JP2018128278A - Hammer sound inspector and hammer sound system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hammer sound inspector using a small unmanned aerial vehicle applicable to an inspection by means of hammering such as hammering test.SOLUTION: A hammer sound inspector 10 uses a small unmanned aerial vehicle for collecting hammering sounds generated when hammering the surface of a structure. The hammer sound inspector includes: a small unmanned aerial vehicle 1; electrically-driven tires 2, 2 which are provided to the side of the small unmanned aerial vehicle facing the surface of a structure; a hammering unit 3 attached to the small unmanned aerial vehicle at the side that the electrically-driven tires are attached; and a microphone 4 disposed close to the hammering unit for collecting hammering sounds.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a hammering inspection apparatus and a hammering inspection system using a small unmanned aerial vehicle for inspecting the state of a structure from a hammering sound generated when the surface of the structure is hit.

  As disclosed in Patent Document 1, there is known a method for inspecting deformation of a concrete structure, such as the presence or absence of a cavity, by analyzing a striking sound generated when the surface of the concrete structure is struck. It has been.

  In the inspection by hitting sound, it is necessary to directly hit the surface of the structure to be inspected, so when inspecting high places such as bridge girders and high-rise buildings, a scaffold is installed in advance. Workers had to go on an aerial work vehicle for inspection.

  On the other hand, in recent years, the technology of small unmanned aerial vehicles (UAVs) called drones has been developed and used in various fields. For example, Patent Document 2 discloses an inspection system that can acquire an image of an inner surface in a short time by efficiently flying an unmanned air vehicle inside a sewer pipe and efficiently grasp an abnormal location and an abnormal content. It is disclosed.

Japanese Patent No. 3822802 JP, 2006-218813, A

  However, it is difficult to control the attitude of an unmanned aerial vehicle, and it is difficult to accurately specify the inspection position. In short, although the tendency of the state can be grasped by photographing or the like, it has been difficult to apply to an inspection in which a positional relationship such as hitting under the same condition from a certain distance must be specified.

  Therefore, an object of the present invention is to provide a hammering inspection apparatus and a hammering inspection system that use a small unmanned aerial vehicle that can be applied to a hammering inspection such as a hammering inspection.

  In order to achieve the above object, the sound inspection device of the present invention is a sound inspection device using a small unmanned aerial vehicle that collects a sound generated when a surface of a structure is hit. A moving mechanism provided on the side of the small unmanned aircraft facing the surface of the structure, a striking mechanism provided on the moving mechanism side of the small unmanned aerial vehicle, and the striking mechanism disposed adjacent to the striking mechanism It is provided with a sound collector for the hitting sound.

  The invention of the batting inspection system is a batting inspection system using a small unmanned aerial vehicle for inspecting a state by striking the surface of the structure, the small unmanned aircraft and the structure of the small unmanned aerial vehicle. A striking vehicle having a moving mechanism provided on the side facing the surface of the aircraft, a striking mechanism provided on the moving mechanism side of the small unmanned aerial vehicle, and a laser Doppler for measuring vibration around the striking position by the striking mechanism It has a vibration meter.

  Here, the moving mechanism may be a wheel or an endless track. Moreover, it can also be set as the structure provided with the marking mechanism which marks the striking position of the surface of the said structure by the said striking mechanism.

  The hitting sound inspection apparatus of the present invention thus configured is provided with the moving mechanism on the side facing the surface of the structure of the small unmanned aerial vehicle, and the hitting mechanism and the hitting sound collector on the same side. .

  For this reason, if it is the lower surface of a structure, for example, a small unmanned aerial vehicle is levitated and the moving mechanism is brought into close contact with the lower surface, whereby a certain distance can be maintained between the striking mechanism and the surface. And since the hitting sound emitted when hitting with the hitting mechanism can be collected by the sound collector, the hitting test can be performed even in a place where the worker cannot approach.

  Here, the moving mechanism that travels on the surface of the structure can be easily configured by an endless track such as a wheel or a crawler or a belt. In addition, if the marking mechanism for marking the striking position by the striking mechanism is provided, the inspection position can be accurately grasped.

  Furthermore, the impact inspection system of the present invention includes an impact flying vehicle in which a moving mechanism and an impact mechanism are mounted on a small unmanned aerial vehicle, and a laser Doppler vibrometer that measures vibration around the impact position by the impact mechanism.

