JP2015007571A - Hammering sound evaluation inspection device for structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hammering sound/vibration measuring device for structure inspection capable of executing efficiently a series of flow of hammering, measurement, evaluation and recording.SOLUTION: A hammering sound evaluation inspection device for a structure includes a hammer device 3, a measuring device 11 for hammering sound/vibration by the hammer device 3, an evaluation device 29 of soundness of the structure surface by output from the hammering sound/vibration measuring device 11, and a marking device 4 capable of marking on the structure surface by output from the evaluation device 29.

Description

  The present invention relates to an impact evaluation inspection apparatus for a structure that detects material deterioration and construction failure of structures such as bridges and tunnels.

  Conventionally, detection of material deterioration of railway structures has been carried out mainly by visual inspection of the appearance because the number of inspection points is enormous, and hammering sound inspection by hammering of the target part has been carried out as a more detailed inspection. (See Patent Documents 1 to 3 and Non-Patent Document 1 below).

Japanese Patent No. 3822801 Japanese Patent No. 3822802 Japanese Patent No. 3831300 Japanese Patent No. 4001806

Railway Technical Research Institute, “Occurrence of Rockfall Technology Manual”, March 1999, pp. 38-39 Hiroyoshi Kasa et al., “Development of automatic sounding investigation system for tunnel lining”, tunnel engineering research paper / report Vol.13, pp. 343-348, 2003.11.

However, the conventional structure hitting sound evaluation inspection apparatus has the following problems.
In the conventional percussion inspection method, the evaluation standard depends on the subjectivity of the person in charge, and there is a problem in the objectivity of evaluation. When inspecting and investigating long tunnels and viaducts, the inspection work itself becomes an upward painful work on an aerial work vehicle, requiring a lot of manpower and investigation time. In addition, there is a problem in the storage management of a large amount of inspection result data.

  In view of the above situation, an object of the present invention is to provide a structural sound impact evaluation inspection apparatus capable of efficiently executing a series of hitting, measurement, evaluation, and recording flows.

In order to achieve the above object, the present invention provides
[1] In a structure impact sound evaluation / inspection apparatus, a hammer device, an impact / vibration measuring device using the hammer device, and an evaluation device for the soundness of the surface of the structure based on an output from the impact / vibration measuring device And a marking device capable of marking on the surface of the structure by the output from the evaluation device.

[2] The hitting sound evaluation / inspection apparatus for a structure according to [1], wherein the hitting / vibration measuring apparatus includes a soundproofing / vibrationproofing mechanism for performing a precise hitting evaluation.
[3] The hitting sound evaluation / inspection apparatus for a structure according to [1], wherein the hitting / vibration measuring apparatus includes a narrow directional microphone directed toward the surface of the hit structure. .

[4] The structure hitting sound evaluation inspection apparatus according to [1], wherein the sound hitting / vibration measuring apparatus includes an LDV sensor head directed to a surface of the hit structure.
[5] The structural sound impact evaluation / inspection apparatus according to [4] above, wherein a correction contact-type vibrometer is provided in the LDV sensor head.

[6] In the structure hitting sound evaluation inspection apparatus according to [1], the hammer device includes a spring device having a trigger device that is wound up and triggered by a motor.
[7] In the structure hitting sound evaluation inspection apparatus according to [1], the marking device includes a spring device having a trigger device that is wound up and triggered by a motor.

[8] In the structure hitting sound evaluation inspection apparatus according to [7], the marking device is directed to a surface of the hit structure and is provided with a reflective paint.
[9] In the structure hitting sound evaluation inspection apparatus according to [1], the robot arm and the automatic tracking system are provided so that inspection work can be efficiently performed without a person moving up to a high place. A device for evaluating and inspecting the sound of a characteristic structure.

[10] The sound of the structure according to the above [9], wherein the structure is characterized by using a stereo camera to obtain visual information and surface shape information of the surface of the structure to be struck. Evaluation inspection device.
[11] In the structure hitting sound evaluation inspection apparatus according to [9], a stereo camera is used to grasp the 3D shape of the measurement object and control the robot arm, thereby avoiding an obstacle in the structure. A structural sound evaluation test apparatus for performing a structural sound evaluation test.

[12] The sound impact evaluation inspection system for a structure according to [9], wherein inspection data is automatically recorded and stored by the marking device and 3D shape data. apparatus.
[13] The structure according to [1], wherein the structure is a bridge / tunnel railway structure.

