JP7080689B2 - Structure repair equipment and repair method - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act http: // www. maeda. co. jp / select / 2017/11/21/1695. html On November 21, 2017, Maeda Corporation, on its website published at the above address, repair equipment for structures invented by Kenji Ota, Yoshimitsu Nakajima, Naoichi Akiyama, and Taku Matsubayashi. And the repair method was disclosed.

The present invention relates to a structure repairing device such as a bridge and a method for repairing a structure using the repairing device.

The applicants, etc., inspect structures such as bridges by using a concrete pump truck equipped with a concrete pump foldable multi-stage boom to reduce development costs and upfront investment. , And proposed an inspection method (see Patent Document 1).
The structure inspection device includes a concrete pump truck provided with a foldable multi-stage boom capable of extension operation, and an inspection member provided at the tip of the foldable multi-stage boom for inspecting the surface of the structure. That is, by using a concrete pump truck equipped with a foldable multi-stage boom that can be extended, the foldable multi-stage boom is extended and the inspection member provided at the tip thereof is brought close to the surface of the structure. Inspect the surface of the structure by remote control.

Then, the applicants and others have proposed a structure inspection device that prevents the inspection device from interfering with the surface of the structure and protects it (see Patent Document 2).
In addition to the same configuration as in Patent Document 1, the structure inspection device includes a protective member that prevents and protects the inspection device from interfering with the surface of the structure. The protective member is, for example, a pair of tires provided on a base on which an inspection device is installed. Further, a cushioning member for cushioning an impact when the protective member interferes with the surface of the structure is provided.

Further, in the field of structure maintenance, a repair robot has been proposed in addition to the repair technique carried out by a conventional worker (see, for example, Patent Document 3).
The repair robot of Patent Document 3 is configured to move along the coaxial line with slits while receiving power from the coaxial line with slits laid on the inner wall surface of the tunnel.

Further, a mobile suspension scaffolding method used for construction work of structures such as bridges, elevated roads, railroads, and buildings, and inspection / painting / repair work of high places for these structures has been proposed (Patent Document 4).
Furthermore, recently, repair techniques using drones and the like have been developed.

Japanese Unexamined Patent Publication No. 2016-22306 Japanese Unexamined Patent Publication No. 2017-226374 Japanese Unexamined Patent Publication No. 2016-37808 Japanese Unexamined Patent Publication No. 2016-138444

However, the repair technique by workers involves work on scaffolding, etc., so it is necessary to manage the safety of workers.
Further, in the repair robot of Patent Document 3, a coaxial line with a slit must be laid on the inner wall surface of the tunnel, and new equipment must be constructed in the structure itself to be repaired, resulting in high cost. It ends up.

Further, in the mobile suspension scaffolding method of Patent Document 4, a special mobile suspension scaffolding facility must be constructed in the structure itself to be repaired, resulting in high cost.

An object of the present invention is to make it possible to repair the surface of a structure such as a bridge by using a concrete pump truck equipped with a foldable multi-stage boom that can be extended, thereby providing equipment for repairing the structure to be repaired. It is to reduce the cost while eliminating the need to build the concrete.

In order to solve the above problems, the invention according to claim 1 is
A concrete pump truck equipped with a foldable multi-stage boom that can be extended,
It is provided at the tip of the foldable multi-stage boom and consists of a repair device for repairing the surface of the structure .
The foldable multi-stage boom
It has a first boom connected to the concrete pump truck and at least two or more extension booms connected to the first boom, and the tip end side of each extension boom is placed on the base end side of each extension boom. Equipped with a boom camera to shoot
The repair equipment is
A fixing member for attaching to the extension boom, a base on which a repair jig is installed, and an angle of the base with respect to the foldable multi-stage boom provided between the fixing member and the base. It is characterized by a structure repair device having a changeable drive member and a protective member arranged on the base and having a tip portion protruding from the repair jig .

The invention according to claim 2 is
The structure repair device according to claim 1.
The repair jig is
A spraying tool for spraying repair paint or repair material on the surface of the structure,
A chipping tool for chipping the concrete surface of the structure,
Alternatively, it is a sheet material pressing tool for covering the concrete surface of the structure with a seismic retrofitting sheet material.

The invention according to claim 3 is
The structure repair device according to claim 1 or 2.
The base is provided with a base camera and lighting equipment for photographing and illuminating the surface of the structure.

