JP2009168752A - Photographing device for surface inspection of concrete pole - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently obtain image data of the whole surface of a concrete pole in a short time. <P>SOLUTION: This photographing device includes a camera 1 photographing the surface of the concrete pole p; a laser beam irradiation device 2 irradiating the surface with two parallel beams for displaying two light spots which is a reference distance; a projector 3 illuminating the concrete pole p; a flaw detecting agent jetting device 4a jetting a flaw detecting agent; a cleaning agent jetting device 4b jetting a cleaning agent; an extensible support pole 6 with the camera 1, the laser beam irradiation device 2, the projector 3, and jet ports 4a1, 4b1 of the flaw detecting agent jetting device 4a and cleaning agent jetting device 4b arranged at the upper end through an electric universal head 5; a data storage means for storing image data selected from images photographed by the camera 1, data for specifying the concrete pole, and the like; and a personal computer 7 having an image monitor 7d displaying the images photographed by the camera 1, and having a remote control function of controlling the operation of the camera 1, projector 3, flaw detecting agent jetting device 4a, and the like by the operation of an inspector. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a surface inspection photographing apparatus for photographing a surface of a concrete pillar such as an overhead pole supporting a power distribution pillar or a railway vehicle to inspect cracks on the surface.

  It is known that the concrete structure is neutralized due to deterioration over time (a phenomenon in which the carbon dioxide gas in the atmosphere approaches acidification due to a decrease in alkalinity), and rainwater invades due to surface cracks and corrodes internal reinforcing bars. It has been elucidated that this would expand and further expand the crack.

  Conventionally, concrete columns that have cracked due to such a phenomenon have been replaced with new ones in descending order of surface cracks. The problem is that concrete columns have been used widely for many years as distribution poles and overhead lines for railways, and the number is said to be several million. Nevertheless, the inspection of the concrete pillars to be replaced is only performed from the ground by visual inspection by an inspector or with a hammer or the like, and it is possible to ensure a reliable inspection of the concrete pillar as a whole. In fact, it is impossible to expect a speedy inspection.

Therefore, a concrete pole crack evaluation apparatus (Patent Document 1) has been proposed to solve such problems.
This is attached to the surface of the concrete pole near the surface of the concrete pole including a reinforcing bar standing on the ground, and is attached to the upper surface of the concrete pole and an excitation coil for generating a magnetic field pulse. Based on an acoustic sensor that detects an acoustic pulse generated from a reinforcing bar immediately adjacent to the excitation coil by an action, a measurement unit that measures an attenuation rate of the acoustic pulse from an output of the acoustic sensor, and an attenuation rate measured by the measurement unit The concrete pole crack evaluation apparatus comprises a determination unit for determining the presence and degree of cracks in the concrete pole, and determining the presence and degree of cracks in the concrete pole including reinforcing bars.

  Therefore, according to this apparatus, the reinforcing bar is excited by the magnetic field pulse by the excitation coil at a certain part of the surface of the concrete pole column, the generated acoustic pulse is detected by the acoustic sensor at the other part of the surface, and the envelope of the pulse waveform Is calculated and compared with the area in the envelope of the reference pulse waveform, and whether or not there is a crack between the certain part and the other part depending on the attenuation rate obtained by this Unlike the case where the inspector visually determines or strikes with a hammer or the like from the ground, there is no mistake that the determination is made objective.

  However, although this device is provided with a band or the like for simply fixing the acoustic sensor to the concrete pole, no means for lifting the acoustic sensor to a necessary portion above the concrete pole is shown. The work is not easy because it needs to be installed at a height of several meters. The number of objects to be inspected is extremely large, and if an inspector climbs and attaches to the concrete pole, it is a heavy labor and a dangerous work. It is also quite inefficient.

In addition, a method for detecting cracks on the surface of a structure that measures cracks from image data of a concrete surface photographed with a digital camera (Patent Document 2) has also been proposed.
This method uses the wavelet transform to remove the low-frequency components from the original image data obtained by imaging the surface of the concrete structure, thereby removing stains on the surface of the structure with a small space change rate. In addition to creating binary image data, the binary image data is used to linearly complement the original image data, i.e., the background image data is replaced by replacing the pixels corresponding to cracks with the average luminance value of adjacent pixels. By creating and dividing the original image by this background image data, only cracks are clearly extracted while surely removing stains, dirt or light unevenness.

  In this method, if there is original image data obtained by imaging the surface of a concrete structure to be inspected, it can be processed as described above, and only cracks can be clearly extracted from the processed data. Obviously, it can be usefully used to extract surface cracks from the image data obtained by photographing them. However, of course, in order to use this, image data obtained by photographing the entire surface of the concrete column is necessary, and it is necessary to prepare effective means thereof.

JP 2004-309232 A JP 2006-162477 A

  It is an object of the present invention to provide a photographing device for surface inspection of a concrete column that reliably photographs the entire surface of the concrete column in a short time and acquires image data of the entire surface easily and efficiently. To do.

1 of the present invention is a photographing means for photographing the surface of a concrete column to be inspected;
A parallel beam irradiation means for irradiating two parallel beams for displaying two points having a reference distance between the imaging target sites on the surface of the concrete pillar;
The imaging means and the parallel beam irradiation means are installed on the top thereof, and a support pole configured to be extendable and retractable to move the imaging means and the parallel beam irradiation means up and down along the concrete column to be inspected,
An image monitor for displaying an image of a concrete pillar photographed by the photographing means and displaying other necessary items, desired image data selected from the images of the concrete pillar photographed by the photographing means, and the concrete pillar A data storage means for storing data for specifying and data for specifying the imaging target part, and an arithmetic unit having a remote control function of the imaging means and the support pole;
It is the imaging device for surface inspection of the concrete pillar comprised by.

  The second aspect of the present invention is the photographing apparatus for surface inspection of a concrete pillar according to the first aspect of the present invention, wherein the photographing means is provided with a light projecting means for illuminating a photographing target portion of the concrete pillar.

  According to a third aspect of the present invention, in the photographing apparatus for surface inspection of a concrete pillar according to the first or second aspect of the present invention, the former optical axis and the latter beam are parallel to each other in the photographing means and the parallel beam irradiation means. In this way, the mutual positional relationship is set.

  According to a fourth aspect of the present invention, in the photographing apparatus for surface inspection of a concrete pillar according to the first, second or third aspect of the present invention, a flaw detection agent spray for injecting a flaw detection agent onto the photographing target portion of the concrete pillar is applied to the photographing means. The apparatus and the cleaning agent injection apparatus for injecting a cleaning agent to the imaging | photography object site | part of this concrete pillar are attached.

  According to the fifth aspect of the present invention, in the photographing apparatus for surface inspection of the concrete pillar according to the first, second or third aspect of the present invention, the support pole is moved to either the expansion stroke or the short stroke according to an instruction from the inspector. The upper photographing means is controlled to move up and down while temporarily stopping at the vertical photographing interval of the concrete pillar to be photographed, and is being photographed by the photographing means at the time of the pause according to the instruction of the inspector. The control function which controls to perform the registration operation | movement of the image of the imaging | photography object site | part which the said concrete pillars face is provided.

  According to a sixth aspect of the present invention, in the photographing apparatus for surface inspection of a concrete pillar according to the fourth aspect of the present invention, the support pole is moved to either the extension stroke or the shortening stroke according to an instruction of an inspector. The upper photographing means is controlled to move up and down while temporarily stopping at a vertical photographing interval of the concrete pillar to be photographed, and the concrete pillar that is being photographed by the photographing means at the time of the suspension is instructed by an inspector. Control to perform the registration operation of the image of the imaging target region to be performed, and in accordance with the instruction of the inspector, the flaw detection agent of the flaw detection agent injection device or the cleaning agent of the cleaning agent injection device is A control function is provided to control the shooting target part to face to perform an ejection operation.

  7 of the present invention is the partial arc-shaped mounting table located in a plane perpendicular to the support pole, on the upper portion of the support pole in the concrete column surface inspection imaging apparatus according to 1 of the present invention. , A mounting table configured to be capable of rotating in the arc direction is disposed, and the imaging unit is configured by a plurality of imaging devices, and the plurality of imaging devices are mounted on the mounting table (360 degrees / imaging). The number of devices) is arranged at an angular interval.

  According to an eighth aspect of the present invention, in the photographing apparatus for surface inspection of a concrete pillar according to the seventh aspect of the present invention, the support pole is moved to either the extension stroke or the shortening stroke according to an instruction of an inspector. The upper imaging means is controlled to move up and down while temporarily stopping at the vertical shooting interval of the concrete pillar to be imaged, and the above-mentioned mounting table is imaged at each pause position in the ascending / descending direction according to an inspector's instruction While rotating at an angular interval, it moves around in the arc direction, and further, according to an inspector's instruction, the imaging device of the concrete column facing each other is imaged by each imaging device of the imaging means at the time of the circumferential direction pause. In this way, a control function for controlling is given.

