JP2015190838A - Non-destructive inspection device and inspection system for structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inspection device that measures a temperature change of a structure to be inspected caused by infrared radiation so as to inspect internal defects while moving along the structure, and that compares an absorption spectrum obtained by irradiating the structure with an infrared ray to an absorption spectrum obtained by irradiating a normal substance with the infrared ray so as to inspect a deterioration state of the structure.SOLUTION: An inspection device comprises: an inspection device body 1; self-traveling mechanism 2 that makes the inspection device body 1 movable along a structure to be inspected; and calibration substance storage body 3 that is made movable in synchronism with the inspection device body 1, and that stores a normal substance used as a reference in measuring a deterioration state of the structure. The inspection device body 1 includes: an infrared irradiation part for irradiating the structure with an infrared ray for heating; a part for measuring a temperature change and a deterioration state that measures a temperature change of the structure caused by the irradiation of the infrared ray for heating, and that measures a deterioration state of the structure using an absorption spectrum obtained by spectrally separating an infrared ray from the structure heated by the infrared irradiation; and a drive control and accumulation part that performs drive control and data accumulation on the infrared irradiation part and the part for measuring a temperature change and a deterioration state.

Description

  The present invention relates to a nondestructive inspection apparatus that inspects internal defects and deterioration states of the structure by irradiating the structure to be inspected with infrared rays, and in particular, moves the inspection apparatus body along the structure to be inspected. While measuring the temperature change of the structure due to infrared irradiation and inspecting its internal defects, the deterioration state of the structure is compared by comparing the absorption spectrum due to infrared irradiation with respect to the structure and the normal substance moving synchronously with the main body of the inspection apparatus The present invention relates to a nondestructive inspection apparatus and inspection system for a structure that accurately inspects the structure.

  A conventional internal defect inspection apparatus of this kind of structure is connected to an infrared light source that irradiates the structure with infrared light, an infrared irradiation time control device that is connected to the infrared light source, and the infrared irradiation time control device, An image capturing device that captures a structure irradiated by an infrared light source, an image storage device that is connected to the image capturing device and stores an image captured by the image capturing device, and an infrared irradiation time control device and an image storage device, respectively. And an image analysis device that analyzes an image stored in the image storage device (see, for example, Patent Document 1).

  Also, for example, in order to detect deterioration factors of concrete structures in a non-destructive and non-contact manner, the infrared rays are applied to the concrete surface of the structure to be measured, and the reflected light from the concrete surface is input to the spectrometer. Extracting the light intensity of a specific wavelength for detecting a specific deterioration factor from the absorption spectrum of reflected light with a spectroscope, and from the difference between the light intensity and the light intensity based on an influencing factor other than the deterioration factor at the specific wavelength A concrete deterioration factor detection method for detecting an absolute amount of a deterioration factor has been proposed (see, for example, Patent Document 2).

JP 2001-201447 A Japanese Patent Application Laid-Open No. 2007-0778657

  However, in the internal defect inspection apparatus for a structure described in Patent Document 1, for example, when inspecting deterioration of an inner wall surface of a tunnel as a structure to be inspected, at least the infrared light source and the photographing device are movable vehicles ( Inspected by irradiating the inner wall surface of the tunnel with infrared light from an infrared light source while moving the vehicle for transportation at a constant speed in the tunnel. In this case, since the transporting vehicle is run in the tunnel, the passage of other vehicles is hindered. In order to avoid this, it was necessary to select a time zone where there were few passing vehicles such as at night, and to reduce the frequency of inspection of the inner wall surface of the tunnel. In addition, an operator of a transport vehicle is required. Further, in order to inspect the entire inner wall surface of the tunnel, an operator who irradiates infrared rays over a wide range of the inner wall surface of the tunnel is also required. Could not be inspected.

  Moreover, in the detection of the concrete deterioration factor described in Patent Document 2, for example, in a tunnel as a structure to be inspected, environmental changes such as automobile exhaust gas and seasonal changes are severe, so water, iron, chlorine, etc. It is necessary to detect the deterioration factor and inspect the deterioration state, but the absolute value of the deterioration factor is the light intensity of the specific wavelength for detecting the specific deterioration factor and the wavelength band before and after the specific wavelength. It was obtained from the difference with the light intensity. In this case, it is not compared with the absorption spectrum of reflected light by infrared irradiation for normal materials of structures actually installed at the site. It was not possible to inspect, and the deterioration state of the structure could not be inspected with high accuracy.

  Therefore, the problem to be solved by the present invention that addresses such problems is to measure the temperature change of the structure due to infrared irradiation while moving the inspection apparatus body along the structure to be inspected. Non-destructive inspection apparatus and inspection system for a structure that inspects a deterioration state of the structure with high accuracy by comparing the absorption spectrum of the normal substance moving synchronously with the structure and the inspection apparatus main body by infrared irradiation while inspecting the defect Is to provide.

  In order to solve the above problems, a nondestructive inspection apparatus for a structure according to a first invention includes an infrared irradiation unit that irradiates a structure to be inspected with infrared rays for heating, and a structure based on infrared irradiation from the infrared irradiation unit. A temperature change / deterioration state measuring unit for measuring a temperature change of the object and measuring a deterioration state of the structure by an absorption spectrum obtained by spectroscopy of infrared rays from the structure heated by the infrared irradiation; the infrared irradiation unit and the temperature; An inspection apparatus main body including a drive control / accumulation unit that performs drive control and data accumulation of the change / deterioration state measurement unit, a self-propelled mechanism unit that allows the inspection apparatus main body to move along the structure, and the inspection A calibration substance storage body that can be moved in synchronization with the apparatus main body and stores a normal substance serving as a reference for measurement of the deterioration state of the structure, and the inspection apparatus main body along the structure to be inspected While moving, the temperature change of the structure due to the infrared irradiation for heating the structure is measured to inspect the internal defect of the structure, and the normal in the calibration substance container that moves in synchronization with the inspection apparatus body The deterioration state of the structure is inspected by comparing the absorption spectrum of the substance with the infrared irradiation and the absorption spectrum of the structure with the infrared irradiation.

  In addition, the structure inspection system according to the second invention measures the temperature change of the structure caused by infrared irradiation from the infrared irradiation unit, and an infrared irradiation unit that irradiates the structure to be inspected with infrared rays for heating. A temperature change / deterioration state measurement unit that measures a deterioration state of the structure based on an absorption spectrum obtained by dispersing infrared rays from the structure heated by the infrared irradiation, and driving of the infrared irradiation unit and the temperature change / deterioration state measurement unit An inspection apparatus body including a drive control / accumulation unit that performs control and data accumulation, a self-propelled mechanism section that allows the inspection apparatus body to move along the structure, and can move in synchronization with the inspection apparatus body And a calibration substance storage body for storing a normal substance serving as a reference for measurement of the deterioration state of the structure, and a communication unit for sending inspection data acquired by the drive control / accumulation unit to the outside. In addition, while moving the inspection apparatus body along the structure to be inspected, the temperature change of the structure due to infrared irradiation for heating the structure is measured to inspect the internal defect of the structure, and the inspection A non-destructive inspection in which a deterioration state of the structure is inspected by comparing the absorption spectrum of the normal substance in the calibration substance container moving in synchronization with the apparatus main body by the infrared irradiation spectrum and the absorption spectrum of the structure by the infrared irradiation. A relay device that receives inspection data sent from the nondestructive inspection device; a management center that receives the inspection data sent from the nondestructive inspection device and processes data; and between the relay device and the management center And a bi-directional communication network for transmitting and receiving the inspection data.

  According to the nondestructive inspection apparatus for a structure according to the first invention, an inspection apparatus body including an infrared irradiation part, a temperature change / deterioration state measurement part, and a drive control / integration part is inspected by a self-propelled mechanism part. A calibration substance that moves along the object, inspects internal defects of the structure by measuring a temperature change of the structure due to infrared irradiation for heating the structure, and moves in synchronization with the inspection apparatus body The deterioration state of the structure can be accurately inspected by comparing the absorption spectrum of the normal substance in the container with the infrared irradiation and the absorption spectrum of the structure with the infrared irradiation. Therefore, the deterioration state at the installation site of the structure can be inspected while calibrating with a normal substance. In this case, the non-destructive inspection of the structure can be performed anytime for 24 hours without obstructing the passage of other automobiles. In addition, since the operator or the like is not required, inspection costs can be reduced.

  According to the structure inspection system of the second invention, the non-destructive inspection device for the structure moves the inspection device main body along the structure to be inspected by the self-propelled mechanism, while the structure is inspected. Absorption spectrum of the normal substance in the calibration substance container that moves in synchronization with the inspection apparatus main body and inspects an internal defect of the structure by measuring a temperature change of the structure by the infrared irradiation for heating. Is compared with the absorption spectrum of the structure by the infrared irradiation, the deterioration state of the structure is accurately inspected, and inspection data sent from the non-destructive inspection device is received by the repeater, and the repeater is managed. The inspection data is transmitted / received by a two-way communication network provided with the center, and the inspection data sent from the nondestructive inspection device is received at the management center. It is possible to perform the chromatography data processing. Therefore, the deterioration state at the installation site of the structure can be inspected while calibrating with a normal substance. In this case, the non-destructive inspection of the structure can be performed anytime for 24 hours without obstructing the passage of other automobiles. In addition, since the operator or the like is not required, inspection costs can be reduced.

