JP6758699B1 - Bridge girder inspection device - Google Patents
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- 238000009434 installation Methods 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
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Abstract
【課題】橋梁の荷重を支持する箱桁の側壁にX線源と検出器を対向させて検査可能な橋梁桁点検装置を提供する。【解決手段】橋梁の荷重を支持する桁のうち側面及び下面が閉塞された中空の箱桁の強度を検査するための橋梁桁点検装置であって、前記橋梁上の点検車から下方に延ばしたアームによって前記箱桁の外側面に位置調整可能に配置される検出器と、前記箱桁の下面に間欠的に設けられた出入口から搬入されて前記検出器にX線を照射するために前記箱桁の内側面に配置されたX線源と、前記出入口を基準として前記X線源までの内部位置および前記検出器までの外部位置を計測する距離計と、を有し、前記内部位置と前記外部位置を基に前記箱桁の側面を挟んで前記X線源と対向するように前記検出器の位置を調整する手段を備える、ことを特徴とする。【選択図】図1PROBLEM TO BE SOLVED: To provide a bridge girder inspection device capable of inspecting a side wall of a box girder supporting a load of a bridge by facing an X-ray source and a detector. SOLUTION: This is a bridge girder inspection device for inspecting the strength of a hollow box girder whose side surface and lower surface are closed among girders supporting a load of a bridge, and is extended downward from an inspection vehicle on the bridge. The box is carried in from a detector that is position-adjustably arranged on the outer surface of the box girder by an arm and an entrance / exit intermittently provided on the lower surface of the box girder to irradiate the detector with X-rays. It has an X-ray source arranged on the inner surface of the girder and a distance meter that measures the internal position to the X-ray source and the external position to the detector with reference to the entrance / exit, and has the internal position and the said. It is characterized by comprising means for adjusting the position of the detector so as to face the X-ray source with the side surface of the box girder sandwiched from the external position. [Selection diagram] Fig. 1
Description
本発明は、橋梁の荷重を支持する桁の強度を検査するための橋梁桁点検装置に関する。 The present invention relates to a bridge girder inspection device for inspecting the strength of a girder that supports a load of a bridge.
橋梁は、道路を遮断する河川などを横断するために架けられる構造物である。例えば、下面に荷重を支えるために(主)桁を設けた上で、両端に配置された橋台や中間の橋脚などで支持された桁橋などがある。桁の種類としては、I桁、(逆)T桁、箱桁などがあり、コンクリート内に鉄筋などを通すことにより強度を向上させている。 A bridge is a structure that can be erected to cross a river that blocks a road. For example, there are girder bridges that are provided with (main) girders on the lower surface to support the load and are supported by abutments arranged at both ends or intermediate piers. Types of girders include I girders, (reverse) T girders, box girders, etc., and the strength is improved by passing reinforcing bars or the like through the concrete.
コンクリート内の空洞や鉄筋の腐食などの欠陥または劣化があると強度が低下するため点検が必要となるが、橋梁の下面は高所であり、作業が困難である場合が多い。特許文献1に記載されているように、鋼箱桁橋梁の点検を迅速且つ適確に行うと共に、どのような場所の鋼箱桁橋梁の点検も可能な鋼箱桁橋梁の点検装置の発明も開示されている。 Defects or deterioration such as cavities in concrete or corrosion of reinforcing bars reduce the strength and require inspection, but the underside of the bridge is often high and difficult to work with. As described in Patent Document 1, the invention of an inspection device for a steel box girder bridge capable of quickly and accurately inspecting a steel box girder bridge and inspecting a steel box girder bridge at any place. It is disclosed.
また、特許文献2に記載しているように、橋梁の荷重を支持しているT字桁の欠陥や劣化などの状態を、X線源と検出器の対向を維持しながら、高度でも非接触で検査可能な橋梁桁点検装置の発明について出願している。 Further, as described in Patent Document 2, the state such as defect or deterioration of the T-shaped girder supporting the load of the bridge is not contacted even at high altitude while maintaining the facing between the X-ray source and the detector. We have applied for the invention of a bridge girder inspection device that can be inspected at.
しかしながら、特許文献1に記載の技術は、鋼箱桁のフランジに走行車輪を掛けて走行ユニットを吊り下げ、走行ユニットを移動させながらテレビカメラで点検しているが、鉄筋の通ったコンクリートで形成された箱桁橋について、箱桁内部のひび割れや鉄筋の錆びなどの劣化を検出することは困難である。 However, in the technique described in Patent Document 1, a traveling wheel is hung on a flange of a steel box girder to suspend a traveling unit, and the traveling unit is inspected by a TV camera while moving, but it is formed of concrete through reinforcing bars. It is difficult to detect deterioration such as cracks inside the box girder and rust on the reinforcing bars of the box girder bridge.
また、特許文献2に記載の技術は、T字桁をX線源と検出器とで挟んで撮像しているが、箱桁については、間欠的に存在する出入口から内部に侵入することは可能ではあるものの、基本的に下方が空いていないため、X線源と検出器を正確に対向させることが困難である。 Further, in the technique described in Patent Document 2, the T-shaped girder is sandwiched between the X-ray source and the detector for imaging, but the box girder can enter the inside through the intermittently existing doorway. However, since the lower part is basically empty, it is difficult to accurately face the X-ray source and the detector.
そこで、本発明は、橋梁の荷重を支持する箱桁の側壁にX線源と検出器を対向させて検査可能な橋梁桁点検装置を提供することを目的とする。 Therefore, an object of the present invention is to provide a bridge girder inspection device capable of inspecting a side wall of a box girder that supports a load of a bridge by facing an X-ray source and a detector.
上記の課題を解決するために、第1の発明は、橋梁の荷重を支持する桁のうち側面及び下面が閉塞された中空の箱桁の強度を検査するための橋梁桁点検装置であって、前記橋梁上の点検車から下方に延ばしたアームによって前記箱桁の外側面に位置調整可能に配置される検出器と、前記箱桁の下面に間欠的に設けられた出入口から搬入されて前記検出器にX線を照射するために前記箱桁の内側面に配置されたX線源と、前記出入口を基準として前記X線源までの内部位置および前記検出器までの外部位置を計測する距離計と、を有し、前記内部位置と前記外部位置を基に前記箱桁の側面を挟んで前記X線源と対向するように前記検出器の位置を調整する手段を備える、ことを特徴とする。 In order to solve the above problems, the first invention is a bridge girder inspection device for inspecting the strength of a hollow box girder in which the side surface and the lower surface are closed among the girders supporting the load of the bridge. The detection is carried in from a detector that is position-adjustably arranged on the outer surface of the box girder by an arm extending downward from the inspection vehicle on the bridge and an entrance / exit intermittently provided on the lower surface of the box girder. An X-ray source arranged on the inner surface of the box girder to irradiate the vessel with X-rays, and a distance meter that measures the internal position to the X-ray source and the external position to the detector with reference to the entrance / exit. The detector is provided with a means for adjusting the position of the detector so as to face the X-ray source with the side surface of the box girder sandwiched between the internal position and the external position. ..
