.

These may in particular be specifications of the stepping motor, for example a number of steps taken. It may also be data from an angle encoder that detects the roll rotations. Furthermore, it is alternatively or additionally possible to record calibration or calibration data of the location information, in which, for example, the distance traveled is recorded on the cable after a specific initialization and stored with it.

According to a further aspect of the present invention, an inspection device for inspecting ropes is proposed which comprises at least three rollers by means of which the rope to be inspected is to be driven with the inspection device and furthermore comprises at least one inspection device for receiving data for state characterization of the rope. At least one roller is drivable by a motor, so that the inspection device can be moved on the rope. According to the invention a control means is formed, by means of which the motor is controlled so that predeterminable positions on the rope are reproducibly approached.

According to an advantageous embodiment of the inspection device according to the invention contact pressure for pressing the rollers are formed on the rope.

According to an advantageous embodiment, the contact pressure of the contact pressure on the rope is adjustable.

1. a) mindestens ein Sensor zur Messung selbst- oder fremdinduzierter lokalen Magnetfelder;
2. b) mindestens eine Kamera zur Aufnahme optischer Daten;
3. c) mindestens ein Schwingungsaufnehmer;
4. d) mindestens ein Sensor zur Bestimmung einer Schichtdicke mindestens einer oberflächennahen Schicht;
5. e) mindestens ein Ultraschallsensor; und
6. f) mindestens ein Sensor zur Messung der Materialhärte.

According to an advantageous embodiment of the inspection device according to the invention at least one of the following inspection devices is formed:

1. a) at least one sensor for measuring self-induced or foreign-induced local magnetic fields;
2. b) at least one camera for recording optical data;
3. c) at least one vibration sensor;
4. d) at least one sensor for determining a layer thickness of at least one near-surface layer;
5. e) at least one ultrasonic sensor; and
6. f) at least one sensor for measuring the material hardness.

A sensor for measuring self-induced or externally induced local magnetic fields, a so-called magnetic induction measuring device, is a device by means of which a magnetic field can be induced in the rope to be inspected, which is subsequently measured. Disturbances of the existing or induced homogeneous magnetic field may indicate wire breaks in the rope. Preferably, the inspection device comprises a plurality of cameras and in particular several types of cameras, wherein preferably with a type of cameras a positionally accurate image, preferably a lower resolution, in particular for Simultaneously transferring and / or viewing the data for immediate local inspection of the rope while driving at higher speed of passage and recorded. A second type of camera is designed for the high-resolution optical inspection of the rope in exact position after the drive.

Fig. 1

ein erstes Schnittbild einer erfindungsgemäßen Vorrichtung an einem zu inspizierenden Seil; und

Fig. 2

ein zweites Schnittbild einer erfindungsgemäßen Vorrichtung an einem Seil.

The details and advantages disclosed for the method according to the invention are transferable and applicable to the inspection device according to the invention and vice versa. In the following the invention will be explained in more detail with reference to the accompanying drawings, without being limited to the details and advantages drawn there. They show schematically:

Fig. 1

a first sectional view of a device according to the invention on a rope to be inspected; and

Fig. 2

a second sectional view of a device according to the invention on a rope.

1. A. Diese dient zum Inspizieren der Oberfläche eines Seils 1, beispielsweise eines Seils einer Seil- oder Hängebrücke. Die Inspektionsvorrichtung A ist über acht Rollen 6, die aus Weichgummi ausgebildet sind, kraftschlüssig mit dem zu inspizierenden Seil 1 verbunden. Die Rollen 6 sind paarweise so ausgebildet, dass zwischen zwei benachbarten Paaren der Rollen 6 ein Winkel von 90° liegt. Durch Antrieb einer Rolle 6 durch einen entsprechenden Motor 5, der insbesondere auch Figur 2 zu entnehmen ist, kann das zu inspizierende Seil 1 mit der Inspektionsvorrichtung A befahren werden.

