EP2172593B1 - Method and apparatus for inspecting cables - Google Patents
Method and apparatus for inspecting cables Download PDFInfo
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- EP2172593B1 EP2172593B1 EP20090164376 EP09164376A EP2172593B1 EP 2172593 B1 EP2172593 B1 EP 2172593B1 EP 20090164376 EP20090164376 EP 20090164376 EP 09164376 A EP09164376 A EP 09164376A EP 2172593 B1 EP2172593 B1 EP 2172593B1
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- cable
- data
- inspection apparatus
- rope
- inspection
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- 238000000034 method Methods 0.000 title claims description 20
- 238000007689 inspection Methods 0.000 claims description 61
- 239000010410 layer Substances 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 9
- 238000003825 pressing Methods 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims description 6
- 239000002344 surface layer Substances 0.000 claims description 5
- 230000002596 correlated effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims 1
- 239000000725 suspension Substances 0.000 description 8
- 230000000875 corresponding effect Effects 0.000 description 7
- 230000007797 corrosion Effects 0.000 description 5
- 238000005260 corrosion Methods 0.000 description 5
- 238000012512 characterization method Methods 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
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- 238000011156 evaluation Methods 0.000 description 1
- 238000005246 galvanizing Methods 0.000 description 1
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- 239000000523 sample Substances 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/16—Suspension cables; Cable clamps for suspension cables ; Pre- or post-stressed cables
Definitions
- 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 devices are known, for example from the DE 203 11 395 U 1 ,
- 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 anastronom and wherein at least temporarily data for State characterization of the rope to be recorded.
- rope in the sense of the present invention is understood to mean an element which is suitable for absorbing tensile forces.
- the term “rope” includes a rope and a rod, as they are installed, for example, in rope or suspension bridges.
- 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.
- all roles are driven by a common or role-specific engine and are driven so.
- the inspection device is moved on the rope.
- 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.
- the pressing force of the rollers is controlled to the rope.
- 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.
- 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.
- point h can be understood to mean the cleaning of the rope by small brushes and wipers mounted in front of the rollers.
- 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.
- 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.
- WLAN wireless network
- 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.
- 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.
- 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.
- an inspection device for inspecting ropes 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.
- a control means is formed, by means of which the motor is controlled so that predeterminable positions on the rope are reproducibly approached.
- contact pressure for pressing the rollers are formed on the rope.
- the contact pressure of the contact pressure on the rope is adjustable.
- a sensor for measuring self-induced or externally induced local magnetic fields 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.
- 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.
- 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.
- cables for example, suspension bridges.
- the position and type of surface defects on the rope can be detected with automatic means and these can be found again.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Bridges Or Land Bridges (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Description
Gegenstand der vorliegenden Erfindung ist ein Verfahren zum Inspizieren von Seilen, sowie eine Inspektionsvorrichtung zum Inspizieren von Seilen. Verfahren und Inspektionsvorrichtung lassen sich insbesondere zur Inspektion von tragenden Seilen, wie sie beispielsweise an Brücken oder ähnlichen Bauwerken eingesetzt werden, anwenden.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.
Seile oder Stäbe, die zur Übertragung von Zugkräften stationär in technische Strukturen, wie beispielsweise Seil- oder Hängebrücken eingebaut werden, sind regelmäßig zu inspizieren, um die Gefährdung Dritter und der Bauwerke selber durch unerwartete Brüche der Seile oder Stäbe zu verhindern. Bisher haben Inspektionen dieser Seile oder Stäbe über bemannte Inspektionsgeräte oder Hubarbeitsbühnen stattgefunden. Auch unbemannte Inspektionsgeräte sind bekannt, beispielsweise aus der
Da beim Inspizieren der Seile oder Stäbe insbesondere bei Hänge- oder Seilbrücken oft große Seillängen zu inspizieren sind - Seillängen von mehreren hundert Metern Länge sind üblich - liegt der folgenden Erfindung die Aufgabe zu Grunde, ein Verfahren und eine Inspektionsvorrichtung anzugeben, mit der auch beim Inspizieren von Seilen großer Länge die aus dem Stand der Technik bekannten Nachteile zumindest teilweise überwunden werden können und insbesondere reproduzierbare Inspektionsergebnisse erhalten werden können. Diese Aufgabe wird gelöst durch ein Verfahren und eine Inspektionsvorrichtung mit den Merkmalen der unabhängigen Ansprüche.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.