  In the photographing apparatus for surface inspection of a concrete pillar according to the eighth aspect of the present invention, the photographing angular interval for temporarily stopping the revolving operation of the mounting table is an angular interval of (360 degrees / number of photographing apparatuses). Is set to a maximum angular interval that is smaller than the angular range that can be captured by each imaging device of the imaging means.

  10 of the present invention is a photographing apparatus for surface inspection of a concrete pillar according to 7, 8, or 9 of the present invention, wherein the mounting table is placed upright at the base end of the support pole at the base end. On the other hand, an obstacle sensor is attached to the mounting table, and the support pole is extended and the mounting table is raised in order to photograph the surface of the concrete column located at the center of the mounting table. When the obstacle sensor detects the obstacle and transmits the detection signal to the arithmetic device, an obstacle avoidance signal is output from the arithmetic device, thereby stopping the extension operation of the support pole, and After the mounting table is tilted down, the support pole resumes the extension operation, rises avoiding the obstacle, and after passing the obstacle, the support pole is returned to the horizontal state again. The mounting table is raised and rotated, while the support pole is When the obstacle sensor detects an obstacle when the mounting table is lowered and the detection signal is transmitted to the arithmetic device, an obstacle avoidance signal is output from the arithmetic device, whereby the support pole After the shortening operation is stopped and the mounting table is turned upright, the support pole resumes the shortening operation, descends to avoid the obstacle, and after the obstacle is passed, the mounting table is Further, the mounting table is configured to rotate downward so as to return to the horizontal state.

  The eleventh aspect of the present invention is the photographing apparatus for surface inspection of a concrete pillar according to the seventh, eighth, ninth or tenth aspect of the present invention, wherein the mounting means for attaching this to the lower part of the concrete pillar to be photographed is provided below the support pole. It is a thing.

  According to the concrete column surface inspection imaging device of the present invention, the support pole is expanded and contracted, and the imaging means arranged on the upper part is moved up and down, and the surface of the concrete column is sequentially imaged from its low to high locations. By repeating this over the entire circumference at an angle in the range of about 45 degrees to 90 degrees in the circumferential direction, the surface of the concrete column is lowered from the low place to the high place where human observation is impossible. It is possible to shoot easily and efficiently over the circumference. In addition, it is safe because there is no need for the inspector to climb the concrete pillar for this photographing work, and the burden on the inspector is small.

  In addition, in the image data obtained by the photographing work for the surface inspection photographing device for the concrete pillar, two light spots indicating the reference distance created by the parallel beam irradiation means are imprinted in the image data. It is possible to accurately calculate the size, such as the width and length of the cracks, by comparing with the distance between two light spots indicating the reference distance.

  The two light spots indicating the reference distance are generated by the two parallel beams generated by the parallel beam irradiation means and irradiated on the concrete column. For example, if a parallel laser beam is used, The distance between the injection points can be maintained almost accurately. Accordingly, if the distance between the injection points is 50 mm, the distance between the light spots generated on the surface of the concrete column is also 50 mm. Even if the angle of view of the photographing means is changed variously and the distance between two light spots on the photographed image fluctuates, the original distance between them is 50 mm. Based on this, the size of other images can be adjusted. Can be calculated. Therefore, it is possible to calculate the size of the crack in the image very easily and extremely accurately.

  Therefore, using the image data obtained and retained by the photographing apparatus for surface inspection of a concrete pillar according to the first aspect of the present invention, the data specifying the target concrete pillar, and the data specifying the photographing part are used, for example, the patent document Extracting only the cracks using the method for detecting cracks on the surface of the structure proposed in 2 above, calculating the size of cracks on the surface of the concrete column from which the image data was acquired, and the necessity of replacement It can be usefully used for judgment.

  According to the concrete column surface inspection photographing apparatus of the second aspect of the present invention, when sufficient light for photographing in the winter, early spring, late autumn evening, or in cloudy weather is not obtained, the light projecting means As an auxiliary light, it is possible to irradiate the photographing target portion of the concrete pillar. Therefore, a sufficient amount of light necessary for photographing can be ensured at any time. When such a light projecting means is used, the parallel beam irradiating means is used with a high output to increase the illuminance of two light spots formed on the surface of the concrete pillar to be photographed, and by auxiliary light. It is necessary to keep this from becoming unknown.

  According to the photographing apparatus for surface inspection of a concrete pillar according to 3 of the present invention, the mutual positional relationship is set so that the optical axis of the photographing means and the beam of the parallel beam irradiating means are parallel. The distance between the two light spots to be photographed becomes extremely accurate as the reference distance, and the size of the crack in the image can be calculated more accurately.

  According to the concrete column surface inspection imaging device 4 of the present invention, when the imaging target part of the concrete column is dirty and cracks are difficult to see and clear imaging is difficult, the cleaning agent is applied to the imaging object of the concrete column. Injecting the part to clean and remove the dirt, and if it is difficult to see the cracks of the part to be photographed for reasons other than dirt, and clear imaging is difficult, the flaw detection agent is jetted in any case. It is possible to take a picture after making the cracks of the target part clear and easy to see.

  According to the concrete column surface inspection photographing apparatus of the fifth aspect of the present invention, it coincides with the photographing interval of the photographing means, that is, the photographing range in the vertical direction of the photographing means in either the extension stroke or the shortening stroke of the support pole. When a pause is made, a part to be photographed that is the surface of the concrete pillar directly opposite this is photographed by the photographing means, and an image being photographed during that time is selected. By registering as described above, it is possible to reliably photograph the entire height direction at a predetermined photographing interval in a certain angular range (for example, an angular range of about 45 to 90 degrees) in the circumferential direction of the concrete column. Become. Therefore, in the circumferential direction, for example, the same shooting operation is performed 8 times by changing the angle by 45 degrees, the same shooting operation is performed 6 times by changing the angle by 60 degrees, or the angle is changed by 90 degrees. In other words, the same photographing operation as described above is performed four times, so that the entire surface of the target concrete column can be photographed easily and reliably.

  According to the photographing apparatus for surface inspection of a concrete column of 6 of the present invention, as in the case of 5 of the present invention, a certain angular range in the circumferential direction of the concrete column (for example, an angular range of about 45 to 90 degrees), It is possible to reliably shoot the entire height direction at predetermined shooting intervals, and change the angle in the circumferential direction, for example, 45 degrees, 60 degrees, or 90 degrees, and perform the same shooting operation 8 times. By performing 6 or 4 times, the entire surface of the concrete pillar can be easily and reliably imaged. However, if the imaging target region is dirty prior to imaging at the time of the pause, If the cleaning agent is sprayed on the part, and the surface is not clear, it is clarified by spraying a flaw-detecting agent on the part to remove the dirt or to raise the cracks. Surface Beauty cracking more clearly photographed, and it becomes possible to register a clear image.

  According to the photographing apparatus for surface inspection of a concrete pillar according to 7 of the present invention, after positioning and fixing the support pole so that the concrete pillar to be photographed is located at the center of the mounting table, It is expanded and contracted at the shooting interval in the up and down direction, and temporarily stopped at the time of raising and lowering at every shooting interval, and during that time, the shooting target portions of the concrete pillars facing each other are shot by each shooting device of the shooting means, If this image is selected and registered, and this is repeated for the entire vertical direction of the concrete column, the entire photographing can be easily completed.

  If the entire photographing device of the photographing means placed on the mounting table cannot cover the entire circumference of the concrete pillar located at the center, the above mounting table can be used as a single round motion. Taking the maximum possible angle range in the horizontal direction of the imaging device of this camera and making a round stop in a circular motion, and taking a picture of the part to be imaged of the concrete pillars facing each other with all the imaging devices of the imaging means at the time of the pause Each of the images being photographed is selected and registered, and this is repeated until the entire circumferential direction of the concrete column can be covered, and then the reverse rotation operation is performed to restore the original state. If the above operation is performed at the time of temporarily stopping the expansion and contraction of the support pole, the entire photographing of the concrete column is completed by one expansion and contraction operation of the support pole.

  According to the photographing apparatus for surface inspection of a concrete pillar of the present invention, as in the seventh aspect of the present invention, the support pole is positioned so that the concrete pillar to be photographed is located at the center of the mounting table, and After fixing, it is expanded and contracted at the shooting interval in the up and down direction, and paused at the time of raising and lowering at every shooting interval, and during that time, the shooting target parts of the concrete pillars facing each other are shot by each shooting device of the shooting means Then, register each image selected from the images being photographed by each photographing device, and further, rotate the mounting table in the arc direction while pausing at every photographing angle interval in the circumferential direction. If each imaging device of the imaging means is used to take an image of a portion to be imaged of the concrete column facing each other, and an image selected from each image being taken by each imaging device is registered, It is possible to cover the whole of the circumferential direction of the pillar. If this is repeated for the entire vertical direction of the concrete column, registration of the entire photographed image can be easily completed by a single expansion / contraction operation of the support pole.

