JPH08128015A - Bridge beam inspection facility and its inspection robot - Google Patents

Abstract

PURPOSE: To inspect a bridge beam promptly and accurately as well as a road structure at any place. CONSTITUTION: A rail 3 is provided under a bridge beam 1 and a carriage 10 which has a video camera 11 arranged along the rail 3 is moved with a wireless controller 15. The back of the bridge beam 1 is photographed by the video camera 11 and its image is displayed on an appearance image monitoring TV 17 to inspect the bridge beam 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bridge inspection equipment and a bridge inspection robot used for inspecting a road structure, particularly an underside of an elevated road such as an expressway.

[0002]

2. Description of the Related Art In recent years, road structures in Japan have been aged and damaged due to the increase in traffic volume, the increase in size of vehicles, and the long service. It is considered that the maintenance of safety and extension of life of bridges damaged in this way will become more important in the future.

Conventionally, such a bridge inspection has been performed by an articulated arm robot attached to an inspection vehicle (for example, an automobile such as a truck), and the inspection vehicle has been run on the bridge.

In some cases, the above inspection vehicle is run under the bridge for inspection.

[0005]

However, in the inspection by the bridge inspection vehicle as described above, the inspection by the inspection vehicle from the bridge is accompanied by traffic regulation, and it is difficult to use it on a heavy traffic road because of social problems. Is. In addition, traffic regulation only for inspection is not realistic. In addition, the articulated arm robot from the inspection vehicle cannot inspect all parts of the bridge, and when inspecting from above the bridge, the robot arm is raised once every time there is a sign or lighting. It also took a lot of time to get it down to the proper position.

Further, in the case of inspection by an inspection vehicle from under the bridge, it can be performed only on a road or a portion corresponding to the road below, and this is also impossible if the road below is heavy traffic. In addition, it was impossible to inspect at high ground, railways, rivers, mountains, etc.

The present invention solves the above-mentioned conventional problems, and a bridge inspection facility and a bridge inspection robot therefor capable of inspecting a bridge quickly and accurately and inspecting road structures at any place. The purpose is to provide.

[0008]

In order to achieve the above object, the bridge inspection equipment of the present invention comprises a route guide means provided at the lower part of the bridge, a carriage that moves along the route guide means, and the carriage. And an output means for displaying and / or storing the inspection result of the inspection means.

Further, the bridge inspection robot of the present invention comprises a trolley that moves along the route guide means and an inspection means arranged on the trolley, and transmission means for transmitting the inspection result of the inspection means and / or Alternatively, it is provided with an output means for displaying and / or storing the inspection result.

Further, the inspection means is rotatable. Further, an operation means for operating at least one of movement of the carriage or rotation of the inspection means, an operation signal transmission means for transmitting an operation signal of the operation means, and an operation signal transmitted by the operation signal transmission means It is provided with at least one of a driving means for moving the carriage and a rotating means for rotating the inspection means.

Further, the transmitting means or the output means transmits, outputs or stores at least one of the rotation angle of the inspection means and the position information of the carriage.

Further, a contact sensor is provided in front of the traveling direction of the truck, and stop means for stopping the movement of the truck upon receiving a contact signal from the contact sensor is provided.

A contact sensor is provided at the same height as the inspection means. Further, it is provided with a means for pulling back the carriage.

[0014]

With the above structure, the bridge inspection facility of the present invention is
By moving the carriage onto the route guide means and inspecting the bridge by the inspection means provided on the carriage, the bridge can be inspected easily and quickly.

Further, the bridge inspection robot of the present invention can easily and quickly inspect the bridge by providing the inspection means on the carriage.

Further, since the inspection means is rotatable, it is possible to inspect the whole structure only by providing the route guide means at one place under the bridge.

Further, since the operation signal transmitting means and the receiving means are provided, the inspection can be performed by remote operation.

Further, the maintenance work position can be easily confirmed by outputting the rotation angle and the movement position information.

Further, since the contact sensor is provided in the traveling direction, even when there is an obstacle on the route guiding means,
It is possible to prevent interference of obstacles and prevent the inspection means from colliding with the bridge by providing the contact sensor at the same height as the inspection means.

Further, since the trolley is equipped with a means for pulling back the trolley, even if the trolley cannot be moved, it can be easily recovered.

