JP2006002417A - Structure inspecting vehicle - Google Patents

Structure inspecting vehicle Download PDF

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Publication number
JP2006002417A
JP2006002417A JP2004179135A JP2004179135A JP2006002417A JP 2006002417 A JP2006002417 A JP 2006002417A JP 2004179135 A JP2004179135 A JP 2004179135A JP 2004179135 A JP2004179135 A JP 2004179135A JP 2006002417 A JP2006002417 A JP 2006002417A
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vehicle
inspection
movable arm
camera
arm
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Toshiaki Sunaga
俊明 須永
Masanobu Wakayama
昌信 若山
Koichi Oasa
浩一 大浅
Shunichi Kamimura
俊一 上村
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TEIKOKU SEKKEI JIMUSHO KK
Sanyo Giken Kogyo KK
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TEIKOKU SEKKEI JIMUSHO KK
Sanyo Giken Kogyo KK
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Priority to JP2004179135A priority Critical patent/JP2006002417A/en
Publication of JP2006002417A publication Critical patent/JP2006002417A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem of cost and safety for installing a conventional bridge inspecting vehicle and a scaffold work, the problem such as a parking space since the inspecting vehicle is large, the problem of increasing maintenance cost of the vehicle, the problem of requiring much time for requiring a reinvestigation due to becoming arrangement after returning to an office by using inspection image photographing and a field note by a camera in a field investigation, and the problem of being inefficiency by using a telephone for coping with an unknown place in the field investigation. <P>SOLUTION: This invention is formed into a structure capable of uniformly expanding a motor-driven (hydraulic) arm, by mounting a personal computer apparatus and diagnostic software for diagnosing a bridge, by miniaturizing a structure inspecting vehicle, by a small storage method using a motor-driven (hydraulic) expansion arm 2 by a remote control method using a monitor image and a collision preventive sensor 3. The camera for an inspection by means of visual observation is arranged in a tip part of the motor-driven (hydraulic) arm, and a photographed inspection image is confirmed by a personal computer in a car. The diagnostic software is mounted for making a diagnostic clinical recording at a job site by a preservable system. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、構造物の点検及び診断業務を目的とし、自在に動作するア−ムと先端部にカメラを有する構造物点検車に関するものである。   BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure inspection vehicle having an arm that operates freely and a camera at the tip for the purpose of inspection and diagnosis work of the structure.

従来使用されている橋梁点検車輌等は大型トラックに油圧ア−ムを搭載し、人が乗ることが出来る高所作業車と空中作業車がある。高所作業者は車体より高い位置にア−ムを延長することが可能で、空中作業車は点検車より低い位置の調査に適した構造である。また、橋梁点検車両等のア−ムには人が乗らずにア−ム先端部にカメラを取り付け遠隔操作で使用する型式がある。さらに、前記橋梁点検車等が使用できない箇所については足場工を設置するなどの方法により、肉眼での近接目視検査や離れた位置からの双眼鏡による遠望目視検査があり適用されている。   Conventionally used bridge inspection vehicles include an aerial work vehicle and an aerial work vehicle in which a hydraulic truck is mounted on a large truck and a person can get on. An aerial worker can extend the arm to a position higher than the vehicle body, and the aerial work vehicle has a structure suitable for investigation at a position lower than the inspection vehicle. In addition, there is a type in which an arm of a bridge inspection vehicle or the like is used by remote operation by attaching a camera to the arm tip without a person getting on. Furthermore, for places where the bridge inspection vehicle or the like cannot be used, there are methods such as a close-up visual inspection with the naked eye and a telescopic visual inspection with binoculars from a distant position by applying a scaffolding method.