The invention according to claim 4 is
The structure repair device according to any one of claims 1 to 3.
The protective member is characterized by comprising a plurality of support rods installed around the repair jig on the base and a universal caster installed at the tip of the support rod .

The invention according to claim 5 is
It has a foldable multi-stage boom that can be extended and consists of a first boom connected to a concrete pump truck and at least two extension booms connected to the first boom, and on the base end side of each extension boom, Equipped with a boom camera that captures the tip of each stretch boom
At the tip of the foldable multi-stage boom, a fixing member for attaching to the extension boom, a base for installing a repair jig, and the foldable multi-stage boom provided between the fixing member and the base. In order to repair the surface of a structure having a drive member capable of changing the angle of the base and a protective member arranged on the base and having a tip portion protruding from the repair jig. Install the repair equipment,
It is characterized by a method of repairing a structure in which the repair device is brought close to the surface of the structure to be repaired by using an image of the boom camera when the foldable multi-stage boom is extended .

The invention according to claim 6 is
The method for repairing a structure according to claim 5.
A camera and lighting equipment for photographing and illuminating the surface of the structure are mounted on the base.
The camera and the lighting device are remotely controlled to take an image while irradiating the surface to be repaired with the structure, and while checking the shot image on the screen of the terminal at hand, the repair device is remotely controlled to take the structure. It is characterized by repairing the surface.

According to the present invention, since the surface of a structure such as a bridge is repaired by using a concrete pump truck equipped with a foldable multi-stage boom that can be extended, it is not necessary to construct equipment for repairing the structure to be repaired. At the same time, the cost can be suppressed.

It shows the structure of one Embodiment of the structure to which the repair device of this invention was applied, and is the schematic vertical sectional view applied to the repair of a bridge from the bridge. Similarly, it is a schematic vertical sectional view applied to repairing piers and the like from above the bridge. It is a schematic vertical sectional view applied to the repair of the pier, the upper part of the pier, the pier, etc. It is a side view which shows the concrete structural example of the main part including the repair equipment. It is the figure which looked at the repair equipment part of FIG. 4 from the side. It is a top view of the repair equipment part of FIG. It is a perspective view which shows the meshing of the gear of a swing mechanism and a swing mechanism. It is the figure which looked at the repair equipment part of FIG. 7 from the side. The second embodiment is shown, and it is a side view which shows the repair equipment. It is the figure which looked at the repair equipment part of FIG. 9 from the side. It is a top view of the repair equipment part of FIG. 3 is shown in the third embodiment, and is a side view showing a repair device. It is the figure which looked at the repair equipment part of FIG. 12 from the side. It is a top view of the repair equipment part of FIG.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

(Overview)
A concrete pump truck equipped with a foldable multi-stage boom with a transport pipe to pump fresh concrete (ready-mixed concrete) to a remote location is a general-purpose vehicle that can be found anywhere in the country at construction sites, and even qualified personnel. There are many. By using such a concrete pump truck, it is possible to suppress the upfront investment of new repair robots and the like, and there are abundant operators.
In addition, there is no need to build a scaffold, and not only can the construction period for repair work be shortened, but also the work can be carried out safely because there is no direct work by workers other than the boom and repair equipment.

(Embodiment 1)
FIG. 1 shows a state in which a structure to which the repair device of the present invention is applied is applied to repair a bridge from above the bridge as a schematic configuration of an embodiment, where 1 is a bridge (structure) and 10 is a concrete pump truck (boom). (Car), 11 is a concrete pump, 12 is a swivel, 13 is an out trigger, 20 is a foldable multi-stage boom, and 30 is a repair device.

As shown in the figure, for repairing the underside of the floor slab, girders, etc. of the bridge 1 which is a structure, a foldable multi-stage boom 20 with a transport pipe 25 for pumping fresh concrete to a remote place is installed. A boom car 10 which is a concrete pump car provided is used.
The boom vehicle 10 is equipped with a concrete pump 11, a swivel table 12, a power supply device such as a battery and a generator (not shown), a water tank, and the like, and is equipped with front, rear, left, and right outriggers 13, and is folded on the swivel table 12. The type multi-stage boom 20 is assembled.

