JP2001039690A - Structural body inspection vehicle - Google Patents
Structural body inspection vehicleInfo
- Publication number
- JP2001039690A JP2001039690A JP11216586A JP21658699A JP2001039690A JP 2001039690 A JP2001039690 A JP 2001039690A JP 11216586 A JP11216586 A JP 11216586A JP 21658699 A JP21658699 A JP 21658699A JP 2001039690 A JP2001039690 A JP 2001039690A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- image
- inspection
- structural body
- moving distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Bridges Or Land Bridges (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、構造物点検車に関
するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure inspection vehicle.
【０００２】[0002]
【従来の技術】従来この種の構造物点検車として図３に
図示する橋梁点検車がある。この橋梁点検車は、車両１
上に旋回台２を旋回自在に配置し、当該旋回台２に第１
伸縮ブーム３を起伏自在に配置している。第１伸縮ブー
ム３は、基ブーム３ａに先ブーム３bを伸縮自在に嵌挿
させ、ブーム間には図示しないが適宜伸縮駆動手段を設
けてある。旋回台２と基ブーム３ａ間には、起伏シリン
ダ４を配置して伸縮ブーム３を起伏駆動可能にすると共
に、旋回台２と車両１間にも図示しないが旋回駆動装置
を配置し HYPERLINK mailto:r@d て旋回駆動可能にして
ある。2. Description of the Related Art There is a bridge inspection vehicle shown in FIG. This bridge inspection vehicle is a vehicle 1
The swivel 2 is disposed so as to be swivelable on the top, and
The telescopic boom 3 is arranged to be able to undulate. The first telescopic boom 3 has a base boom 3a in which a leading boom 3b is fitted so as to be extendable and contractable, and a telescopic driving means (not shown) is provided between the booms. Between the swivel base 2 and the base boom 3a, an up-and-down cylinder 4 is arranged so that the telescopic boom 3 can be driven up and down, and a swivel drive device (not shown) is also arranged between the swivel base 2 and the vehicle 1, and a HYPERLINK mailto: r @ d to enable turning drive.
【０００３】先ブーム３ｂの先端には、第２伸縮ブーム
５を起伏自在に配置している。第２伸縮ブーム５は順次
伸縮自在に嵌挿させた５段ブームからなり、各ブーム間
には図示しないが適宜の伸縮駆動手段を配置してあ
る。、第２伸縮ブーム５の基端と先ブーム３b間には第
１伸縮ブームの起伏駆動に関係なく第２伸縮ブーム５を
鉛直姿勢を維持させる姿勢維持装置（図示していな
い。）を配置している。第２伸縮ブーム５の先端には、
作業台６を旋回駆動可能に配置してある。[0003] A second telescopic boom 5 is arranged at the tip of the tip boom 3b so as to be able to move up and down. The second telescopic boom 5 is composed of a five-stage boom that is sequentially and elastically fitted and inserted, and appropriate telescopic driving means (not shown) is arranged between the respective booms. An attitude maintaining device (not shown) is provided between the base end of the second telescopic boom 5 and the leading boom 3b to maintain the vertical posture of the second telescopic boom 5 irrespective of the up / down driving of the first telescopic boom. ing. At the tip of the second telescopic boom 5,
The worktable 6 is arranged so as to be able to rotate.
【０００４】車両１前部には左右に一対前アウトリガ７
を、車両後部には左右に一対後アウトリガ８を配置し、
各アウトリガ７，８には地面に車両を支持させるジャッ
キ７ａ，８ａを備え、それぞれのジャッキ７ａ，８ａに
はローラ７ｂ，８ｂを配置してある。[0004] A pair of front outriggers 7 are provided at the front of the vehicle
And a pair of rear outriggers 8 are arranged on the left and right sides of the vehicle rear,
Each of the outriggers 7, 8 is provided with a jack 7a, 8a for supporting the vehicle on the ground, and the jacks 7a, 8a are provided with rollers 7b, 8b.
