JP5531148B1 - Structure inspection device - Google Patents

Abstract

An object of the present invention is to provide a structure inspection device capable of efficiently and efficiently inspecting a structure such as a bridge.
An inspection apparatus includes a plurality of traveling carriages and 12 installed on a horizontal arm 9 so as to be able to travel, an imaging mechanism 11 attached to the traveling carriage 10 and having a photographing camera, and attached to the traveling carriage 12. And an operation mechanism 13 that is an inspection work mechanism that controls the travel of the traveling carriages 10 and 12 so as to be positioned at positions corresponding to the inspection positions, and in parallel with the work control of the operation mechanism. The photographing mechanism is controlled so that a photographing camera is photographed and the photographed image is displayed on the display unit, and various inspection operations can be performed while confirming the photographed image.
[Selection] Figure 1

Description

  The present invention relates to a structure inspection apparatus for photographing and inspecting a part of a structure that is difficult to be visually inspected directly, such as a lower surface of a bridge or the like, or a floor under a building or the like.

  In recent years, deterioration of strength has become a problem with the aging of bridges and structures. For example, many existing bridges were built during the high growth period from the 1950s to the 1973s. These bridges need to be replaced and reinforced.

  For such bridges, it is necessary to conduct periodic inspections every few years, and work is being carried out to create and update bridge management charts during inspections. However, in the inspection of bridges, it is necessary to inspect parts that are difficult to visually inspect, such as floor slabs, bridge girders, bearings and piers on the lower side of the bridge, and installation facilities such as water pipes installed in the space between the bridge girders. Therefore, large-scale equipment such as a large bridge inspection car and inspection scaffold was necessary for the inspection work.

  Such large-scale equipment takes a long working day and has a large inspection cost. Therefore, an inspection device for photographing an inspection portion using a photographing camera has been proposed. For example, in Patent Document 1, a horizontal arm is arranged below an object to be inspected via a vertical rod attached to an inspection carriage so as to be movable up and down, and a photographic camera is mounted on a holding arm standing on a traveling carriage that runs on the horizontal arm. And an inspection device for photographing the inspection location on the lower surface of the inspection object by rotating the holding arm and rotating the photographing camera in the vertical direction to set the photographing direction. Further, in Patent Document 2, an articulated movable arm configured to be changeable in three axial directions of the X axis, the Y axis, and the Z axis is attached to the vehicle body, and the structure is constituted by a photographing device mounted on the tip of the movable arm. An inspection device for photographing the lower surface of an object is described. At the tip of the movable arm, a structure cleaning means for injecting a cleaning fluid from an injection nozzle to an inspection position of the structure and a hammering inspection of the inspection position are performed. The point provided with the means is described.

JP 2009-275385 A JP 2006-2417 A

  In Patent Document 1, the vertical rod connects the split rod members to set the length in the vertical direction, and the vertical rod can be moved in the vertical direction by the lifting winch to adjust the height. The rod is rotated to adjust the position of the horizontal arm. However, it is difficult to accurately inspect bridges and the like with only images from the camera. For example, when a crack has occurred, it is sufficient to accurately grasp quantitative data such as the width and depth of the crack. It has no function.

  Measurement techniques for grasping the state of such cracks have already been proposed (see, for example, Japanese Patent Application Laid-Open No. 2009-85785 and Japanese Patent Application Laid-Open No. 2012-18073), but the lower surfaces of bridge girders, vertical walls of bridge piers and abutments. It is difficult to make the measuring device correspond to such inspection points.

  In Patent Document 2, an articulated movable arm that can be changed in three axis directions is operated hydraulically or electrically to position an imaging device. However, the movable arm has a large number of joint portions and a complicated structure. The weight is also heavy, and there are difficulties in performing an accurate operation. In addition, the movable arm is provided with various means such as a structure cleaning means and a hammering inspection means at the tip of the movable arm, but these means are not embodied, and there is a problem in that the inspection of bridges and the like is performed with high accuracy. is there.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a structure inspection apparatus that can efficiently and efficiently inspect a structure such as a bridge.

Inspection device of a structure according to the present invention, the inspection work mechanism the rod-like body fitted with oppositely disposed Rutotomoni crack gauge plate inspection object is rotated to set the crack gauge plate in the vicinity of the inspection position, photographing camera And a control device that controls the inspection mechanism and controls the photographing mechanism so that the photographing state is photographed by the photographing camera and displays a photographed image on a display unit. .
The inspection apparatus for another structure according to the present invention is arranged so as to face the inspection object and rotate a gripping body for gripping the hitting inspection tool so that the hitting inspection tool hits the surface of the inspection position with a predetermined hitting force. An inspection work mechanism to be inspected, a photographing mechanism having a photographing camera, control of the inspection work mechanism, and control of the photographing mechanism so as to photograph the working state with the photographing camera, And a control device to be displayed on the display unit. Furthermore, the inspection work mechanism includes an injection nozzle that sprays fluid on the surface of the inspection position to remove dirt.
In the structure inspection apparatus, the inspection work mechanism is attached to a traveling carriage that is installed on a horizontal arm that is disposed to face the inspection object, and the control apparatus includes the traveling carriage. Is controlled to be positioned at a position corresponding to the inspection position. Furthermore, the imaging mechanism includes a position display mechanism having a plurality of position display pointers around the imaging camera, and the position display pointer is irradiated with a laser beam along the imaging direction to the inspection position. Image processing that is set to display a light spot, and the control device performs image correction in the direction using a plurality of pairs of light spots arranged in a plurality of different directions as an index in a captured image obtained by photographing the inspection position. Department. Furthermore, the imaging mechanism or the inspection work mechanism and a reflecting mirror that reflects the periphery thereof, and an auxiliary camera that images the moving state of the horizontal arm together with the reflecting mirror are provided.