In the illustrated example, the foldable multi-stage boom 20 is a four-stage boom including a first boom 21, a second boom 22, a third boom 23, and a fourth boom 24, and these first boom 21, second boom 22, and third boom 24. The boom 23 and the fourth boom 24 are sequentially connected via a horizontal axis, and are each oscillated around the horizontal axis.
A repair device 30 for repairing the lower surface of the deck, the girder, and the like of the bridge 1 is provided at the tip of the transport pipe 25 extending from the tip of the fourth boom 24.

That is, the swivel member 41 is rotatably connected to the tip of the transport pipe 25 via a joint 40 which is a fixing member, and is connected to the swivel member 41 via a horizontal coupling pin (not shown) in a box shape as shown in the drawing. The repair equipment 30 is swingably connected.
By using a victic joint generally used for joining a transport pipe of a concrete pump, the joint 40 can firmly attach the repair device 30 regardless of the manufacturer or model of the concrete pump.

The repair device 30 is oscillated around the coupling pin with respect to the swivel member 41 by remote control by wireless or wired operation, and the swivel member 41 is also rotationally driven with respect to the joint 40 at the tip of the transport pipe 25 by remote control. To.
The swivel member 41 may have an expansion / contraction function for minute positioning, which is difficult in boom operation.

A camera and lighting (not shown) are incorporated in the box-shaped portion of the repair device 30.
The camera is, for example, a still image, a moving image, or a digital camera capable of acquiring a three-dimensional image with a compound eye. ..
Further, the lighting is, for example, LED lighting, and is arranged so that the reflection is not reflected while illuminating the shooting direction of the camera.

The method of repairing the bridge 1 by using the boom wheel 10 provided at the tip of the foldable multi-stage boom 20 with the above repair device 30 will be described below.

As shown in the figure, after the boom vehicle 10 is run on the bridge 1 and stopped at a predetermined position, the front, rear, left and right outriggers 13 are projected outward and grounded on the bridge 1 to stabilize the boom vehicle 10.

Next, the swivel base 12 is swiveled to extend the first boom 21, the second boom 22, the third boom 23, and the fourth boom 24 of the foldable multi-stage boom 20, respectively, and as shown in the figure, the bridge 1 Extend from the side to the bottom.
Then, the repair device 30 at the tip of the transport pipe 25 extending from the tip of the fourth boom 24 is brought close to the repair points such as the lower surface of the deck of the bridge 1 and the girder.

At this time, by remote control, the swivel member 41 is rotated (swinged) to the joint 40 at the tip of the transport pipe 25, or the repair device 30 is swung (swinged) to the swivel member 41 around the coupling pin. Then, the repair device 30 is brought close to the repaired part such as the lower surface of the floor slab and the girder of the bridge 1.

After that, by remotely controlling the repair device 30, the repaired portion due to scratches or aging deterioration of the underside of the floor slab and the girder of the bridge 1 is repaired.

Then, by remotely operating the camera and lighting attached to the repair device 30, the repaired parts such as the underside of the floor slab and the girder of the bridge 1 are imaged and illuminated, and the operator sees the image sent to the tablet. It is possible to confirm the moving position and the repair state of the bridge 1 of the repair device 30 with respect to the lower surface of the floor slab, the girder, and the like.

In the illustrated example, the boom vehicle 10 on the bridge 1 is oriented sideways, but it may be oriented forward.

In the above, the cameras 26, 27, and 28 are set on the base end sides of the second boom 22, the third boom 23, and the fourth boom 24, respectively, and as shown by the arrows, the cameras 26, 27, 28 are set. The images of the tips of the second boom 22, the third boom 23, and the fourth boom 24 taken by the operator wirelessly on the tablet screen at hand, the second boom 22, the third boom 23, and the second boom 24, respectively. The movement of each tip of the 4 boom 24 is made visible.
Therefore, even when the repair position is a narrow part and the tip of the boom is out of the operator's visual range, the operator can operate the foldable multi-stage boom 20 on the tablet screen at hand by the operator on the second boom 22, the third boom 23, and the third boom 23. It can be performed appropriately and safely while observing the movement of each tip of the fourth boom 24.

FIG. 2 shows a state applied to repairing bridge piers and the like from the bridge, and as shown in the figure, the first boom 21 and the second boom of the foldable multi-stage boom 20 from the boom vehicle 10 stopped at a predetermined position on the bridge 1. 22, the third boom 23 and the fourth boom 24 are each extended to extend downward from the side of the pier 2.
Then, the repair device 30 at the tip of the transport pipe 25 extending from the tip of the fourth boom 24 is brought close to the repaired portion such as the side surface of the pier 2.