  According to the concrete column surface inspection photographing apparatus of the present invention, the mounting table can be appropriately rotated around the support pole and the photographing means disposed thereon can be efficiently photographed. Can do. In this concrete column surface inspection imaging device, the concrete column is imaged by rotating the mounting table during the suspension of the support pole's expansion and contraction and temporarily stopping it at every imaging angle interval. The shooting angle interval is set to a maximum angle interval that is two or more equiangular intervals that divide the angle interval of (360 degrees / number of shooting devices) and smaller than the angle range that can be shot by each shooting device of the shooting means. Therefore, it is possible to efficiently perform photographing at the maximum angular interval while slightly wrapping both ends in the lateral direction without causing an unphotographed portion in the circumferential direction of the concrete column.

  According to the concrete column surface inspection imaging apparatus of the present invention, when the mounting table is moved up and down with the concrete column positioned at the center thereof, any member that obstructs the lifting of the mounting table from the concrete column. In such a case, it is possible to move up and down while automatically avoiding a collision with the obstructing member.

  According to the eleventh concrete column surface inspection photographing apparatus of the present invention, the support pole can be attached and fixed to the lower part of the concrete pillar to be photographed by the attaching means formed in the lower part. Therefore, the concrete pillar can be easily and reliably located at the center of the mounting table.

  The best mode for carrying out the invention will be described based on embodiments with reference to the drawings.

<Example 1>
As shown in FIGS. 1 to 3, a photographing apparatus for surface inspection of a concrete pillar according to the first embodiment is a digital video camera (photographing means, hereinafter referred to as a camera) 1 for photographing the surface of a concrete pillar p to be inspected. The laser beam irradiation device (parallel beam irradiation means) 2 for irradiating the surface of the concrete column p with two parallel beams for displaying two points having a reference distance therebetween, and the surface of the concrete column p as necessary The projector 3 for illuminating the surface, the flaw detection agent injection device 4a for injecting the flaw detection agent onto the surface of the concrete column p as necessary, and the cleaning for injecting the cleaning agent to the surface of the concrete column p as necessary. An electric pan head 5 is connected to the agent injection device 4b, the camera 1, the laser beam irradiation device 2, the projector 3, the injection port 4a1 of the flaw detection agent injection device 4a, and the injection port 4b1 of the cleaning agent injection device 4b. An external storage for storing a telescopic support pole 6 disposed on the upper end thereof, image data selected from an image photographed by the camera 1, data for identifying the concrete pillar p, and data for identifying a part to be photographed A data storage area 7b2 of the apparatus 7b and an image monitor 7d for displaying images taken by the camera 1 and other necessary items are provided. The camera 1, the projector 3, the flaw detection agent ejecting apparatus 4a, and the cleaning are operated by an inspector. A personal computer (arithmetic unit, hereinafter referred to as PC) 7 having a remote control function for controlling the operation of the agent injection device 4b, the electric pan head 5 and the support pole 6 is constructed.

  In the first embodiment, the camera 1 can be manually adjusted in focus and aperture, and has an automatic focus and automatic exposure function. Further, the camera 1 includes a zoom lens, and therefore, the angle of view can be adjusted naturally. Furthermore, the number of pixels is 5 million. As described above, the operation of the camera 1 is controlled via the PC 7, and in the first embodiment, the image data is transmitted to the PC 7 in real time, and the inspector observes the image data. The PC 7 is operated, the zoom lens of the camera 1 is operated to adjust the angle of view, and the aperture is further adjusted to adjust the exposure. Regarding the focus adjustment, in the first embodiment, automatic focusing was used. As described above, in the first embodiment, the diaphragm is manually adjusted. However, automatic exposure may be employed as necessary.

  As described above, the laser beam irradiation device 2 displays the two light spots indicating the distance as the reference distance on the surface of the concrete pillar p, and includes these in the image photographed by the camera 1 to obtain the light beam. This is used as a reference for the length when calculating dimensions such as the width and length of a crack that may be found in the obtained image. That is, the cracks on the surface of the concrete pillar p vary in size depending on the angle of view of the camera 1, but the dimensions are naturally the distance between the two light spots included in the image. It changes in proportion to the change of. Therefore, if the original distance dimension between the two light spots is known, for example, the width dimension of the crack can be easily calculated by Equation (1).

なお、画像中の２光点間の間隔寸法Ｌ_i 及び画像中のひび割れ寸法Ｇ_i は、それぞれの計測対象の両端間に存在する縦横のピクセル数に基づいて容易に算出することができる。該両端間に縦又は横方向の一方の成分しか無ければ、その縦又は横方向のピクセル数がその間の寸法を示し、縦横の両成分が含まれていれば、両端間の寸法は、三平方の定理により、縦方向及び横方向の各々の成分のピクセル数の平方の和の平方根がそれを示している。これらを以下の数２及び数３によって示す。なお、画像中の２光点間の間隔寸法Ｌ_i は、後述するように、横方向の成分を含まないようにすることが好ましいので、その場合の例のみを示す。

Note that the interval dimension L _i between two light spots in the image and the crack dimension G _i in the image can be easily calculated based on the number of vertical and horizontal pixels existing between both ends of each measurement target. If there is only one component in the vertical or horizontal direction between the both ends, the number of pixels in the vertical or horizontal direction indicates the size between them, and if both the vertical and horizontal components are included, the size between both ends is 3 squares. The square root of the sum of the squares of the number of pixels of each component in the vertical direction and the horizontal direction indicates this. These are shown by the following equations 2 and 3. Note that the interval dimension L _i between the two light spots in the image preferably does not include a component in the horizontal direction, as will be described later, so only an example in that case is shown.

It is not necessary to calculate the absolute dimension of the dimension L _i between two light spots in the image and the crack dimension G _i in the image, and the ratio between them, that is, the relative dimension of both may be calculated. .
Therefore, as a result of calculation based on the above mathematical formulas (Equations 2 and 3), the interval dimension L _i between the two light spots in the image is an interval of 200 pixels, and the crack dimension G _i in the image is 25 pixels. , L _i : G _i = 8: 1. Therefore, this is used as it is, that is, L _i = 8, G _i = 1 is substituted into the above equation 1, and further between the two light spots. If the distance dimension L _s = 50 (mm) is assumed and calculated by substituting this into Equation 1, the actual crack width dimension G _s = 6.25 (mm) can be calculated.

  Since this is the basis of such calculation, the distance between two light spots created by the laser beam irradiation apparatus 2 needs to be as accurate as possible. In the first embodiment, the laser beam irradiation device 2 is configured by arranging two laser pointers 2 a and 2 b in parallel with the optical axis of the camera 1. Specifically, as shown in FIG. 1, the laser pointers 2 a and 2 b are fixed on the top and bottom of the camera 1. The laser pointers 2a and 2b and the optical axis of the camera 1 are positioned so as to be on the vertical line.

  Although the two laser pointers 2a and 2b can be arranged other than vertically, the surface of the concrete pillar p to be inspected is naturally a curved surface, and an image obtained by the camera 1 is obtained. Needs to be corrected to a flat surface, and is inconveniently affected. When the two light spots are arranged in a direction other than the length direction of the concrete pillar p, the interval between the two light spots included in the image during the plane correction processing is also corrected. The processing causes an extension and makes the reference distance unusable. If it is going to use the space | interval between the two light spots of such an arrangement | sequence as a reference distance, a special countermeasure will be needed and will be very troublesome. On the other hand, if the two laser pointers 2a and 2b are arranged in the vertical direction as described above, such a problem does not occur.

  Note that the two laser pointers 2a and 2b constituting the laser beam irradiation apparatus 2 adopt an appropriate output in consideration of the case where illumination by the projector 3 is performed. Although it is easy to obtain the red or green laser pointers 2a and 2b, in the first embodiment, the red laser pointers 2a and 2b are used. There is an advantage that it is relatively easy to distinguish from the white light projector 3.

  The projector 3 employs white light. As described above, it is assumed that the amount of light is appropriately adjusted so that the two light spots by the laser pointers 2a and 2b of the laser beam irradiation apparatus 2 are not erased. As described above, the projector 3 can be turned on and off by the remote control while observing the image in the image monitor 7d of the PC 7. The projector 3 is disposed above the camera 1. This is because it is easier to average the illuminance of each part than when arranged sideways.

  The flaw detection agent injection device 4a is literally an injection means for injecting a flaw detection agent that is a liquid agent for enabling the cracks on the surface of the concrete pillar p to be clearly seen, and as described above, the image monitor of the PC 7 The jetting operation can be controlled by remote control from the PC 7 while observing the image in 7d. As shown in FIGS. 1 and 2, the flaw detection agent injection device 4 a has an injection port 4 a 1 disposed below the camera 1, and the injection device main body 4 a 2 comprising a tank and a pump device is located near the lower portion of the support pole 6. It is something to keep.