【０００５】このように構成している橋梁点検車Ａは、
図３に図示するように、第１伸縮ブーム３および第２伸
縮ブーム５を適宜伸縮ならびに起伏させて橋梁Ｂの下に
作業台６が位置するようにし、作業台６に搭乗した作業
者により橋梁Ｂのひび割れ等の橋梁Ｂの損傷・性状の変
化を目視により点検する際に使用されるものである。そ
して、アウトリガ７，８には前述したようにローラ７
ｂ，８ｂを配置してあるものだから、車両１を移動させ
ながらに橋梁Ｂの点検を行うようにしてある。[0005] The bridge inspection vehicle A thus configured is
As illustrated in FIG. 3, the first telescopic boom 3 and the second telescopic boom 5 are appropriately extended and retracted and raised and lowered so that the worktable 6 is located under the bridge B, and the worker who has boarded the worktable 6 has a bridge. It is used when visually inspecting damage and changes in properties of bridge B such as cracks in B. The outriggers 7 and 8 have rollers 7 as described above.
Since b and 8b are arranged, the bridge B is inspected while the vehicle 1 is moved.
【０００６】[0006]
【発明が解決しょうとする課題】ところが、上記橋梁点
検車Ａで橋梁Ｂの点検を行う場合、作業台６に搭乗した
作業者は、上向き姿勢で作業しなければならず、作業性
が悪いものとなっていた。また、作業台６に搭乗した作
業者は橋梁Ｂ上の車両１付近での状況を把握できず、車
両１に搭乗した作業者は橋梁Ｂ下の作業台６付近での状
況を把握できないために、車両１の走行移動ならびに作
業台６の移動については、車両１に搭乗した作業者と作
業台６に搭乗した作業者とは互いに連絡を取り合いなが
ら運転するようにしていた。However, when the bridge B is inspected by the bridge inspection vehicle A, the worker on the work table 6 must work in an upward posture, and the workability is poor. Had become. Also, the worker who boarded the worktable 6 cannot grasp the situation near the vehicle 1 on the bridge B, and the worker who boarded the vehicle 1 cannot grasp the situation near the worktable 6 under the bridge B. Regarding the traveling movement of the vehicle 1 and the movement of the work table 6, the worker who has boarded the vehicle 1 and the worker who has boarded the work table 6 are driven while communicating with each other.
【０００７】したがって、複数の作業者を必要とし、お
互いにうまく連絡を取り合って作業しないと事故につな
がるものであった。また、作業台６に搭乗した作業者は
高所での作業となるため、作業中には特に安全性への配
慮が必要であった。更に、点検は目視によるものである
から、点検に時間を要し効率の悪い作業となっていた。[0007] Therefore, a plurality of workers are required, and if they do not communicate well with each other, they may lead to an accident. In addition, since the worker who boarded the worktable 6 works at a high place, it is necessary to pay particular attention to safety during the work. Further, since the inspection is performed by visual inspection, it takes time for the inspection and the operation is inefficient.
【０００８】本発明は、こうした課題を解決した構造物
点検車を提供することを目的とするものである。SUMMARY OF THE INVENTION An object of the present invention is to provide a structure inspection vehicle that solves the above problems.
【０００９】[0009]
【課題を解決するための手段】上記の目的を達成するた
め、本発明の構造物点検車は、車両に旋回ならびに起伏
動可能な伸縮ブームを配置し当該伸縮ブームの先端部に
配置された構造物を撮影する複数個のラインセンサーと
照明装置、車両の走行移動距離を検出する移動距離検出
器、車両を走行移動させながら複数個のラインセンサー
により撮影される画像情報と前記移動距離検出器で検出
される車両の移動距離情報を基に移動距離に対する画像
を２次元画像として構築し画像処理して構造物の損傷・
性状の変化等を自動認識する演算処理装置、当該演算処
理装置の処理結果を表示するモニターを備えたことを特
徴とするものである。In order to achieve the above object, a structure inspection vehicle according to the present invention has a structure in which a telescopic boom capable of turning and raising and lowering is arranged on a vehicle, and the telescopic boom is disposed at a tip end of the telescopic boom. A plurality of line sensors and lighting devices for photographing objects, a moving distance detector for detecting the traveling distance of the vehicle, image information captured by the plurality of line sensors while traveling the vehicle, and the moving distance detector. Based on the detected moving distance information of the vehicle, an image corresponding to the moving distance is constructed as a two-dimensional image, and image processing is performed.
An arithmetic processing device for automatically recognizing a change in properties and the like, and a monitor for displaying a processing result of the arithmetic processing device are provided.
