비파괴검사학회지 (Journal of the Korean Society for Nondestructive Testing)

  • 제34권1호
  • /
  • Pages.60-67
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  • 2014
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  • 1225-7842(pISSN)
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  • 2287-402X(eISSN)
한국비파괴검사학회 (The Korean Society for Nondestructive Testing)
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누설자속센서를 탑재시킨 이동로봇을 이용한 사장교 케이블 비파괴검사 시스템의 현장 적용

Field Application of a Cable NDT System for Cable-Stayed Bridge Using MFL Sensors Integrated Climbing Robot

  • 투고 : 2013.09.30
  • 심사 : 2013.12.03
  • 발행 : 2014.02.28
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초록

본 연구에서는 사장교의 핵심부재인 케이블 점검을 위한 자동화 검사 시스템을 개발하였다. 강자성체로 이뤄진 연속체 구조물인 케이블의 내외부 검사에 적합한 비파괴검사법으로는 선행연구를 통해 검증된 누설자속탐상법이 적용되었고, 홀센서와 영구자석을 이용하여 다채널의 누설자속 측정용 자기센서헤드를 제작하였다. 또한 케이블 검사의 자동화로 접근성을 높이기 위해 사장교 케이블을 따라 이동할 수 있는 바퀴굴림 방식의 케이블 등반 로봇을 설계 및 제작하였고, 로봇을 다양한 디바이스에서 모니터링 및 제어하기 위한 컨트롤 프로그램을 제작하였다. WLAN 방식의 무선통신기술을 적용하여 원격으로 계측 데이터 전송 및 로봇제어를 가능하게 하였다. 최종적으로 본 연구를 통해 개발된 세부 기술들이 연동된 누설자속탐상법 기반 케이블 이동형 진단 시스템을 이용하여 실제 운용중인 서해대교의 케이블을 대상으로 현장 시험을 수행함으로써 본 시스템의 현장 적용성을 검증해보았다.

In this study, an automated cable non-destructive testing(NDT) system was developed to monitor the steel cables that are a core component of cable-stayed bridges. The magnetic flux leakage(MFL) method, which is suitable for ferromagnetic continuum structures and has been verified in previous studies, was applied to the cable inspection. A multi-channel MFL sensor head was fabricated using hall sensors and permanent magnets. A wheel-based cable climbing robot was fabricated to improve the accessibility to the cables, and operating software was developed to monitor the MFL-based NDT research and control the climbing robot. Remote data transmission and robot control were realized by applying wireless LAN communication. Finally, the developed element techniques were integrated into an MFL-based cable NDT system, and the field applicability of this system was verified through a field test at Seohae Bridge, which is a typical cable-stayed bridge currently in operation.

키워드

참고문헌

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피인용 문헌

  1. Non-contact Local Fault Detection of Railroad Track using MFL Technology vol.14, pp.5, 2014, https://doi.org/10.9798/KOSHAM.2014.14.5.275
  2. Study on MFL Technology for Defect Detection of Railroad Track Under Speed-up Condition vol.18, pp.5, 2015, https://doi.org/10.7782/JKSR.2015.18.5.401
  3. Magnetic Flux Leakage Method based Local Fault Detection for Inspection of Wire Rope vol.28, pp.4, 2015, https://doi.org/10.7734/COSEIK.2015.28.4.417