  The cleaning agent injection device 4b is literally an injection unit that injects a cleaning agent that is a liquid agent for removing dirt on the surface of the concrete pillar p so that the state of the surface can be clearly seen, Thus, while observing an image in the image monitor 7d of the PC 7, the ejection operation can be controlled by remote control from the PC 7. As shown in FIG. 2, the cleaning agent spraying device 4b has its spout 4b1 arranged below the camera 1 side by side with the spout 4a1 of the flaw detection agent spraying device 4a, as shown in FIG. The injection device main body 4b2 composed of the tank and the pump device is arranged near the lower portion of the support pole 6.

  As shown in FIG. 1, the electric pan head 5 employs an undulating action (tilt) and a horizontal rotation action (panning) in the first embodiment. While observing the transmitted image of the region to be imaged displayed on the image monitor 7d of the PC 7, it can be remotely controlled via the PC 7 to adjust the undulation direction and the horizontal direction. That is, the conductive pan head 5 is moved as described above by remote operation, and substantially coincides with and intersects with the axis of the concrete pillar p to be inspected while maintaining the optical axis of the camera 1 almost horizontally. It is set to be oriented.

  As described above, the electric camera platform 5 has the camera 1 installed thereon, but as shown in FIG. 1, the laser pointers 2a and 2b constituting the laser beam irradiation device 2 are connected to the camera. 1 are arranged in parallel to the optical axis 1 and above and below the camera 1 so as to be located in the same vertical plane. A camera 1 is disposed on the conductive pan head 5, a laser pointer 2 a is disposed on the camera 1, and the projector 3 is disposed on the laser pointer 2 a. The optical axis of the projector 3 is tilted slightly downward so that the photographing range of the camera 1 is satisfactorily irradiated. In addition, a laser pointer 2b is disposed under the camera 1 disposed on the electric pan head 5, and a jet port 4a1 of the flaw detection agent injection device 4a and an injection of the cleaning agent injection device 4b are further provided below the laser pointer 2b. The outlets 4b1 are arranged side by side. Each axis of the injection ports 4a1 and 4b1 is inclined slightly upward so that the flaw detection agent or the cleaning agent can be easily injected into the imaging range of the camera 1.

  As shown in FIG. 1, the support pole 6 includes an attachment flange 6 a for fixing to the ground at the bottom and three extendable legs arranged around the lower part of the support pole 6 at an angular interval of 120 degrees. It has a body 6c, 6c, 6c, and is provided with a hydraulic expansion / contraction drive part 6b that supplies liquid for expansion / contraction driving to the support pole 6 or receives liquid excluded from the support pole 6. The support pole 6 connects a plurality of pipes having different diameters to a small diameter one by one while encasing the large diameter pipes while allowing the overlapping portions to be slidable. The ends of the small-diameter tube and the maximum-diameter tube that are far from each other are closed, and a liquid is introduced into the tube to extend the tube, and the introduced liquid can be eliminated and shortened. When the support pole 6 is erected on the ground, the surface of the mounting flange 6a is in contact with the ground. At this time, the length of the legs 6c, 6c, 6c is adjusted and the lower end thereof is adjusted. Is brought into contact with the ground, the upright state of the support pole 6 is maintained. The expansion and contraction of the legs 6c, 6c, 6c is performed by adjusting the length of the lower member fitted to the upper member by adjusting the fitting state, and then fixing screws from the side of the upper member. And the fitting state of the lower member is held. The hydraulic expansion / contraction drive unit 6b is excluded from the tank that stores the driving liquid, the pump device that pumps the liquid in the tank to the support pole 6, hoses, valves, and the support pole 6. It consists of hoses and valves that return liquid to the tank.

  The hydraulic telescopic drive 6b of the support pole 6 is configured to be remotely controlled via the PC 7. The support pole 6 should be paused at every vertical shooting interval in the extension stroke or shortening stroke when registering the shot image of the surface of the concrete column p. The support pole 6 is set in an appropriate position close to the concrete pillar p, and then is appropriately set as the elevation interval by the PC 7 in advance while checking through the image monitor 7d of the PC 7. Then, by previously setting the vertical shooting interval in this way, after that, simply registering the image during shooting of the surface of the concrete pillar p at the time of the pause for each shooting interval through the PC 7, The support pole 6 is configured to extend or shorten to the next temporary stop position. In addition, you may comprise so that this support pole 6 may be expanded or shortened to the next temporary stop position by performing the completion operation again after registration of an image.

  The extension or shortening dimension of the support pole 6 during the extension or shortening process can be measured by various techniques, and any of them can be adopted. A measuring instrument having a tape measure (not shown) is attached, the tip of the measuring strip pulled out from the measuring instrument is attached to the tip of the support pole 6, and the unwinding amount at the time of extension and the unwinding amount at the time of shortening are set. By reading, the extension dimension or shortening dimension of the support pole 6 is measured. Based on this, the photographing interval is measured.

  The PC 7 is composed of a general personal computer. As shown in FIG. 3, the PC 7 includes a calculation unit 7a, an external storage device 7b attached thereto, an input keyboard 7c, and the image monitor 7d. Thus, the external storage device 7b includes a program storage area 7b1 and a data storage area 7b2. The camera 1, the projector 3, the flaw detection agent injection device 4a, the cleaning agent injection device 4b, and the electric motor A program for remote control operation of the pan / tilt head 5 and the hydraulic telescopic drive 6a of the support pole 6 is held in the program storage area 7b1 and selected from the images of the concrete pillars p photographed by the camera 1. Image data, data specifying the concrete pillar p, and data specifying the imaging target part are held in the data storage area 7b2. Than is.

  Therefore, according to the concrete column surface inspection photographing apparatus of the first embodiment, first, the support pole 6 is erected at an appropriate position at an arbitrary distance from the concrete column p to be inspected, and the bottom end of the support pole 6 is measured. The attachment flange 6a is brought into contact with the ground, and the lengths of the leg bodies 6c, 6c, 6c are adjusted so that the lower ends thereof are brought into contact with the ground, and the upright state of the support pole 6 is fixed.

  After that, while looking into the image monitor 7d of the PC 7, the electric head 5 is moved up and down (tilt) and horizontally rotated (pan) so that the optical axis of the camera 1 becomes horizontal. And the horizontal adjustment is performed so that the optical axis is in a direction intersecting with the axis of the concrete column p. As described above, this is performed by remote control of the electric pan head 5 through the PC 7. This operation on the PC 7 is performed using the keyboard 7c. The focus of the camera 1 is automatically adjusted as described above, and the exposure is manually adjusted by remote operation. The angle of view is also determined by adjusting the zoom lens remotely.

  After adjusting the angle of view as described above, the shooting interval in the vertical direction of the support pole 6 is set. In the first embodiment, the pause at every photographing interval is performed when the support pole 6 is extended, and the photographing interval is an interval in the vertical direction of the surface of the concrete column p that can be photographed at the angle of view. Set a slightly shorter interval. That is, it is set so that a part of the upper part of the photographing range of the concrete pillar p photographed at the time of the temporary stop immediately below and a part of the lower part of the photographing range of the concrete pillar p to be photographed at the time of the temporary stop immediately above are overlapped. This setting is performed using the remote control function of the PC 7. If this setting is made, after that, the PC 7 only gives an instruction to start the operation of the hydraulic telescopic drive unit 6b, and after extending the support pole 6 by the photographing interval, it is automatically set to the pause position. Pause.

  Therefore, after that, the information specifying the concrete column p to be inspected is registered, and the current photographing plane is registered in the direction (east, west, south, north, etc.), and the support pole is then registered. Start from the 6 shortest state. First, while looking into the image monitor 7d of the PC 7, the state of the image on the surface of the concrete column p to be inspected is observed. If the image is clear, the PC 7 is operated to register the image. Images are registered with numbers that increase in order from the bottom. This image registration is performed in the data storage area 7b2 of the external storage device 7b of the PC 7, as described above.

  If the image is not clear, various operations are performed depending on the cause. If the autofocus function of the camera 1 is incomplete, the adjustment is performed manually through the PC 7, and if the exposure is incomplete, the adjustment is performed again. When the exposure is insufficient due to cloudy weather or the like, the projector 3 is driven to emit light by operating the PC 7. When the surface of the concrete pillar p is dirty, it is difficult to understand even if it is cracked. Similarly, the cleaning agent injection device 4b is also operated by remote control through the PC 7, and the current condition of the concrete pillar p is A cleaning agent is sprayed onto the region to be imaged. If the surface of the concrete column p is unclear due to reasons other than dirt, the flaw detection agent injection device 4a is also operated by remote control through the PC 7 in the same manner, and the current imaging target portion of the concrete column p is detected. Spray the agent.

  Thereafter, similarly to the above, if this is clear and appropriate while viewing the image in the image monitor 7d of the PC 7, the PC 7 is operated to register it. As described above, when this image registration is performed, the support pole 6 extends by a height slightly shorter than the height dimension of one image and stops at the next temporary stop position.

