JP2017227554A - Structure inspection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve such a problem that an exterior wall surface of a building is conventionally inspected by manual work in which a worker going up/down the exterior wall surface of the building using a working scaffold aurally diagnoses scratch sound generated by a test hammer, however, the worker has to go up/down the exterior wall surface of the building, and the manual work is not always safe.SOLUTION: A building inspection system includes: a scratch part 400 for scratching an exterior wall surface F of a building B; a multi-rotor helicopter 10 moving the scratch part 400 such that the scratch part 400 does not separate from the exterior wall surface F; a scratch sound collection part 500 for collecting scratch sound generated when the scratch part 400 scratches the exterior wall surface F; and a super computer 50 that analyzes the scratch sound collected by the scratch sound collection part 500 and determines an abnormal area on the exterior wall surface F on the basis of a prescribed reference.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a structure inspection system such as a building inspection system.

  There is known an automated nondestructive inspection capable of accurately inspecting the internal pressure of a can without wasteful rejection of non-defective products and oversight of defective products (for example, see Patent Document 1).

JP 2001-242029 A

  By the way, the present inventor considers that it is desirable that the automated nondestructive inspection is applied more widely for the purpose of various uses.

  For example, in the conventional inspection of the outer wall surface of a building, an operator who uses the work scaffold to raise and lower the outer wall surface of the building uses a test hammer to visually detect the scratching sound and inspect the risk of peeling off the outer wall tiles. This is done manually.

  However, such manual work is not necessarily safe because the worker has to move up and down the outer wall surface of the building.

  In view of the above-described conventional problems, an object of the present invention is to provide a structure inspection system capable of improving safety.

The first aspect of the present invention is a rubbing portion for rubbing the wall surface of the structure;
A rubbing part moving device for moving the rubbing part so that the rubbing part is not separated from the wall surface;
A rubbing sound collecting portion for collecting rubbing sound generated when the rubbing portion scrapes the wall surface;
By analyzing the rubbing sound collected by the rubbing sound collection unit, based on a predetermined standard, an abnormal area determination unit that determines an abnormal area on the wall surface;
It is a structure inspection system characterized by comprising.

  According to a second aspect of the present invention, the rubbing part moving device includes a fuselage, a flight motor unit that has a flight motor that rotates a propeller, and a battery that drives the flight motor unit. The structure inspection system according to the first aspect of the present invention is a flying object including a collision prevention guard member that prevents the airframe from colliding with the wall surface.

  According to a third aspect of the present invention, the rubbing part moving device is a winch mechanism having a wall surface traveling body and a wire for moving the wall surface traveling body up and down along the wall surface. It is a structure inspection system.

According to a fourth aspect of the present invention, the rubbing portion has a stick member to which a roller for rubbing the wall surface is attached.
In the structure inspection system according to the first aspect of the present invention, the rubbing sound collection unit includes a microphone that collects the rubbing sound.

  The fifth aspect of the present invention is the structure inspection system according to the first aspect of the present invention, wherein the abnormal area determination unit determines the abnormal area using deep learning.

  According to the present invention, a structure inspection system capable of improving safety can be provided.

Block diagram of a building inspection system according to an embodiment of the present invention The typical partial front view of the building inspection system of embodiment in this invention The typical partial left view of the building inspection system of embodiment in this invention The typical partial top view of the building inspection system of embodiment in this invention Schematic partial left side view of a building inspection system according to another embodiment (part 1) of the present invention (A) Schematic partial left side view of a building inspection system according to another embodiment (part 2) of the present invention, (b) Schematic of a building inspection system according to another embodiment (part 3) of the present invention Left side view The typical front view of the wall surface measurement route of the building inspection system of embodiment in this invention Explanatory drawing of the flaw sound data of one rectangular area of the building inspection system of the embodiment in the present invention The flowchart explaining operation | movement of the building inspection system of embodiment in this invention Explanatory drawing of the fuzzing sound data of nine adjacent rectangular areas of the building inspection system of the embodiment in the present invention

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

  (A) First, the configuration of the building inspection system according to the present embodiment, which is an example of the structure inspection system according to the present invention, will be specifically described with reference mainly to FIGS.

  FIG. 1 is a block diagram of the building inspection system according to the embodiment of the present invention, FIG. 2 is a schematic partial front view of the building inspection system according to the embodiment of the present invention, and FIG. FIG. 4 is a schematic partial left side view of the building inspection system according to the embodiment in FIG. 4, and FIG. 4 is a schematic partial top view of the building inspection system according to the embodiment of the present invention.