It is the schematic which shows 1st Embodiment of the nondestructive inspection apparatus of the structure by 1st invention. It is a schematic perspective view which shows the arrangement | positioning state of the nondestructive inspection apparatus by 1st Embodiment. It is a cross-sectional explanatory drawing which shows the guide rail on the road surface in a cross section of the self-propelled mechanism part that enables the inspection apparatus body in the nondestructive inspection apparatus to move. It is a side view which shows the inspection apparatus main body of the said nondestructive inspection apparatus. It is an expanded side view which removes a housing | casing in the said test | inspection apparatus main body, and shows an internal structure. It is a principal part perspective view which expands and shows the one half part of the test | inspection apparatus main body shown in FIG. It is explanatory drawing which shows the internal structure of the temperature change / deterioration state measurement part in the inspection apparatus main body shown in FIG. FIG. 8 is a block diagram showing an internal configuration of a temperature measurement spectroscopic optical system in the temperature change / deterioration state measurement unit shown in FIG. 7. It is a graph which shows the state which focuses by the autofocus function of the AF unit in the temperature measurement spectroscopic optical system shown in FIG. It is a schematic explanatory drawing which shows the Example which detects rotation of the infrared irradiation part of the said inspection apparatus main body, and a temperature change / deterioration state measurement part. It is a schematic explanatory drawing which shows the Example which detects the rotation angle with respect to the tunnel of the infrared irradiation part of the said inspection apparatus main body, and a temperature change / deterioration state measurement part. It is a schematic explanatory drawing which shows the Example which detects the movement position with respect to the guide rail on the road surface of the said inspection apparatus main body. It is a cross-sectional explanatory drawing which shows the guide substance on a road surface by carrying out the cross section of the calibration substance storage body which can be self-propelled of the said nondestructive inspection apparatus. It is a block diagram which shows the structure and function of the said nondestructive inspection apparatus. It is explanatory drawing which shows the test | inspection principle of the said nondestructive test | inspection apparatus. It is a graph which shows the inspection principle of the said nondestructive inspection apparatus. It is a graph which shows the state which compares the reflected light amount from the structure to be examined, and a normal substance in the test | inspection of the said nondestructive test | inspection apparatus. It is explanatory drawing which shows the state which performs the measurement of the temperature change by the infrared irradiation with respect to the structure to be examined, or a normal substance, and the measurement of a deterioration state in the inspection of the said nondestructive inspection apparatus with one spectrometer. It is a graph which shows the state which measures a reflectance change and an absorption spectrum with the reflected light of the infrared irradiation with respect to the structure to be examined, and a normal substance in FIG. 18, and performs the measurement of the temperature change of the said structure, and the measurement of a degradation state. It is explanatory drawing which shows the other Example of the internal structure of the temperature change / degradation state measurement part in the test | inspection apparatus main body shown in FIG. FIG. 21 is a block diagram illustrating another example of the internal configuration of the temperature measurement spectroscopic optical system in the temperature change / deterioration state measurement unit illustrated in FIG. 20. It is a block diagram which shows the structure and function of a nondestructive inspection apparatus provided with the temperature change / deterioration state measuring unit shown in FIG. It is the schematic which shows 2nd Embodiment of the nondestructive inspection apparatus of the structure by 1st invention. It is a side view of FIG. It is a schematic perspective view which shows the arrangement | positioning state of the nondestructive inspection apparatus by 2nd Embodiment. It is a perspective view which shows the structure of the self-propelled mechanism part which can move the test | inspection apparatus main body in the said nondestructive test | inspection apparatus. It is the schematic which shows 3rd Embodiment of the nondestructive inspection apparatus of the structure by 1st invention. It is a block diagram which shows embodiment of the structure inspection system by 2nd invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a schematic view showing a first embodiment of a structure nondestructive inspection apparatus according to the first invention. This nondestructive inspection device is for inspecting the internal defect and the deterioration state of the structure by irradiating infrared rays to the structure to be inspected (for example, a structure such as a tunnel or a viaduct). A self-propelled mechanism unit 2 and a calibration substance storage body 3 are provided. Reference numeral 4 denotes a tunnel as a structure to be inspected in which the nondestructive inspection apparatus of the present invention is arranged, and reference numeral R denotes a road extending from the outside to the inside of the tunnel 4.

  The inspection apparatus main body 1 irradiates the inner wall surface of the tunnel 4 as a structure with infrared rays for heating, measures the change in temperature of the inner wall surface of the tunnel 4 due to the infrared irradiation, and heats by the infrared irradiation. The deterioration state of the tunnel 4 is measured by an absorption spectrum obtained by spectrally separating infrared rays from the structured structure, and data accumulation is performed.

  Further, the self-propelled mechanism unit 2 enables the inspection apparatus main body 1 to move in one direction or a reciprocating direction along the tunnel 4.

  The calibration substance storage body 3 is movable in synchronism with the inspection apparatus main body 1 and stores a normal substance serving as a reference for measuring the deterioration state of the tunnel 4. In this case, the calibration substance storage body 3 may be movable by another self-propelled mechanism portion 2a configured similarly to the self-propelled mechanism portion 2 of the inspection apparatus main body 1.

FIG. 2 is a schematic perspective view showing an arrangement state of the nondestructive inspection apparatus shown in FIG. In FIG. 2, the calibration substance storage body 3 is not shown.
The self-propelled mechanism unit 2 allows the inspection apparatus main body 1 to move along the tunnel 4. A guide rail 6 that is installed at the center of the road R extending along the tunnel 4 and serves as a central separation band is provided. Utilizing this, as shown in FIG. 3, the supporting member 7 of the casing 5 of the inspection apparatus main body 1 is held. The lower end portion of the support member 7 having the housing 5 attached to the upper end portion extends toward the road surface of the road R, and the driving wheel 8 is provided at the lower end thereof. A bulge is formed at the lower end of the guide rail 6, and the drive wheel 8 is disposed in the bulge and is rotated by an electric motor 9. As the drive wheel 8 rotates, the support member 7 can be self-propelled in one direction or in a reciprocating direction on the road surface by the guide rail 6. That is, the self-propelled mechanism unit 2 includes the support member 7, the electric motor 9, and the drive wheel 8, and is configured to be reciprocally movable along the tunnel 4. The power supply to the electric motor 9 may be performed by making power transmission wiring using the internal space of the guide rail 6 and sliding the power receiver on the power transmission wiring in the same manner as in a subway train.

  The self-propelled mechanism unit 2 supports the inspection apparatus body 1 so as to be movable along the tunnel 4. The inspection apparatus body 1 irradiates the inner wall surface of the tunnel 4 as a structure with infrared rays for heating, measures the change in the temperature of the inner wall surface of the tunnel 4 due to the infrared irradiation, and heats by the infrared irradiation. The deterioration state of the tunnel 4 is measured by an absorption spectrum obtained by spectrally separating infrared rays from the structure, and data accumulation is performed. As shown in FIG. 4, the upper end portion of the support member 7 held by the guide rail 6 is used. A housing 5 is attached to the housing. The casing 5 is formed, for example, in a cylindrical shape, and accommodates an infrared irradiation unit 12, a temperature change / deterioration state measurement unit 13, a drive control / integration unit 14, and the like, which will be described later. The casing 5 is attached by fixing bands 10 a and 10 b at two positions on the upper end portion of the support member 7. In FIG. 4, the inspection apparatus body 1 can be reciprocated in the directions of arrows A and B by the self-propelled mechanism 2 shown in FIG.

  FIG. 5 is an enlarged side view showing the internal configuration of the inspection apparatus body 1 with the housing 5 removed. In this embodiment, on the upper surface of the base member 11, a first inspection portion 1 a is provided in one half of the longitudinal direction, and a second inspection portion 1 b is provided in a row in the other half. The first inspection unit 1a and the second inspection unit 1b are provided as a pair so as to inspect internal defects and deterioration states of the structure along the respective traveling directions when the inspection apparatus body 1 reciprocates. . In FIG. 5, the first inspection unit 1a is inspected when moving in the left direction (arrow A direction), and the second inspection unit 1b is inspected when moving in the right direction (arrow B direction). It is like that. Here, the 1st test | inspection part 1a is demonstrated typically. The second inspection unit 1b has the same configuration as that of the first inspection unit 1a. When the inspection apparatus main body 1 performs inspection while moving only in one of the arrow A direction and the B direction, only one of the first inspection unit 1a and the second inspection unit 1b may be provided. In that case, the return after moving in the direction of arrow A or B for inspection returns the inspection apparatus body 1 to the original position without any operation.

  In FIG. 5, the first inspection unit 1 a includes an infrared irradiation unit 12, a temperature change / deterioration state measurement unit 13, a drive control / integration unit 14, and a monitoring camera 15. Here, the drive control / accumulation unit 14 is provided in an intermediate portion between the first inspection unit 1a and the second inspection unit 1b as a common component. In addition, since the infrared irradiation part 12 irradiates infrared rays, it is desirable that the base member 11 is made of a material that blocks infrared rays in order to block irradiation of infrared rays downward.