  At this temporary stop position, the image on the image monitor 7d of the PC 7 is observed in the same manner as that performed at the lowermost temporary stop position, and necessary operations are performed. Thereafter, the image on the image monitor 7d is displayed. Perform the registration operation. In most cases, at the second and subsequent pause positions, it is not necessary to adjust the focus or adjust the exposure again. In many cases, it is determined whether or not the flaw detection agent or the cleaning agent is to be sprayed on the surface according to the state of the surface of the concrete pillar p, and the flaw detection agent injection device 4a or the cleaning agent is used as necessary based on the result. It is only to drive the injection device 4b. Alternatively, it may become dark due to changes in the weather or the like, and light emission driving of the projector 3 may be necessary. Thereafter, as described above, the image in the image monitor 7d is observed, and if it is clear and appropriate, the PC 7 is operated to perform the registration process.

  Thus, the support pole 6 is extended to the third temporary stop position and temporarily stopped. At the third temporary stop position, the same operation as that performed at the second temporary stop position is performed. . Thereafter, the same operation is naturally performed at each temporary stop position up to the uppermost temporary stop position. At the uppermost temporary stop position, an operation for indicating the uppermost position is performed before the captured image is registered. As a result, the support pole 6 is shortened immediately after the image registration until the upper part of the support pole 6 returns to the lowest pause position.

  Thereafter, the support pole 6 is repositioned by changing the position by 90 degrees around the concrete column p which is the current object, and the same operation as described above is performed. Repeat three times. As a result, the entire circumference of the concrete column p is photographed from the lowermost part to the uppermost part, and the image is registered. After the photographing of one concrete pillar p is completed in this way, photographing for inspection of other necessary concrete pillars p is sequentially repeated.

  In the above, in the circumferential direction of the concrete column p, the photographing is performed for inspection by changing the position at every 90 degree angular interval. However, it may be different from this in relation to the angle of view. . In that case, it is performed corresponding to the angle, but from the viewpoint of reducing the number of times of re-installation of the support pole 6, it is appropriate to set 90 degrees.

  Thus, the image of the surface of the concrete pillar p to be inspected obtained by the photographing apparatus for surface inspection of the concrete pillar of Example 1 needs to be corrected to a plane as described above. The method of detecting cracks on the surface of a structure that measures cracks from image data of the concrete surface shown in Patent Document 2 or the detection and size of cracks existing in an image using this kind of commercially available software Measurement can be performed. As described above, the crack size can be measured easily and accurately using the distance between the two light spots included in the image as a reference distance.

<Example 2>
As shown in FIGS. 4 (a) and 5, the photographing apparatus for surface inspection of concrete pillars of Example 2 is composed of four digital units arranged at an angular interval of 90 degrees on a partial arc-shaped mounting table 18 described later. A video camera (imaging means, hereinafter referred to as a camera) 11, 11,..., A laser beam irradiation device (parallel beam irradiation means) 12, a projector 13, and a flaw detection agent that are directly and indirectly arranged on the mounting table 18 for each camera 11. The cameras 11, 11 are provided via the jetting port 14 a 1 of the jetting device 14 a, the jetting port 14 b 1 of the cleaning agent jetting device 14 b, the hoisting mechanism 15 that supports the mounting table 18 so as to be raised and lowered, and the hoisting mechanism 15 and the mounting table 18. ..., laser beam irradiation devices 12, 12 ..., projectors 13, 13 ..., jet nozzles 14a1, 14a1 ... of flaw detection agent jetting devices 14a, 14a ..., jet nozzles 14b of cleaning agent jetting devices 14b, 14b ... , 14b1..., 14b1,..., 14b1,..., 14b1,..., 14b1. A personal computer (arithmetic unit, hereinafter referred to as a PC) having a data storage means for storing data for specifying the image, an image monitor 17d for displaying images taken by the cameras 11, 11. 17, a mounting arc 18 that is formed on the undulation mechanism 15, is partially arc-shaped with a part open, and is configured to be capable of rotating around the arc, and the camera 11, the projector according to the operation of an inspector 13. Remote controller for controlling operations of flaw detection agent injection device 14a, cleaning agent injection device 14b, hoisting mechanism 15, mounting table 18 and support pole 16 Which is constituted by an operation panel (operation unit) 19 equipped with.

  In the second embodiment, the photographing means is constituted by four cameras 11, 11,..., But each camera 11 has the same configuration as the camera 1 of the first embodiment. The operation is controlled not by the PC 17 but by the operation panel 19 as will be described later. In the second embodiment, the image data is transmitted to the PC 7 in real time, and the inspector can check each camera 11. , 11... Are sequentially switched, and while observing on the image monitor 17d, the operation panel 19 is operated, the zoom lens of the cameras 11, 11. Thus, the exposure can be adjusted. As for the focus adjustment, the auto focus is used in the second embodiment. As described above, in the second embodiment, the diaphragm is manually adjusted. However, automatic exposure can be adopted as necessary.

  The four cameras 11, 11... Are arranged on the mounting table 18 configured in a partial arc shape as described above at an angular interval of 90 degrees, and this is centered on the center of the arc of the mounting table 18. Are arranged at the angular intervals and with the optical axes of the cameras 11, 11...

  The laser beam irradiation devices 12, 12... Have the same purpose as the laser beam irradiation device 2 of Example 1, and the same ones were adopted. Similarly, two laser pointers 12a and 12b are parallel to the optical axis of each camera 11, and as shown in FIGS. 5 and 6, one laser pointer 12a is placed above each camera 11 and the other laser pointer. 12b is fixed to each lower part. In the second embodiment, each camera 11 is positioned so that the laser pointers 12a and 12b and the optical axis of the camera 11 are positioned on the vertical line.

  The projectors 13, 13... Employ the same configuration as that of the projector 3 of the first embodiment. Similarly, it is assumed that the amount of light is appropriately adjusted so that the two light spots by the laser pointers 12a and 12b of the laser beam irradiation device 12 are not erased. The projectors 13, 13... Can be turned on and off by remote control through the operation panel 19 while observing an image in the image monitor 17 d of the PC 17. Further, the projectors 13, 13... Are arranged above the corresponding cameras 11, 11.

  The flaw detection agent injection devices 14a, 14a,... Employ the same configuration as that of the flaw detection agent injection device 4a of the first embodiment. These can control the ejection operation by remote control from the operation panel 19 while observing the image in the image monitor 17d of the PC 17. In addition, the spout 14a1 of these flaw detection agent injection apparatuses 14a was arrange | positioned under the said camera 11, respectively. Further, the injection device main body (consisting of a tank and a pump device) (not shown) is arranged near the lower portion of the support pole 16.

  The cleaning agent injection devices 14b, 14b,... Also employ the same configuration as the cleaning agent injection device 4b of the first embodiment. In these cases, while observing the image in the image monitor 17d of the PC 17, the injection operation is controlled by remote control from the operation panel 19 when the imaging target portion of the concrete pillar p is dirty. Can be done. As shown in FIGS. 4A and 5, the jet nozzles 14 b 1 of these cleaning agent jetting devices 14 b are respectively disposed below the camera 11 and adjacent to the jet nozzles 14 a 1 of the flaw detection agent jetting device 14 a. . Further, the injection device main body (consisting of a tank and a pump device) (not shown) is arranged near the lower portion of the support pole 16.

  As shown in FIGS. 4 and 5, the hoisting mechanism 15 includes an L-shaped bracket 15a as viewed from the side fixed to the upper end of the support pole 16, and an electric motor 15b disposed on the horizontal portion of the bracket 15a. A driven gear 15c fixed to the rotating shaft and a driven shaft 15e fixed to the end of a driven gear 15d meshing with the driving gear 15c, and freely rotatable on bearings 15f and 15f of the upright portion of the bracket 15a. The driven shaft 15e is pivotally supported by the shaft 15e, and the machine base portion 15g is extended from the intermediate portion of the driven shaft 15e in a direction orthogonal thereto.

  As shown in FIG. 4, the electric motor 15 b is arranged so that its rotation shaft is parallel to the plate-like upright portion, and the driven shaft 15 e is also parallel to the upright portion. The two bearings 15f, 15f formed at both ends of the upper part of the outer surface are pivotally supported. In this way, the driven gear 15d at the outer end of the driven shaft 15e can properly mesh with the drive gear 15c of the rotating shaft of the electric motor 15b.

  The machine base 15g couples the machine base 15g1 to the driven shaft 15e as described above. As shown in FIG. 4, the machine base 15g1 is slightly narrower than the dimension between the bearings 15f and 15f. When the machine base 15g1 comes out of the bearings 15f and 15f, the machine base 15g1 has a wider base 15g2. Thus, a partial arc-shaped cradle 15g3 is formed in an extended state from the tip of the cradle base 15g2.