しかし、従来型の橋梁点検車輌等や足場工の設置はコストや安全上の問題があり、また点検車輌は大型であるため、駐車スペ−ス等の問題や車輌の維持管理コストを要し、点検画像や野帳を使用し、事務所に戻ってからの整理となるため、再調査が必要となることがあり、多くの時間を要した。さらにまた、現場調査時の不明箇所への対応も電話等による音声のみの伝達形態となることが多く、非効率なものとなっていた。また、伸縮自在ア−ムの操作においても周辺構造物との位置関係の把握や衝突防止のため、手動操作が基本となっており予想以上の時間と人手を要した。   However, the installation of conventional bridge inspection vehicles and scaffolding works has cost and safety problems, and the inspection vehicles are large, so they require problems such as parking space and vehicle maintenance costs. Since inspection images and field books are used and the work is organized after returning to the office, it may be necessary to conduct a re-survey, which took a lot of time. Furthermore, the response to unknown parts during field surveys is often in the form of a voice-only transmission form by telephone or the like, which is inefficient. Also, in the operation of the telescopic arm, manual operation is fundamental for grasping the positional relationship with surrounding structures and preventing collisions, requiring more time and manpower than expected.

この改善策として、伸縮ア−ムの小型化、軽量化が検討されているが、現状では機器の組み立てや移動に運搬用のトラック等を要し、時間的な問題は解決するに至っていない、機器の操作においてはモニタ−カメラを併用した操作となっているが、撮影位置を定量的に把握できるシステムとはなっていないため、桁下でのア−ム移動操作及び点検位置の確認は非効率となっている。また、現地調査デ−タの整理は事務所に戻ってからとなるため、診断結果を得るまでの時間短縮とはなっていない。さらに、ア−ムの移動による衝突などの問題も懸念されている。 As an improvement measure, the expansion and contraction arm is being reduced in size and weight, but currently it requires a truck for transportation to assemble and move the equipment, and the time problem has not been solved. Although the operation of the device is a combination of a monitor and a camera, it is not a system that can quantitatively grasp the shooting position, so there is no way to move the arm under the digit and check the inspection position. It has become efficient. In addition, since the field survey data is organized after returning to the office, it does not shorten the time required to obtain a diagnosis result. Furthermore, there are concerns about problems such as collision caused by the movement of the arm.

解決しようとする問題点は、従来型の橋梁点検車輌等や足場工の設置では、コストや安全上の問題がある。また、従来型の点検車輌等は大型であるため、駐車スペ−ス等の問題や車両の維持管理コストを要し、現地調査ではカメラによる点検画像撮影や野帳を使用し、事務所に戻ってからの整理となるため、再調査が必要となることがあり、多くの時間を要した。さらにまた、現場調査時の不明箇所への対応も電話等を使用するため音声のみの伝達となることが多く、非効率なものとなっていた点である。   The problem to be solved is that there are cost and safety problems in the installation of conventional bridge inspection vehicles and scaffolding works. In addition, since conventional inspection vehicles are large, problems such as parking space and vehicle maintenance costs are required. In field surveys, inspection images are taken with cameras and field books are used to return to the office. It took a lot of time because it was necessary to re-investigate the survey. Furthermore, the response to unknown parts during field surveys is often inefficient because it uses a telephone or the like and is often transmitted only by voice.

前記構造物点検車の可動ア−ムを図２、図９、図１０に示すように電動で伸縮可能かつ折り畳み可能に構成してあることにより、小型収納を可能とし、バントラック、トラック等で容易に収納可能な構造としたことである。   The movable arm of the structural inspection vehicle is configured to be electrically extendable and foldable and foldable as shown in FIGS. 2, 9, and 10. This is a structure that can be easily stored.

前記構造物点検車の可動ア−ムの適宜の位置に衝突回避用センサ−を備え点検・診断対象物への衝突を回避することである。   A collision avoidance sensor is provided at an appropriate position of the movable arm of the structure inspection vehicle to avoid a collision with an inspection / diagnosis target object.

前記構造物点検車の車両本体は、前記構造物の検査箇所に前記可動ア−ムにより搭載した噴射ノズルから洗浄用流体を噴射する構造物洗浄手段を備えていることである。 The vehicle main body of the structure inspection vehicle includes a structure cleaning means for injecting a cleaning fluid from an injection nozzle mounted by the movable arm at an inspection location of the structure.

前記構造物点検車の車両本体は、前記構造物のひび割れ箇所にレ−ザ−光線を照射して撮影機器により非接触でひび割れの大きさを計測するひび割れ幅計測手段を備えていることである。 The vehicle main body of the structure inspection vehicle includes a crack width measuring unit that irradiates a laser beam to a crack portion of the structure and measures the size of the crack in a non-contact manner by a photographing device. .