Die jeweiligen abhängigen Ansprüche sind auf vorteilhafte Weiterbildungen gerichtet.The respective dependent claims are directed to advantageous developments.
Das erfindungsgemäße Verfahren zum Inspizieren von Seilen, bei dem ein zu inspizierendes Seil mit einer Inspektionsvorrichtung befahren wird, die mindestens ein Inspektionsgerät zur Aufnahme von Daten zur Zustandscharakterisierung des Seiles trägt, wobei die Inspektionsvorrichtung zumindest drei Rollen umfasst, die kraftschlüssig mit dem Seil verbunden sind, wobei mindestens eine Rolle durch mindestens einen Motor angetrieben wird, so dass die Inspektionsvorrichtung am Seil verfahrbar ist, zeichnet sich dadurch aus, dass der mindestens eine Motor so ansteuerbar ist, dass die Inspektionsvorrichtung vorbestimmbare Positionen an dem Seil reproduzierbar anfährt und wobei zumindest zeitweise Daten zur Zustandscharakterisierung des Seiles aufgenommen werden.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.
Unter dem Begriff "Seil" im Sinne der vorliegenden Erfindung wird ein Element verstanden, welches zur Aufnahme von Zugkräften geeignet ist. Insbesondere umfasst der Begriff "Seil" ein Seil und einen Stab, wie sie beispielsweise in Seil-oder Hängebrücken verbaut werden. Unter dem Begriff "Zustandscharakterisierung" werden Daten verstanden, die für den Zustand des Seiles oder von Teilen des Seiles, beispielsweise der Zustand einer Korrosionsschutzschicht auf dem Seil, die Intaktheit einzelner Drähte des Seiles, Oberflächenkorrosion des Seiles und andere charakteristisch sind. Die Inspektionsvorrichtung ist unbemannt, kann also automatisch oder ferngesteuert das Seil befahren. Durch die mindestens drei, bevorzugt vier Rollen, steht die Inspektionsvorrichtung mit dem Seil im Kontakt. Hierbei wird eine kraftschlüssige Verbindung zwischen den Rollen und dem Seil erzeugt. Bevorzugt sind sämtliche Rollen mit einem gemeinsamen oder rollenindividuellen Motor antreibbar und werden so angetrieben. Durch den Antrieb wenigstens einer Rolle wird die Inspektionsvorrichtung am Seil verfahren. Durch eine entsprechende Ansteuerung des Motors, der beispielsweise einen Schrittmotor umfasst und/oder basierend auf Daten eines entsprechenden Sensors zur Positionsbestimmung erfolgt eine reproduzierbare Ansteuerung einer bestimmten Position am Seil und/oder eine positionsaufgelöste Datenaufnahme am Seil.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.
Das bedeutet, dass beispielsweise nach Abschluss einer Gesamtinspektion eines Seiles von mehreren 100 m oder sogar mehr als 1 km Länge eine ganz bestimmte Position an dem Seil, die beispielsweise als Abstand von einer Seilaufhängung und/oder einer Markierung auf dem Seil definiert werden kann, anfahrbar ist, um einen bestimmten Defekt oder die Oberflächenbeschaffenheit an dieser Position genauer zu inspizieren. So können auch bei aufeinanderfolgenden Inspektionen über die Zeit auftretende Zustandsveränderungen mit großer Präzision positionsaufgelöst beobachtet werden. Insbesondere ist es möglich, die Position am Seil auf 5 mm genau und besser wieder anzufahren. Mit dem erfindungsgemäßen Verfahren können entsprechend auch große Seillängen regelmäßig reproduzierbar inspiziert werden. Die Daten zur Zustandscharakterisierung des Seiles können in vorgebbaren Zeit- und/oder Ortabständen oder auch kontinuierlich aufgenommen werden.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.
Gemäß einer vorteilhaften Weiterbildung des erfindungsgemäßen Verfahrens wird die Anpresskraft der Rollen an das Seil gesteuert.According to an advantageous embodiment of the method according to the invention, the pressing force of the rollers is controlled to the rope.