また、第2の発明は、橋梁の荷重を支持する桁のうち側面及び下面が閉塞された中空の箱桁の強度を検査するための橋梁桁点検装置であって、前記橋梁上の点検車から下方に延ばしたアームによって前記箱桁の外側面に配置されたX線源と、前記箱桁の下面に間欠的に設けられた出入口から搬入されて前記X線源から照射されたX線を受けるために前記箱桁の内側面に配置された検出器と、前記出入口を基準として前記検出器までの内部位置および前記X線源までの外部位置を計測する距離計と、を有し、前記内部位置と前記外部位置を基に前記箱桁の側面を挟んで前記X線源と対向するように前記検出器の位置を調整する手段を備える、ことを特徴とする。 The second invention is a bridge girder inspection device for inspecting the strength of a hollow box girder whose side surface and lower surface are closed among the girders supporting the load of the bridge, from the inspection vehicle on the bridge. An X-ray source arranged on the outer surface of the box girder by an arm extended downward and an X-ray source carried in from an entrance / exit intermittently provided on the lower surface of the box girder and irradiated from the X-ray source. Therefore, it has a detector arranged on the inner surface of the box girder, and a distance meter for measuring the internal position to the detector and the external position to the X-ray source with reference to the entrance / exit. It is characterized by comprising means for adjusting the position of the detector so as to face the X-ray source with the side surface of the box girder sandwiched between the position and the external position.
前記橋梁桁点検装置において、前記距離計は、レーザーレンジファインダーであり、前記検出器又は前記X線源に取り付けたターゲットマーカーまでの距離から前記内部位置又は前記外部位置を計測する、ことを特徴とする。 In the bridge girder inspection device, the distance meter is a laser range finder, and measures the internal position or the external position from the distance to the detector or the target marker attached to the X-ray source. To do.
前記橋梁桁点検装置において、前記距離計は、地上の高所作業者から上方に延ばして設置されたプラットフォーム、又は前記橋梁上の点検車から下方に延ばして設置されたプラットフォームにおいて支持される、ことを特徴とする。 In the bridge girder inspection device, the range finder is supported on a platform installed extending upward from an aerial worker on the ground or a platform installed extending downward from an inspection vehicle on the bridge. It is a feature.
前記橋梁桁点検装置において、前記X線源は、前記箱桁の検査対象として指定された位置まで移動し、向き及び高さを調整する手段を備える、ことを特徴とする。 The bridge girder inspection device is characterized in that the X-ray source is provided with means for moving to a position designated as an inspection target of the box girder and adjusting the direction and height.
前記橋梁桁点検装置において、前記箱桁の空間形状を三次元スキャナーで予め取得する、ことを特徴とする。 The bridge girder inspection device is characterized in that the spatial shape of the box girder is acquired in advance by a three-dimensional scanner.
さらに、第3の発明は、橋梁の荷重を支持する桁のうち側面及び下面が閉塞された中空の箱桁の強度を検査するための橋梁桁点検方法であって、前記箱桁の下方に設置したプラットフォームから前記箱桁の下面に間欠的に設けられた出入口へX線源の部品を順次搬入する工程と、前記箱桁の外側面に配置された検出器と対向するように、運搬された前記X線源の部品を組み立てて前記箱桁の内側面に配置する工程と、を有し、前記X線源の部品を前記プラットフォームから前記出入口まで遠隔操作で持ち上げるための昇降手段の位置がカメラで視覚誘導され、前記出入口まで上がったら前記昇降手段から渡り板が展開されて前記X線源の部品が前記箱桁内に搬入及び運搬される、ことを特徴とする。 Further, the third invention is a bridge girder inspection method for inspecting the strength of a hollow box girder in which the side surface and the lower surface are closed among the girders supporting the load of the bridge, and is installed below the box girder. The X-ray source parts were sequentially carried from the platform to the doorway provided intermittently on the lower surface of the box girder, and were carried so as to face the detector arranged on the outer surface of the box girder. It has a step of assembling the X-ray source parts and arranging them on the inner surface of the box girder, and the position of the elevating means for remotely lifting the X-ray source parts from the platform to the doorway is a camera. The crossing plate is unfolded from the elevating means when the X-ray source is visually guided to the doorway, and the parts of the X-ray source are carried and carried into the box girder.
さらに、第4の発明は、橋梁の荷重を支持する桁のうち側面及び下面が閉塞された中空の箱桁の強度を検査するための橋梁桁点検システムであって、前記橋梁上の点検車から下方に延ばしたアームによって前記箱桁の外側面に位置調整可能に配置された、センサーが取り付けられたX線源と、前記箱桁の下面に間欠的に設けられた出入口から搬入されて前記X線源から照射されたX線を受けるために前記箱桁の内側面に配置された、位置調整可能に台車に載置された検出器と、前記出入口を基準として前記検出器までの内部位置および前記X線源までの外部位置を距離計で計測して通信手段を介して受信する制御装置と、を有し、前記制御装置は、前記センサーで位置を確認しながら前記X線源が前記箱桁の検査対象として指定された位置まで移動するように前記アームに動作指示し、前記内部位置と前記外部位置を基に前記箱桁の側面を挟んで前記X線源と前記検出器とが対向するように前記台車に移動指示する、ことを特徴とする。 Further, the fourth invention is a bridge girder inspection system for inspecting the strength of a hollow box girder in which the side surface and the lower surface are closed among the girders supporting the load of the bridge, from the inspection vehicle on the bridge. The X-ray is carried in from an X-ray source to which a sensor is attached, which is position-adjustably arranged on the outer surface of the box girder by an arm extending downward, and an entrance / exit intermittently provided on the lower surface of the box girder. A detector placed on the inner surface of the box girder to receive X-rays emitted from the radiation source and mounted on a carriage with adjustable position, and the internal position to the detector with reference to the entrance and exit. It has a control device that measures an external position to the X-ray source with a distance meter and receives it via a communication means, and the control device has the X-ray source in the box while checking the position with the sensor. The arm is instructed to move to a position designated as a girder inspection target, and the X-ray source and the detector face each other with the side surface of the box girder sandwiched between the internal position and the external position. It is characterized in that the trolley is instructed to move so as to do so.
