JP6173626B1 - Structure inspection device - Google Patents

Abstract

[PROBLEMS] To reduce the vibrations given to inspection equipment with less handling effort, to be able to operate efficiently with little influence from the equipment existing in the structure, and to check the structure with little influence on the function of the structure. Providing equipment. A structure inspection apparatus includes four wheels 16 traveling along a handrail on an inspection road on both sides of a chassis. A rotating support column 17 that extends in the vertical direction and rotates about an axis on the chassis 15, an extendable swinging arm 20 that is connected to the upper end of the rotating support column 17 via a swinging joint 19, and swinging The arm 20 has a visible light camera 23 attached to one end of the arm 20 via a gimbal device 22, and a counterweight 25 attached to the other end of the swing arm 20. The distance between the wheel 16 at the end portion in the traveling direction and the wheel 16 adjacent to the wheel 16 is formed so as to be set larger than the length of the interrupted portion of the handrail 13. [Selection] Figure 2

Description

  The present invention relates to a structure inspection apparatus capable of inspecting a member provided on the underside of a floor slab of a bridge, for example.

  In bridge maintenance management, appearance observation is performed to check the appearance of members for deterioration and damage. As a method of observing the appearance, close-in visual inspection is often performed in which an inspector approaches a target member and visually confirms whether there is deterioration or damage. The close visual inspection needs to be performed not only on members that are easily accessible such as railings or pavement, but also on members that are difficult to access such as the bottom surface of the slab or the main girder. When performing close visual inspection of the bottom of the floor slab or the main girder, a scaffold is installed under the floor slab, and an inspector gets on the scaffold to approach the member. However, there is a problem that it takes labor and cost to install the scaffold under the bridge slab.

  Therefore, in order to observe the appearance of members that are difficult for inspectors to access, the arm is extended downward from the bridge floor slab, and the bottom surface of the floor slab is photographed with a TV camera attached to the tip of this arm. A structured inspection device has been proposed. As this type of inspection device, as shown in FIG. 8, a carriage 204 installed on the side of a floor slab 201 of a bridge 200, a base arm 205 fixed to the carriage 204 and extending in the horizontal direction, and this base A hanging arm 207 connected to the tip of the arm 205 and extending vertically downward, a horizontal arm 208 fixed to the lower end of the hanging arm 207, and a telescoping arm 209 fixed to the tip of the horizontal arm 208 and extending vertically upward There is an undersurface inspection device for an elevated structure including a small television camera 210 mounted on the upper end of the entry arm 209 (see Patent Document 1).

  In the case of inspecting the lower surface of the floor slab 201 with this elevated structure lower surface inspection apparatus, first, the inspector M who is attached to the carriage 204 arranges the horizontal arm 208 in parallel with the side portion of the floor slab 201 and the carriage. 204 is positioned adjacent to the side of the floor slab 201. Next, after the hanging arm 207, the horizontal arm 208, and the entering arm 209 are positioned outward from the side portion of the floor slab 201, the manual winch provided on the carriage 204 is operated to lower the hanging arm 207. As a result, the horizontal arm 208 and the entry arm 209 are lowered, and the television camera 210 at the upper end of the entry arm 209 is lowered to a position lower than the lower end of the beam 202 that supports the floor slab 201. Subsequently, the drooping arm 207 is manually rotated around the axis, and the TV camera 210 is turned below the floor slab 201, and then the drooping arm 207 is raised by operating the manual winch, and the TV camera 210 is moved to the digit 202. And between the digits 202. Thus, an image is picked up by the TV camera 210 arranged between the girders 202 positioned on the lower side of the floor slab 201, and an image picked up by the TV camera 210 is displayed on the display device 206 installed on the carriage 204. When the inspector M visually recognizes the device 206, the lower surface of the floor slab 201 and the girder 202 positioned below the floor slab 201 are inspected.

JP 2001-20224 A

  However, the lower surface inspection apparatus for an elevated structure has a base arm 205, a drooping arm 207, a horizontal arm 208, and an entry arm 209 sequentially connected from a carriage 204 installed on the side of the floor slab 201. There is a problem that it becomes a large-scale product, and it takes time and labor for handling such as transportation and installation. Further, since the TV camera 210 is attached to the distal ends of the arms 207, 208, and 209 that extend from the carriage 204 to the lower side through the side from the upper surface of the floor slab 201, the TV camera 210 easily vibrates. Therefore, if shooting is performed while traveling on the carriage 204, the quality of the captured image is deteriorated due to the vibration of the television camera 210. Further, when the undersurface inspection device for an elevated structure is moved in the extending direction of the bridge 200 and the lower surface of the floor slab 201 and the girder 202 are continuously photographed by the TV camera 210, a base arm 205 extending from the carriage 204 is provided. Contact is made with equipment such as an illumination column existing on the side of the floor slab 201, and movement is hindered. In order to proceed in the extending direction of the bridge 200 beyond the facility, the plurality of arms 207, 208, and 209 are once pulled up, the carriage 204 is passed through the side of the facility, and then the arms 207, 208, and 209 are moved. It is necessary to arrange again at a predetermined position. Therefore, there is an inconvenience that the efficiency of inspection is greatly reduced. Further, since the carriage 204 runs on the side portion of the floor slab 201, it is necessary to occupy the pedestrian passage installed on the side portion of the floor slab 201 and the side road of the roadway for inspection. Therefore, there is a problem that affects the traffic of the bridge 200.

