JPH09312837A - Structure inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the structure inspection device whose detection performance is improved with excellent operability. SOLUTION: The device is made up of an extension/contraction enable pipe 1 in which a plurality follow pipes 1a, 1b,... are connected attachablely/ detachablely, a shake stop arm 2 slidable along the surface of a structure to prevent shake of the pipe, a camera 3 and a display section 4 connected to the camera 3. The shake preventing arm 2 has a support arm in pairs with a spring gripping the pipe, and a roll 23 supported by the support arm and freely turned, a lighting fixture 5, a distance measurement sensor 6, and an air jet nozzle 7. Thus, the shake prevention arm 2 gripping the pipe is placed along the surface of the structure to extend/contract the pipe without imposing a load on a worker P, the air jet nozzle at a tip is used to blows out depositted dust of checked parts and the distance measurement sensor is used to obtain a distance X between a front face of a bridge leg 54 and a base seat 91a while lighting them with the lighting fixture and a camera is used to pick up the image without a camera-shake and the inspection state is visually confirmed by using the connected display section.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure inspection device, and more particularly to a structure inspection device for inspecting a bridge structure or the like from a distant point to detect damage.

[0002]

2. Description of the Related Art Conventionally, for inspecting a structure that is difficult to access by a person, an operation wire and an inspection optical fiber are passed through a flexible pipe, and an object is inspected manually from a remote position. In addition, an articulated robot and a manipulator were mounted on a trolley, and a probe for inspection was provided at the tip of the robot to inspect the target object by remote control.

A flexible pipe in which a wire or an optical fiber is passed is suitable for inspecting the groove shape or the inside of the pipe, but for inspecting a complicated structure such as a bridge, the inspectable range is limited, Since the inspection device that uses the on-board robot etc. is large, it is not suitable for inspecting complicated structures such as bridges. For this reason, it is a portable inspection device that is suitable for inspecting complicated structures, even in places where people are difficult to approach, and as a portable inspection device, a rod part, a suction part attached to a part of the rod part, and a rod part. Device provided with an at least three-axis joint part having a degree of freedom and arranged at right angles to the axial direction of the rod provided at the end of the rod, and an inspection sensor provided at the end of the rod, and an inspection An inspection device has been proposed that includes a monitor device that monitors a sensor inspection state and a recording device that records a monitor signal from the monitor device (Japanese Patent Publication No. 7-31).
167).

In this inspection device, since the adsorption portion attached to a part of the rod portion is an electromagnet or a vacuum pad and is adsorbed to an object, there is an effect of preventing camera shake. It is also suitable for electrically driving the camera head to inspect a desired portion.

[0005]

However, since the above-mentioned improved inspection device uses the electromagnet or the vacuum pad to prevent the camera from swinging, it is inspected when the adsorption part is adsorbed and fixed by the electromagnet or the vacuum pad. Since the range is limited, attachment and detachment of the suction portion must be repeated many times in order to inspect other parts. There is a problem in that the attachment / detachment and movement of the suction part of this device, which uses the camera head as an electric drive device, are heavy and the workability is poor.

Further, in a structure such as a bridge which is exposed to the outside air, there is a problem that it is difficult to visually inspect the inspection portion because dust is accumulated in the inspection portion. SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned conventional problems, to provide a structure inspection device having good workability and improved detection performance.

[0007]

In order to achieve the above object, the invention as set forth in claim 1 of the present invention is to attach a plurality of hollow pipes to each other so that the hollow pipes can be fitted to each other and to be expanded and contracted. The structure includes a steady arm that is slidable along the surface of the structure and prevents the pipe from swinging, a camera fixed to the tip of the pipe, and a display unit electrically connected to the camera.

The invention according to claim 2 of the present invention is
The steady arm comprises a spring portion that rotatably grips the pipe, a pair of support arms fixed to the spring portion, and a rotatable roller that is pivotally supported by the pair of support arms. According to the third aspect of the present invention, an illuminator, a distance measuring sensor and an air jet nozzle are provided near the camera.

The pipe is expanded and contracted while the steady arm holding the pipe rotatably is provided along the side surface of the structure,
Blow away the dust on the inspected place accumulated by the air injection nozzle at the tip of the pipe, take an image with the camera while illuminating with the lighting, obtain the measurement distance with the distance measurement sensor, and check the inspection status and its You can visually check the distance information.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the structure inspection device according to the present invention is configured such that a plurality of hollow pipes 1a, 1b, ... It comprises a steady arm 2 that is slidable along the surface and prevents the pipe 1 from swinging, a camera 3 fixed to the tip 1t of the pipe 1, and a display unit 4 electrically connected to the camera 3. .

