JP2017078684A - Hammering test control device, hammering test control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique that enable proper movement of a hammering test device when conducting a hammering test while moving the hammering test device using a mechanical device having a boom that is extendable, luffable, and revolvable.SOLUTION: A hammering test control device 100 includes; a detection unit 110 that detects a length L, luff angle θ, and swing angle φ of a boom of a mechanical device; a position controller 120 that uses L, θ, and φ to control position of a hammering test device attached to a tip end of the boom using a preset coordinate system; a movement input reception unit 130 that receives input of an instruction to move the hammering test device in a certain direction; a computation unit 140 that, upon reception of an instruction input by the movement input reception unit 130, computes expected values of the length L, luff angle θ, and swing angle φ of the boom when the hammering test device is moved by an amount and in a direction specified by the instruction input; and an output unit 150 that outputs a result of the computation made by the computation unit 140 as a control signal.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a hammering inspection control device, a hammering inspection control method, and a program.

  A technique related to Patent Document 1 is disclosed. Patent Document 1 discloses an automatic sound inspection method and an apparatus therefor. In the technique of Patent Document 1, a hammer device is attached to a tunnel during construction or after construction, and this is permanently installed. Then, the hammer device is activated periodically (for example, once a day) to hit the tunnel, detect the hitting sound, and determine the deterioration state of the tunnel based on the detected hitting sound.

JP 2001-211783 A

  In the case of the technique described in Patent Document 1 in which a hammer device is permanently installed, the number of hammer devices required increases as the number of buildings to be inspected increases and the number of buildings to be inspected increases. As a result, the cost burden increases.

  The present inventors attach a hammering inspection device to a mechanical device (hereinafter simply referred to as “mechanical device”) having a boom capable of extending, retracting, and turning, such as a bridge, a tunnel, and a building. A method to inspect building defects was examined. In the case of the said means, since a hammering test | inspection apparatus can be moved, the test | inspection of several places can be performed using one hammering test apparatus. As a result, the technical problem described in Patent Document 1 can be solved.

  However, when inspecting a plurality of locations while moving the hammering inspection apparatus using the mechanical device, the work efficiency deteriorates unless the movement of the hammering inspection apparatus using the mechanical device is appropriately controlled.

  The present invention relates to a technique for inspecting a plurality of places while moving a hammering inspection apparatus using a mechanical device, and an object thereof is to provide a technique for appropriately moving the hammering inspection apparatus.

According to the present invention,
A detecting unit for detecting a boom length L, a boom raising / lowering angle θ and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering and turning;
A position management unit that manages the position of the sound inspection device attached to the tip of the boom using a predetermined coordinate system using the boom length L, the boom hoisting angle θ, and the boom turning angle φ; ,
A movement input receiving unit that receives an instruction input for moving the sound-inspecting device in any of a plurality of predetermined movement directions;
Each time the movement input reception unit receives the instruction input, based on the current position of the boom top specified using the boom length L, the boom hoisting angle θ, and the boom turning angle φ, Values to be taken by the boom length L, the boom undulation angle θ, and the boom turning angle φ after the hammering test apparatus is moved by a predetermined movement amount in the movement direction specified by the instruction input. A calculation unit for calculating
An output unit for outputting a calculation result by the calculation unit as a control signal;
There is provided a hammering sound inspection control device.

Moreover, according to the present invention,
Computer
A detection step of detecting a boom length L, a boom raising / lowering angle θ and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering and turning;
A position management step of managing the position of the sound inspection device attached to the tip of the boom in a predetermined coordinate system using the boom length L, the boom undulation angle θ, and the boom turning angle φ; ,
A movement input accepting step of accepting an instruction input for moving the hammering test apparatus in any of a plurality of predetermined movement directions;
Each time the instruction input is received in the movement input receiving step, based on the current position of the boom top specified by using the boom length L, the boom hoisting angle θ and the boom turning angle φ, Values to be taken by the boom length L, the boom undulation angle θ, and the boom turning angle φ after the hammering test apparatus is moved by a predetermined movement amount in the movement direction specified by the instruction input. A calculation step of calculating
An output step of outputting a calculation result in the calculation step as a control signal;
Is provided.

Moreover, according to the present invention,
Computer
Detecting means for detecting a boom length L, a boom raising / lowering angle θ and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering and turning;
Position management means for managing the position of a sound-inspecting device attached to the tip of the boom in a predetermined coordinate system using the boom length L, the boom undulation angle θ, and the boom turning angle φ;
A movement input receiving means for receiving an instruction input for moving the sound hitting inspection apparatus in any of a plurality of predetermined movement directions;
Each time the movement input receiving means receives the instruction input, based on the current position of the boom top specified by using the boom length L, the boom hoisting angle θ, and the boom turning angle φ, Values to be taken by the boom length L, the boom undulation angle θ, and the boom turning angle φ after the hammering test apparatus is moved by a predetermined movement amount in the movement direction specified by the instruction input. Calculating means for calculating
Output means for outputting a calculation result by the calculation means as a control signal;
A program is provided that functions as:

  ADVANTAGE OF THE INVENTION According to this invention, in the technique which test | inspects a several location, moving a hammering inspection apparatus using a mechanical apparatus, it becomes possible to move a hammering inspection apparatus appropriately.

It is a figure which shows an example of the hardware constitutions of the tap sound test | inspection control apparatus of this embodiment. It is a figure which shows an example of the mechanical apparatus of this embodiment. It is a figure which shows an example of the truck carrying the mechanical apparatus of this embodiment. It is a figure which shows an example of operation | movement of the boom of this embodiment. It is a figure which shows an example of operation | movement of the boom of this embodiment. It is an example of a functional block diagram of a sound inspection control device of this embodiment. It is a figure for demonstrating an example which pinpoints the position of an impact inspection apparatus based on the boom length L, the boom raising-and-lowering angle (theta), and the boom turning angle (phi). It is a flowchart which shows an example of the flow of a process of the tapping sound test | inspection control apparatus of this embodiment. It is a figure for demonstrating the movement of the sound test apparatus by control of the sound test control apparatus of this embodiment. It is a flowchart which shows an example of the flow of a process of the hammering test control apparatus of this embodiment. It is a figure which shows typically an example of the information which the output part of this embodiment hold | maintains. It is a flowchart which shows an example of the flow of a process of the tapping sound test | inspection control apparatus of this embodiment. It is a figure which shows an example of the hammering inspection apparatus of this embodiment. It is a flowchart which shows an example of the flow of a process of the tapping sound test | inspection control apparatus of this embodiment. It is a flowchart which shows an example of the flow of a process of the tapping sound test | inspection control apparatus of this embodiment. 1 shows an example of a circuit diagram of a system including a mechanical device and a hammering test control device 100 of the present embodiment. It is a flowchart which shows an example of the flow of a process of the tapping sound test | inspection control apparatus of this embodiment. It is a flowchart which shows an example of the flow of a process of the tapping sound test | inspection control apparatus of this embodiment.