  Then, the subject of this invention is providing the structure inspection apparatus with little handling effort. Moreover, it is providing the structure inspection apparatus which can reduce the vibration given to an inspection apparatus. Another object of the present invention is to provide a structure inspection apparatus that can operate efficiently with little influence from facilities existing in the structure. It is another object of the present invention to provide a structure inspection apparatus that has little influence on the function of the structure.

In order to solve the above problems, the structure inspection device of the present invention is
The chassis,
Inspection equipment for inspecting the structure;
A support mechanism attached to the chassis and supporting the inspection device movably around the chassis;
It is attached to the said chassis, The wheel which travels along the elongate member which the inspection road provided in the said structure has is characterized by the above-mentioned.

  In many cases, the inspection path of a structure is installed in a place where it cannot be easily accessed, such as the vicinity of a vertical surface of a member or a surface facing downward. Here, the structure inspection device having the above structure is formed so that the wheel attached to the chassis travels along the long member included in the inspection path of the structure. It is easily installed at a place where it was not possible. Accordingly, since the structure can be easily inspected by the inspection device, the support mechanism that supports the inspection device does not need a large-scale device such as a plurality of arms of a conventional undersurface inspection device for an elevated structure. As a result, the trouble of handling the structure inspection apparatus can be reduced. In addition, since the support mechanism for supporting the inspection device on the chassis can be made smaller than before, it is possible to prevent the inconvenience that the inspection device is supported by a long arm and vibrates as in the conventional case. Moreover, since this structure inspection apparatus moves along the elongate member of an inspection path, it can move, without receiving the influence of facilities, such as an illumination pillar which exists in the bridge as a structure, for example. Therefore, the work for avoiding the equipment of the structure as in the prior art is unnecessary, so that the inspection can be performed efficiently. Moreover, since this structure inspection apparatus moves along the elongate member of an inspection path, it is not arrange | positioned in the position which provides the function of a structure like on the floor slab of a bridge as a structure, for example. Therefore, this structure inspection device can reduce the influence on the function of the structure when the structure is inspected. Here, the long member of the inspection path is preferably a handrail installed on both sides of the inspection path.

  In the structure inspection device of one embodiment, at least three wheels are arranged in the traveling direction of the chassis, and an arrangement interval of at least one pair of adjacent wheels is formed to be changeable.

  According to the above-described embodiment, the long member of the inspection road on which the wheel travels may have a discontinuous portion at which the long member is interrupted, for example, at a branch portion or an entrance / exit of the inspection road. Here, in the structure inspection device of the present embodiment, at least three wheels are arranged in the traveling direction of the chassis, and the arrangement interval of at least one pair of adjacent wheels is formed to be changeable. If the interval between the pair of wheels is adjusted to be longer than the length of the discontinuity at which the long member of the inspection road is interrupted, one of the wheels traveling on the long member will become the discontinuity of the long member. Even when positioned, at least the other two wheels remain in contact with the elongated member. Accordingly, it is possible to prevent the inconvenience that the wheel cannot travel due to the discontinuous portion, and it is possible to overcome the discontinuous portion of the long member, and it is possible to continue traveling along the inspection road. In addition, by adjusting the arrangement interval of the wheels according to the various lengths of the discontinuous portions, the various lengths of the discontinuous portions can be overcome.

  In the structure inspection device according to an embodiment, the distance between a wheel located at an end of the plurality of wheels and a wheel adjacent to the wheel can be changed.

  According to the embodiment, the distance between the wheel located at the end of the plurality of wheels and the wheel adjacent to the wheel is changed to be larger than the length of the discontinuity of the long member, thereby Even if the wheel at the end is located at the interrupted portion, the adjacent wheel can be kept in contact with the long member. Therefore, it is possible to get over the interrupted portion of the long member, and to continue traveling along the inspection road.

  The structure inspection apparatus of one embodiment is formed so that the arrangement interval between the adjacent wheels can be set longer than the length of the discontinuity at which the long member is interrupted.

  According to the above embodiment, even if one of the adjacent wheels is located at the discontinuity portion, the other wheel can be kept in contact with the long member, so that the discontinuity portion of the long member can be overcome. It is possible to continue traveling along the inspection road.