前記構造物点検車の車両本体は、前記可動ア−ムの先端側に搭載した赤外線カメラ等により、構造物コンクリ−トの劣化を診断するコンクリ−ト劣化診断手段を備えていることである。 The vehicle body of the structure inspection vehicle includes concrete deterioration diagnosis means for diagnosing deterioration of the structure concrete by an infrared camera or the like mounted on the front end side of the movable arm.

前記構造物点検車の車両本体は、前記可動ア−ムの先端側に搭載したカメラにより、構造物の被検査部の位置情報を記録保存する手段を備えていることである。 The vehicle main body of the structure inspection vehicle includes means for recording and storing position information of the inspected portion of the structure by a camera mounted on the distal end side of the movable arm.

前記構造物点検車の車両本体は、前記可動ア−ムの先端側に搭載したカメラ位置を該車両内モニタ−画面上で指定することにより、前記可動ア−ムを自動で伸縮または回転し、目的の位置まで移動するための自動制御する手段を備えていることである。 The vehicle body of the structural inspection vehicle automatically expands and contracts or rotates the movable arm by designating a camera position mounted on the tip side of the movable arm on the in-vehicle monitor screen. It is provided with means for automatically controlling to move to the target position.

前記構造物点検車の車両本体は、前記可動ア−ムの先端側に搭載したカメラ位置を該車両内モニタ−画面上で確認しながら手元レバ−を操作し、前記可動ア−ムを手動で伸縮または回転し、目的の位置まで移動するための手段を備えていることである。 The vehicle body of the structural inspection vehicle operates the hand lever while checking the position of the camera mounted on the distal end side of the movable arm on the monitor screen in the vehicle, and manually moves the movable arm. It is provided with means for expanding and contracting or rotating and moving to a target position.

前記構造物点検車の車両本体は、前記構造物の検査箇所に前記可動ア−ムの先端に搭載した噴射ノズルから補修用流体を噴射する構造物補修手段を備えていることである。 The vehicle body of the structure inspection vehicle includes a structure repairing means for injecting a repair fluid from an injection nozzle mounted at a tip of the movable arm at an inspection location of the structure.

前記構造物点検車の車両本体は、前記構造物の検査箇所に前記可動ア−ムに搭載した噴射ノズルから劣化コンクリ−ト除去用流体を噴射する構造物補修手段を備えていることである。 The vehicle main body of the structure inspection vehicle includes structure repairing means for injecting a deteriorated concrete removing fluid from an injection nozzle mounted on the movable arm at an inspection location of the structure.

前記構造物点検車の車両本体は、前記構造物の検査箇所に前記可動ア−ムの先端側に搭載した打音検査手段を備えていることである。 The vehicle main body of the structure inspection vehicle includes a sound-inspecting means mounted on the tip side of the movable arm at an inspection location of the structure.

前記構造物点検車の車両本体は、前記可動ア−ムの先端側に搭載したカメラにより撮影された画像を該車両内のインタ−ネットにより遠隔地へ情報伝達可能な手段を備えていることである。 The vehicle body of the structure inspection vehicle includes means capable of transmitting information taken by a camera mounted on the tip side of the movable arm to a remote place via the Internet in the vehicle. is there.