  4 (a) and 5 are provided in the lower part of the base part 15g near the center of both sides of the base part 15g3 and the corresponding part of the upper part of the mounting table 18 disposed on the base part 15g3. As shown in Fig. 2, contact sensors (obstacle sensors) 15h, 15h for detecting the presence of obstacles are arranged, and there are obstacles in the process of raising and lowering, and when the obstacles are detected by contact, A detection signal is transmitted to the operation panel 19, and a failure avoidance command signal is output from the operation panel 19. The command signal for avoiding the obstacle is to drive and control the motor 15b so that the receiving portion 15g3 is directed downward in the ascending stroke which is the extension stroke of the support pole 16, and is a shortening stroke of the support pole 16. In the downward stroke, the electric motor 15b is driven and controlled so that the receiving portion 15g3 is directed upward.

  As shown in FIGS. 4A and 5, the contact sensor 15h includes a column 15h1 that hangs down from the receiving portion 15g3 or rises from the mounting table 18, and a lower end of the suspended column 15h1 or an upper end of the column 15h1 that rises. And a probe rod 15h3 extending from the switch portion 15h2 to the side of the concrete column p which is positioned at the center of the receiving table 15g3 and the mounting table 18. When the support pole 16 is expanded or contracted, the probe rod 15h3 is brought into contact with various articles arranged in a projecting state from the concrete column p and is relatively opposite to the ascending or descending operation. The switch part 15h2 is switched by this operation, and is configured to detect such an obstacle. The signal obtained by the switching operation of the switch portion 15h2 becomes the detection signal.

  As described above and as shown in FIGS. 4 to 6, the mounting table 18 is configured on the hoisting mechanism 15, and more specifically, the machine base portion 15 g of the hoisting mechanism 15, particularly its receiving portion. Most of it is disposed on the base portion 15g3. As shown in FIGS. 4 (a) and 4 (b), the mounting table 18 has a partial arc shape. More specifically, the mounting table 18 is a partial circle composed of a portion slightly exceeding 270 degrees in the arc. This is an arc-shaped member, which is substantially the same shape and size as the cradle part 15g3 when viewed from above. As shown in FIGS. 4B and 6, a plurality of abacus ball-shaped movable wheels 18 a, 18 a... Are arranged in a row along the arc at the center in the width direction of the mounting table 18. On the other hand, two rows of slide rail portions 15g4, 15g4 are arranged along the arc of the receiving portion 15g3 in order to support the movable wheels 18a, 18a,. The inside of the slide rail portions 15g4, 15g4 has a V-groove shape, and supports the abacus-shaped movable wheels 18a, 18a,... Slidably supported from both sides.

  Further, as shown in FIGS. 4 to 6, a sector gear 18b is formed on the outer edge of the mounting table 18, and a pinion 18d fixed to the rotating shaft of the small electric motor 18c is engaged with the sector gear 18b. The small electric motor 18c is arranged on the receiving base 15g2 of the machine base 15g. In addition, the sector gear 18b is configured in an appropriate range on both sides from the center in the circumferential direction at the outer edge of the mounting table 18 described above, in a range slightly exceeding 90 degrees in the second embodiment. . Therefore, when the small motor 18c is rotationally driven, the mounting table 18 rotates clockwise or counterclockwise depending on the rotation direction.

  The small electric motor 18c observes an image in the image monitor 17d of the PC 17, registers the photographed image, and then moves the mounting table 18 in the circumferential direction (clockwise or counterclockwise. The operation panel 19 can be operated to rotate 45 degrees clockwise in FIG. After rotating in the 45 ° circumferential direction, and after registering the image at that part, it is possible to operate the operation panel 19 to rotate 45 degrees in the reverse direction to return to the original position. ing. One of the reasons for registering the images taken by the four cameras 11, 11... By rotating the mounting table 18 by 45 degrees in the circumferential direction is clearer image data. In the second embodiment, another image is obtained at the center from the relationship in which the four cameras 11, 11,... Are arranged on the mounting table 18 at an angular interval of 90 degrees. That's what happens when you try to register.

  As described above, the support pole 16 has the undulation mechanism 15 attached to the upper end thereof, and the mounting table 18 disposed thereon, through which the four cameras 11, 11 are arranged. ..., laser beam irradiation devices 12, 12 ... arranged for each camera 11, projectors 13, 13 ..., jet nozzles 14a1, 14a1 ... of flaw detection agent jetting devices 14a, 14a ... and jet nozzles of cleaning agent jetting devices 14b, 14b ... 14b1, 14b1,... Are arranged.

  As shown in FIG. 8, the support pole 16 has attachment means 16 a for detachably attaching to the concrete pillar p to be inspected at a predetermined interval at the lower part, and the expansion and contraction drive liquid is attached to the support pole 16. Or a hydraulic telescopic drive unit 16b for receiving the liquid removed from the support pole 16. The support pole 16 itself has almost the same configuration as the support pole 6 of the first embodiment, and a plurality of tubes having different diameters are sequentially sheathed with a smaller diameter and a larger diameter, and the overlapping portions are slid. Connect as possible, and connect all the tubes to each other, close the far end of the smallest diameter tube and the largest diameter tube, introduce the liquid into it, extend it, and introduce the liquid It is configured to be able to be shortened by eliminating.

  As described above, the attachment means 16a is a means for attaching to the concrete column p to be inspected at a predetermined interval. The predetermined interval is determined by positioning the concrete column p at the center of the mounting table 18 described above. The interval to get. As shown in FIG. 8, the attachment means 16a includes a housing 16a1 disposed at the lowermost portion of the support pole 16, and a shaft center of the support pole 16 from a portion above the housing 16a1 of the support pole 16. An arm member 16a2 extending in an orthogonal direction, an openable / closable split annular member 16a3 formed at the tip of the arm member 16a2, and the split annular member 16a3 is opened to hold the concrete pillar p, and the split annular member When the member 16a3 is closed, it is constituted by a fixing bolt / nut 16a4 for fixing the closed state at its tip.

  The hydraulic expansion / contraction drive unit 16b has the same configuration as the hydraulic expansion / contraction drive unit 6b of the first embodiment. The tank stores a driving liquid and the liquid in the tank is pumped to the support pole 16. The pump device, hoses, valves, and hoses and valves for returning the liquid removed from the support pole 16 to the tank.

  The hydraulic telescopic drive unit 16 b of the support pole 16 is configured to be remotely controlled via the operation panel 19. When the captured image of the surface of the concrete column p is registered, the support pole 16 is temporarily extended during the extension stroke or the reduction stroke. The photographing interval is such that the support pole 16 is installed at a predetermined interval on the concrete column p using the mounting means 16a, and the concrete column p is upright in the center of the mounting table 18 described above. In this state, the elevation interval is appropriately set on the operation panel 19 in advance while looking through the image monitor 17d of the PC 17 for confirmation. Then, by setting the shooting interval in this way in advance, after that, simply through the operation panel 19, before and after the rotation of the image being shot on the surface of the concrete pillar p at the time of pause for each shooting interval. The support pole 16 is configured to extend to the next temporary stop position when the two registration operations are performed and the operation of returning to the original position is performed and the mounting table 18 returns to the original position. The support pole 16 may be extended to the next temporary stop position by performing an operation for instructing extension again after the mounting table 18 returns to the original position.

  The PC 17 is composed of a general personal computer. As shown in FIG. 7, the PC 17 includes a calculation unit 17a, an external storage device 17b attached thereto, an input keyboard 17c, and the image monitor 17d. In the external storage device 17b, a program storage area 17b1 and a data storage area 17b2 are configured, and a certain point in time of the concrete pillar p photographed by the cameras 11, 11,... Received via the image switching unit 17e. A program for executing processing such as selecting an image of the image and registering the image data in the data storage area 17b2 and registering data for specifying the concrete pillar p and data for specifying the imaging target region. Is stored in the program storage area 17b1 and is an image of the concrete pillar p taken by the cameras 11, 11,. Selected image data, data and data identifying the imaging target site to identify the concrete column p is one to be stored in the data storage area 7b2.

  The operation panel 19 includes a calculation unit 19a, an external storage device 19b attached thereto, and an input keyboard 19c. The camera 11, 11 ..., the projectors 13, 13 ..., the flaw detection agent injection device 14a. , 14a... For remote control operation of the cleaning agent injection devices 14b, 14b..., The electric motor 15b of the hoisting mechanism 15, the small electric motor 18c of the mounting table 18 and the hydraulic telescopic drive unit 16b of the support pole 16. The program is held in a predetermined area of the external storage device 19b.