  First, an example of the hardware configuration of the hammering inspection control device according to the present embodiment will be described. FIG. 1 is a block diagram illustrating a hardware configuration of a sound hitting inspection control apparatus according to this embodiment. As shown in FIG. 1, the hammering test control apparatus includes a processor 1A, a memory 2A, an input / output interface 3A, a peripheral circuit 4A, and a bus 5A. The peripheral circuit includes various modules.

  The bus 5A is a data transmission path through which the processor 1A, the memory 2A, the peripheral circuit 4A, and the input / output interface 3A transmit / receive data to / from each other. The processor 1A is an arithmetic processing device such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The memory 2A is a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory). The input / output interface 3A includes an interface for transmitting / receiving information to / from a device such as a sensor, a remote operation terminal, a hammering inspection device, and a control device that controls the operation of the boom. The processor 1A issues a command to each module and performs a calculation based on the calculation result.

  Hereinafter, this embodiment will be described. Note that the functional block diagram used in the following description of the embodiment shows functional unit blocks rather than hardware unit configurations. In these drawings, each device is described as being realized by one device, but the means for realizing it is not limited to this. That is, it may be a physically separated configuration or a logically separated configuration. In addition, the same code | symbol is attached | subjected to the same component and description is abbreviate | omitted suitably.

<First Embodiment>
First, an outline of the present embodiment will be described. The hammering sound inspection control device according to the present embodiment uses a boom length L, a boom hoisting angle θ, and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering and turning. The position of the hammering inspection apparatus attached to the tip of the head is managed in a predetermined coordinate system.

  The hammering inspection control apparatus can receive an instruction input for moving the hammering inspection apparatus in any of a plurality of predetermined movement directions from the operator. Whenever the instruction input is received, the hammering inspection apparatus calculates, as the target position, the position in the coordinate system of the hammering inspection apparatus after being moved by a predetermined movement amount in the movement direction specified by the instruction input. . The hammering inspection control device controls the operation of the boom and moves the hammering inspection device to the target position.

  As described above, when the instruction input for moving in a predetermined moving direction is received from the operator, the sounding inspection control device of the present embodiment moves the sound inspection device by a predetermined movement amount each time. In the present embodiment, the movement of the sound inspection apparatus in a desired trajectory is realized by repeating the movement of a predetermined movement amount in the direction specified by the instruction input.

  Next, an outline of the mechanical device will be described. Examples of the mechanical device include a crane, a crane obtained by removing a hook and a hook lifting function, an aerial work machine, a bridge inspection machine, and the like.

  FIG. 2 shows an example of a mechanical device provided with a hammering inspection device at the tip of the boom. FIG. 3 shows an example of a truck on which a mechanical device is mounted. As shown in the figure, the mechanical device has a column 715 mounted on a revolving body that freely rotates in the left-right direction. A boom 720 is fixed to the column 715 with a boom foot pin and a hoisting cylinder 705. The boom 720 can be raised and lowered by extending and retracting the raising and lowering cylinder 705. In addition, the boom 720 can be expanded and contracted by expanding and contracting the telescopic cylinder 710 built in the boom 720.

  The operation of such a mechanical device can be controlled using a manual lever 725 or a remote operation terminal installed in the mechanical device body.

  As shown in FIG. 4, by changing the length of the boom 720 and the undulation angle of the boom 720, the hammering inspection apparatus 1000 attached to the tip of the boom 720 can be slid in the horizontal direction. Moreover, as shown in FIG. 5, the position of the hammering test | inspection apparatus 1000 can be slid to a perpendicular direction by changing the length of the boom 720 and the raising / lowering angle of the boom 720. FIG. In the case of the illustrated mechanism, the posture adjustment unit 740 maintains the posture of the hammering test apparatus 1000 constant regardless of the state of the boom 720. Since the details of the posture adjustment unit 740 are not particularly limited, description thereof is omitted here.

  Next, the configuration of the hammering test control apparatus according to the present embodiment will be described in detail. The hammering inspection control device of the present embodiment controls the operation of the boom of the mechanical device as described above.

  FIG. 6 shows an example of a functional block diagram of the hammering test control apparatus 100 of the present embodiment. As shown in the figure, the hammering test control apparatus 100 includes a detection unit 110, a position management unit 120, a movement input reception unit 130, a calculation unit 140, and an output unit 150.

  The detection unit 110 detects a boom length L, a boom raising / lowering angle θ, and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering, and turning. Sensors that measure the boom length L, the boom hoisting angle θ, and the boom turning angle φ are installed at predetermined positions. And the detection part 110 acquires a measured value continuously from the said sensor.

  The position management unit 120 uses the boom length L, the boom undulation angle θ, and the boom turning angle φ to position the hammering sound inspection device attached to the tip of the boom in a predetermined coordinate system (hereinafter referred to as “first” 1 coordinate system)). For example, the position management unit 120 manages the current position of the sound inspection apparatus using coordinates in the first coordinate system.

  For example, as shown in FIG. 7, the position (boom top coordinates shown) of the hammering inspection device is determined using a predetermined orthogonal coordinate system (boom length L, boom undulation angle θ, and boom turning angle φ). (First coordinate system). In the example shown in FIG. 3, in the machine installed on the truck as shown in FIG. 3, the ground directly below the turning center axis (Z axis) is the origin (0, 0, 0), and the width direction of the truck is the x axis direction. The coordinates (x, y, z) of the boom top are shown in an orthogonal coordinate system in which the length direction of the track is the y-axis direction and the height direction of the track is the z-axis direction. Note that the top position of the sound hitting inspection apparatus 1000 (the place in contact with the inspection target surface) installed at the front end of the boom 720 via the attitude adjustment unit 740 or the like is the boom top. The illustrated variable element is an element whose value is variable, and the fixed element is an element whose value is fixed. A fixed element value is registered in the position management unit 120 in advance. Note that the method of setting the orthogonal coordinate system (the origin position, the axial direction, etc.) is a design matter, and is not limited to those exemplified here.

  Returning to FIG. 6, the movement input receiving unit 130 receives an instruction input for moving the hammering test apparatus in any of a plurality of predetermined movement directions.

