JP2015218531A - Bridge girder inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bridge girder inspection device, manufacturable at low cost, and capable of simply inspecting a bridge girder.SOLUTION: A bridge girder inspection device comprises a levitation gas storage bag 11 for storing gas smaller in specific gravity than air, a frame body 12 for joining this levitation gas storage bag, an upper abutting part 13 supported by the frame body and butted against an under surface of a bridge girder 2 by levitation force acting from the levitation gas storage bag and a camera 14 for photographing the bridge girder in a state where the upper abutting part is butted against the under surface of the bridge girder, and also comprises an operation string 15 of which one end is joined to the levitation gas storage bag or the frame body and the other end is held by an operator of staying on the ground or an operator staying on the bridge girder. A travel wheel 16 for traveling along an under surface of the bridge girder is provided in a part for contacting with the bridge girder of the upper abutting part. A state of the bridge girder is photographed by the camera by traveling on the under surface in a state of abutting on the under surface of the bridge girder by levitating with the levitation gas.

Description

  The present invention relates to a bridge girder inspection device for inspecting the state of a lower surface of a bridge girder and the like.

  Many bridges were built along with economic growth, but these bridges are aging and maintenance inspection is required. However, it is expensive to assemble a scaffold for inspection of a bridge or use an aerial work vehicle, and it is difficult to perform a sufficient inspection in a municipality that manages many small and medium-sized bridges. For this reason, a technique has been proposed in which an inspector does not inspect the bridge girder and inspects it indirectly, such as by photographing the state of the bridge girder.

The device described in Japanese Patent Laid-Open No. 2004-151561 is to shoot an upright state by installing a telescopic pole on the ground below the bridge girder and attaching a camera and a lighting device to an arm protruding from the upper end of the telescopic pole.
Moreover, the apparatus described in Patent Document 2 sets up an inspection vehicle on a bridge girder, and extends an arm of the inspection vehicle downward from the side of the bridge girder to photograph the lower side of the bridge girder.
The apparatus described in Non-Patent Document 1 is to mount a camera on a flying object such as a helicopter using a rotating wing, and attempt to photograph the state of the bridge girder by approaching the bridge girder by radio control.

JP 2002-131234 A JP 2006-2417 A

Nikkei Construction No. 582, page 29, “Inspecting the Bridge with“ Flying Eyes ””, Nikkei Business Publications, December 23, 2013

However, the conventional apparatus has the following problems that are desired to be solved.
In the apparatus described in Patent Document 1, since a telescopic pole is extended from the ground to photograph a high place, it is difficult to photograph if the position of the bridge girder is high. Further, when it is desired to check a wide range of the lower surface of the bridge girder, it is necessary to move the rising position of the telescopic pole many times to perform the inspection, resulting in poor efficiency.
Further, in the apparatus described in Patent Document 2, the arm is extended from the top of the bridge girder to the lower side of the bridge girder, so that the weight of the arm and the inspection vehicle that supports the arm are increased. For this reason, much expense is needed for manufacture and management of an apparatus.
The device described in Non-Patent Document 1 can be applied to a bridge with a high pier, etc., but requires a high degree of control in order to approach a bridge girder and perform a stable flight. This increases the production cost of the device. Also, it is difficult to get close to the bridge girder and shoot in a stable state. Furthermore, when an engine, a motor, or the like is used as power for flying, it is necessary to mount fuel, a battery, or the like as power. For this reason, the time which can fly is shortened and it is difficult to check a wide range continuously.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a bridge girder inspection device that can be manufactured at a low cost and can easily inspect a bridge girder.

  In order to solve the above-mentioned problem, the invention according to claim 1 includes a levitation gas accommodation bag that accommodates a gas having a specific gravity smaller than air, a frame body to which the levitation gas accommodation bag is coupled, and a frame body that is supported. An upper abutting portion that is abutted against the lower surface of the bridge girder by a levitation force acting from the floating gas storage bag, and an imaging device that photographs the bridge girder in a state where the upper abutting portion is abutted against the lower surface of the bridge girder A bridge girder inspection device having

In this bridge girder inspection device, it is possible to slowly approach the lower surface of the bridge girder by the lift of the floating gas and press the upper abutting portion against the lower surface of the bridge girder. Therefore, the frame body that supports the imaging device can stably contact the bridge girder and obtain a clear image of the lower surface from a position close to the lower surface of the bridge girder.
Moreover, since lift force is given by the levitation gas, a high-level control device or the like is not necessary, and the lower surface of the bridge girder can be approached with a simple device. In addition, levitation can be performed for a long time without consuming fuel, batteries, and the like for levitation, and the bridge girder can be inspected for a long time.

  The invention according to claim 2 is the bridge girder inspection device according to claim 1, wherein the bridge girder inspection device is coupled to the floating gas storage bag or the frame body, and is hung downward and held by an operator on the ground below the bridge girder. It shall have an operation string.