  Therefore, according to the concrete column surface inspection photographing apparatus of the second embodiment, the support pole 16 is first arranged at a certain distance from the concrete column p to be inspected, and the concrete column is placed at the center of the mounting table 18. Position p. The concrete pillar p is put into this through the opening of the mounting table 18. Thereafter, the divided annular member 16a3 of the attachment means 16a is externally fixed to the concrete pillar p. The divided annular member 16a3 is opened so that the concrete pillar p can be put therein, and then closed, and the closed state of the divided annular member 16a3 is fixed on the distal end side by the fixing bolt / nut 16a4. It is. Thus, the state in which the concrete pillar p is located at the center of the mounting table 18 is a fixed state.

  Thereafter, the image monitor 17d of the PC 17 is looked into. If the optical axis of the mounting table 18, that is, the cameras 11, 11,... Is not horizontal, the operation panel 19 is operated to The electric motor 15b of the mechanism 15 is rotated in a corresponding direction so that the optical axes of the mounting table 18 and the cameras 11, 11,. The captured images of the four cameras 11, 11,... Can be confirmed by operating the operation panel 19 and switching the image switching unit 17e. At this time, it is also checked whether the optical axis of each of the cameras 11, 11... Is in a direction intersecting the axis of the concrete column p. If not, the concrete column p is placed on the mounting table 18. Therefore, the attachment state by the attachment means 16a is adjusted to do so. The above operations on the operation panel 19 are performed using the keyboard 19c. The focus of the cameras 11, 11... Is automatically adjusted as described above, and exposure is adjusted manually and remotely via the operation panel 19. Similarly, the zoom lens is adjusted via the operation panel 19 to determine the angle of view.

  After determining the angle of view as described above, an imaging interval in the vertical direction of the support pole 16 is set. In the second embodiment, the pause at every photographing interval is performed when the support pole 16 is extended, and the photographing interval is an interval in the vertical direction on the surface of the concrete column p that can be photographed at the angle of view. Set a slightly shorter interval. That is, it is set so that a part of the upper part of the photographing range of the concrete column p photographed at the time of the temporary stop immediately overlaps a part of the lower part of the photographing range of the concrete pillar p to be photographed at the time of the temporary stop. This setting is performed using the remote control function of the operation panel 19. With this setting, after that, the operation panel 19 is only instructed to start the operation of the hydraulic telescopic drive unit 16b. To stop.

  Therefore, after this, information for specifying the concrete column p to be inspected is registered, and the current photographing plane is registered in the direction for each of the cameras 11, 11. When the four cameras 11, 11,... Are located in the clockwise direction from the end of the mounting table 18, respectively, on the east, south, west, and north surfaces at the original position of the mounting table 18, they are registered as such. To do. Each camera 11, 11... Rotates the mounting table 18 by 45 degrees clockwise and shoots the corresponding imaging surface. Can be determined. For example, if the original imaging plane is as described above, the imaging plane after 45 degrees rotation of the mounting table 18 is the southeast plane, the southwest plane, the northwest plane, and the northeast plane.

  The imaging plane is registered in the direction (east, west, south, north, etc.), and the support pole 16 is started from the shortest state. First, while looking into the image monitor 17d of the PC 17, the state of the image of the surface of the concrete pillar p to be inspected by the first camera 11 is observed. If the image is clear, the PC 17 is operated to display the image. Register. Further, by switching the image switching unit 17e on the operation panel 19, the image of the image monitor 17d of the PC 17 is switched to the image of the second camera 11, the state of the image of the corresponding surface of the concrete column p is observed, If the image is clear, the image is registered by operating the PC 17. Further, the same operation is performed by switching the image switching unit 17e from the third camera 11 to the fourth camera 11. Each of the images on each photographing surface is registered with a number that increases in order from the bottom. As described above, these images are registered in the data storage area 17b2 of the external storage device 17b of the PC 17.

  If the image is not clear, various operations are performed depending on the cause. If the autofocus function of the camera 11 is incomplete, the adjustment is performed manually through the operation panel 19, and if the exposure is incomplete, the adjustment is performed again. When the exposure is insufficient due to cloudy weather or the like, the projector 13 is driven to emit light by operating the operation panel 19. When the surface of the concrete column p is dirty, it is difficult to understand even if it is cracked. Similarly, the cleaning agent spraying device 14b is sprayed by the remote operation through the operation panel 19, and the concrete column p A cleaning agent is sprayed on the imaging target part of the corresponding camera 11. If it is not dirty but difficult to see, this is also operated by remote operation of the flaw detection agent injection device 14a through the operation panel 19, and the flaw detection agent is applied to the imaging target portion of the corresponding camera 11 of the concrete pillar p. Spray.

  After that, as described above, if each camera 11, 11... Is in an appropriate state while viewing the image in the image monitor 17d of the PC 17, the PC 7 is operated to register it. Switching between the cameras 11, 11... Is performed as described above. After the registration of the photographing surfaces of all the cameras 11, 11... Is completed, the operation panel 19 is operated to rotate the small motor 18 c of the mounting table 18 to rotate the mounting table 18 clockwise by 45 degrees. Operate around.

  Thereafter, the photographed image of the first camera 11 is observed through the image monitor 17d of the PC 17, and if it is clear, the PC 17 is immediately operated to register the image data. In addition, the operation panel 19 is operated to take countermeasures, clarify the image, and register the image. The remaining three cameras 11, 11, 11 perform the same while switching as described above, and register each image. Next, the operation panel 19 is operated to rotate the small motor 18c of the mounting table 18 in the reverse direction, and the mounting table 18 is rotated 45 degrees counterclockwise to return to the original position.

  In this way, when the mounting table 18 is returned to the original position, the support pole 16 extends to the next temporary stop position in the second embodiment, so that the support pole 16 extends, The mounting table 18 arranged at the upper end via the undulation mechanism 15 is raised to the next stop position and stopped. That is, the mounting table 18 is lifted by a height slightly shorter than the height dimension of one image and stops at the next temporary stop position.

  The extension of the support pole 16 described above is performed without stopping to the target height when the accompanying rise of the mounting table 18 is performed without being obstructed by anything. When the probe rods 15h3 and 15h3 of the contact sensors 15h and 15h arranged on the upper part of the 18 ascending process come into contact with any obstacle, the fact that one or both of the contact sensors 15h and 15h contacted the obstacle A detection signal is transmitted to the operation panel 19, and a command signal for avoiding a failure is output from the operation panel 19. The failure avoidance command signal is transmitted to the hydraulic telescopic drive unit 16b of the support pole 16 and the electric motor 15b of the hoisting mechanism 15. First, the operation of the hydraulic telescopic drive unit 16b is stopped. The extension operation is stopped, and the electric motor 15b is rotated to turn the receiving table 15g3 downward, and the mounting table 18 is suspended. At this point, the hydraulic telescopic drive unit 16b starts operating again, causes the support pole 16 to extend, and stops at the next temporary stop position. At this time, the electric motor 15b of the hoisting mechanism 15 starts reverse rotation again, raises the receiving portion 15g3 to the horizontal state, and returns the mounting table 18 thereon to the horizontal state.

  The mounting table 18 is raised to the second temporary stop position from the bottom and stopped. At the second temporary stop position, the photographing operation by the four cameras 11, 11,... Registration operation, photographing operation by rotating the mounting table 18 by 45 degrees, each registration operation, returning operation of the mounting table 18 to the original position, and the operation work when the image is unclear during that time, are all at the bottom This is the same as that performed at the temporary stop position. Therefore, when all of these are completed, the support pole 16 is extended to the next temporary stop position and the same operation is performed, and this is repeated until the uppermost temporary stop position. The operation when any one of the contact sensors 15h detects an obstacle in each extension process of the support pole 16 is as described above in any extension process.

  After completing registration of all images at the uppermost temporary stop position in this way, the hydraulic telescopic drive unit 16b of the support pole 16 is controlled via the operation panel 19 to shorten the support pole 16. . In this shortening process, when one or both of the two contact sensors 15h, 15h at the bottom of the cradle 15g3 detect an obstacle, the fact that one or both of the contact sensors 15h, 15h has contacted the obstacle Is transmitted to the operation panel 19, and a command signal for avoiding a failure is output from the operation panel 19. The failure avoidance command signal is transmitted to the hydraulic telescopic drive unit 16b of the support pole 16 and the electric motor 15b of the hoisting mechanism 15. First, the operation of the hydraulic telescopic drive unit 16b is stopped. The shortening operation is stopped, and the electric motor 15b is rotated to turn the receiving portion 15g3 upward, and the mounting table 18 is brought into an upright state. At this point, the hydraulic telescopic drive unit 16b starts operating again, shortens the support pole 16, and lowers it to the lowermost temporary stop position to stop it. At this time, the electric motor 15b of the hoisting mechanism 15 starts reverse rotation again, tilts the receiving portion 15g3 to the horizontal state, and returns the mounting table 18 thereon to the horizontal state.