  The infrared irradiation unit 12 irradiates a structure to be inspected with infrared rays for heating. For example, the infrared irradiation unit 12 includes an infrared laser that oscillates a heating laser beam, and has a wavelength of about 1.5 μm and a beam diameter of about 0.010 m. A heating laser beam is oscillated. The surface of the structure is heated by the irradiation of the heating laser beam. As shown in FIG. 6, the infrared irradiation unit 12 has one or a plurality of infrared laser chips 17 on the outer peripheral surface of a first drum 16a having a horizontal rotation axis, and the first drum 16a. Is rotated by an electric motor 18 connected to the rotating shaft. Further, outside the first drum 16a, a condensing lens 19 having a semicircular arc shape having a cross-sectional shape covering the first drum 16a is disposed by a support metal fitting (not shown). Yes. The condensing lens 19 condenses the irradiated heating laser light in a beam shape, and the beam laser light scans the surface of the structure. The infrared laser chip 17 includes a light emitting / receiving element and a laser chip.

  The temperature change / deterioration state measuring unit 13 measures the temperature change of the structure due to the infrared irradiation (heating laser beam) for heating and uses the absorption spectrum obtained by spectroscopically analyzing infrared rays from the structure heated by the infrared irradiation. The deterioration state of the structure is measured. As shown in FIG. 6, the temperature change / deterioration state measurement unit 13 includes a plurality of temperature measurement spectroscopic optical systems 20 on the outer peripheral surface of a second drum 16b having a horizontal rotation axis. The two drums 16b are rotated by an electric motor 21 connected to the rotating shaft. A condensing lens (not shown; condensing lens of the infrared irradiating unit 12) is formed on the outer side of the second drum 16 b so as to cover the second drum 16 b with a cross-sectional shape. 19 is the same). Also in this case, the irradiated infrared rays are condensed into a beam shape by the condenser lens, and the beam light scans the surface of the structure.

  FIG. 7 is an explanatory view showing the internal structure of the temperature change / deterioration state measuring unit 13 in the inspection apparatus main body 1 shown in FIG. 6, and is a side view showing the inside by removing one side plate of the second drum 16b. . The temperature change / deterioration state measurement unit 13 includes, for example, four temperature measurement spectroscopic optical systems 20 that extend radially from the rotation center side of the second drum 16b in the radial direction. Note that the temperature measurement spectroscopic optical system 20 is not limited to four, and may be one or an appropriate plurality.

  FIG. 8 is a block diagram showing an internal configuration of the temperature measurement spectroscopic optical system 20 in the temperature change / deterioration state measurement unit 13 shown in FIG. The temperature measurement spectroscopic optical system 20 includes a light source unit 20a that irradiates light to a structure, and a change in reflectance of light irradiation from the light source unit 20a to the structure heated by infrared irradiation from the infrared irradiation unit 12. A spectroscope 20b that detects thermal absorption light from the structure heated by the infrared irradiation and detects an absorption spectrum, and infrared rays that enter and exit the light source unit 20a and the spectroscope 20b are incident on the surface of the structure. And a lens 20c having an autofocus function for focusing. Reference numeral 20d denotes an AF unit that exhibits a function of autofocus (AF) for focusing the lens 20c, and reference numeral 20e denotes a half mirror.

The light emitted from the light source unit 20a as indicated by the arrow D is reflected by the half mirror 20e and enters the lens 20c. The lens 20c condenses incident infrared rays in the form of a beam and emits it toward the structure as indicated by an arrow D, and the reflected infrared rays from the structure are incident as indicated by an arrow E and sent to the half mirror 20e. In the half mirror 20e, the reflected light transmitted from the lens 20c is transmitted as it is and enters the spectroscope 20b. At this time, the lens 20c is adjusted by the autofocus function of the AF unit 20d so that light emitted from the light source unit 20a is focused on the surface of the structure. That is, in FIG. 8, the light (infrared rays) incident from the lens 20c is detected by the spectroscope 20b, and the detection signal is sent to the AF unit 20d. The AF unit 20d adjusts the position of the lens 20c according to the magnitude of the detection signal. Feedback control so that it is in focus. In this case, the receiving point in the emission point and the spectroscope 20b in the light source unit 20a and a conjugate relationship (positional relationship between the object and the image), as shown in FIG. 9, the lens position of the peak P ₁ of the detected light L Detect ₁ Thus, the light emitted from the light source 20a is focused on the wall surface of the structure (tunnel 4) at the maximum output of the spectroscope 20b (lens position L ₁ ). The reference numeral P ₂ and L ₂ indicates a case-focus with respect to other points of the wall of the structure.

  The light source unit 20a irradiates the structure with light, and includes, for example, a semiconductor laser, and oscillates light having a wavelength of about 0.5 μm and a beam diameter of about 0.001 m. Further, as described above, the spectroscope 20b measures the temperature change by the time change of the reflectance of the light irradiation from the light source unit 20a with respect to the structure heated by the infrared irradiation from the infrared irradiation unit 12, and the infrared ray The absorption spectrum is detected based on the wavelength dependence of the amount of heat radiation by dispersing the heat radiation from the structure heated by irradiation. The temperature change by the spectroscope 20b is measured by measuring the change in thermal conductivity using the temperature dependence of the light reflectivity of the substance by the time change of the reflectivity of the light irradiation on the structure heated by infrared irradiation. This is possible. Such an inspection principle is called “light heating thermoreflectance method”.

  The infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 are arranged by irradiating the structure with infrared rays for heating, and then the temperature change / deterioration state measurement unit 13 is irradiated with the light. Since the change in the temperature of the structure is measured, as shown in FIG. 5, the infrared irradiation unit 12 is positioned on the front side in the movement direction.

  Further, the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 can be independently rotated around a horizontal rotation axis. That is, in FIG. 6, the electric motor 18 connected to the rotating shaft of the first drum 16 a of the infrared irradiation unit 12 and the electric motor 21 connected to the rotating shaft of the second drum 16 b of the temperature change / deterioration state measuring unit 13. Are controlled independently of each other.

  In this case, the rotation of the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 is detected as shown in FIG. For example, a high reflectance member 22 is provided on the upper surface of the base member 11 to which the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 are attached, and irradiation is performed from the infrared laser chip 17 and the temperature measurement spectroscopic optical system 20 shown in FIG. The reflected light of the reflected light is received, and it is detected whether the infrared laser chip 17 and the temperature measurement spectroscopic optical system 20 are rotating, and what is the rotation angle. However, the present invention is not limited to this, and an encoder may be provided on the rotation shaft of the first drum 16a or the second drum 16b, and rotation may be detected by a conventionally known method.

  Further, the rotation angles of the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 with respect to the inner wall surface of the tunnel 4 are detected as shown in FIG. For example, a high reflectance member 23 is provided at a specific position on the inner wall surface of the tunnel 4 or at a predetermined interval, and the reflected light of the light emitted from the infrared laser chip 17 and the temperature measurement spectroscopic optical system 20 is received. The rotation angle of the infrared laser chip 17 and the temperature measurement spectroscopic optical system 20 is detected. At this time, the specific position where the high reflectivity member 23 is attached may be the zero point position of the rotation angle of the infrared laser chip 17 and the temperature measurement spectroscopic optical system 20. The high reflectivity member 23 does not increase in temperature due to absorption of infrared rays for heating from the infrared irradiation unit 12.

  In FIG. 5, the drive control / integration unit 14 performs drive control and data integration of the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13, and drives the infrared laser chip 17 and the temperature measurement spectroscopic optical system 20. A power integrated circuit that integrates inspection data acquired by the operations of the infrared irradiation unit 12 and the temperature change / deterioration state measuring unit 13.

  The monitoring camera 15 is for monitoring the front of the inspection apparatus main body 1 in the movement direction, and is attached with the lens facing forward in the movement direction at the front end portion or the rear end portion of the housing 5 formed in a cylindrical shape, for example. ing. This monitoring camera 15 can monitor the situation in front of the movement direction of the inspection apparatus body 1 and obstacles. Moreover, the inner wall surface of the tunnel 4 can also be confirmed by using a fisheye lens.

  And the movement position with respect to the guide rail 6 of the test | inspection apparatus main body 1 of such a structure is detected as shown in FIG. For example, a high reflectivity member 24 is provided at a specific position or at a predetermined interval on the guide rail 6, and light is emitted toward the high reflectivity member 24 on a part of the support member 7 of the inspection apparatus main body 1 and its reflection. A light emitting / receiving unit 25 that receives light is provided, and the reflected light from the high reflectance member 24 is detected to detect the position of the inspection apparatus body 1 in the longitudinal direction of the guide rail 6. Thereby, the position where the inspection apparatus main body 1 is moving along the structure to be inspected can be detected. Instead of the high reflectivity member 24, a through hole may be formed in the portion, and the light emitting / receiving unit 25 may detect the position by light transmitted through the through hole.

  In the vicinity of one side wall bottom of the inner wall surface of the tunnel 4 shown in FIG. The calibration substance storage body 3 is movable in synchronism with the inspection apparatus main body 1 and stores a normal substance serving as a reference for measuring the deterioration state of the structure (tunnel 4). The inspection apparatus shown in FIG. The support member of the calibration substance storage body 3 is configured to be capable of self-propelling on the road surface of the road R by guidance of another guide rail 6a extending in parallel with the guide rail 6 of the self-propelling mechanism portion 2 of the main body 1.