Hollow pipes 1a, 1 constituting the pipe 1
1n are hollow round rods made of glass fiber and having a total length of about 10 m, which can be expanded and contracted in a multi-step manner in sequence, and are extension / locking means (not shown) adopted for fishing rods and the like. It is stopped and shortened after use. FIG. 2 (a), (b)
As shown in FIG. 2, the steady arm 2 has a spring portion 21 that rotatably grips the pipe 1, a pair of support arms 22 and 22 fixed to the spring portion 21, and pivotally supported by the respective support arms 22. It consists of rotatable rollers 23, 23.

A so-called double clip structure is adopted for the spring portion 21, and the support arm 22 is fixed by screws 25 and 26 at positions sandwiching the spring portion gripping point D. Spring part 21
Is a leaf spring 21a whose cross section is substantially an isosceles triangle,
The pipe 1 is rotatably gripped while the two points M and N of the leaf spring 21a are in contact with each other. Spring portion gripping point D of the support arm 22
A roller 23 is axially supported by a screw 24 at an end portion opposite to. The support arm 22 and the roller 23 are preferably made of hard plastic.

Each support arm 22 has two members 22a and 22b.
It is preferable that the roller 23 is rotatably supported at the end portion between the members 22a and 22b and the spring portion 21 is fixed at the other end. May be rotatably supported, and the spring portion 21 may be fixed to the other end. FIG.
As shown in, the mounting arm 8 is screwed and fixed to the tip portion 1t of the hollow pipe 1 with a screw 83. This mounting arm 8
It has U-shaped mounting portions 81 and 82, and C is mounted on the mounting portion 81.
The CD camera 3 and the distance measuring sensor 6 are mounted on the mounting portion 82, and the halogen lamp 5 as an illuminating device has a column 85 and is screwed and fixed by a screw 84.

The CCD camera 3 and the display unit 4, and the distance measuring sensor 6 and the distance measuring display 61 are electrically connected by a cable L passing through the pipe 1. A cable connected to the halogen lamp 5 also passes through the pipe 1 from the tip 1t and is connected to a power source near the worker P (not shown). The distance measuring sensor 6 is connected to the distance measuring indicator 61 of the display unit 4 and can measure the distance X between the end of the bridge 93 and the front surface of the pedestal 91a.

An air injection nozzle 7 is provided at the tip 1t of the pipe 1 to which the CCD camera 3 is fixed, and a base 74 of the air injection nozzle 7 is inserted into the hollow pipe 1 to form an air pipe 72 (see FIG. It is connected to 1). Air tube 72
Compressed air is supplied by pressing the foot 73 of the air compressor 71. Next, the operation of the structure inspection device according to the present invention will be described.

As shown in FIG. 1, the abutment 9 of the high pier 94.
3, pedestal 91a, support body 91b, sole plate 91
Inspection of the bridge structure farther above the operator P for the bridge structure in which the bridge girder 92 is constructed via the bearing 91 composed of c and the connection between the bridge seat 93 and the bearing 91 and the like. To do this, the hollow pipe 1n at the tip 1t of the pipe 1
, Hold the spring part 21 and attach the steady rest arm 2,
The CCD camera 3, the halogen lamp 5, the distance measuring sensor 6, and the air jet nozzle 7 are moved to the inspection point at the tip 1t. That is, the rollers 23, 23 of the steady arm 2 are moved to the pier 94 until the supporting portion 91 reaches a height at which inspection can be performed.
While sliding along the side surface 94a, the hollow pipes 1a, 1b, ... Are sequentially extended by a hand-rolling method so that the pipe 1 has an appropriate height (length). Next, the pair of rollers 23, 23 of the steady rest arm 2 are attached to the side surface 94 of the pier 94.
The hollow pipe 1 which is rotatably gripped with the two points M and N of the plate spring 21a of the steady arm 2 in contact with the a is manually rotated, and the CCD camera 3 at the front end 1t, the halogen. The lamp 5, the distance measuring sensor 6 and the air injection nozzle 7 are directed to the inspection location.

When dust is accumulated on the bridge seat 93 and the pedestal 91a, the compressed air is sent to the air injection nozzle 7 through the air pipe 72 by stepping on the step 73 of the air compressor 71, and compressed from the air injection nozzle 7. Inject air to remove dust. While illuminating with the halogen lamp 5, the distance measuring sensor 6 obtains the distance X between the end of the bridge 93 and the front of the pedestal 91a, the CCD camera 3 takes an image, and the monitor TV 41 of the connected display 4 checks the condition. The distance information is visually confirmed on the distance measurement display 61. It is also possible to record on the video image scope 42 while observing.

In the structure inspection apparatus according to the present invention, the steady rest arm attached to the pipe smoothly moves along the surface of the structure by the roller 23 to surely prevent the shake, and the hollow pipe can be manually extended. Since the pipe 1 is rotatable, the device is lightweight and compact and has good workability. In the above embodiment, the inspection of the bearing portion on the bridge pier at a high distance was explained, but C for the tip 1t of the pipe 1
If the CD camera 3, the halogen lamp 5, the distance measuring sensor 6, and the air jet nozzle 7 are properly fixed, it is suitable for the structure inspection regardless of whether they are separated laterally or downward.