  In the structure inspection device according to one embodiment, at least three of the wheels are arranged in the traveling direction of the chassis, and an arrangement interval between at least one pair of adjacent wheels is a length of a discontinuous portion at which the long member is interrupted. It is set longer than this.

  According to the above-described embodiment, the long member of the inspection road on which the wheel travels may have a discontinuous portion at which the long member is interrupted, for example, at a branch portion or an entrance / exit of the inspection road. Here, in the structure inspection device according to the present embodiment, at least three wheels are arranged in the traveling direction of the chassis, and the disposition interval between at least one pair of adjacent wheels is a discontinuous portion at which the long member of the inspection path is interrupted. It is set longer than the length of. Thereby, even if one wheel is located in the discontinuous part of a long member among the wheels which run a long member, since at least two other wheels remain in contact with the long member, Wheels will not be disabled. Therefore, this structure inspection apparatus can get over the interrupted portion of the long member and can continue traveling along the inspection road.

  In the structure inspection device according to one embodiment, the support mechanism includes an arm member to which the inspection device is attached at one end, and the other end side of the arm member that is rotatable about a vertical axis and rotatable about a horizontal axis. And a link mechanism connected to the chassis.

  According to the above embodiment, the other end of the arm member of the support mechanism is connected to the chassis by the link mechanism so as to be rotatable about the vertical axis and rotatable about the horizontal axis. The device can be directed in a desired direction from the chassis with a high degree of freedom.

  In the structure inspection device according to one embodiment, the support mechanism is formed such that the arm member can be expanded and contracted.

  According to the embodiment, since the arm member of the support mechanism is formed to be extendable and retractable, the inspection device at one end of the arm member can be arranged at a desired distance from the chassis with a high degree of freedom. In particular, the other end of the arm member is connected to the chassis by the link mechanism so as to be rotatable about the vertical axis and rotatable about the horizontal axis, thereby enabling the inspection device at one end of the arm member to have a high degree of freedom. It can be arranged in a desired direction and distance from the chassis. As a result, a highly accurate inspection can be performed.

  In the structure inspection device according to one embodiment, the inspection device is attached to one end of the arm member of the support mechanism via a gimbal device.

  According to the above embodiment, the inspection device can be directed in a desired direction by the gimbal device provided at one end of the arm member of the support mechanism.

  In the structural inspection apparatus according to an embodiment, the gimbal apparatus has a vibration preventing function that maintains the direction of the inspection device in a predetermined direction against vibration of the arm member.

  According to the above embodiment, the wheels travel along the long member of the inspection road, and the arm member of the support mechanism vibrates as the chassis moves, but the gimbal device provided at one end of the arm member The inspection device is stably maintained in a predetermined direction by the vibration preventing function. Therefore, the structure can be inspected stably by the inspection device.

  In the structure inspection device according to one embodiment, the support mechanism has a link mechanism coupled to a position closer to one end side than the other end of the arm member, and the other end of the arm member corresponds to the mass of the inspection device. Counterweight is provided

  According to the embodiment, the arm member of the support mechanism is connected to the link mechanism at a position closer to one end than the other end of the arm member, and the other end of the arm member corresponds to the mass of the inspection device. Since the counterweight is provided, the direction of the inspection device can be easily changed to a desired direction.

  In the structure inspection device according to an embodiment, the counterweight is a battery for supplying power to an information processing device that processes information output from the inspection device or a drive device that drives the wheel.

  According to the above-described embodiment, the counterweight has a function of only a weight by using an information processing device that processes information output by the inspection device or a battery that supplies power to a driving device that drives a wheel. It is possible to reduce the weight of the structure inspection device, rather than using parts as counterweights.

  In the structure inspection apparatus according to an embodiment, a work table for an inspector located on the inspection path to perform work is provided on the vehicle body.

  According to the said embodiment, the inspector located in an inspection path can perform the operation | work regarding an inspection with a work bench | platform, inspecting a structure with an inspection apparatus. Therefore, the inspection work of the structure can be performed efficiently. Here, the work performed on the workbench includes operation of inspection equipment through a computer, collection of data, creation of documents relating to inspection, and the like.

It is a figure which shows a mode that a structure is inspected with the structure inspection apparatus of embodiment of this invention. It is a front view which shows the structure inspection apparatus of embodiment. It is a top view which shows the structure inspection apparatus of embodiment. It is a side view which shows the structure inspection apparatus of embodiment. It is a side view which shows the trolley | bogie and wheel of the structure inspection apparatus of embodiment. It is a side view which shows the modification of the chassis of a structure inspection apparatus. It is a figure which shows a mode that another structure is inspected with the structure inspection apparatus of embodiment. It is a figure which shows the conventional lower surface inspection apparatus for elevated structures.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a view showing a state in which a structure is inspected by the structure inspection apparatus according to the embodiment, FIG. 2 is a front view showing the structure inspection apparatus, and FIG. 3 is a plan view of the structure inspection apparatus. FIG. 4 is a side view of the structure inspection apparatus. This embodiment demonstrates the case where the bridge as a structure is inspected.

