EP2172593B1 - Procédé et dispositif pour l'inspection de haubans - Google Patents

Procédé et dispositif pour l'inspection de haubans Download PDF

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Publication number
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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EP
European Patent Office
Prior art keywords
cable
data
inspection apparatus
rope
inspection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20090164376
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German (de)
English (en)
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EP2172593A2 (fr
EP2172593A3 (fr
Inventor
Andreas Boué
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Diagnose und Ingenieurgesellschaft Dr Boue mbH
Original Assignee
Diagnose und Ingenieurgesellschaft Dr Boue mbH
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Publication of EP2172593A2 publication Critical patent/EP2172593A2/fr
Publication of EP2172593A3 publication Critical patent/EP2172593A3/fr
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Publication of EP2172593B1 publication Critical patent/EP2172593B1/fr
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Classifications

    • 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
    • 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 Or Analyzing Materials By The Use Of Magnetic Means (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Claims (10)

  1. Procédé pour inspecter des câbles, selon lequel un câble à inspecter est parcouru par un dispositif d'inspection qui comporte au moins un appareil d'inspection destiné à relever des données de caractérisation de l'état du câble,
    le dispositif d'inspection comprenant au moins trois rouleaux qui sont reliés par adhérence avec le câble,
    au moins un rouleau étant entraîné par au moins un moteur de sorte que le dispositif d'inspection puisse être déplacé sur le câble,
    caractérisé en ce que l'au moins un moteur peut être commandé de telle sorte que le dispositif d'inspection se déplace de manière reproductible jusqu'à des positions pouvant être prédéfinies sur le câble et
    des données au moins temporaires de caractérisation de l'état du câble étant relevées en corrélation avec la position correspondante.
  2. Procédé selon la revendication 1, selon lequel la force de pressage des rouleaux sur le câble est commandée.
  3. Procédé selon l'une des revendications précédentes, selon lequel la contrainte de cisaillement pendulaire est inférieure à 20 % (pour-cent) de la résistance à la traction par adhérence de la couche de surface sur le câble.
  4. Procédé selon l'une des revendications précédentes, selon lequel les données sont relevées d'au moins l'une des façons suivantes :
    a) par détection de champ magnétique ;
    b) par voie optique ;
    c) par relevé des oscillations ;
    d) par une mesure d'une épaisseur de couche d'au moins une couche proche de la surface ;
    e) mesures aux ultrasons ; et
    f) mesures de la dureté du matériau.
  5. Procédé selon l'une des revendications précédentes, selon lequel les données sont transmises à un récepteur.
  6. Procédé selon l'une des revendications précédentes, selon lequel des informations d'emplacement sont enregistrées avec les données, lesquelles sont corrélées avec la position sur le câble lors du relevé des données.
  7. Dispositif d'inspection (A) pour inspecter des câbles (1), comprenant au moins trois rouleaux (6) à l'aide desquels le câble à inspecter (1) doit être parcouru par le dispositif d'inspection (A) et au moins un appareil d'inspection (10) destiné à relever des données de caractérisation de l'état du câble (1), au moins un rouleau (6) pouvant être entraîné par un moteur (5) de sorte que le dispositif d'inspection (A) puisse être déplacé sur le câble (1), caractérisé en ce qu'il existe un moyen de commande (4), à l'aide duquel le moteur (5) peut être commandé de telle sorte que des positions pouvant être prédéfinies sur le câble (1) peuvent être gagnées de manière reproductible, les moyens de commande (4) comprenant des compteurs de position pour déterminer des informations d'emplacement, de sorte que celles-ci puissent être corrélées et enregistrées conjointement avec les données délivrées par l'au moins un appareil d'inspection (10).
  8. Dispositif d'inspection (A) selon la revendication 7, avec lequel il existe des moyens de pressage pour presser les rouleaux (6) contre le câble (1).
  9. Dispositif d'inspection (A) selon la revendication 8, avec lequel la force de pressage des moyens de pressage sur le câble (1) est réglable.
  10. Dispositif d'inspection (A) selon l'une des revendications 7 à 8, avec lequel est configuré au moins l'un des appareils d'inspection suivantes :
    a) au moins un capteur pour mesurer des champs magnétiques locaux (9) auto-induits ou induits depuis l'extérieur ;
    b) au moins une caméra (8) pour relever des données optiques ;
    c) au moins un capteur d'oscillations ;
    d) au moins un capteur pour déterminer une épaisseur de couche d'une couche proche de la surface ;
    e) au moins un capteur à ultrasons ; et
    f) au moins un capteur pour mesurer la dureté du matériau.
EP20090164376 2008-10-02 2009-07-02 Procédé et dispositif pour l'inspection de haubans Active EP2172593B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008049942A DE102008049942A1 (de) 2008-10-02 2008-10-02 Verfahren und Inspektionsvorrichtung zum Inspizieren von Seilen