[0019]

As is apparent from the above description, according to the present invention, a plurality of hollow pipes can be fitted to each other so as to be expandable and contractible, and along the surface of the structure attached to the pipes. Consists of a steady arm that is slidable and prevents shake of the pipe, a camera fixed to the tip of the pipe, and a display unit electrically connected to the camera, and the steady arm can rotate the pipe An illuminator, a distance measuring sensor, and an air injection nozzle near the camera, each of which is composed of a spring part to be gripped by the user, a pair of support arms fixed to the spring part, and a rotatable roller pivotally supported by the pair of support arms. Is installed so that the steady arm that holds the pipe is extended along the surface of the structure, the pipe is expanded and contracted without burdening the operator, and the air injection nozzle at the tip of the pipe accumulates the inspection target. Blow away dust on the spot While irradiation with light fixtures, the distance calculated measurement distance measuring sensor, a camera shake imaged without a camera, a check status and length information in the connected display unit can be confirmed visually.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a structure inspection device according to the present invention.

2A and 2B show a steady arm of the structure inspection device according to the present invention, FIG. 2A being a plan view and FIG. 2B being a side view.

FIG. 3 is a diagram illustrating a camera, an illuminator, a distance measuring sensor, and an air injection nozzle at the tip of the pipe of the structure inspection device according to the present invention.

[Explanation of symbols]

1 ... Pipe 1a, 1b, ..., 1n ... Hollow pipe 1t ... Pipe tip 2 ... Steering arm 21 ... Spring part 22 ... Support arm 23 ... Roller 24, 25, 26 ... Screw C ... Spring part fulcrum D ... Spring part grip Point 3 ... Camera 4 ... Display unit 41 ... Monitor TV 42 ... Video image scope 5 ... Illuminator 6 ... Distance measuring sensor 61 ... Measuring distance indicator 7 ... Air injection nozzle 71 ... Air compressor 72 ... Air pipe 73 ... Stepping 8 ... Mounting arm 81, 82 ... Mounting part 83, 84 ... Fixed part 85 ... Support 91 ... Bearing part (91a ... Pedestal, 91b ... Bearing main body, 91
c ... sole plate) 92 ... bridge girder 93 ... bridge seat 94 ... bridge pier P ... worker

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[Procedure amendment]

[Submission date] August 7, 1996

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Brief description of drawings

[Correction method] Change

[Correction contents]

[Brief description of drawings]

FIG. 1 is a diagram illustrating a structure inspection device according to the present invention.

FIG. 2 shows a steady rest arm of the structure inspection device according to the present invention, (a) is a plan view, (b) is a side view , (c),
(D) is the partial explanatory view .

FIG. 3 is a diagram illustrating a camera, an illuminator, a distance measuring sensor, and an air injection nozzle at the tip of the pipe of the structure inspection device according to the present invention.

[Explanation of Codes] 1 ... Pipe 1a, 1b, ..., 1n ... Hollow pipe 1t ... Pipe tip 2 ... Steady stop arm 21 ... Spring portion 22 ... Support arm 23 ... Roller 24, 25, 26 ... Screw C ... Spring portion fulcrum D ... Spring grip point 3 ... Camera 4 ... Display unit 41 ... Monitor TV 42 ... Video image scope 5 ... Illuminator 6 ... Distance measuring sensor 61 ... Measuring distance indicator 7 ... Air injection nozzle 71 ... Air compressor 72 ... Air Pipe 73 ... Foot 8 ... Mounting arm 81, 82 ... Mounting portion 83, 84 ... Fixed portion 85 ... Strut 91 ... Bearing portion (91a ... Pedestal, 91b ... Bearing body, 91
c ... sole plate) 92 ... bridge girder 93 ... bridge seat 94 ... bridge pier P ... worker

Claims (3)

[Claims] 1. A plurality of hollow pipes (1a, 1b, ..., 1)
n) a pipe (1) to which the pipe (1) is fittable and expandable, and a steady arm (2) attached to the pipe and slidable along the surface of a structure to prevent the pipe from swinging;
Camera (3) fixed to the tip (1t) of the pipe
And a display unit (4) electrically connected to the camera, the structure inspection device. 2. The steady rest arm includes a spring portion (21) for rotatably gripping the pipe, a pair of support arms (22, 22) fixed to the spring portion, and the pair of supports. The structure inspection apparatus according to claim 1, wherein the structure inspection apparatus comprises a rotatable roller (23, 23) pivotally supported by an arm. 3. The structure inspection apparatus according to claim 1, wherein an illuminator (5), a distance measuring sensor (6) and an air jet nozzle (7) are provided near the camera.