  In the left side view and the top view, for easy understanding, a cross section is shown for the building B, the outer wall surface F, and the outer wall tile T (the same applies hereinafter).

  By using the building inspection system of the present embodiment, an operator who lifts and lowers the outer wall surface F of the building B using the work scaffold diagnoses the noise generated by the test hammer by hearing to detect the risk of peeling of the outer wall tile T. Manual inspection is not required, and safe automated non-destructive inspection is realized at low cost. Of course, such a manual operation may be additionally performed as necessary at a predetermined location on the outer wall surface F in consideration of the result of the inspection by the building inspection system of the present embodiment.

  The outer wall surface F of the building B is an example of the wall surface of the structure in the present invention.

  In addition, the embodiment of the modification which the wall surface of the structure in this invention is the inner wall surface of the building B, the outer wall surface of a bridge, or the outer wall surface of a gas storage steel tank is also considered. Such a modified embodiment provides a safe, automated, non-destructive inspection that inspects for damage to the interior wallpaper of building B, loosening of bolts on bridges, or deterioration of welding of gas storage steel tanks, etc. Is done.

  The building inspection system of the present embodiment includes, for example, a multi-rotor helicopter 10, a multi-rotor helicopter radio control device 20, a wall surface measuring device 30, a positioning station 40, and a super computer 50.

  The multi-rotor helicopter 10 is a sensor-mounted helicopter equipped with a GPS-related device such as a GPS (Global Positioning System) antenna and a system including a gyro sensor, a barometric sensor, an acceleration sensor, a gravity sensor, and a geomagnetic sensor. . A positioning radio wave as a GPS pseudo signal is transmitted from the multi-rotor helicopter 10, and a high-accuracy flight control function in which the GPS position data of the multi-rotor helicopter 10 is supplemented by using triangulation position data by the positioning station 40 or the like is realized. Is done.

  The wall surface measuring device 30 corresponds to an A / D (Analog / Digital) conversion full power signal bandwidth of a wide sound range of about 22 megahertz, and is a 5 volt 2 amp type measuring device hung on the multi-rotor helicopter 10. .

  The positioning station 40 is, for example, a station that generates triangulation position data of the wall surface measuring device 30 by wirelessly receiving positioning radio waves from the wall surface measuring device 30 with two receiving antennas respectively corresponding to two reference points. The triangulation position data of the wall surface measuring device 30 is wirelessly transmitted to the wall surface measuring device 30. Of course, the global coordinate data of the positioning station 40 may be acquired as GPS position data prior to the inspection by the building inspection system of the present embodiment.

  The super computer 50 classifies the digital waveform signal audio data of the scratching sound generated when the outer wall surface F of the building B is scratched, using deep learning to classify the data into two types of normal or abnormal indexes, an FPGA (Field Programmable). Gate Array). Real-time parallel processing of a plurality of objects is realized by clustering of boards, and software opening by SoC (System-on-a-Chip) such as cooperation with CAD (Computer-Aided Design) data is promoted.

  (A1) The multi-rotor helicopter 10 will be described more specifically as follows.

  The multi-rotor helicopter 10 includes, for example, a fuselage 11, collision prevention guard members 13L and 13R, a flight motor unit 100, a LiPo (Lithium Polymer) battery 200, a control unit 300, and a wireless transmission / reception unit 310. It is a flying object.

  The airframe 11 has a skeleton shape that is less affected by the wind outdoors and corresponds to a payload of 2 kilograms or more.

  The flying motor unit 100 is a unit attached to the airframe 11 having flying motors 111, 112, 113, and 114 that rotate the propellers 121, 122, 123, and 124.

  The LiPo battery 200 is a battery that drives the flying motor unit 100. The LiPo battery 200 may have a multi-battery unit configuration, and a time-of-flight extension function that allows a used battery unit to be safely dropped from the body 11 for weight reduction may be implemented.

  The LiPo battery 200 is an example of a battery in the present invention.

  In addition, the embodiment of the modification whose battery in this invention is a lithium ion battery whose electrolyte is a liquid, a lithium battery which is a primary battery, or a fuel cell is also considered.

  The collision prevention guard members 13L and 13R are members that prevent the airframe 11 from colliding with the outer wall surface F.

  The multi-rotor helicopter 10 is means for moving the rubbing portion 400 so that the rubbing portion 400 does not leave the outer wall surface F. In the present embodiment, the wall surface measuring device 30 having the rubbing portion 400 is suspended from the body 11 of the multi-rotor helicopter 10 using the wall surface measuring device hanging member 12, and the wall surface measuring device 30 is moved.