  Thus, if it is the structure which measures the vibration which generate | occur | produced by the hit | damage by a hit | damage mechanism with a highly accurate laser Doppler vibrometer, the data for a test | inspection with little influence of noise, such as an operating sound of a small unmanned aerial vehicle, can be collected. .

It is a perspective view explaining the structure of the hammering inspection apparatus of this Embodiment. It is explanatory drawing which showed typically the structure used for a hammering test | inspection. It is a figure for demonstrating the sound-inspection method using a sound-inspection apparatus. It is a figure for demonstrating a hammering test result and an evaluation method. It is a figure for demonstrating the marking operation | movement by a hammering test | inspection apparatus. It is the figure which illustrated the condition of the underside of the marked girder. It is a perspective view explaining the structure of the impact test | inspection system of an Example. It is the perspective view which looked at the batting inspection system from another angle. It is a figure for demonstrating a hit | inspection test result and an evaluation method.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view for explaining the overall configuration of the sound inspection device 10 of the present embodiment. First, an outline of the sound hitting inspection apparatus 10 will be described.

  This hammering sound inspection device 10 is a device using a small unmanned aerial vehicle 1 that collects a hammering sound emitted when a surface of a structure is hit. For example, concrete structures are evaluated for whether there is a cavity in the interior or whether deterioration or damage such as floating or peeling has occurred due to differences in the sound of hitting when the surface is hit with a hammer. be able to.

  Then, by using the small unmanned aerial vehicle 1, it becomes possible to inspect high places where there is no scaffold or places where workers are difficult to approach. For example, it is possible to inspect a surface such as a lower surface or a side surface of a structure such as a bridge, a building, or a retaining wall. In the following, as shown in FIG. 3, description will be made assuming that a girder lower surface M1 of a concrete girder M of a bridge as a structure is a surface to be inspected.

  As shown in FIG. 1, the hammering sound inspection apparatus 10 of the present embodiment includes a small unmanned aerial vehicle 1 and a moving mechanism (2) provided on the side facing the lower surface M1 of the small unmanned aerial vehicle 1, as well as the moving mechanism. It is mainly composed of a striking device 3 as a striking mechanism provided on the side, a microphone portion 4 as a sound collector for striking sound disposed adjacent to the striking device 3, and a marking portion 5 as a marking mechanism. .

  The small unmanned aerial vehicle 1 includes a fuselage unit 11, a plurality of propellers 12,... Serving as flight means, and a flight control unit 13. The body portion 11 of the present embodiment is formed in a rectangular shape in plan view, and a concave storage chamber 111 is provided near the center.

  Further, the propellers 12,... Are attached to the distal ends of the arm portions 14,. The propeller 12 is rotated by driving the motor unit 121, and electric power is supplied to the motor unit 121 from the drive power supply unit 23. The drive power supply unit 23 includes a converter in addition to the battery.

  The flight of the small unmanned aerial vehicle 1 is controlled by the flight control unit 13. Flight data such as a route can be stored in advance in the flight control unit 13, but can also be operated from the ground via the steering receiver 131. In the flight control unit 13, in addition to the control of the rotation speed of the propeller 12, the movement mechanism is also controlled.

  The moving mechanism is provided on the upper surface side of the small unmanned aerial vehicle 1. Specifically, the electric tires 2 and 2 are provided on the rotation center of the propellers 12 and 12 on the rear side, and the auxiliary wheels 22 and 22 are provided on the rotation center of the propellers 12 and 12 on the front side. It is done.

  The electric tire 2 is rotationally driven by a gear down motor 21. Electric power is also supplied to the gear down motor 21 from the drive power supply unit 23. By measuring the amount of rotation of the electric tire 2 with a rotation sensor or the like, data of the movement distance can be obtained.

  The surface of the electric tire 2 is formed so as to have a high friction coefficient. That is, if the hammering test apparatus 10 pressed against the underside of the beam M1 by the buoyancy of the small unmanned aerial vehicle 1 is driven to rotate by the electric tires 2 and 2, a certain amount of frictional resistance is required. The surface of the electric tire 2 can have a structure with high adsorption performance such as rubber, a fine sucker structure, and an ultrafine hair structure (using van der Waals force).

  On the other hand, the auxiliary wheel 22 is a wheel having a diameter smaller than the diameter of the electric tire 2 and is slightly separated from the underside of the girder M1 so as not to become a running resistance when the electric tires 2 and 2 are driven as shown in FIG. 5A. It becomes a state.