従来の大型トラック等を用いた橋梁点検車および診断方法に比べ点検診断の効率化が図られ、現地調査から診断カルテ作成までの時間短縮が可能で、点検車両の小型化により都市部での駐車が容易となり、車両の維持費も大幅に改善された。また、電動（油圧）ア−ムによる伸縮方式は従来の油圧方式に比べ小型軽量となり、ワンボックスカ−や小型のバントラック等への収納が可能となった。
電動（油圧）伸縮ア−ムは軽量で大きな作業半径を有するため、危険物の調査や探査装置を電動（油圧）ア−ム先端部に取り付けることで人が直接行くことが出来ない危険箇所への調査も可能となる。また、ア−ム先端部にウオ−タジェツトノズルまたはエア−ジェツトノズル等を取り付けての前記構造物の検査箇所の洗浄やレ−ザ−光線を併用したデジタルカメラ等を用いたひび割れ幅計測、さらに赤外線カメラ等を用いたコンクリ−ト部材の劣化診断にも適用可能である。 Compared to conventional bridge inspection vehicles using large trucks and other diagnostic methods, inspection diagnosis is more efficient, and the time from field surveys to preparation of diagnostic charts can be shortened. The maintenance cost of the vehicle has been greatly improved. In addition, the expansion / contraction method using an electric (hydraulic) arm is smaller and lighter than the conventional hydraulic method, and can be stored in a one-box car or a small van truck.
The electric (hydraulic) telescopic arm is lightweight and has a large working radius, so it is possible to move to a dangerous place where people cannot go directly by attaching a survey and exploration device to the tip of the electric (hydraulic) arm. It becomes possible to investigate. In addition, a water jet nozzle or an air jet nozzle or the like is attached to the tip of the arm to clean the inspection portion of the structure or to measure the crack width using a digital camera or the like combined with a laser beam, Furthermore, the present invention can be applied to deterioration diagnosis of a concrete member using an infrared camera or the like.

１は車両本体で、該車両本体はバントラック、ワンボッスカ−、トラック等の自動車、鉄道車両のような軌道車である。 Reference numeral 1 denotes a vehicle main body, and the vehicle main body is an automobile such as a van truck, a one-bosker, a truck, or a rail car such as a railway vehicle.

２は前記車両本体１に搭載した可動ア−ムを示す。該可動ア−ム２は駆動力により先端側をＸ軸、Ｙ軸、Ｚ軸の３軸方向に偏向可能に構成し、該車両本体に旋回可能に搭載した該可動ア−ム２と、前記車両から該可動ア−ム２を操作するア−ム遠隔操作手段とから構成してある。そして、電動（油圧）により、該可動ア−ム２のＡ，Ｂ，Ｃ，Ｄにおいて該可動ア−ム２の軸方向に伸縮し、該可動ア−ム２のＡを支持する該車両本体に組み込まれている旋回台７は水平方向の回転と鉛直方向に作動する。また、同様に該可動ア−ム２のＢとＣの結合部８も水平方向の回転と鉛直方向に作動する。 Reference numeral 2 denotes a movable arm mounted on the vehicle body 1. The movable arm 2 is configured such that the front end side thereof can be deflected in three axial directions of the X axis, the Y axis, and the Z axis by a driving force, and the movable arm 2 is rotatably mounted on the vehicle body. Arm remote control means for operating the movable arm 2 from a vehicle. The vehicle main body that expands and contracts in the axial direction of the movable arm 2 at A, B, C, and D of the movable arm 2 by electric (hydraulic) and supports A of the movable arm 2. The swivel base 7 incorporated in is operated in the horizontal direction and in the vertical direction. Similarly, the connecting portion 8 of B and C of the movable arm 2 operates in the horizontal direction and in the vertical direction.

３は前記可動ア−ム２の先端に搭載したカメラ、衝突防止センサ−、照明、流体噴射ノズル等で、前記車両本体内部より、遠隔操作方式で操作する。前記車両本体１に搭載した診断用モニタ−に構造物の検査画像を送る構造物撮影用カメラと、前記車両本体から該構造物撮影用カメラの姿勢を操作するカメラ遠隔操作手段と、前記可動ア−ムの適宜の位置に搭載され、前記車両本体に搭載した監視モニタ−に該可動ア−ムの姿勢画像を送る監視カメラとから構成している。 Reference numeral 3 denotes a camera, a collision prevention sensor, an illumination, a fluid ejection nozzle, and the like mounted on the tip of the movable arm 2, which are operated from the inside of the vehicle body by a remote operation method. A structure photographing camera for sending an inspection image of a structure to a diagnostic monitor mounted on the vehicle main body 1; camera remote control means for operating the posture of the structure photographing camera from the vehicle main body; A monitoring camera which is mounted at an appropriate position of the arm and sends a posture image of the movable arm to a monitoring monitor mounted on the vehicle body.