本発明によれば、橋梁の荷重を支持する箱桁の側壁にX線源と検出器を対向させて検査することができる。橋梁が地面から高所に配設されていて、箱桁に間欠的に存在する出入口の間隔が離れていても、箱桁内に配置されるX線源または検出器と、橋梁からアームを延ばして配置される検出器またはX線源とが、鉄筋の通った側壁を挟んで対向するように位置合わせすることができる。 According to the present invention, the X-ray source and the detector can be inspected facing each other on the side wall of the box girder that supports the load of the bridge. Even if the bridge is located high above the ground and the doorways that are intermittently present in the box girder are spaced apart, the X-ray source or detector located inside the box girder and the arm extend from the bridge. The detectors or X-ray sources arranged in the above direction can be aligned so as to face each other with the side wall through which the reinforcing bar passes.
以下に、本発明の実施形態について図面を参照して詳細に説明する。なお、同一機能を有するものは同一符号を付け、その繰り返しの説明は省略する場合がある。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Those having the same function may be designated by the same reference numerals, and the repeated description thereof may be omitted.
まず、本発明である橋梁桁点検装置の構成について説明する。図1は、橋梁桁点検装置の構成を示す概要図である。図2は、橋梁桁点検装置で点検する橋梁桁を示す写真である。図3は、橋梁桁点検装置の位置合わせを説明する概要図である。図4は、その透過斜視図である。 First, the configuration of the bridge girder inspection device of the present invention will be described. FIG. 1 is a schematic view showing the configuration of a bridge girder inspection device. FIG. 2 is a photograph showing a bridge girder to be inspected by the bridge girder inspection device. FIG. 3 is a schematic view illustrating the alignment of the bridge girder inspection device. FIG. 4 is a transparent perspective view thereof.
図1に示すように、橋梁桁点検装置100は、橋梁200の荷重を支持するために橋梁200の下側に長手方向に設けられた箱桁210の状態(例えば、強度など)を検査する装置である。なお、箱桁210は、橋梁200の桁のうち側面及び下面が閉塞されたもので、主にコンクリート製であり内部は中空である。 As shown in FIG. 1, the bridge girder inspection device 100 is a device that inspects the state (for example, strength) of the box girder 210 provided in the longitudinal direction under the bridge 200 in order to support the load of the bridge 200. Is. The box girder 210 is a girder of the bridge 200 whose side surfaces and lower surfaces are closed, and is mainly made of concrete and has a hollow inside.
橋梁桁点検装置100は、主に箱桁210の側面に対してX線源600からX線を照射して、箱桁210の側面にある側壁220を挟んで反対側に、X線源600と対向するように配置した検出器400で透過したX線を検出する。すなわち、X線源600と検出器400の一方は箱桁210の外側に配置され、他方は箱桁210の内側に配置される。 The bridge girder inspection device 100 mainly irradiates the side surface of the box girder 210 with X-rays from the X-ray source 600, and sandwiches the side wall 220 on the side surface of the box girder 210 with the X-ray source 600 on the opposite side. X-rays transmitted through the detectors 400 arranged so as to face each other are detected. That is, one of the X-ray source 600 and the detector 400 is arranged outside the box girder 210, and the other is arranged inside the box girder 210.
箱桁210は、側壁220(及び底壁)の内部に鋼製のワイヤなどの鉄筋240が通され、コンクリートが補強される。鉄筋240は1本でも複数でも良く、それらの鉄筋240をまとめた外側がシース230で被覆される。 In the box girder 210, a reinforcing bar 240 such as a steel wire is passed through the inside of the side wall 220 (and the bottom wall) to reinforce the concrete. The number of the reinforcing bars 240 may be one or a plurality, and the outside of the reinforcing bars 240 is covered with the sheath 230.
例えば、予め一のシース230内に複数の鉄筋240を通しておき、複数のシース230を配置した状態でコンクリートを打設し、それを養生してコンクリートが固まったら、鉄筋240を張ってシース230内にグラウト(無収縮モルタル)等の充填材で隙間が無くなるように埋めれば良い。 For example, a plurality of reinforcing bars 240 are passed through one sheath 230 in advance, concrete is placed in a state where the plurality of sheaths 230 are arranged, and when the concrete is cured by curing the concrete, the reinforcing bars 240 are stretched in the sheath 230. It may be filled with a filler such as grout (non-shrink mortar) so that there are no gaps.
シース230は、樹脂製や金属製などの管材であり、内部の鉄筋240が腐食するのを抑制する。シース230と鉄筋240の間の充填が不十分でシース230内に隙間や空洞などが存在すると、雨水が浸入したり湿気が結露したりすることで水分が溜まり、鉄筋240が錆びて劣化したり断線したりするおそれがある。 The sheath 230 is a pipe material made of resin or metal, and suppresses corrosion of the internal reinforcing bar 240. If the filling between the sheath 230 and the reinforcing bar 240 is insufficient and there are gaps or cavities in the sheath 230, water will accumulate due to the ingress of rainwater or moisture condensation, and the reinforcing bar 240 will rust and deteriorate. There is a risk of disconnection.
そのため、橋梁桁点検装置100は、橋梁200上の点検車300から下方に延ばしたアーム310によって箱桁210の外側面に位置調整可能に配置される検出器400と、箱桁210の下面に間欠的に設けられた出入口250から搬入されて検出器400にX線を照射するために箱桁210の内側面に配置されたX線源600と、出入口250を基準としてX線源600までの内部位置および検出器400までの外部位置を計測するレーザーレンジファインダー530と、内部位置と外部位置を基に箱桁210の側面を挟んでX線源600と対向するように検出器400の位置を調整する手段を備えるものとする。 Therefore, the bridge girder inspection device 100 is intermittently arranged on the outer surface of the box girder 210 by an arm 310 extending downward from the inspection vehicle 300 on the bridge 200, and on the lower surface of the box girder 210. The X-ray source 600, which is carried in from the entrance / exit 250 and is arranged on the inner surface of the box girder 210 to irradiate the detector 400 with X-rays, and the inside up to the X-ray source 600 with the entrance / exit 250 as a reference. The position of the laser range finder 530 that measures the position and the external position up to the detector 400, and the position of the detector 400 is adjusted based on the internal position and the external position so as to face the X-ray source 600 across the side surface of the box girder 210. It shall be provided with means to do so.