[0021]

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing the overall construction of a bridge inspection facility in one embodiment of the present invention. In FIG. 1, 1 is a bridge which is an elevated road on which an automobile runs, 2 is a bridge pier supporting the bridge 1, 3 is a rail which is a route guide means provided under the bridge 1, and the bridge 2 is , Pier 2
Is provided to penetrate. Reference numeral 10 denotes a dolly that moves on the rail 3, and a video camera 11 is mounted on the dolly. The image is transmitted by the transmitting / receiving antenna 12, and signals such as movement of the dolly 10 and rotation of the video camera 11 are transmitted to the antenna 12. Is being received by. Reference numeral 15 is a wireless controller for operating movement of the carriage 10 and rotation of the video camera 11, and 16 is a transmission / reception antenna for transmitting a control signal and receiving an image of the video camera 11, 17
Is an external image monitoring television for displaying the received video, and 18 is a recording device.

In the above structure, in this embodiment, the truck 10 is moved onto the rail 3 provided under the bridge 1, and the video image captured by the video camera 11 mounted on the truck 10 is used as the appearance image monitoring television 17. The bridge 1 is inspected by displaying it.

Next, the details will be described. Figure 2 (a)
FIG. 3 is a top view of the bridge inspection robot in one embodiment of the present invention, FIG. 3B is a side view of the same, and FIG. 3 is a view of the rotation mechanism section of the bridge inspection robot as seen from the traveling direction.

In the figure, 3 is a rail installed at the bottom of the bridge 1, and 10 is a truck running on the rail 3.
The dolly 10 has a video camera 11 and a spotlight 2
0, video camera vertical rotation motor 21, video camera vertical rotation position detection potentiometer 22, video camera horizontal rotation motor 23, video camera horizontal rotation position detection potentiometer 24, control device 25,
Truck traveling motor 26, battery 27, receiver 2
8 and the transmitter 29 are mounted. A bumper 30 is attached to the front surface of the trolley 10, and this bumper 30 serves as a contact sensor. When an obstacle is present on the rail 3, it is detected that the obstacle has come into contact with the bumper 30 to move the trolley 10. By stopping, it is possible to prevent interference. The wire 31 is connected to the rear portion of the carriage 10, and when the carriage 10 cannot run, the carriage 10 can be collected by winding the wire 31 by the winding device 32. The winding device 32 is the rail 3
It may be installed at any position above. A contact sensor 33 is provided at the same height as the video camera 11 before and after the video camera 11 in the traveling direction. The cart 10 is rotated by rotating the cart 10 to a position where it does not interfere.

The trolley traveling motor 26 includes a trolley rear wheel 34.
To a belt 14 via a belt 14. By rotating the motor 26 forward and backward, the carriage 10 is moved back and forth. A rotary encoder 35 is attached to the carriage traveling motor 26 to detect the traveling distance of the carriage 10. The video camera 11 and the spotlight 20 are attached to the vertical and horizontal rotation mechanisms, and when the vertical rotation motor 21 is rotated, the rotation shaft 37 is rotated via the belt 29. Since the bracket 38 is connected to the rotary shaft 37, the bracket 38 and the video camera 1
1 can also rotate at the same time to change the upper and lower image positions. In addition, the left / right rotation motor 2
When 3 is rotated, the rotating shaft 41 is rotated via the belt 40. When the rotation shaft 41 rotates, the video camera 11 mounted on the bracket 42 connected to the rotation shaft 41.
The entire mechanism that rotates the up and down rotates in the horizontal direction, and the image position can be changed in the horizontal direction.

In the present embodiment, before and after traveling of the carriage 10, retreating, rotating the video camera 11 vertically and horizontally, zooming the video camera 11, turning on / off the video camera 11,
The ON / OFF of the spotlight 20 is all operated by the wireless controller 15.

FIG. 4 is a diagram showing an image of the appearance image monitoring television 17 of the video camera 11. Reference numeral 50 is a vertical angle, 51 is a horizontal angle, 52 is a traveling position of the carriage, and 53 is a signal display when an interference sensor is detected. The position detector provided in each drive unit can store and display the position of the video image of the inspection point, and the position can be reproduced when the inspection position is reconfirmed and the state after maintenance is confirmed.

