JP2001039690A - Structural body inspection vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To safely inspect a structural body without requiring the necessity for a worker to ride on a work table and without requiring a plurality of workers. SOLUTION: This structural body inspection car C comprises a plurality of structural body detecting line sensors 10 and an illumination device 11 disposed at the tip parts of telescopic booms 3 and 5 and a moved distance detector detecting a travel movement distance of a vehicle. Based on image information detected by the plurality of line sensors 10 while the vehicle is traveling and moved distance information on vehicle detected by the moved distance detector, an image for moved distance is constructed as a secondary image and processed, and the damage and property change of the structural body is recognized automatically by a CPU and displayed on a monitor screen for inspection.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure inspection vehicle.

[0002]

2. Description of the Related Art There is a bridge inspection vehicle shown in FIG. This bridge inspection vehicle is a vehicle 1
The swivel 2 is disposed so as to be swivelable on the top, and
The telescopic boom 3 is arranged to be able to undulate. The first telescopic boom 3 has a base boom 3a in which a leading boom 3b is fitted so as to be extendable and contractable, and a telescopic driving means (not shown) is provided between the booms. Between the swivel base 2 and the base boom 3a, an up-and-down cylinder 4 is arranged so that the telescopic boom 3 can be driven up and down, and a swivel drive device (not shown) is also arranged between the swivel base 2 and the vehicle 1, and a HYPERLINK mailto: r @ d to enable turning drive.

[0003] A second telescopic boom 5 is arranged at the tip of the tip boom 3b so as to be able to move up and down. The second telescopic boom 5 is composed of a five-stage boom that is sequentially and elastically fitted and inserted, and appropriate telescopic driving means (not shown) is arranged between the respective booms. An attitude maintaining device (not shown) is provided between the base end of the second telescopic boom 5 and the leading boom 3b to maintain the vertical posture of the second telescopic boom 5 irrespective of the up / down driving of the first telescopic boom. ing. At the tip of the second telescopic boom 5,
The worktable 6 is arranged so as to be able to rotate.

[0004] A pair of front outriggers 7 are provided at the front of the vehicle
And a pair of rear outriggers 8 are arranged on the left and right sides of the vehicle rear,
Each of the outriggers 7, 8 is provided with a jack 7a, 8a for supporting the vehicle on the ground, and the jacks 7a, 8a are provided with rollers 7b, 8b.

[0005] The bridge inspection vehicle A thus configured is
As illustrated in FIG. 3, the first telescopic boom 3 and the second telescopic boom 5 are appropriately extended and retracted and raised and lowered so that the worktable 6 is located under the bridge B, and the worker who has boarded the worktable 6 has a bridge. It is used when visually inspecting damage and changes in properties of bridge B such as cracks in B. The outriggers 7 and 8 have rollers 7 as described above.
Since b and 8b are arranged, the bridge B is inspected while the vehicle 1 is moved.

[0006]

However, when the bridge B is inspected by the bridge inspection vehicle A, the worker on the work table 6 must work in an upward posture, and the workability is poor. Had become. Also, the worker who boarded the worktable 6 cannot grasp the situation near the vehicle 1 on the bridge B, and the worker who boarded the vehicle 1 cannot grasp the situation near the worktable 6 under the bridge B. Regarding the traveling movement of the vehicle 1 and the movement of the work table 6, the worker who has boarded the vehicle 1 and the worker who has boarded the work table 6 are driven while communicating with each other.

[0007] Therefore, a plurality of workers are required, and if they do not communicate well with each other, they may lead to an accident. In addition, since the worker who boarded the worktable 6 works at a high place, it is necessary to pay particular attention to safety during the work. Further, since the inspection is performed by visual inspection, it takes time for the inspection and the operation is inefficient.

SUMMARY OF THE INVENTION An object of the present invention is to provide a structure inspection vehicle that solves the above problems.

[0009]

In order to achieve the above object, a structure inspection vehicle according to the present invention has a structure in which a telescopic boom capable of turning and raising and lowering is arranged on a vehicle, and the telescopic boom is disposed at a tip end of the telescopic boom. A plurality of line sensors and lighting devices for photographing objects, a moving distance detector for detecting the traveling distance of the vehicle, image information captured by the plurality of line sensors while traveling the vehicle, and the moving distance detector. Based on the detected moving distance information of the vehicle, an image corresponding to the moving distance is constructed as a two-dimensional image, and image processing is performed.
An arithmetic processing device for automatically recognizing a change in properties and the like, and a monitor for displaying a processing result of the arithmetic processing device are provided.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A structure inspection vehicle according to the present invention will be described below with reference to FIGS. In describing the embodiment of the present invention, a case where the present invention is applied to a bridge inspection vehicle described in the related art as a structure inspection vehicle will be described below as an example. Therefore, the reference numerals shown and described in FIG. 3 are used in the following description as well, and the detailed description is omitted.

In FIG. 1, C is a bridge inspection vehicle according to the present invention. Reference numeral 10 denotes a line sensor, which is an image capturing element for capturing an image of a structure, and a plurality of the line sensors are arranged on the work table 6 and mounted upward. 11 is a line sensor 1
A lighting device for photographing a structure at 0. The lighting device is attached to the worktable 6 in a direction in which the structure photographed by the line sensor 10 is irradiated.

Reference numeral 12 denotes a distance detector for detecting the distance to a structure (in this case, bridge B), for example, a laser distance meter or the like is used. Reference numeral 13 denotes a moving distance detector, which is a roller 7 attached to the jacks 7a, 8a of the outriggers 7, 8.
It comprises a detector for detecting the rotation of b, 8b, for example, a rotary encoder or the like. The moving distance detector 13 may detect the rotation of any one of the rollers 7b and 8b.