  Thus, the image of the surface of the concrete pillar p to be inspected obtained by the photographing apparatus for surface inspection of the concrete pillar of Example 2 needs to be corrected to a flat surface as described above. A method for detecting cracks on the surface of a structure that measures cracks from image data on a concrete surface, such as the technique disclosed in Patent Document 2, or detection and size of cracks present in an image using this kind of commercially available software Can be measured. The size can be measured easily and accurately with the distance between the two light spots included in each image as a reference distance.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic side view of a photographing apparatus for surface inspection of a concrete pillar according to a first embodiment. FIG. 3 is an explanatory plan view showing devices disposed on a conductive pan head of the imaging device for surface inspection of a concrete pillar according to the first embodiment. FIG. 3 is a functional block diagram of a photographing apparatus for surface inspection of a concrete pillar according to the first embodiment. (a) Plane explanatory drawing which shows the equipment arranged on the support pole uppermost part of the imaging device for surface inspection of the concrete pillar of Example 2, (b) is the imaging device for surface inspection of the concrete column of Example 2. FIG. 9 is an explanatory plan view showing the uppermost part of the support pole, and is an explanatory plan view in which the devices on the mounting table are removed and the movable wheel and the slide rail part below are displayed with hidden lines. Side surface explanatory drawing which shows the equipment distribute | arranged to the support pole uppermost part of the imaging device for surface inspection of the concrete pillar of Example 2. FIG. Sectional explanatory drawing which shows the cradle part of the imaging | photography apparatus for surface inspection of the concrete pillar of Example 2, and the equipment distribute | arranged on it. The functional block diagram of the imaging device for surface inspection of the concrete pillar of Example 2. FIG. (a) is side explanatory drawing which shows the attachment means of the imaging device for surface inspection of the concrete pillar of Example 2, (b) is the plane explanatory drawing.

Explanation of symbols

1 Digital video camera (photographing means, camera)
2 Laser beam irradiation device (parallel beam irradiation means)
2a, 2b Laser pointer 3 Projector 4a Flaw detection agent injection device 4a1 Flux outlet of flaw detection agent injection device 4a2 Injection device main body of flaw detection agent injection device 4b Cleaning agent injection device 4b1 Ejection port of cleaning agent injection device 4b2 Injection device of cleaning agent injection device Main body 5 Electric pan head 6 Support pole 6a Mounting rod 6b Hydraulic telescopic drive 6c Leg 7 Personal computer (computing device, PC)
7a Arithmetic unit 7b External storage device 7b1 Program storage area 7b2 Data storage area 7c Keyboard 7d Image monitor 11 Digital video camera (photographing means, camera)
12 Laser beam irradiation device (parallel beam irradiation means)
12a, 12b Laser pointer 13 Projector 14a Flaw detection agent injection device 14a1 Flaw outlet of the flaw detection agent injection device 14b Cleaning agent injection device 14b1 Ejection of the cleaning agent injection device 15 Lifting mechanism 15a Bracket 15b Motor 15c Drive gear 15d Driven gear 15e Driven shaft 15f Bearing 15g Machine base 15g1 Machine base 15g2 Receiving base 15g3 Receiving base 15g4 Slide rail 15h Contact sensor (obstacle sensor)
15h1 Post 15h2 Switch unit 15h3 Probe rod 16 Support pole 16a Mounting means 16a1 Housing 16a2 Arm member 16a3 Split annular member 16a4 Fixing bolt / nut 16b Hydraulic telescopic drive unit 17 Personal computer (computing device, PC)
17a arithmetic unit 17b external storage device 17b1 program storage area 17b2 data storage area 17c keyboard 17d image monitor 17e image switching unit 18 mounting table 18a movable wheel 18b sector gear 18c small motor 18d pinion 19 operation panel (arithmetic unit)
19a arithmetic unit 19b external storage device 19c keyboard p concrete pillar

Claims (11)

Photographing means for photographing the surface of the concrete pillar to be inspected;
A parallel beam irradiation means for irradiating two parallel beams for displaying two points having a reference distance between the imaging target sites on the surface of the concrete pillar;
The imaging means and the parallel beam irradiation means are installed on the top thereof, and a support pole configured to be extendable and retractable to move the imaging means and the parallel beam irradiation means up and down along the concrete column to be inspected,
An image monitor for displaying an image of a concrete pillar photographed by the photographing means and displaying other necessary items, desired image data selected from the images of the concrete pillar photographed by the photographing means, and the concrete pillar A data storage means for storing data for specifying and data for specifying the imaging target part, and an arithmetic unit having a remote control function of the imaging means and the support pole;
An imaging device for surface inspection of concrete pillars composed of   The photographing apparatus for surface inspection of a concrete pillar according to claim 1, wherein a light projecting means for illuminating a photographing target portion of the concrete pillar is attached to the photographing means.   The photographing apparatus for surface inspection of a concrete pillar according to claim 1 or 2, wherein the photographing means and the parallel beam irradiating means have a mutual positional relationship set so that the former optical axis and the latter beam are parallel to each other.   2. A flaw detection agent injection device for injecting a flaw detection agent to an imaging target portion of the concrete pillar and a cleaning agent injection device for injecting a cleaning agent to the imaging target portion of the concrete pillar are attached to the imaging means. An imaging device for surface inspection of 2 or 3 concrete pillars. In accordance with an inspector's instruction, the arithmetic device moves up and down the support pole while the upper photographing means pauses at the vertical photographing interval of the concrete pillar to be photographed in either the extension stroke or the shortening stroke. To control and
Further, according to an instruction from an inspector, a control function is provided to perform control so as to perform an image registration operation of an imaging target part facing the concrete pillar being imaged by the imaging means at the time of the temporary stop. 3 is a photographing device for surface inspection of concrete pillars. In accordance with an inspector's instruction, the arithmetic device moves up and down the support pole while the upper photographing means pauses at the vertical photographing interval of the concrete pillar to be photographed in either the extension stroke or the shortening stroke. To control and
According to the instruction of the inspector, control is performed so as to perform an operation of registering the image of the imaging target portion facing the concrete pillar that is being imaged by the imaging means at the time of the suspension.
In addition, a control function is provided to control the flaw detection agent of the flaw detection agent injection device or the cleaning agent of the cleaning agent injection device so as to perform the injection operation to the imaging target portion facing the concrete column at the time of the temporary stop according to the instruction of the inspector. The photographing device for surface inspection of a concrete pillar according to claim 4.   On the upper portion of the support pole, a mounting table having a partial arc shape located in a plane orthogonal to the support pole, the mounting table configured to be able to circulate in the arc direction is disposed, and on the other hand, the photographing means The imaging device for surface inspection of a concrete pillar according to claim 1, comprising a plurality of imaging devices, wherein the plurality of imaging devices are disposed on the mounting table at an angular interval of (360 degrees / number of imaging devices). In accordance with an inspector's instruction, the arithmetic device moves up and down the support pole while the upper photographing means pauses at the vertical photographing interval of the concrete pillar to be photographed in either the extension stroke or the shortening stroke. To control and
And according to the instruction of the inspector, at each temporary stopping position in the ascending / descending direction, the mounting table is moved around in the arc direction while temporarily stopping at every photographing angle interval,
The concrete pillar according to claim 7, further comprising a control function for controlling the photographing target portions of the concrete pillar facing each other by the photographing devices of the photographing means at the time of the circumferential stop in accordance with an instruction of an inspector. Equipment for surface inspection.   The imaging angle interval for temporarily stopping the rotation operation of the mounting table is two or more equiangular intervals that divide the angular interval of (360 degrees / number of imaging devices), and each imaging device of the imaging means takes an image. The imaging device for surface inspection of a concrete pillar according to claim 8, wherein the maximum angular interval is set to be smaller than an obtained angle range.   The mounting table is configured to be able to stand up and rotate at the base end at the upper part of the support pole. On the other hand, an obstacle sensor is attached to the mounting table, and the concrete column is positioned at the center of the mounting table. In order to photograph the surface, when the support pole is extended and the mounting table is raised, the obstacle sensor detects the obstacle and transmits the detection signal to the arithmetic unit. After the obstacle avoidance signal is output from the arithmetic unit, the extension operation of the support pole is stopped, and after the mounting table is turned down, the support pole resumes the extension operation to avoid the obstacle. After rising and overcoming the obstacle, the mounting table is turned upward to return the mounting table to the horizontal state, while the support pole is shortened and the mounting table is lowered when the mounting table is lowered. The obstacle sensor detects the obstacle and sends the detection signal When transmitted to the arithmetic unit, a fault avoidance signal is output from the arithmetic unit, whereby the shortening operation of the support pole is stopped, and after the mounting table is turned upright, the support pole restarts the shortening operation, The concrete according to claim 7, 8 or 9, wherein the concrete is lowered while avoiding the obstacle, and after the obstacle is passed, the carriage is lowered and turned to return the carriage to a horizontal state again. Imaging device for column surface inspection.   11. The photographing device for surface inspection of a concrete pillar according to claim 7, 8, 9 or 10, wherein mounting means for attaching the supporting pole to a lower portion of a concrete pillar to be photographed is configured at a lower portion of the support pole.

Images