  The plurality of predetermined movement directions may be, for example, the axial directions (x-axis direction, y-axis direction, and z-axis direction) of the first coordinate system. In this case, the operator can select one of the x-axis direction, the y-axis direction, and the z-axis direction, and can input an instruction to move the hammering test apparatus in that direction.

  The movement input receiving unit 130 may receive an instruction input that specifies a movement amount in addition to the movement direction. If the movement amount (scalar value) is registered in advance in the movement input reception unit 130, the movement input reception unit 130 can receive an instruction input only in the movement direction that does not include the movement amount. In this case, when receiving an instruction input for moving in a predetermined direction, the movement input receiving unit 130 handles the movement input as a movement instruction for moving in the direction specified by the instruction input by a registered movement amount.

  Each time the movement input reception unit 130 receives an instruction input, the calculation unit 140 receives the boom top current position (hitting angle) specified by using the boom length L, the boom hoisting angle θ, and the boom turning angle φ. The boom length L, the boom undulation angle θ, and the boom turning angle φ after the hammering test device is moved by a predetermined amount of movement in the movement direction specified by the instruction input based on the current position of the sound inspection device) Calculate the value that should take.

  For example, the calculation unit 140 acquires the current position (coordinates in the first coordinate system) of the sound-inspecting device specified in the first coordinate system from the position management unit 120. In addition, the calculation unit 140 acquires the movement direction specified by the instruction input from the movement input reception unit 130. Thereafter, the calculation unit 140 adds an instruction input by adding a vector obtained by multiplying the unit vector in the movement direction specified by the instruction input to the current position (coordinates in the first coordinate system) of the tapping sound inspection apparatus by the movement amount. The position (coordinates in the first coordinate system) of the hammering test apparatus after being moved by a predetermined movement amount in the movement direction specified in (1) is calculated.

Thereafter, the calculation unit 140, as shown in FIG. 7, the boom top coordinates (x, y, z) in the first coordinate system, the boom length L, the boom hoisting angle θ, and the boom turning angle φ. The boom length L, the boom hoisting angle θ, and the boom turning angle φ that are the coordinates (x ₁ , y ₁ , z ₁ ) after movement are calculated.

The output unit 150 calculates the boom length L, the boom hoisting angle θ, and the boom up-and-down angle θ as the result of calculation by the calculation unit 140 (the coordinates (x ₁ , y ₁ , z ₁ ) of the boom top after movement according to the instruction input). The turning angle φ) is output as a control signal. The boom operates according to the control signal, and brings the boom length L, the boom hoisting angle θ, and the boom turning angle φ into the state indicated by the control signal.

  Next, an example of the flow of processing of the hammering test control apparatus 100 of the present embodiment will be described using a flowchart.

  First, an example of the main process will be described using the flowchart of FIG. When the sound inspection control device 100 is activated, information necessary for control is read from the storage unit in an initialization process S10. Next, in the coordinate acquisition process S11, the current position of the sound inspection device (the position of the boom top) is acquired as the coordinates of the first coordinate system.

  Here, an example of the coordinate acquisition process S11 will be described with reference to the flowchart of FIG. When the coordinate acquisition process S11 is started, sensor values such as the boom length L, the boom hoisting angle θ, and the boom turning angle φ are detected in the sensor value acquisition S11-1 (detection unit 10). Subsequently, in the coordinate transformation S11-2, the current position of the sound inspection device is calculated as the coordinates of the first coordinate system based on, for example, the relational expression of FIG. 7 from the sensor value acquired in S11-1. (Location management unit 120). Thereby, the coordinate acquisition process S11 is terminated.

  Returning to FIG. 8, in the mode change input determination S12, it is determined whether or not there is a mode change input. If there is a change input (Yes in S12), the mode change process S14 is executed.

  In the present embodiment, there are a “normal operation mode” (corresponding to the normal operation process S16 in FIG. 8) and a “continuous inspection mode” (corresponding to the continuous inspection process in FIG. 8), and the operator can switch the mode. Details of each mode will be described later. In the mode change input determination S12, it is determined whether or not there is an input for changing the mode between these modes.

  Immediately after changing to the continuous inspection mode, the process is performed with the current position of the hammering inspection apparatus as the inspection start position. Therefore, the inspection start position update S20 is executed when the mode is switched. After executing the mode change process S14 and the inspection start position update S20, the process returns to the coordinate acquisition process S11. When there is no change input in the mode change input determination S12 (No in S12), the process proceeds to the inspection instruction determination S13.

  When there is an inspection instruction (Yes in S13), the flow proceeds to the flow for performing the hammering inspection (movement output stop S18 and inspection sequence S19), and a series of hammering inspection processes are executed. In order to execute the hammering inspection process, first, the movement of the hammering inspection apparatus is stopped at the movement output stop S18. Subsequently, the inspection sequence S19 is executed. The inspection sequence S19 includes impact on the inspection target location, collection of sounds generated in response to the impact, analysis of the collected sound data, and the like. Details of the hammering test will be described later. When the inspection sequence S19 ends, the process returns to the coordinate acquisition process S11.

  On the other hand, when there is no inspection instruction (No in S13), the process proceeds to mode determination S15. In the mode determination S15, it is determined whether the normal operation mode or the continuous inspection mode is currently set, and the normal operation processing S16 or the continuous inspection processing S17 is executed based on the determination result. When either S16 or S17 is executed, the process returns to the coordinate acquisition process S11.

Here, an example of the normal operation process S16 of FIG. 8 will be described using the flowchart of FIG.
In the normal operation process, the inspection apparatus is moved in accordance with an operator input.

  In the normal operation process S16, an instruction input including a moving direction is acquired from the movement input receiving unit 130 in the movement instruction input acquisition S16-1. Here, the operator inputs a movement instruction in the vehicle width direction (x-axis direction, see FIG. 3) via a predetermined operation member (a predetermined button that tilts a predetermined lever in a predetermined direction). Input a movement instruction in the vehicle length direction (y-axis direction, see FIG. 3) via another predetermined operation member (depress a predetermined lever in a predetermined direction, Button).

  In the inspection apparatus normal movement process S16-2, a control signal (control signal for operating the boom) for moving the hammering inspection apparatus at a predetermined speed in the direction instructed by the movement instruction input acquisition S16-1. Output (output unit 150). The speed of movement may be determined in advance or may be changed as appropriate by input. The boom operates in accordance with the control signal, and the sound inspection device attached to the boom moves in a predetermined movement direction.

  In the inspection apparatus normal movement process S16-2, in order to continuously move the sound inspection apparatus, the output is not stopped at the end of the inspection apparatus normal movement process S16-2, and the normal operation process S16 ( The normal operation process may be temporarily ended after the inspection apparatus normal movement process S16-2, and the output may be maintained until the normal process S16) which is to be started again after returning to the main process in FIG. In this case, the hammering inspection device continues to move continuously.