該衝突防止センサ−は水平、鉛直方向の前記可動ア−ムの移動による衝突を防止する。該照明は被写体の撮影を目的とし、前記可動ア−ム２のＤ部上方向先端部付近に設ける。
該流体噴射ノズルは前記可動ア−ム２のＤ部上方向先端部付近に設け、点検作業のための清掃、補修のための手段として使用する。 The collision prevention sensor prevents a collision caused by the movement of the movable arm in the horizontal and vertical directions. The illumination is provided in the vicinity of the tip of the movable arm 2 in the upward direction of D for the purpose of photographing the subject.
The fluid jet nozzle is provided in the vicinity of the upper end of the D portion of the movable arm 2 and is used as a means for cleaning and repair for inspection work.

請求項5のレーザ−光線は前記可動ア−ム２のＤ部上方向先端部付近に設け被写体の画像として取り込みパソコンにより画像解析を行い、ひび割れ形状を計測し、記録保存する。 The laser beam according to claim 5 is provided in the vicinity of the top end of the movable arm 2 in the direction D, and is taken in as an image of the subject, analyzed by a personal computer, the crack shape is measured, and recorded and stored.

請求項6の赤外線カメラは前記可動ア−ム２のＤ部上方向先端部付近に設け、劣化コンクリ−ト部の温度分布を計測し、評価する。 The infrared camera according to claim 6 is provided in the vicinity of the upper end of the D portion of the movable arm 2 and measures and evaluates the temperature distribution of the deteriorated concrete portion.

請求項7の構造物の被検査箇所の位置情報はＧＰＳを用いた該車両位置と前記可動ア−ム２の各部に設置した各種センサ−による前記点検車両からの位置情報との合成により点検・診断箇所の位置を計測し、記録する。   The position information of the location to be inspected of the structure according to claim 7 is inspected by combining the position of the vehicle using GPS and the position information from the inspection vehicle by various sensors installed in each part of the movable arm 2. Measure and record the location of the diagnostic location.

請求項7の前記可動ア−ム制御方法は手動または各種センサ−とパソコン等による自動制御で目的の調査点検位置への移動を可能とする。 The movable arm control method according to claim 7 enables movement to a target inspection / inspection position manually or by automatic control by various sensors and a personal computer.

請求項１１構造物の被検査箇所に前記可動ア−ム２のＤ部上方向先端側に搭載した打音検査手段を装備し、被検査箇所の音を集音機を用いて前記車両内で再現し、評価し、記録する。 11. A sound-inspecting means mounted on the tip side of the movable arm 2 in the direction D of the movable arm 2 is provided at the location to be inspected of the structure, and the sound at the location to be inspected in the vehicle using a sound collector. Reproduce, evaluate and record.

請求項１２は前記可動ア−ム２のＤ部上方向先端側に搭載したカメラにより撮影された画像を該車両内よりインタ−ネットにより遠隔地へ情報伝達可能な手段を備えている。 According to a twelfth aspect of the present invention, there is provided means capable of transmitting an image taken by a camera mounted on the leading end side of the D portion of the movable arm 2 from the inside of the vehicle to a remote place via the Internet.

前記構造物点検車は、橋梁の上面より橋桁や床版の下面部の点検診断に活用できる外、点検ア−ム鉛直上方に延長することが可能で、橋梁下面位置に点検車が進入可能な場合には適用可能である。また、トンネル頂版部、ダムの斜め下の提体部、擁壁部、ＪＲ等の鉄道橋及び建築構造物の維持管理点検診断にも使用可能である。 The structural inspection vehicle can be used for inspection diagnosis of the bridge girder and underside of the floor slab from the upper surface of the bridge, and can be extended vertically above the inspection arm, allowing the inspection vehicle to enter the lower surface of the bridge. Applicable in case. It can also be used for maintenance inspections of tunnel top plates, slabs below dams, retaining walls, railway bridges such as JR, and building structures.