  The multi-rotor helicopter 10 is an example of a rubbing part moving device in the present invention.

  In addition, as shown in FIG. 5 which is a schematic partial left side view of a building inspection system according to another embodiment (part 1) of the present invention, the rubbing part moving device according to the present invention is a wall surface traveling body. A modified embodiment of a winch mechanism 1010 having 1011, a wire 1012 for raising and lowering the wall traveling body 1011 along the outer wall surface F, and a winch motor unit 1100 is also conceivable. In the embodiment of such a modification, the upper end portion of the wire 1012 is connected to the winch motor unit 1100 attached to the roof of the building B, the lower end portion of the wire 1012 is connected to the wall surface traveling body 1011, and the wall surface The measuring device 30 is suspended from the wall traveling body 1011 using the wall surface measuring device hanging member 12, and the wall surface measuring device 30 is moved. Of course, the wall surface traveling body 1011 may be a self-propelled traveling body. In such a case, it is sufficient if the wire 1012 is pulled toward the roof of the building B so as not to be loosened by a spiral spring reel or the like. is there.

  (A2) The wall surface measuring device 30 will be described more specifically as follows.

  The wall surface measuring apparatus 30 includes, for example, a rubbing unit 400, a rubbing sound collecting unit 500, a positioning radio wave transmitter 600, a power supply unit 700, a backup memory 800, a control unit 900, and a wireless transmission / reception unit 910. .

  The rubbing part 400 is means for rubbing the outer wall surface F of the building B, and includes stick members 411, 412 and 413 to which rollers 421, 422 and 423 for rubbing the outer wall surface F are attached. The rollers 421, 422 and 423 are steel tires having a thickness of about 5 millimeters and a diameter of about 20-30 millimeters. The stick members 411, 412 and 413 are steel pillars having a length of about 100 to 400 millimeters. Of course, the length of the stick members 411, 412 and 413 may be adjustable.

  As shown in FIG. 6A, which is a schematic partial left side view of a building inspection system according to another embodiment (part 2) of the present invention, Two rollers 421a and 421b are attached, the base end portion 411a has a stick member 411 that is rotatable in the direction of the arrow, or (b) a building inspection system according to another embodiment (part 3) of the present invention. 6 (b), which is a schematic partial left side view of FIG. 6A, shows a modified example in which the tip 411b to which the roller 421 is attached has a stick member 411 that can rotate in the direction of the arrow. Embodiments are also conceivable. In the embodiment of such a modification, the stick members 411, 412 and 413 are moved in the vertical plane below the wall surface measuring device 30 depending on whether the wall surface measuring device 30 is raised or lowered. By projecting in the direction opposite to the direction of movement of the wall surface measuring device 30, there is almost no possibility that the rubbing part 400 will be damaged by impact resistance caused by the unevenness of the outer wall surface F or the like.

  Further, the stick members 411, 412 and 413 are protruded in the opposite direction to the moving direction of the wall surface measuring device 30 in the vertical plane (1) on the upper side of the wall surface measuring device 30, or (2) leftward in the horizontal plane or Variations of the embodiment projecting to the right are also conceivable.

  (Α) means for adhering the rubbing portion 400 to the outer wall surface F, (β) means for maintaining a constant distance between the wall surface measuring device 30 and the outer wall surface F using measurement by a distance sensor, or (Γ) From the outer wall surface F by means of limiting the movement of the wall surface measuring device 30 to the outer wall surface F by using a net covering the outer wall surface F, or binding by rails or cables laid on the outer wall surface F. A modified embodiment in which a mechanism for preventing the rubbing portion 400 from lifting is also conceivable. For example, in the embodiment of the modified example in which the wall surface of the structure in the present invention is the outer wall surface of the gas storage steel tank, the rubbing portion 400 is made to be the outer wall surface by utilizing rollers 421, 422 and 423 which are magnet tires. A means for adsorbing to F is realized.

  The rubbing sound collection unit 500 is a unit that collects rubbing sound generated when the rubbing unit 400 scratches the outer wall surface F, and includes microphones 511, 512, and 513 that collect the rubbing sound. Microphones 511, 512, and 513 are high-sensitivity microphones attached to the surface opposite to the outer wall surface F of the stick members 411, 412, and 413.

  The positioning radio wave transmitter 600 is a transmitter that transmits a positioning radio wave so that the positioning station 40 can perform the triangulation of the wall surface measuring device 30.