The operation is also appropriately and safely performed by the operator while observing the movements of the tips of the second boom 22, the third boom 23, and the fourth boom 24 on the tablet screen at hand.
After that, the repair device 30 is remotely controlled to repair the repaired portion due to scratches or aged deterioration such as the side surface of the pier 2.

FIG. 3 shows a state applied to repairs from under the pier to the upper part of the pier, the pier, etc., and as shown in the figure, the foldable multi-stage boom 20 from the boom vehicle 10 stopped at a predetermined position on the ground under the pier 3. The first boom 21, the second boom 22, the third boom 23, and the fourth boom 24 are each extended to extend downward from the side of the pier 2.
Then, the repair device 30 at the tip of the transport pipe 25 extending from the tip of the fourth boom 24 is brought close to the repaired part such as the upper part of the outer surface of the pier 3 and the shoe seat.

The operation is also appropriately and safely performed by the operator while observing the movements of the tips of the second boom 22, the third boom 23, and the fourth boom 24 on the tablet screen at hand.
After that, the repair device 30 is remotely controlled to repair the repaired portion due to scratches or aging deterioration such as the upper part of the outer surface of the pier 3 and the shoe seat.

Next, FIGS. 4 to 8 show a specific configuration example of the main part including the repair device 30, in which the swing member 46 is connected to the swivel member 41 via the coupling pin 45, and the swing member 46 is connected to the swing member 46. Is equipped with a swing motor 47. The gear 48 provided on the output shaft of the swing motor 47 and the gear 49 provided on the coupling pin 45 integrated with the swing member 46 are in mesh with each other.
A swivel motor (not shown) that rotationally drives the swivel member 41 and a gear mechanism provided between the output shaft of the swivel motor and the swivel member 41 are built in the cylindrical case-shaped joint 40 (shown). ing.

Then, the support plate 50 integrated with the swing member 46 and the base 31 of the repair device 30 are connected via a shock absorber 51 by four springs in the figure which is a cushioning member.

Further, on the base 31 of the repair device 30, a pair of cameras 33, LED lighting 35 along the surrounding four sides, a wireless transmission / reception module 36 including a sound collecting microphone, and the like are mounted.

Further, as shown in the drawing, a large-diameter, skeleton-shaped frame 60 is integrated into the cylindrical case-shaped joint 40, and a swivel member 41 is rotatably assembled to the tip of the frame 60, and the frame 60 is formed. The swivel motor 42 is fixed inside.
As shown in FIG. 11, a gear 43 is provided on the output shaft of the turning motor 42, and the gear 43 meshes with an internal ring gear 44 integrated with the turning member 41. By engaging the internal ring gear 44 and the gear 43, the turning angle of the turning member 41 is secured to about ± 170 degrees by driving the turning motor 42. The turning limit is safely limited by the contact between the limit switches 61 and 62 provided on the frame 60 and the detection unit 63 provided on the turning member 41.

Further, as shown in the figure, a gear 48 provided on the output shaft of the swing motor 47 installed on the swing member 46 is fan-shaped and integrally provided with a coupling pin 45 integrated with the swing member 46. It meshes with the sector gear 49 of. By engaging the sector gear 49 and the gear 48, the swing angle of the swing member 46 is secured to about 100 degrees by driving the swing motor 47. The swing limit is safely limited by contact between the limit switches 64 and 65 provided on the swing member 41 and the detection units 66 and 67 provided on the support plate 50.

Four support rods 55 are erected on the four corners of the base 31, and flexible casters 56 as protective members are attached to the tips of the four support rods 55, respectively. ..
The free casters 56 on the support rods 55 arranged at the four corners of the base 31 are arranged at positions that protrude more than the tip portion having the largest protrusion amount of the repair device 30.

In this way, the repair equipment 30 is protected by using the universal casters 56 on the support rods 55 at the four corners of the substrate 31, and as described above, the repair equipment 30 is protected from the boom vehicle 10 by using the foldable multi-stage boom 20. The movement when moving along the lower surface and girder of the deck of the bridge 1, the side surface of the pier 2, the upper part of the outer surface of the pier 3, and the seat is made smooth.