構造物点検車の側面概観図。Side view of the structure inspection vehicle. 自在ア−ム動作状況図。A free arm operation condition diagram. 橋梁上面からの自在ア−ム配置状況図。The free arm arrangement situation figure from the bridge upper surface. 自在ア−ム格納伸縮動作概要図。FIG. 3 is a schematic view of a retractable arm retracting / extending operation. 自在ア−ム最大有効到達状況図。The free arm maximum effective arrival situation diagram. 構造物点検車内ア−ム最大引き出し平面図。Fig. 3 is a plan view of a maximum pull-out arm in a structure inspection vehicle. 構造物点検ア−ム収納平面図。Structure inspection arm storage plan view. 構造物点検ア−ム収納側面図。Structure inspection arm storage side view. 構造物点検ア−ム引き出し手順図（その１）。Structural inspection arm drawing procedure diagram (Part 1). 構造物点検ア−ム引き出し手順図（その２）。Structural inspection arm drawing procedure (part 2).

符号の説明Explanation of symbols

１ 構造物点検車の車体（ワンボッスカ−、バントラック、トラック）
２ 電動伸縮ア−ム
３ デジタルカメラ、衝突防止センサ−、照明、レ−ザ−、流体噴射ノズル、打撃装置、赤外線カメラ等
４ 橋桁
５ コンクリ−ト床版
６ アウトリガ−
７ 旋回台
８ 旋回軸、ジョイントシャフト等
９ 高欄、ガ−ドレ−ル
１０ スライドレ−ル
１１ パソコン


1. Bodywork of structural inspection vehicles (one bosca, van truck, truck)
2 Electric telescopic arm 3 Digital camera, collision prevention sensor, illumination, laser, fluid injection nozzle, impact device, infrared camera, etc. 4 Bridge girder 5 Concrete floor slab 6 Outrigger
7 swivel base 8 swivel axis, joint shaft, etc. 9 handrail, guard rail 10 slide rail 11 personal computer


Claims (13)