  The structure inspection apparatus 1 according to this embodiment is used to perform appearance observation as inspection of the bridge 2. The structure inspection apparatus 1 moves along the inspection path 3 installed on the bridge 2 and inspects the bridge 2. The bridge 2 is an upper truss bridge, and has a floor slab 5 provided with a road on the upper surface and a truss structure 6 disposed below the floor slab 5 to support the floor slab 5. The truss structure 6 includes a vertical member 7 and a diagonal member disposed on both side surfaces, a cross beam 8 and a lower frame disposed on the lower surface, an upper chord member disposed on the upper ends of both side surfaces, It has the lower chord material arrange | positioned at a connection part. The inspection path 3 is installed on the cross beam 8 on the lower surface of the truss structure. Thus, the inspection road 3 is installed in the truss structure 6 that is difficult to approach from the road on the upper surface of the floor slab 5. Wall height columns 9 extending in the direction of the bridge axis are arranged at both ends of the upper surface of the floor slab 5, and lighting columns 10 as facilities are erected on the wall height columns 9.

  The inspection path 3 is formed including a grating or the like, and includes a walking path member 11 on which an inspector walks, and a plurality of handrail struts 12, 12, 12,. Handrails 13 and 13 are supported by the handrail column 12 and extend upward on both sides of the walking path member 11. The handrail 13 is formed of a rod member having a circular cross section, and corresponds to a long member of the present invention.

  The structure inspection apparatus 1 includes a chassis 15 having an H shape in plan view, and four wheels 16, 16, 16,... Arranged on each side of the chassis 15. The wheel 16 has a substantially semicircular outline on the outer circumferential surface in the radial cross section, and is formed so as to be fitted to the upper part of the handrail 13 of the circular cross section of the inspection path 3. As will be described in detail later, these wheels 16 are set such that the distance between the wheel 16 at the end in the traveling direction and the wheel 16 adjacent to the wheel 16 is larger than the length of the interrupted portion of the handrail 13. It is made possible.

  On the chassis 15 of the structure inspection apparatus 1, a rotating support column 17 that extends in the vertical direction and is rotatable about an axis is erected in the center of the chassis 15 in the width direction and the traveling direction. A swing arm 20 is swingably connected to the upper end of the rotary support column 17 via a swing joint 19. The swing arm 20 is formed of a telescopic member that can be expanded and contracted, and a visible light camera 23 as an inspection device is attached to one end via a gimbal device 22. At the other end of the swing arm 20, a counterweight 25 having a mass that balances the mass of the visible light camera 23 with respect to the swing joint 19 is provided. The length from the swing joint 19 to one end of the swing arm 20 is formed to be larger than the length from the swing joint 19 to the other end, and a counter provided at the other end of the swing arm 20 is formed. The visible light camera 23 is swingable with a small force by the weight 25. A support mechanism is configured by the rotary support column 17, the swing joint 19, the swing arm 20, the gimbal device 22, the counterweight 25, and the angle holding unit 26. In addition, a link mechanism is constituted by the rotary support column 17 and the swing joint 19.

  The rotary support column 17 is provided with an angle holding unit 26 that holds the angle of the swing arm 20. The angle holding portion 26 is connected to a rod member 27 connected to the other end of the swing arm 20. One end of the bar member 27 is connected to the other end of the swing arm 20 and the other end is connected to the angle holding unit 26 so as to be swingable. The angle holding portion 26 is formed so as to be movable in the axial direction along the rotary support column 17 and to be fixed at a desired position in the axial direction. When the swing arm 20 swings about the swing joint 19, the angle holding unit 26 moves in the axial direction along the rotary column 17. If the angle holding part 26 is fixed when the swing arm 20 forms a predetermined tilt angle, the swing arm 20 is fixed at the tilt angle.

  The counterweight 25 is formed by a battery of a notebook PC (personal computer) as an information processing device that controls the gimbal device 22 and the visible light camera 23. Note that a battery that includes a driving device that drives the wheel 16 and supplies electric power to the driving device may be used as the counterweight 25. Further, an electric drive device that drives the rotary support column 17 and the swing arm 20 may be provided, and a battery that supplies power to the drive device may be used as the counterweight 25. However, the counterweight 25 does not necessarily use a battery, and any material may be used as long as it has a relatively large mass.