  Since the present invention has the above-described configuration, inspection work is performed while photographing the work status of the inspection work mechanism with the photographing camera of the photographing mechanism. Therefore, inspection of structures such as bridges can be performed efficiently and safely. Can be done.

It is a front view regarding the embodiment concerning the present invention. It is a front view regarding the traveling cart and imaging | photography mechanism which were attached on the horizontal arm. It is a front view regarding the traveling trolley which attached the operation mechanism. It is a side view regarding an operation mechanism. It is explanatory drawing which shows the state which stuck the crack gauge board to the surface of the inspection position. It is explanatory drawing regarding the image process at the time of reading a crack width | variety based on the image | photographed image data. It is a front view which shows the case where the position display mechanism provided with several position display pointers is attached to the imaging | photography mechanism. It is a top view regarding the positioning mechanism of a position display pointer. It is a schematic sectional drawing regarding a positioning mechanism. It is a schematic diagram regarding the image image | photographed with the parameter | index displayed with the position display pointer, when image | photographing the inspection position where the crack has arisen with the imaging | photography camera. It is a front view regarding the traveling trolley which attached the hit | damage inspection mechanism. It is the side view and front view regarding a hit | damage inspection mechanism. It is a schematic block block diagram regarding a control apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments described below are preferable specific examples for carrying out the present invention, and thus various technical limitations are made. However, the present invention is particularly limited in the following description. Unless otherwise specified, the present invention is not limited to these forms.

  FIG. 1 is a front view of an embodiment according to the present invention. The inspection device 1 includes a traveling unit 2 installed on an upper surface of an inspection object M such as a bridge and a driving unit 3 attached on the traveling unit 2, and an elevating mechanism 4 erected on the driving unit 3. A horizontal moving mechanism 5 attached to the elevating mechanism 4, an operating mechanism 7 attached to the tip of a support arm 6 supported horizontally by the horizontal moving mechanism 5, and a vertical rod 8 supported vertically by the operating mechanism 7. The horizontal arm 9 attached to the lower end part of is provided. The lifting mechanism 4, the horizontal movement mechanism 5, the support arm 6, the operation mechanism 7, and the vertical rod 8 constitute an arm movement mechanism that moves the horizontal arm 9 below the inspection object. A monitoring auxiliary camera 16 for photographing the moving state of the horizontal arm 9 is attached to a portion of the vertical rod 8 to which the horizontal arm 9 is attached.

  The horizontal arm 9 is disposed opposite to the inspection object by an arm moving mechanism. Traveling carriages 10 and 12 are attached to the horizontal arm 9 so as to be able to travel in the longitudinal direction. The traveling carriage 10 has an imaging mechanism 11 attached to an upper end portion of an upright column. The operation mechanism 13 is attached as an inspection work mechanism to the upper end of the upright support column.

  In the inspection device 1, an operator who gets on the driving unit 3 operates the traveling unit 2 to position the inspection device 1 at a position close to an end portion on one side of the inspection object M. After positioning the inspection device 1 on the side end of the inspection object M, the lifting mechanism 4 is driven to raise the horizontal movement mechanism 5 to a predetermined height position along the lifting column. Then, the horizontal movement mechanism 5 is driven to move the support arm 6 toward the outside of the inspection object M, and the vertical rod 8 is positioned so as to protrude outside the inspection object M. Next, the actuating mechanism 7 is driven to extend the vertical rod 8, and the horizontal arm 9 attached to the lower end is lowered to set a predetermined height position lower than the lower side of the inspection object M. Then, the operating mechanism 7 is driven to rotate the horizontal arm 9 to position the horizontal arm 9 below the inspection object M. Then, the traveling carriages 10 and 12 are caused to travel along the horizontal arm 9 and set to a desired position for work. Such positioning of the horizontal arm 9 and positioning of the traveling carriages 10 and 12 can be set by an operator remotely operating in a control unit (not shown) installed in the driving unit 3.

  FIG. 2 is a front view relating to the traveling carriage 10 and the photographing mechanism 11 mounted on the horizontal arm 9. The traveling cart 10 includes wheels 10 a that travel on rail portions 9 b that are formed on both sides of the upper portion of the horizontal arm 9 arm member 9 a, and traveling guides 10 b are attached to the front and rear of the traveling cart 10. The wheel 10a is rotationally driven by a drive motor (not shown), and the vehicle 10 travels on the upper surface of the horizontal arm 9 by remotely operating the drive motor by a control unit installed in the operation unit 3. And can be stopped at an arbitrary position.

  Further, a scale for displaying distance is displayed on the upper surface of the horizontal arm 9 so that the stop position of the traveling carriage 10 can be confirmed. Note that the stop position of the traveling carriage 10 can also be calculated by the control device based on the drive rotation operation of the drive motor used for the travel operation.

  A support column 10c is erected substantially at the center of the traveling carriage 10, and an imaging mechanism 11 including an imaging camera 11a is attached to the upper end of the support column 10c. For example, in the case of an inspection object such as a bridge, the length of the column 10c is set according to the height of the bridge girder. What is necessary is just to prepare the support | pillar of multiple types of length, and to select length according to an inspection target object. Moreover, you may make it adjust length according to a test target object using the structure which can be expanded-contracted for the support | pillar 10c.

  In the photographing mechanism 11, the lower end portion of the frame 11b is detachably fixed to the support column 10c by a ball lock pin 10g, and the photographing camera 11a can be rotated in the vertical direction via a shaft support portion 11c provided on the upper end side. Is attached. A driving motor 11d is attached to the lower end side of the photographing mechanism 11, and the rotational driving force of the driving motor 11d rotates the shaft support portion 11c via a drive transmission mechanism such as a gear to rotate the photographing camera 11a in the vertical direction. By moving, the photographing camera 11a is stopped at an arbitrary rotation position.