  [14] The structural sound impact evaluation inspection apparatus according to [1], wherein the structure is an unstable rock in a rock slope.

According to the present invention, the following effects can be achieved.
(1) A series of strokes, measurement, evaluation, and recording can be efficiently executed.
(2) By adopting a robot arm and an automatic tracking system, inspection work can be carried out efficiently without a person going up to a high place.
(3) Visual information and surface shape information can be obtained by employing a stereo camera.

(4) By adopting a stereo camera, by grasping the 3D shape of the measurement object and controlling the robot arm, it is possible to perform an impact evaluation inspection of the structure while avoiding obstacles in the structure.
(5) Inspection data can be automatically recorded and stored by an automatic marking device and 3D shape data.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall schematic diagram of a structural sound impact evaluation inspection apparatus showing an embodiment of the present invention. It is a block diagram of the hammer apparatus and marking apparatus of the structure which show the Example of this invention. It is a schematic diagram of opening and closing of a spindle nut with an opening and closing function showing an embodiment of the present invention. It is a schematic diagram of the correction method of the influence of the apparatus drive sound contained in the hitting sound which shows the Example of this invention. It is a figure which shows the example of the analysis / evaluation method of a tapping sound in this invention. It is a recording schematic diagram on the measuring object of the determination result by the hammering sound evaluation inspection apparatus of the structure of the present invention. It is a schematic diagram of a hammering sound evaluation inspection apparatus for a large structure equipped with a robot arm showing an embodiment of the present invention. It is stereo image correlation method explanatory drawing which shows the Example of this invention.

  The structure hammering sound evaluation and inspection apparatus according to the present invention includes a hammer device, a hammering / vibration measuring device using the hammer device, and a device for evaluating the soundness of the surface of the structure based on an output from the hammering / vibration measuring device. And a marking device capable of marking on the surface of the structure by the output from the evaluation device.

Hereinafter, embodiments of the present invention will be described in detail.
FIG. 1 is an overall schematic view of a structural sound impact evaluation inspection apparatus showing an embodiment of the present invention.
In this figure, 1 is a structure to be inspected (bridge / tunnel railway structure, unstable rock in a rock slope, etc.), 2 is a hammer device / marking device, 3 is a hammer device, 4 is a marking device, 5 is a spring device of the hammer device 3, 6 is a trigger device of the hammer device 3 that is wound up by a motor, 7 is a spring device of the marking device 4, 8 is a trigger device of the marking device 4 that is wound up by a motor, 9 is a trigger device 6, 8 is a controller for the hammer device / marking device 2, 10 is a soundproofing / vibration-proof mechanism, 11 is a sounding / vibration measuring device, 12 is a narrow directional microphone, 13 is an LDV sensor head, and 14 is a contact type for correction. Vibrometers, 15A and 15B are optical fiber cables, 16 is a controller for the hammering / vibration measuring device 11, and 21 is a recording / calculating / evaluating / controlling device 22 is a power supply device, 23 is a laser generator / demodulator, 24 is a bandpass filter connected to the narrow directivity microphone 12, 25 is a bandpass filter connected to the laser generator / demodulator 23 and the controller 16, and 26 is a hammer. A band-pass filter connected to the apparatus 3, 27 an A / D converter connected to the band-pass filters 24-26, 28 a recording apparatus connected to the A / D converter 27, and 29 connected to the recording apparatus 28 The calculation / evaluation device 30 is a display device connected to the calculation / evaluation device 29, and 31 is an input device connected to the calculation / evaluation device 29. The power supply device 22 is connected to the laser generator / demodulator 23, the A / D converter 27, and the calculation / evaluation device 29, respectively.

  FIG. 2 is a structural view of a hammer device and a marking device of a structure showing an embodiment of the present invention, FIG. 2 (a) is a front view thereof, FIG. 2 (b) is a side view of the hammer device, and FIG. ) Is a side view of the marking device. FIG. 3 is a schematic view of opening and closing of a spindle nut with an opening / closing function according to an embodiment of the present invention. FIG. FIG.

  In these drawings, 41 is a trigger device, 42 is a first buffer (hard urethane), 43 is a second buffer (rubber), 44 is a hammer device, 45 is a spring device, 46 is a spindle device, and 47 is a belt drive. , 48 is a spindle nut with an opening / closing function, 49 is a spring seat, 50 is a shock absorber, 51 is an accelerometer, 52 is a marking device, 53 is a motor, and 54 is a controller.

