JP2005076194A - Tunnel lining inspection apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tunnel lining inspection apparatus which is fitted for inspection of concrete lining of a tunnel. <P>SOLUTION: According to the structure of the tunnel lining inspection apparatus, a bottom of a box-shaped inspection tool 1 for housing therein a transmitting/receiving antenna, is borne by a bearing member 3 which is borne by a rockable bearing means 19 having a plurality of air cylinders 15a, 15b, 17a, 17b. Then the rockable bearing means is borne by an elevating means 20 having an air cylinder 35, which is then rotatably borne by an arm member 41 which is further borne by a base portion 44 in a manner rotatable in the same rotational plane as that of the elevating means 20. Further a rolling surface of at least three rotary members 5a to 5c arranged across the inspection tool is protruded from an antenna surface, and the position of the inspection tool 1 is controlled by the rockable bearing means 19, followed by elevating/lowering the rockable bearing means by the elevating means 20, to thereby adjust an interval between the inspection tool and a concrete surface. In this manner by holding and controlling the interval between the inspection tool and the concrete surface by the three rotary members to a constant value, inspection of the concrete lining of the tunnel is automatically carried out. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a tunnel lining inspection apparatus, and specifically relates to a technique for inspecting a defect of concrete constituting a ceiling wall or a side wall of a tunnel in a non-contact manner.

  As a method for non-contact inspection of defects inside concrete, a radar antenna inspection device (hereinafter simply referred to as inspection device) equipped with a transmission / reception antenna is held close to the surface of the concrete to be inspected, and radio waves are transmitted from the transmission / reception antenna. It is known to transmit and receive a reflected wave from a reinforcing bar or internal defect in concrete with a transmission / reception antenna, and process the transmission / reception data to detect an internal defect or the like.

  A multi-pass 3D imaging radar that scans the entire surface while moving an array antenna type inspection device with a plurality of transmitting and receiving antennas along the concrete surface to detect internal defects and to image the inspection results. An inspector of the type has been proposed (Patent Document 1). According to this, while moving the array antenna type inspection device along the inspection object, radio waves are emitted in order from a plurality of transmission / reception antennas for each fixed movement, while reflected waves corresponding to each transmission are transmitted to other plurality of transmission waves. A three-dimensional image is obtained by synthesizing the received signals received by the transmitting and receiving antennas.

  According to this multipath three-dimensional imaging radar type inspection device, a planar internal defect inclined with respect to the surface, an internal defect when there is an obstacle (such as a reinforcing bar) in the vicinity, or a concrete to be inspected Even if the thickness is 30 cm or more, there is an advantage that internal defects can be detected at high speed with high image quality.

JP 2002-323459 A

However, the prior art described in Patent Document 1 does not take into account the concrete concrete inspection apparatus provided to cover the ceiling wall and side walls of the tunnel. In other words, when inspecting concrete lining, the inspection device is moved along the concrete surface while maintaining a certain distance from the concrete surface. Not.
(1) When the distance of the tunnel is long, it is required to increase the moving speed of the inspection device and to increase the inspection object area of the inspection device as much as possible in order to shorten the inspection period.
(2) The concrete surface of the tunnel has irregularities with a relatively deep depth and a large pitch, or irregularities with a relatively shallow depth and a small pitch. The attitude of the inspector is controlled according to these irregularities. At the same time, it is required from the viewpoint of inspection accuracy to move the inspection device while automatically maintaining the separation distance from the concrete surface within a certain range (for example, 1 to 2 cm).
(3) Since the cross section of the concrete lining of the tunnel generally has a deformed arc-shaped curved surface, when moving in the direction of the arc, the attitude of the inspector is controlled to quickly bring the antenna surface to the curved surface. It is required to follow and control.

  An object of the present invention is to provide an inspection apparatus that satisfies the above-described requirements and is suitable for inspection of a concrete lining of a tunnel.