In the above, as shown in FIGS. 4 to 6, the repair device 30 moves forward and backward as shown by an arrow A on the cylinder unit 301 installed in the central portion of the substrate 31 and using hydraulic pressure or pneumatic pressure as a drive source. It is a freely incorporated scraping tool 302.
That is, the chipping tool 302 moves back and forth as shown by arrow A by the hydraulic pressure and pneumatic operation of the cylinder unit 301 installed in the center of the board 31, so that it can be moved to the upper part of the outer surface of the pier, the lower surface of the girder, and the like. It is possible to knock off deteriorated parts such as floating and peeling of generated concrete and to scrape repaired parts.

As described above, according to the repair device of the embodiment, the repair device 30 is provided at the tip of the foldable multi-stage boom 20 of the boom vehicle 10 by stopping the boom vehicle 10 on the floor slab of the bridge 1 or on the ground under the pier 3. As shown in FIGS. 1 to 3, the chipping tool 302 is brought close to the upper surface of the outer surface of the pier and the surface of the repaired portion such as the seat.
Then, by remote operation of the chipping tool 302, which is the repair equipment 30, the floating or peeling points generated on the concrete surface such as the lower surface of the deck of the bridge 1, the girder, the side surface of the pier 2, and the upper part of the outer surface of the pier 3 are knocked off. Further, by scraping the concrete at the repaired part, it is possible to eliminate the need to construct the equipment for repairing the bridge 1 to be repaired and to reduce the cost.

(Embodiment 2)
9 to 11 show the repair device 30 of the second embodiment, and the repair device 30 of the second embodiment arranges the pipe 303 along the substrate 31 as shown in the drawing, and the tip of the pipe 303 is arranged. A spraying tool 304 having a nozzle connected to and spraying the repair paint is erected on the central portion of the substrate 31.
That is, the spraying tool 304 supplies paint to the pipe 303 from a pump (not shown), and blows out the repair paint from the tip nozzle of the spraying tool 304 standing in the center of the substrate 31 as shown by an arrow B. It is possible to repair by spraying paint on the upper part of the outer surface of the pier and the surface of the repaired part such as the seat.

As described above, according to the repair device of the second embodiment, the boom vehicle 10 is stopped on the floor slab of the bridge 1 or on the ground under the pier 3, and the repair device is provided at the tip of the foldable multi-stage boom 20 of the boom vehicle 10. As shown in FIGS. 1 to 3, the spraying tool 304 as 30 is brought close to the upper surface of the outer surface of the pier and the surface of the repaired portion such as the seat.
Then, by remote control of the spraying tool 304, which is the repair device 30, paint is sprayed on the lower surface of the deck of the bridge 1, the girder, the side surface of the pier 2, the upper outer surface of the pier 3, and the concrete surface such as the seat. Therefore, it is possible to eliminate the need to construct equipment for repairing the bridge 1 to be repaired, and it is possible to reduce the cost.

By changing the nozzle shape of the spraying tool 304 or replacing the spraying tool 304, it is possible to spray a repair material such as mortar and apply an impregnating material in addition to the repair paint.

(Embodiment 3)
12 to 14 show the repair equipment 30 of the third embodiment, and the repair equipment 30 of the third embodiment is three pieces 3 using hydraulic pressure or pneumatic pressure installed on the substrate 31 as a drive source as shown in the drawing. A total of nine or more cylinder units 305 in a row or more are provided with a sheet material pressing tool 306 that is freely advancing and retreating as shown by an arrow C.
As shown by the arrow C, the sheet material pressing tool 306 is moved forward as shown by the arrow C by the operation of the hydraulic pressure or the pneumatic pressure of the cylinder unit 305 installed on the substrate 31, and is used for reinforcement placed on the sheet material pressing tool 306. The sheet material 307 can be repaired by being attached to the upper surface of the outer surface of the pier or the surface of the repaired portion such as the pier by pressing.

By providing a mechanism that can independently control the operating range of each cylinder unit, it is possible to repair even if the surface to be pasted is a curved surface (curved portion).

As described above, according to the repair device of the third embodiment, the boom vehicle 10 is stopped on the floor slab of the bridge 1 or on the ground under the pier 3, and the repair device is provided at the tip of the foldable multi-stage boom 20 of the boom vehicle 10. As shown in FIGS. 1 to 3, the sheet material pressing tool 306 as 30 is brought close to the upper surface of the outer surface of the pier and the surface of the repaired portion such as the seat.
Then, by remote control of the sheet material pressing tool 306, which is the repair device 30, the sheet material pressing tool is applied to the lower surface of the deck of the bridge 1, the girder, the side surface of the pier 2, the upper outer surface of the pier 3, and the concrete surface such as the seat. By pasting and repairing the reinforcing sheet material 307 placed on the 306 by pressing, it is possible to eliminate the need to construct equipment for repairing the bridge 1 to be repaired and to reduce the cost.

(Modification example)
In the above embodiments, the foldable 4-stage boom is used, but the present invention is not limited to this, and any 3-stage boom or 5-stage or more multi-stage boom may be used.
In addition, the type, configuration, shape, etc. of the repair equipment are arbitrary, and it goes without saying that the specific detailed structure, etc. can be changed as appropriate.

1 Bridge (structure)
2 Pier (structure)
3 Pier (structure)
10 Concrete pump car (boom car)
11 Concrete pump 12 Swing stand 13 Out trigger 20 Folding multi-stage boom 21 1st boom 22 2nd boom 23 3rd boom 24 4th boom 25 Transport pipe 26 Camera for boom operation confirmation 27 Camera for boom operation confirmation 28 Boom operation confirmation Camera 30 Repair equipment 301 Cylinder unit 302 Chipping tool 303 Piping 304 Spraying tool 305 Cylinder unit 306 Sheet material Pressing tool 307 Sheet material 31 Base 33 Camera 35 LED lighting 36 Wireless transmission / reception module 40 Joint (fixing member)
41 Swivel member 42 Swivel motor 43 Gear 44 Gear (internal ring gear)
45 Coupling pin 46 Swing member 47 Swing motor 48 Gear 49 Gear (sector gear)
50 Support plate 51 Shock absorber (buffer member)
55 Support rod 56 Swivel caster (protective member)
60 Frame 61 Limit switch 62 Limit switch 63 Detection unit 64 Limit switch 65 Limit switch 66 Detection unit 67 Detection unit

Claims (6)

A concrete pump truck equipped with a foldable multi-stage boom that can be extended,
It is provided at the tip of the foldable multi-stage boom and consists of a repair device for repairing the surface of the structure .
The foldable multi-stage boom
It has a first boom connected to the concrete pump truck and at least two or more extension booms connected to the first boom, and the tip end side of each extension boom is placed on the base end side of each extension boom. Equipped with a boom camera to shoot
The repair equipment is
A fixing member for attaching to the extension boom, a base on which a repair jig is installed, and an angle of the base with respect to the foldable multi-stage boom provided between the fixing member and the base. A structure repair device comprising a changeable drive member and a protective member arranged on the base and having a tip portion protruding from the repair jig . The repair jig is
A spraying tool for spraying repair paint or repair material on the surface of the structure,
A chipping tool for chipping the concrete surface of the structure,
The structure repair device according to claim 1, further comprising a sheet material pressing tool for coating the concrete surface of the structure with a seismic retrofitting sheet material. The structure repair device according to claim 1 or 2, wherein a base camera and a lighting device for photographing and illuminating the surface of the structure are provided on the base . Claims 1 to 3 are characterized in that the protective member comprises a plurality of support rods installed around the repair jig on the base and universal casters installed at the tip of the support rods. The repair device for the structure according to any one of the above. It has a foldable multi-stage boom that can be extended and consists of a first boom connected to a concrete pump truck and at least two extension booms connected to the first boom, and on the base end side of each extension boom, Equipped with a boom camera that captures the tip of each stretch boom
At the tip of the foldable multi-stage boom, a fixing member for attaching to the extension boom, a base for installing a repair jig, and the foldable multi-stage boom provided between the fixing member and the base. In order to repair the surface of a structure having a drive member capable of changing the angle of the base and a protective member arranged on the base and having a tip portion protruding from the repair jig. Install the repair equipment,
A method for repairing a structure , which comprises bringing the repair device close to the surface of the structure to be repaired by using an image of the boom camera when the foldable multi-stage boom is extended . A camera and lighting equipment for photographing and illuminating the surface of the structure are mounted on the base.
The camera and the lighting device are remotely operated to take an image while irradiating the surface to be repaired with the structure, and while checking the shot image on the screen of the terminal at hand, the repair device is remotely operated to take the structure. The method for repairing a structure according to claim 5, wherein the surface is repaired.

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