Insbesondere kann dies basierend auf den Schlupfdaten der Rollen am Seil erfolgen. Die Steuerung der Anpresskraft erfolgt insbesondere in Abhängigkeit von der Oberflächenbeschaffenheit des Seiles und insbesondere dessen Korrosionsschutzes, der nicht beschädigt werden darf. Die Anpresskraft der Rollen kann durch entsprechende Anpressmotoren oder manuell durch eine entsprechende Vorspannung elastischer Elemente an den Rollenaufhängungen und des Rollenmaterials variiert werden.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.
Gemäß einer weiteren vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens ist die Pendelscherbeanspruchung des Seils kleiner als 2 % (Prozent) der Haftzugfestigkeit der Oberflächenschicht, bevorzugt eines Anstrichs, auf dem Seil.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.
Hierdurch kann vermieden werden, dass das Seil durch die Befahrung mit der Inspektionsvorrichtung beschädigt wird. Besonders bevorzugt sind Pendelscherbeanspruchungen von kleiner als 20, insbesondere weniger als 10% oder sogar weniger als 2%der Haftzugfestigkeit der Oberflächenschicht auf dem Seil. Die Pendelscherbeanspruchung entsteht durch die Kombination des Antriebsmomentes mit Roll- und Pendelbewegungen der Inspektionsvorrichtung an und/oder auf dem Seil, die zu einer Scherung des Seiles führt. Die Pendelscherbeanspruchung kann insbesondere durch eine der folgenden Maßnahmen eingestellt werden:
- a) die Einstellung der Anpresskraft der Rollen;
- b) die Regelung der Anpresskraft der Rollen;
- c) die Auswahl des Materials der Rollen;
- d) die Einstellung der Anlagefläche der Rolle an dem Seil;
- e) die Begrenzung der Beschleunigungen und/oder Antriebskräfte;
- f) eine Dämpfung von Torkelbewegung in den Rollenlagern
- g) die Führung von Leitungen hin zu der Inspektionsvorrichtung, insbesondere von mindestens einer Versorgungsleitung und/oder Datenleitung;
- h) Reinigung und Trocknung der Seiloberfläche vor den Rollen
- a) the adjustment of the contact force of the rollers;
- b) the regulation of the pressing force of the rollers;
- c) the selection of the material of the rolls;
- d) the adjustment of the contact surface of the roller on the rope;
- e) the limitation of accelerations and / or driving forces;
- f) a damping of Storkelbewegung in the roller bearings
- g) the guidance of lines towards the inspection device, in particular of at least one supply line and / or data line;
- h) Cleaning and drying the rope surface in front of the rollers
Unter Punkt h kann man insbesondere die Reinigung des Seiles durch kleine Bürsten und Abstreifer verstehen, die vor die Rollen montiert sind.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.
Gemäß einer vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens werden die Daten auf mindestens einer der folgenden Arten aufgenommen:
- a) mittels Magnetfelddetektion;
- b) auf optischem Wege;
- c) durch Aufnahme von Schwingungen;
- d) durch Messung einer Schichtdicke mindestens einer oberflächennahen Schicht;
- e) Ultraschallmessungen; und
- f) Messungen der Materialhärte.
- 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.
Unter der Magnetfelddetektion wird die Messung induzierter Magnetfelder im Seil verstanden. Unter Messungen auf optischem Wege wird insbesondere die Aufnahme von Daten mittels einer oder mehrere Bildaufnahmegeräte, wie z. B. Kameras verstanden. Die Aufnahme der Schwingungsmoden kann insbesondere durch entsprechend ausgebildete Trägheitssensoren erfolgen. Unter der Messung einer Schichtdicke einer oberflächennahen Schicht wird insbesondere die Bestimmung der Schichtdicke eines Anstrichs und/oder der Korrosionsschutzschichten, wie z. B. Verzinkung auf einem Seil mittels magnetischer oder Wirbelstromverfahren verstanden. Unter Ultraschallmessungen wird das Einleiten eines Ultraschallsignals in die Seiloberfläche und Messung deren Reflektion an Grenzschichten bezeichnet, deren Störungen somit abgebildet werden. Messungen der Materialhärte können insbesondere an Korrosionsschutzschicht und/oder einem Anstrich des Seiles und/oder darunter liegender Schichten bevorzugt durch entsprechend ausgebildete Sensoren erfolgen, bei denen mit einer entsprechenden Sonde eine definierte Kraft auf einer definierten Fläche auf das Seil ausgeübt und der entsprechende Verformungswiderstand des Materials ermittelt wird.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.