  In order to solve the above problems, a tunnel lining inspection apparatus according to the present invention includes a box-shaped inspection device in which a transmission / reception antenna is accommodated and an upper surface serving as an antenna surface, a support member that supports the bottom of the inspection device, A swing support means that has an air cylinder and supports the support member so as to be swingable in two orthogonal axes, a lift means that supports the swing support means to be lifted and lowered by an air cylinder, and pivots the lift means An arm member that supports the arm member; a base portion that supports the arm member so that the arm member can rotate in the same rotation surface as the lifting means; and a rolling surface that protrudes from the antenna surface. And at least three rotating members that are supported and sandwiched by the inspection device.

  That is, (1) Since the support member for supporting the tester is provided with swing support means that has a plurality of air cylinders so as to be swingable in two orthogonal axes, the posture of the tester is easily controlled. I can. In addition, (2) since the swinging support means is supported by the air cylinder so that the swinging support means can be moved up and down, the distance between the tester and the concrete surface is adjusted at high speed to The interval can be kept constant. (3) Since it has at least three rotating members provided with a rolling surface protruding from the antenna surface and sandwiching an inspection device, inspection is performed by an air cylinder of swing support means or lifting means. By pressing the vessel against the concrete surface with a certain force, the rolling surface of the rotating member can always be brought into contact with the concrete surface before the antenna surface comes into contact with the concrete surface. That is, the separation distance between the inspection device and the concrete surface can be automatically maintained within a certain range (for example, 1 to 2 cm).

  As described above, according to the present invention, the air cylinder excellent in high-speed response is used for swinging and raising / lowering, so that there are irregularities having a relatively deep depth and a large pitch on the concrete surface of the tunnel. Even if there is unevenness with a relatively shallow depth and a small pitch, the posture of the inspector and the spacing between the inspector and the concrete surface are kept constant by following the changes in the unevenness at high speed. Can be controlled. Therefore, according to the present invention, even if the scanning speed of the inspector is increased, the posture and position of the inspector can be controlled at high speed. For example, it is possible to meet the demand of 3 to 5 km / h).

  In particular, the lifting / lowering means is fixed to one of the two opposite sides of the parallelogram link to a rotating member that is rotatably attached to the arm member, and the swing support means is connected to the other side. If the air cylinder is rotatably connected to the rotating member and the piston of the air cylinder is rotatably connected to the other two opposite sides of the parallelogram link, The movement of the piston of the cylinder can be quickly converted into the movement in the up and down direction.

  Further, according to the present invention, since the lifting means is rotatably supported by the arm member, the inspection device can be moved along the arc by rotating the arm member. Further, since the arm member is supported by the base so as to be rotatable within the same rotation plane as the lifting means, the inspection device can be moved along a large arc. In other words, the cross section of the concrete lining of the tunnel generally has a deformed arc-shaped curved surface. Therefore, when moving the position of the inspection device in the direction of the arc, while controlling the posture of the inspection device, The position of the inspection device can be controlled by promptly following it.

  The tunnel lining inspection apparatus according to the present invention includes a carriage capable of traveling in a tunnel, and the carriage can be configured to support the base portion with an antenna surface of the inspection device facing a wall surface of the tunnel. . According to this, the position and orientation of the inspector are controlled and set on the wall surface of the tunnel, and in that state, the concrete lining is scanned and inspected in the longitudinal direction by moving the carriage in the longitudinal direction of the tunnel. Can do. By repeating this scanning by setting the position of the inspection device according to the arcuate wall surface, the concrete lining of the entire tunnel can be inspected.

  ADVANTAGE OF THE INVENTION According to this invention, the inspection apparatus suitable for the inspection of the concrete lining of a tunnel is realizable.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 is a diagram showing a main part of one embodiment of the tunnel lining inspection apparatus according to the present invention, FIG. 2 is an arrow view taken along line II-II in FIG. 1, and FIG. 3 is a line III- in FIG. FIG. 4 is an overall view showing a state in which the present embodiment is installed in a tunnel.