  The gimbal device 22 includes a mounting frame connected to one end of the swing arm 20, a camera mounting unit rotatably mounted on the mounting frame by two rotating shafts orthogonal to each other, and angular velocities around the rotating shafts. A rotation sensor for detecting the motor, a motor for driving each of the rotating shafts, and a control unit for controlling these motors. The control unit controls the motor based on the detection value of the rotation sensor to reduce vibration transmitted from the swing arm 20 to the visible light camera 23 mounted on the camera mounting unit. The control unit is connected to an operating device such as a jog stick operated by an inspector, controls the motor based on an input from the inspector to the operating device, and the visible light camera 23 of the camera mounting unit. Can be directed in a desired direction. Note that three or more rotation shafts of the gimbal device 22 may be provided.

  The visible light camera 23 is a digital camera that captures visible light and outputs a still image and a moving image, and is equipped with a flash and a lighting device. The visible light camera 23 can control execution, start, stop, zoom, and operation of a flash or a lighting device by remote control. Transmission of control signals to the visible light camera 23 and transmission of still images and moving images from the visible light camera 23 are performed with a notebook PC operated by an inspector by a wired or wireless circuit. As the visible light camera 23, one that outputs captured images having various angles of view can be used. For example, a wide range of external appearance observation of the structure can be performed by outputting a captured image having a horizontal field angle of 360 degrees and a vertical field angle of 180 degrees.

  On the chassis 15, work tables 28 are provided on both sides of the rotary support column 17 in the traveling direction. The work table 28 is arranged so as to be bridged between the handrails 13 on both sides of the inspection path 3 on which the structure inspection device 1 is installed in plan view, and the walking path member 11 of the inspection path 3. An inspector who walks on top performs work for the inspection. Examples of the work performed on the work table 28 include operation of the gimbal device 22 and the visible light camera 23 through a notebook PC, data collection, and creation of documents relating to inspection. Note that the work table 28 may be arranged only on one side of the rotary support column 17 in the traveling direction.

  FIG. 5 is a side view showing the chassis 15 and the wheels 16a, 16b, 16c, and 16d. Of the four wheels 16 provided on one side in the width direction of the structure inspection device 1, the positions of the two wheels 16 b and 16 c adjacent to the wheels 16 a and 16 d located at both ends in the traveling direction are the wheels 16. It is formed to be adjustable in the direction of travel. On one side of the chassis 15, a first wheel 16a, a second wheel 16b, a third wheel 16c, and a fourth wheel 16d are provided in order from left to right on the paper surface of FIG. Each wheel 16a, 16b, 16c, 16d is attached to the chassis 15 via bearing units 32a, 32b, 32c, 32d that support the axle. Among these bearing units 32a, 32b, 32c, and 32d, the first bearing unit 32a and the fourth bearing unit 32d are fixed to the chassis 15. On the other hand, as indicated by arrows A and B, the second bearing unit 32b and the third bearing unit 32c are formed so as to be movable in the advancing direction along the rail 33 provided on the side portion of the chassis 15. The second bearing unit 32b and the third bearing unit 32c are fixed at a desired position moved along the rail 33, and the distance between the first bearing unit 32a and the second bearing unit 32b, The distance between the 3 bearing unit 32c and the 4th bearing unit 32d is adjustable. Thereby, the distance between the first wheel 16a and the second wheel 16b and the distance between the third wheel 16c and the fourth wheel 16d can be adjusted.

  Next, a method for inspecting the bridge 2 using the structure inspection apparatus 1 having the above configuration will be described. First, parts constituting the structure inspection apparatus 1 are separated into several parts and carried into the inspection path 3 of the bridge 2. For example, the structure inspection device 1 is carried separately into the chassis 15 and the wheels 16, the rotary support column 17 and the swing arm 20, the counterweight 25, the gimbal device 22, and the visible light camera 23. Subsequently, the parts carried into the inspection path 3 are assembled. First, the chassis 15 is disposed on the handrail 13 on both sides of the inspection path 3 by fitting the outer peripheral surface of the wheel 16 to the upper portion of the handrail 13. Subsequently, the rotary column 17 is attached to the chassis 15, and the swing arm 20 is connected to the swing joint 19 at the upper end of the rotary column 17. A gimbal device 22 on which a visible light camera 23 is mounted is connected to one end of the swing arm 20. On the other hand, the counterweight 25 is fixed to the other end of the swing arm 20 and a bar member 27 is connected. The bar member 27 is connected to the angle holding part 26. Subsequently, a notebook PC is installed on the work table 28, and settings relating to communication and control of the gimbal device 22 and the visible light camera 23 are performed.

  When the installation of the structure inspection apparatus 1 is completed in this way, appearance observation as inspection of the bridge 2 is started. First, after adjusting the length of the swing arm 20 according to the distance to the member to be inspected, the tilt angle of the swing arm 20 is changed to bring the visible light camera 23 closer to the member to be inspected. Subsequently, a still image or a moving image of the surface of the member is photographed by adjusting the photographing direction of the visible light camera 23, zoom, illumination intensity, and the like via the notebook PC. When the photographing of the predetermined member is completed, the inspector manually moves the chassis 15 along the handrail 13 and moves the structure inspection apparatus 1 to a position corresponding to the member to be inspected next. The member is photographed. Note that a moving image may be taken by the visible light camera 23 while the structure inspection apparatus 1 is moved.