  That is, as shown in FIG. 1, in the vicinity of the bottom of one side wall of the tunnel 4, another self-propelled mechanism portion 2a configured similarly to the self-propelled mechanism portion 2 (see FIG. 3) of the inspection apparatus main body 1 described above. Is provided. As shown in FIG. 13, the self-propelled mechanism portion 2 a allows the calibration substance storage body 3 to move along the tunnel 4, and is installed on one side of the road R extending along the tunnel 4. The supporting member 7a of the calibration substance storage body 3 is held using the guide rail 6a. The lower end portion of the support member 7a having the calibration substance storage body 3 attached to the upper end portion extends toward the road surface of the road R, and a drive wheel 8a is provided at the lower end thereof. A bulge is formed at the lower end of the guide rail 6a. The drive wheel 8a is disposed in the bulge and is rotated by the electric motor 9a. By rotating the drive wheel 8a, the support member 7a can be self-propelled on the road surface in one direction or in a reciprocating direction by the guide rail 6a. That is, the self-propelled mechanism portion 2 a is configured to be capable of reciprocating along the tunnel 4. The power supply to the electric motor 9a may be performed by using the internal space of the guide rail 6a for power transmission wiring and sliding the power receiver to the power transmission wiring in the same manner as a subway train.

  The “normal substance” mentioned here is, for example, a substance in which a deteriorated substance (water, iron, chlorine, etc.) is not deposited in a concrete structure, and a structure such as a tunnel or a viaduct at each site. It is desirable to store the actual concrete pieces and the like as inspection samples (samples) and use the inspection samples as “normal substances”. That is, when nondestructive inspection of the internal defect and deterioration state of a certain structure after the lapse of a predetermined period, take out the corresponding inspection sample stored for each structure and make it as “normal substance” What is necessary is just to accommodate in the said calibration substance storage body 3. FIG.

  FIG. 14 is a block diagram showing the configuration and functions of the nondestructive inspection apparatus configured as described above. This nondestructive inspection apparatus includes an inspection apparatus main body 1, a self-propelled mechanism portion 2, and a calibration substance storage body 3. In FIG. 14, as the inspection apparatus main body 1, only the first inspection unit 1a shown in FIG. 5 is shown, and the second inspection unit 1b is not shown. The second inspection unit 1b has a common drive control / integration unit 14, and the other parts are block diagrams of the same configuration and function as the first inspection unit 1a shown in FIG.

  First, the inspection apparatus main body 1 includes an infrared irradiation unit 12, a temperature change / deterioration state measurement unit 13, a drive control / integration unit 14, a monitoring camera 15, a camera power supply unit 26, and a communication unit 27. Yes. The infrared irradiation unit 12 irradiates a structure to be inspected with infrared rays for heating. For example, the infrared irradiation unit 12 includes a high-power infrared laser that oscillates a heating laser beam, and a heating laser beam having a wavelength of about 1.5 μm. Oscillates as shown by arrow C.

  The temperature change / deterioration state measuring unit 13 measures the temperature change of the structure due to the infrared irradiation (heating laser beam) from the infrared irradiation unit 12, and spectrally analyzes the infrared rays from the structure heated by the infrared irradiation. The deterioration state of the structure is measured by an absorption spectrum, and includes a light source unit 20a and a spectroscope 20b which are the internal configuration of the temperature measurement spectroscopic optical system 20 shown in FIG. In FIG. 14, the lens 20c, the AF unit 20d, and the half mirror 20e shown in FIG. 8 are not shown. From the said light source part 20a, infrared rays are irradiated like the arrow D toward a structure (tunnel 4). The light reflected from the structure enters the spectroscope 20b as shown by an arrow E.

  The drive control / accumulation unit 14 performs drive control and data integration of the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13. The infrared laser of the infrared irradiation unit 12 and the temperature change / degradation state measurement unit 13. And a power supply circuit for driving the light source unit 20a and the spectroscope 20b, and an inspection logic circuit for integrating data collected by the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13.

  The monitoring camera 15 is for monitoring the front of the inspection apparatus main body 1 in the moving direction. The monitoring camera 15 is supplied with power from the camera power supply unit 26 to perform shooting, and collects the shooting data.

  The communication unit 27 externally captures the inspection data acquired by the drive control / accumulation unit 14 and the imaging data collected by the monitoring camera 15 and transferred via the camera power supply unit 26 (for example, the repeater 51 shown in FIG. 28). The power is supplied from the power supply circuit of the self-propelled mechanism unit 2 to operate.

  The self-propelled mechanism section 2 enables the inspection apparatus main body 1 to move along the structure (tunnel 4), and includes an electric motor 9 shown in FIG. 3, and supplies electric power supplied from the outside to the electric motor. 9 and a circuit for controlling the rotation of the drive wheel 8. Further, a power supply circuit for supplying power to the drive control / integration unit 14, the camera power supply unit 26 and the communication unit 27 is also provided.

  The calibration substance storage body 3 is movable in synchronism with the inspection apparatus main body 1 and stores a normal substance serving as a reference for measuring the deterioration state of the structure. The calibration substance storage body 3 communicates with the normal substance 3a in the storage box. The unit 3b is accommodated. The normal substance 3a is, for example, a substance in which a deteriorated substance (water, iron, chlorine, or the like) is not deposited in a concrete structure, such as an actual piece of concrete in which a structure such as a tunnel or a viaduct is constructed at each site. Is stored as an inspection sample (sample). The communication unit 3b transmits / receives position information to / from the communication unit 27 built in the inspection apparatus body 1 so that the calibration substance storage body 3 can be moved in synchronization with the inspection apparatus body 1 shown in FIG. The electric power is supplied from the power supply circuit of the other self-propelled mechanism 2a to operate.

  The other self-propelled mechanism 2a allows the calibration substance storage body 3 to move in synchronization with the inspection apparatus body 1 along the structure (tunnel 4), and has a structure as shown in FIG. Has been. Then, the position information is obtained from the communication unit 3b that transmits and receives to / from the communication unit 27 built in the inspection apparatus body 1, and operates so as to move in synchronization with the inspection apparatus body 1. The synchronization of the movement operation of the calibration substance container 3 and the inspection apparatus main body 1 is not limited to the transmission / reception of the position information between the communication unit 3b and the communication unit 27. As shown in FIG. A high reflectivity member 24 is provided at a specific position or at a predetermined interval on the guide rail 6a shown, and light is emitted toward a part of the support member 7a of the calibration substance storage body 3 toward the high reflectivity member 24 and its reflection. An inspection device main body is provided that receives and emits light, detects reflected light from the high reflectivity member 24, detects where the calibration substance storage body 3 is in the longitudinal direction of the guide rail 6a, and You may make it synchronize with the position of 1.

  With such a configuration and function, the infrared irradiation unit 12, the temperature change / deterioration state measurement unit 13 and the drive control / control unit are moved while moving the inspection apparatus body 1 along the structure to be inspected by the self-propelled mechanism unit 2. The stacking unit 14 measures the temperature change of the structure due to infrared irradiation (heating laser beam) for heating the structure, inspects the internal defect of the structure, and moves in synchronization with the inspection apparatus body 1. The deterioration state of the structure is inspected by comparing the absorption spectrum of the normal substance 3a in the calibration substance container 3 by the infrared irradiation with the absorption spectrum of the structure by the infrared irradiation.

  Next, the inspection principle of the nondestructive inspection apparatus according to the first invention will be described. FIG. 15 is an explanatory view showing the inspection principle of the nondestructive inspection apparatus, and FIG. 16 is a graph showing the inspection principle of the nondestructive inspection apparatus. This inspection principle irradiates a certain structure with light, measures the reflected light, and measures the thermal conductivity using the temperature dependence of the light reflectance of the substance. Called. Using this inspection principle, the light reflectance at the reflected light measurement position of the structure to be inspected is measured, the local thermal conductivity is obtained from the transient characteristics, and mapping is performed to remove cracks and voids inside the structure. Can be found.

In FIG. 15A, it is assumed that there are cracks 31 or voids inside the structure 30 to be inspected. First, the surface of the structure 30 is irradiated with heating laser light from the infrared irradiation unit 12 as indicated by an arrow C (time T ₀ ). At this time, the beam diameter of the heating laser beam (C) is about 0.010 m, and the region width is about 10 times the beam diameter of the measurement laser beam described later. The temperature of the portion 32 irradiated with the heating laser beam (C) on the surface of the structure 30 rises, and the heat diffuses to the surroundings. Thereafter, in FIG. 15B, the temperature change / deterioration state measurement unit 13 irradiates the surface of the structure 30 with the measurement laser light as indicated by the arrow D and reflects the reflected light as indicated by the arrow E. Measure (time T ₁ ). At this time, the beam diameter of the measurement laser beam (D) is about 0.001 m, and the region width is about 1/10 of the beam diameter of the heating laser beam (C). The portion 32 irradiated with the heating laser beam (C) is thermally diffused with the passage of time, and the heat spreads to the periphery like a diffusion region 33. Further, in FIG. 15C, the next measurement laser beam is irradiated from the temperature change / deterioration state measurement unit 13 as indicated by arrow D, and the reflected light reflected as indicated by arrow E is measured (time T _2). ). At this time, the portion 32 irradiated with the heating laser beam (C) at time T ₀ is further thermally diffused with the passage of time thereafter, and the heat spreads to the periphery like the diffusion region 34.