検出器400は、X線の強度や分布などを測定可能な撮像センサー等である。X線源600から照射されたX線を検出すると、信号データが点検車300などの搭載されたコンピューターや通信ネットワークに接続された端末装置へ送信され、それを制御装置で画像処理した上で結果がモニター等に出力される。例えば、箱桁210の側壁220を透過した画像を表示させることで、コンクリートや鉄筋240の状態を確認可能である。 The detector 400 is an image sensor or the like capable of measuring the intensity and distribution of X-rays. When the X-rays emitted from the X-ray source 600 are detected, the signal data is transmitted to a computer mounted on the inspection vehicle 300 or a terminal device connected to a communication network, and the result is obtained after image processing by the control device. Is output to a monitor or the like. For example, the state of the concrete or the reinforcing bar 240 can be confirmed by displaying an image transmitted through the side wall 220 of the box girder 210.
X線源600は、波長が1pm〜10nm程度の電磁波であるX線を照射する。側壁220の検査対象位置として指定された点検箇所に照射されたX線は、放射状に拡がって一部は吸収されるが側壁220を透過する。側壁220を挟んでX線源600と対向する位置に検出器400を配置することで、透過したX線が検出器400に到達する。 The X-ray source 600 irradiates X-rays, which are electromagnetic waves having a wavelength of about 1 pm to 10 nm. The X-rays radiated to the inspection location designated as the inspection target position of the side wall 220 spread radially and are partially absorbed, but pass through the side wall 220. By arranging the detector 400 at a position facing the X-ray source 600 across the side wall 220, the transmitted X-rays reach the detector 400.
検出器400を点検箇所の外側面に配置する場合、点検車300のアーム310の先端に位置調整手段320を介して検出器400を取り付け、アーム310で点検箇所まで接近させた後、位置調整手段320により遠隔操作で、外側面までの距離、上下左右のズレ、傾きなど検出器400の位置を微調整すれば良い。 When the detector 400 is arranged on the outer surface of the inspection point, the detector 400 is attached to the tip of the arm 310 of the inspection vehicle 300 via the position adjusting means 320, the arm 310 approaches the inspection point, and then the position adjusting means. The position of the detector 400 may be finely adjusted by remote control using the 320, such as the distance to the outer surface, the vertical and horizontal deviations, and the inclination.
また、X線源600を点検箇所の内側面に配置する場合、箱桁210の下面に間欠的に設けられたマンホール状の出入口250からX線源600を搬入し、作業者が台車700などでX線源600を点検箇所まで移動させ、内側面までの距離、高さ、左右のズレ、傾きなどを微調整すれば良い。 Further, when the X-ray source 600 is arranged on the inner surface of the inspection point, the X-ray source 600 is carried in from the manhole-shaped doorway 250 provided intermittently on the lower surface of the box girder 210, and the operator uses a trolley 700 or the like. The X-ray source 600 may be moved to the inspection point, and the distance to the inner surface, the height, the left-right deviation, the inclination, and the like may be finely adjusted.
なお、X線源600や検出器400の位置を調整するにあたり、X線源600と検出器400を対向させるために姿勢を同定させる必要があり、傾斜計、水準計、内界センサー(角度センサー)等を用いて、対向するような姿勢に整えても良い。 In addition, when adjusting the positions of the X-ray source 600 and the detector 400, it is necessary to identify the posture in order to make the X-ray source 600 and the detector 400 face each other, and an inclinometer, a level meter, and an internal sensor (angle sensor). ) Etc. may be used to adjust the posture so that they face each other.
レーザーレンジファインダー530は、赤外線などのレーザー光を対象物に照射し、その反射光により対象物までの直線距離、方位角及び迎角を測定する距離計である。なお、基準位置から対象物までの距離を算出可能な手段を用いれば良い。 The laser range finder 530 is a range finder that irradiates an object with laser light such as infrared rays and measures the linear distance, azimuth angle, and angle of attack to the object by the reflected light. A means capable of calculating the distance from the reference position to the object may be used.
例えば、箱桁210の出入口250を基準とし、検出器400にはターゲットマーカー410を取り付け、X線源600にはターゲットマーカー610を取り付けて、レーザーレンジファインダー530からターゲットマーカー410までの距離を基に検出器400の外部位置を算出し、レーザーレンジファインダー530からターゲットマーカー610までの距離を基にX線源600の内部位置を算出すれば良い。 For example, based on the entrance / exit 250 of the box girder 210, the target marker 410 is attached to the detector 400, the target marker 610 is attached to the X-ray source 600, and the distance from the laser range finder 530 to the target marker 410 is used as a reference. The external position of the detector 400 may be calculated, and the internal position of the X-ray source 600 may be calculated based on the distance from the laser range finder 530 to the target marker 610.
なお、基準位置を定めれば、ターゲットマーカー610を認識できる位置にレーザーレンジファインダー530を配置し、ターゲットマーカー410を認識できる位置にレーザーレンジファインダー530aを配置して、共通の基準位置を考慮した上で、X線源600の内部位置と、検出器400の外部位置を算出しても良い。 If the reference position is determined, the laser range finder 530 is placed at a position where the target marker 610 can be recognized, and the laser range finder 530a is placed at a position where the target marker 410 can be recognized, and the common reference position is taken into consideration. Then, the internal position of the X-ray source 600 and the external position of the detector 400 may be calculated.
図2(a)に示すように、橋梁200は、道路を遮断する河川などを横断するために架けられることから地面から高く離れていることが多く、図2(b)に示すように、箱桁210内をメンテナンスするための出入口250も、長い間隔を置いて空けられているので、側壁220の点検箇所における外部位置と内部位置を一致させることは困難である。 As shown in FIG. 2 (a), the bridge 200 is often high away from the ground because it is erected to cross a river or the like that blocks a road, and as shown in FIG. 2 (b), a box. Since the doorways 250 for maintaining the inside of the girder 210 are also opened at long intervals, it is difficult to match the external position and the internal position at the inspection point of the side wall 220.
図3に示すように、高所作業車500の昇降可能なプラットフォーム510に伸縮自在な設置台520、520aを介してレーザーレンジファインダー530、530aを取り付けても良い。 As shown in FIG. 3, the laser range finder 530 and 530a may be attached to the elevating platform 510 of the aerial work platform 500 via the telescopic installation bases 520 and 520a.