  In addition, while an input in a predetermined direction (depressing a predetermined lever in a predetermined direction, pressing a predetermined button, etc.) continues (continuing to depress the lever or pressing the button), the corresponding direction is reached. The movement of the sound-inspecting apparatus may be continued, and the movement may be stopped when the input is interrupted.

  Next, an example of the continuous inspection process S17 of FIG. 8 will be described using the flowchart of FIG. In the continuous inspection process S17, the movement of the hammering inspection device is repeated semi-automatically.

  In the continuous inspection process S17, first, an instruction input including a movement direction is acquired in the movement instruction input determination S17-1 (movement input receiving unit 130). The operation member used for the instruction input is preferably the same as the operation member used in the normal operation mode. It is also desirable that the correspondence between the operation member and the axial direction is unified with the normal operation mode.

  Subsequently, it is determined whether or not there is an instruction input in the movement input instruction determination S17-2. When there is no instruction input (No in S17-2), the continuous inspection process S17 is terminated, and the process returns to the coordinate acquisition process S11. On the other hand, when there is an instruction input (Yes in S17-2), target position calculation S17-3 is executed.

  In the target position calculation S17-3, the next target inspection position is dynamically obtained based on the inspection start position and the instruction input. Specifically, the point moved by a predetermined distance in the direction specified by the instruction input with reference to the inspection start position becomes the next target inspection position. The moving distance may be determined in advance or may be changed as appropriate by input. Here, the next target inspection position is not fixed by one input, and can be arbitrarily changed during the movement until the next target position is reached.

  In the target position arrival determination S17-4, it is determined whether the current position of the sound inspection device has arrived at the target position. If it has arrived (Yes in S17-4), a series of inspection processes are executed. If it has not arrived (No in S17-4), the target position movement process S17-5 is executed.

  In the target position movement process S17-5, the calculating unit 140, for example, based on the relational expression in FIG. 7, the boom length L, the boom undulation angle θ, and the boom turning angle for the hammering test apparatus to be positioned at the target position. Find the target value of φ. And the output part 150 outputs the calculation result of the calculation part 140 as a control signal. In response to this, the boom operates and the sound hitting inspection apparatus moves.

  As in the normal operation mode, the output is not stopped at the end of the target position movement process S17-5 in order to continuously move the sound inspection device, and the output is maintained until the movement instruction is changed in the next cycle. When the target position movement process S17-5 ends, the continuous inspection process ends, and the process returns to the coordinate acquisition process S11.

  If it has arrived at the target position arrival determination S17-4 (Yes in S17-4), first, the movement output stop S17-6 is executed to stop the movement of the sound inspection device. Subsequently, in the inspection start position update S17-7, the coordinates of the current hammering inspection apparatus are updated as the inspection start position. Here, instead of the coordinates of the current hammering test apparatus, the target test position may be updated as the test start position.

  When the inspection start position update S17-7 is completed, the continuous inspection process S17 is terminated, and the process returns to the coordinate acquisition process S11 to wait for the next input.

  For example, there is a case where it is desired to move the hammering test apparatus in a trajectory as shown by an arrow in FIG. In this case, the operator switches to the continuous inspection mode after positioning the hammering inspection apparatus at P1 in the normal operation mode. Subsequently, an instruction input for moving in a predetermined direction is performed. Then, P2 is calculated as the target position, the sound hitting inspection apparatus is moved to P2, and stops for performing the inspection. Thereafter, the operator inputs an instruction to move in a predetermined direction while the sound inspection device is located at P2. Then, P3 is calculated as the target position, and the sound inspection device is moved to P3. In the case of the present embodiment, by repeating such processing, the movement at a predetermined interval is realized semi-automatically on the trajectory as shown by the arrow in FIG.

  By the way, as an example of realizing the movement in the track as indicated by the arrow in FIG. 9, an example of registering the track in advance and controlling the operation of the boom so as to move the sound inspection device according to the track. Conceivable.

  However, obstacles that obstruct movement, such as protrusions, may be present irregularly on the surface to be inspected. In the example of moving the hammering test apparatus according to a pre-registered track, if there is an obstacle on the track, the movement stops at that point, and the hammering test itself stops. As a result, work efficiency is deteriorated.

  According to the hammering inspection control device 100 of the present embodiment, since the inspection location can be determined by the operator's judgment, if there is an obstacle on a desired trajectory, the hammering inspection apparatus is moved avoiding the obstacle. Can be made. In addition, even after the movement to the next target inspection position is started, the target inspection position can be changed based on the inspection start position, so it is not necessary to determine whether or not to touch an obstacle before the movement starts. However, it is possible to change the inspection position at the stage where the obstacle is almost touched. It should be noted that the same effect can be obtained when correcting the movement direction when the operator makes a mistake in inputting the movement direction. As a result, good working efficiency can be realized.

  Here, for reference, FIG. 16 shows an example of a circuit diagram of a system including the mechanical device and the hammering inspection control device 100 of the present embodiment. The circuit diagram is merely an example, and the present invention is not limited to this.

<Second Embodiment>
When receiving an instruction input for moving in a predetermined moving direction from the operator, the sound hitting inspection control apparatus 100 of the present embodiment each time the boom length L, boom boom angle θ, and boom turning are positioned at the target position. It is determined whether the angle φ is out of the movable range, and if at least one is out of the movable range, it is determined that the movement is impossible. In addition, it may be determined that the movement is impossible by mounting a distance sensor or the like for detecting a nearby obstacle in the hammering test apparatus and determining the possibility of contact with the obstacle.

  If it is determined that the movement is impossible, a warning is output without moving the hammering test apparatus. On the other hand, when it is determined that the movement is possible, the hammering test apparatus is moved to the target position.

  An example of a functional block diagram of the sound inspection control device 100 of the present embodiment is shown in FIG. 6 as in the first embodiment. The configurations of the detection unit 110, the position management unit 120, the movement input reception unit 130, and the calculation unit 140 are the same as those in the first embodiment.

  The output unit 150 holds the movable range of the boom length L, the boom hoisting angle θ, and the boom turning angle φ. FIG. 11 schematically shows an example of information held by the output unit 150. In the illustrated example, each movable range is shown in association with each of the boom length L, the boom hoisting angle θ, and the boom turning angle φ.

  The output unit 150 receives the instruction input including the movement direction by the movement input reception unit 130, and after the calculation unit 140 moves the sound-inspecting device by a predetermined movement amount in the movement direction, the boom length L and the boom When the values to be taken by the undulation angle θ and the boom turning angle φ are calculated, the boom length L, the boom undulation angle θ, and the boom turning angle φ indicated by the calculation result by the calculation unit 140 each fall within the movable range. Judge whether it falls off.

