JP2016095180A - Structural health monitoring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a structural health monitoring system that can be introduced into a building without requiring large-scale construction.SOLUTION: A structural health monitoring system 100 of the present invention includes: a first acceleration sensor 104 installed in a building 102 or the foundation of the building 102; a terminal (robot 108) that is movable or portable to different height positions in the building 102; a second acceleration sensor 106 disposed in the terminal; and a computer 126 that diagnoses structural performance of the building 102 by use of a plurality of acceleration data of the second acceleration sensor 106 statically measured at different height positions in the building 102 and a plurality of acceleration data of the first acceleration sensor 104 synchronizing the acceleration data of the second acceleration sensor 106.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a structural health monitoring system for diagnosing structural performance from a response waveform to an earthquake or a microtremor (a minute shaking that is constantly occurring that a human does not feel).

  Structural health monitoring systems have been proposed for diagnosing damages such as earthquakes in buildings and deterioration over time. As described in Patent Document 1, in a conventional structural health monitoring system, acceleration sensors are installed on a plurality of floors of a building, and acceleration data of each acceleration sensor is generally transmitted to a computer by wire. The acceleration sensor needs to be installed at least on the lower floor, the middle floor, and the higher floor of the building. The computer uses the transmitted acceleration data to diagnose the structural performance of the building based on a diagnostic index (see Table 2 of Non-Patent Document 1) such as a decrease in natural frequency or a change in mode shape. As described in Non-Patent Document 1, acceleration data synchronized in time is required for diagnosing the structural performance of the building.

JP 2013-254239 A

Sakagami Satoshi et al., “Structural health monitoring system using MEMS applied vibration sensor”, [online], March 30, 2014, Fuji Electric, Internet <URL: http://www.fujielectric.co.jp /about/company/gihou_2014/pdf/87-01/FEJ-87-01-0063-2014.pdf>

  At present, structural performance of buildings such as high-rise buildings and condominiums built in the 1970s and 1980s is regarded as a problem, and the introduction of a structural health monitoring system is required. However, in order to install acceleration sensors on the lower floor, middle floor, and higher floor of such a building, and to lay wires for transmitting acceleration data of these acceleration sensors, a large-scale work is required. Then, of course, the construction cost becomes high. Therefore, there was a risk that a structural health monitoring system could not be introduced due to high initial costs.

  In view of the above problems, an object of the present invention is to provide a structural health monitoring system that can be introduced into a building without a large-scale construction.

  In order to solve the above-mentioned problems, a typical configuration of a structural health monitoring system according to the present invention includes a first acceleration sensor installed on a building or the ground of the building, and moved to different height positions in the building. A plurality of acceleration data and second accelerations of a terminal device that is possible or portable, a second acceleration sensor provided in the terminal device, and a second acceleration sensor measured stationary at different height positions in the building And a computer that diagnoses the structural performance of the building using a plurality of acceleration data of the first acceleration sensor synchronized with the acceleration data of the sensor.

  The terminal device described above may be a self-propelled robot that can move to different height positions in the building.

  The above-mentioned self-propelled robot moves at least to each of the lower floor, the middle floor, and the upper floor obtained by dividing the building into three in the height direction, and the second acceleration sensor has the lower floor, the middle floor, and the upper floor. The acceleration data for each floor may be measured with the self-propelled robot stationary.

  The above-mentioned self-propelled robot may stop all functions that can generate vibrations when measuring acceleration data of the second acceleration sensor in a stationary manner.

  In order to solve the above problems, another typical configuration of the structural health monitoring system according to the present invention includes two terminal devices that can be moved or carried at different height positions in a building, and A first acceleration sensor provided on one side, a second acceleration sensor provided on the other side of the terminal device, and a plurality of acceleration data of the second acceleration sensor measured stationary at different height positions in the building; A computer for diagnosing structural performance using a plurality of acceleration data of the first acceleration sensor synchronized with the acceleration data of the second acceleration sensor measured at a predetermined position at a predetermined height in the building. It is characterized by providing.

  The two terminal devices described above may be self-propelled robots that can move to different height positions in the building.

  ADVANTAGE OF THE INVENTION According to this invention, the structural health monitoring system which can be introduce | transduced into a building without large-scale construction can be provided.