In this bridge girder inspection device, an operation of slowly approaching the lower surface of the bridge girder by operation of the operation string and an operation of collecting the device are possible. In addition, it is possible to control movement in the horizontal direction by providing a plurality of operation strings and operating by a plurality of operators at different positions on a plane.
In addition, since the operation string includes a signal line such as an optical cable or a conductive line, the image pickup apparatus and other devices supported by the frame can be controlled via the signal line. Moreover, electric power required by the apparatus can be supplied via a conductive wire included in the operation string.

  The invention according to claim 3 is the bridge girder inspection device according to claim 1 or 2, wherein one end of the bridge girder check bag or the frame body is coupled to the bridge girder and the other end is held by the operator on the bridge girder. It shall have one or more operation strings.

  In this bridge girder inspection device, it is possible to control an operation of approaching the lower surface of the bridge girder via an operating string from above the bridge girder, an operation of moving along the lower surface of the bridge girder, and obtaining an image. In addition, it is possible to transmit an operation signal from the bridge girder via an operation string, supply electric power, and the like. Therefore, when the bridge girder is supported by the high pier, the bridge girder can be easily inspected even when the bridge girder cannot be brought under the bridge girder from the ground.

  The invention according to claim 4 is the bridge girder inspection device according to any one of claims 1 to 3, wherein the bridge girder inspection device is provided at a portion of the upper abutting portion that contacts the bridge girder and travels along a lower surface of the bridge girder. It shall have a running wheel to do.

  In this bridge girder inspection device, it is easy to move the device along the lower surface of the bridge girder. Thereby, the wide range of the lower surface of a bridge girder can be image | photographed sequentially or continuously. The traveling wheel may be rotationally driven by a driving device, or the traveling wheel rotates and moves when a horizontal force is applied from an operating string without a driving device. Also good. Further, it may be one that rotates and moves when a horizontal driving force is applied by a propeller or an injection device that generates an air flow in the horizontal direction.

  The invention according to claim 5 is the bridge girder inspection device according to any one of claims 1 to 4, wherein the upper abutting portion is in contact with the lower surface of the bridge girder, and the lower surface of the bridge girder is It is assumed that a hammering inspection device that hits and detects a hammering sound is provided.

  In this bridge girder inspection device, it is possible to detect a striking sound when a bridge girder is struck even if the person who inspects does not approach the lower surface of the bridge girder. And deterioration of a bridge girder can be detected by distinguishing a striking sound or analyzing a striking sound.

  The invention according to claim 6 is the bridge girder inspection device according to any one of claims 1 to 5, further comprising a rotor blade that is supported by the frame body and imparts a levitation force to the frame body. .

  In this bridge girder inspection device, lift due to the driving of the rotor blades acts in addition to the lift due to the levitation gas, and the upper contact portion can be strongly pressed against the bridge girder. Therefore, the bridge girder can be inspected in a stable state while suppressing the influence of the wind. Further, the apparatus can be raised and lowered by drive control of the rotor blades. As a result, even when the rise and fall of the bridge girder inspection device cannot be controlled by the operation of the operation string, the rise and fall of the bridge girder inspection device is controlled by driving the rotary blades and pressed against the lower surface of the bridge girder at an accurate position. Can do. For example, when the position of the bridge girder is extremely higher than the ground surface, the operator lowers the bridge girder inspection device from the top of the bridge girder to the lower side of the bridge girder and raises it from below the bridge girder. It is possible to easily perform operations such as contacting the lower surface of the bridge girder.

  The invention according to claim 7 is the bridge girder inspection device according to any one of claims 1 to 6, wherein the bridge girder inspection device is supported by the frame body or the floating gas containing bag and generates a horizontal thrust. It shall have a direction propulsion device.

  In this bridge girder inspection device, it can move in the horizontal direction in contact with or not in contact with the bridge girder, and the operability of the operation of approaching and contacting the bridge girder to check the bridge girder is improved.

  As described above, the bridge girder inspection device of the present invention can be manufactured at a low cost, and the bridge girder can be easily inspected.