車両本体と、駆動力により先端側をＸ軸、Ｙ軸、Ｚ軸の３軸方向に変更可能に構成し、該車両本体に旋回可能に搭載した可動ア−ムと、前記車両から該可動ア−ムを操作するア−ム遠隔操作手段と、前記可動ア−ムの先端に搭載され、前記車両本体に搭載した診断用モニタ−に構造物の検査画像を送る構造物撮影用カメラと、前記車両本体から該構造物撮影用カメラの姿勢を操作するカメラ遠隔操作手段と、前記可動ア−ムの適宜の位置に搭載され、前記車両本体に搭載した監視モニタ−に該可動ア−ムの姿勢画像を送る監視カメラとから構成してなる構造物点検車。   A vehicle body, a movable arm configured to be able to change the tip side in three directions of the X-axis, Y-axis, and Z-axis by a driving force, and mounted on the vehicle body so as to be able to turn, and the movable arm from the vehicle. An arm remote control means for operating the arm, a structure photographing camera which is mounted at the tip of the movable arm and which sends an inspection image of the structure to a diagnostic monitor mounted on the vehicle body; Camera remote control means for controlling the posture of the structure photographing camera from the vehicle main body, and the movable arm posture mounted on a monitor monitor mounted on the vehicle main body, which is mounted at an appropriate position of the movable arm. A structure inspection vehicle consisting of a surveillance camera that sends images. 前記可動ア−ムは、伸縮可能かつ折り畳み可能に構成してあることを特徴とする請求項１記載の構造物点検車。 2. The structure inspection vehicle according to claim 1, wherein the movable arm is configured to be extendable and foldable. 前記可動ア−ムは、適宜の位置に衝突回避用センサ−を備えていることを特徴とする請求項１記載の構造物点検車。   2. The structure inspection vehicle according to claim 1, wherein the movable arm includes a collision avoidance sensor at an appropriate position. 前記車両本体は、前記構造物の検査箇所に前記可動ア−ムにより搭載した噴射ノズルから洗浄用流体を噴射する構造物洗浄手段を備えていることを特徴とする請求項1記載の構造物点検車。 2. The structure inspection according to claim 1, wherein the vehicle body includes a structure cleaning means for injecting a cleaning fluid from an injection nozzle mounted by the movable arm at an inspection location of the structure. car. 前記車両本体は、前記構造物のひび割れ箇所にレ−ザ−光線を照射して撮影機にひび割れの大きさを計測するひび割れ幅計測手段を備えていることを特徴とする請求項１記載の構造物点検車。 2. The structure according to claim 1, wherein the vehicle body includes crack width measuring means for irradiating a laser beam to a crack portion of the structure to measure the size of the crack in the photographing machine. Inspection vehicle. 前記車両本体は、前記可動ア−ムの先端側に搭載した赤外線カメラ等により、構造物コンクリ−トの劣化を診断するコンクリ−ト劣化診断手段を備えていることを特徴とする請求項１記載の構造物点検車。 2. The vehicle main body is provided with concrete deterioration diagnosis means for diagnosing deterioration of a structure concrete by an infrared camera or the like mounted on the tip side of the movable arm. Structure inspection car. 前記車両本体は、前記可動ア−ムの先端側に搭載したカメラにより、構造物の被検査部の位置情報を記録保存する手段を備えていることを特徴とする請求項１記載の構造物点検車。 2. The structure inspection according to claim 1, wherein the vehicle main body includes means for recording and storing position information of a portion to be inspected of the structure by a camera mounted on a front end side of the movable arm. car. 前記車両本体は、前記可動ア−ムの先端側に搭載したカメラ位置を該車両内モニタ−画面上で指定することにより、前記可動ア−ムを自動で伸縮または回転し、目的の位置まで移動するための自動制御する手段を備えていることを特徴とする請求項１記載の構造物点検車。 The vehicle body automatically moves the movable arm to a target position by designating the position of the camera mounted on the tip side of the movable arm on the in-vehicle monitor screen. 2. The structure inspection vehicle according to claim 1, further comprising means for automatically controlling the operation. 前記車両本体は、前記可動ア−ムの先端側に搭載したカメラ位置を該車両内モニタ−画面上で確認しながら手元レバ−を操作し、前記可動ア−ムを手動で伸縮または回転し、目的の位置まで移動するための手段を備えていることを特徴とする請求項１記載の構造物点検車。 The vehicle body operates a hand lever while confirming the position of the camera mounted on the tip side of the movable arm on the monitor screen in the vehicle, and manually expands and contracts or rotates the movable arm. 2. The structure inspection vehicle according to claim 1, further comprising means for moving to a target position. 前記車両本体は、前記構造物の検査箇所に前記可動ア−ムの先端に搭載した噴射ノズルから補修用流体を噴射する構造物補修手段を備えていることを特徴とする請求項1記載の構造物点検車。 2. The structure according to claim 1, wherein the vehicle main body includes structure repairing means for injecting a repair fluid from an injection nozzle mounted at a tip of the movable arm at an inspection location of the structure. Inspection vehicle. 前記車両本体は、前記構造物の検査箇所に前記可動ア−ムに搭載した噴射ノズルから劣化コンクリ−ト除去用流体を噴射する構造物補修手段を備えていることを特徴とする請求項1記載の構造物点検車。 2. The vehicle main body is provided with a structure repairing means for injecting a fluid for removing deteriorated concrete from an injection nozzle mounted on the movable arm at an inspection location of the structure. Structure inspection car. 前記車両本体は、前記構造物の検査箇所に前記可動ア−ムの先端側に搭載した打音検査手段を備えていることを特徴とする請求項1記載の構造物点検車。 2. The structure inspection vehicle according to claim 1, wherein the vehicle main body includes a sound-inspecting means mounted on a tip side of the movable arm at an inspection location of the structure. 前記車両本体は、前記可動ア−ムの先端側に搭載したカメラにより撮影された画像を該車両内のインタ−ネットにより遠隔地へ情報伝達可能な手段を備えていることを特徴とする請求項１記載の構造物点検車。
















The vehicle body includes means capable of transmitting an image taken by a camera mounted on a front end side of the movable arm to a remote place via an internet in the vehicle. 1. Structure inspection vehicle according to 1.
















JP2004179135A 2004-06-17 2004-06-17 Structure inspecting vehicle Pending JP2006002417A (en)

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