  As shown in FIG. 4, the handrail 13 on which the wheel 16 of the structure inspection device 1 travels has an interrupted portion where the handrail 13 is interrupted at an installation location of the entrance / exit of the inspection path 3. The structure inspection apparatus 1 that has reached the first wheel 16a toward the front in the traveling direction at this discontinuous portion continues to travel and causes the first wheel 16a to leave the handrail 13. Thus, even if the 1st wheel 16a reaches the interruption part of the handrail 13 and detach | leaves from the handrail 13, the structure inspection apparatus 1 continues driving | running | working with the other 2nd thru | or 4th wheel 16b, 16c, 16d. be able to. In addition, since the position of the second wheel 16b in the chassis 15 can be adjusted, the distance between the first wheel 16a and the second wheel 16b is the distance between the first wheel 16a and the second wheel 16b. Adjust to be larger than the distance. As a result, while the first wheel 16a passes through the interrupted portion, the second wheel 16b stays on the handrail 13 and does not reach the interrupted portion, and the second to fourth wheels 16b, 16c, and 16d continue to travel. it can.

  After this, even if the first wheel 16a passes through the discontinuous portion and returns to the handrail 13 and further proceeds and the second wheel 16b and the third wheel 16c reach the discontinuous portion, the first wheel 16a and the fourth wheel 16d are Since it remains on the handrail 13, the traveling can be continued. When the third wheel 16c reaches the discontinuity, the position of the third wheel 16c in the chassis 15 can be adjusted. Therefore, the position of the third wheel 16c is set between the third wheel 16c and the fourth wheel 16d. Is adjusted to be larger than the distance of the interrupted portion of the handrail 13. As a result, while the third wheel 16c passes through the interrupted portion, the fourth wheel 16d stays on the handrail 13 so that it does not reach the interrupted portion, and at least the first wheel 16a and the fourth wheel 16d continue to travel. it can.

  Thereafter, when the third wheel 16c passes through the interrupted portion and returns to the handrail 13, the first to third wheels 16a, 16b, and 16c continue to travel. As a result, the fourth wheel 16d moves the handrail 13 without any problem. You can leave and pass through the break. As described above, by adjusting the distance between the first wheel 16a and the second wheel 16b and the distance between the third wheel 16c and the fourth wheel 16d to be larger than the distance of the interrupted portion, the interrupted portion Can be passed without problems.

  In the present embodiment, the distance between the first wheel 16a and the second wheel 16b and the third wheel 16c and the fourth wheel 16d are adjusted by adjusting the positions of the second and third wheels 16b and 16c in the traveling direction. Although the distance between them can be adjusted, these distances may be adjustable by other structures. FIG. 6 is a side view showing a modified example of the chassis to which the wheels 16 are attached. The chassis 115 of the modified example is provided on the main body 116 to which the support mechanism is attached, on both side portions in the width direction and in the front and rear portions in the traveling direction, and is formed to be movable in a telescopic manner in the traveling direction with respect to the main body 116. There are four beam members 117, 117, 117, 117. As shown in FIG. 6, the first wheel 16a and the fourth wheel 16d are attached to the distal ends of these beam members 117 via the first bearing unit 32a and the fourth bearing unit 32d. Moreover, the 2nd wheel 16b and the 3rd wheel 16c are attached to the main body 116 of the chassis 115 via the 2nd bearing unit 32b and the 3rd bearing unit 32c. By adjusting the moving distance of the beam member 117 with respect to the main body 116, the first wheel 16a and the fourth wheel 16d move in the traveling direction as indicated by arrows C and D. Thereby, the distance between the first wheel 16a and the second wheel 16b and the distance between the third wheel 16c and the fourth wheel 16d can be adjusted. According to the chassis 115 of the modified example, by moving the beam member 117 with respect to the main body 116, the distance between the first wheel 16a and the second wheel 16b, and the distance between the third wheel 16c and the fourth wheel 16d. The distance can be easily adjusted.

  As described above, according to the structure inspection apparatus 1 of the present embodiment, the structure inspection apparatus 1 is formed so as to be movable along the handrail 13 of the inspection path 3 disposed below the floor slab 5 of the bridge 2. It can be easily installed on the lower side of the floor slab 5 that is not easily accessible from the upper surface of the plate 5. Accordingly, the visible light camera 23 can easily observe the appearance of the lower surface of the floor slab 5 and the portions that cannot be easily accessed from the upper surface of the floor slab 5 such as the joint between the lower surface of the floor slab 5 and the truss structure 6. Can do. As described above, according to the present embodiment, the visible light camera 23 can be easily approached to the lower side of the floor slab 5, so that a plurality of long arms are used to support the TV camera 210 as in the related art. There is no need to use 207, 208, 209. Therefore, this structure inspection device 1 requires less handling. In addition, the rotating column 17 and the swing arm 20 that support the visible light camera 23 on the chassis 15 are significantly shorter than the conventional arms 207, 208, and 209, so the visible light camera supported at one end of the swing arm 20. 23 can be effectively suppressed.