【００１０】[0010]
【発明の実施の形態】以下本発明の構造物点検車につい
て、図１〜図２に基づいて以下に説明する。なお、本発
明の実施形態を説明するに当たって、構造物点検車とし
て従来の技術で説明した橋梁点検車に適用した場合を例
に以下に説明する。よって、図３に図示し説明した符号
は、以下の説明においても同じものとして用い、詳細な
説明は省略する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A structure inspection vehicle according to the present invention will be described below with reference to FIGS. In describing the embodiment of the present invention, a case where the present invention is applied to a bridge inspection vehicle described in the related art as a structure inspection vehicle will be described below as an example. Therefore, the reference numerals shown and described in FIG. 3 are used in the following description as well, and the detailed description is omitted.
【００１１】図１において、Ｃは、本発明に係る橋梁点
検車である。１０は、ラインセンサーであって、構造物
を撮影するための画像撮影素子で、作業台６に複数個並
べて上向きに取付けている。１１は、ラインセンサー１
０で構造物を撮影する際の照明装置で、ラインセンサー
１０で撮影される構造物を照射する方向に向けて作業台
６に取付けている。In FIG. 1, C is a bridge inspection vehicle according to the present invention. Reference numeral 10 denotes a line sensor, which is an image capturing element for capturing an image of a structure, and a plurality of the line sensors are arranged on the work table 6 and mounted upward. 11 is a line sensor 1
A lighting device for photographing a structure at 0. The lighting device is attached to the worktable 6 in a direction in which the structure photographed by the line sensor 10 is irradiated.
【００１２】１２は、構造物（この場合橋梁Ｂ）との距
離を検出する距離検出器で例えばレーザ距離計等が用い
られる。１３は、移動距離検出器であって、前記アウト
リガ７，８のジャッキ７ａ,８ａに取付けたローラ７
ｂ，８ｂの回転を検出する検出器で構成され、例えばロ
ータリエンコーダ等が用いられる。この移動距離検出器
１３は、いずれか一つのローラ７ｂ，８ｂの回転を検出
すればよい。Reference numeral 12 denotes a distance detector for detecting the distance to a structure (in this case, bridge B), for example, a laser distance meter or the like is used. Reference numeral 13 denotes a moving distance detector, which is a roller 7 attached to the jacks 7a, 8a of the outriggers 7, 8.
It comprises a detector for detecting the rotation of b, 8b, for example, a rotary encoder or the like. The moving distance detector 13 may detect the rotation of any one of the rollers 7b and 8b.
【００１３】次に、橋梁点検車Ｃに備えた構造物の損傷
・性状の変化等（構造物のひび割れ等）の点検装置を図
２に図示以下に説明する。図２において、１４は、複数
個のラインセンサー１０により撮影される画像情報と、
前記移動距離検出器１３で検出される車両の移動距離情
報を基に移動距離に対する画像を２次元画像として構築
し画像処理して構造物の損傷・性状の変化等（構造物の
ひび割れ等）を認識する演算装置である。演算装置１４
では、取り込んだ画像を適当な大きさに分割し、予めプ
ログラムされている構造物の損傷・性状の変化等（構造
物のひび割れ等）検出モジュール（具体的には、特開平
１１−３９４７１号公報参照）で構造物の損傷・性状の
変化等（構造物のひび割れ等）の自動認識を行う。取り
込んだ画像と構造物の損傷・性状の変化等（構造物のひ
び割れ等）の自動認識結果をモニター１６で表示し、デ
ータレコーダ１５に記録する。また結果をプリンター１
７で出力することも可能になっている。Next, an inspection device provided in the bridge inspection vehicle C for inspecting damage to the structure, changes in properties, etc. (cracks of the structure, etc.) will be described with reference to FIG. 2, reference numeral 14 denotes image information captured by a plurality of line sensors 10;
Based on the moving distance information of the vehicle detected by the moving distance detector 13, an image corresponding to the moving distance is constructed as a two-dimensional image, and image processing is performed to detect damage to the structure, change in properties, and the like (cracks of the structure, etc.). It is a computing device that recognizes. Arithmetic unit 14
Then, the captured image is divided into an appropriate size, and a pre-programmed damage / change in property (such as cracking of the structure) detection module (specifically, Japanese Patent Application Laid-Open No. H11-39471) ) Automatically recognizes damages and changes in properties of structures (cracks of structures, etc.). The captured image and the result of automatic recognition of damage / change in properties of the structure (cracks of the structure) are displayed on the monitor 16 and recorded on the data recorder 15. In addition, printer 1
7, it is also possible to output.