  1 to 3, a radar antenna 1 is a multipath three-dimensional imaging radar type inspection device, and a plurality of radar antennas 1 are arranged along a longitudinal direction in a box-shaped casing (for example, 40 cm long, 1 m wide, 40 cm high). The transmitting / receiving antenna elements are arranged. Note that the upper surface of the radar antenna 1 is an antenna surface formed of a material that transmits radio waves, and the radio waves are emitted from one transmission / reception antenna element toward the inspection target, and the reflected waves reflected from the inspection target are transmitted to other pluralities. The operation of receiving with the transmitting / receiving antenna element is repeated while sequentially switching the transmitting / receiving antenna elements, and the inside of the concrete lining is imaged based on the received reflected wave. By repeating this operation while moving the radar antenna 1 along the inspection target surface 2, three-dimensional image data inside the concrete lining can be obtained.

  The radar antenna 1 is supported by fixing the bottom of a box-shaped casing to a frame-shaped support frame 3. Two caster support bases 4a and 4b are provided on the front surface of the support frame 3 in the traveling direction of the radar antenna 1 (arrow A in the figure) at a distance from each other, and casters 5a are provided on the caster support bases 4a and 4b, respectively. 5b is attached. A single caster support 4c is provided on the rear surface of the support frame 3 so as to be positioned between the caster support 4a and 4b, and a caster 5c is attached to the caster support 4c. The wheels 6 of the casters 5 (5a, 5b, 5c) are arranged at positions where the rolling surfaces protrude from the antenna surface of the radar antenna 1 toward the inspection target surface 2 side. The amount of protrusion can be determined in relation to the intensity and sensitivity of the radio wave of the radar antenna 1, but is preferably about 1 to 2 cm, for example.

  As shown in FIGS. 2 and 3, the support frame 3 has pins 9 attached to brackets 8 erected and fixed on the upper surfaces of both ends of the support beam 7 provided to extend in the longitudinal direction of the radar antenna 1. Are connected through. A bracket 11 is suspended from the support beam 7 via a pin 10 across a central portion thereof, and a support beam 12 is fixed to the lower portion of the bracket 11. And the support beam 12 is being fixed to the arm part of the link 13 formed in the L shape (saddle shape). In other words, the support frame 3 is supported by the link 13 so as to be freely rotatable around two orthogonal axes of the pins 9 and 10.

  A pair of air cylinders 15 a and 15 b are attached to both ends of the support beam 7 via the bracket 16 with the support beam 7 interposed therebetween, and the tips of the piston rods are in contact with the lower surface of the support frame 3. ing. Air cylinders 17 a and 17 b are attached to both ends of the support beam 12, and the tips of the piston rods are in contact with the lower surface of the support beam 7. Accordingly, the radar antenna 1 rotates around the axis of the pin 9 by extending and contracting the piston rods of the air cylinders 15a and 15b. Further, the radar antenna 1 rotates about the axis of the pin 10 by extending and contracting the piston rods of the air cylinders 17a and 17b. Therefore, the radar antenna 1 can be swung around the two orthogonal axes with respect to the link 13 by extending and contracting the air cylinders 15a and 15b and the air cylinders 17a and 17b. That is, the radar antenna 1 is shaken in the two orthogonal axes via the support frame 3 by the support beam 7, the bracket 8, the pin 9, the pin 10, the bracket 11, the support beam 12, and the air cylinders 15a, 15b, 17a, and 17b. Oscillating support means 19 that is movably supported is configured.

  The L-shaped link 3 bears one side of the link of the parallelogram type link mechanism. Two rods 21 and 22 are inserted through the corners of the link 13 and the ends of the arms extending downward, and long-side links 23 and 24 are pivotally supported by the rods 21 and 22, respectively. The other ends of the two links 23 and 24 are pivotally supported by rods 25 and 26 inserted through the fixed link 27. The rods 21 and 22 and the rods 25 and 26 are provided in parallel. Although not shown in the figure, the parallelogram links 13, 23, 24, and 27 are provided in double directions in the direction perpendicular to the paper surface of FIG. A rod 30 is attached between the long side links 23 of the double parallelogram link mechanism configured as described above, and a bracket 30 is connected to a central portion of the rod 30 so as to freely rotate. An air cylinder 31 having a piston rod tip connected to the lower end of the bracket 30 is suspended. The lower end of the air cylinder 31 is rotatably supported via a pin 33 on a bracket 32 fixed to the fixed link 27. With this configuration, the long side link 23 is rotated around the rod 25 by extending and contracting the piston rod of the air cylinder 31, whereby the L-shaped link 13 is moved up and down.