また、X線源600を載置した台車700に移動手段710と位置調整手段720を持たせ、点検車300からの遠隔操作により、箱桁210の出入口250から搬入されたX線源600を点検箇所まで移動させ、内側面までの距離、高さ、左右のズレ、傾きなどを微調整しても良い。 Further, the trolley 700 on which the X-ray source 600 is mounted is provided with the moving means 710 and the position adjusting means 720, and the X-ray source 600 carried in from the entrance / exit 250 of the box girder 210 is inspected by remote control from the inspection vehicle 300. You may move it to a place and fine-tune the distance to the inner surface, height, left-right deviation, inclination, and so on.
算出した内部位置及び外部位置は、レーザーレンジファインダー530、530aから点検車300などに搭載された制御装置に無線又は有線で送信され、制御装置がX線源600と検出器400とが対向するように、位置調整手段320、720に指示を出せば良い。これにより、点検箇所における外部位置と内部位置を一致させ、検出器400とX線源600を対向させることができる。 The calculated internal position and external position are transmitted wirelessly or by wire from the laser range finder 530, 530a to the control device mounted on the inspection vehicle 300 or the like so that the control device faces the X-ray source 600 and the detector 400. In addition, instructions may be given to the position adjusting means 320 and 720. As a result, the external position and the internal position at the inspection point can be matched, and the detector 400 and the X-ray source 600 can face each other.
図4に示すように、例えば、出入口250から箱桁210内に入った位置にレーザーレンジファインダー530を配置し、出入口250から箱桁210の外側面まで出た位置にレーザーレンジファインダー530aを配置する。レーザーレンジファインダー530の一方を基準位置とし、レーザーレンジファインダー530aの相対位置を取得しておく。 As shown in FIG. 4, for example, the laser range finder 530 is arranged at a position inside the box girder 210 from the doorway 250, and the laser range finder 530a is placed at a position protruding from the doorway 250 to the outer surface of the box girder 210. .. One of the laser range finder 530 is used as a reference position, and the relative position of the laser range finder 530a is acquired.
レーザーレンジファインダー530でX線源600までの距離を計測し、方位角580及び迎角580aを考慮して内部位置の座標を算出する。また、レーザーレンジファインダー530aで検出器400までの距離を計測し、方位角580及び迎角580aを考慮して外部位置の座標を算出する。レーザーレンジファインダー530aの相対位置を考慮して、内部位置と外部位置の位置ズレを算出し、X線源600と検出器400とが対向しているかどうかを判定すれば良い。 The distance to the X-ray source 600 is measured with the laser range finder 530, and the coordinates of the internal position are calculated in consideration of the azimuth angle 580 and the angle of attack 580a. Further, the distance to the detector 400 is measured by the laser range finder 530a, and the coordinates of the external position are calculated in consideration of the azimuth angle 580 and the angle of attack 580a. The positional deviation between the internal position and the external position may be calculated in consideration of the relative position of the laser range finder 530a, and it may be determined whether or not the X-ray source 600 and the detector 400 are opposed to each other.
なお、側壁220の厚さ等も考慮する。また、X線源600の照射方向が水平でなく傾いている場合は、検出器400もそれに合わせてX線を受けることができるように傾ける。側壁220内のシース230が重なって奥側が点検できない場合などに、X線源600と検出器400の対向関係を傾けても良い。 The thickness of the side wall 220 and the like are also taken into consideration. If the irradiation direction of the X-ray source 600 is not horizontal but tilted, the detector 400 is also tilted so as to receive X-rays accordingly. When the sheath 230 in the side wall 220 overlaps and the back side cannot be inspected, the facing relationship between the X-ray source 600 and the detector 400 may be tilted.
図5は、橋梁桁点検装置の別の構成を示す概要図である。図5(a)に示すように、橋梁桁点検装置100aは、橋梁200上の点検車300から下方に延ばしたアーム310によって箱桁210の外側面に配置されたX線源600と、箱桁210の下面に間欠的に設けられた出入口250から搬入されてX線源600から照射されたX線を受けるために箱桁210の内側面に配置された検出器400と、出入口250を基準として検出器400までの内部位置およびX線源600までの外部位置を計測するレーザーレンジファインダー530と、内部位置と外部位置を基に箱桁210の側面を挟んでX線源600と対向するように検出器400の位置を調整する手段を備える。 FIG. 5 is a schematic view showing another configuration of the bridge girder inspection device. As shown in FIG. 5A, the bridge girder inspection device 100a includes an X-ray source 600 arranged on the outer surface of the box girder 210 by an arm 310 extending downward from the inspection vehicle 300 on the bridge 200, and the box girder. With reference to the detector 400 arranged on the inner surface of the box girder 210 and the entrance / exit 250 to receive the X-rays carried in from the entrance / exit 250 intermittently provided on the lower surface of the 210 and irradiated from the X-ray source 600. A laser range finder 530 that measures the internal position up to the detector 400 and the external position up to the X-ray source 600, and the X-ray source 600 so as to face the X-ray source 600 with the side surface of the box girder 210 based on the internal position and the external position. A means for adjusting the position of the detector 400 is provided.
X線源600を箱桁210の内部に配置する場合、台車700に載置して移動させるが、重量があるため、箱桁210内の床面が平坦でないと移動が困難な場合がある。また、X線を箱桁210の内部から外部に照射するので、外部に出る放射線が多くなる。 When the X-ray source 600 is arranged inside the box girder 210, it is placed on the trolley 700 and moved, but due to its weight, it may be difficult to move it unless the floor surface inside the box girder 210 is flat. Further, since X-rays are emitted from the inside of the box girder 210 to the outside, a large amount of radiation is emitted to the outside.
X線源600を箱桁210の外部に配置する場合、点検車300のアーム310で移動させることになるので、アーム310がX線源600の荷重に耐えられる強度を持たせる必要がある。また、点検車300は、アーム310を延ばしたまま走行できる必要がある。X線源600は、X線を照射するために高周波を発生させるRFユニット600aなどの部品を有するが、箱桁210の小さな出入口250を通さなくて良ければ部品ごとに分ける必要もなくなる。 When the X-ray source 600 is arranged outside the box girder 210, it is moved by the arm 310 of the inspection vehicle 300, so that the arm 310 needs to have enough strength to withstand the load of the X-ray source 600. Further, the inspection vehicle 300 needs to be able to travel with the arm 310 extended. The X-ray source 600 has components such as an RF unit 600a that generates high frequencies to irradiate X-rays, but it is not necessary to separate the components for each component if it is not necessary to pass through the small entrance / exit 250 of the box girder 210.