  Moreover, since the structure inspection apparatus 1 of this embodiment moves along the handrail 13 of the inspection path 3, it can move without being affected by the illumination column 10 installed on the upper surface of the floor slab 5. Therefore, unlike the prior art, work for avoiding facilities such as lighting columns existing on the side of the floor slab 201 is not required, so that inspection can be performed efficiently. Moreover, since this structure inspection apparatus 1 moves along the inspection path 3 below the floor slab 5, it does not affect the function of the road on the floor slab 5. That is, as in the prior art, it is possible to effectively prevent inconvenience that the carriage 204 traveling on the side of the floor slab 201 affects the passage of pedestrians and vehicles on the floor slab 201. Moreover, since the structure inspection apparatus 1 of this embodiment is movable along the inspection path 3 in the truss structure 6, the truss structure while traveling is impossible, which is impossible with the conventional undersurface inspection apparatus for an elevated structure. 6 can be inspected.

  The structure inspection device 1 of this embodiment may be applied to inspection of a box girder bridge 100 as shown in FIG. 7 in addition to the upper truss bridge. The box girder bridge 100 has two box girders 104 and 104 on the lower surface of a steel deck 101 constituting the floor slab, and a lower chord member 105 that bridges between the lower ends of the box girders 104 and 104. The inspection path 3 is arranged on the top. In FIG. 7, reference numeral 102 denotes a pavement, 104 a denotes an outer web positioned on the outside of the two box girders 104, and 104 b denotes an inner web positioned on the inside of the two box girders 104. 106 is a U trough that reinforces a side floor slab that is an outer part of the box girder 104 of the steel deck 101, and 107 is a box girder floor that is an inner part of the box girder 104 of the steel deck 101. A U trough that reinforces the plate, and 108 is a U trough that reinforces an intermediate floor plate that is a portion between the box girders 104 of the steel floor slab 101. Reference numeral 110 denotes a cross beam. Since the box girder bridge 100 having two box girders 104 and 104 has a relatively large floor slab width, in the conventional undersurface inspection device for an elevated structure, the length of the horizontal arm 208 is set to the length of the box girders 104 and 104. It is difficult to make it long enough to reach in between. Therefore, the conventional undersurface inspection device for an elevated structure includes a joint portion between the inner web 104b and the steel deck 101, a U trough 108 of the middle deck, and a portion between the box beam 104 and the box beam 104 of the cross beam 110. Cannot be checked. On the other hand, according to the structure inspection apparatus 1 of this embodiment, since it travels along the inspection path 3 disposed between the box girders 104, 104, the joint between the inner web 104b and the steel deck 101 In addition, the joint between the U trough 108 of the mid-floor plate and the mid-floor plate, the U trough 108 of the mid-floor plate, and the portion between the box beam 104 and the box beam 104 of the cross beam 110 should be easily inspected. Can do.

  In the said embodiment, although the structure inspection apparatus 1 had four wheels 16a, 16b, 16c, 16d in one side part of the width direction, the number of wheels is any number more than three in a side part. Good. In the above embodiment, among the four wheels, the distance between the first wheel 16a and the second wheel 16b and the distance between the third wheel 16c and the fourth wheel 16d are formed to be adjustable. Of the three or more wheels, the distance between the wheels at both ends in the traveling direction and the wheels adjacent to the wheels at both ends may be adjusted.

  In the above embodiment, among the four wheels, the distance between the first wheel 16a and the second wheel 16b and the distance between the third wheel 16c and the fourth wheel 16d are formed to be adjustable. Any one of the distance between the first wheel 16a and the second wheel 16b and the distance between the third wheel 16c and the fourth wheel 16d may be formed to be adjustable. In addition, if the distance between the first wheel 16a and the second wheel 16b and the distance between the third wheel 16c and the fourth wheel 16d are set in advance larger than the distance of the interrupted portion of the handrail 13, Any wheel 16 may be fixed to the chassis 15 so as not to move. Moreover, either the distance between the 1st wheel 16a and the 2nd wheel 16b and the distance between the 3rd wheel 16c and the 4th wheel 16d becomes larger than the distance of the discontinuity part which the handrail 13 has. Thus, the wheels 16 may be fixed to the chassis 15.

  Moreover, in the said embodiment, although the structure inspection apparatus 1 moved manually by the inspector, the structure inspection apparatus 1 provided with the drive device of the wheel 16 in the chassis 15 and the inspector operated the control apparatus of the drive device. The movement may be controlled.