It is the schematic front view and schematic side view which show the bridge girder inspection apparatus which is one Embodiment of this invention. It is a schematic front view which shows the state to which the upper contact part and camera of the bridge girder inspection apparatus shown in FIG. 1 were attached. It is a schematic front view which shows the example of the bridge girder inspection apparatus which changed a part of structure of the bridge girder inspection apparatus shown in FIG. It is the schematic which shows the state which inspects a bridge girder using the bridge girder inspection apparatus shown in FIG. It is the schematic which shows the other example of the state which inspects a bridge girder using the bridge girder inspection apparatus shown in FIG. It is the schematic which shows the other example of the state which inspects a bridge girder using the bridge girder inspection apparatus shown in FIG. It is a schematic front view which shows the bridge girder inspection apparatus which is other embodiment of this invention. It is the schematic which shows the state which inspects a bridge girder using the bridge girder inspection apparatus shown in FIG. It is the schematic which shows the process of making the bridge girder inspection apparatus shown in FIG. 7 contact the lower surface of a bridge girder. It is the schematic which shows the process of making the bridge girder inspection apparatus shown in FIG. 7 contact the lower surface of a bridge girder. It is a schematic block diagram which shows the example of the hammering inspection apparatus which can be mounted in the bridge girder inspection apparatus shown in FIG. It is a schematic side view which shows the state which attached the horizontal direction camera and the horizontal direction propulsion apparatus to the bridge girder inspection apparatus shown in FIG. It is a schematic front view which shows the state equipped with the rotary vane which gives a levitation | floating force additionally to the bridge girder inspection apparatus shown in FIG. It is the schematic which shows a state when inspecting the bridge girder of the I type cross section or T type | mold cross section which consists of concrete using the bridge girder inspection apparatus of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic front view and a schematic side view showing an embodiment of a bridge girder inspection device according to the present invention. FIG. 2 is a schematic front view showing a state in which the upper contact portion and the camera of the bridge girder inspection device shown in FIG. 1 are attached.
This bridge girder inspection device 1 includes a buoyant gas containing bag 11 that contains a gas having a specific gravity smaller than air, a frame 12 that is coupled to the buoyant gas containing bag 11 and floats by its levitation force, and is supported by the frame. The upper abutment portion 13 abutted against the lower surface of the bridge girder 2 by the levitation force acting from the buoyant gas containing bag 11, and the lower surface of the bridge girder 2 with the upper abutment portion 13 abutted against the lower surface of the bridge girder 2 And an operation string 15 that has one end coupled to the frame 12 and hangs downward.

The buoyant gas storage bag 11 is formed of a thin gas-permeable film made of a thin synthetic resin or the like, and can store and seal a gas lighter than air, for example, helium. It is desirable that the opening for injecting helium can be sealed by a stopper that can be repeatedly sealed and discharged.
The buoyant gas storage bag 11 is substantially cylindrical when gas is sealed, and both end portions in the axial direction are hemispherical. Two bags having such a shape are arranged in parallel, and are connected so that the levitation force of the buoyant gas storage bag 11 acts on the frame.

The frame body 12 is formed by combining a fiber-reinforced synthetic resin rod-like member, and floats when the floating gas containing bag 11 filled with helium is coupled. As the rod-shaped member that forms the frame body 12, for example, those having an H-shaped cross section or an I-shaped one can be used. Moreover, what combined the thin member in the shape of a truss and made it a rod-shaped long member etc. can also be used.
The frame body 12 is mainly composed of an upper horizontal frame 12a, a lower horizontal frame 12b, and a vertical frame 12c connecting them, and the floating gas containing bags 11 are arranged on both sides of the vertical frame 12c, respectively. The upper horizontal frame 12a and the lower horizontal frame 12b are coupled. The structure and rigidity of each part of the frame 12 are determined so that when the levitation force is transmitted from the buoyant gas storage bag 11, the frame 12 floats in a stable state without causing excessive deformation.
The frame 12 is not limited to a fiber-reinforced synthetic resin, and can be formed of steel, aluminum alloy, or the like. However, the frame 12 can be levitated by the levitating force from the levitating gas storage bag 11. To be lightweight.

  The upper abutment portion 13 is attached to the upper horizontal frame 12a of the frame body 12 and is abutted against the lower surface of the bridge girder 2 by the levitation force acting on the frame body 12 to hold the frame body 12 in a stable state. Is something that can be done. In the present embodiment, as shown in FIG. 2, the upper horizontal frame 12a protrudes upward from three or four locations. And this upper contact part 13 is attached to the upper end part of this bar-shaped member 24 raised from the upper horizontal frame 12a, the traveling wheel 16 which contacts the lower surface of the bridge girder 2, and this traveling wheel 16 And a direction control unit 18 that is inserted in an intermediate portion of the rod-shaped member 24 and rotates the upper portion 24b of the rod-shaped member about an axis.

The traveling wheel 16 is driven by a drive motor 17 and travels in a state of being in contact with the lower surface of the bridge girder 2. Further, the traveling wheel 16 can be changed in direction by the direction control unit 18. The direction control unit 18 is provided between a lower part 24a of a bar-like member fixed to the upper horizontal frame 12a and an upper part 24b of a bar-like member that supports the traveling wheel 16, and a support part 18a that supports the upper part 24b of the bar-like member. Is driven around the axis with respect to the lower part 24a of the rod-shaped member. Thereby, the direction of the traveling wheel 16 is changed. By changing the direction of the traveling wheel 16 in this way, the bridge girder inspection device 1 that is in contact with the lower surface of the bridge girder 2 can be moved along the lower surface of the bridge girder 2 in any direction.
Note that all of the plurality of traveling wheels 16 may have the direction control unit 18, but only one or two upper contact portions 13 may have the direction control unit.
Further, the drive motor 17 and the direction control unit 18 can be controlled by a technique used in a radio-controlled model flying object, a model automobile, or the like.