1 is a schematic diagram of a structural health monitoring system according to a first embodiment of the present invention. It is a functional block diagram of the self-propelled robot of FIG. It is a flowchart which illustrates operation | movement of the self-propelled robot of FIG. It is a figure which shows the modification of the transmission method of the acceleration data of the self-propelled robot of FIG. It is a functional block diagram of the computer of FIG. It is a functional block diagram of the arithmetic processing part of FIG. It is the schematic of the structural health monitoring system concerning 2nd Embodiment of this invention. It is a functional block diagram of the self-propelled robot of FIG.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are illustrated. Omitted.

  FIG. 1 is a schematic diagram of a structural health monitoring system 100 according to a first embodiment of the present invention. As shown in FIG. 1, the structural health monitoring system 100 is for diagnosing structural performance of a building 102, that is, damage or deterioration over time of the building 102. Examples of the building 102 include high-rise buildings, condominiums, office buildings, and commercial buildings.

  In the structural health monitoring system 100, it is not necessary to install acceleration sensors on the lower, middle and higher floors of the building 102. Conventionally, for the evaluation of the state of the building 102, acceleration data in which the times measured on the lower floor, the middle floor, and the higher floor of the building 102 are synchronized is essential. In the present embodiment, the first acceleration sensor 104 is used. The two acceleration sensors of the second acceleration sensor 106 (see FIG. 2) make this possible.

  As the first acceleration sensor 104 and the second acceleration sensor 106 (see FIG. 2), ultra-sensitive sensors having a resolution of 0.1 gal or less capable of detecting a non-sensitive earthquake are used. As the first acceleration sensor 104 and the second acceleration sensor 106 (see FIG. 2), MEMS (Micro Electro Mechanical Systems) type acceleration sensors are used. By using the MEMS type acceleration sensor instead of the conventional servo type, the size can be reduced and the cost can be reduced.

  The first acceleration sensor 104 is installed on the building 102 or the ground of the building 102. In the present embodiment, the first acceleration sensor 104 is installed on the ground of the building 102. The second acceleration sensor 106 is provided in a terminal device that can be moved or carried to different height positions in the building 102. Examples of the terminal device include a robot, a radio control, a smartphone, a mobile phone, a PHS, a game machine, a tablet, a laptop computer, and a clock. As the robot, a robot only for the structural health monitoring system 100 may be used, but a security robot, a cleaning robot, a communication robot, a multipurpose robot, an entertainment robot, or the like may be used. In the present embodiment, the terminal device is a self-propelled security robot (hereinafter simply referred to as “robot 108”) that can move to different height positions in the building 102.

  The robot 108 can move to each floor of the building 102 through elevating means 110 such as slopes, stairs, and elevators. Hereinafter, the function of the robot 108 will be specifically described.

  FIG. 2 is a functional block diagram of the robot 108. As shown in FIG. 2, the robot 108 has a patrol sensor 112 for patrol the building 102. The traveling sensor 112 includes a distance sensor, an angle sensor, and the like. As the traveling sensor 112, a camera that acquires external information may be provided.

  Detection data of the traveling sensor 112 is transmitted to the drive control unit 116 via the input / output interface 114. The drive control unit 116 includes a central processing unit (CPU), and generates a control command for the drive mechanism 118 based on detection data of the patrol sensor 112. The drive mechanism 118 includes a motor, wheels, walking means, and the like, and moves the robot 108 according to this control command.

  The robot 108 includes the second acceleration sensor 106 described above. The acceleration data of the second acceleration sensor 106 is input to the storage unit 120 via the input / output interface 114. The storage unit 120 includes a ROM, a RAM, and the like. The arithmetic processing unit 122 causes the wireless transmission / reception unit 124 to transmit the acceleration data input to the storage unit 120 to the computer 126. The arithmetic processing unit 122 is configured to include a central processing unit (CPU), and comprehensively controls all functions and operations of the robot 108.

  Refer to FIG. 1 again. The wireless transmission / reception unit 124 transmits acceleration data to the computer 126 via the wireless transmission / reception device 128 (represented by a reference numeral) and the LAN line 130. Further, acceleration data of the first acceleration sensor 104 is also transmitted to the computer 126 via the LAN line 130. In the present embodiment, these communicate with the computer 126 via a LAN (Local Area Network), but may communicate with the computer 126 via a router 132 via a WAN. Further, although the acceleration data of the first acceleration sensor 104 is transmitted by wire (LAN line 130), it may be transmitted to the computer 126 wirelessly.