X線源600を点検箇所の外側面に配置するために、例えば、カメラ等のセンサー320aを取り付けて、点検箇所付近の側壁220の画像を視認可能に撮影し、操作者が位置調整手段320で微調整できるように、撮影した画像を点検車300などに送信してモニター等に表示すれば良い。 In order to arrange the X-ray source 600 on the outer surface of the inspection point, for example, a sensor 320a such as a camera is attached, an image of the side wall 220 near the inspection point is visually captured, and the operator uses the position adjusting means 320. The captured image may be transmitted to the inspection vehicle 300 or the like and displayed on a monitor or the like so that fine adjustment can be made.
また、X線を箱桁210の外部から内部に照射する際に、作業者が箱桁210の外へ退避することになり、検出器400の位置の調整に何度も行き来することが多くなる。そのため、図5(b)に示すように、出入口250から箱桁210内に搬入した検出器400を移動手段710及び位置調整手段720を備えた台車700に載置し、制御装置を搭載した電源車300bなどから有線又は無線で遠隔操作すれば良い。次の点検位置までの距離が短い場合でも作業者が箱桁210内に入ることなく移動させることが可能となる。 Further, when irradiating X-rays from the outside to the inside of the box girder 210, the operator evacuates to the outside of the box girder 210, and the position of the detector 400 is often adjusted many times. .. Therefore, as shown in FIG. 5B, the detector 400 carried into the box girder 210 from the entrance / exit 250 is mounted on a trolley 700 equipped with a moving means 710 and a position adjusting means 720, and a power supply equipped with a control device is mounted. It may be remotely controlled by wire or wirelessly from a car 300b or the like. Even if the distance to the next inspection position is short, the operator can move the box girder 210 without entering the box girder 210.
検出器400のターゲットマーカー410に当てるレーザーレンジファインダー530、及びX線源600のターゲットマーカー610に当てるレーザーレンジファインダー530aは、点検車300aのアーム310aにより設けたプラットフォーム510に、伸縮可能な設置台520、520aを介して取り付ければ良い。なお、高所作業車500によりプラットフォーム510を設けても良い。 The laser range finder 530 that hits the target marker 410 of the detector 400 and the laser range finder 530a that hits the target marker 610 of the X-ray source 600 are on the platform 510 provided by the arm 310a of the inspection vehicle 300a, and the telescopic installation base 520. It may be attached via 520a. The platform 510 may be provided by the aerial work platform 500.
電源車300bは、各種装置に電源を供給する他、コンピューター等の制御装置を搭載する。制御装置は、出入口250などを基準位置として、検出器400の内部位置とX線源600の外部位置を、レーザーレンジファインダー530、530aから通信手段を介して取得する。 The power supply car 300b is equipped with a control device such as a computer in addition to supplying power to various devices. The control device acquires the internal position of the detector 400 and the external position of the X-ray source 600 from the laser range finder 530 and 530a via a communication means with the entrance / exit 250 or the like as a reference position.
制御装置は、センサー320aで位置を確認しながらX線源600が箱桁210の点検箇所まで移動するように位置調整手段320に動作指示し、取得した内部位置と外部位置を基に箱桁210の側壁220を挟んでX線源600と検出器400とが対向するように、検出器400が載置された台車700の移動手段710及び位置調整手段720に指示すれば良い。 The control device instructs the position adjusting means 320 to move the X-ray source 600 to the inspection point of the box girder 210 while checking the position with the sensor 320a, and based on the acquired internal position and external position, the box girder 210 The moving means 710 and the position adjusting means 720 of the carriage 700 on which the detector 400 is mounted may be instructed so that the X-ray source 600 and the detector 400 face each other with the side wall 220 of the above.
X線を照射したら検出器400から制御装置に撮像データが送信され、電源車300bにおいて撮像結果を確認可能である。撮像位置にズレがあれば、X線源600又は検出器400の位置を調整するように、制御装置から指示を出せば良い。撮像結果が適切であれば、点検箇所を次の場所に移動するように、制御装置から指示を出す。 When the X-ray is irradiated, the imaging data is transmitted from the detector 400 to the control device, and the imaging result can be confirmed on the power supply vehicle 300b. If there is a deviation in the imaging position, the control device may issue an instruction to adjust the position of the X-ray source 600 or the detector 400. If the imaging result is appropriate, the control device issues an instruction to move the inspection location to the next location.
図6及び図7は、橋梁桁点検装置の搬入を説明する図である。図6(a)に示すように、X線源600を箱桁210内に搬入する場合、点検車300のアーム310により、箱桁210の出入口250の下方に、プラットフォーム510を設ける。 6 and 7 are views for explaining the loading of the bridge girder inspection device. As shown in FIG. 6A, when the X-ray source 600 is carried into the box girder 210, the platform 510 is provided below the doorway 250 of the box girder 210 by the arm 310 of the inspection vehicle 300.
X線源600は、出入口250を通過可能な単位に部品分けしておく。部品をプラットフォーム510の設置台520に載置し、視覚誘導装置としてカメラ570をプラットフォーム510に取り付ける。図6(b)に示すように、カメラ570で撮影した画像を点検車300で確認しながら、部品を載せた設置台520が出入口250の下まで来るようにアーム310を操作させる。 The X-ray source 600 is divided into parts so that it can pass through the entrance / exit 250. The components are placed on the platform 520 of the platform 510, and the camera 570 is attached to the platform 510 as a visual guidance device. As shown in FIG. 6B, while checking the image taken by the camera 570 with the inspection vehicle 300, the arm 310 is operated so that the installation base 520 on which the parts are placed comes under the doorway 250.
図6(c)に示すように、設置台520を上昇させて出入口250を通し、X線源600の部品を持ち上げる。図6(d)に示すように、設置台520の昇降手段540により、部品が箱桁210内の底面の高さまで上がったら、図6(e)に示すように、昇降手段540から渡り板550を展開して出入口250の隙間の上に橋を架け、部品を運搬すれば良い。 As shown in FIG. 6C, the installation table 520 is raised, passed through the doorway 250, and the parts of the X-ray source 600 are lifted. As shown in FIG. 6 (d), when the parts are raised to the height of the bottom surface in the box girder 210 by the elevating means 540 of the installation base 520, as shown in FIG. 6 (e), the crossing plate 550 is moved from the elevating means 540. All you have to do is unfold it, build a bridge over the gap between the doorways 250, and transport the parts.
図7(a)(b)に示すように、これを繰り返して複数の部品を順次搬入し、運搬手段560により検出器400が配置される点検箇所まで各部品を移動させたらX線源600を組み立てれば良い。なお、図7(c)(d)に示すように、ジャッキ状に伸縮して下から持ち上げる昇降手段540に代わりに、箱桁210内から吊り下げて引き上げる昇降手段540aを用いても良い。 As shown in FIGS. 7A and 7B, this is repeated to sequentially carry in a plurality of parts, and when each part is moved to the inspection point where the detector 400 is arranged by the transportation means 560, the X-ray source 600 is transmitted. Just assemble. As shown in FIGS. 7 (c) and 7 (d), instead of the elevating means 540 that expands and contracts in a jack shape and lifts from below, the elevating means 540a that suspends and lifts from inside the box girder 210 may be used.
運搬手段560としては、部品を収納した箱をキャスターで移動させたり、箱を連結してまとめて引いたり、箱桁210内の凹凸の影響を受けないようにコンベア等は配置して移送したり等すれば良い。 As the transportation means 560, the box containing the parts can be moved by casters, the boxes can be connected and pulled together, or a conveyor or the like can be arranged and transferred so as not to be affected by the unevenness in the box girder 210. You can do it.
X線源600と検出器400を配置するにあたり、予め箱桁210の点検箇所に目印を付しておいても良い。カメラ等で目印を検知してX線源600及び検出器400の位置を合わせても良いし、目印の座標と、X線源600及び検出器400の座標を取得しておき、X線源600と検出器400が目印まで移動するように制御しても良い。なお、座標はGPS(全地球測位システム)などを利用して取得すれば良い。 When arranging the X-ray source 600 and the detector 400, the inspection points of the box girder 210 may be marked in advance. The mark may be detected by a camera or the like to align the positions of the X-ray source 600 and the detector 400, or the coordinates of the mark and the coordinates of the X-ray source 600 and the detector 400 may be acquired and the X-ray source 600 may be obtained. And the detector 400 may be controlled to move to the mark. The coordinates may be acquired using GPS (Global Positioning System) or the like.
また、予め箱桁210の形状を取得しておいても良い。ハンドヘルドスキャナーなどの三次元スキャナーを用いて、立体画像を作成し、空間座標と関連付けておくことで、点検箇所とX線源600及び検出器400の位置関係を把握しても良い。箱桁210の内部状況を把握することで、障害物を避けてX線源600又は検出器400を移動させることが可能となる。 Further, the shape of the box girder 210 may be acquired in advance. By creating a stereoscopic image using a three-dimensional scanner such as a handheld scanner and associating it with the spatial coordinates, the positional relationship between the inspection location and the X-ray source 600 and the detector 400 may be grasped. By grasping the internal state of the box girder 210, it is possible to move the X-ray source 600 or the detector 400 while avoiding obstacles.
レーザーレンジファインダー530は対象物を直視して位置を同定するので、途中に壁など障害物が存在すると遮られてしまうことがあるが、三次元モデルをベースにしてX線源600や検出器400を点検箇所まで誘導すれば、位置決めする際に有効である。 Since the laser range finder 530 identifies the position by looking directly at the object, it may be blocked if there is an obstacle such as a wall in the middle, but the X-ray source 600 and the detector 400 are based on the three-dimensional model. It is effective in positioning if you guide to the inspection point.
本発明によれば、橋梁の荷重を支持する箱桁の側壁にX線源と検出器を対向させて検査することができる。橋梁が地面から高所に配設されていて、箱桁に間欠的に存在する出入口の間隔が離れていても、箱桁内に配置されるX線源または検出器と、橋梁からアームを延ばして配置される検出器またはX線源とが、鉄筋の通った側壁を挟んで対向するように位置合わせすることができる。 According to the present invention, the X-ray source and the detector can be inspected facing each other on the side wall of the box girder that supports the load of the bridge. Even if the bridge is located high above the ground and the doorways that are intermittently present in the box girder are spaced apart, the X-ray source or detector located inside the box girder and the arm extend from the bridge. The detectors or X-ray sources arranged in the above direction can be aligned so as to face each other with the side wall through which the reinforcing bar passes.
以上、本発明の実施例を述べたが、これらに限定されるものではない。例えば、箱桁の側壁だけでなく底壁の検査にも適用しても良い。 Examples of the present invention have been described above, but the present invention is not limited thereto. For example, it may be applied not only to the side wall of the box girder but also to the inspection of the bottom wall.
100:橋梁桁点検装置
100a:橋梁桁点検装置
100b:橋梁桁点検装置
200:橋梁
210:箱桁
220:側壁
230:シース
240:鉄筋
250:出入口
300:点検車
300a:点検車
300b:電源車
310:アーム
310a:アーム
320:位置調整手段
320a:センサー
400:検出器
410:ターゲットマーカー
500:高所作業車
510:プラットフォーム
520:設置台
520a:設置台
530:レーザーレンジファインダー
530a:レーザーレンジファインダー
540:昇降手段
540a:昇降手段
550:渡り板
560:運搬手段
570:カメラ
580:方位角
580a:迎角
600:X線源
600a:RFユニット
610:ターゲットマーカー
700:台車
710:移動手段
720:位置調整手段
100: Bridge girder inspection device 100a: Bridge girder inspection device 100b: Bridge girder inspection device 200: Bridge 210: Box girder 220: Side wall 230: Sheath 240: Reinforcing bar 250: Doorway 300: Inspection car 300a: Inspection car 300b: Power supply car 310 : Arm 310a: Arm 320: Position adjusting means 320a: Sensor 400: Detector 410: Target marker 500: High-altitude work vehicle 510: Platform 520: Installation stand 520a: Installation stand 530: Laser range finder 530a: Laser range finder 540: Elevating means 540a: Elevating means 550: Crossing plate 560: Transporting means 570: Camera 580: Orientation angle 580a: Receiving angle 600: X-ray source 600a: RF unit 610: Target marker 700: Cart 710: Moving means 720: Position adjusting means
Claims (8)
前記橋梁上の点検車から下方に延ばしたアームによって前記箱桁の外側面に位置調整可能に配置される検出器と、
前記箱桁の下面に間欠的に設けられた出入口から搬入されて前記検出器にX線を照射するために前記箱桁の内側面に配置されたX線源と、
前記出入口を基準として前記X線源までの内部位置および前記検出器までの外部位置を計測する距離計と、を有し、
前記内部位置と前記外部位置を基に前記箱桁の側面を挟んで前記X線源と対向するように前記検出器の位置を調整する手段を備える、
ことを特徴とする橋梁桁点検装置。 A bridge girder inspection device for inspecting the strength of hollow box girders whose side surfaces and lower surfaces are closed among the girders that support the load of the bridge.
A detector that is position-adjustably placed on the outer surface of the box girder by an arm that extends downward from the inspection vehicle on the bridge.
An X-ray source that is carried in from an entrance / exit intermittently provided on the lower surface of the box girder and arranged on the inner surface of the box girder to irradiate the detector with X-rays.
It has a range finder that measures the internal position to the X-ray source and the external position to the detector with reference to the entrance / exit.
A means for adjusting the position of the detector so as to face the X-ray source across the side surface of the box girder based on the internal position and the external position is provided.
A bridge girder inspection device characterized by this.
前記橋梁上の点検車から下方に延ばしたアームによって前記箱桁の外側面に配置されたX線源と、
前記箱桁の下面に間欠的に設けられた出入口から搬入されて前記X線源から照射されたX線を受けるために前記箱桁の内側面に配置された検出器と、
前記出入口を基準として前記検出器までの内部位置および前記X線源までの外部位置を計測する距離計と、を有し、
前記内部位置と前記外部位置を基に前記箱桁の側面を挟んで前記X線源と対向するように前記検出器の位置を調整する手段を備える、
ことを特徴とする橋梁桁点検装置。 A bridge girder inspection device for inspecting the strength of hollow box girders whose side surfaces and lower surfaces are closed among the girders that support the load of the bridge.
An X-ray source placed on the outer surface of the box girder by an arm extending downward from the inspection vehicle on the bridge,
A detector arranged on the inner surface of the box girder to receive X-rays carried in from an entrance / exit intermittently provided on the lower surface of the box girder and irradiated from the X-ray source.
It has a range finder that measures the internal position to the detector and the external position to the X-ray source with reference to the entrance / exit.
A means for adjusting the position of the detector so as to face the X-ray source across the side surface of the box girder based on the internal position and the external position is provided.
A bridge girder inspection device characterized by this.
ことを特徴とする請求項1又は2に記載の橋梁桁点検装置。 The distance meter is a laser range finder, which measures the internal position or the external position from the distance to the detector or the target marker attached to the X-ray source.
The bridge girder inspection device according to claim 1 or 2.
ことを特徴とする請求項1乃至3の何れか一に記載の橋梁桁点検装置。 The rangefinder is supported on a platform that extends upward from a high-altitude worker on the ground, or a platform that extends downward from an inspection vehicle on the bridge.
The bridge girder inspection device according to any one of claims 1 to 3, wherein the bridge girder inspection device is characterized.
ことを特徴とする請求項1乃至4の何れか一に記載の橋梁桁点検装置。 The X-ray source is provided with means for moving to a position designated for inspection of the box girder and adjusting the orientation and height.
The bridge girder inspection device according to any one of claims 1 to 4, wherein the bridge girder inspection device is characterized.
ことを特徴とする請求項1乃至5の何れか一に記載の橋梁桁点検装置。 Obtaining the spatial shape of the box girder in advance with a three-dimensional scanner,
The bridge girder inspection device according to any one of claims 1 to 5, wherein the bridge girder inspection device is characterized.
前記箱桁の下方に設置したプラットフォームから前記箱桁の下面に間欠的に設けられた出入口へX線源の部品を順次搬入する工程と、
前記箱桁の外側面に配置された検出器と対向するように、運搬された前記X線源の部品を組み立てて前記箱桁の内側面に配置する工程と、を有し、
前記X線源の部品を前記プラットフォームから前記出入口まで遠隔操作で持ち上げるための昇降手段の位置がカメラで視覚誘導され、
前記出入口まで上がったら前記昇降手段から渡り板が展開されて前記X線源の部品が前記箱桁内に搬入及び運搬される、
ことを特徴とする橋梁桁点検方法。 This is a bridge girder inspection method for inspecting the strength of hollow box girders whose side surfaces and lower surfaces are closed among the girders that support the load of the bridge.
A process of sequentially carrying X-ray source parts from a platform installed below the box girder to an entrance / exit intermittently provided on the lower surface of the box girder.
It has a step of assembling the transported X-ray source parts and arranging them on the inner surface of the box girder so as to face the detector arranged on the outer surface of the box girder.
The position of the lifting means for remotely lifting the X-ray source component from the platform to the doorway is visually guided by the camera.
When it goes up to the doorway, the cross plate is unfolded from the elevating means, and the parts of the X-ray source are carried and carried into the box girder.
A bridge girder inspection method characterized by this.
前記橋梁上の点検車から下方に延ばしたアームによって前記箱桁の外側面に位置調整可能に配置された、センサーが取り付けられたX線源と、
前記箱桁の下面に間欠的に設けられた出入口から搬入されて前記X線源から照射されたX線を受けるために前記箱桁の内側面に配置された、位置調整可能に台車に載置された検出器と、
前記出入口を基準として前記検出器までの内部位置および前記X線源までの外部位置を距離計で計測して通信手段を介して受信する制御装置と、を有し、
前記制御装置は、前記センサーで位置を確認しながら前記X線源が前記箱桁の検査対象として指定された位置まで移動するように前記アームに動作指示し、前記内部位置と前記外部位置を基に前記箱桁の側面を挟んで前記X線源と前記検出器とが対向するように前記台車に移動指示する、
ことを特徴とする橋梁桁点検システム。 A bridge girder inspection system for inspecting the strength of hollow box girders whose sides and lower surfaces are closed among the girders that support the load of the bridge.
An X-ray source with a sensor mounted on the outer surface of the box girder by an arm extending downward from the inspection vehicle on the bridge.
Positionally adjustable trolley placed on the inner surface of the box girder to receive X-rays that are carried in from the entrance / exit intermittently provided on the lower surface of the box girder and irradiated from the X-ray source. With the detector
It has a control device that measures the internal position to the detector and the external position to the X-ray source with a range finder and receives them via a communication means with reference to the entrance / exit.
The control device instructs the arm to move the X-ray source to a position designated as an inspection target of the box girder while confirming the position with the sensor, and based on the internal position and the external position. Instruct the trolley to move so that the X-ray source and the detector face each other across the side surface of the box girder.
A bridge girder inspection system characterized by this.
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