Thereafter, in the same manner as described above, the measurement laser beam is irradiated to the heating portion 32 on the surface of the structure 30 as indicated by the arrow D from the time T ₁ to the time T ₁₀ at a predetermined time interval. Thus, the reflected light reflected is measured. FIG. 16 is a graph summarizing such measurement results. FIG. 16 is a graph in which the horizontal axis represents time and the vertical axis represents the intensity of laser reflected light. At time T ₀ , the surface of the structure 30 is irradiated with heating laser light to heat the region 32, and from time T ₁ to time T _{1. The} laser beam is irradiated to the heating part 32 of the structure 30 up to ₁₀ and the reflected light is measured, and the heat diffuses as in the diffusion regions 33 and 34 shown in FIGS. 15 (b) and 15 (c). It shows the state of the change in the reflected light of the part. In this case, within the beam width of the heating laser beam (C) irradiated at time T ₀ , the measurement laser beam (D) is irradiated in ten times from time T ₁ to time T ₁₀ and the reflected light is measured. doing.

  By measuring the reflected light as shown in FIG. 16, the reflectance of the heated portion 32 on the surface of the structure 30 can be measured. Here, according to the above-mentioned “light heating thermoreflectance method”, the thermal conductivity can be measured by utilizing the temperature dependence of the light reflectance of a substance. Therefore, the reflected light measurement graph shown in FIG. 16 is arranged with the position shifted according to the measurement site, and if the surrounding site and the measurement result change, it can be seen that the thermal conductivity of that site has changed. It can be found that there are cracks 31 or voids there.

  FIG. 17 is a graph showing a state in which the amount of reflected light from the structure to be inspected (tunnel 4) and the normal substance 3a in the calibration substance container 3 is compared by the “light heating thermoreflectance method”. This graph, like the graph shown in FIG. 16, measures the thermal conductivity by measuring the reflected light and utilizing the temperature dependence of the light reflectance of the substance. The solid line indicates the amount of reflected light from the normal substance 3a. The change shows the change, and the broken line shows the change in the amount of reflected light from the abnormal structure. It is possible to measure whether or not there is an abnormality such as a crack or a gap in the structure by comparing the rising slope and peak value of the curve.

  FIG. 18 is an explanatory diagram showing a state in which a single spectroscope 20b performs temperature change measurement and deterioration state measurement by infrared irradiation on the structure to be inspected (tunnel 4) or the normal substance 3a in the calibration substance container 3. It is. In this case, the infrared ray for heating (heating laser beam) is irradiated to the tunnel 4 or the normal material 3a from the infrared irradiation unit 12, and the infrared reflected light from the heated surface of the tunnel 4 or the normal material 3a is received by the spectroscope 20b. To measure the reflectance change and the absorption spectrum of the tunnel 4 or the normal material 3a.

FIG. 19 shows the measurement and deterioration of the temperature change of the structure by measuring the reflectance change and the absorption spectrum of the thermal radiation by the reflected light of the light irradiation on the structure (tunnel 4) and the normal substance 3a in FIG. It is a graph which shows the state which measures a state. FIG. 19 is a graph in which the output of the spectroscope 20b after heating for a certain time after infrared irradiation is represented by the wavelength on the horizontal axis and the detected light amount on the vertical axis. FIG. 19 (a) shows the heat from the normal substance 3a. The output (solid line r ₁ ) of the synchrotron radiation and the reflected light (broken line p) measured by the thermoreflectance method is shown, and FIG. 19 (b) shows the absorption of the thermal radiation from the structure by the degradation factor (dashed line q). 19 shows the output (solid line r ₂ ) when the absorption and the reflection peak (broken line p) measured by the thermoreflectance method are close to each other and the wavelength is close to each other and the deterioration cannot be recognized. c) shows an output (solid line r ₃ ) obtained by taking the difference (r ₁ −r ₂ ) between the output of FIG. 19 (a) and the output of FIG. 19 (b). In this case, it is possible to specify the substance deposited due to the deterioration of the structure from the wavelength W at which the difference output (solid line r ₃ ) peaks. In addition, the deterioration degree of the structure can be estimated from the height of the peak of the difference r ₃ .

As shown in FIG. 19, regarding the output of the thermal radiation light and the reflected light measured by the thermoreflectance method, since the difference between the output from the normal substance 3a and the output from the structure is viewed, the deterioration state of the structure The light receiving element can be shared in the measurement and the measurement of the temperature change of the structure. That is, it is possible to measure the deterioration state of the structure and the temperature change of the structure (inspection of internal defects) with only one spectroscope 20b, and to reduce the number of measuring devices and downsize the inspection apparatus.
Furthermore, since it is considered that the deposition of substances due to deterioration of the structure takes a long time compared to the measurement time, the deposition of substances due to deterioration of the structure and the other elements are separated from the time change of r _3. Can be performed. For example, when the height of the peak of r ₃ in a few seconds greatly varies, the peak of r ₃ is not a precipitation of a substance caused by deterioration of the structure, is considered to be some kind of noise.

  Measurement of the temperature change and absorption spectrum of the structure to be inspected as described above was performed on the structure every day or periodically after a predetermined period, and measurement data different from the previous measurement data was obtained as time passed. Sometimes, it can be seen that a different state has occurred on the surface or inside of the structure, and the internal defect and deterioration state of the structure can be inspected.

  Next, the use and operation of the nondestructive inspection apparatus configured as described above will be described. First, in FIG.1 and FIG.2, the self-propelled mechanism part 2 is combined using the guide rail 6 installed in the road R, for example in the tunnel 4 as a structure to be examined, and the inspection apparatus main body 1 is tunneled. Set in the center on the road R in 4. Further, in the tunnel 4, the other self-propelled mechanism portion 2 a is combined using another guide rail 6 a extending in parallel with the guide rail 6 of the self-propelled mechanism portion 2 of the inspection apparatus main body 1 to store the calibration substance. The body 3 is set near the bottom of one side wall on the road R in the tunnel 4.

  In this state, external power is supplied to the self-propelled mechanism unit 2 to drive the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 shown in FIGS. 4 and 5, and the first drum 16a and the first drum 16a shown in FIG. While the second drum 16b is rotated independently to rotate the infrared laser chip 17 and the temperature measurement spectroscopic optical system 20, the heating laser beam is oscillated or irradiated with infrared rays on the inner wall surface of the tunnel 4. At the same time, the electric motor 9 of the self-propelled mechanism unit 2 shown in FIG. 3 is driven to rotate the driving wheel 8, and the inspection apparatus main body 1 is moved along the guide rail 6 in the direction of arrow A or B as shown in FIG. At a constant speed, and moved one way or reciprocatingly over the entire length of the tunnel 4. The rotation of the temperature measuring spectroscopic optical system 20 is preferably faster than that of the heating infrared laser chip 17.

  The rotation and rotation angle of the infrared laser chip 17 of the infrared irradiation unit 12 and the temperature measurement spectroscopic optical system 20 itself of the temperature change / deterioration state measurement unit 13 are the high reflectivity members attached to the upper surface of the base member 11 shown in FIG. The reflected light from 22 is received and detected. Further, the rotation angle of the infrared irradiation unit 12 and the temperature change / degradation state measurement unit 13 with respect to the inner wall surface of the tunnel 4 is a high position provided at a specific position on the inner wall surface of the tunnel 4 shown in FIG. The reflected light from the reflectance member 23 is received and detected. Further, the movement position of the inspection apparatus main body 1 with respect to the guide rail 6 is detected by receiving reflected light from a high reflectance member 24 provided at a specific position of the guide rail 6 shown in FIG. Is done. Thereby, the position where the inspection apparatus main body 1 is moving along the tunnel 4 to be inspected is detected.

  By such an operation, the position of the laser beam irradiated from the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 with respect to the inner wall surface of the tunnel 4 is specified, and the inspection apparatus main body 1 moves along the guide rail 6. By specifying the position to be performed and performing the operations of FIGS. 13 to 19 described above, the inner wall surface of the tunnel 4 can be automatically inspected evenly. In this case, the non-destructive inspection of the tunnel 4 can be performed anytime for 24 hours without obstructing the passage of other automobiles. In addition, since the operator or the like is not required, inspection costs can be reduced.

  The above description is shown in FIG. 8 and describes the temperature measurement spectroscopic optical system 20 in the temperature change / deterioration state measurement unit 13 described in claim 3. The temperature measurement spectroscopic optical system 20 in the temperature change / deterioration state measurement unit 13 will be described with reference to FIG. 8 which is a common configuration block diagram.

  First, the temperature measurement spectroscopic optical system 20 in the temperature change / deterioration state measurement unit 13 according to claim 4 includes a light source unit 20a that irradiates a structure with infrared rays, as shown in FIG. The reflectance change of the infrared irradiation from the light source part 20a with respect to the structure heated by the infrared irradiation from the part 12 is measured, and the reflected light of the infrared irradiation from the light source part 20a to the structure heated by the infrared irradiation is spectroscopically analyzed. The spectroscope 20b for detecting the absorption spectrum and the lens 20c having an autofocus function for allowing the infrared rays entering and exiting the light source unit 20a and the spectroscope 20b to be focused on the surface of the structure. .

  The light source unit 20a irradiates the structure with infrared rays, and is the same as that described in claim 3. In addition, as described above, the spectroscope 20b measures a temperature change by a time change in reflectance of the infrared irradiation from the light source unit 20a with respect to the structure heated by the infrared irradiation from the infrared irradiation unit 12, and the infrared ray The reflected light of the infrared irradiation from the light source unit 20a on the structure heated by irradiation is dispersed, and the absorption spectrum is detected by the wavelength dependence of the reflectance. The measurement of the temperature change by the spectroscope 20b also uses the temperature dependence of the light reflectance of the substance by the time change of the reflectance of the infrared irradiation with respect to the structure heated by the infrared irradiation similarly to the third aspect. This can be done by measuring the change in thermal conductivity (light heating thermoreflectance method).

