JP6752407B2 - Structure inspection equipment - Google Patents

Description

The present invention relates to a structure inspection device for inspecting the state of infrastructure structures such as bridges erected on rivers and waterways.

Conventionally, as a structure inspection device for inspecting the state of deterioration or damage of a bridge or the like, for example, as disclosed in Patent Document 1, a camera for photographing the lower surface of a bridge and the camera at the tip thereof are used. There was a bridge equipment inspection device equipped with an L-shaped arm that was attached and placed a camera below the bridge, and a trolley that supported the base end of the L-shaped arm and was capable of traveling on the road surface on the bridge. ..

Further, as disclosed in Patent Document 2, a CCD camera for photographing the lower surface of a bridge and a moving device on which the CCD camera is mounted and a guide rail installed on the lower surface of a bridge girder of the bridge can be moved. There was a coating film deterioration diagnosis system provided with (Patent Document 2 Embodiment 1). Further, the third embodiment also discloses a mode in which the above-mentioned CCD camera is mounted on an airship, and a remote manager wirelessly controls the airship and controls the CCD camera.

Japanese Unexamined Patent Publication No. 2005-90072 Japanese Unexamined Patent Publication No. 2005-283519

Bridges, which are infrastructure structures to be inspected, were erected on large-scale bridges (for example, bridges with a bridge length of several tens of meters or more) erected on first-class rivers with wide rivers, and on rivers and irrigation canals with narrow rivers. There are small-scale bridges (for example, bridges with a bridge length of 10 m or less), and the number of small-scale bridges installed is overwhelmingly large. Other infrastructure structures include, for example, sewage pipelines buried underground, large ones with a diameter of several meters or more, and small ones with a diameter of 1 to 2 m or less.

The bridge equipment inspection device of Patent Document 1 can be used for inspection of large-scale bridges, but may not be suitable for inspection of small-scale bridges. For example, in a small bridge with a pier height of about several tens of centimeters from the water surface, the space under the bridge is narrow, so it is difficult to freely move the camera position with the L-shaped arm. In addition, the structure of this bridge equipment inspection device cannot be used for inspection of small sewage pipelines buried underground.

The first embodiment of the coating film deterioration diagnosis system of Patent Document 2 can be installed in a narrow space under a small bridge or inside a small sewer pipe, but a dedicated guide rail and a moving device are provided as an infrastructure structure. It must be installed fixedly for each. Therefore, it takes time and effort to install each infrastructure structure, and the installation cost becomes high. Further, the third embodiment of Patent Document 2 cannot be applied to the inspection of a small bridge or a small sewer pipe because it is difficult to fly an airship in a narrow space.

The present invention has been made in view of the above background technology, and can easily photograph the surface of infrastructure structures such as bridges and pipes, and is particularly suitable for inspection in a narrow space where an operator cannot enter. It is an object of the present invention to provide a structure inspection device.

The present invention is a structure inspection device for inspecting the state of a bridge, which is an infrastructure structure, and is provided on a float portion made of a material that floats on water and having an outer shape formed in a square plate shape, and the float portion. A camera that photographs a region of the lower surface of the bridge facing the upper surface of the float portion from below, and a moving device to which the camera is attached and capable of moving together with the camera on a flat surface on the upper side of the float portion. A control unit that controls the operation of the camera and the moving device is provided, and the moving device can move the position of the camera to photograph a region of the lower surface of the bridge facing the upper surface of the float portion. It is a structure inspection device.

A pair of ropes for moving the position of the float portion in the longitudinal direction and the width direction of the bridge are attached to both ends of the float portion in the longitudinal direction, and the length of the pair of ropes is such that the float portion is placed on the water surface. The structure may be set so that the operator on the bridge can pull up and operate the bridge from the downstream side and the upstream side, respectively, while floating on the bridge.

The moving device is a traveling device capable of reciprocating on the flat surface in one direction, and the traveling device may be configured such that a plurality of the cameras are attached in a direction perpendicular to the one direction.

Further, the structure inspecting apparatus for inspecting the condition of Kanmizo is infrastructure structure floats in water, and the float part is movable in any direction is driven by the plurality of screws, attached to the float portion, wherein A camera for photographing the upper inner surface of the pipe from below and a control unit for controlling the operation of the camera and the screw are provided, and the float portion is formed in an upwardly bulging hemispherical shape, and the above-mentioned top portion thereof. It may be a structure inspection device to which a camera is attached.

The camera may be configured to include a camera angle variable device for photographing an arbitrary angle of the upper hemisphere.

In addition, it is preferable that the camera is provided with a blur correction device that corrects the blur of the camera.

Further, it is preferable that the control unit includes a main body mounted on the float unit and an external controller for remote control.