  In the above embodiment, the rotary column 17 and the swing arm 20 are manually driven. However, the drive unit that rotates the rotary column 17 around the axis, the drive unit that drives the swing arm 20 to extend and contract, and the swing unit. A drive device that rotationally drives the arm 20 around the swing joint 19 may be provided, and the rotation angle, length, and tilt angle of the swing arm 20 may be adjusted by control of the drive device.

  Moreover, although the handrail 13 of the inspection path 3 has a circular cross section, it may have a cross section of another shape such as an elliptical cross section or a rectangular cross section. In this case, the cross-sectional shape of the outer peripheral surface of the wheel 16 may be a shape corresponding to the cross-sectional shape of the upper part of the handrail 13.

  Moreover, in the said embodiment, although the wheel 16 traveled along the handrail 13 as a long member of the inspection road 3, the rail as a long member was installed in the inspection road 3, and the wheel 16 along this rail. May be allowed to travel.

  Moreover, in the said embodiment, although the case where an external appearance observation was performed as an inspection using the visible light camera 23 as an inspection apparatus was demonstrated, the inspection performed with the structure inspection apparatus of this invention is an external appearance observation using a visible light camera. Not limited to. For example, an infrared camera may be used as an inspection device to perform appearance observation of a structure, temperature distribution observation, or the like. Moreover, you may perform a flaw detection of a structure using an ultrasonic flaw detector, an acoustic flaw detector, etc. as an inspection apparatus. The structure to be inspected is widely applicable as long as it has inspection paths such as dams, waterways, dikes, plants, buildings, etc. in addition to bridges.

DESCRIPTION OF SYMBOLS 1 Structure inspection apparatus 2 Bridge 3 Inspection road 5 Floor slab 6 Truss structure 9 Wall rail 10 Illumination pillar 11 Walking road member 12 Handrail support 13 Handrail 16 Wheel 17 Rotation support 19 Swing joint 20 Swing arm 22 Gimbal device 23 Visible light Camera 25 Counterweight 26 Angle holding portion 27 Bar member 28 Work table 32 Bearing unit 33 Rail for bearing unit

Claims (11)

The chassis,
Inspection equipment for inspecting the structure;
A support mechanism attached to the chassis and supporting the inspection device movably around the chassis;
A wheel attached to the chassis and traveling along a long member of an inspection road provided in the structure ;
At least three wheels are arranged in the traveling direction of the chassis, and an arrangement interval between at least one pair of adjacent wheels is formed so as to be changeable . In the structure inspection apparatus according to claim 1 ,
A structure inspection device, wherein a distance between a wheel located at an end of the plurality of wheels and a wheel adjacent to the wheel is changeable. In the structure inspection apparatus according to claim 1 ,
The structure inspection device is characterized in that an arrangement interval between the adjacent wheels can be set longer than a length of the discontinuous portion at which the long member is interrupted. The chassis,
Inspection equipment for inspecting the structure;
A support mechanism attached to the chassis and supporting the inspection device movably around the chassis;
A wheel attached to the chassis and traveling along a long member of an inspection road provided in the structure;
With
The wheels are arranged in at least three in the traveling direction of the chassis, and the arrangement interval of at least one pair of adjacent wheels is set longer than the length of the discontinuity at which the long member is interrupted. Structure inspection device. The chassis,
Inspection equipment for inspecting the structure;
A support mechanism attached to the chassis and supporting the inspection device movably around the chassis;
A wheel attached to the chassis and traveling along a long member of an inspection road provided in the structure;
With
The support mechanism includes an arm member to which the inspection device is attached at one end, and a link mechanism that connects the other end side of the arm member to the chassis so as to be rotatable about a vertical axis and rotatable about a horizontal axis. Structure inspection device characterized by. In the structure inspection apparatus according to claim 5 ,
The structure inspection device, wherein the support mechanism is formed such that the arm member is extendable and contractible. In the structure inspection apparatus according to claim 5 ,
The structure inspection device, wherein the support mechanism has the inspection device attached to one end of the arm member via a gimbal device. In the structure inspection apparatus according to claim 7 ,
The gimbal device has a vibration preventing function for maintaining a direction of the inspection device in a predetermined direction against vibration of the arm member. In the structure inspection apparatus according to claim 5 ,
The support mechanism is characterized in that a link mechanism is connected to a position closer to one end side than the other end of the arm member, and a counterweight corresponding to the mass of the inspection device is provided at the other end of the arm member. Structure inspection device. In the structure inspection apparatus according to claim 9 ,
The structure inspection device, wherein the counterweight is an information processing device that processes information output by the inspection device or a battery for supplying electric power to a drive device that drives the wheel. In the structure inspection apparatus according to any one of claims 1 , 4 and 5 ,
A structure inspection device, wherein a work table for an inspector located on the inspection road to perform work is provided on the vehicle base.

Images