  The striking device 3 is disposed in the accommodation chamber 111 of the body portion 11 of the small unmanned aerial vehicle 1. The accommodation room 111 is configured such that the upper surface side of the small unmanned aerial vehicle 1 is opened, and the striking device 3 can jump out upward.

  Specifically, as shown in FIG. 2, the striking device 3 is mainly configured by a solenoid portion 32 and a hammer portion 31 that is launched by the operation of the solenoid portion 32. The hammer part 31 is formed, for example, by halving a steel ball.

  The solenoid unit 32 is an operation mechanism that applies an electromagnet, and is controlled by the control unit 61 such as firing and storage. And the microphone part 4 is arrange | positioned adjacent to the hammer part 31 of the striking device 3.

  The microphone unit 4 is a directional microphone, and is set to a configuration that can best collect sound around the hitting position. The hitting sound collected by the microphone unit 4 is A / D converted and stored in the recording unit 62. The recording unit 62 is interlocked with the striking device 3 via the control unit 61, and recording is started at the timing when the hammer unit 31 is fired.

  The control unit 61 and the recording unit 62 are connected to the arithmetic processing unit 63, the wireless communication unit 64, and the power supply unit 65. All or part of these configurations are incorporated into the measurement control device 6 shown in FIG. A small computer or the like can be used for the measurement control device 6.

  On the other hand, the marking unit 5 is a device that marks the striking position of the lower surface M1 of the girder by the striking device 3. The marking unit 5 is mainly configured by a solenoid unit 52 and a stamper unit 51 that is launched by the operation of the solenoid unit 52.

  When the stamper portion 51 comes into contact with the lower surface M1 of the girder, ink adheres and is marked. For example, as shown in FIG. 5B, two types (two colors) of marks C1 and C2 can be arbitrarily switched and attached. Switching of the colors of the marks C1 and C2 is controlled by the control unit 61.

Next, a hammering test method using the hammering test apparatus 10 of the present embodiment will be described with reference to FIGS. 3, 4, 5 </ b> A, and 5 </ b> B.
First, as shown in FIG. 3, the hammering test apparatus 10 is levitated toward the bottom face M1 of the concrete girder M of the bridge to be inspected.

  When the hammering test device 10 is pressed against the lower surface M1 with the buoyancy obtained by the rotational drive of the propellers 12,... Of the small unmanned aerial vehicle 1, the electric tires 2, 2 come into contact with the lower surface M1 and the hammering test device. 10 is a stable posture.

  The in-flight sounding inspection device 10 and the ground side control device 7 are in a state of communicating with each other by radio W1 and W2. From the ground-side control device 7, a control signal of the small unmanned aerial vehicle 1, a batting signal of the batting device 3, and the like are transmitted by radio W1.

  At the start of the hammering test, an operation signal for the marking unit 5 is sent from the ground side control device 7, and a starting point mark CS as shown in FIG. Then, the electric tires 2 and 2 are driven to move to the inspection location. The hammering inspection device 10 is equipped with a small camera (not shown), and the starting point and the inspection location are determined while checking the video photographed by the small camera on a monitor connected to the ground side control device 7. Can do.

  The inspection location is a position spaced from the mark CS in the traveling direction of the electric tires 2 and 2. The traveling direction of the electric tires 2 and 2 is the measurement line L, and the position of the mark C1 adjacent to the mark CS is the first inspection location. At this time, the mark C1 is not yet attached. The movement distance to the first inspection location can be specified by transmitting a signal designating the rotation amount of the electric tire 2. Moreover, after starting, it can also set beforehand so that it may stop at equal intervals.

  At the inspection location, the striking device 3 is operated to strike the girder lower surface M1 to generate a striking sound. Since this striking is performed under the condition that the separation is constant by the electric tires 2 and 2 that are in contact with the lower surface M1, the striking can be performed with a uniform force at any inspection location.

  As shown in FIG. 3, the impact sound collected by the microphone unit 4 is transmitted as audio data to the ground-side control device 7 by wireless W2. Further, the rotation amount of the electric tire 2 detected by the rotation sensor is transmitted as position data by the wireless W2. By collecting the position data in this way, the actual moving distance can be accurately grasped.

  The sound data transmitted to the ground side control device 7 is stored in a storage medium and analyzed by FFT (Fast Fourier Transform) by the waveform analysis device. Focusing on the dominant frequency of the spectrum obtained by this FFT analysis, the deformation of the concrete beam M (such as the presence of concrete floats and cavities) is evaluated.