Further, it is preferable that the main body of the control unit and the external controller are wirelessly connected.

The structure inspection device of the present invention can easily photograph the surface of a bridge , which is an infrastructure structure, and can inspect even a narrow space such as the underside of a small-scale bridge that workers cannot enter. In particular, even when the clearance between the water surface or the like and the structure is small, the image of the structure surface can be acquired in a wide range, which enables efficient and accurate inspection of the structure.

In addition, this structure inspection device does not need to be fixedly installed for each infrastructure structure, and there is no cost. Moreover, since the structure is simple and compact, once the inspection of one infrastructure structure is completed, it can be easily transferred to the next site for inspection. Therefore, even if the number of infrastructure structures to be inspected is large, the inspection can be performed efficiently in order, and the cost for inspection can be minimized.

It is a top view (a) which shows one Embodiment of the structure inspection apparatus of this invention, the sectional view (b) of AA, and the enlarged view (c) of the part of a camera and a traveling apparatus. It is a figure which shows the state of performing the inspection of the small-scale bridge erected on the water channel using the structure inspection apparatus of this embodiment. It is a top view (a) and a front view (b) which show the other embodiment of a structure inspection apparatus. It is a figure (a) and BB cross-sectional view (b) which shows the state of performing the inspection of the small sewer pipe in the ground using the structure inspection apparatus of another embodiment.

Hereinafter, an embodiment of the structure inspecting apparatus of the present invention, FIG. 1 will be described with reference to FIG. The structure inspection device 10 of this embodiment is particularly suitable for inspecting a small-scale bridge erected in a narrow river, waterway, or the like in an infrastructure structure.

As shown in FIG. 1, the structure inspection device 10 is provided with a float portion 16 floating on water 14 flowing through a river or a waterway, and a plurality of cameras 18 that are provided on the float portion 16 and capture a still image of the lower surface of the bridge 12. A control unit 20 for controlling the operation of the camera 18 and the like is provided.

The float portion 16 is a substantially rectangular plate made of a resin foam or the like that floats on water 14, a wide flat surface 16a is formed on the upper side thereof, and a side wall 16b is erected on the peripheral edge of the flat surface 16a. Here, the length of the long side of the float portion 16 may be shorter than the bridge width of the bridge 12, for example, by a fraction or less, and the length of the short side is set to about 1/3 of the long side. Has been done. Further, two ropes 21 (1) are attached in pairs to both ends of one short side of the float portion 16, and two ropes 21 (2) are attached to both ends of the other short side in pairs. ..

The camera 18 and the control unit 20 are attached to a traveling device 22 (moving device) provided with wheels on both sides of the device main body 22a. The traveling device 22 can reciprocate in the longitudinal direction on the flat surface 16a of the float portion 16, and cannot move over the side wall 16b. The operation of the traveling device 22 is controlled by the control unit 20 mounted on the device main body 22a.

The plurality of cameras 18 are arranged at equal intervals on a horizontal frame 24 slightly shorter than the short side of the float portion 16 and fixed upward, and are mounted on the device main body 22a via the horizontal frame 24 and the blur correction device 26. .. The number of cameras 18 is, for example, 5, and the field of view of each camera 18 is set so as to overlap the field of view of the adjacent camera 18. The blur correction device 26 to which the camera 18 is attached is a device that corrects the blur of the camera 16, supports the horizontal frame 24 in a direction substantially parallel to the short side of the float portion 16, and has a built-in vibration gyro or the like during shooting. The vibration of the horizontal frame 24 is detected by the control mechanism of the above, and the blur of each camera 18 is corrected. When using a camera 18 that does not have a flash function, an LED light (not shown) is installed on the float portion 16 or the horizontal frame 24. The operation of the camera 18 and the blur correction device 26 is controlled by the control unit 20 mounted on the device main body 22a.

Further, the control unit 20 is connected to, for example, an external controller 20a that is wirelessly controlled, and is configured to be able to wirelessly control the operations of the camera 18 and the traveling device 22. The external controller 20a may be a wired device, and in the case of a wired device, the power supply to each device installed in the float portion 16 can be omitted by wiring together with the power cable.

When inspecting using the structure inspection device 10, first, the structure inspection device 10 is transported to the site where the bridge 12 to be inspected is located, and as shown in FIG. 2, the float portion 16 is placed on the water surface in the water channel. It floats on 14a and is arranged so that the longitudinal direction of the float portion 16 is parallel to the width direction of the bridge 12. Then, a plurality of workers M1 on the bridge 12 pulled up and held the rope 21 (1) from the upstream side of the bridge 12 and the rope 21 (2) from the downstream side, respectively, and floated the float portion 16 on the water surface 14a. As it is, the flat surface 16a faces the lower surface 12a of the bridge 12.