  When at least one of the boom length L, the boom hoisting angle θ, and the boom turning angle φ is out of the movable range, the output unit 150 does not output the calculation result by the calculation unit 140 as a control signal, Output a warning. The warning can be output via any output device such as a display, a speaker, and a warning lamp.

  On the other hand, when the boom length L, the boom hoisting angle θ, and the boom turning angle φ are not within the movable range, the output unit 150 outputs the calculation result by the calculation unit 140 as a control signal.

  Next, an example of the continuous inspection process S17 (see FIG. 8) of the hammering inspection control apparatus 100 of the present embodiment will be described using the flowchart of FIG. The flow of other processing such as main processing is the same as that of the first embodiment.

  In the continuous inspection process S17, the movement of the hammering inspection device is repeated semi-automatically. In the continuous inspection process S17, first, an instruction input including a movement direction is acquired from the movement input receiving unit 130 in a movement instruction input determination S17-1. The operation member used for the instruction input is preferably the same as the operation member used in the normal operation mode. It is also desirable that the correspondence between the operation member and the axial direction is unified with the normal operation mode.

  Subsequently, it is determined whether or not there is an instruction input in the movement input instruction determination S17-2. When there is no instruction input (No in S17-2), the continuous inspection process S17 is terminated, and the process returns to the coordinate acquisition process S11. On the other hand, when there is an instruction input (Yes in S17-2), target position calculation S17-3 is executed.

  In the target position calculation S17-3, the next target inspection position is dynamically obtained based on the inspection start position and the instruction input. Specifically, the point moved by a predetermined distance in the direction specified by the instruction input with reference to the inspection start position becomes the next target inspection position. The moving distance may be determined in advance or may be changed as appropriate by input. Here, the next target inspection position is not fixed by one input, and can be arbitrarily changed during the movement until the next target position is reached.

  Thereafter, the output unit 150 determines whether or not the hammering test apparatus can be moved to the calculated target position (S17-8). Specifically, it is determined whether the boom length L, the boom hoisting angle θ, and the boom turning angle φ at which the hammering inspection device is positioned at the target position are out of the movable range.

  If everything is within the movable range, the output unit 150 determines that the movement is possible (Yes in S17-8). In this case, the output unit 150 outputs the calculation result by the calculation unit 140 as a control signal. In response to this, the boom operates and the sound hitting inspection apparatus moves.

  On the other hand, when at least one is out of the movable range, the output unit 150 determines that the movement is impossible (No in S17-8). In this case, the output unit 150 stops the movement of the inspection apparatus (S17-9) and outputs a warning (S17-10). Thereafter, the process returns to S11.

  In the target position arrival determination S17-4, it is determined whether the current position of the sound inspection device has arrived at the target position. If it has arrived (Yes in S17-4), a series of inspection processes are executed. If it has not arrived (No in S17-4), the target position movement process S17-5 is executed.

  In the target position movement process S17-5, the calculating unit 140, for example, based on the relational expression in FIG. 7, the boom length L, the boom undulation angle θ, and the boom turning angle for the hammering test apparatus to be positioned at the target position. Find the target value of φ. And the output part 150 outputs the calculation result of the calculation part 140 as a control signal.

  As in the normal operation mode, the output is not stopped at the end of the target position movement process S17-5 in order to continuously move the sound inspection device, and the output is maintained until the movement instruction is changed in the next cycle. When the target position movement process S17-5 ends, the continuous inspection process ends, and the process returns to the coordinate acquisition process S11.

  If it has arrived at the target position arrival determination S17-4 (Yes in S17-4), first, the movement output stop S17-6 is executed to stop the movement of the sound inspection device. Subsequently, in the inspection start position update S17-7, the coordinates of the current hammering inspection apparatus are updated as the inspection start position. Here, instead of the coordinates of the current hammering test apparatus, the target test position may be updated as the test start position.

  When the inspection start position update S17-7 is completed, the continuous inspection process S17 is terminated, and the process returns to the coordinate acquisition process S11 to wait for the next input.

  According to the present embodiment described above, the same operational effects as those of the first embodiment can be realized. Further, the hammering test control apparatus 100 according to the present embodiment can determine whether or not to move according to the instruction input, and can execute processing according to the determination result. Specifically, when the movement is possible, the movement according to the instruction input is executed. When the movement is impossible, the movement according to the instruction input is not performed and a warning is output.

  In the case of this embodiment, when the operator mistakenly inputs an instruction to move the boom beyond the movable range, the hammering inspection control device 100 detects that the movement is impossible and follows the instruction input. A warning can be output without moving. A warning can also be output when there is a possibility of contact with an obstacle. The operator who has confirmed the warning can re-input a movement instruction in a different direction and execute movement in a movable direction.

  In the case of this embodiment, the operator can input an instruction in a predetermined direction without worrying about whether or not the boom is within the movable range. For this reason, an operator's burden can be reduced.

  Further, before starting the movement, it is determined whether or not movement is possible. If the movement is impossible, a warning is output without moving. For this reason, an unnecessary movement process of moving to an unmovable direction and stopping there or returning from the stop position to the original position does not occur. As a result, deterioration of work efficiency can be avoided.

<Third Embodiment>
In addition to the operation of the boom, the hammering inspection control device 100 of the present embodiment further controls the operation of the hammering inspection device. When the hammering inspection control apparatus 100 moves the hammering inspection apparatus in response to an instruction input from the operator, the hammering inspection control apparatus controls the hammering inspection apparatus at the moved position each time and executes the hammering inspection. According to the present embodiment, in response to an instruction input for moving in a predetermined direction, the hammering inspection apparatus is moved and the hammering inspection at the moving position is executed.

  An example of a functional block diagram of the sound inspection control device 100 of the present embodiment is shown in FIG. 6 as in the first and second embodiments. The configurations of the detection unit 110, the position management unit 120, the movement input reception unit 130, and the calculation unit 140 are the same as those in the first and second embodiments. Hereinafter, the output unit 150 will be described. Here, differences from the first and second embodiments will be described.

  Each time the output unit 150 outputs the calculation result by the calculation unit 140 as a control signal, the output unit 150 outputs a control signal for causing the sound-inspecting apparatus to perform the sound-inspecting test at the target position after movement. The hammering test apparatus performs a hammering test according to the control signal.

  The hitting inspection apparatus includes a hitting unit that hits an object, and a recording unit that collects and records a sound generated in response to the hitting. The sound hit inspection at each position includes at least one hit to the inspection target, and sound collection and recording from a predetermined time before and after the hit.