The camera 14 is supported by the vertical frame 12c of the frame body 12 and is installed upward. The camera 14 photographs the state of the lower surface of the bridge girder 2 with the upper contact portion 13 being in contact with the lower surface of the bridge beam 2. Is something that can be done. In addition, it is desirable to provide an illumination lamp 19 that irradiates light at the photographing position near the camera 14. As the illumination lamp 19, an LED, a flash lamp, or the like can be used. Thereby, it is possible to observe the cracks of the concrete bridge girder 2, the peeling of the concrete on the surface side from the reinforcing bars, the state of corrosion of the reinforcing bars, etc. with a clear image.
The camera 14 may obtain a still image or may obtain a moving image. The image may be stored in a recording device, or the image data may be transmitted to a recording device such as a computer wirelessly or by wire.

  The operation string 15 is light enough to prevent the levitation of the bridge girder inspection device 1 from being hindered, and has a strength capable of restraining and holding the levitation of the bridge girder inspection device 1 by a tensile force. Can be used. For example, it is desirable to use a lightweight and high strength material made of synthetic fiber or the like. In addition, an optical cable, a conductive wire, a string obtained by twisting these together with a synthetic fiber, or a string obtained by bundling these can also be used. The optical cable and the conductive wire are used for controlling the camera 14, transmitting image data acquired by the camera 14, supplying power for driving the traveling wheel 16, and transmitting control signals for the wheel 16 and the direction control unit 18. be able to.

  As shown in FIG. 1, the operation string 15 is divided into a plurality of portions near the upper end and is coupled to a plurality of positions of the frame body 12 or the floating gas storage bag 11. Thus, the frame body 12 and the floating gas storage bag 11 can be held in a stable state by being coupled to a plurality of positions.

  Moreover, as shown in FIG. 3, the frame may be provided with a lower frame 12d protruding downward from the lower horizontal frame 12b, and the operating string 15 may be coupled to the lower end of the lower frame 12d. The lower frame 12d uses a plurality of members that are lightweight and have bending rigidity, like the rod-shaped member that forms the frame body 12. And while connecting the upper end part of these rod-shaped members to the different position of a frame, respectively, a lower end part is united and united. The upper end portion of one operation string 15 is joined to the lower end portion. A weight 20 can be attached near the lower end of the lower frame 12d. Although the frame body 12 on which the levitation force acts is required to set the position of the center of gravity low in order to maintain a stable state, as described above, by providing the weight 20 near the lower end of the lower frame 12d, a small weight can be used. The center of gravity can be set at a low position, and a stable state can be obtained during levitation.

Next, a method for inspecting the bridge girder 2 using the bridge girder inspection apparatus 1 will be described.
The bridge girder inspection device 1 can divide the frame 12, the floating gas containing bag 11 and the like into the site, assemble them near the position where the bridge girder 2 is inspected, and set the camera 14 and the like. Do. When the assembly of the bridge girder inspection device 1 is completed, helium is injected into the floating gas storage bag 11. The levitation force acts on the buoyant gas storage bag 11 and the frame body 12 by the injection of helium, but the operation string 15 is controlled to be lifted and is gradually raised to approach the lower surface of the bridge girder 2. . Then, the upper contact portion 13 is brought into contact with the lower surface of the bridge beam 2 as shown in FIG.

After the upper contact portion 13 is in contact with the lower surface of the bridge beam 2, the camera 14 is operated to photograph the state of the lower surface of the bridge beam 2. The obtained image is transmitted as an image signal wirelessly or via a signal line included in the operation string 15, recorded on the recording device 21 installed on the ground, and displayed on the monitor 22.
In addition, it is recorded in a recording device mounted on the bridge girder inspection device 1, and after the bridge girder inspection device 1 is collected on the ground, the recorded image is displayed on a monitor or the like to observe the state of the bridge girder 2. May be.

As shown in FIG. 4A, when the operator 23 of the bridge girder inspection device 1 can go to a position just below the position where the bridge girder 2 is to be inspected, the bridge girder inspection device 1 is lifted and touches the lower surface of the bridge girder 2. The camera 14 is operated at the position, and the state of the lower surface of the bridge girder 2 can be photographed. Then, as shown in FIG. 4B, when the bridge girder 2 is under a river or the like and cannot be directly under the position where the operator 23 wants to inspect, the bridge girder inspection device 1 is raised to the lower surface of the bridge girder 2. After making it contact, the driving wheel 16 which the upper contact part 13 has is driven, and the bridge girder inspection apparatus 1 is moved to the position which it is going to check. By such an operation, even when the operator can enter only a position away from the position to be inspected, a wide range of the bridge girder can be inspected.
On the other hand, when there is a wind in the horizontal direction, the bridge girder inspection device 1 is raised from the windward as shown in FIG. And it can be made to contact with the lower surface of the bridge girder 2 as shown in FIG.5 (b), restraining being pushed down to the lee by the operation string 15. FIG.