  FIG. 4 is a diagram for explaining the evaluation method using the measurement results at measurement points 1 and 2 as an example. First, when the FFT analysis is performed on the time history waveform of the hitting sound at the measurement point 1 on the left side, the hitting sound spectrum (dominant frequency S1) as shown in the middle row is obtained.

  Here, a threshold BS serving as a frequency at the boundary between soundness and deformation is set in advance. Then, when the threshold value BS and the dominant frequency S1 are compared, the measuring point 1 is evaluated as “sound” because the dominant frequency S1 exists on the healthy side.

  On the other hand, when the FFT analysis is performed on the time history waveform of the hitting sound at the measurement point 2 on the right side, a hitting sound spectrum (dominant frequency S2) as shown in the middle row is obtained. When the threshold value BS and the dominant frequency S2 are compared, the measurement point 2 is evaluated as “deformed” because the dominant frequency S2 exists on the deformed side.

  Such an evaluation is performed by the ground side control device 7 immediately after the impact. Then, the evaluation result is stored in the ground side control device 7 together with the position data. Further, an operation signal of the marking unit 5 based on the evaluation result is transmitted to the sound hitting inspection apparatus 10 by the wireless W1.

  For example, as shown in FIG. 5B, a white mark C <b> 1 is attached by a marking unit 5 at a place where the evaluation is “sound”. On the other hand, a black mark C <b> 2 is attached by the marking portion 5 at a place where the evaluation is “deformed”.

  Thus, while driving the electric tires 2 and 2 and moving the hammering test apparatus 10 along the measurement line L, the hammering test is repeated at the stopped position. Then, when the inspection in the predetermined range is completed, the end point mark CE is attached by the marking unit 5. After the inspection is completed, the small unmanned aerial vehicle 1 is caused to fly toward the next inspection location or the ground side control device 7 by the propellers 12.

Next, the operation of the hammering test apparatus 10 of the present embodiment will be described.
The hitting sound inspection apparatus 10 of the present embodiment configured as described above is an electric tire 2 that serves as a moving mechanism on the side facing the surface (girder lower surface M1) of the structure (concrete girder M) of the small unmanned aerial vehicle 1. 2 and a microphone unit 4 serving as a sound collector for the impact sound 3 and the impact sound.

  For this reason, for example, in the case of the underside of the girder M1, the small unmanned aerial vehicle 1 is levitated and the electric tires 2 and 2 are brought into close contact with the underside of the girder M1, so Can be maintained.

  And since the striking sound emitted when striking with the striking device 3 can be collected by the microphone section 4, it is possible to perform a striking sound inspection even at a place where the worker cannot approach. For example, it is possible to easily and quickly inspect high places where it is necessary to install a scaffold or places where entry is difficult.

  Further, if the marking unit 5 for marking the striking position by the striking device 3 (marks C1, C2) is provided, the inspection position and the inspection result can be recorded in a state that is easy to understand accurately and visually. Become. Furthermore, the types of marks by the marking unit 5 are not limited to two types as described above, but may be one type or three or more types. For example, the mark can be distinguished according to the deformed state (such as the degree of deterioration).

  Hereinafter, a batting inspection system 100 according to an embodiment using the batting aircraft 10A of a form different from the above embodiment will be described with reference to FIGS. The description of the same or equivalent parts as the contents described in the above embodiment will be described with the same terms or the same reference numerals.

  In the impact inspection system 100 described in the present embodiment, the state (for example, the presence or absence of concrete floats or cavities, etc.) is obtained by striking the surface (the underside of the girder M1) of a structure (for example, the concrete girder M) in the same manner as the percussion inspection. ) Is a device that uses a small unmanned aerial vehicle 1 for inspecting.

  What is measured by the impact inspection system 100 is not the impact sound itself but vibrations generated on the surface of the structure by impact. In other words, the batting inspection system 100 is mainly configured by the batting aircraft 10A for causing batting and the laser Doppler vibrometer 8 that measures vibration around the batting position.

  As shown in FIGS. 6 and 7, the striking aircraft 10 </ b> A of this embodiment includes a small unmanned aerial vehicle 1 and a moving mechanism (electric tires 2, 2) provided on the side opposed to the lower surface M <b> 1 of the small unmanned aircraft 1. And a striking device 3 as a striking mechanism that is also provided on the moving mechanism side. That is, the microphone unit 4 serving as a sound collector is not required as compared with the sound hitting inspection apparatus 10 described in the above embodiment. On the other hand, the marking part 5 as a marking mechanism can be provided.

  On the other hand, the laser Doppler vibrometer 8 installed on the ground side includes a main body including an irradiation unit 81, a vertical rotary frame 84 and a horizontal rotary base 83 to which the main body is attached, and a tripod part for installing the laser Doppler vibrometer 8. 82.

  The laser Doppler vibrometer 8 is a device that irradiates the lower surface M1 with the laser beam D1 from the sensor head of the irradiation unit 81 and receives the reflected laser beam D1 with a light receiving element. If the girder lower surface M1 is vibrated by striking the striking device 3, the laser beam D1 reflected from the vibrating girder lower surface M1 is a Doppler shifted laser beam D1, and the change in frequency (speed) is converted into voltage. It can be detected as a vibration phenomenon.

  The irradiation unit 81 of the laser Doppler vibrometer 8 is attached to the horizontal rotating table 83 via the vertical rotating frame unit 84 so as to be rotatable in a horizontal plane. The vertical rotation frame portion 84 is formed in a pair of columns on the horizontal rotation table 83, and the irradiation unit 81 is attached to the vertical rotation frame portion 84 so as to be rotatable within a vertical plane.

  A motor and gears are incorporated in the horizontal rotary table 83 and the vertical rotary frame portion 84, and are configured to be able to rotate horizontally and vertically in a direction automatically designated by receiving a control signal. That is, the irradiation unit 81 can be automatically directed in the target direction by the horizontal rotary table 83 and the vertical rotary frame unit 84.

  Specifically, a tracking target 15 in which a prism is incorporated on, for example, a side surface of the impacting aircraft 10A is provided. Then, the tracking laser beam D <b> 2 emitted from the horizontal turntable 83 is directed to the tracking target 15. By doing so, even if the impacting aircraft 10A moves, the laser beam D1 of the laser Doppler vibrometer 8 can be continuously irradiated around the impact position.

  Moreover, what has a surveying function can be used for the laser Doppler vibrometer 8. For example, if the coordinates of the tracking target 15 can be measured by the surveying function, the striking position or its surrounding coordinates can be obtained from the relative positional relationship.

Next, an inspection method using the batting inspection system 100 of the present embodiment will be described with reference to FIGS.
First, as shown in FIG. 6, the laser Doppler vibrometer 8 is installed at a position where it can face the girder lower surface M <b> 1 to be inspected for the concrete girder M of the bridge. Then, the flying vehicle 10A is levitated toward the girder lower surface M1 to be inspected, and the electric tires 2 and 2 are brought into contact with the girder lower surface M1.

  The flying vehicle 10A in flight and the ground-side control device 7A are in communication with each other by the wireless W4. From the ground side control device 7A, a control signal of the small unmanned aerial vehicle 1, a batting signal of the batting device 3, and the like are transmitted by radio W4.

  The impacting aircraft 10A is equipped with a small camera (not shown), and the starting point and inspection location are determined while confirming the image captured by the small camera on the monitor connected to the ground side control device 7A. Can do.

  At the inspection location, the striking device 3 is operated to strike the girder lower surface M1 to generate a striking sound. Since this striking is performed under the condition that the separation is constant by the electric tires 2 and 2 that are in contact with the lower surface M1, the striking can be performed with a uniform force at any inspection location.

  When striking is performed by the striking device 3, the lower surface M <b> 1 around the striking position vibrates, and the vibration is measured by the laser Doppler vibrometer 8. Further, the position data of the striking position or the vibration measurement position is acquired by the surveying function provided in the laser Doppler vibrometer 8. The measurement data by the laser Doppler vibrometer 8 is transmitted to the ground side control device 7A by the wireless W3.

  FIG. 8 is a diagram for explaining the evaluation method using the measurement results at measurement point 1 and measurement point 2 as an example. First, when FFT analysis is performed on the vibration time history waveform at the measurement point 1 on the left side, a vibration spectrum (dominant frequency F1) as shown in the middle row is obtained.

  Here, a threshold value BV that is a frequency at the boundary between soundness and deformation is set in advance. Then, when the threshold BV and the dominant frequency F1 are compared, the measuring point 1 is evaluated as “sound” because the dominant frequency F1 exists on the healthy side.

