JPH08100411A - Wall back face inspecting vehicle - Google Patents

Abstract

PURPOSE: To prevent a collision with a soundproof wall by monitoring the state near the work region as the image of a video camera, and correcting the work attitude. CONSTITUTION: This wall back face inspecting vehicle is provided with a lift mast 11 on the deck section 1 of a vehicle 2, a boom 18 at the upper end section of the lift mast 11, an elevator 22 suspended at the other end of the boom 18, and a workbench 31 having an operation board 33 instructing the motion of the lift mast 11, boom 18, and elevator 22 to the elevator 22. A television camera 38 is fitted to the elevator 22 for monitoring at least the workbench 31 and the vicinity of the work region, and the motion of the lift mast 11, boom 18, and elevator 22 can be instructed from a vehicle side operation board 17 while being monitored by a monitor on the vehicle 2 side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rear wall inspection vehicle used for inspecting and repairing the rear surface of structures such as soundproof walls of roads and railroad tracks and bridges.

[0002]

2. Description of the Related Art Conventionally, as a wall back surface inspection means for inspecting and repairing the back surface of a soundproof wall of a road, an elevator is mounted on a vehicle at a boom end supported by a lift mast, and the elevator is installed on the soundproof wall. Raise and lower to the back of the elevator, and then inspect the above from the workbench at the elevator end
Something to repair is proposed.

In this conventional rear wall inspection vehicle, a vehicle side on the road, for example, a driver in the driver's cab and an operator on the workbench, communicate and instruct work contents by intercom. You can check the work status.

[0004]

However, in such a conventional rear wall inspection vehicle, from the cab of the vehicle,
Since it is impossible to monitor the workbench and the worker behind the soundproof wall and the work content, it is said that confirmation of the worker's safety and work status is not sufficient with only the intercom call. There was a problem.

Further, when the lift mast, boom and elevator are extended to the vicinity of the maximum length, the amount of deflection of these becomes large, and when the vehicle is tilted and stopped on the road. However, there is a problem in that the workbench also tilts due to its own load, making it difficult to perform inspections and repairs.

Further, when the boom crosses the upper part of the soundproof wall and is accidentally lowered greatly by the lift mast, the boom collides with the upper edge of the soundproof wall,
There were problems such as damage to the soundproof wall and boom, and danger to the operator of the workbench due to impact.

The present invention has been made by paying attention to the above-mentioned conventional problems, and makes it possible to monitor the state of the work table and the vicinity of the work area as an image of a video camera, and at the same time, the work posture on the work table. The purpose of the invention is to obtain a vehicle with a rear wall inspection that can easily correct the damage and also prevent a collision accident with a soundproof wall due to a boom.

[0008]

A wall back inspection vehicle according to the present invention is a lift mast horizontally rotatably mounted on a deck portion of a vehicle and vertically extendable, and an upper end portion of the lift mast. A boom supported at one end thereof and extending / contracting in the horizontal direction; an elevator rotatably supported with respect to the other end of the boom and vertically extensible so as to be horizontally rotatable with respect to the elevator. A workbench that is supported and has at least the lift mast, the boom, and an operation panel that commands the operation of the elevator is provided, and a television camera is attached to the elevator so as to monitor at least the workbench and the vicinity of the work area. A vehicle-side operation panel that supports the operations of the lift mast, boom, elevator, etc. while monitoring the image captured by the camera on the vehicle-side monitor To allow al instruction, further, when provided on the lower surface position of the boom detected an obstacle, is provided with a obstacle detection sensor that allows regulating the downward movement of the lift mast.

[0009]

A video camera is attached to the elevator according to the present invention, and while monitoring an image of a work table and a work state captured by the video camera on a monitor on the vehicle side, the work contents can be changed by using the intercom or the like. While checking and confirming safety, make it possible to efficiently inspect and repair the backside of soundproof walls.

Further, by making it possible to arbitrarily adjust the instruction angle of the elevator with respect to the boom by means of a hydraulic cylinder or the like, it becomes possible to correct the inclination of the vehicle on the road and the inclination of the workbench due to the bending deformation of the boom and the like. Make it easy and safe.

Further, an obstacle detection sensor provided on the bottom surface of the boom immediately detects that the boom has come into contact with an obstacle such as a soundproof wall, restricts the lowering of the boom, and detects the boom and the obstacle. While preventing damage, it is possible to prevent a worker on the workbench from being shocked or to be accidentally dropped due to the shock.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a partially cutaway front view of a rear wall inspection vehicle of the present invention, and FIG. Reference numeral 1 denotes a deck portion of the vehicle 2, and 3 denotes jack-up cylinders provided at four locations below the deck portion 1.