Publications (3)

Publication Number Publication Date
EP2172593A2 EP2172593A2 (fr) 2010-04-07
EP2172593A3 EP2172593A3 (fr) 2013-07-24
EP2172593B1 true EP2172593B1 (fr) 2014-09-10

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Country Status (2)

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EP (1) EP2172593B1 (fr)
DE (1) DE102008049942A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106052920A (zh) * 2016-05-19 2016-10-26 武汉理工大学 一种智能升降定位索力检测装置
CN106049270A (zh) * 2016-06-23 2016-10-26 中国计量学院 一种新型缆索爬升装置
CN108562531A (zh) * 2018-01-29 2018-09-21 鲁东大学 一种桥梁斜拉索锈蚀检测设备
CN111501544A (zh) * 2020-04-30 2020-08-07 陈贞全 桥梁双柱式桥墩用维护升降平台

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009052829A1 (de) 2009-11-13 2011-05-19 Diagnose- und Ingenieurgesellschaft Dr. Boué mbH Verfahren und Vorrichtung zum Auftragen einer Flüssigkeit auf ein Seil
US8697178B2 (en) * 2011-08-26 2014-04-15 Diagnose-und Ingenieurgesellschaft Dr. Boué Method and apparatus for applying a coating to a cable
CN102587270B (zh) * 2012-02-29 2013-10-30 华中科技大学 斜拉桥缆索的攀爬装置
CN103895723B (zh) * 2012-12-26 2016-04-13 上海建冶科技工程股份有限公司 多轮弹性挤压柔性爬升缆索维护机器人
CN104894957B (zh) * 2014-03-03 2016-10-26 长沙大方精密机电有限公司 用于桥梁拉索缺陷检测的防偏可调式爬升装置
CN104074135B (zh) * 2014-04-16 2016-08-24 广州诚泰交通机电工程有限公司 一种桥梁索缆检测装置
CN106476923A (zh) * 2015-12-28 2017-03-08 北方工业大学 一种爬绳机器人
CN105908624B (zh) * 2016-06-15 2018-01-09 广西交通科学研究院 一种用于检测斜拉桥缆索的便携式机器人
CN106284070B (zh) * 2016-10-21 2018-05-25 柳州欧维姆机械股份有限公司 带检测系统的轻型碳纤维爬索机器人及其用于拉索检测的方法
CN106556684B (zh) * 2016-12-01 2019-04-23 华南理工大学广州学院 一种新型电驱动的缆索检测装置及检测方法
CN110344325B (zh) * 2019-06-20 2020-12-22 长沙学院 一种桥梁缆索的检测装置
CN112030738B (zh) * 2020-08-24 2022-04-01 宁波职业技术学院 一种基于负重切换机制的斜拉索机器人爬索系统与方法
CN112211097A (zh) * 2020-10-23 2021-01-12 上海同新机电控制技术有限公司 一种斜拉索检修小车
CN112458894A (zh) * 2020-11-05 2021-03-09 马征 一种全方位桥梁病害检测装置
CN113152273B (zh) * 2021-04-28 2022-07-29 重庆交通大学 一种吊杆病害的检测装置及检测方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29502234U1 (de) * 1995-02-11 1995-04-13 Ernst Peiniger GmbH Unternehmen für Bautenschutz, 45145 Essen Oberflächen-Bearbeitungsvorrichtung für langgestreckte, ortsfest angebrachte Körper, insbesondere für Tragseile an Brücken
CA2376218A1 (fr) * 2002-03-13 2003-09-13 Jonathan Rheaume Dispositif teleguide se vehiculant sur un systeme d'acces adapte aux structures, sans perturber la circulation routiere
DE20311395U1 (de) 2003-07-24 2003-10-30 Boué, Andreas, Dr.-Ing., 52152 Simmerath Selbstfahrende Inspektionsplattform für Seile

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106052920A (zh) * 2016-05-19 2016-10-26 武汉理工大学 一种智能升降定位索力检测装置
CN106052920B (zh) * 2016-05-19 2019-03-08 武汉理工大学 一种智能升降定位索力检测装置
CN106049270A (zh) * 2016-06-23 2016-10-26 中国计量学院 一种新型缆索爬升装置
CN106049270B (zh) * 2016-06-23 2018-07-06 中国计量学院 一种新型缆索爬升装置
CN108562531A (zh) * 2018-01-29 2018-09-21 鲁东大学 一种桥梁斜拉索锈蚀检测设备
CN111501544A (zh) * 2020-04-30 2020-08-07 陈贞全 桥梁双柱式桥墩用维护升降平台

Also Published As

Publication number Publication date
EP2172593A2 (fr) 2010-04-07
EP2172593A3 (fr) 2013-07-24
DE102008049942A1 (de) 2010-04-08

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