  That is, the output unit 150 moves the hammering inspection device to a target position (sets the boom length L, the boom hoisting angle θ, and the boom turning angle φ to predetermined states), and accordingly, the hammering sound is generated. A control signal for starting the inspection is input to the hammering inspection apparatus. According to the control signal, the sound inspection device performs a sound inspection including at least one impact on the inspection object, and sound collection and recording from a predetermined time before the predetermined time to a predetermined time after the impact. Run.

  Here, although an example of a hammering inspection apparatus will be described, the hammering inspection apparatus of the present embodiment is not limited to this.

  FIG. 13 shows an overall image of the hammering inspection apparatus 1000. In FIG. 13, parts other than the urging portion 3, the suspension mechanism 4, and the holding link 5 are partially shown in cross-sectional views, and the urging portion 3 is excluding a part of the collision member 6. It is a front view showing no internal structure.

  As shown in FIG. 13, the hammering inspection apparatus 1000 includes a striking member 1 that collides with an inspection target and strikes, a guide unit 7 that holds the striking member 1 and guides it in one direction, and the striking member 1. It has a biasing part 3 that collides and biases the striking member 1 in one direction, a microphone 8, and a microphone holding part 9 that holds the microphone 8.

  The collision member 6 of the urging unit 3 is configured to be slidable in one direction. The collision member 6 slides in one direction according to the force generated in the urging unit 3. As a result, the collision member 6 collides with the striking member 1. The striking member 1 is urged by the urging unit 3, is then guided by the guide unit 7, moves in one direction, and strikes the inspection target.

  The microphone 8 is fixed to a predetermined position of the sound hitting inspection apparatus 1000 via the microphone holding unit 9. The microphone 8 collects sound and records it in a storage means (eg, Hard Disk Drive).

  Next, an example of the continuous inspection processing S17 (see FIG. 8) of the hammering inspection control device 100 of this embodiment will be described using the flowchart of FIG. The flow of other processing such as main processing is the same as that of the first embodiment.

  In the continuous inspection process S17, the movement of the hammering inspection device is repeated semi-automatically. In the continuous inspection process S17, first, an instruction input including a movement direction is acquired from the movement input receiving unit 130 in a movement instruction input determination S17-1. The operation member used for the instruction input is preferably the same as the operation member used in the normal operation mode. It is also desirable that the correspondence between the operation member and the axial direction is unified with the normal operation mode.

  Subsequently, it is determined whether or not there is an instruction input in the movement input instruction determination S17-2. When there is no instruction input (No in S17-2), the continuous inspection process S17 is terminated, and the process returns to the coordinate acquisition process S11. On the other hand, when there is an instruction input (Yes in S17-2), target position calculation S17-3 is executed.

  In the target position calculation S17-3, the next target inspection position is dynamically obtained based on the inspection start position and the instruction input. Specifically, the point moved by a predetermined distance in the direction specified by the instruction input with reference to the inspection start position becomes the next target inspection position. The moving distance may be determined in advance or may be changed as appropriate by input. Here, the next target inspection position is not fixed by one input, and can be arbitrarily changed during the movement until the next target position is reached.

  In the target position arrival determination S17-4, it is determined whether the current position of the sound inspection device has arrived at the target position. If it has arrived (Yes in S17-4), a series of inspection processes are executed. If it has not arrived (No in S17-4), the target position movement process S17-5 is executed.

  In the target position movement process S17-5, the calculating unit 140, for example, based on the relational expression in FIG. 7, the boom length L, the boom undulation angle θ, and the boom turning angle for the hammering test apparatus to be positioned at the target position. Find the target value of φ. And the output part 150 outputs the calculation result of the calculation part 140 as a control signal. In response to this, the boom operates and the sound hitting inspection apparatus moves.

  As in the normal operation mode, the output is not stopped at the end of the target position movement process S17-5 in order to continuously move the sound inspection device, and the output is maintained until the movement instruction is changed in the next cycle. When the target position movement process S17-5 ends, the continuous inspection process ends, and the process returns to the coordinate acquisition process S11.

  If it has arrived at the target position arrival determination S17-4 (Yes in S17-4), first, the movement output stop S17-6 is executed to stop the movement of the sound inspection device. Subsequently, in the inspection start position update S17-7, the coordinates of the current hammering inspection apparatus are updated as the inspection start position. Here, instead of the coordinates of the current hammering test apparatus, the target test position may be updated as the test start position.

  When the inspection start position update S17-7 is completed, the inspection sequence S17-11 is executed. In the inspection sequence S17-11, the above-described hammering inspection is performed. This is the same as the inspection sequence S19 in FIG. The process waits until the inspection sequence S17-11 is completed. When the inspection sequence S17-11 is completed, the continuous inspection process S17 ends, and the process returns to the coordinate acquisition process S11 to wait for the next input.

  Next, an example of the process of the continuous inspection process S17 (see FIG. 8) of the hammering inspection control apparatus 100 of this embodiment will be described using the flowchart of FIG. The flow of other processing such as main processing is the same as that of the first embodiment.

  In the continuous inspection process S17, the movement of the hammering inspection device is repeated semi-automatically. In the continuous inspection process S17, first, an instruction input including a movement direction is acquired from the movement input receiving unit 130 in a movement instruction input determination S17-1. The operation member used for the instruction input is preferably the same as the operation member used in the normal operation mode. It is also desirable that the correspondence between the operation member and the axial direction is unified with the normal operation mode.

  Subsequently, it is determined whether or not there is an instruction input in the movement input instruction determination S17-2. When there is no instruction input (No in S17-2), the continuous inspection process S17 is terminated, and the process returns to the coordinate acquisition process S11. On the other hand, when there is an instruction input (Yes in S17-2), target position calculation S17-3 is executed.

  In the target position calculation S17-3, the next target inspection position is dynamically obtained based on the inspection start position and the instruction input. Specifically, the point moved by a predetermined distance in the direction specified by the instruction input with reference to the inspection start position becomes the next target inspection position. The moving distance may be determined in advance or may be changed as appropriate by input. Here, the next target inspection position is not fixed by one input, and can be arbitrarily changed during the movement until the next target position is reached.

  Thereafter, the output unit 150 determines whether or not the hammering test apparatus can be moved to the calculated target position (S17-8). Specifically, it is determined whether the boom length L, the boom hoisting angle θ, and the boom turning angle φ at which the hammering inspection device is positioned at the target position are out of the movable range.

  If everything is within the movable range, the output unit 150 determines that the movement is possible (Yes in S17-8). In this case, the output unit 150 outputs the calculation result by the calculation unit 140 as a control signal.