  The wireless transmission / reception unit 910 corresponds to the spatial data real-time transmission link system, wirelessly receives the triangulation position data of the wall surface measuring device 30 by the positioning station 40 from the positioning station 40, and the triangulation position data of the wall surface measuring device 30; And means for wirelessly transmitting the rubbing sound data from the rubbing sound collection unit 500 to the supercomputer 50.

  The backup memory 800 is a memory that records the triangulation position data of the wall surface measuring device 30 and the rubbing sound data by the rubbing sound collection unit 500 as backup data in consideration of the occurrence of a radio transmission / reception failure.

  It should be noted that a modified embodiment in which the backup memory 800 is a memory built in the machine body 11 or externally attached to the machine body 11 is also conceivable.

  (A3) The super computer 50 will be described more specifically as follows.

  The super computer 50 is means for determining an abnormal area on the outer wall surface F using deep learning based on a predetermined standard by analyzing the rubbing sound collected by the rubbing sound collection unit 500.

  The supercomputer 50 is an example of an abnormal area determination unit in the present invention.

  The embodiment of the modified example in which the abnormal area determination unit in the present invention is a PC (Personal Computer) that determines the abnormal area on the outer wall surface F using frequency pattern matching by FFT (Fast Fourier Transform) analysis, Conceivable.

  (B) Next, the operation of the building inspection system according to the present embodiment will be specifically described with reference mainly to FIGS.

  FIG. 7 is a schematic front view of the wall surface measurement route R of the building inspection system according to the embodiment of the present invention. FIG. 8 is a view of one rectangular area A of the building inspection system according to the embodiment of the present invention. It is explanatory drawing of rubbing sound data.

  The outer wall F of the building B is divided into I × J (= 63) rectangular areas A with a vertical row number I (= 7) and a horizontal column number J (= 9). 30 is moved up and down along the wall surface measurement route R. The rectangular area A in the first row and first column, the rectangular area A in the second row and first column, the rectangular area A in the third row and first column,... Inspected. As will be described more specifically later, whether each rectangular area A in the i-th row and j-th column (1 ≦ i ≦ I, 1 ≦ j ≦ J) is a normal area or an abnormal area, It is determined depending on whether or not the rubbing sound data of the rectangular area A is abnormal in comparison with the rubbing sound data of other rectangular areas A. In the present embodiment, the rectangular area A has a height h and a width w of about 100 to 150 centimeters, and the time t = 0 when the wall surface measuring device 30 passes through the center O of the rectangular area A is a reference. The rubbing sound data of the rectangular area A collected as rubbing sound data in a minute period of about 0.04 to 0.06 seconds is input to the supercomputer 50 using wireless transmission / reception.

If the distance between the center O of the rectangular area A and the abnormal part where there is a gap with the risk of peeling of the outer wall tile T, etc. is within the value δ obtained empirically, the influence of the abnormal part Is known to be expressed in the rubbing sound data of the rectangular area A, when half of the diagonal length of the rectangular area A is δ or less, that is,
(Equation 1)
(H ² + w ² ) ^1/2/2 ≦ δ
When is satisfied, there is almost no fear that the abnormal part will be overlooked.

  Needless to say, the smaller the height h and width w of the rectangular area A, the higher the inspection accuracy. However, as the height h and the width w of the rectangular area A are smaller, the number I × J of the rectangular areas A is larger, so that the amount of rubbing sound data to be handled increases.

  While mainly referring to FIG. 9 which is a flowchart for explaining the operation of the building inspection system of the embodiment of the present invention, the operation of the building inspection system of the present embodiment and the structure inspection method of the invention related to the present invention are described. An example of the building inspection method according to the present embodiment will be described in more detail as follows.

  The wall surface measuring device 30 suspended from the body 11 of the multi-rotor helicopter 10 is moved using the wall surface measuring device hanging member 12 (step S101). In the present embodiment, manual flight control by the multi-rotor helicopter radio control device 20 is performed. Of course, automatic flight control or semi-automatic flight control using GPS position data and triangulation position data may be performed.

  The rubbing sound collection unit 500 collects the rubbing sound generated when the rubbing portion 400 scratches the outer wall surface F (step S102). In the present embodiment, sound data of a sound obtained by synthesizing the rubbing sound collected by the microphones 511, 512, and 513 near the center O of the rectangular area A is collected as the rubbing sound data of the rectangular area A. Of course, the audio data of each of the scratching sounds collected by the microphones 511, 512, and 513 in the vicinity of the center O of the rectangular area A may be separately collected as the scratching sound data of the rectangular area A.