Gemäß einer weiteren vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens werden die Daten an einen Empfänger übertragen.According to a further advantageous embodiment of the method according to the invention, the data is transmitted to a receiver.
Diese Übertragung kann insbesondere kabellos beispielsweise über die Ausbildung eines drahtlosen Netzwerk (W-LAN) oder kabelgebunden erfolgen. Der Empfänger kann hierbei bevorzugt am Boden oder auf der Oberfläche des zu inspizierenden Bauwerks beispielsweise der Brücke ausgebildet sein. Aufgrund der oftmals großen zu übertragenden Datenmenge, der langen Überragungswege und der Ausgestaltung der Seile üblicherweise aus Stahl mit den entsprechenden elektromagnetischen Störungen ist eine drahtgebundene Übertragung an den Empfänger bevorzugt. Hierzu können handelsübliche und spezielle Netzwerkkabel eingesetzt werden. Weiterhin ist die Inspektionsvorrichtung bevorzugt über dasselbe oder ein anderes Kabel mit Strom zu versorgen, um so Gewicht beim Aufbau der Inspektionsvorrichtung durch Einsparung des Gewichts der Akkumulatoren oder Batterien einzusparen.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.
Gemäß einer weiteren vorteilhaften Ausgestaltung werden mit den Daten Ortsinformationen aufgezeichnet, die mit der Position am Seil bei der Aufnahme der Daten korreliert sind.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.
Hierbei kann es sich insbesondere um Vorgaben des Schrittmotors, beispielsweise eine Anzahl von erfolgen Schritten, handeln. Außerdem kann es sich um Daten eines Winkelcodierers handeln, der die Rollendrehungen detektiert. Weiterhin ist es alternativ oder zusätzlich möglich, Eich- oder Kalibrierungsdaten der Ortsinformation aufzuzeichnen, bei der beispielsweise die zurückgelegte Strecke am Seil nach einer bestimmten Initialisierung aufgezeichnet und mit abgespeichert wird.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.
Gemäß einem weiterem Aspekt der vorliegenden Erfindung wird eine Inspektionsvorrichtung zum Inspizieren von Seilen vorgeschlagen, die mindestens drei Rollen umfasst, mittels denen das zu inspizierende Seil mit der Inspektionsvorrichtung zu befahren ist und weiterhin mindestens ein Inspektionsgerät zur Aufnahme von Daten zur Zustandscharakterisierung des Seiles umfasst. Mindestens eine Rolle ist durch einen Motor antreibbar, so dass die Inspektionsvorrichtung am Seil verfahrbar ist. Erfindungsgemäß ist ein Steuermittel ausgebildet, mittels welchem der Motor so ansteuerbar ist, dass vorbestimmbare Positionen an dem Seil reproduzierbar anfahrbar sind.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.
Gemäß einer vorteilhaften Ausgestaltung der erfindungsgemäßen Inspektionsvorrichtung sind Anpressmittel zum Anpressen der Rollen an das Seil ausgebildet.According to an advantageous embodiment of the inspection device according to the invention contact pressure for pressing the rollers are formed on the rope.
Gemäß einer vorteilhaften Weiterbildung ist die Anpresskraft der Anpressmittel an das Seil regelbar.According to an advantageous embodiment, the contact pressure of the contact pressure on the rope is adjustable.
Gemäß einer vorteilhaften Ausgestaltung der erfindungsgemäßen Inspektionsvorrichtung ist mindestens eines der folgenden Inspektionsgeräte ausgebildet:
- a) mindestens ein Sensor zur Messung selbst- oder fremdinduzierter lokalen Magnetfelder;
- b) mindestens eine Kamera zur Aufnahme optischer Daten;
- c) mindestens ein Schwingungsaufnehmer;
- d) mindestens ein Sensor zur Bestimmung einer Schichtdicke mindestens einer oberflächennahen Schicht;
- e) mindestens ein Ultraschallsensor; und
- f) mindestens ein Sensor zur Messung der Materialhärte.