  Next, the temperature measurement spectroscopic optical system 20 in the temperature change / deterioration state measurement unit 13 according to claim 5 includes a light source unit 20a for irradiating the structure with infrared rays, as shown in FIG. An absorption spectrum is obtained by measuring a change in thermal radiation light from a structure heated by infrared irradiation from the irradiation unit 12 and spectroscopically reflecting reflected light of the infrared irradiation from the light source unit 20a on the structure heated by the infrared irradiation. And a lens 20c having an autofocus function that allows infrared rays entering and exiting the light source unit 20a and the spectroscope 20b to be focused on the surface of the structure.

  The light source unit 20a irradiates the structure with infrared rays, and is the same as that described in claim 3. In addition, as described above, the spectroscope 20b measures the temporal change of the heat radiation light from the structure heated by the infrared irradiation from the infrared irradiation unit 12, and the light source for the structure heated by the infrared irradiation. The reflected light of infrared irradiation from the unit 20a is dispersed, and the absorption spectrum is detected by the wavelength dependence of the reflectance. The temperature change by the spectroscope 20b can be measured by the time change of the amount of heat radiation from the structure heated by infrared irradiation (thermographic method).

  FIG. 20 is an explanatory view showing another embodiment of the internal structure of the temperature change / deterioration state measuring unit 13 in the inspection apparatus main body 1 shown in FIG. 6, with one side plate of the second drum 16b being removed and the inside thereof being shown. FIG. FIG. 20 shows the temperature change / deterioration state measuring unit 13 according to claim 6, and, like FIG. 7, extends radially from the rotation center side of the second drum 16 b in the radial direction. For example, four temperature measurement spectroscopic optical systems 20 ′ are provided. Note that the temperature measurement spectroscopic optical system 20 ′ is not limited to four, and may be one or an appropriate plurality.

  FIG. 21 is a block diagram showing an internal configuration (corresponding to claim 6) of the temperature measurement spectroscopic optical system 20 'in the temperature change / deterioration state measurement unit 13 shown in FIG. The temperature measurement spectroscopic optical system 20 ′ measures a change in thermal radiation from the structure heated by the infrared irradiation from the infrared irradiation section 12, and also emits thermal radiation from the structure heated by the infrared irradiation. And a lens 20c having an auto-focus function that allows infrared rays incident on the spectrometer 20b to be focused on the surface of the structure. Reference numeral 20d denotes an AF unit that exhibits an automatic focusing (AF) function for focusing the lens 20c. That is, the point which is not provided with the light source part 20a and the half mirror 20e differs from FIG.

  The reflected infrared rays from the structure heated by the infrared irradiation from the infrared irradiation section 12 are incident on the lens 20c as indicated by the arrow E and are incident on the spectroscope 20b as they are. At this time, the lens 20c is adjusted so that the reflected infrared ray incident on the lens 20c is focused on the light receiving point of the spectroscope 20b by the autofocus function of the AF unit 20d. That is, in FIG. 21, the spectroscope 20b detects light (infrared rays) incident from the lens 20c and sends the detection signal to the AF unit 20d. The AF unit 20d adjusts the position of the lens 20c according to the magnitude of the detection signal. Feedback control so that it is in focus.

  FIG. 22 is a block diagram illustrating the configuration and functions of the nondestructive inspection apparatus including the temperature change / deterioration state measurement unit 13 illustrated in FIG. In this nondestructive inspection apparatus, the internal structure of the temperature change / deterioration state measurement unit 13 includes a temperature measurement spectroscopic optical system 20 ′ (corresponding to claim 6) shown in FIGS. The operation is the same as that shown in FIG.

  FIG. 23 is a schematic view showing a second embodiment of the structure nondestructive inspection apparatus according to the first invention, and FIG. 24 is a side view thereof. 23 and 24 show the arrangement state of the inspection apparatus main body 1 and the calibration substance storage body 3, and the tunnel 4 is not shown.

  In the second embodiment, the inspection apparatus main body 1 is formed in an arch shape along the inner wall surface of a structure (tunnel 4) having an inner wall surface having a semicircular cross section. The movable support member 41 is held, and the base members 42 at both ends of the movable support member 41 are movable along the structure by a self-propelled mechanism 40 configured to be capable of self-propelled on the road surface of the road R. The calibration substance storage body 3 is mounted on either one of the base members 42 at both ends of the movable support member 41. Other configurations are basically the same as those in the first embodiment.

  FIG. 25 is a schematic perspective view showing the self-propelled mechanism 40 in the second embodiment. In this embodiment, the self-propelled mechanism 40 that movably supports the housing 5 (see FIG. 3) of the inspection apparatus main body 1 includes a movable support member 41 and a base member 42. In FIG. 25, the calibration substance storage body 3 is not shown.

  As shown in FIG. 26, the movable support member 41 includes an arch-shaped first support member 41a positioned at the center, an arch-shaped second support member 41b positioned at a predetermined interval in front and rear thereof, and a third And a support member 41c. As shown in FIG. 25, a suspension support tool 43 is attached to the lower surface of the semicircular arc-shaped central portion of the first support member 41a. The inspection apparatus main body 1 configured in the same manner as shown in FIG. At this time, the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 shown in FIG. 4 of the inspection apparatus main body 1 are separated from the first support member 41a and the second support member 41b as shown in FIG. And is supported so as to be positioned at a separation portion between the first support member 41a and the third support member 41c. This is to prevent the laser beam or infrared ray irradiated from the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 and reflected from the inner wall surface of the tunnel 4 from being obstructed by the movable support member 41. is there.

  At both ends of the arch shape of the movable support member 41, base members 42, 42 are provided. This base member 42 enables the movable support member 41 to run on the road surface of the road R. As shown in FIG. 26, the base member 42 extends horizontally from the second support member 41b to the third support member 41c. 46, and a plurality of drive wheels 8 are provided in a row in the inside of the base box 46. The drive wheel 8 is rotated by an electric motor (not shown) installed inside the table box 46. Since the base member 42 provided with the drive wheel 8 is provided at both ends of the arch-shaped movable support member 41, the movable support member 41 is placed on the installation surface in a state where the lower end portions are supported by both the base members 42. Standing up. Then, when the drive wheel 8 rotates, the entire movable support member 41 can self-run in one direction or in a reciprocating direction on the road surface. That is, the self-propelled mechanism portion 40 of this embodiment includes the movable support member 41, the base member 42, the electric motor, and the drive wheel 8.

  In FIGS. 25 and 26, reference numeral 44 denotes a camera unit. As shown in FIG. 26, the camera unit 44 is movable along the arched shape using the second support member 41b and the third support member 41c, and the lens surface of the camera is shown in FIG. It is provided toward the inner wall surface of the tunnel 4. Thereby, if there is an abnormal part on the inner wall surface of the tunnel 4 by the camera unit 44, it can be photographed.

  In this state, as shown in FIG. 25, the arch-shaped movable support member 41 is positioned along the inner wall surface of the tunnel 4, and the base members 42, 42 at both ends thereof are located on the road R inside the tunnel 4. The self-propelled mechanism 40 is inserted into the tunnel 4 so as to be located on both sides, and is configured to be able to reciprocate along the tunnel 4. In addition, what is necessary is just to use conventionally well-known electric power supply means, such as using a storage battery, for the electric power supply with respect to the said electric motor.

  As shown in FIG. 23, since the calibration substance storage body 3 is mounted on either one of the base members 42 and 42 at both ends of the movable support member 41, the entire self-propelled mechanism section 40 is provided. Moves along the tunnel 4 and moves in synchronization with the inspection apparatus body 1.

  Also in the case of the second embodiment, the operation of the inspection apparatus main body 1 is exactly the same as described above. However, in order to detect the rotation of the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 (see FIGS. 4 to 6) of the inspection apparatus body 1 in the self-propelled mechanism unit 40 of the second embodiment, FIG. 24, a high reflectivity member (not shown) is provided on the upper surface of one base member 42 to which the lower end portion of the first support member 41a on which the inspection apparatus main body 1 is supported is connected. The infrared laser chip 17 and the temperature measurement spectroscopic optical system 20 are rotated by receiving laser light and infrared reflected light emitted from the temperature measurement spectroscopic optical system 20 of the infrared laser chip 17 and the temperature change / degradation state measuring unit 13. Whether or not the rotation angle is detected. In this case, since the arch shape of the first support member 41 a is formed in an arch shape along the inner wall surface of the tunnel 4, the position where the high reflectivity member is attached is positioned at the infrared laser chip 17 and the temperature measurement spectroscopic optics. If the zero point position of the rotation angle of the system 20 is set, the rotation angle of the infrared irradiation unit 12 and the temperature change / deterioration state measurement unit 13 with respect to the inner wall surface of the tunnel 4 can be detected in a pseudo manner. In addition, the said high reflectance member shall not raise the temperature by absorption of the infrared rays for a heating from the infrared irradiation part 12. FIG.