  The fixed link 27 is pivotally supported at the tip of the arm 41 so as to be rotatable and fixed around a shaft 43 by a motor 42. The arm 41 is pivotally supported at the tip of the pole 44 so as to be rotatable and fixed around a shaft 46 by a motor 45. A counterweight 47 is attached to the lower end of the arm 41.

  As shown in FIG. 4, the pole 44 is provided upright on the carriage 51. In addition, although not shown in figure, the pole 44 is being fixed via the raising / lowering mechanism which combined the rack and the pinion gear, for example so that raising / lowering with respect to the trolley | bogie 51 is possible. The pole 44 is preferably formed so that it can be bent halfway in order to reduce the height during conveyance. The example shown in FIG. 4 is an example of inspecting a concrete lining 50 in a railway tunnel, and a carriage 51 includes wheels 3 that can run on rails 52. The base 54 for supporting the pole 44 is provided so as to be movable and fixed in the direction of the arrow 55 shown in the figure.

  Next, the operation of the concrete lining inspection apparatus of the present embodiment configured as described above will be described. First, the pole 44 is extended to bring the radar antenna 1 close to the inner wall surface of the concrete lining 50. Then, the motor 45 is driven to rotate the arm 41, and the motor 42 is driven to make rough adjustment so that the antenna surface of the radar antenna 1 is substantially parallel to the concrete lining 50. Next, the attitude of the radar antenna 1 is controlled while operating the air cylinders of the swing support means 19 and the lifting means 20, and the radar antenna 1 is pressed against the concrete lining 50. Thereby, casters 5a-5c are pressed against the surface of concrete lining 50, respectively. The pressing force at this time can be detected by the air pressure of each air cylinder. In this way, the distance between the antenna surface of the radar antenna 1 and the surface of the concrete lining 50 is kept constant.

  In this state, the radar antenna 1 is operated to emit radio waves from the transmitting and receiving antenna elements toward the concrete lining 50, receive the reflected waves of the radio waves reflected from the concrete lining 50, and analyze and synthesize the received waves. By doing this, the presence or absence of defects or the like inside the concrete lining 50 is inspected. Then, while traveling the carriage 51 in the longitudinal direction of the tunnel, radio waves are transmitted from the radar antenna 1 and reflected waves are received, and the inspection is executed over the entire longitudinal direction of the concrete lining 50 of the tunnel. During this travel, if the inner wall of the tunnel is uneven, the air cylinders 15a and 15b and the air cylinders 17a and 17b expand and contract by the reaction force from the casters 5a to 5c following the unevenness of the inner wall of the tunnel. The radar antenna 1 is swung according to the unevenness of the inner wall of the tunnel via Thus, the vehicle travels with the gap between the antenna surface and the tunnel inner wall surface kept constant. When the depth of the unevenness of the tunnel inner wall is large, the air cylinder 31 of the elevating means 20 expands and contracts, and the caster 5a-c is pressed against the tunnel inner wall with a constant pressure, so that the antenna surface follows the unevenness of the tunnel inner wall surface. Thus, the gap between the antenna surface and the inner wall surface of the tunnel is kept constant.

  As described above, according to the present embodiment, the radar antenna 1 is swung using the air cylinders 15 a, b, 17 a, and b with quick response, and the radar antenna 1 is moved up and down using the air cylinder 31. Therefore, even if the concrete surface of the tunnel has irregularities with a relatively deep depth and a large pitch, or irregularities with a relatively shallow depth and a small pitch, these irregularities can be changed quickly. The attitude of the radar antenna 1 and the separation distance between the radar antenna 1 and the concrete surface can be held and controlled to follow. For example, the stroke of the air cylinders 15a, b, 17a, b can be 50 mm, and the stroke of the air cylinder 31 can be about 300 mm. Therefore, according to this embodiment, even if the traveling speed of the radar antenna 1 is increased, the attitude and position of the radar antenna 1 can be controlled at high speed. As a result, in the case of a long tunnel, the scanning speed by traveling can be increased (for example, 3 to 5 km / h), and the inspection period can be shortened.