  On the other hand, when at least one is out of the movable range, the output unit 150 determines that the movement is impossible (No in S17-8). In this case, the output unit 150 stops the movement of the inspection apparatus (S17-9) and outputs a warning (S17-10). Thereafter, the process returns to S11 and waits for a new instruction input.

  In the target position arrival determination S17-4, it is determined whether the current position of the sound inspection device has arrived at the target position. If it has arrived (Yes in S17-4), a series of inspection processes are executed. If it has not arrived (No in S17-4), the target position movement process S17-5 is executed.

  In the target position movement processing S17-5, the calculation unit 140 calculates the boom length L, the boom undulation angle θ, and the boom turning angle φ for the sound hitting inspection apparatus to be positioned at the target position based on the relational expression of FIG. Find the target value. And the output part 150 outputs the calculation result of the calculation part 140 as a control signal. In response to this, the boom operates and the sound hitting inspection apparatus moves.

  As in the normal operation mode, the output is not stopped at the end of the target position movement process S17-5 in order to continuously move the sound inspection device, and the output is maintained until the movement instruction is changed in the next cycle. When the target position movement process S17-5 ends, the continuous inspection process ends, and the process returns to the coordinate acquisition process S11.

  If it has arrived at the target position arrival determination S17-4 (Yes in S17-4), first, the movement output stop S17-6 is executed to stop the movement of the sound inspection device. Subsequently, in the inspection start position update S17-7, the coordinates of the current hammering inspection apparatus are updated as the inspection start position. Here, instead of the coordinates of the current hammering test apparatus, the target test position may be updated as the test start position.

  When the inspection start position update S17-7 is completed, the inspection sequence S17-11 is executed. In the inspection sequence S17-11, the above-described hammering inspection is performed. This is the same as the inspection sequence S19 in FIG. The process waits until the inspection sequence S17-11 is completed. When the inspection sequence S17-11 is completed, the continuous inspection process S17 ends, and the process returns to the coordinate acquisition process S11 to wait for the next input.

  According to the present embodiment described above, the same operational effects as those of the first and second embodiments can be realized.

  In addition, when the hammering inspection control apparatus 100 according to the present embodiment moves the hammering inspection apparatus in response to an instruction input from the operator, the hammering inspection apparatus controls the hammering inspection apparatus at the moved position each time. Let it run. As described above, according to the present embodiment in which the operation of the boom and the operation of the sounding inspection device can be linked, the movement of the sounding inspection device and the execution of the sounding inspection are continuously performed without wasteful waiting time. Can be executed. As a result, work efficiency can be improved.

  Further, the operator only needs to input an instruction for moving the sound inspection apparatus, and does not need to separately input an instruction for movement and an instruction for executing the sound inspection. For this reason, an operator's burden can be reduced.

<Fourth Embodiment>
The first to third embodiments are that the sound inspection control device 100 according to the present embodiment can accept registration of a direction in which the sound inspection device is moved, and can receive an instruction input for moving in the registered direction. And different.

  An example of a functional block diagram of the sound inspection control device 100 of the present embodiment is shown in FIG. 6 as in the first to third embodiments. The configurations of the detection unit 110, the position management unit 120, and the output unit 150 are the same as those in the first to third embodiments. Hereinafter, the movement input reception unit 130 and the calculation unit 140 will be described. Here, differences from the first to third embodiments will be described.

  Calculation unit 140 accepts registration of the direction in which the sound inspection device is moved. For example, the operator operates the boom of the mechanical device and positions the sound inspection device at a desired position (first reference position). The calculation unit 140 acquires and registers the boom length L, the boom hoisting angle θ, and the boom turning angle φ in this state.

  In addition, the operator operates the boom of the mechanical device, and positions the hammering inspection device at another desired position (second reference position). The calculation unit 140 acquires and registers the boom length L, the boom hoisting angle θ, and the boom turning angle φ in this state. As a result, the direction connecting the first position and the second position is registered as the direction (first direction) in which the sound hitting inspection apparatus is moved.

  In addition, the operator operates the boom of the mechanical device, and positions the sound inspection device at another desired position (third reference position). The calculation unit 140 acquires and registers the boom length L, the boom hoisting angle θ, and the boom turning angle φ in this state. A direction perpendicular to the first direction and parallel to a plane including the first to third positions is registered as a direction (second direction) for moving the sound-inspecting apparatus.

  The movement input receiving unit 130 can receive an instruction input for moving the sound inspection device in the directions registered in this way (for example, the first and second directions).

  Here, an example of a process in which the calculation unit 140 calculates the target position in response to an instruction input for moving the hammering test apparatus will be described.

  The calculating unit 140 uses, for example, the boom length L, the boom hoisting angle θ, and the boom turning angle φ at each of the first to third reference positions, for example, in the first coordinate system. The coordinates of each third reference position are calculated.

  The calculating unit 140 calculates a vector between the first reference position and the second reference position using the calculated coordinates of the first reference position and the second reference position, and then calculates the vector as the first reference position and the second reference position. A unit vector in the first direction is calculated by dividing by the distance between the reference positions. The calculation unit 140 calculates a unit vector orthogonal to the unit vector in the first direction and parallel to the plane including the first to third reference positions as the unit vector in the second direction.

  Then, the calculation unit 140 adds a vector obtained by multiplying a vector in a direction (first direction or second direction) specified by an instruction input by a predetermined amount of movement to the coordinates of the current sounding inspection apparatus. Thus, the coordinates of the target position in the first coordinate system are calculated.

  According to the present embodiment described above, the same effects as those of the first to third embodiments can be realized.

  Further, according to the present embodiment, by registering the moving direction in advance, the sound hitting inspection apparatus can be moved in a desired direction. As a result, regardless of the positional relationship between the mechanical device and the inspection target, the hammering inspection device can be moved in a desired direction with a simple operation. As a result, work efficiency is improved.