Also, these jack-up cylinders 3
Is also provided in the lower portion of the deck portion 1 and is pivotally supported by the end of the rod 5a of the hydraulic cylinder 5 in the outrigger 4 that expands and contracts in the horizontal direction, and the horizontal position of the jackup cylinder 3 in the lower portion of the deck portion 1 can be arbitrarily selected. I have to.

Further, 6 is a drive shaft which is provided under the deck portion 1 and is driven by the engine of the vehicle 2. 7 is a hydraulic pump which is driven by being connected to the drive shaft 6. 8 is an oil tank. , 9 are solenoid valves for supplying the oil in the oil tank 8 to the jack-up cylinder 3 and the hydraulic cylinder 5 in the outrigger 4.

On the other hand, on the slewing bearing installed on the upper surface of the deck portion, there is installed a five-stage lift mast 11 which is lifted and lowered by one lift cylinder 10 and connected by a wire rope 12. Hydraulic pressure is supplied to the lift cylinder 10 from the hydraulic pump 7 via a swivel joint 12 and a solenoid valve 13.

Further, 14 is the lift cylinder 10 described above.
And a swing motor for horizontally rotating the lift mast 11.

Reference numeral 15 is a slip ring for a plurality of circuits for connecting an electric signal between a rotating portion below the lift mast 11 and the rotating portion (not shown) via a cable 16.

A signal from an operation panel 17 installed on the deck 1 of the vehicle 2 can be supplied to the fixed portion side of the slip ring 15 through a wiring 16.

Reference numeral 18 denotes a boom, one end of which is supported on the upper end of the lift mast 11. Inside the boom 18, there is provided a hydraulic cylinder 20 which expands and contracts by receiving hydraulic pressure through the solenoid valve 13 and hydraulic hose 19. There is.

On the lower surface of the boom 18, contact with an obstacle such as a soundproof wall beside the road is detected to detect the boom 1
An obstacle detection sensor 21 is provided for preventing the descent of 8 further.

The obstacle detection sensor 21 has a limit switch 21 on a bar 21a, which is a movable body held by the lower surface of the boom 18 and idled with a constant stroke.
A configuration in which b is brought into contact is adopted.

On the other hand, the upper end of a five-stage elevator 22 is supported at the other end of the boom 18 so as to be tiltable around a support shaft 23, and the elevator 22 and the boom 18 are supported.
In the meantime, a hydraulic cylinder 2 for tilting the elevator 22 is controlled.
4 is installed.

This elevator 22 is equipped with a hydraulic winch 25.
The control cable 26 is guided up and down by a cable reel 27 in the elevator 22.

Numeral 28 is a solenoid valve for controlling the hydraulic pressure applied to the hydraulic winch 25.

A swivel base 29 is supported at the lower end of the elevator 22 via a swivel bearing 30, and a working base 31 is fixed to the swivel base 29.

An intercom 32 and an operation panel 33 are installed in the work table 31, and a guide roller 34 for contacting a work site and stabilizing the work table is attached to the outside of the work table 31. ing.

Reference numeral 35 is a turning motor for horizontally driving the turning base 29.

A TV camera 38 is attached to an appropriate place on the outer periphery of the upper portion of the elevator 22 via turning motors 36 and 37, and the TV camera 38 is turned by a command from the operation panel 17 on the vehicle 2 side. By tilting the work table 31, the work site and other work situations can be imaged over a wide area.

The image captured by the TV camera 38 is a monitor 39 arranged near the driver's cab of the vehicle 2 or the operation panel 17.
It can be taken care of by.

An intercom 40 installed on the operation panel 17 is connected to the intercom on the workbench 31.

Next, the operation will be described. First, in order to obtain an efficient working range, the distance of the soundproof wall along the road and the distance in the traveling direction with respect to the position to be inspected should be within a preset range. Then, the vehicle 2 is stopped.

Next, the vehicle 2 is fixed by the outrigger 4.

That is, first, the PTO switch is turned on in the driver's cab to drive the hydraulic pump 7, and then the vehicle is raised above the deck portion 1 and the power switch of the control operation panel 17 is turned on.

Further, the outrigger 4 is fully extended by operating the outrigger horizontal extension switch on the operation panel 17,
Then, the jack-up cylinder 3 is jacked up by the outrigger vertical extension switch.

At this time, the levels of the jack-up cylinders 3 at the four positions are adjusted by the level gauge so that the vehicle body is leveled, and the installation of the outriggers 4 is completed.

Further, it is confirmed by a grounding end lamp or the like that the jack-up cylinder 3 and the outrigger 4 are completely extended by the proximity switch in both horizontal and vertical extension.