  The moving position of the inspection apparatus main body 1 in the second embodiment with respect to the longitudinal direction of the tunnel 4 is, for example, a continuous line or a constant interval of the high reflectance member 23 shown in FIG. 11 along the longitudinal direction of the tunnel 4. The inspection apparatus main body 1 detects the laser beam irradiated from the infrared irradiation unit 12 or the temperature change / deterioration state measurement unit 13 and the reflected light from the high reflectivity member 23 of the tunnel 4. What is necessary is just to detect the position in the longitudinal direction. Thereby, the position where the inspection apparatus main body 1 is moving along the tunnel 4 to be inspected can be detected. Also in this case, the high reflectivity member 23 does not increase in temperature due to absorption of infrared rays for heating from the infrared irradiation unit 12.

  About use and operation | movement of the nondestructive inspection apparatus provided with the self-propelled mechanism part 40 of 2nd Embodiment, use and operation | movement of the nondestructive inspection apparatus provided with the self-propelled mechanism part 2 of 1st Embodiment are fundamental. Are the same, and only the moving operation of the self-propelled mechanism 40 of the second embodiment is different. When the self-propelled mechanism section 40 of the second embodiment shown in FIGS. 23 and 25 is provided, the self-propelled mechanism section 2 (FIG. 1 and FIG. 1) of the first embodiment on the road R inside the tunnel 4 to be inspected. Since it is not necessary to previously install the guide rail 6 for holding (see FIG. 2), it is easy to introduce the nondestructive inspection apparatus according to the present invention. Further, as long as the arch shape of the self-propelled mechanism portion 40 of the second embodiment matches the shape of the inner wall surface of the tunnel 4 to be inspected, it is possible to introduce this nondestructive inspection device into the existing tunnel 4. is there.

  FIG. 27 is a schematic view showing a third embodiment of the nondestructive inspection apparatus for structures according to the first invention. In the third embodiment, the inspection apparatus main body 1 extends along the structure near the bottom of one side wall and the bottom of the other side wall of the structure (tunnel 4) having a semicircular inner wall surface in cross section. A self-propelled mechanism portion 2 configured such that the support member of the inspection apparatus main body 1 is capable of self-propelling on the road surface by the guide rails 6 and 6 installed in parallel to face each other on the road surface of the extending road R. , 2 are provided so as to be movable along the structure, and the calibration substance storage body 3 is built in side surfaces of the two inspection apparatus bodies 1, 1 facing each other. In addition, the calibration substance storage body 3 built in each inspection apparatus main body 1 is, as shown in FIG. 6, for example, a pedestal of the electric motor 21 that rotates the second drum 16b constituting the temperature change / deterioration state measurement unit 13. What is necessary is just to provide in a side part or the housing | casing side part of the said electric motor 21, etc.

  In the case of the third embodiment, the two calibrating substance storage bodies 3 can be moved by synchronizing the two inspection apparatus main bodies 1 and 1 arranged opposite to each other by the self-propelling mechanism parts 2 and 2. It can move in synchronization with the inspection apparatus body 1 of the other party. In this case, the position information may be transmitted and received between the communication units 27 in the inspection apparatus main body 1 shown in FIG. In this embodiment, the two inspection apparatus main bodies 1 and 1 arranged opposite to each other cover the inner wall area (about ½ each) of the tunnel 4 located on the front side of the self, and the internal defects of the structure and The deterioration state can be inspected.

  In addition, the self-propelled mechanism part which can move the said inspection apparatus main body 1 along the structure to be examined is the self-propelled mechanism part 2 of 1st and 3rd embodiment, or the self-propelled mechanism of 2nd Embodiment. The configuration is not limited to the portion 40, and a rail may be laid on the inner wall surface of the tunnel 4 in the tunnel longitudinal direction so as to have a monorail configuration. Further, in the first embodiment, the other self-propelled mechanism 2a that enables the calibration substance storage body 3 to move in synchronization with the inspection apparatus main body 1 is also provided on the inner wall surface of the tunnel 4 in the longitudinal direction of the tunnel. It is good also as a thing of a structure like a monorail.

  FIG. 28 is a block diagram showing an embodiment of a structure inspection system according to the second invention. This inspection system inspects the internal defect and deterioration state of the structure by irradiating the structure to be inspected (for example, a structure such as a tunnel or a viaduct) with infrared rays. Device 51, management center 52, and bidirectional communication network 53. Reference numeral 4 denotes a tunnel as a structure to be inspected in which the nondestructive inspection apparatus 50 is arranged.

  The nondestructive inspection apparatus 50 is the nondestructive inspection apparatus according to the first invention described above, and is configured as shown in FIGS. 1, 23, and 27, for example, disposed in the tunnel 4. For example, as shown in FIG. 14 or FIG. 22, the nondestructive inspection apparatus 50 includes an infrared irradiation unit 12 that irradiates a structure to be inspected (tunnel 4) with infrared rays for heating, and infrared irradiation from the infrared irradiation unit. A temperature change / deterioration state measuring unit 13 for measuring a deterioration state of the structure by measuring an infrared spectrum from the structure heated by the infrared irradiation, and measuring an infrared ray from the structure heated by the infrared irradiation, and the infrared irradiation. Inspection apparatus main body 1 including a drive control / accumulation unit 14 that performs drive control and data accumulation of the unit 12 and the temperature change / degradation state measurement unit 13, and enables the inspection apparatus main body 1 to move along the structure. A self-propelled mechanism unit 2, a calibration substance storage body 3 that is movable in synchronization with the inspection apparatus main body 1 and stores a normal substance 3a serving as a reference for measurement of the deterioration state of the structure, and the drive And a communication unit 27 to send the test data obtained with the control and integration unit 14 to the outside. And while moving the said inspection apparatus main body 1 along the structure (tunnel 4) of a test object, the temperature change of the structure by the infrared irradiation for the heating with respect to the said structure is measured, and the internal defect of this structure is detected. Inspecting and comparing the absorption spectrum of the normal substance 3a in the calibration substance container 3 moving in synchronization with the inspection apparatus main body 1 by comparing the absorption spectrum by the infrared irradiation with the absorption spectrum by the infrared irradiation of the structure It is designed to inspect the deterioration state of objects.

  The repeater 51 is installed at the terminal end (for example, tunnel entrance or exit) of the tunnel 4 to be inspected, and receives inspection data sent from the nondestructive inspection device 50. A data communication unit to be sent to 53 is provided. The repeater 51 is not limited to the end portion of the tunnel 4, and may be installed at the center of the tunnel 4 or at a place immediately after leaving the tunnel 4.

  The management center 52 receives the inspection data sent from the nondestructive inspection device 50 and performs data processing, and includes a data processing unit such as a central processing unit (CPU). Furthermore, as shown in FIG. 28, when managing a plurality of nondestructive inspection apparatuses 50, a host electronic computer is provided.

  The bidirectional communication network 53 is provided between the repeater 51 and the management center 52, and transmits and receives the inspection data. The bidirectional communication network 53 includes a known bidirectional network to exchange inspection data.

  Communication between the nondestructive inspection device 50, the repeater 51, the bidirectional communication network 53, and the management center 52 may be wired or wireless. Further, a data processing unit for processing the inspection data is provided in the repeater 51 so that the repeater 51 processes the inspection data sent from the nondestructive inspection apparatus 50 and transmits it to the management center 52. It may be.

  In this inspection system, a nondestructive inspection device 50 is installed in one structure (tunnel 4) to be inspected, and this nondestructive inspection device 50 is managed via a repeater 51 and a bidirectional communication network 53. Although it may be connected to the center 52, as shown in FIG. 28, one nondestructive inspection device 50 is installed for each of a plurality of structures (tunnels 4) to be inspected, and the plurality of nondestructive inspections are performed. One management center 52 may be installed on the apparatus 50 via the bidirectional communication network 53 so as to be connected so as to be capable of bidirectional communication.

  Next, the use and operation of the inspection system according to the second invention configured as described above will be described. The use and operation of the nondestructive inspection device 50 itself are as described for the first invention. First, in the nondestructive inspection apparatus 50, the absorption spectrum by the infrared irradiation with respect to the normal substance 3a in the calibration substance storage body 3 is measured to acquire calibration data. For example, the absorption spectrum is measured at a rate of once per n rotations (n is a natural number) of the second drum 16b of the temperature change / deterioration state measurement unit 13 shown in FIG. Thereafter, the obtained calibration data is sent to the repeater 51 installed at the entrance or exit of the tunnel 4 via the communication unit 27 shown in FIG.

  Next, while moving the inspection apparatus main body 1 along the structure to be inspected (tunnel 4), the temperature change of the structure due to infrared irradiation on the structure is measured to inspect internal defects of the structure. Then, the absorption spectrum of the structure by infrared irradiation is measured to obtain inspection data. At this time, there is a possibility that the measurement environment (temperature / humidity) changes at the start and end of the measurement. Thereafter, the acquired inspection data is sent to the repeater 51 via the communication unit 27 shown in FIG.

  The acquired calibration data and inspection data are sent from the repeater 51 to the management center 52 via the bidirectional communication network 53. The management center 52 receives the calibration data and the inspection data sent from the nondestructive inspection apparatus 50 installed in each tunnel 4, performs data processing, and accumulates the inspection data after the data processing. Keep it. At this time, the repeater 51 compares the spectrum data for calibration with respect to the normal substance 3a and the spectrum data for inspection with respect to the structure, and the amount of the deposited substance specified from the wavelength W shown in FIG. When the predetermined threshold is exceeded, the management center 52 is notified of the occurrence of an abnormality due to the deterioration of the structure.