  Refer to FIG. 2 again. The robot 108 has various functions for realizing a security function. Specifically, in the present embodiment, there is an alarm unit 134 that issues an alarm audibly or visually when an abnormality occurs in the building 102. The alarm unit 134 includes a speaker, a display, and the like. In addition, in order to implement | achieve a security function, you may provide the camera which acquires external information.

  The robot 108 may be controlled by the computer 126 or may perform a certain operation on the robot 108 side based on a program stored in advance.

  FIG. 3 is a flowchart illustrating the operation of the robot 108. The robot 108 moves and stops at least on each of the lower floor, the middle floor, and the upper floor obtained by dividing the building 102 into three in the height direction. Then, the second acceleration sensor 106 measures acceleration data of the lower floor, the middle floor, and the upper floor in a state where the robot 108 is stationary. Hereinafter, the operation of the robot 108 according to the present embodiment will be specifically described with reference to the flowchart of FIG.

  The robot 108 acquires acceleration data at a predetermined position set at each predetermined height (that is, each floor) of the building 102 based on an instruction from the computer 126 or a stored program. In the present embodiment, the robot 108 circulates all the floors of the building 102 and acquires acceleration data at predetermined positions on all the floors. More specifically, in this embodiment, the robot 108 circulates the building 102 in order from the lowest floor (for example, the first floor) to the uppermost floor (for example, the 50th floor).

  In addition, as a predetermined position on each floor, an optimal location in terms of the structure of the building 102 is selected as an acceleration data measurement location for structural health monitoring.

  In response to an instruction from the computer 126 or execution of the above-described stored program, the robot 108 starts an operation for measuring the acceleration of each floor. In the present embodiment, the robot 108 is set with the first floor A for starting the tour and the last floor B for completing the tour (step S300). Specifically, the lowest floor (for example, the first floor) is set as the first floor A, and the uppermost floor (for example, the 50th floor) is set as the last floor B. This setting may be appropriately set according to an instruction from the computer 126, or may be stored in the storage unit 120 in advance.

  Receiving step S300, the robot 108 determines whether or not the current floor X is the first floor A (step S302). If the current floor X is the first floor A (step S302 Yes), the robot 108 moves to a predetermined position on the current floor X (step S306). If the current floor X is not the first floor A (step S302 No), the robot 108 moves to the first floor A using the lifting means 110 (step S304). Then, the current floor X is set as the first floor A and moved to the predetermined position (step S306).

  When the robot 108 moves to a predetermined position in step S306, the robot 108 stops at the predetermined position. Here, in order to appropriately measure a response waveform to an earthquake or a constant tremor (a minute shaking that is not always felt by humans), the robot 108 expands the bottom area at a predetermined position (the hips). The operation is performed (step S308). Specifically, it may be configured such that the wheels of the drive mechanism 118 are accommodated and the bottom surface is brought into contact with the ground, or a portion that is not in contact with the ground during movement is brought into contact with the ground at a predetermined position.

  Next, the robot 108 stops all functions that can generate vibration (step S310). Specifically, the functions that can generate vibrations such as the motor and servo system used in the drive mechanism 118 are stopped. Then, the second acceleration sensor 106 of the robot 108 measures acceleration data at a predetermined position (step S312). The acceleration data is measured for about 1 minute. The measured acceleration data is transmitted from the robot 108 to the computer 126 via the wireless transceiver 128 and the LAN line 130 (step S314).

  Next, the robot 108 cancels the stop of the function that can generate vibration (step S316), and cancels the wide area contact (sitting down) of the bottom area (step S318), and then the current floor X is the last. It is determined whether or not it is the floor B (step S320). When the current floor X is the last floor B (Yes at Step S320), the operation for measuring the acceleration of each floor is terminated. If the current floor X is not the last floor B (No in step S320), the robot 108 moves up to the next floor (X + 1) using the lifting / lowering means 110 (step S322), and performs the processing from step S306. repeat.