Next, the operator M2 operates the external controller 20a to run the traveling device 22 on the flat surface 16a, and the plurality of cameras 18 photograph each part of the lower surface 12a which is the imageable range in the bridge girder direction of the cameras 18. That is, while the traveling device 22 moves the flat surface 16a from end to end in the longitudinal direction once, it is possible to acquire image data in which the float portion 16 faces the width of the lower surface 12a in the bridge girder direction. Next, the ropes 21 (1) and 21 (2) are operated to move the float 16 to the downstream side or the upstream side on the water surface 14a by the length in the longitudinal direction thereof, and the float 16 travels on the flat surface 16a in the same manner as described above. The device 22 is run, and a plurality of cameras 18 photograph each part of the lower surface 12a, which is a photographable range of the cameras 18. This is repeated to complete the photographing of the lower surface 12a, which is a part of the width direction of the bridge 12. The acquired image data is stored in the memory of the control unit 20, for example.

When the photographing of the lower surface 12a is completed, the operator M1 moves the float portion 16 in the direction of the bridge girder so that the flat surface 16a of the float portion 16 faces the lower surface 12b of the bridge 12 in the range adjacent to the lower surface 12a. Then, the traveling device 22 and the camera 18 are operated in the same manner as described above, and the image data of the lower surface 12b is acquired.

After the photographing of the lower surface 12b is completed, the flat surface 16a of the float portion 16 is similarly opposed to the lower surface 12c of the region further adjacent to the bridge 12, and the image data of the lower surface 12c is acquired. When the image data of the entire lower surface of the bridge 12 is acquired in the direction of the bridge girder, the acquisition of the inspection image for the bridge 12 is completed. After that, the acquired image of the lower surface of the bridge 12 is analyzed to inspect cracks and other fatigue states.

As described above, according to the structure inspection device 10, it is possible to inspect in a narrow space under a small-scale bridge 12 that workers cannot enter, and it is possible to easily acquire image data of the lower surface of the bridge 12. Further, it is conceivable that the camera 18 shakes because the float portion 16 floats on the water 14. However, since the float portion 16 has a large area to some extent, the influence of the small shake of the water surface is suppressed, and the blur correction device 26 This corrects the blurring of the camera 18 and makes it possible to obtain clear image data.

When there are a plurality of bridges to be inspected, the structure inspection device 10 does not need to be fixedly installed for each bridge. Moreover, since the structure is simple and compact, once the inspection of one bridge is completed, it can be easily transferred to the next site for inspection. Therefore, even when the number of bridges to be inspected is large, the inspection can be performed efficiently in order, and the cost for inspection can be minimized.

Next, another embodiment of the structure inspection device will be described with reference to FIGS. 3 and 4. The structure inspection device 28 of this embodiment is a device suitable for inspecting a small sewage pipeline or the like buried in the ground in an infrastructure structure.

As shown in FIG. 3, the structure inspection device 28 is provided on the float portion 34 and the float portion 34 floating on the water 32 flowing through the sewage pipe 30, and a moving image of the inner wall surface of the sewage pipe 30 viewed from below. It includes a camera 36 for taking a picture and a control unit 38 for controlling the operation of the camera 36 and the like.

The float portion 34 is a substantially hemispherical device that floats on water 32. A plurality of cameras 36 are attached to the crown of the housing 34a diagonally upward in different directions, and a control unit 38 is mounted in the housing 34a. Screws 40 are provided at three sides of the housing 34a. Further, a weight body 42 for ensuring horizontality when floating on water 32 is provided on the bottom of the housing 34a, and an underwater camera 44 is attached to the lower end of the weight body 42. The rotation speed and direction of each of the screws 40 are controlled by the control unit 38, and the float unit 34 can move the water surface 32a in any direction by the propulsive force generated by the three screws 40 in cooperation with each other. .. The camera 36 and the underwater camera 44 are provided with a blur correction device (not shown), the blur of each of the cameras 36 and 44 is suppressed, and the operation is controlled by the control unit 38.

Further, the control unit 38 is provided with an external controller 38a via a cable 46 extending from the side portion of the float unit 34, and is configured to be able to externally control the operations of the screw 40, the camera 36, and the underwater camera 44. Further, the external controller 38a is provided with a display for displaying the captured moving image in real time.