Therefore, the operation of the mechanism of the hammer device / marking device will be described.
(1) The motor 53 is driven, and the rotation is transmitted to the spindle device 46 via the belt drive 47. A spindle nut 48 with an opening / closing function moves linearly to the right along a groove carved in the spindle device 46. The spindle nut 48 with the opening / closing function moves the hammer device 44 to the right and stops when it reaches a predetermined position. Along with this, the spring of the spring device 45 is contracted to hold the accumulated intermediate energy. In this case, as shown in FIG. 3A, the trigger device 41 is closed, and the spindle nut 48 is also closed.

  (2) When the trigger device 41 is opened in accordance with an instruction from the controller 54, the spindle nut 48 is opened and a gap is formed between the spindle device 46 as shown in FIG. The energy suddenly moves the hammer device 44 (or marking device 52) to the left. The stopper of the hammer device 44 hits the buffers 42 and 43, and the movement of the hammer device 44 is stopped. The buffers (buffer materials) 42 and 43 are buffer actuators for preventing the spring back of the hammer and shooting twice.

(3) By adjusting the position (excitation force) of the spring seat 49, the structure is set so that it can be optimally excited. Pre-measurement is performed at a healthy position before the measurement work is performed, and the optimum setting is determined.
(4) The controller 54 controls the rotation of the spindle device 46 and the opening (hitting) of the trigger device 41 based on an input signal from the control device.
(5) When it is determined that there is a defect in the hitting position, the marking device 52 is operated by an input signal from the control device.

Therefore, a structure sound impact evaluation inspection apparatus will be described.
(1) A narrow directivity microphone 12 is used for sound measurement. A mechanism protected by a hood for the purpose of soundproofing and windproofing so as not to record sounds other than those due to impact.
(2) A laser Doppler velocimeter (LDV) with a correction function is used for vibration measurement. LDV vibration is simultaneously measured with a contact-type vibrometer in which the laser irradiation direction and the measurement direction are the same, and the influence of the LDV fluctuation is corrected using the data (see Patent Document 4).

(3) The acceleration response (degree of repulsion) of the hammer device due to the rebound after hitting the measurement target is measured by the accelerometer 51 attached to the hammer device 44.
(4) The electrical signal from each sensor is passed through bandpass filters 24, 25, and 26 that reduce vibration components other than the frequency component to be noticed for each sensor type, and is then converted into a digital signal by the A / D converter 27. And recorded in the recording device 28.

(5) A soundproof / vibration-proof mechanism (soundproof / vibration-proof material) 10 is arranged between the hammering / vibration measuring device 11 so that the driving sound and vibration of the hammer device / marking device 2 are not transmitted.
Here, a method for correcting the influence of the device driving sound included in the hitting sound will be described.
FIG. 4 is a schematic diagram of a method for correcting the influence of the device driving sound included in the hitting sound according to the embodiment of the present invention.

The apparatus generates a certain driving sound resulting from an operation related to driving or striking of a motor or the like. Noise sound that cannot be prevented by the soundproofing / vibration-proof mechanism is transmitted to the microphone, which may be the noise of the hitting sound.
there,
(1) First, a device-derived sound generated at the time of impact is measured in advance with a microphone built in the device. The measurement time and the start timing are matched with the measurement time and the start timing in the sound measurement. In order to consider the reflected sound from the measurement object, the measurement is performed with the microphone directed toward the object in the vicinity of the object, although no hitting is performed.

(2) For example, as shown in FIG. 4A, the frequency spectrum (power spectrum etc.) of the device-derived sound measured in advance is obtained.
(3) Next, from the frequency spectrum of the recorded waveform of the microphone at the time of sound measurement [FIG. 4A], for example, as shown in FIG. Thus, for example, as shown in FIG. 4C, noise components included in the hitting sound are reduced.

Next, a method for determining an object defect will be described.
(1) By displaying the hitting sound, vibration and rebound degree as an index and comparing it with a preset threshold value, a defect in the surface of the structure is posted.
(2) The indicators used for detection are: 1) All three indicators of sound hitting, vibration, and repulsion, 2) Any combination of two indicators, and 3) Any one indicator can be selected. Preliminary measurements are performed to select the optimal combination of indicators for the measurement target.