As described above, in the present embodiment, it is possible to perform inspection by a remote wireless operation even in a place where the inspector cannot approach, or in a place without an inspection path. By rotating the video camera 11 left and right, up and down, In addition to being able to be applied to the inspection work at all points of 1, the position of the video image of the inspection point can be stored and displayed, so that the inspection position can be reconfirmed or the state of the maintenance position after maintenance can be confirmed. Further, the zoom function of the video camera 11 enables detailed investigation of aged or damaged places.

In this embodiment, the wireless controller 15 is used for remote operation, but it may be operated by wire. Similarly, there is no problem even if the image of the video camera 11 is sent by wire.

Further, in this embodiment, the video camera 1
Although the inspection is performed according to No. 1, it is also possible to perform inspection using laser light.

Further, in the present embodiment, the image captured by the video camera 11 is output to the external image monitoring television 17 of the wireless controller 15 and recorded by the recording device 18, but the recording device 18 is mounted on the carriage 10 itself. It is also possible to provide and check the image by watching the image after the trolley 10 is collected.

Further, in the present embodiment, the winding device 32, which is a means for pulling back the carriage 10, is installed on the rail 3, but the installation place is not limited to the rail 3, and the installation on the carriage 10 is not limited. It goes without saying that the winding device 32 may be provided, the end of the wire 31 may be fixed on the rail 3, and the winding device 32 may be operated by remote control.

[0034]

As is apparent from the above description, according to the present invention, it is possible to easily, quickly and accurately inspect a bridge at any place.

Further, it is possible to inspect the entire bridge only by providing the route guide means at one place. Further, since the inspection can be performed by remote control, the space under the bridge only needs to have a space for the carriage to move, so that the space can be small and the safety of the inspector can be achieved.

Further, the maintenance work position can be easily confirmed by outputting the rotation angle and the movement position information.

In addition, the contact sensor can prevent the interference of obstacles, prevent the inspection means from colliding with the bridge, and can easily collect the trolley even when the trolley cannot be moved due to the pullback means. It is possible.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of a bridge inspection facility according to an embodiment of the present invention.

FIG. 2A is a top view of a bridge inspection robot according to an embodiment of the present invention, and FIG. 2B is a side view of the same.

[Fig. 3] A view of the rotating mechanism of the bridge inspection robot as seen from the traveling direction.

FIG. 4 is a diagram showing an image of an appearance image monitoring television.

[Explanation of symbols]

 1 bridge 3 rails 10 dolly 11 video camera 12 transmitting / receiving antenna 15 wireless controller 16 transmitting / receiving antenna 17 external image monitoring TV 18 recording device 21 vertical rotation motor 23 horizontal rotation motor 26 trolley traveling motor 30 bumper 32 winding device 33 contact sensor

Claims (8)

[Claims] 1. A route guide means provided under a bridge,
A bridge inspection facility comprising a trolley that moves along the route guiding means, an inspection means provided on the trolley, and an output means for displaying and / or storing an inspection result of the inspection means. 2. A dolly that moves along route guide means,
A bridge inspection robot comprising: an inspection means arranged on the trolley, and an output means for transmitting an inspection result of the inspection means and / or an output means for displaying and / or storing the inspection result. 3. The bridge inspection robot according to claim 2, wherein the inspection means is rotatable. 4. An operation means for operating at least one of movement of a dolly or rotation of an inspection means, operation signal transmission means for transmitting an operation signal of the operation means, and operation signal transmitted by the operation signal transmission means. The bridge inspection robot according to claim 2 or 3, further comprising at least one of a driving means for moving the dolly in response to the movement and a rotating means for rotating the inspection means. 5. The bridge inspection robot according to claim 2, wherein the transmission means or the output means transmits, outputs or stores at least one of the rotation angle of the inspection means and the position information of the carriage. 6. The bridge inspection robot according to claim 2, further comprising a contact sensor in front of the traveling direction of the truck, and stop means for stopping the movement of the truck upon receiving a contact signal from the contact sensor. 7. The bridge inspection robot according to claim 6, further comprising a contact sensor at the same height as the inspection means. 8. The bridge inspection robot according to claim 2, further comprising means for pulling back the carriage.