When inspecting using the structure inspection device 28, first, the structure inspection device 28 is transported to the site where the sewage pipeline 30 to be inspected is located, and as shown in FIGS. 4A and 4B. For example, the structure inspection device 28 is carried in through the manhole 48a on the upstream side, and the float portion 34 is floated on the water 32 in the sewer pipe 30a. Then, the operator M3 operates the external controller 38a to drive the screw 40 to move the float portion 34 to an arbitrary position, and the camera 36 photographs each portion of the inner wall surface of the sewer pipe 30a. Since the operator M3 operates while watching the moving image displayed on the display of the external controller 38a, each part may be photographed evenly, or a specific part where cracks and corrosion are progressing may be photographed intensively. It is also possible. The moving image data captured by the camera 36 is stored in, for example, the memory of the control unit 38. The same applies to the underwater camera 44. The cable 46 may be used for operations such as alignment of the structure inspection device 28 at this time, and the position can be adjusted by operating the cable 46 in the same manner as the rope 21 of the above embodiment. ..

After the image of the sewage pipe 30a is completed, the worker M3 carries out the structure inspection device 28 from the manhole 48a, carries in the structure inspection device 28 through the manhole 48b on the downstream side at the end of the sewage pipe 30a, and next to it. The float portion 34 is floated on the water 32 in the sewer pipe 30b. Then, the same operation as described above is performed to acquire the moving image data of the sewer pipe 30b.

As described above, according to the structure inspection device 28, it is possible to inspect in a narrow space where an operator cannot enter, such as a small sewage pipe 30, and to work on the state of the inner wall surface of the water pipe 30. The person M3 can easily acquire clear moving image data while checking in real time.

The structure inspection device of the present invention is not limited to the above embodiment. For example, the pair of ropes attached to the float portion 16 of the structure inspection device 10 may be used in combination with or bundled with a power cable or a control cable, and the cable may function as the rope of the present invention. It includes.

In addition, for example, a traveling device (moving device) capable of moving to an arbitrary position in the XY-axis direction on the flat surface 16a is provided, and one camera is attached to the traveling device to drive the traveling device in the X-axis direction and the Y-axis direction. However, it may be configured to shoot. Alternatively, a stage device (moving device) is installed on the float unit 16 in which drive units are movable in the XY axis directions orthogonal to each other, and one camera 18 is placed at an arbitrary position on the XY plane by the drive unit. It may be configured to be moved. Further, when the float portion 16 faces the lower surface of the bridge 12 at the time of inspection, instead of the method in which the worker M1 holds and holds the pulled up ropes 21 (1) and 21 (2) by hand, for example, the pulled up rope 21 (1) and 21 (2) are fixed to a trolley or the like arranged on the bridge 12, and the trolley is moved in the direction of the bridge girder to inspect different positions (lower surfaces 12a, 12b, 12c) of the bridge 12. You may do so.

The structure inspection device 28 is configured such that a plurality of cameras 36 are mounted diagonally upward in different directions, but one camera equipped with a camera angle variable device is provided so that an arbitrary position in the upper hemisphere can be photographed. You may.

Further, in each of the above embodiments , an external controller is provided in the control unit, and the operator externally controls the operation of the camera or the like. However, a predetermined inspection program for moving or photographing is installed in the control unit in advance. However, the inspection may be performed automatically by executing this.

In addition, the above-mentioned structure inspection device 10 may be used by floating it on the surface of the water, or it may be slid on the ground or grass to inspect the bridge in a place where there is no water flow, and the method of use is not limited. Is.

10,28 Structure inspection device 12 Bridge 14,32 Water 14a, 32a Water surface 16,34 Float part 16a Flat surface 18,36 Camera 20,38 Control part 20a External controller 21 (1), 21 (2) Rope 22 Traveling device 26 Shake correction device 30 Sewage pipeline (pipe)
30a, 30b sewer pipe

Claims (3)

In a structure inspection device that inspects the condition of bridges, which are infrastructure structures,
A camera that captures from below a float portion made of a material that floats on water and has a rectangular outer shape formed in a plate shape, and a region on the lower surface of the bridge that faces the upper surface of the float portion. A moving device to which the camera is attached and movable on a flat surface above the float portion together with the camera, and a control unit for controlling the operation of the camera and the moving device.
A structure inspection device characterized in that a region of the lower surface of the bridge facing the upper surface of the float portion can be photographed by the moving device moving the position of the camera. A pair of ropes for moving the position of the float portion in the longitudinal direction and the width direction of the bridge are attached to both ends of the float portion in the longitudinal direction.
The length of the pair of ropes is set so that the operator on the bridge can pull up and operate the rope from the downstream side and the upstream side of the bridge while the float portion is floated on the water surface. Item 1. The structure inspection apparatus according to item 1. The moving device is a traveling device capable of reciprocating in one direction on the flat surface, and the traveling device is equipped with a plurality of the cameras in a direction perpendicular to the one direction according to claim 1 or 2. Structure inspection equipment.

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