Next, a method for analyzing / evaluating the hitting sound will be described.
FIG. 5 is a diagram showing an example of a method for analyzing and evaluating a hitting sound according to the present invention, in which the horizontal axis represents frequency (Hz) and the vertical axis represents acoustic energy index (dB).
Here, an arbitrary hitting sound evaluation method can be applied.
For example, the sound of a sound spot is measured in advance, and the average value of the dominant frequencies of the power spectrum is obtained. For example, a frequency of 70% is set as a threshold value, and if it falls below that, it is determined as a defect.

As an existing method, for example, in tunnel lining evaluation, evaluation is performed using an acoustic energy index (0 to 200) shown in FIG. 5 (see Non-Patent Document 2 above).
Next, a vibration analysis / evaluation method will be described.
Here, an arbitrary vibration evaluation method can be applied.
For example, the vibration of a healthy part is measured in advance, and the average value of the dominant frequency of the power spectrum is obtained. For example, a frequency of 70% is set as a threshold value, and if it falls below that, it is determined as a defect.

Next, a method for evaluating the resilience (strength) will be described.
The accelerometer with built-in hammer device evaluates the material properties from the maximum acceleration value recorded at the time of rebound [based on the same principle as Schmitt hammer (rebound hardness method)).
Record the maximum acceleration due to rebound on the striking surface.
The vibration of a healthy part is measured in advance to obtain an average value of the healthy part. For example, a frequency of 70% is set as a threshold value, and a defect is determined when the frequency is lower than the threshold value.

FIG. 6 is a schematic diagram of recording the determination result on the object to be measured by the hitting sound evaluation inspection apparatus for the structure of the present invention.
In this figure, 61 is a measurement object, 62 is a survey (blow) location, 63 is a survey line, 64 is a reflective paint marking location, and 65 is an estimated defect area.
A clear image can be obtained at the reflective paint marking portion 64 by flash photography.

Further, it can be used as a target for laser measurement, and can be followed up by LDV or the like.
FIG. 7 is a schematic diagram of a hammering sound evaluation inspection apparatus for a large structure equipped with a robot arm showing an embodiment of the present invention, and FIG. 8 is an explanatory diagram of a stereo image correlation method showing an embodiment of the present invention.
In FIG. 7, 71 is a tunnel (object to be measured), 72 is an inspection vehicle, 73 is a control / control device mounted on the inspection vehicle 72, 74 is an articulated robot arm, and 75 is the tip of the articulated robot arm. The hitting sound evaluation inspection apparatus, 76 is a position detection target, 77 is a tracking target, 78 is a tracking motor drive mounted on the inspection vehicle 72, 79 is a stereo camera, and 80 drives the tracking target 77. A tracking laser 81 is an obstacle in the tunnel 71.

In FIG. 8, 91 is a left camera, 92 is a right camera, 93 is a left image, 94 is a right image, 95 is a target position P (X, Y, Z), f is a focal length, b is a base length, and X is bu. / (U−u ′), Y = bν / (u−u ′), Z = bf / (u−u ′).
(1) The measurement structure 71 is photographed while tracking the hammering sound evaluation inspection device 75 with the stereo camera 79.

(2) The three-dimensional shape data of the measurement object 71 is calculated by the stereo image correlation method.
(3) The hammering sound evaluation inspection device 75 is operated by the articulated robot arm 74. At that time, the obstacle 81 in the tunnel can be avoided using the three-dimensional shape data.
(4) Using the three-dimensional shape data, it is possible to set the measurement location on the image and perform measurement by automatic control of the articulated robot arm 74.

(5) The inspection result and the three-dimensional shape data to be measured are linked and automatically saved, so that the inspection result can be automatically made into a ledger.
The percussion inspection method has the advantage that a skilled inspector can make a comprehensive judgment based on visual, auditory, and tactile sensations (degree of repulsion) by performing a percussive inspection while looking directly at the condition of the object. There is. Furthermore, in places where there is a concern about peeling of covered concrete or the like, it can be easily dealt with on site, making it one of the most basic inspection methods for tunnels and the like.

  In addition, this invention is not limited to the said Example, Based on the meaning of this invention, a various deformation | transformation is possible and these are not excluded from the scope of the present invention.