  Further, since the elevating means 20 is constituted by a parallelogram type link mechanism and the portion of the long side link 23 from the fixed link 27 is raised and lowered by the air cylinder 35, the movement of the piston of the air cylinder 35 is amplified. Thus, the movement of the piston of the air cylinder 35 can be quickly converted into the movement of the radar antenna 1 in the up-and-down direction.

  Further, according to the present embodiment, since the lifting / lowering means 20 is rotatably supported by the arm 41, the radar antenna 1 can be moved in the direction along the arc surface of the tunnel by rotating the arm 41. Further, since the arm 41 is supported by the pole 44 so as to be rotatable in the same rotation plane as that of the elevating means 20, the radar antenna 1 can be moved along the tunnel inner wall having a large arc. As a result, the position of the radar antenna 1 can be controlled while promptly following the inner wall surface of the tunnel while controlling the attitude of the radar antenna 1.

  Furthermore, according to the present embodiment, since the radar antenna 1 is mounted on the cart 51 that can travel in the tunnel, the swinging support means 19 and the lifting / lowering means 20 allow the radar antenna 1 to be By controlling the position and posture, the antenna surface of the radar antenna 1 can be moved following the tunnel wall surface. Thereby, a concrete lining can be scanned and inspected in the longitudinal direction. Then, the concrete lining of the entire tunnel can be inspected by repeating this scan by resetting the position of the radar antenna 1 according to the arcuate wall surface.

  Although not shown in the figure, in the longitudinal direction of the tunnel, there is not a gradual unevenness change, but there are inspection obstacles such as stepped portions of about 50 mm and bolts protruding from the lining surface, for example. Even in this case, although it can be overcome depending on the diameter of the wheel 6 of the caster 5, it may be subject to an impact. Therefore, it is preferable to provide an obstacle sensor in front of the radar antenna 1 in the traveling direction. As the obstacle sensor, for example, a lightweight wheel is attached to the tip of a rod-shaped support member made of an elastic material, and the wheel is pressed against a concrete surface against a spring or the like, and the displacement of the spring or the rod-shaped support member It is possible to apply one that detects the displacement.

It is a figure which shows the principal part of one Embodiment which concerns on the tunnel lining inspection apparatus of this invention. It is the arrow line view seen from line II-II of FIG. FIG. 3 is an arrow view seen from line III-III in FIG. 2. It is a general view which shows the state which installed embodiment of FIG. 1 in the tunnel.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Radar antenna 3 Support frame 5a-5c Caster 7 Support beam 9 Pin 10 Pin 12 Support beam 13 Link 15a, b Air cylinder 16 Bracket 17a, b Air cylinder 19 Swing support means 20 Lifting means 30 Rod 31 Air cylinder 41 Arm 42 Motor 44 pole 45 motor

Claims (3)

A box-shaped inspector in which a transmitting / receiving antenna is housed and whose upper surface is an antenna surface, a support member that supports the bottom of the inspector, and a plurality of air cylinders that can swing the support member in two orthogonal axes Oscillating support means for supporting the oscillating support means by an air cylinder, an arm member for pivotally supporting the elevating means, and the arm member being the same as the elevating means And at least three rotating members that are supported by the supporting member and sandwiched by the inspection device, and have a base portion that is rotatably supported in the rotating surface of the antenna and a rolling surface that protrudes from the antenna surface. A tunnel lining inspection device. The elevating means fixes one side of two opposite sides of the parallelogram link to a rotating member rotatably attached to the arm member, and connects the swing support means to the other side. The air cylinder is rotatably connected to the rotating member, and the piston of the air cylinder is rotatably connected to the other two opposite sides of the parallelogram link. The tunnel lining inspection apparatus according to claim 1. The tunnel lining according to claim 1 or 2, further comprising a carriage capable of traveling in a tunnel, wherein the carriage supports the base portion with an antenna surface of the inspection device facing a wall surface of the tunnel. Inspection device.

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