Next, an inspection device provided in the bridge inspection vehicle C for inspecting damage to the structure, changes in properties, etc. (cracks of the structure, etc.) will be described with reference to FIG. 2, reference numeral 14 denotes image information captured by a plurality of line sensors 10;
Based on the moving distance information of the vehicle detected by the moving distance detector 13, an image corresponding to the moving distance is constructed as a two-dimensional image, and image processing is performed to detect damage to the structure, change in properties, and the like (cracks of the structure, etc.). It is a computing device that recognizes. Arithmetic unit 14
Then, the captured image is divided into an appropriate size, and a pre-programmed damage / change in property (such as cracking of the structure) detection module (specifically, Japanese Patent Application Laid-Open No. H11-39471) ) Automatically recognizes damages and changes in properties of structures (cracks of structures, etc.). The captured image and the result of automatic recognition of damage / change in properties of the structure (cracks of the structure) are displayed on the monitor 16 and recorded on the data recorder 15. In addition, printer 1
7, it is also possible to output.

The arithmetic unit 14 is provided with a timely distance detector 1
The distance information from the line sensor 10 detected in Step 2 to the structure (in this case, the bridge B) is obtained, the magnification of the captured image is obtained, and the obtained information is recorded in the data recorder 15 together with the image information from the line sensor 10. I have.

The arithmetic unit 14, data recorder 15,
The monitor 16 and the printer 17 are arranged in a measurement room (not shown in FIG. 1) provided on the vehicle 1, and each detector is connected to an arithmetic unit in the measurement room by a cable.

The bridge inspection vehicle C according to the present invention thus configured operates as follows. First, the outriggers 7a and 8a on the side where the worktable 6 is located are extended, and the first telescopic boom 3 and the second telescopic boom 5 are operated.
To the state shown in FIG. Then, bridge B with lighting device 11
To cause the vehicle 1 to travel. Then, the image information detected by each line sensor 10, the moving distance information from the moving distance detector 13, and the distance information from the distance detector 12 are obtained. Based on the detected moving distance information of the vehicle, an image corresponding to the moving distance is constructed as a two-dimensional image, and image processing is performed to recognize damage to the structure, change in properties, and the like (cracks, etc. of the structure). Then, the monitor 16 displays the captured image and the result of automatic recognition of damage / change in property of the structure (crack of the structure) and the like, and records the result in the data recorder 15. If necessary, the captured image recorded in the data recorder 15 and the result of automatic recognition of damage to the structure and changes in properties (such as cracks in the structure) are again monitored by the monitor 16.
Or output by the printer 17 to check for damage to the structure and changes in properties (such as cracks in the structure).

Thus, the bridge inspection vehicle C according to the present invention is provided.
Means damage to the structure, change in properties, etc. (crack of the structure, etc.)
Therefore, it is possible to inspect the structure without the operator having to board the work table 6, so that the work is not performed at a high place as in the conventional case, and a plurality of workers can be inspected. It is not necessary and enables safe inspection work. In addition, since the inspection is performed automatically without visual inspection, the inspection can be performed efficiently without requiring much time.

In the above embodiment, the distance detector 12
Is used to obtain the distance information from the line sensor 10 detected by the distance detector 12 to the structure (in this case, the bridge B), and obtain the magnification of the captured image. The inspection may be performed with the distance to B) being constant, and the distance detector 12 may not be used.

In the above embodiment, the case where the present invention is applied to a bridge inspection vehicle having the first telescopic boom 3 and the second telescopic boom 5 as the telescopic boom has been described. Needless to say, the present invention can be applied to an aerial work vehicle or the like which can move while performing work while having a table.

[0020]

According to the structure inspection vehicle of the present invention constructed and operated as described above, it is possible to inspect the structure without the operator having to board the work table, and a plurality of workers are required. This enables safe inspection work. In addition, since the inspection is automatically recognized without visual inspection, the inspection can be performed efficiently without requiring much time. In addition, since the image corresponding to the moving distance is constructed as a two-dimensional image based on the moving distance information of the vehicle and image processing is performed, the position of damage to the structure or change in properties (cracks of the structure) can be determined. Can be identified.

[Brief description of the drawings]

FIG. 1 is an explanatory view illustrating a structure inspection vehicle according to the present invention.

FIG. 2 shows damage to a structure provided in the structure inspection vehicle of the present invention.
It is explanatory drawing explaining the inspection apparatus of a change of a property (crack of a structure, etc.).

FIG. 3 is an explanatory view illustrating a conventional structure inspection vehicle.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle 3 1st telescopic boom 5 2nd telescopic boom 10 Line sensor 11 Lighting device 13 Moving distance detector 14 Computing device 16 Monitor C Structure inspection vehicle (bridge inspection vehicle)

Claims (1)

[Claims] A telescopic boom capable of turning and raising and lowering is disposed on a vehicle, and a plurality of line sensors and an illuminating device for photographing a structure disposed at a tip portion of the telescopic boom, and a traveling distance of the vehicle are detected. A moving distance detector, which constructs an image corresponding to the moving distance as a two-dimensional image based on image information captured by a plurality of line sensors while moving the vehicle and moving distance information of the vehicle detected by the moving distance detector; A structural inspection vehicle equipped with an arithmetic processing unit for automatically recognizing damage and changes in properties of a structure by image processing, and a monitor for displaying processing results of the arithmetic processing unit.