  The detection of the occurrence of an abnormality due to the deterioration of the structure is performed by sending calibration data and inspection data from the repeater 51 to the management center 52, and then in the management center 52 for calibration of normal substances. The occurrence of abnormality may be detected by comparing the spectrum data with the spectrum data for inspection of the structure. The acquisition of calibration data for the normal substance 3a and the acquisition of inspection data for the structure are not limited to the above order, and the acquisition of inspection data for the structure is performed first. Also good.

  The inspection of the inner wall surface of the tunnel 4 is performed every day or periodically after a predetermined period. When an inspection result different from the previous inspection data is obtained as time passes, the inspection is performed on the surface or inside of the tunnel 4. It can be seen that a different state has occurred, and the internal defect and deterioration state of the structure can be inspected. As described above, the repeater 51 is provided with a data processing unit for processing the inspection data, and the repeater 51 processes the inspection data sent from the nondestructive inspection apparatus 50 to the management center 52. When transmission is performed, the management center 52 can be implemented by providing a small data processing unit in the relay 51 for each tunnel 4 without providing a large data processing unit in the management center 52.

  By such an operation of the inspection system, the inner wall surfaces of the plurality of tunnels 4 can be inspected uniformly and automatically. In this case, the non-destructive inspection of the tunnel 4 can be performed anytime for 24 hours without obstructing the passage of other automobiles. In addition, since the operator or the like is not required, inspection costs can be reduced.

DESCRIPTION OF SYMBOLS 1 ... Inspection apparatus main body 1a ... 1st inspection part 1b ... 2nd inspection part 2, 2a ... Self-propelled mechanism part 3 ... Calibration substance container 3a ... Normal substance 3b ... Communication unit 4 ... Tunnel (structure to be examined)
DESCRIPTION OF SYMBOLS 5 ... Housing 6 ... Guide rail 7 ... Supporting member 8 ... Drive wheel 9 ... Electric motor 12 ... Infrared irradiation part 13 ... Temperature change / deterioration state measurement part 14 ... Drive control / integration part 17 ... Infrared laser chip 18, 21 ... Electric motor 20, 20 '... temperature measurement spectroscopic optical system 20a ... light source 20b ... spectroscope 20c ... lens 20d ... AF unit 26 ... camera power supply unit 27 ... communication unit 30 ... structure 31 ... crack 40 ... self-propelled mechanism 41 ... Moveable support member 42 ... Base member 43 ... Hanging support 50 ... Non-destructive inspection device 51 ... Repeater 52 ... Management center 53 ... Bidirectional communication network

Claims (13)

An infrared irradiation unit that irradiates the structure to be inspected with infrared rays for heating, and a temperature change of the structure due to infrared irradiation from the infrared irradiation unit is measured and the infrared rays from the structure heated by the infrared irradiation are dispersed. A temperature change / deterioration state measurement unit that measures the deterioration state of the structure based on the absorption spectrum, and a drive control / integration unit that performs drive control and data accumulation of the infrared irradiation unit and the temperature change / degradation state measurement unit. An inspection device body;
A self-propelled mechanism that enables the inspection apparatus body to move along the structure;
A calibration substance storage body that is movable in synchronization with the inspection apparatus main body and stores a normal substance serving as a reference for measuring the deterioration state of the structure,
While inspecting the internal defect of the structure by measuring the temperature change of the structure due to infrared irradiation for heating the structure while moving the inspection apparatus body along the structure to be inspected, the inspection apparatus Comparing the absorption spectrum of the normal substance in the calibration substance container moving in synchronization with the main body by the infrared irradiation and the absorption spectrum of the structure by the infrared irradiation to inspect the deterioration state of the structure. Non-destructive inspection equipment for structures   The non-destructive inspection apparatus for a structure according to claim 1, wherein the infrared irradiation unit is an infrared laser that oscillates a heating laser beam.   The temperature change / deterioration state measurement unit includes a light source unit that irradiates the structure with infrared rays, and a reflectance change of light irradiation from the light source unit with respect to the structure heated by infrared irradiation from the infrared irradiation unit. A spectroscope that detects and absorbs an absorption spectrum by spectroscopically measuring thermal radiation from the structure heated by the infrared irradiation, and light that enters and exits the light source unit and the spectroscope is focused on the surface of the structure. The non-destructive inspection apparatus for a structure according to claim 1, further comprising: a lens having an automatic focusing function.   The temperature change / deterioration state measurement unit includes a light source unit that irradiates infrared rays to the structure, and a reflectance change of infrared irradiation from the light source unit to the structure heated by infrared irradiation from the infrared irradiation unit. A spectroscope that detects an absorption spectrum by measuring the reflected light of the infrared irradiation from the light source unit with respect to the structure heated by the infrared irradiation, and an infrared ray that enters and exits the light source unit and the spectroscope The nondestructive inspection apparatus for a structure according to claim 1, further comprising: a lens having an automatic focusing function for focusing on the surface.   The temperature change / deterioration state measurement unit measures a change in heat radiation from a light source unit that irradiates the structure with infrared rays and a structure heated by infrared irradiation from the infrared irradiation unit and the infrared rays A spectroscope for detecting an absorption spectrum by spectroscopically reflecting reflected light of infrared irradiation from the light source unit to a structure heated by irradiation, and infrared rays entering and exiting the light source unit and the spectroscope are focused on the surface of the structure. The nondestructive inspection apparatus for a structure according to claim 1, further comprising: a lens having an automatic focusing function.   The temperature change / deterioration state measuring unit measures a change in heat radiation from a structure heated by infrared irradiation from the infrared irradiation unit and also emits heat radiation from the structure heated by infrared irradiation. 2. A spectroscope for spectroscopically detecting an absorption spectrum, and a lens having an auto-focus function for allowing infrared rays incident on the spectroscope to be focused on a surface of a structure. Or the nondestructive inspection apparatus of the structure of 2. The inspection apparatus main body is formed by a self-propelled mechanism portion configured such that a support member of the inspection apparatus main body can be self-propelled on a road surface by guidance of a guide rail installed on a road surface extending along the structure. It is possible to move along
The calibration substance storage body is configured such that the support member of the calibration substance storage body can be self-propelled on the road surface by guidance of another guide rail extending in parallel with the guide rail of the self-propelling mechanism.
The nondestructive inspection apparatus for structures according to any one of claims 1 to 6. The inspection apparatus main body is formed in an arch shape along the inner wall surface of a structure having an inner wall surface having a semicircular cross section, and has a movable support member for holding the inspection apparatus body, and both ends of the movable support member The base member is movable along the structure by a self-propelled mechanism configured to be self-propelled on the road surface,
The calibration substance storage body is mounted on either one of the base members at both ends of the movable support member,
The nondestructive inspection apparatus for structures according to any one of claims 1 to 6. The inspection apparatus main body is installed in parallel so as to face a road surface extending along the structure near the bottom of one side wall and the bottom of the other side wall of the structure having a semicircular arc-shaped inner wall surface. Two guide members are provided so as to be movable along the structure by a self-propelling mechanism configured to be capable of self-propelling on the road surface by guiding the guide rail.
The calibration substance storage body is built in the side parts facing each other of the two inspection apparatus main bodies,
The nondestructive inspection apparatus for structures according to any one of claims 1 to 6.   The self-propelled mechanism unit and the calibration substance storage body can be reciprocated along the structure, and at least the infrared irradiation unit and the temperature change / deterioration state measurement unit in the inspection apparatus main body correspond to both directions of the reciprocal movement. A nondestructive inspection apparatus for a structure according to any one of claims 1 to 9, characterized in that a pair is provided. An infrared irradiation unit that irradiates the structure to be inspected with infrared rays for heating, and a temperature change of the structure due to infrared irradiation from the infrared irradiation unit is measured and the infrared rays from the structure heated by the infrared irradiation are dispersed. A temperature change / deterioration state measurement unit that measures the deterioration state of the structure based on the absorption spectrum, and a drive control / integration unit that performs drive control and data accumulation of the infrared irradiation unit and the temperature change / degradation state measurement unit. An inspection apparatus main body, a self-propelled mechanism that allows the inspection apparatus main body to move along the structure, and a movement that can be moved in synchronization with the inspection apparatus main body, which serve as a reference for measuring the deterioration state of the structure A calibration substance storage body for storing normal substances and a communication unit for sending inspection data acquired by the drive control / stacking unit to the outside, the inspection apparatus main body along the structure to be inspected While moving, inspect the internal defect of the structure by measuring the temperature change of the structure due to the infrared irradiation for heating the structure, and normal in the calibration substance container that moves in synchronization with the inspection apparatus body A non-destructive inspection device for inspecting the deterioration state of the structure by comparing the absorption spectrum of the substance with the infrared irradiation and the absorption spectrum of the structure with the infrared irradiation;
A repeater for receiving inspection data sent from the nondestructive inspection device;
A management center that receives inspection data sent from the non-destructive inspection device and performs data processing;
A bidirectional communication network provided between the repeater and the management center, for transmitting and receiving the inspection data;
A structure inspection system comprising:   12. The structure inspection system according to claim 11, wherein inspection data sent from the nondestructive inspection device is processed by the repeater and transmitted to the management center.   One non-destructive inspection device is installed for each of a plurality of structures to be inspected, and one management center is installed for the plurality of non-destructive inspection devices via the bidirectional communication network. The structure inspection system according to claim 11 or 12, characterized in that: