JP2018179819A - Nondestructive inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a nondestructive inspection device that can aerially inspect heights of a building, or a building present at a site like persons being non-accessible.SOLUTION: A nondestructive inspection device 10: a base body 12; an inspection body 14; a rotary wing 16; a distance holding body 18; and an auxiliary rotary wing 28. The inspection body 14 includes: an arm 20 that is connected to the base body 12; and an inspection unit 22 that taps an inspected body by an actuation of the arm 20 to conduct an inspection. The arm 20 includes: a first arm member 20a that is rotatably connected to the base body 12; and a second arm member 20b that holds the inspection unit 22, and is connected rotatably relative to the first arm member 20a. The rotary wing 16 is configured to cause the base body 12 to fly. The distance holding body 18, which contacts with the inspected body to keep a distance between the base body 12 and the inspected body at a prescribed value, includes: an axle shaft 40 that is provided in the base body 12; and wheels 42 and 44 that are rotatably provided on either side of the axle shaft 40. The auxiliary rotary wing 28 causes the base body 12 to move in an inspected body direction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a nondestructive inspection apparatus for inspecting the deterioration state of a building in the air using a rotary unmanned aerial vehicle.

  Structures such as tunnels, bridges and buildings need to continue to be inspected for deterioration of these structures after construction. It is common for people to directly hit and inspect a building with a test tool such as a hammer, using an aerial work vehicle or a scaffold installed for inspection, because the appearance of the building can not be understood in appearance . However, in the inspection in which a person directly strikes a building with an inspection tool, the danger of work at a high place, the installation cost of a scaffold, and the like become problems. In addition, in the inspection in which a person directly strikes the inner wall of the tunnel with the inspection tool, traffic restrictions on vehicles, trains, etc. during the inspection period are required. In addition, it may be necessary to bang and inspect structures in places where people are not accessible.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a nondestructive inspection apparatus capable of inspecting in the air a structure located in a high place of a structure or a place where people can not approach. Do.

  The nondestructive inspection apparatus according to the present invention causes a test object including a base, an arm connected to the base, and an inspection unit held by the arm and testing the object to be inspected by the operation of the arm, and a base It has a rotary wing and a distance holding body which is in contact with the inspection object and keeps the distance between the base and the inspection object at a predetermined value. In the nondestructive inspection device of the present invention, the arm holds the inspection unit and the first arm member rotatably connected to the base, and the second arm rotatably connected to the first arm member Preferably, an arm member is provided.

  Further, in the nondestructive inspection device of the present invention, it is preferable that the distance holding body includes at least two contact portions contacting the object to be inspected, and the arm operates between the two contact portions. Further, in the nondestructive inspection device of the present invention, it is preferable that the distance holder includes an axle provided on the base and wheels provided rotatably on both sides of the axle. The nondestructive inspection apparatus of the present invention may further include an auxiliary rotary blade for moving the base toward the inspection object. The auxiliary rotor may operate with a two-step switch between stop and rotation at a predetermined speed. In the nondestructive inspection device of the present invention, the deterioration of the object to be inspected may be determined based on the time change of the impact force when the inspection unit strikes the object to be inspected.

  According to the nondestructive inspection device of the present invention, it is possible to inspect the inspection object by tapping the inspection object in a state where the distance to the inspection object is maintained at a predetermined value. Therefore, the deterioration state of the building can be determined with the same accuracy as when a person directly hits the building with the inspection tool.

The perspective view of the nondestructive inspection device concerning the embodiment of the present invention. The side view explaining the inspection of the wall surface of the building using the nondestructive inspection device concerning the embodiment of the present invention. The side view explaining the inspection of the bottom of the building using the nondestructive inspection device concerning the embodiment of the present invention.

  Hereinafter, the nondestructive inspection device of the present invention will be described based on embodiments with reference to the drawings. The drawings schematically represent the nondestructive inspection device, the components of the nondestructive inspection device, and the peripheral members of the nondestructive inspection device, and the dimensions and dimensional ratio of these actual products are the dimensions in the drawings. And do not necessarily match the dimensional ratio. In addition, duplication explanation may be omitted suitably and the same numerals may be given to the same member.

  FIG. 1 shows a nondestructive inspection device 10 according to an embodiment of the present invention. The nondestructive inspection apparatus 10 can nondestructively inspect the deterioration state of the object to be inspected in the air, that is, in a space away from the ground or the floor surface. The nondestructive inspection apparatus 10 includes a base 12, an inspection body 14, a rotary wing 16, and a distance holder 18. The nondestructive inspection device 10 can also be said to be a drone provided with the inspection body 14 and the distance holder 18.

  The base 12 holds the test body 14. The inspection body 14 includes an arm 20 and an inspection unit 22. The arm 20 is connected to the base 12. The inspection unit 22 is held by the arm 20. The inspection unit 22 strikes the inspection object by the operation of the arm 20 to perform inspection. The state of deterioration of the object to be inspected is determined by the change in impact force when the inspection unit 22 strikes the object to be inspected, the sound generated when the inspection unit 22 strikes the object to be inspected, and the like. As a to-be-tested body, the concrete part of structures, such as a tunnel, a bridge, a building, is mentioned, for example. In the present embodiment, the arm 20 includes a first arm member 20a pivotally connected to the base 12 and a second arm member 20b pivotally connected to the first arm member 20a. . The inspection unit 22 is held by the second arm member 20b.