  The patrol of each floor described above is preferably performed while exhibiting the security function of the robot 108. The operation for measuring the acceleration described above may be performed, for example, at night or on holidays when the building 102 is closed in order to avoid the influence of a vibration source (air conditioning equipment or the like).

  FIG. 4 is a diagram illustrating a modification of the acceleration data transmission method of the robot 108. The method of transmitting the acceleration data of each floor to the computer 126 is not limited to the above example. For example, as shown in FIG. 4, the robot 108 may have a removable external memory 120a such as a USB memory or a memory card, and the acceleration data of each floor may be stored in the external memory 120a. Then, the data stored in the external memory 120a may be transferred to the computer 126.

  FIG. 5 is a functional block diagram of the computer 126 of FIG. As shown in FIG. 5, the computer 126 includes a central processing unit (CPU) and includes an arithmetic processing unit 136 that diagnoses the structural performance of the building 102, ROM, RAM, and the like, and stores various data and programs. And a communication unit 140 capable of transmitting and receiving data and commands to and from the robot 108. The robot 108 also includes an input / output interface 142, an input unit 144 such as a keyboard and a mouse, and an output unit 146 such as a display and a printer.

  FIG. 6 is a functional block diagram of the arithmetic processing unit 136. As shown in FIG. 6, the arithmetic processing unit 136 functions as a response waveform calculation unit 148 and a structural performance diagnosis unit 150.

  The response waveform calculation unit 148 uses the acceleration data of each floor measured by the second acceleration sensor 106 and the plurality of acceleration data of the first acceleration sensor 104 synchronized with the acceleration data of each floor at a certain point in time. The response waveform of each floor with respect to the earthquake and fine tremor of the building 102 is calculated. The structural performance diagnosis unit 150 diagnoses the structural performance of the building 102 based on the response waveform calculated by the response waveform calculation unit 148. Specifically, the structural performance of the building 102 is diagnosed based on a diagnostic index such as a decrease in natural frequency or a change in mode shape.

  Refer to FIG. 5 again. The diagnostic result of the structural performance diagnostic unit 150 can be displayed on the output unit 146. Further, when the diagnosis result of the structural performance diagnosis unit 150 requires urgent evacuation, the communication unit 140 may issue a command so that the alarm unit 134 of the robot 108 issues an alarm.

  According to the above-described configuration, it is necessary to install an acceleration sensor on each floor of the building 102 and to lay a wired line in order to obtain a response waveform of each floor with respect to an earthquake or microtremor of the building 102 at a certain time. Absent. Therefore, the structural health monitoring system 100 can be introduced into the building 102 without a large-scale construction. This has the effect of promoting the spread of structural health monitoring systems.

  Further, by making the terminal device a self-propelled robot that can move to different height positions in the building 102, acceleration data can be collected effectively at night or on holidays. In addition, if the setting is made such that acceleration data is collected at regular intervals, changes in the structural performance of the building 102 over time can be grasped. If the above function (acceleration data measurement / collection function) is provided in combination with other functions such as a security function, high efficiency and cost reduction can be realized.

  Further, the robot 108 moves to at least the lower floor, the middle floor, and the upper floor where the building 102 is divided into three in the height direction, and stops, and the second acceleration sensor 106 includes the lower floor and the middle floor. The acceleration data of each upper floor is measured in a state where the robot 108 is stationary. That is, the acceleration data of the second acceleration sensors 106 on the lower floor, the middle floor, and the upper floor that are required to be measured by the structural health monitoring is collected with respect to the acceleration data of the first acceleration sensor 104 serving as a reference. Therefore, a certain diagnosis accuracy can be ensured.

  In addition, since the above-described robot 108 stops all the functions that can generate vibrations when measuring acceleration data of the second acceleration sensor 106 in a static state, the accuracy of measurement of acceleration data can be ensured. Therefore, the accuracy is not inferior to the conventional method of installing an acceleration sensor on each floor.

  FIG. 7 is a schematic diagram of a structural health monitoring system 200 according to the second embodiment of the present invention. As shown in FIG. 7, the structural health monitoring system 200 according to the second embodiment is different from the first embodiment in that the first acceleration sensor 104 is not installed on the ground and a terminal device is further provided instead. To do. Specifically, a robot 208 having the same functions and configuration as the robot 108 is provided as a terminal device.