- a) at least one sensor for measuring self-induced or foreign-induced local magnetic fields;
- b) at least one camera for recording optical data;
- c) at least one vibration sensor;
- d) at least one sensor for determining a layer thickness of at least one near-surface layer;
- e) at least one ultrasonic sensor; and
- f) at least one sensor for measuring the material hardness.
Unter einem Sensor zur Messung selbst- oder fremdinduzierter lokaler Magnetfelder, einem so genannten Magnetinduktionsmessgerät, wird ein Gerät verstanden, mittels dem ein Magnetfeld in dem zu inspizierenden Seil induziert werden kann, das anschließend vermessen wird. Störungen des vorhandenen oder des derart induzierten homogenen Magnetfeldes können auf Drahtbrüche im Seil hinwiesen. Bevorzugt umfasst die Inspektionsvorrichtung mehrere Kameras und insbesondere mehrere Arten von Kameras, wobei bevorzugt mit einer Art Kameras ein positionsgenaues Bild, bevorzugt einer niedrigeren Auflösung, insbesondere zum zeitgleichen Übertragen und/oder Betrachten der Daten zur unmittelbaren örtlichen Inspektion des Seiles während der Befahrung bei höherer Befahrgeschwindigkeit dargestellt und aufgezeichnet wird. Eine zweite Art Kameras ist zur hochaufgelösten optischen Inspektion des Seiles positionsgenau nach der Befahrung ausgebildet.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.
Die für das erfindungsgemäße Verfahren offenbarten Details und Vorteile sind auf die erfindungsgemäße Inspektionsvorrichtung übertrag- und anwendbar und umgekehrt. Im Folgenden wird die Erfindung anhand der beigefügten Zeichnungen näher erläutert, ohne auf die dort gezeichneten Details und Vorteile beschränkt zu sein. Es zeigen schematisch:
- 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.
- 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.
- 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 derRollen 6 ein Winkel von 90° liegt. DurchAntrieb einer Rolle 6 durch einen entsprechendenMotor 5, der insbesondere auchFigur 2 zu entnehmen ist, kann das zu inspizierende Seil 1 mit der Inspektionsvorrichtung A befahren werden.
- 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. Therollers 6 are formed in pairs so that between two adjacent pairs ofrollers 6 is an angle of 90 °. By driving aroller 6 by acorresponding motor 5, in particular alsoFIG. 2 can be seen, the rope to be inspected 1 can be traveled with the inspection device A.
An einem Messgeräteträger 7 ist mindestens ein Inspektionsgerät 10 ausgebildet. Diese Inspektionsgeräte 10 umfassen Kameras 8 und Magnetfeldmessgeräte 9. Die Rollen 6 sind in Radaufhängungen 2 gehaltert. Die durch die Inspektionsgeräte 10 und insbesondere die Kameras 8 und Magnetfeldmessgeräte 9 gelieferten Daten werden in einem Messauswertungsmittel 3 ausgewertet und ggf. einem nicht gezeigten Empfänger übertragen. Ferner ist ein Steuermittel 4 ausgebildet, mittels welchem der Motor 5 zum Antrieb der Rollen 6 überwacht und angesteuert wird. Die Steuermittel 4 umfassen dabei Positionszähler zur Bestimmung von Ortsinformationen, so dass diese mit den durch die Inspektionsgeräte 10 gelieferten Daten korrelier- und abspeicherbar sind, und wahlweise Schubkraftsensoren.At least one
Das erfindungsgemäße Verfahren und die erfindungsgemäße Inspektionsvorrichtung A gestatten eine reproduzierbare Oberflächeninspektion von Seilen beispielsweise von Hängebrücken. So ist mit automatischen Mitteln die Position und die Art von Oberflächendefekten am Seil feststellbar und diese sind wieder auffindbar.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.
- 11
- Seilrope
- 22
- RadaufhängungArm
- 33
- MessauswertungsmittelMeasurement analysis means
- 44
- Steuermittelcontrol means
- 55
- Motorengine
- 66
- Rollenroll
- 77
- MessgeräteträgerMeters carrier
- 88th
- Kameracamera
- 99
- Magnetfeldmessgerätmagnetic field measuring instrument
- 1010
- Inspektionsgerätinspection unit
- AA
- Inspektionsvorrichtunginspection device
Claims (10)
- Method for inspecting cables, in which a cable to be inspected is travelled along by an inspection apparatus, which carries at least one inspection device for recording data for characterizing the condition of the cable,
the inspection apparatus comprising at least three rollers, which are connected to the cable in a force-fitting manner,
at least one roller being driven by at least one motor, so that the inspection apparatus can be made to move along on the cable,
characterized in that the at least one motor can be activated in such a way that the inspection apparatus reproducibly travels to predeterminable positions on the cable and
at least from time to time data for characterizing the condition of the cable are recorded in correlation with the respective position. - Method according to Claim 1, in which the pressing force of the rollers against the cable is controlled.
- Method according to one of the preceding claims, in which the pendulum shear stress is less than 20% (per cent) of the tensile bond strength of the surface layer on the cable.
- Method according to one of the preceding claims, in which the data are recorded in at least one of the following ways:a) by means of magnetic field detection;b) by optical means;c) by recording vibrations;d) by measuring a layer thickness of at least one layer near the surface;e) ultrasonic measurements; andf) measurements of the 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 the data are used to record locational information correlated with the position on the cable at the time of recording the data.
- Inspection apparatus (A) for inspecting cables (1), comprising at least three rollers (6), by means of which the cable (1) to be inspected can be travelled along by the inspection apparatus (A) and at least one inspection device (10) for recording data for characterizing the condition of the cable (1), at least one roller (6) being able to be driven by a motor (5), so that the inspection apparatus (A) can be made to move along on the cable (1), characterized in that a control means (4) is formed, by means of which the motor (5) can be activated in such a way that predeterminable positions on the cable (1) can be reproducibly travelled to, the control means (4) comprising position counters for determining locational information, so that this information can be correlated and stored with the data supplied by the at least one inspection device (10).
- Inspection apparatus (A) according to Claim 7, in which pressing means for pressing the rollers (6) against the cable (1) are formed.
- Inspection apparatus (A) according to Claim 8, in which the pressing force of the pressing means against the cable (1) can be regulated.
- Inspection apparatus (A) according to either of Claims 7 and 8, in which at least one of the following inspection devices is formed:a) at least one sensor for measuring self-induced or externally induced local magnetic fields (9);b) at least one camera (8) for recording optical data;c) at least one vibration recorder;d) at least one sensor for determining a layer thickness of a layer near the surface;e) at least one ultrasonic sensor; andf) at least one sensor for measuring the material hardness.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008049942A DE102008049942A1 (en) | 2008-10-02 | 2008-10-02 | Method and inspection device for inspecting ropes |
Publications (3)
Publication Number | Publication Date |
---|---|
EP2172593A2 EP2172593A2 (en) | 2010-04-07 |
EP2172593A3 EP2172593A3 (en) | 2013-07-24 |
EP2172593B1 true EP2172593B1 (en) | 2014-09-10 |
Family
ID=41445471
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20090164376 Active EP2172593B1 (en) | 2008-10-02 | 2009-07-02 | Method and apparatus for inspecting cables |
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EP (1) | EP2172593B1 (en) |
DE (1) | DE102008049942A1 (en) |
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DE29502234U1 (en) * | 1995-02-11 | 1995-04-13 | Ernst Peiniger GmbH Unternehmen für Bautenschutz, 45145 Essen | Surface processing device for elongated, stationary bodies, in particular for suspension cables on bridges |
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DE20311395U1 (en) | 2003-07-24 | 2003-10-30 | Boué, Andreas, Dr.-Ing., 52152 Simmerath | Remotely-controlled cable inspection platform rotates through roll plane for all-round cable inspection |
-
2008
- 2008-10-02 DE DE102008049942A patent/DE102008049942A1/en not_active Withdrawn
-
2009
- 2009-07-02 EP EP20090164376 patent/EP2172593B1/en active Active
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CN108562531A (en) * | 2018-01-29 | 2018-09-21 | 鲁东大学 | A kind of bridge stay cable rust detection equipment |
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Also Published As
Publication number | Publication date |
---|---|
EP2172593A3 (en) | 2013-07-24 |
DE102008049942A1 (en) | 2010-04-08 |
EP2172593A2 (en) | 2010-04-07 |
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