  The wireless transmission / reception unit 910 wirelessly receives the triangulation position data of the wall surface measurement device 30 by the positioning station 40 from the positioning station 40, and superimposes the triangulation position data of the wall surface measurement device 30 and the abrasion sound data by the abrasion sound collection unit 500. Wireless transmission is performed to the computer 50 (step S103).

  Then, the rubbing sound data of each rectangular area A is input to the supercomputer 50 using wireless transmission / reception.

  The super computer 50 determines an abnormal area on the outer wall surface F using deep learning (step S104). For example, as shown in FIG. 10, which is an explanatory diagram of scratching sound data of nine adjacent rectangular areas A of the building inspection system according to the embodiment of the present invention, the rectangular areas A in the fourth row and fifth column Since the rubbing sound data is abnormal in comparison with other rubbing sound data such as the adjacent rectangular area A, the rectangular area A in the fourth row and fifth column is determined to be an abnormal area. In the present embodiment, the determination of the abnormal area is performed immediately after the minimum amount of fretting sound data necessary for the determination is acquired, and the worker is notified one after another. Of course, the determination of the abnormal area may be performed in a lump after all the rubbing sound data is acquired.

  The program in the invention related to the present invention causes the computer to execute all or some of the steps (or processes, operations or actions) of the structure inspection method in the invention related to the present invention described above. And a program that operates in cooperation with a computer.

  In addition, the recording medium in the invention related to the present invention is all or a part of all or a part of the structure inspection method in the invention related to the present invention described above (or a process, an operation or an action). A recording medium that records a program for causing a computer to execute an operation, is a recording medium that can be read by the computer, and is used in cooperation with the computer.

  The “part of steps (or process, operation, action, etc.)” described above means one or several steps out of the plurality of steps.

  Further, the above-described “operation of a step (or process, operation, action, etc.)” means an operation of all or a part of the step.

  The program in the invention related to the present invention may be transmitted through a transmission medium such as the Internet or a transmission medium such as light, radio wave or sound wave, read by a computer, and operated in cooperation with the computer. .

  The recording medium includes ROM (Read Only Memory) and the like.

  The computer according to the present invention described above is not limited to pure hardware such as a CPU (Central Processing Unit), and may include firmware, an OS (Operating System), and peripheral devices.

  As described above, the configuration in the present invention may be realized by software or hardware.

  The structure inspection system in the present invention can improve safety and is useful for the purpose of being used in a structure inspection system such as a building inspection system.

DESCRIPTION OF SYMBOLS 10 Multirotor helicopter 11 Airframe 12 Wall surface measuring device suspension member 13L, 13R Collision prevention guard member 20 Multirotor helicopter radio control device 30 Wall surface measuring device 40 Positioning station 50 Supercomputer 100 Flight motor unit 111, 112, 113, 114 Flight Motor 121, 122, 123, 124 Propeller 200 LiPo battery 300 Control unit 310 Wireless transmission / reception unit 400 Scraping part 411, 412, 413 Stick member 411a Base end part 411b Tip part 421, 421a, 421b, 422, 423 Roller 500 Scraping sound Collection unit 511, 512, 513 Microphone 600 Positioning radio wave transmitter 700 Power supply unit 800 Backup memory 900 Control unit 10 wireless transceiver 1010 winch mechanism 1011 wall running body 1012 wire 1100 winch motor unit B Building F outer wall surface T outer wall surface tile A rectangular area R wall measurement route

Claims (5)

A rubbing portion for rubbing the wall surface of the structure;
A rubbing part moving device for moving the rubbing part so that the rubbing part is not separated from the wall surface;
A rubbing sound collecting portion for collecting rubbing sound generated when the rubbing portion scrapes the wall surface;
By analyzing the rubbing sound collected by the rubbing sound collection unit, based on a predetermined standard, an abnormal area determination unit that determines an abnormal area on the wall surface;
A structure inspection system comprising:   The rubbing part moving device includes a body, a flight motor that rotates a propeller, a flight motor unit attached to the body, a battery that drives the flight motor unit, and the surface of the body to the wall surface. The structure inspection system according to claim 1, wherein the structure has a collision prevention guard member for preventing a collision.   2. The structure inspection system according to claim 1, wherein the rubbing portion moving device is a winch mechanism including a wall surface traveling body and a wire for moving the wall surface traveling body up and down along the wall surface. The rubbing portion has a stick member to which a roller for rubbing the wall surface is attached,
The structure inspection system according to claim 1, wherein the rubbing sound collection unit includes a microphone that collects the rubbing sound.   The structure inspection system according to claim 1, wherein the abnormal area determination unit determines the abnormal area using deep learning.

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