  The structure hitting sound evaluation inspection apparatus of the present invention can be used as a structure inspection sound / vibration measurement apparatus that can efficiently execute a series of hitting, measurement, evaluation, and recording flows.

DESCRIPTION OF SYMBOLS 1 Structure to be inspected 2 Hammer device / marking device 3,44 Hammer device 4,52 Marking device 5 Hammer device spring device 6,8 Trigger device 7 Marking device spring device 9, 16, 54 Controller 10 Soundproof / Anti-vibration mechanism 11 Sound hitting / vibration measuring device 12 Narrow directional microphone 13 LDV sensor head 14 Correction contact vibration meter 15A, 15B Optical fiber cable 21 Recording / calculation / evaluation / control device 22 Power supply device 23 Laser generator / demodulator 24, 25, 26 Band pass filter 27 A / D conversion device 28 Recording device 29 Calculation / evaluation device 30 Display device 31 Input device 41 Trigger device 42 First buffer (rigid urethane)
43 Second buffer (rubber)
45 Spring Device 46 Spindle Device 47 Belt Drive 48 Spindle / Nut with Open / Close Function 49 Spring Seat 50 Shock Absorber 51 Accelerometer 53 Motor 61 Measurement Object 62 Investigation (Blowing) Location 63 Survey Line 64 Reflective Paint Marking Location 65 Estimated Defect Area 71 Tunnel (measurement object)
72 Inspection Vehicle 73 Control and Control Device 74 Articulated Robot Arm 75 Impact Sound Evaluation Inspection Device 76 Position Detection Target 77 Tracking Target 78 Tracking Motor Drive 79 Stereo Camera 80 Tracking Laser 81 Obstacle in Tunnel 91 Left Camera 92 Right camera 93 Left image 94 Right image 95 Target position P (X, Y, Z)

Claims (14)

(A) a hammer device;
(B) a hammering / vibration measuring device using the hammer device;
(C) a device for evaluating the soundness of the surface of the structure based on the output from the sound and vibration measuring device;
(D) A structure hitting sound evaluation inspection apparatus comprising: a marking apparatus capable of marking on the surface of the structure by an output from the evaluation apparatus.   2. The structural sound impact inspection apparatus according to claim 1, wherein the sound impact / vibration measuring device includes a soundproof / vibration isolation mechanism for performing precise sound impact evaluation. Evaluation inspection device.   2. The structural impact evaluation apparatus according to claim 1, wherein the impact / vibration measuring device includes a narrow directivity microphone directed to the surface of the impacted structure. Sound evaluation inspection device.   2. The structure impact sound inspection apparatus according to claim 1, wherein the impact sound / vibration measuring apparatus includes an LDV sensor head directed to a surface of the structure to be struck. Evaluation inspection device.   5. The structural sound impact evaluation / inspection apparatus according to claim 4, further comprising a correction contact-type vibrometer in the LDV sensor head.   2. The structural sound impact evaluation and inspection apparatus according to claim 1, wherein the hammer device includes a spring device having a trigger device that is wound up and triggered by a motor.   2. The structural sound impact evaluation inspection apparatus according to claim 1, wherein the marking device includes a spring device having a trigger device that is wound up and triggered by a motor.   8. The structure impact sound evaluation inspection apparatus according to claim 7, wherein the marking device is directed to a surface of the structure to be struck and applies a reflective paint.   2. A structure according to claim 1, wherein the structure is provided with a robot arm and an automatic tracking system, so that inspection work can be efficiently performed without a person moving up in a high place. Sound hitting evaluation inspection device.   The structural sound impact evaluation and inspection apparatus according to claim 9, wherein visual information and surface shape information of the surface of the structural structure to be struck are obtained using a stereo camera.   10. The structural sound impact evaluation apparatus according to claim 9, wherein a stereo camera is used to grasp the 3D shape of the measurement object and control the robot arm, thereby avoiding an obstacle in the structure and hitting the structure. A sound impact evaluation inspection apparatus for a structure characterized by performing a sound evaluation inspection.   10. The structure impact sound evaluation inspection apparatus according to claim 9, wherein inspection data is automatically recorded and stored by the marking device and 3D shape data.   The structural sound impact evaluation inspection apparatus according to claim 1, wherein the structural structure is a bridge / tunnel railway structure.   The structural sound impact evaluation and inspection apparatus according to claim 1, wherein the structure is an unstable rock in a rock slope.

Images