【００１４】また、演算装置１４は、適時距離検出器１
２で検出したラインセンサー１０から構造物（この場合
橋梁Ｂ）までの距離情報を得て、撮影した画像の倍率を
求め、ラインセンサー１０からの画像情報とともにデー
タレコーダ１５に記録するようになっている。The arithmetic unit 14 is provided with a timely distance detector 1
The distance information from the line sensor 10 detected in Step 2 to the structure (in this case, the bridge B) is obtained, the magnification of the captured image is obtained, and the obtained information is recorded in the data recorder 15 together with the image information from the line sensor 10. I have.
【００１５】前記演算装置１４，データレコーダ１５，
モニター１６，プリンター１７は、車両１上に設けた計
測室（図１に図示しない）に配置されており、各検出器
からはケーブルで計測室の演算装置まで接続している。The arithmetic unit 14, data recorder 15,
The monitor 16 and the printer 17 are arranged in a measurement room (not shown in FIG. 1) provided on the vehicle 1, and each detector is connected to an arithmetic unit in the measurement room by a cable.
【００１６】このように構成された本発明に係る橋梁点
検車Ｃは、次のように作用する。まず、作業台６を位置
させる側のアウトリガ７ａ，８ａを張出し、第１伸縮ブ
ーム３，第２伸縮ブーム５を作動させ、作業台６を図１
に図示する状態にする。そして照明装置１１にて橋梁Ｂ
を照射し、車両１を走行移動させる。すると、各ライン
センサー１０にて検出された画像情報と、移動距離検出
器１３からの移動距離情報、および距離検出器１２から
の距離情報を得て、演算装置１４は前記移動距離検出器
１３で検出される車両の移動距離情報を基に移動距離に
対する画像を２次元画像として構築し画像処理して構造
物の損傷・性状の変化等（構造物のひび割れ等）を認識
する。そして、取り込んだ画像と構造物の損傷・性状の
変化等（構造物のひび割れ等）の自動認識結果をモニタ
ー１６に表示させるとともにデータレコーダ１５に記録
する。そして必要に応じてデータレコーダ１５に記録さ
れた取り込んだ画像と構造物の損傷・性状の変化等（構
造物のひび割れ等）の自動認識結果を再びモニター１６
に表示させたり、プリンター１７で出力して構造物の損
傷・性状の変化等（構造物のひび割れ等）の点検を行
う。The bridge inspection vehicle C according to the present invention thus configured operates as follows. First, the outriggers 7a and 8a on the side where the worktable 6 is located are extended, and the first telescopic boom 3 and the second telescopic boom 5 are operated.
To the state shown in FIG. Then, bridge B with lighting device 11
To cause the vehicle 1 to travel. Then, the image information detected by each line sensor 10, the moving distance information from the moving distance detector 13, and the distance information from the distance detector 12 are obtained. Based on the detected moving distance information of the vehicle, an image corresponding to the moving distance is constructed as a two-dimensional image, and image processing is performed to recognize damage to the structure, change in properties, and the like (cracks, etc. of the structure). Then, the monitor 16 displays the captured image and the result of automatic recognition of damage / change in property of the structure (crack of the structure) and the like, and records the result in the data recorder 15. If necessary, the captured image recorded in the data recorder 15 and the result of automatic recognition of damage to the structure and changes in properties (such as cracks in the structure) are again monitored by the monitor 16.
Or output by the printer 17 to check for damage to the structure and changes in properties (such as cracks in the structure).
【００１７】このようにして本発明に係る橋梁点検車Ｃ
は、構造物損傷・性状の変化等（構造物のひび割れ等）
を点検するものであるから、作業台６に作業者は搭乗し
なくても構造物の点検を可能にすることができ、従来の
ように高所での作業とならず、複数の作業者も必要とせ
ず、安全な点検作業を可能にするものである。また、点
検は目視によらず、自動認識させるようにしているもの
であるから、点検に時間を要せず効率の良い点検作業を
可能にする。Thus, the bridge inspection vehicle C according to the present invention is provided.
Means damage to the structure, change in properties, etc. (crack of the structure, etc.)
Therefore, it is possible to inspect the structure without the operator having to board the work table 6, so that the work is not performed at a high place as in the conventional case, and a plurality of workers can be inspected. It is not necessary and enables safe inspection work. In addition, since the inspection is performed automatically without visual inspection, the inspection can be performed efficiently without requiring much time.