Hereinafter, examples of the reference form will be added.
1. A detecting unit for detecting a boom length L, a boom raising / lowering angle θ and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering and turning;
A position management unit that manages the position of the sound inspection device attached to the tip of the boom using a predetermined coordinate system using the boom length L, the boom hoisting angle θ, and the boom turning angle φ; ,
A movement input receiving unit that receives an instruction input for moving the sound-inspecting device in any of a plurality of predetermined movement directions;
Each time the movement input reception unit receives the instruction input, based on the current position of the boom top specified using the boom length L, the boom hoisting angle θ, and the boom turning angle φ, Values to be taken by the boom length L, the boom undulation angle θ, and the boom turning angle φ after the hammering test apparatus is moved by a predetermined movement amount in the movement direction specified by the instruction input. A calculation unit for calculating
An output unit for outputting a calculation result by the calculation unit as a control signal;
A tapping sound inspection control device.
2. In the sound inspection device according to 1,
Each time the output unit outputs a calculation result by the calculation unit as a control signal, the output unit outputs a control signal that causes the sound inspection device to perform a sound test at a position after movement.
3. In the percussion inspection control device according to 1 or 2,
The output unit is
The movable range of each of the boom length L, the boom hoisting angle θ and the boom turning angle φ is maintained,
When at least one of the boom length L, the boom hoisting angle θ, and the boom turning angle φ indicated by the calculation result by the calculation unit is out of the movable range, the calculation result by the calculation unit is controlled. A warning is output instead of a signal,
When the boom length L, the boom hoisting angle θ, and the boom turning angle φ indicated by the calculation result by the calculation unit do not deviate from the movable range, the calculation result by the calculation unit is output as a control signal. Tapping inspection control device.
4). Computer
A detection step of detecting a boom length L, a boom raising / lowering angle θ and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering and turning;
A position management step of managing the position of the sound inspection device attached to the tip of the boom in a predetermined coordinate system using the boom length L, the boom undulation angle θ, and the boom turning angle φ; ,
A movement input accepting step of accepting an instruction input for moving the hammering test apparatus in any of a plurality of predetermined movement directions;
Each time the instruction input is received in the movement input receiving step, based on the current position of the boom top specified by using the boom length L, the boom hoisting angle θ and the boom turning angle φ, Values to be taken by the boom length L, the boom undulation angle θ, and the boom turning angle φ after the hammering test apparatus is moved by a predetermined movement amount in the movement direction specified by the instruction input. A calculation step of calculating
An output step of outputting a calculation result in the calculation step as a control signal;
A sound inspection control method for executing.
5. Computer
Detecting means for detecting a boom length L, a boom raising / lowering angle θ and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering and turning;
Position management means for managing the position of a sound-inspecting device attached to the tip of the boom in a predetermined coordinate system using the boom length L, the boom undulation angle θ, and the boom turning angle φ;
A movement input receiving means for receiving an instruction input for moving the sound hitting inspection apparatus in any of a plurality of predetermined movement directions;
Each time the movement input receiving means receives the instruction input, based on the current position of the boom top specified by using the boom length L, the boom hoisting angle θ, and the boom turning angle φ, Values to be taken by the boom length L, the boom undulation angle θ, and the boom turning angle φ after the hammering test apparatus is moved by a predetermined movement amount in the movement direction specified by the instruction input. Calculating means for calculating
Output means for outputting a calculation result by the calculation means as a control signal;
Program to function as.

1A processor 2A memory 3A I / O I / F
4A peripheral circuit 5A bus 1 striking member 3 biasing unit 4 suspension mechanism 5 holding link 6 collision member 7 guide unit 8 microphone 9 microphone holding unit 100 sounding inspection control device 110 detection unit 120 position management unit 130 moving input reception unit 140 calculation Part 150 output part 705 hoisting cylinder 715 column 720 boom 725 manual lever 740 attitude adjustment unit 1000 hammering sound inspection device

Claims (5)

A detecting unit for detecting a boom length L, a boom raising / lowering angle θ and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering and turning;
A position management unit that manages the position of the sound inspection device attached to the tip of the boom using a predetermined coordinate system using the boom length L, the boom hoisting angle θ, and the boom turning angle φ; ,
A movement input receiving unit that receives an instruction input for moving the sound-inspecting device in any of a plurality of predetermined movement directions;
Each time the movement input reception unit receives the instruction input, based on the current position of the boom top specified using the boom length L, the boom hoisting angle θ, and the boom turning angle φ, Values to be taken by the boom length L, the boom undulation angle θ, and the boom turning angle φ after the hammering test apparatus is moved by a predetermined movement amount in the movement direction specified by the instruction input. A calculation unit for calculating
An output unit for outputting a calculation result by the calculation unit as a control signal;
A tapping sound inspection control device. The sound inspection device according to claim 1,
Each time the output unit outputs a calculation result by the calculation unit as a control signal, the output unit outputs a control signal that causes the sound inspection device to perform a sound test at a position after movement. In the percussion inspection control device according to claim 1 or 2,
The output unit is
The movable range of each of the boom length L, the boom hoisting angle θ and the boom turning angle φ is maintained,
When at least one of the boom length L, the boom hoisting angle θ, and the boom turning angle φ indicated by the calculation result by the calculation unit is out of the movable range, the calculation result by the calculation unit is controlled. A warning is output instead of a signal,
When the boom length L, the boom hoisting angle θ, and the boom turning angle φ indicated by the calculation result by the calculation unit do not deviate from the movable range, the calculation result by the calculation unit is output as a control signal. Tapping inspection control device. Computer
A detection step of detecting a boom length L, a boom raising / lowering angle θ and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering and turning;
A position management step of managing the position of the sound inspection device attached to the tip of the boom in a predetermined coordinate system using the boom length L, the boom undulation angle θ, and the boom turning angle φ; ,
A movement input accepting step of accepting an instruction input for moving the hammering test apparatus in any of a plurality of predetermined movement directions;
Each time the instruction input is received in the movement input receiving step, based on the current position of the boom top specified by using the boom length L, the boom hoisting angle θ and the boom turning angle φ, Values to be taken by the boom length L, the boom undulation angle θ, and the boom turning angle φ after the hammering test apparatus is moved by a predetermined movement amount in the movement direction specified by the instruction input. A calculation step of calculating
An output step of outputting a calculation result in the calculation step as a control signal;
A sound inspection control method for executing. Computer
Detecting means for detecting a boom length L, a boom raising / lowering angle θ and a boom turning angle φ of a mechanical device including a boom capable of extending / contracting, raising / lowering and turning;
Position management means for managing the position of a sound-inspecting device attached to the tip of the boom in a predetermined coordinate system using the boom length L, the boom undulation angle θ, and the boom turning angle φ;
A movement input receiving means for receiving an instruction input for moving the sound hitting inspection apparatus in any of a plurality of predetermined movement directions;
Each time the movement input receiving means receives the instruction input, based on the current position of the boom top specified by using the boom length L, the boom hoisting angle θ, and the boom turning angle φ, Values to be taken by the boom length L, the boom undulation angle θ, and the boom turning angle φ after the hammering test apparatus is moved by a predetermined movement amount in the movement direction specified by the instruction input. Calculating means for calculating
Output means for outputting a calculation result by the calculation means as a control signal;
Program to function as.

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