  On the other hand, when FFT analysis is performed on the vibration time history waveform at the measurement point 2 on the right side, a vibration spectrum (dominant frequency F2) as shown in the middle stage is obtained. When the threshold BV and the dominant frequency F2 are compared, the measuring point 2 is evaluated as “deformed” because the dominant frequency F2 exists on the deformed side.

  This evaluation can be performed by the ground side control device 7A immediately after the impact, for example. Then, the evaluation result is stored in the ground side control device 7A together with the position data. Further, when the operation signal of the marking unit 5 based on the evaluation result is transmitted to the striking aircraft 10A by the wireless W4, the marks C1 and C2 based on the evaluation result are marked on the lower surface M1.

Next, the operation of the batting inspection system 100 of this embodiment will be described.
The hit inspection system 100 according to the present embodiment configured as described above includes a hitting vehicle 10A in which a moving mechanism (electric tires 2 and 2) and a hitting device 3 are mounted on a small unmanned aerial vehicle 1, and hitting by the hitting device 3. And a laser Doppler vibrometer 8 for measuring vibration around the position.

  Thus, if it is the structure which measures the vibration which generate | occur | produced by the hit | damage by the hit | damage apparatus 3 with the highly accurate laser Doppler vibrometer 8, the data for a test | inspection with little influence of noises, such as an operating sound of the small unmanned aircraft 1, will be collected. be able to.

Further, by using the laser Doppler vibrometer 8 equipped with a surveying function, it is possible to acquire accurate position data of the inspection location simultaneously with the inspection result.
Other configurations and functions and effects are substantially the same as those in the above-described embodiment, and thus description thereof is omitted.

  The embodiments and examples of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to the embodiments and examples, and the gist of the present invention is not deviated. Design changes are included in the present invention.

  For example, in the above-described embodiments and examples, the wheel type moving mechanism has been described, but the present invention is not limited to this. For example, even if an endless track such as a crawler or a belt having a high frictional resistance is used as the moving mechanism, the sound inspection device or the flying vehicle can be run along the underside of the beam M1.

  Further, in the embodiment and the example described above, the inspection of the bridge girder lower surface M1 has been described as an example. However, the present invention is not limited to this, and it is not limited to this. The sound inspection apparatus 10 or the impact inspection system 100 can be applied. Furthermore, when inspecting the side surface of a pier, a retaining wall or a wall such as a building, the present invention is achieved by using a small unmanned aerial vehicle having a structure in which the upper half of a fuselage portion provided with a moving mechanism is raised. Will be able to apply.

  Moreover, in the said embodiment and Example, although the concrete structure was demonstrated as an inspection object, it is not limited to this, Any form is possible as long as it is a structure that can be subjected to a hammering test such as a steel structure. Even applicable.

10 Tapping sound inspection device 1 Small unmanned aerial vehicle 2 Electric tire (wheel, moving mechanism)
22 Auxiliary wheels (wheels, moving mechanism)
3 striking device (striking mechanism)
4 Microphone (sound collector)
5 Marking part (marking mechanism)
100 Impact Inspection System 10A Impact Aircraft 8 Laser Doppler Vibrometer M Concrete Girder (Structure)
M1 Girder underside (surface)
C1, C2 mark (mark)

Claims (6)

A tapping sound inspection device using a small unmanned aerial vehicle that collects a striking sound emitted when striking the surface of a structure,
A small unmanned aerial vehicle,
A moving mechanism provided on a side facing the surface of the structure of the small unmanned aerial vehicle;
A striking mechanism provided on the moving mechanism side of the small unmanned aerial vehicle;
A sound-inspecting apparatus, comprising: a sound collector for the sound of hitting disposed adjacent to the hitting mechanism.   The sound inspection device according to claim 1, wherein the moving mechanism is a wheel or an endless track.   The hammering inspection apparatus according to claim 1, further comprising a marking mechanism that marks a hitting position on a surface of the structure by the hitting mechanism. A striking inspection system using a small unmanned aerial vehicle for inspecting a state by striking the surface of a structure,
A small flying vehicle having a small unmanned aerial vehicle, a moving mechanism provided on the side of the small unmanned aircraft facing the surface of the structure, and a striking mechanism provided on the moving mechanism side of the small unmanned aircraft,
A batting inspection system comprising: a laser Doppler vibrometer for measuring vibration around a batting position by the batting mechanism.   The impact inspection system according to claim 4, wherein the moving mechanism is a wheel or an endless track.   The impact inspection system according to claim 4, further comprising a marking mechanism that marks the impact position on the surface of the structure by the impact mechanism.