【００１８】なお、上記実施形態では、距離検出器１２
を用い、適時距離検出器１２で検出したラインセンサー
１０から構造物（この場合橋梁Ｂ）までの距離情報を得
て、撮影した画像の倍率を求めるようにしているが、構
造物（この場合橋梁Ｂ）までの距離を一定にして点検
し、距離検出器１２を用いないものであってもよい。In the above embodiment, the distance detector 12
Is used to obtain the distance information from the line sensor 10 detected by the distance detector 12 to the structure (in this case, the bridge B), and obtain the magnification of the captured image. The inspection may be performed with the distance to B) being constant, and the distance detector 12 may not be used.
【００１９】また、上記実施形態では、伸縮ブームとし
て第１伸縮ブーム３と第２伸縮ブーム５を有する橋梁点
検車に実施した場合を説明したが、一つの伸縮ブームを
備え伸縮ブームの先端に作業台を備え作業しながら走行
移動できる高所作業車等にも実施できること勿論であ
る。In the above embodiment, the case where the present invention is applied to a bridge inspection vehicle having the first telescopic boom 3 and the second telescopic boom 5 as the telescopic boom has been described. Needless to say, the present invention can be applied to an aerial work vehicle or the like which can move while performing work while having a table.
【００２０】[0020]
【発明の効果】以上の如く構成し作用する本発明の構造
物点検車は、作業台に作業者は搭乗しなくても構造物の
点検を可能にすることができ、複数の作業者も必要とせ
ず、安全な点検作業を可能にするものである。また、点
検は目視によらず自動認識させるようにしているもので
あるから、点検に時間を要せず効率の良い点検作業を可
能にする。しかも、車両の移動距離情報を基に移動距離
に対する画像を２次元画像として構築し画像処理してい
るものであるから、構造物の損傷・性状の変化等（構造
物のひび割れ等）の位置を特定することができる。According to the structure inspection vehicle of the present invention constructed and operated as described above, it is possible to inspect the structure without the operator having to board the work table, and a plurality of workers are required. This enables safe inspection work. In addition, since the inspection is automatically recognized without visual inspection, the inspection can be performed efficiently without requiring much time. In addition, since the image corresponding to the moving distance is constructed as a two-dimensional image based on the moving distance information of the vehicle and image processing is performed, the position of damage to the structure or change in properties (cracks of the structure) can be determined. Can be identified.
【図１】本発明の構造物点検車を説明する説明図であ
る。FIG. 1 is an explanatory view illustrating a structure inspection vehicle according to the present invention.
【図２】本発明の構造物点検車に備えた構造物の損傷・
性状の変化等（構造物のひび割れ等）の点検装置を説明
する説明図である。FIG. 2 shows damage to a structure provided in the structure inspection vehicle of the present invention.
It is explanatory drawing explaining the inspection apparatus of a change of a property (crack of a structure, etc.).
【図３】従来の構造物点検車を説明する説明図である。FIG. 3 is an explanatory view illustrating a conventional structure inspection vehicle.
１ 車両 ３ 第１伸縮ブーム ５ 第２伸縮ブーム １０ ラインセンサー １１ 照明装置 １３ 移動距離検出器 １４ 演算装置 １６ モニター C 構造物点検車（橋梁点検車） DESCRIPTION OF SYMBOLS 1 Vehicle 3 1st telescopic boom 5 2nd telescopic boom 10 Line sensor 11 Lighting device 13 Moving distance detector 14 Computing device 16 Monitor C Structure inspection vehicle (bridge inspection vehicle)
Claims (1)
ムを配置し当該伸縮ブームの先端部に配置された構造物
を撮影する複数個のラインセンサーと照明装置、車両の
走行移動距離を検出する移動距離検出器、車両を走行移
動させながら複数個のラインセンサーにより撮影される
画像情報と前記移動距離検出器で検出される車両の移動
距離情報を基に移動距離に対する画像を２次元画像とし
て構築し画像処理して構造物の損傷・性状の変化等を自
動認識する演算処理装置、当該演算処理装置の処理結果
を表示するモニターを備えた構造物点検車。A telescopic boom capable of turning and raising and lowering is disposed on a vehicle, and a plurality of line sensors and an illuminating device for photographing a structure disposed at a tip portion of the telescopic boom, and a traveling distance of the vehicle are detected. A moving distance detector, which constructs an image corresponding to the moving distance as a two-dimensional image based on image information captured by a plurality of line sensors while moving the vehicle and moving distance information of the vehicle detected by the moving distance detector; A structural inspection vehicle equipped with an arithmetic processing unit for automatically recognizing damage and changes in properties of a structure by image processing, and a monitor for displaying processing results of the arithmetic processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11216586A JP2001039690A (en) | 1999-07-30 | 1999-07-30 | Structural body inspection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11216586A JP2001039690A (en) | 1999-07-30 | 1999-07-30 | Structural body inspection vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2001039690A true JP2001039690A (en) | 2001-02-13 |