FIG. 1 shows a cross section of an inspection device according to the invention

1. A. This serves to inspect the surface of a rope 1, for example a rope of a rope or suspension bridge. The inspection device A is connected via eight rollers 6, which are formed of soft rubber, frictionally connected to the rope 1 to be inspected. The rollers 6 are formed in pairs so that between two adjacent pairs of rollers 6 is an angle of 90 °. By driving a roller 6 by a corresponding motor 5, in particular also FIG. 2 can be seen, the rope to be inspected 1 can be traveled with the inspection device A.

At least one inspection device 10 is formed on a measuring device carrier 7. These inspection devices 10 include cameras 8 and magnetic field measuring devices 9. The rollers 6 are mounted in wheel suspensions 2. The data supplied by the inspection devices 10 and in particular the cameras 8 and magnetic field measuring devices 9 are evaluated in a measurement evaluation means 3 and possibly transmitted to a receiver (not shown). Further, a control means 4 is formed, by means of which the motor 5 is monitored and driven to drive the rollers 6. In this case, the control means 4 include position counters for determining location information, so that these can be correlated and stored with the data supplied by the inspection devices 10, and optionally thrust force sensors.

The inventive method and the inspection device A according to the invention allow a reproducible surface inspection of cables, for example, suspension bridges. Thus, the position and type of surface defects on the rope can be detected with automatic means and these can be found again.

LIST OF REFERENCE NUMBERS

1

rope

2

Arm

3

Measurement analysis means

4

control means

5

engine

6

roll

7

Meters carrier

8th

camera

9

magnetic field measuring instrument

10

inspection unit

A

inspection device

Claims (10)

Method for inspecting ropes, in which a rope to be inspected is driven by an inspection device which carries at least one inspection device for recording data for characterizing the state of the rope,
wherein the inspection device comprises at least three rollers which are non-positively connected to the rope,
wherein at least one roller is driven by at least one motor, so that the inspection device is movable on the cable,
wherein the at least one motor is controllable so that the inspection device anfährt predeterminable positions on the rope and reproducible
wherein at least temporarily data for state characterization of the rope correlated with the respective position are recorded. The method of claim 1, wherein the pressing force of the rollers is controlled to the rope. A method according to any one of the preceding claims, wherein the pendulum shear stress is less than 20% (percent) of the tensile bond strength of the surface layer on the rope. Method according to one of the preceding claims, in which the data are recorded in at least one of the following ways: a) by magnetic field detection; b) by optical means; c) by absorbing vibrations; d) by measuring a layer thickness of at least one near-surface layer; e) ultrasonic measurements; and f) Measurements of material hardness. Method according to one of the preceding claims, in which the data are transmitted to a receiver. Method according to one of the preceding claims, in which data are recorded with the data, which are correlated with the position on the cable during the recording of the data. Inspection device (A) for inspecting ropes (1), comprising at least three rollers (6), by means of which the rope (1) to be inspected with the inspection device (A) is to drive and at least one inspection device (10) for receiving data for State characterization of the rope (1), wherein at least one roller (6) is drivable by a motor (5), so that the inspection device (A) is movable on the rope (1), characterized in that a control means (4) is formed, by means of which the motor (5) can be controlled such that predeterminable positions on the cable (1) can be approached reproducibly. Inspection device (A) according to claim 7, wherein the pressing means for pressing the rollers (6) to the rope (1) are formed. Inspection device (A) according to claim 8, wherein the contact pressure of the pressing means on the cable (1) is adjustable. Inspection device (A) according to one of claims 7 to 8, wherein at least one of the following inspection devices is formed: a) at least one sensor for measuring self-induced or foreign-induced local magnetic fields (9); b) at least one camera (8) for receiving optical data; c) at least one vibration sensor; d) at least one sensor for determining a layer thickness of a near-surface layer; e) at least one ultrasonic sensor; and f) at least one sensor for measuring the material hardness.

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