In the bridge girder inspection device 1, the upper abutting portion 13 includes the traveling wheel 16 and the drive motor 17 that drives the traveling wheel 16. However, when the operator can go directly below and around the bridge girder 2 on the ground. The drive motor that is a drive device may not be provided, the drive device and the traveling wheel 16 may not be provided, and the lower surface of the bridge girder 2 may be slid.
When the bridge girder inspection apparatus 1 does not include a drive device for moving along the lower surface of the bridge girder 2, a plurality of operation strings 15 are used as shown in FIG. By controlling the force pulling 15, the position can be raised while adjusting. And the bridge girder inspection apparatus 1 can be contact | abutted in the position which the operator 23 intended in the lower surface of a bridge girder, as shown in FIG.6 (b). Further, when the bridge girder inspection device 1 is moved in the horizontal direction, the bridge girder inspection device 1 is kept in contact with the lower surface of the bridge girder 2 or slightly separated from the bridge girder 2 to adjust the tension of the plurality of operation strings 15. Can move.
In addition, when a plurality of operation strings 15 are used in this way, the bridge girder inspection apparatus 1 is operated while suppressing the influence even when there is a wind from the lateral direction as shown in FIGS. 6 (a) and 6 (b). be able to.
In addition, the traveling wheel 16 and the drive motor 17 of the upper contact portion 13 can be detached and removed depending on the situation of the bridge girder 2 to be inspected to obtain a large levitation force.

Next, a bridge girder inspection device 3 according to another embodiment of the present invention will be described with reference to FIG.
The bridge girder inspection device 3 includes a floating gas storage bag 31, a frame 32, an upper contact portion 33, and a camera 34 similar to those of the bridge girder inspection device 1 shown in FIG. The operation string 35 is provided with a total of three, two coupled to both sides of the upper horizontal frame 32 a of the frame 32 and one coupled near the center of the frame 32. Further, the bridge girder inspection device 3 does not include an operation string hanging downward, but a lower frame 32d is provided below the frame body 32 in the same manner as the bridge girder inspection device shown in FIG. A weight 39 can be attached to the lower end of the lower frame 32d.

  Two operation cords having one end coupled to both sides of the upper horizontal frame 32a, that is, the first operation string 35a and the second operation string 35b, are guided upward along the side surface of the bridge girder 2 as shown in FIG. The other end is gripped by the operator 37 on both sides of the bridge girder. The third operation string 35c having one end coupled to the center of the upper horizontal frame 32a or the vertical frame 32c can suspend and support the bridge girder inspection device 3 in a state where gravity is greater than the levitation force.

This bridge girder inspection device 3 is used effectively when the bridge pier that supports the bridge girder 2 is high and it is difficult to operate from the ground, or when the operator cannot go close to the inspection position of the bridge girder 2 due to rivers, etc. And can be operated from above the bridge girder 2 as shown in FIG.
In addition, like the bridge girder inspection device 1 shown in FIG.

When the bridge girder inspection device 3 is in contact with the lower surface of the bridge girder 2, an image of the lower surface of the bridge girder 2 can be taken and recorded by operating in the same manner as the bridge girder inspection device shown in FIG.
Moreover, the movement of the bridge girder inspection device 3 can be performed by driving the traveling wheel 36 included in the upper contact portion 33 as in the bridge girder inspection device 1 shown in FIG. 1 or 2. Further, when the drive device or both of the drive device and the wheel are not provided, the bridge girder 2 moves in the width direction by pulling one of the first operation string 35a and the second operation string 35b and sending the other. can do. Further, by pulling both the first operating string 35 a and the second operating string 35 b in the axial direction of the bridge girder 2, the bridge girder inspection device 3 can be moved in the axial direction of the bridge girder 2.
Note that when operating from above the bridge girder 2 as described above, the position of the bridge girder inspection device 3 cannot be visually recognized from above the bridge girder, and the peripheral part of the bridge girder inspection device 3 is photographed immediately as shown in FIG. It is desirable to include an imaging device 40 that can display an image on a monitor or the like. Based on the image obtained by the imaging device 40, the movement of the bridge girder inspection device 3 can be controlled.

The step of bringing the bridge girder inspection device 3 into contact with the lower surface of the bridge girder 2 can be performed as follows.
First, a guide string is installed from one side on the bridge girder 2 to the opposite side through the lower side of the bridge girder 2. When the operator can go to the ground below the bridge girder 2, this guide string is installed by hanging two strings from both sides of the bridge girder 2, tying them down and pulling them up from one side of the bridge girder 2. Can be installed. When an operator cannot approach the bridge girder 2 below, a balloon 52 filled with helium gas is prepared, a weight 53 whose weight decreases with time is attached, and the bridge girder is suspended by a string 51 as shown in FIG. 2 is lowered below one side. As the weight 53 whose weight decreases with time, a bag having a small hole and containing a liquid such as water or a powdery body can be used. The liquid or powder is gradually leaked from the holes and the weight is reduced. The side portion of the bridge girder 2 that lowers the balloon 52 is the windward side. As time passes, the liquid or powder leaks from the bag and the weight of the weight 53 decreases, and when the levitation force by helium gas exceeds the weight of the entire bridge girder inspection device, the balloon 52 gradually rises. Then, as shown in FIG. 9 (b), it is blown by the wind and passes below the bridge girder 2, and rises above the bridge girder 2 on the leeward side. By capturing the balloon 2 at the leeward side of the bridge girder 2, the guide string can be obtained.

  The said guide string shall be used as the 1st operation string 35a of the bridge girder inspection apparatus 3 shown in FIG. 7, and one end is couple | bonded with one side part of the upper horizontal frame 32a. The second operation string 35b is coupled to the other side portion of the upper horizontal frame 32a. A weight 54 whose weight decreases with time is attached to the lower end of the lower frame 32d protruding downward from the lower horizontal frame 32b. Further, a weight 39 such as a metal piece may be attached together with the weight 54. As the weight 54 whose weight is decreased, a weight or the like in which a liquid or a powdered body is accommodated in a bag having a small hole can be used as in the weight 53 used when the guide string 5 is installed.

Helium gas is injected into the buoyant gas storage bag 31, and the levitation force by this helium gas cannot float the bridge girder inspection device 3 in the initial state of the weight 54 where the weight decreases, and the weight of the weight 54 is the minimum value. In such a state, the bridge girder inspection device 3 is levitated and adjusted to an amount that can be brought into contact with the lower surface of the bridge girder 2.
As shown in FIG. 10A, the bridge girder inspection device 3 is suspended and supported by a third operating string 35c coupled to the central portion of the upper horizontal frame 32a, and is suspended from one side on the bridge girder 2. Lower the bridge girder 2 below. Then, as shown in FIG. 10 (b), the first operating string 35 a is pulled from the other side of the bridge girder 2, and the bridge girder inspection device 3 is moved to the lower side of the bridge girder 2. In this state, the weight of the weight 54 is reduced, and when the bridge girder inspection device 3 is levitated, it is brought into contact with the lower surface of the bridge girder 2 so that the lower surface of the bridge girder 2 can be photographed.

The bridge girder inspection devices 1 and 3 described above inspect the state of the bridge girder 2 with images or videos obtained by the cameras 14 and 34. In addition to this, the bridge girder 2 is struck and the sound at the time of struck It is possible to mount a hammering inspection device 61 that detects the state of the bridge girder 2.
The hammering inspection device 61 is supported by the frame bodies 12 and 32 of the bridge girder inspection devices 1 and 3, and operates in a state where the upper contact portions 13 and 33 are in contact with the lower surface of the bridge girder 2. What has a structure as shown in FIG. 11 is employable.

  This hammering sound inspection device 61 periodically deforms a hammer 62 struck against the bridge girder 2, a spring 63 that supports the hammer, and the spring 63, and moves the hammer 62 to a position away from the lower surface of the bridge girder 2. After that, a driving device 64 that releases the deformation of the spring and a sound collecting microphone 65 that detects a hitting sound when the hammer 62 is hit against the bridge girder 2 are provided.

The hammer 62 can be, for example, spherical, cylindrical, etc., can be formed of a hard material such as metal, stone, ceramic or the like, and generates a striking sound when hit against the lower surface of the bridge girder 2. Can be adopted.
The spring 63 supports the hammer 62 at the front end portion, and the rear end portion is supported by a base portion 66 attached to the upper horizontal frames 12a and 32a. And as shown to Fig.11 (a), this hammer 62 is set so that it may be in the position which contacted or adjoined the lower surface of the bridge girder 2. FIG. The hammer 62 can move in a direction away from the bottom surface of the bridge girder 2 from a position in contact with or close to the bottom surface of the bridge girder 2 by deformation of the spring 63, and when the force for deforming the spring 63 is released. The hammer 62 is struck against the lower surface of the bridge girder 2 to such an extent that a striking sound is generated by the elastic repulsive force of the spring 63. The spring 3 is a leaf spring in this example, but a string spring or the like can also be used.
The sound collecting microphone 65 is provided so as to protrude near the position where the hammer 62 is hit against the lower surface of the bridge girder 2, detects a hit sound when the hammer 62 is hit against the lower surface of the bridge girder 2, and is recorded by wire or wirelessly. It can output to the device.

The driving device 64 has one end connected to the spring 63 to transmit a force for deforming the spring 63, a drive transmission member 64a, a drive motor 64b, and a drive force from the drive motor 64b via the speed reducer. And an arm 64c that acts on 64a.
The drive transmission member 64a is a rod-like member and is supported so as to be capable of reciprocating in the axial direction. One end is connected to the spring 63 to transmit the axial force of the drive transmission member 64a to the spring 63, and a protrusion 64d that contacts the arm 64c is provided near the other end.
The arm 64c protrudes in the normal direction from the rotation support shaft 64e, and is provided so that the tip end portion is in contact with the protrusion 64d of the drive transmission member 64a. Then, the rotary support shaft 64e is driven by the drive motor 64b via the speed reducer, and the drive support member 64a is moved in the axial direction by being locked to the protrusion 64d as shown in FIG. 11 (a). Let This moving direction is a direction in which the hammer 62 supported by the spring 63 is separated from the lower surface of the bridge girder 2. Further, as the arm 64c further turns, as shown in FIG. 11B, the arm 64c does not come into contact with the protrusion 64d, and the restraint of the drive transmission member 64a that reciprocates in the axial direction is released.

  In the hammering inspection device 61, the hammer 62 is in contact with or close to the lower surface of the bridge girder 2 with the upper contact portions 13 and 33 of the bridge girder inspection devices 1 and 3 being in contact with the lower surface of the bridge beam 2. When the drive motor 64b is driven, the arm 64c rotates, the drive transmission member 64a deforms the spring 63, and the hammer 62 moves away from the lower surface of the bridge beam 2. As the arm 64c further rotates, the tip of the arm 64c is disengaged from the protrusion 64d of the drive transmission member, and the hammer 62 is struck against the lower surface of the bridge girder 2 by the elastic repulsive force of the spring 63. The hitting sound at this time is detected by the sound collecting microphone 65. The detected hitting sound may be one that the inspector hears to judge the deterioration of the bridge girder, or the frequency analysis of the recorded hitting sound is performed, and the deterioration of the bridge girder 2 is judged based on the result. Also good.

  In addition to the configuration described above, the bridge girder inspection devices 1 and 3 according to the present invention have a lateral camera that captures a lateral image, a state in which the bridge girder inspection devices 1 and 3 are in contact with the lower surface of the bridge girder 2, or non-contact It is also possible to provide a lateral propulsion device that imparts lateral thrust in the state and a rotor that additionally imparts levitation force.

FIG. 12 is a schematic side view showing a state in which the lateral camera 71 and the lateral propulsion device 72 are attached to the bridge girder inspection device 1 shown in FIG.
The lateral camera 71 is supported by the frame 12 and acquires an image in the lateral direction, and a camera having the same function as the camera 14 installed upward may be used. it can. By providing such a lateral camera 71, it is possible to photograph the state of the support 4 and the like that support the bridge girder 2 and detect the deterioration state, the corrosion state, and the like.

  As the lateral propulsion device 72, for example, a device having a propeller 73 installed in the lateral direction and a drive device 74 for driving the propeller 73 can be adopted as shown in FIG. Two of these propellers 73 and drive devices 74 are installed in two directions that are 90 ° to each other, and the drive is controlled to move the bridge girder inspection device 1 in an arbitrary direction. Such a lateral propulsion device 72 is not limited to the case where two are provided in two directions, but three or more propellers are installed in different directions, and each direction is controlled by controlling each drive. Can also be promoted.

When driving such a lateral propulsion device 72, the upper contact portion 13 may be in contact with the lower surface of the bridge beam 2 or may be in a non-contact state.
The bridge girder inspection apparatus 1 shown in FIG. 1 includes a traveling wheel 16, and can move in the lateral direction by driving the traveling wheel 16 in a state where the upper contact portion 13 is in contact with the lower surface of the bridge girder 2. However, when there are steps or obstacles, when a plurality of bridges are moved in parallel, the bridge girder inspection device 1 is moved away from the bridge girder 2 by operating the operation string 15 or driving a rotor blade described later. The horizontal direction propulsion device 72 can be used to easily move in the horizontal direction. In the case where the traveling wheel 16 is not provided, the lateral direction in which the upper contact portion 13 is in contact with the lower surface of the bridge beam 2 or the upper contact portions 13 and 33 are not in contact with the lower surface of the bridge beam 2. The propulsion device 72 can be used to move along the lower surface of the bridge girder 2.
The driving device 74 may be a small engine used in a model or the like, but is preferably a motor that can be easily started and stopped. The electric power for driving the motor may be supplied from a battery, or may be supplied through the conductive wire as the operation string 15 includes the conductive wire.

  The lateral camera 71 and the lateral propulsion device 72 can be similarly employed for the bridge girder inspection device 3 shown in FIG. Moreover, in the bridge girder inspection apparatus 3 shown in FIG. 7, the imaging device 40 can also have the function of the said horizontal direction camera.

FIG. 13 is a schematic front view showing a state in which the rotary vane 75 that additionally imparts a levitation force is installed in the bridge girder inspection device 3 shown in FIG. 7. The rotary blade 75 is driven to rotate about a substantially vertical rotation axis, and imparts a levitation force to the bridge girder inspection device 3 in addition to the levitation force by the helium gas enclosed in the levitation gas storage bag 31. The rotor blade 75 is preferably capable of starting, stopping, and controlling the rotation speed during the inspection of the bridge girder 2, and is preferably capable of reverse rotation of the rotor blade 75.
Driving such a rotary blade 75 in a state where the upper abutment portion 13 of the bridge girder inspection device 3 is in contact with the lower surface of the bridge girder 2 increases the force of pressing against the bridge girder 2 and reduces the influence of crosswind and the like. can do.

Further, as shown in FIG. 8, when operating from above the bridge girder 2, the bridge girder inspection device 3 is sent to the side from the bridge girder 2, lowered by the driving of the rotary blade 75, and then horizontally below the bridge girder 2. It can be easily brought into contact with the lower surface of the bridge girder 2 by being moved to and raised. When the lateral propulsion device is provided, the lateral movement can be performed by the drive, and when the lateral propulsion device is not provided, the operation string 35 held by the operator on both sides of the bridge beam 2 is provided. It can be moved by operating.
In addition, this rotary blade can also be attached to the bridge girder inspection apparatus 1 shown in FIG.

Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and can be implemented in other forms within the scope of the present invention. In addition, the configuration of the invention described above can be adopted by appropriately changing the design.
For example, in the above embodiment, the cross-sectional shape of the bridge girder is a box shape, and the lower surface can be suitably used when the dimension is large in a direction perpendicular to the axis of the bridge girder. With respect to the bridge in which the type of bridge girder is arranged, the bridge girder 5 can be inspected by bringing the bridge girder inspection device 4 into contact with the bridge girder 5 as shown in FIG.
The bridge girder inspection device 4 includes a plurality of guide members 82f protruding upward from the upper horizontal frame 82a. When the upper abutment portion 83 is abutted against the lower surface of the bridge girder 5, the guide member 82f is It protrudes so as to face both side surfaces of 5. These guide members 82f restrain the relative displacement in the direction perpendicular to the axis of the bridge girder 5 and prevent the upper contact portion 83 of the bridge girder inspection device 4 from coming off the lower surface of the bridge girder 5 while Can be moved to.

  On the other hand, the bridge girder inspection devices shown in FIGS. 1 and 7 both have an operation string, but the bridge girder inspection device according to the first aspect of the present invention may not have an operation string. That is, it includes means for controlling the means for ascending and descending and the means for moving in the lateral direction by radio signals so as to come into contact with the lower surface of the bridge girder. The means for ascending and descending can be, for example, a rotor blade as shown in FIG. 13, and the means for moving in the lateral direction can be, for example, a lateral propulsion device as shown in FIG. it can.

1: Bridge girder inspection device, 2: Bridge girder, 3: Bridge girder inspection device, 4: Bridge girder inspection device, 5: Bridge girder with I-type or T-type cross section,
11: Floating gas storage bag, 12: Frame body, 12a: Upper horizontal frame, 12b: Lower horizontal frame, 12c: Vertical frame, 12d: Lower frame, 13: Upper contact portion, 14: Camera, 15: Operation string, 16: Traveling wheel, 17: Drive motor, 18: Direction control part, 19: Illumination lamp, 20: Weight, 21: Recording device, 22: Monitor, 23: Operator, 24: Bar member of upper contact part,
31: Floating gas storage bag, 32: Frame body, 32a: Upper horizontal frame, 32b: Lower horizontal frame, 32c: Vertical frame, 33: Upper contact part, 34: Camera, 35: Operation string, 36: Traveling wheel, 37: operator, 39: weight, 40: imaging device,
51: Guide string 52: Balloon 53: Weight 54: Weight
61: hammering test device, 62: hammer, 63: spring, 64: driving device, 64a: drive transmission member, 64b: drive motor, 64c: arm, 64d: protrusion, 64e: rotating support shaft, 65: sound collecting Microphone, 66: base of the sound test device,
71: Lateral camera, 72: Lateral propulsion device, 73: Propeller, 74: Drive device, 75: Rotor blade,
81: Floating gas storage bag, 82: Frame body, 82a: Upper horizontal frame of the frame body, 82f: Guide member, 83: Upper contact part, 84: Camera, 85: Operation string

Claims (7)

A buoyant gas containing bag for containing a gas having a specific gravity smaller than that of air;
A frame to which the floating gas containing bag is coupled;
An upper abutting portion supported by the frame body and abutted against the lower surface of the bridge girder by a levitation force acting from the floating gas containing bag;
An bridge girder inspection apparatus comprising: an imaging device that photographs the bridge girder in a state where the upper abutting portion is abutted against the lower surface of the bridge girder.   The bridge girder inspection device according to claim 1, further comprising an operation string coupled to the floating gas storage bag or the frame body, the operation string being hung down and gripped by an operator on the ground below the bridge girder.   3. One or more operation cords, one end of which is coupled to the floating gas storage bag or the frame body and the other end of which is gripped by an operator on a bridge girder, according to claim 1 or 2, The bridge girder inspection device described.   The bridge girder inspection device according to any one of claims 1 to 3, further comprising a traveling wheel provided at a portion of the upper abutting portion that contacts the bridge girder and traveling along a lower surface of the bridge girder. .   5. A sounding inspection device that detects a sound by striking the lower surface of the bridge girder in a state where the upper abutting portion is in contact with the lower surface of the bridge girder. The bridge girder inspection device according to any of the above.   The bridge girder inspection device according to any one of claims 1 to 5, further comprising a rotary blade that is supported by the frame body and imparts a levitation force to the frame body.   The bridge girder inspection device according to any one of claims 1 to 6, further comprising a lateral propulsion device that is supported by the frame body or the floating gas storage bag and generates a propulsive force in a horizontal direction. .

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