Family
ID=16690749
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11216586A Pending JP2001039690A (en) | 1999-07-30 | 1999-07-30 | Structural body inspection vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2001039690A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007071184A1 (en) * | 2005-12-21 | 2007-06-28 | Zheng Wang | An expansion device of a bridge detection vehicle |
| KR101058831B1 (en) | 2010-07-01 | 2011-08-23 | 한국도로공사 | Boom device for the bridge inspection capable of multi-scanning the bridge |
| JP2014062433A (en) * | 2012-09-24 | 2014-04-10 | Hitachi Ltd | Structure imaging method |
| EP2444361A3 (en) * | 2010-10-22 | 2015-12-30 | Gerald Fuxjäger | Bridge bottom view device |
| CN105603872A (en) * | 2015-12-24 | 2016-05-25 | 中交一公局第二工程有限公司 | Intelligent self-propelled type bridge maintenance system |
| CN106049276A (en) * | 2016-08-04 | 2016-10-26 | 杭州专用汽车有限公司 | Horizontally telescopic type super-span bridge detection vehicle |
| JP2017025485A (en) * | 2015-07-16 | 2017-02-02 | 株式会社新日本コンサルタント | Structure inspection device and structure inspection method |
| CN106758805A (en) * | 2016-12-29 | 2017-05-31 | 天津大学 | A kind of Bridge Testing Equipment and its application method based on VR virtual reality technologies |
| CN108824188A (en) * | 2018-07-08 | 2018-11-16 | 管振平 | A kind of high stability truss-type bridge detection device with anti-tipping function |
| CN109972509A (en) * | 2019-04-18 | 2019-07-05 | 重庆交通大学 | Movable type bridge Measuring error device |
| CN112281650A (en) * | 2020-06-27 | 2021-01-29 | 孙钟 | Bridge inspection vehicle with lane centering function |
-
1999
- 1999-07-30 JP JP11216586A patent/JP2001039690A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007071184A1 (en) * | 2005-12-21 | 2007-06-28 | Zheng Wang | An expansion device of a bridge detection vehicle |
| KR101058831B1 (en) | 2010-07-01 | 2011-08-23 | 한국도로공사 | Boom device for the bridge inspection capable of multi-scanning the bridge |
| EP2444361A3 (en) * | 2010-10-22 | 2015-12-30 | Gerald Fuxjäger | Bridge bottom view device |
| JP2014062433A (en) * | 2012-09-24 | 2014-04-10 | Hitachi Ltd | Structure imaging method |
| JP2017025485A (en) * | 2015-07-16 | 2017-02-02 | 株式会社新日本コンサルタント | Structure inspection device and structure inspection method |
| CN105603872A (en) * | 2015-12-24 | 2016-05-25 | 中交一公局第二工程有限公司 | Intelligent self-propelled type bridge maintenance system |
| CN106049276A (en) * | 2016-08-04 | 2016-10-26 | 杭州专用汽车有限公司 | Horizontally telescopic type super-span bridge detection vehicle |
| CN106758805A (en) * | 2016-12-29 | 2017-05-31 | 天津大学 | A kind of Bridge Testing Equipment and its application method based on VR virtual reality technologies |
| CN106758805B (en) * | 2016-12-29 | 2018-07-03 | 天津大学 | A kind of Bridge Testing Equipment and its application method based on VR virtual reality technologies |
| CN108824188A (en) * | 2018-07-08 | 2018-11-16 | 管振平 | A kind of high stability truss-type bridge detection device with anti-tipping function |
| CN108824188B (en) * | 2018-07-08 | 2019-11-08 | 管振平 | A kind of high stability truss-type bridge detection device with anti-tipping function |
| CN109972509A (en) * | 2019-04-18 | 2019-07-05 | 重庆交通大学 | Movable type bridge Measuring error device |
| CN109972509B (en) * | 2019-04-18 | 2021-01-26 | 重庆交通大学 | Movable bridge detection and maintenance device |
| CN112281650A (en) * | 2020-06-27 | 2021-01-29 | 孙钟 | Bridge inspection vehicle with lane centering function |
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