When the overhang is insufficient, it is electrically locked so that all operations such as raising, lowering, turning, and expanding and contracting cannot be performed in order to ensure safety.

Each outrigger 4 is equipped with a sensor (not shown) for ground contact detection, and when the stability of the vehicle body is lost and the reaction force of the outrigger 4 disappears even at one place, it is brought to an emergency stop.

Next, the case where the workbench 31 is set to a predetermined position will be described. First, the worker boards the workbench 31 and automatically sets the changeover switch of the operation panel 33.

When the elevating switch on the operation panel 33 is continuously pushed upward, the lift cylinder 10 extends and the lift mast 11 rises.

That is, the lift mast 11 is lifted and lowered by being suspended by the wire rope 10a which expands and contracts in synchronization with the extension operation of one hydraulic lift cylinder 10.

The lift mast 11 has a five-stage extension structure, and a hydraulic hose / electric control cable 19 that moves up and down together with the mast is provided on the outside of the lift mast 11, and the inside of the lift mast always detects the amount of lifting. The rotary encoder 11a and the like are stored.

Next, the turning switch provided on the operation panel 33 is operated to rotate the hydraulic motor, and the boom 18 is turned by about 90 ° in the direction intersecting with the exterior plate as shown in FIG.

A swivel bearing 11b is provided at the base of the lift mast 11, and a swivel joint 12 and a slip ring 15 are attached to the center of the swivel bearing 11b.

At this time, when the boom 18 collides with an obstacle, the hydraulic relief operates, and the turning angle of the boom is also detected by the rotary encoder 11c.

Next, the boom telescopic switch on the operation panel 33 is operated to extend the boom 18 until the outer surface of the front wall of the workbench 31 comes to the top of the exterior plate, and the origin reset switch is pushed here to set the origin. Let the computer recognize the positional relationship between the inspection vehicle and the exterior plate, and control the subsequent automatic operation.

The boom 18 has a two-stage extension structure and is expanded and contracted by a hydraulic cylinder 20 and a wire rope (not shown) that operates in synchronization with the hydraulic cylinder 20. If the tip of the boom 18 collides with an obstacle during the extension operation of the boom 18. The hydraulic relief operates.

A hydraulic hose / control cable 20a is installed inside the boom 18 so that it can be expanded and contracted, and the expansion and contraction amount of the boom 18 is determined by the rotary encoder 1.
8a.

Next, the position of the work table 31 is moved from the origin position to an arbitrary position.

That is, the work table 31 is moved up and down by an elevating switch. When lowering the work table 31, first,
First, the lift mast 11 is lowered to a preset height in the computer.

As a result, the position of the boom 18 can be lowered as much as possible, and the work can be performed with increased stability.

In order to prevent the lower surface of the boom 18 from colliding with the top of the exterior plate when the boom 18 descends, the obstacle detection sensor 21 is connected to the top of the exterior plate before the main body of the boom 18 collides with the boom. The descent operation of 18 can be stopped in an emergency.

On the other hand, the elevator 22 is moved up and down by a hydraulic winch 25 with four-step extension, and an encoder 22c for detecting the height of elevation is incorporated in the elevator 22 to prevent an obstruction while the work table 31 is descending. When it collides with an object, the encoder 22c cannot detect the amount of extension, issues an alarm, and makes an emergency stop.

At this time, the elevator 22 is tiltably attached to the tip of the boom 18, and the angle with respect to the boom 18 can be adjusted by the hydraulic cylinder 24.

Further, the work table 31 can be swung around the lift mast 11 by a swivel switch, and can be swung around the elevator 22.

That is, a swing bearing 29 is provided at the lowermost portion of the elevator 22, and a slip ring 45 for control electricity is provided at the center of the swing bearing 29, and is driven to swing by an electric motor 35.

This turning angle is determined by the rotary encoder 22d.
Can be detected by.

The operating speeds of the lift mast 11, boom 18, elevator 22 and the like can be selectively switched between high speed and low speed by a speed change switch or the like.

Further, according to the present invention, the horizontal copying operation of the workbench 31 can be performed.

In this case, after selecting the horizontal copying operation mode on the operation panel 33, the turning switch is pushed.

Then, the lift mast 11 turns and the work table 31 rotates in the opposite direction while being synchronized with the same angle, so that the work table 31 always maintains a posture parallel to the exterior plate.

Further, since the distance between the workbench 31 and the exterior plate changes as the lift mast 11 turns, the boom 20 expands and contracts based on the turning angle calculated by the computer so as to keep the distance constant.

Further, in order to keep the distance between the work table 31 and the wall surface of the exterior plate within a certain range, a guide roller 34 is provided on the front surface of the work table 31, and the pressing amount of the guide roller 34 is constantly checked. As a result, the correction operation can be performed when it deviates from a certain area.

Fine adjustment is possible by a manual switch (not shown).

Furthermore, according to the present invention, the vertical copying operation of the work table 31 can be performed.

In this case, the vertical copying operation mode is selected on the operation panel 33 and the elevating switch is pressed.

As a result, the elevator 22 moves up and down.

After that, the work table 31 is provided on the stage portion of the soundproof wall.
In order to keep the distance between the wall and the wall constant, the expansion and contraction of the boom 18 and the turning of the lift mast 11 are synchronized.

This operation is performed at a very low speed because the computer controls the expansion / contraction amount and turning amount while calculating the position of the workbench 31.

On the other hand, when the workbench 31 is to be stored, the up / down switch on the operation panel 33 is set to the up side, and the workbench 31 and the lift mast 11 are moved up to the highest position.

Next, the automatic storage button is pressed to carry out automatic storage.

That is, this causes the boom 18 to contract,
It stops at a predetermined length, then turns and automatically stops at a predetermined position.

At this time, the lift mast 11 descends, and the storage is completed immediately before the storage while reducing the speed.

The automatic storage button operates only while it is being pressed.

Since the workbench 31 moves behind the soundproof wall, it cannot be visually confirmed from the vehicle side.

Therefore, the work situation on the workbench 31 can be photographed by the television camera 38 and viewed on the monitor 39 on the vehicle side.

Both parties are contacted using the intercoms 32 and 40.

The inspection by the television camera 38 is performed as follows.

First, the unattended inspection work by using the television camera 38 is preferentially performed by the key switch on the control panel 17.

The origin switch is operated by the operation switch of the control panel 17 in the same manner as in the above case, the position of the workbench 31 is reversed by 180 °, and the boom 18 is extended until the workbench 31 is sufficiently separated from the soundproof wall. Then, the final origin is set at this position.

Then, the direction of the television camera 38 is adjusted by the remote controller of the monitor 39 to adjust the focus.

Then, horizontal scanning and vertical scanning operation are performed while adjusting the required zoom amount.

[0083]

As described above, according to the present invention, a lift mast horizontally rotatably installed on the deck portion of a vehicle and extendable in the vertical direction, and one end of the lift mast is provided at the upper end portion thereof. A boom that is supported and expands and contracts horizontally
An elevator that is tiltably supported with respect to the other end of the boom and that is vertically extensible and hung, and an elevator that is horizontally rotatable with respect to the elevator and that commands at least the operations of the lift mast, the boom, and the elevator. Provided with a workbench having an operation panel to be installed, a television camera is attached to the elevator so as to monitor at least the workbench and the vicinity of the work area, and while monitoring a captured image of the television camera on the vehicle-side monitor, The lift mast,
Obstacle detection that enables instructions from the vehicle-side operation panel that supports the operation of the boom and elevator, and that can regulate the lowering of the lift mast when an obstacle is detected at the bottom of the boom and detects an obstacle. Since the sensor is provided, it is possible to monitor the condition near the work table and work area as an image from a video camera, and it is possible to easily correct the work posture on the work table. There is an effect that a thing that can prevent a collision accident can be obtained.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a rear wall inspection vehicle according to an embodiment of the present invention.

FIG. 2 is a plan view showing an entire back wall inspection vehicle in FIG.

[Explanation of symbols]

 1 Deck 2 Vehicle 11 Lift mast 17 Vehicle side operation panel 18 Boom 21 Obstacle detection sensor 22 Elevator 31 Workbench 33 Operation panel 38 Television camera 39 Monitor

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI Technical display area H04N 7/18 D

Claims (1)

[Claims] 1. A lift mast installed on a deck portion of a vehicle so as to be horizontally rotatable and extendable in the vertical direction, and a boom having one end supported by an upper end portion of the lift mast and extending in the horizontal direction. , An elevator that is tiltably supported with respect to the other end of the boom and that is hung down so that it can expand and contract in the vertical direction, and that is supported so as to be horizontally rotatable with respect to the elevator, and at least the operations of the lift mast, the boom, and the elevator are performed. A work table having an operation panel for commanding, a television camera attached to the elevator so as to monitor at least the work table and the vicinity of the work area, and while monitoring a captured image of the television camera on the vehicle side monitor, A vehicle-side operation panel that supports the operations of the lift mast, boom, and elevator, and an obstacle provided on the bottom surface of the boom to detect obstacles. The vehicle with the back wall inspection provided with the obstacle detection sensor that can regulate the lowering of the lift mast when the above.