FIG. 8 is a functional block diagram of the robot 208. As shown in FIG. 8, the robot 208 has a first acceleration sensor 104.

  In the second embodiment, during the period from Step S300 to Step S320 Yes from when the robot 108 starts the operation for measuring the acceleration of each floor of the building 102 to when it finishes, the robot 208 moves inside the building 102. The acceleration data is measured at a predetermined position at a predetermined height, that is, at a predetermined position on a certain floor. At this time, similarly to steps S308 and S310 of the robot 108, the robot 208 may sit down so that the bottom area widens at a predetermined position, or stop all functions that can generate vibration. The acceleration data measured by the robot 208 is appropriately transmitted to the computer 126 via the wireless transceiver 128 and the LAN line 130. The predetermined position of the floor where the robot 208 is located may be the same position as the robot 108 or a different position, and the floor where the robot 208 measures acceleration data may not be measured by the robot 108. In addition, it is good also as a structure which transfers acceleration data to the computer 126 by the external memory 120a etc. similarly to the modification of 1st Embodiment.

  The computer 126 diagnoses the structural performance of the building 102 using the acceleration data transmitted from the robots 108 and 208, as in the first embodiment. According to the second embodiment, since the first acceleration sensor 104 is provided in the robot 208, installation work of the acceleration sensor on the building 102 is not required at all. In addition, the robot 208 can be used for other uses such as a security function, and high efficiency and cost reduction can be realized.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this example. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Understood.

  INDUSTRIAL APPLICABILITY The present invention can be used for a structural health monitoring system for diagnosing structural performance from a response waveform to an earthquake or a constant tremor (a minute shake that is constantly occurring that a human does not feel).

DESCRIPTION OF SYMBOLS 100, 200 ... Structural health monitoring system 102 ... Building 104 ... 1st acceleration sensor 106 ... 2nd acceleration sensor 108, 208 ... Robot 110 ... Lifting means 112 ... Cyclic sensor 114 ... Input / output interface 116 ... Drive control part 118 ... Drive mechanism 120 ... storage unit 122 ... arithmetic processing unit 124 ... wireless transmission / reception unit 126 ... computer 128 ... wireless transmission / reception unit 130 ... LAN line 132 ... router 134 ... alarm unit 136 ... arithmetic processing unit 138 ... storage unit 140 ... communication unit 142 ... Input / output interface 144 ... input unit 146 ... output unit 148 ... response waveform calculation unit 150 ... structural performance diagnosis unit

Claims (6)

A first acceleration sensor installed on the building or the ground of the building;
A terminal device movable or portable to different height positions in the building;
A second acceleration sensor provided in the terminal device;
Using a plurality of acceleration data of the second acceleration sensor measured stationary at different height positions in the building and a plurality of acceleration data of the first acceleration sensor synchronized with the acceleration data of the second acceleration sensor A computer for diagnosing the structural performance of the building;
A structural health monitoring system characterized by comprising:   The structural health monitoring system according to claim 1, wherein the terminal device is a self-propelled robot that can move to different height positions in the building. The self-propelled robot moves at least to each of the lower floor, the middle floor, and the upper floor obtained by dividing the building into three in the height direction, and is stationary.
3. The structural health monitoring system according to claim 2, wherein the second acceleration sensor measures acceleration data of each of the lower floor, the middle floor, and the upper floor in a state where the self-propelled robot is stationary.   The structural health monitoring according to claim 2 or 3, wherein the self-propelled robot stops all functions that can generate vibration when measuring acceleration data of the second acceleration sensor in a stationary manner. system. Two terminal devices that are movable or portable to different height positions in the building;
A first acceleration sensor provided on one side of the terminal device;
A second acceleration sensor provided on the other side of the terminal device;
A plurality of acceleration data of the second acceleration sensor measured stationary at different height positions in the building, and the second acceleration measured stationary at a predetermined position of the predetermined height in the building A computer for diagnosing the structural performance of the building using a plurality of acceleration data of the first acceleration sensor synchronized with the acceleration data of the sensor;
A structural health monitoring system characterized by comprising:   6. The structural health monitoring system according to claim 5, wherein the two terminal devices are self-propelled robots that can move to different height positions in the building.

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