  A direction display pointer 11e is fixed to the upper part of the photographing camera 11a. The direction display pointer 11e is set so as to irradiate a laser beam in a direction coinciding with the imaging direction of the imaging camera 11a, and an irradiation point indicating the imaging direction is displayed by irradiating the lower surface of the inspection object M with the laser beam. Will come to be.

  The column 10c is pivotally supported about its central axis and is rotated by a drive motor (not shown) provided on the traveling carriage 10. A horizontal rotation angle display plate 10d is fixed to the lower end portion of the column 10c, and an arrow display body 10e indicating an angular position of the horizontal rotation angle display plate 10d is provided on the upper surface of the traveling carriage 10. The center of the horizontal rotation angle display plate 10d is set to coincide with the rotation center axis of the column 10c. When the column 10c rotates, the horizontal rotation angle display plate 10d also rotates in the same manner, so that the scale indicated by the arrow display body 10e is displayed as the horizontal rotation angle of the column 10c. The displayed rotation angle in the horizontal direction can be read by rotating the photographing camera 11a so as to photograph the downward direction. Regarding the horizontal rotation angle, an encoder may be attached to a drive motor that rotates the column 10c to electrically read the rotation angle.

  Position display pointers 10 f are attached to the four sides of the traveling carriage 10, respectively. The position display pointer 10f is adapted to irradiate a laser beam from the upper surface, and is provided on the support member so as to be rotatable via a rotation shaft. The position display pointer 10f always irradiates the laser beam upward along the vertical direction, and displays four irradiation points on the lower surface of the inspection object M. In this case, the rectangular area surrounded by the four irradiation points indicates an area in which the position of the traveling carriage 10 is projected onto the lower surface of the inspection object M in the vertical direction. The intersection of the diagonal lines in the displayed rectangular area becomes the center point obtained by projecting the center position of the photographing camera 11a in the vertical direction.

  Based on the positional relationship between the center point set by the irradiation point of the position display pointer 10f and the irradiation point of the direction display pointer 11e, it is possible to improve the accuracy of the position information of the captured image captured by the imaging camera 11a. Further, since the photographing direction of the photographing camera 11a can be accurately determined based on the horizontal turning angle by the turning operation of the support column 10c and the vertical turning angle by the turning operation of the drive motor 11d, photographing is performed at the determined turning angle. It becomes possible to analyze the captured image of the camera 11a with high accuracy.

  A vertical rotation angle display plate 11f is attached to the side surface of the photographing camera 11a, and the center thereof is set to coincide with the rotation center axis of the photographing camera 11a. In addition, an arrow display body 11g that is pivotally supported at one end is provided at the center of the vertical rotation angle display plate 11f. The arrow display body 11g is always directed downward in the vertical direction due to gravity. When the photographing camera 11a rotates, the vertical rotation angle display plate 11f also rotates in the same manner, so that the scale indicated by the arrow display 11g is displayed as the vertical rotation angle of the photographing camera 11a. The displayed vertical rotation angle can be read by photographing with the auxiliary camera 16 attached to the vertical rod 8. As for the rotation angle in the vertical direction, an encoder may be attached to the drive motor 11d to electrically read the rotation angle.

  FIG. 3 is a front view relating to a traveling carriage equipped with an operation mechanism as an inspection work mechanism. The traveling vehicle 12 is configured to be able to travel on the horizontal arm 9 similarly to the traveling vehicle 10, and travels on the horizontal arm 9 by rotating the wheels 12 a by a drive motor and stops at an arbitrary position. It has become. As shown in FIG. 1, the operating mechanism 13 supports a long bar 14 having flexibility, and a crack gauge plate 15 is attached to the tip of the bar 14. The operating mechanism 13 rotates the rod-shaped body 14 and rotates it about the longitudinal axis so that the crack gauge plate 15 attached to the tip of the rod-shaped body 14 is brought into close contact with the vicinity of the inspection position.

  A strut 12b similar to the strut 10c is erected substantially at the center of the traveling carriage 12. The strut 12b is pivotally supported around its central axis and is provided on the traveling carriage 12. It is rotated by a drive motor (not shown). FIG. 4 is a side view relating to the operation mechanism 13. The operation mechanism 13 includes a frame body 13a that is detachably attached to the upper end portion of the support 12b by a ball lock pin 12c. The frame body 13a includes a rotating gear 13b that is rotatably supported and a rotating gear 13b. A drive motor 13c for rotating the moving gear 13b is attached. A cylindrical holder 13d is fixed to the side surface of the rotating gear 13b, and a drive motor 13e is attached to the cylindrical holder 13d. Therefore, by rotating the drive motor 13c, the rotation gear 13b rotates in the vertical direction together with the cylindrical holder 13d and the drive motor 13e.

  A cylindrical rotary support 13f is rotatably supported in the cylindrical holder 13d, and a rotating gear 13g and a tightening screw are attached to an attachment portion of the rotary support 13f protruding from the cylindrical holder 13d. Attached screw 13h is attached. The rotating gear 13g meshes with the driving motor 13e, and the cylindrical support 13f rotates about the central axis together with the rotating gear 13g by rotating the driving motor 13e.

  The rod-shaped body 14 has a thick support portion inserted into the cylindrical support body 13f, and then a tightening screw 13h is screwed into the cylindrical support body 13f so that the tip of the tightening screw 13h is supported by the rod-shaped body 14. Press and fix to the part. The rod-shaped body 14 is rotated in the horizontal direction by rotating the support column 12b, and is rotated in the vertical direction by rotating the rotating gear 13b. Therefore, the crack gauge plate 15 attached to the tip of the rod-like body 14 can be positioned at a desired position. Then, by rotating the rotating gear 13g, the crack gauge plate 15 can be rotated around the longitudinal axis of the rod-like body 14, and the crack gauge plate 15 can be adjusted according to the inclination angle of the surface near the inspection position. It can be rotated to ensure close contact with the surface.

  Since the rod-shaped body 14 needs to change its length in order to position the crack gauge plate 15 with respect to the inspection position, the rod-shaped body 14 has a function of extending or contracting the length automatically or manually. Can be adjusted. The rod-like body 14 is flexible to a certain extent so that it can be inserted into a narrow space between girders such as bridges in order to cope with the measurement of cracks occurring at arbitrary positions in structures of various shapes. Preferably, the root portion has a certain thickness and hardness. When the crack gauge plate 15 is moved to the inspection position by setting it to have elasticity as a whole and increase in flexibility as it goes to the tip, the rod-like body 14 is in a substantially straight state, and the crack gauge plate 15 Can be accurately moved to the vicinity of the inspection position, and when the crack gauge plate 15 is brought into intimate contact with the surface of the inspection position, the tip portion having a large flexibility is curved so that the crack gauge plate 15 can be brought into intimate contact with each other. . And when the crack gauge board 15 leaves | separates from an inspection position, the rod-shaped body 14 will return to the original linear state, and it becomes possible to move to the next inspection position rapidly.

  FIG. 5 is an explanatory view showing a state in which the crack gauge plate 15 is in close contact with the surface near the inspection position. In this example, the crack gauge plate 15 has a scale 15a corresponding to the width of the crack along one side of a rectangular transparent plate. And the width | variety of the crack C1 can be accurately read by matching the scale 15a with the crack C1 and reading the scale of the same width. In addition, the crack gauge plate 15 may be a circular shape other than a rectangle, or may be a composite type combining a rectangle and a circle. Further, in the case of a rectangular plate, a scale can be displayed radially on each side and inside thereof, and in the case of a circular plate, a crack scale can be displayed radially on the periphery and inside thereof.

  When reading the width of the crack, the photographing camera 11a of the photographing mechanism 11 is set so as to photograph the inspection position, and the crack gauge plate 15 is set in close contact with the vicinity of the inspection position while checking the photographed image. The width of the crack can be efficiently read using image data obtained by photographing the position together with the crack gauge plate 15. FIG. 6 is an explanatory diagram regarding image processing when a crack width is read based on photographed image data. As shown in FIG. 6A, when image data P obtained by photographing the crack C2 and the crack gauge plate 15 is acquired, a partial image of the crack gauge plate 15 is cut out as shown in FIG. The image is moved so as to overlap the image, and the alignment is performed so that the scale corresponds to the width of the crack C2. Then, the scale corresponding to the width of the crack C2 is read to measure the width of the crack C2.

  When performing such image processing, since the crack gauge plate 15 is photographed simultaneously with the crack C2, the scale of the crack gauge plate 15 is enlarged or reduced at the same scale as the crack C2 even when the image data is enlarged or reduced. Become. Therefore, even when a partial image of the crack gauge plate 15 is cut out and aligned with the image of the crack C2, the measurement accuracy does not decrease. Furthermore, even when a large number of cracks are generated, it is possible to measure the cracks together with the crack gauge plate 15 by aligning the scale with all the cracks photographed in one piece of image data. It is possible to efficiently check for cracks occurring in the case.

  In addition to the crack scale, the crack gauge plate also displays a scale of several tens of centimeters with a scale of 1 mm so that the length of the inspection object can be measured. A scale is also displayed so that the length of the object can be measured simultaneously.

  As described above, a plurality of traveling carts are installed and positioned on the horizontal arm, and the inspection work mechanism such as the photographing mechanism and the operation mechanism is remotely operated in parallel, thereby efficiently inspecting the inspection object. It can be done with high accuracy.

  FIG. 7 is a front view showing a case where a position display mechanism including a plurality of position display pointers is attached to the photographing mechanism. The position display mechanism 20 is attached to the imaging mechanism 11, and the attachment body 20b is fixed to the support body 20a attached and fixed to the shaft support portion 11c by the support screw 20c together with the imaging camera 11a. A circular mounting frame 20e is positioned and fixed at the lower end of the mounting body 20b by a mounting screw 20d so as to surround the photographing camera 11a. The central axis of the mounting frame 20e is set to coincide with the optical axis of the photographing lens of the photographing camera 11a. A plurality of position display pointers 20f are arranged and attached to the outer peripheral surface of the attachment frame body 20e at predetermined angles around the central axis. In this example, eight position display pointers 20f are arranged at intervals of 45 degrees. Each position display pointer 20f is attached to a positioning mechanism, and the irradiation direction of the laser beam emitted from each position display pointer 20f can be set with high accuracy.

  FIG. 8 is a plan view relating to the positioning mechanism of the position display pointer 20f, and FIG. 9 is a schematic cross-sectional view relating to the positioning mechanism. The position display pointer 20f is inserted into the cylindrical holding member 21a and held by a set screw or the like. Abutting portions 21b are extended on both sides of the holding member 21a, and the abutting surfaces are set so as to follow the direction of the laser beam irradiated by the held position display pointer 20f. The bottom surface of the holding member 21a is formed in a planar shape along the direction of the laser beam irradiated by the held position display pointer 20f, and the holding member 21a is a flat surface formed on the outer peripheral surface of the mounting frame 20e. The bottom surface is brought into contact with the mounting surface of the shape and is arranged to be movable. Each of the contact portions 21b on both sides is formed with a through hole at the center, and a fixing screw 21c is inserted into the through hole and screwed to the mounting frame 20e. The through hole is formed to have a larger diameter than the screw portion of the fixing screw 21c, and in a state where the fixing screw 21c is loosened, the position of the holding member 21a can be adjusted by an adjusting screw 21g described later. Then, after adjusting the position of the holding member 21a with the adjusting screw 21g, the fixing screw 21c is tightened to fix the holding member 21a so as not to move.

  On the outside of the abutting portions 21b on both sides of the holding member 21a, attachment members 21d are fixed to the attachment frame body 20e by fixing screws 21e, respectively. A pair of adjustment screws 21f are screwed into the attachment member 21d toward the contact portion 21d, and the tip end portion of the adjustment screw 21f protrudes through the attachment member 21d and contacts the contact portion 21d. It is set to touch the surface. The pair of adjustment screws 21f are arranged at predetermined intervals along the irradiation direction of the position display pointer 20f, and are set so as to sandwich the contact portions 21b on both sides of the holding member 21a. By finely adjusting the position of the tip of the adjustment screw 21f, the irradiation direction of the position display pointer 20f can be finely adjusted in the circumferential direction of the mounting frame 20e (left and right direction in FIG. 9).

  Two pairs of adjusting screws 21g are screwed into the mounting surface portion of the mounting frame 20e in a direction orthogonal to the mounting surface. The pair of adjustment screws 21g are arranged on the front side that is the irradiation surface side of the position display pointer 20f, and the remaining pair of adjustment screws 21g are arranged on the rear side that is opposite to the irradiation surface side. Each adjustment screw 21g penetrates from the inner side of the mounting frame 20e, and its tip part projects to the mounting surface side, and the tip part is set to contact the bottom surface of the holding member 21a. Therefore, by finely adjusting the positions of the front ends of the front adjustment screw 21g and the rear adjustment screw 21g, the irradiation direction of the position display pointer 20f can be finely adjusted in the radial direction (vertical direction in FIG. 9) of the mounting frame 20e. Can be adjusted.

  When adjusting the irradiation direction of the position display pointer 20f, the mounting frame 20e is installed so as to face the reference plane, and the reference point displayed on the reference plane and the light on the reference plane by the irradiation of the position display pointer 20f. The adjustment screws 21f and 21g are finely adjusted so that the points coincide with each other. The reference points are displayed at equal intervals on the same circumference as the circle passing through the irradiation position of the position display pointer 20f from the central axis of the mounting frame 20e. Therefore, by making the reference point coincide with the light spot of the position display pointer 20f, the irradiation direction of the position display pointer 20f is accurately set to be the same direction at equal intervals in the circumferential direction.

  FIG. 10 is a schematic diagram relating to an image photographed together with the index displayed by the position display pointer when photographing the inspection position where the crack C3 occurs with the photographing camera. Since the mounting frame 20e also moves together with the photographic camera, the shooting direction of the photographic camera and the irradiation direction of the eight position display pointers 20f attached to the mounting frame 20e are always set to coincide with each other. In the captured image, eight light spots L1 to L8 corresponding to the position display pointer 20f are always displayed as indices.

  The length between the pair of light spots L1 and L5 facing each other is accurately set on the above-described reference plane so as to be a diameter R of a circle passing through the irradiation position of the position display pointer 20f by fine adjustment. . However, when the surface in the vicinity of the inspection position is inclined, the length r measured based on the captured image is a value different from the diameter R. Therefore, by performing image correction in the linear direction connecting the light spots L1 and L5 based on the ratio between the diameter R and the length r, it is possible to correct the photographed image of the inclined surface to the image of the directly facing surface. Similarly, the image correction can be performed in the linear directions connecting the light spots L2 and L6, the light spots L3 and L7, and the light spots L4 and L8 that face each other.

  In this way, by performing image correction in each direction using a pair of light spots set in a plurality of different directions as an index, a highly accurate correction image approximated to an image taken in front of the inspection position is obtained. Can be obtained. Further, since the length between the light spots is set to the diameter R, the diameter R is used as a scale to accurately measure the width and length of the crack in the corrected image and the interval between the cracks. be able to. In general, a crack generated in a structure such as a bridge is complicatedly formed in a two-dimensional direction, and a crack having a width of 0.2 mm to 0.5 mm is a repair target. Therefore, it is necessary to accurately grasp the crack of such a width level, but by using the images corrected in a plurality of different directions as described above, the two-dimensional shape of the crack can be measured with high accuracy, It becomes possible to accurately inspect the cracks to be repaired. In addition, by correcting the position display pointer with the light spot in combination with the above-described crack gauge plate, the crack shape can be accurately measured even when the image is enlarged or reduced.

  In this example, image data captured together with the index is analyzed by irradiating laser beams from a plurality of position display pointers of the position display mechanism toward the shooting direction of the shooting camera 11a and displaying a plurality of indexes at the inspection position. Accuracy can be improved.

  In addition, since the mounting frame 20e moves together with the photographing camera, the light spot of the position display pointer 20f is always displayed as an index on the photographed image of the photographing camera, and even when shifting from wide-angle photographing to zoom photographing, The light spot is always displayed and the positional relationship with another inspection location around the imaging location can be easily recognized.

  In the example described above, the case where eight position display pointers are attached to a circular attachment frame as the position display mechanism has been described. However, a rectangular or triangular attachment frame may be used, and a plurality of different positions may be used. There is no particular limitation as long as a plurality of light spots for setting the direction can be displayed as an index.

  In addition, when the position display mechanism including the attachment frame is attached to the photographing mechanism, if the photographing mechanism is arranged in a narrow space such as between the beams in a structure such as a bridge, the attachment frame contacts the structure. May be damaged. In order to prevent such contact, it is preferable to install a reflecting mirror for confirming the state above the traveling carriage at the end of the traveling carriage or the base portion of the prop of the traveling carriage. As a reflecting mirror, a convex mirror can be used to check a wide range, and the mirror surface is tilted about 45 degrees with respect to the axial direction of the horizontal arm so that it can be taken with a monitoring auxiliary camera installed on a vertical rod. It is good to attach. If the horizontal arm is rotated or moved forward, the tip of the horizontal arm may be damaged by contact with the structure, so attach a similar reflector to the tip of the horizontal arm and Check the left and right. Thus, the work can be quickly and accurately performed by attaching the reflecting mirror for preventing contact and performing the moving work and the checking work of the horizontal arm while checking with the auxiliary camera.

  FIG. 11 is a front view relating to a traveling carriage equipped with a hitting inspection mechanism that hits and inspects the surface at an inspection position as an inspection work mechanism. The striking inspection mechanism 30 is attached to the upper end portion of a support column 17 a erected substantially at the center of the traveling carriage 17 configured to run on the horizontal arm 9 in the same manner as the traveling carriage 10. The column 17a is pivotally supported about its central axis and is rotated by a drive motor (not shown) provided on the traveling carriage 17.

  In the hit inspection mechanism 30, a pair of casters 30b are attached to the upper ends of a pair of support frames 30a attached so as to protrude on both sides of the upper portion of the support column 17a. A hitting inspection tool 31 such as a test hammer is attached between the support frames 30a. The caster 30b is set in a state where it abuts on the surface of the inspection object M by raising the horizontal arm on which the traveling carriage 17 is mounted. As the caster 30b, a free caster that can travel in any direction is used, and the hitting inspection mechanism 30 can be easily moved in any direction while being in contact with the surface of the inspection object M.

  FIG. 12 is a side view (FIG. 12A) and a front view (FIG. 12B) regarding the hit inspection mechanism. The hit inspection mechanism 30 includes an air cylinder 32 that performs a hit operation of the hit check tool 31, a grip 33 that holds the hit check tool 31, and a coiled elastic spring that biases the hit check tool 31 so as to give a predetermined hit force. A member 34 is provided. The air cylinder 32 is attached to a pair of adjustment frame bodies 30c in which the end portion of the main body portion 32a is fixed to the support column 17a. A plurality of adjustment holes 30d for position adjustment are formed in the adjustment frame 30c so as to be arranged at equal intervals in the vertical direction. A set screw 32b to be inserted into the adjustment hole 30d is screwed into the main body portion 32a of the air cylinder 32. By inserting the set screw 32b into the adjustment hole 30d at a desired position, The main body 32a can be positioned at a desired vertical position. An attachment portion 32d is fixed to the drive rod 32c of the air cylinder 32, and the attachment portion 32d is attached to the gripping body 33 by a set screw 32e as will be described later.

  The gripping body 33 is rotatably attached between a pair of shaft support members 30g fixed to the upper end of the support column 17a. The gripping body 33 includes a pair of gripping plates 33a and 33b, and the pair of gripping plates 33a and 33b are arranged on both sides so as to sandwich the handle portion 31b of the hitting inspection tool 31. Four fastening screws 33c penetrating the gripping plates 33a and 33b are arranged above and below the handle portion 31b. By fastening the fastening screws 33c, the gripping body 33 is integrated with the hitting inspection tool 31. Fixed. A shaft screw 33d that penetrates the shaft support member 30g passes through the grip plates 33a and 33b, and the grip plates 33a and 33b are pivotally supported around the shaft screw 33d. Protruding portions 33e and 33f are formed on both sides of the gripping plate 33a along the handle portion 31b of the hitting inspection tool 31, and a plurality of adjustment holes 33g are arranged at equal intervals along the longitudinal direction in the protruding portion 33e. It is formed as follows. The attachment portion 32d is attached to the gripping body 33 by inserting a set screw 32e into the adjustment hole 33g at a desired position and screwing it into the attachment portion 32d of the air cylinder 32.

  Also, a plurality of adjustment holes 33h are formed in the protruding portion 33f so as to be arranged at equal intervals along the longitudinal direction. An adjustment frame body 30e is fixed to the side of the support column 17a opposite to the side on which the adjustment frame body 30c is attached, and a plurality of adjustment holes 30f for position adjustment are arranged at equal intervals in the vertical direction on the adjustment frame body 30e. It is formed as follows. One locking portion of the elastic spring member 34 is locked to the adjustment hole 33h, and the other locking portion is locked to the adjustment hole 30f. Therefore, the protruding portion 33f is always pulled toward the adjustment frame 30e by the urging force of the elastic spring member 34, and the gripping body 33 is urged to rotate clockwise around the shaft screw 33d. . On the other hand, since the attachment part 32d of the air cylinder 32 in which the main body part 32a is attached to the adjustment frame body 30c is connected to the protruding part 33e of the grip body 33, the grip body 33 is biased by the elastic spring member 34. Against the surface of the inspection object M.

  The hitting inspection tool 31 is shaped like a hammer and the head portion 31a attached to the tip of the handle portion 31b is subjected to the body reaction (reaction force, elastic wave, hitting sound, etc.) of the inspection object M. Various detection sensors for measurement are built in. And a measurement result is transmitted to the control apparatus which is not illustrated by the wiring cord 31c connected to the rear-end part of the handle | pattern part 31b. Note that a detection sensor for detecting an elastic wave at the time of impact may be attached to the caster portion to acquire a detection signal.

  When a hitting operation is performed on the check position using the hitting inspection tool 31, the air cylinder 32 is driven to pull up the drive rod, and the gripping body 33 is counterclockwise against the urging force of the elastic spring member 34. Rotate. Therefore, the head portion 31a of the hitting inspection tool 31 moves in a direction away from the inspection position. Thereafter, when the air in the air cylinder 32 is released to a free state, the gripping body 33 is rotated clockwise by the urging force of the elastic spring member 34, and the impact checking tool 31 that rotates integrally with the gripping body 33. The head portion 31a collides with the inspection position, and a hitting operation with a predetermined hitting force is performed.

  The striking force is adjusted by changing the adjustment holes 30d and 33g for attaching the air cylinder 32 to adjust the attachment position of the air cylinder 32, or changing the adjustment holes 30f and 33h for attaching the elastic spring member 34. This can be done by adjusting the mounting position of the member 34. Further, a plurality of elastic spring members 34 having different urging forces are prepared, and the elastic spring members 34 can be adjusted by exchanging them according to the striking force.

  At the time of hitting inspection, the traveling carriage 10 provided with the imaging mechanism 11 can be installed on the horizontal arm 9, and it is possible to check the surface peeling or floating phenomenon that occurs when hitting the inspection position by shooting the hitting action. . And as above-mentioned, dimensions, such as a peeling range, can be accurately measured by using the image data which image | photographed the phenomenon which occurred at the time of such a hit inspection.

  In the hitting inspection mechanism 30 described above, the hitting inspection is performed on the horizontal surface portion of the lower surface of the inspection object M, but the central portion of the support column 17a is divided and a rotation mechanism such as a hinge is attached, By making the upper portion of the support column 17a tiltable to a desired angle by a drive mechanism such as an air cylinder, the hitting inspection mechanism 30 can be brought into contact with an inclined surface other than the horizontal plane portion to perform hitting inspection.

  In order to remove dirt on the surface at the inspection position, the hitting inspection mechanism 30 can be provided with an injection nozzle that injects a fluid such as air or water. In structures such as bridges, dirt and dirt such as dust adhere to corners, etc., and it may be difficult to inspect the surface. In such cases, spray air or water from the spray nozzle to remove dirt. It can be removed to expose the surface of the inspection object. When operating the injection nozzle, the traveling carriage 10 equipped with the photographing mechanism 11 is installed on the horizontal arm 9, and the state of removing dirt by blowing air or water is photographed, thereby removing dirt cleanly. You can check if it was done.

  In addition, by switching the compressed air supplied to the air cylinder 32 to the injection nozzle, air is injected from the injection nozzle to the surface of the inspection position before and after the striking operation, and the dirt is blown away, and the surface of the inspection object M is exposed. It is possible to take a picture in a state, and it is possible to perform an accurate inspection work. The injection nozzle can be separately attached to the traveling carriage as an independent inspection work mechanism and moved. In this case, by allowing the ejection direction of the ejection nozzle to be arbitrarily changed, for example, it becomes possible to spray a fluid along a crack. As a result, the shape of the crack can be accurately grasped, and the inspection accuracy can be improved.

  As described above, by installing a traveling carriage equipped with various inspection work mechanisms on a horizontal arm together with a traveling carriage equipped with a photographing mechanism, the working state of the inspection working mechanism is photographed by the photographing mechanism and displayed on the display unit. It is possible to confirm while displaying, and the inspection work can be performed efficiently and accurately and safely. In addition, abnormal locations such as cracks can be measured quantitatively and accurately based on image data taken following the inspection work, and a series of work processes from inspection work to analysis of abnormal locations can be performed efficiently. It becomes possible. As the inspection work mechanism, for example, an infrared camera can be attached, and the surface of the inspection object M can be photographed with the infrared camera to detect surface peeling (floating) of concrete or the like without contact. It is possible to inspect a place where it is difficult to arrange the hitting inspection mechanism described above with an infrared camera. Further, a measuring device that measures the three-dimensional shape of the inspection object M by irradiating a laser beam and a measuring device that measures the three-dimensional shape of the inspection object M based on an image taken by a stereo camera are attached as an inspection work mechanism. As a result, it is possible to measure a place where the operator cannot directly measure. In this way, by using the inspection equipment and measuring equipment conventionally used in structures such as bridges as the inspection work mechanism, the inspection work and measurement work can be performed accurately and safely while photographing with the photographing mechanism.

  FIG. 13 is a schematic block configuration diagram relating to the control device 100 that controls each mechanism described above and performs processing and display processing of a captured image. The control device 100 controls the arm movement mechanism 105 to move and move the horizontal arm, the arm movement control unit 100a to move, the traveling control unit 100b to control the traveling carts 10 and 12, and the photographing mechanism 11 to rotate and control the photographing camera. A shooting control unit 100c that controls the shooting operation of the position display mechanism 20 and controls the display of the position display pointer of the position display mechanism 20, an image processing unit 100d that processes the shot image, and a display unit 101 such as a liquid crystal panel. A display processing unit 100e that performs processing for displaying 16 photographed images, image-processed images, and the like, and a work control unit that controls the operation by operating the operation mechanism 13 or the hitting inspection mechanism 30 that is an inspection operation mechanism. 100f.

  The storage unit 102 includes a setting table 102 a that stores setting data such as design data of an inspection object, an image DB 102 b that stores a captured image, a position information DB 102 c that stores positional information regarding a captured inspection location, and a hit inspection unit 104. An inspection information DB 102d that stores inspection information such as detection data is provided.

  When the horizontal arm 9 is lowered and rotated below the inspection object M, the operation input unit 103 is operated while confirming the display unit 101 that displays the captured image of the auxiliary camera 16 attached to the vertical rod 8. The arm movement control unit 100a controls the arm movement mechanism 105. Since the auxiliary camera 16 is photographed including a reflecting mirror attached to the tip of the horizontal arm 9, the moving state of the auxiliary camera 16 including the peripheral image of the tip of the horizontal arm 9 reflected on the reflecting mirror is confirmed. Then, the horizontal arm 9 is moved.

  After the horizontal arm 9 is lowered and placed at a predetermined position below the inspection object M, the operator operates the operation input unit 103 while confirming the display unit 101 that displays the captured image of the auxiliary camera 16 to control the traveling. The traveling carriage 10 equipped with the photographing mechanism and the traveling carriage 12 equipped with the inspection work mechanism are travel-controlled by the unit 100b to position each traveling carriage at a position corresponding to the inspection position. Then, the arm movement control unit 100a raises the horizontal arm 9 to set the photographing mechanism and the inspection work mechanism at predetermined vertical positions.

  After setting the photographing mechanism 11 to a predetermined position, the operator operates the operation input unit 103 while checking the display unit 101 displaying the photographed image of the photographing camera 11a, and rotates the photographing mechanism 11 by the photographing control unit 100c. The photographing camera 11a is set to a predetermined photographing direction by controlling. When setting the shooting direction, the shooting control unit 100c controls the shooting camera 11a to shoot the inspection position and to display the position display pointer of the position display mechanism 20 so as to set the light spot near the inspection position. The photographed image near the inspection position where the light spot is displayed as an index is displayed on the display unit 101. In that case, you may make it display the picked-up image of the auxiliary camera 16 on a division | segmentation screen. Further, the design data of the inspection object M can be read from the setting table 102a and the layout of the inspection object M can be displayed together.

  The operator operates the operation input unit 103 and adjusts the position of the traveling carriage 12 by the traveling control unit 100b while displaying and confirming the photographed image near the inspection position photographed by the photographing camera 11a on the display unit 101. Adjust the position of the inspection mechanism. In the case of the operation mechanism 13, the position of the traveling carriage 12 is adjusted by the traveling control unit 100b so that the crack gauge plate is arranged in the vicinity of the inspection position, and the operation mechanism 13 is rotationally controlled by the work control unit 100f. The rod-shaped body 14 is rotated in the vertical direction and is rotated about the axis. Further, in the case of the hit inspection mechanism 30, the travel control unit 100b adjusts the position of the traveling carriage 12, and is set so that the hit inspection mechanism 30 is disposed below the check position, and the work control unit 100f performs the hit inspection. The mechanism 30 is driven and controlled to perform the hitting operation of the hitting inspection tool 31.

  After the inspection work, the photographed image of the photographing camera 11a is displayed on the display unit 101 and the inspection part such as a crack is specified. Then, the photographing control part 100c photographs the inspection part and stores the photographed image in the image DB 102b. Further, the image processing unit 100d is based on the direction display pointer in the captured image, the position display pointer, the position data of the irradiation point of the position display pointer of the position display mechanism, the rotation angle data of the imaging mechanism 11, and the captured image of the crack gauge plate. Thus, image processing such as image correction and image adjustment necessary for acquiring inspection information such as the length and width of the crack is performed. Then, the obtained location data of the inspection location is stored in the location information DB 102c, and the obtained inspection information is stored in the inspection information DB 102d in association with the location data of the inspection location. When a hitting operation by the hitting inspection tool 31 is performed, the inspection information obtained from the hitting inspection unit 104 is stored in the inspection information DB 102d in association with the position data of the inspection location.

  As described above, the traveling carriage equipped with the photographing mechanism installed on the horizontal arm and the traveling carriage equipped with the inspection work mechanism are respectively arranged at predetermined positions, and the photographing mechanism and the inspection work mechanism are controlled in parallel. Thus, the inspection work can be performed with high accuracy and efficiency.

  In the above example, the arm moving mechanism moves the horizontal arm below the object to be inspected, such as a bridge, and performs inspection. However, in the case of a structure such as a building, the outer wall surface is moved up and down. By attaching a horizontal arm to the gondola, it can be used for inspection of the outer wall surface. In the case of structures other than bridges and buildings, the inspection device according to the present invention can be applied as long as the horizontal arm can be disposed opposite the inspection object, and the application range is wide and versatile. Yes. Also, the inspection work mechanism and the photographing mechanism are respectively attached to the arms, the inspection working mechanism is disposed opposite to the inspection object, and the photographing mechanism is disposed at a position where the working state can be confirmed, and the inspection working state is photographed by the photographing camera of the photographing mechanism. If the work status is displayed while photographing, it is possible to check the work status in real time and to perform the inspection work accurately by remote control.

DESCRIPTION OF SYMBOLS 1 ... Inspection apparatus, 2 ... Traveling part, 3 ... Operation part, 4 ... Lifting mechanism, 5 ... Horizontal movement mechanism, 6 ... Support arm, 7 ... Actuation mechanism, DESCRIPTION OF SYMBOLS 8 ... Vertical rod, 9 ... Horizontal arm, 10 ... Traveling trolley, 11 ... Shooting mechanism, 12 ... Traveling trolley, 13 ... Operation mechanism, 14 ... Rod-shaped body, 15 ... Crack gauge plate, 16 ... Auxiliary camera, 17 ... Traveling carriage, 20 ... Position display mechanism, 30 ... Blow inspection mechanism, 100 ... Control device

Claims (6)

And inspection mechanism for setting the crack gauge plate in the vicinity of the inspection position by rotating the oppositely disposed rod-like body fitted with Rutotomoni crack gauge plate inspection object, an imaging mechanism having an imaging camera, the inspection mechanism An inspection apparatus for a structure comprising: a control device that performs work control and controls the photographing mechanism to display a photographed image on a display unit so as to photograph the work situation with the photographing camera. An inspection work mechanism that is disposed opposite to the inspection object and that rotates when a gripping body that grips the hitting inspection tool is rotated so that the hitting inspection tool hits the inspection position surface with a predetermined hitting force, and a photographing camera. And a control device that controls the inspection mechanism and controls the imaging mechanism to display the captured image on the display unit so that the operation state is captured by the imaging camera. Item inspection device. The inspection apparatus according to claim 2, wherein the inspection work mechanism includes an injection nozzle that sprays fluid on a surface of the inspection position to remove dirt. The inspection work mechanism is attached to a traveling carriage installed so as to be able to travel on a horizontal arm arranged to face an inspection object, and the control device positions the traveling carriage at a position corresponding to an inspection position. The inspection device according to any one of claims 1 to 3, wherein the traveling control is performed. The photographing mechanism includes a position display mechanism including a plurality of position display pointers around the photographing camera, and the position display pointer irradiates a laser beam along a photographing direction to a light spot at an inspection position. The control device includes an image processing unit that performs image correction in the direction using a plurality of pairs of light spots arranged in a plurality of different directions as an index in a photographed image obtained by photographing the inspection position. The inspection apparatus according to any one of claims 1 to 4, further comprising: The inspection apparatus according to claim 1, further comprising: a reflecting mirror that reflects the photographing mechanism or the inspection work mechanism and a periphery thereof; and an auxiliary camera that photographs the moving state of the horizontal arm together with the reflecting mirror. .

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