  More specifically, one end of the first arm member 20a is attached to the servomotor 24 provided on the base 12, and the servomotor 26 provided on the other end of the first arm member 20a is provided on the second arm. One end of the member 20b is attached. Therefore, the angle between the base 12 and the first arm member 20a and the angle between the first arm member 20a and the second arm member 20b can be appropriately adjusted. Therefore, the inspection unit 22 can be brought into contact with the inspection object at a desired angle, for example, vertically. Further, as described later, nondestructive inspection of not only the vertical surface but also the object to be inspected which is the horizontal lower surface is facilitated.

  The rotary wings 16 fly the base 12. In the present embodiment, four rotary wings 16 are provided, but the number, shape, arrangement, material, and the like of the rotary wings are not particularly limited. The rotary wing 16 can control the rotational speed, the angle of the rotational surface, the rotational direction, and the like, and can adjust the flight direction of the base 12, that is, the nondestructive inspection device 10. That is, the non-destructive inspection apparatus 10 can move in the vertical vertical direction, the horizontal direction, and the diagonal vertical direction with respect to the horizontal by the rotary wing 16. Moreover, the nondestructive inspection device 10 can hover by adjusting the rotational state of each of the rotary wings 16. In the present embodiment, the nondestructive inspection device 10 is provided with the auxiliary rotary wing 28. The auxiliary rotary wings 28 will be described later.

  The distance holder 18 contacts the object under inspection at the time of inspection, and keeps the distance between the base 12 and the object at a predetermined value. The distance holder 18 includes an axle 40 provided on the base 12 and wheels 42 and 44 rotatably provided on both sides of the axle 40. Therefore, even if the nondestructive inspection device 10 moves a little in the state where the nondestructive inspection device 10 is closest to the inspected object, the distance between the base 12 and the inspected object can be kept constant while the wheels 42 and 44 rotate.

  It should be noted that, instead of the distance holding body 18 of the present embodiment, at least two contact portions contacting the object to be inspected are provided, even if the distance holding body is such that the arm 20 operates between the two contact portions. Good. As such a distance holder, for example, a rod-shaped member is combined such that the horizontal surface is U-shaped or H-shaped, and a rod-shaped member corresponding to a vertical line of U-shaped or a rod-shaped member corresponding to a horizontal line of H-shaped One fixed to the base 12 or one end of three rod-like members fixed to the base 12 and the other end spread in three oblique directions, and the other end is in contact with the test object so that the other end is the apex of a triangle. Can be mentioned.

  The inspection unit 22 has a hammer-like shape, and the grip portion is held by the second arm member 20b. With the rotation of the second arm member 20b, the inspection unit 22 also rotates, and the inspection unit 22 strikes the inspection object. According to the result of the tapping of the inspection unit 22, the deterioration of the inspection object is determined. In the present embodiment, the deterioration of the object to be inspected is determined based on the time change of the impact force when the inspection unit 22 strikes the object to be inspected. For this reason, unlike the batting test which determines deterioration of a to-be-tested object by the sound when it strikes, deterioration of a to-be-tested object can be determined correctly also in the environment where the rotational sound of the rotary wing 16 generate | occur | produces violently.

  FIG. 2 shows a method of inspecting a wall W (concrete surface) of a structure which is an inspection object, for example, a concrete-made bridge pier, using the nondestructive inspection device 10. This inspection method is implemented as follows. First, the rotary wing 16 is rotated in a horizontal plane to fly the nondestructive inspection device 10 vertically upward. Next, the auxiliary rotary wing 28 is rotated in the vertical plane to move the base 12 in the direction of the wall surface W, and the nondestructive inspection device 10 is suspended in the air while the wheels 42 and 44 (not shown) are in contact with the wall surface W. Let it fly. The auxiliary rotary wings 28 may start to rotate at the same timing as the rotary wings 16 start to rotate.

  In the nondestructive inspection device in which the auxiliary rotary wing 28 is not provided, the wheels 42 and 44 can be made to fly in air while being in contact with the wall surface W by rotating the rotary wing 16 in a plane oblique to the horizontal. However, in the present embodiment, since the auxiliary rotary wing 28 is provided, the rotary wing 16 is rotated in the horizontal plane, and energy which is a motive power source is mainly used to maintain the flight of the nondestructive inspection device 10 in the vertical direction. it can. Then, the auxiliary rotary wing 28 can be rotated in the vertical plane by the power source provided separately from the supply source to the rotary wing 16 to maintain the contact of the wheels 42 and 44 with the wall surface W.

  As described above, in the present embodiment, since the power sources of the separately provided rotor blades 16 and the auxiliary rotor blades 28 can be efficiently used, flight over a long time can be performed, and a wide range inspection of the inspection object becomes possible. . Furthermore, if the auxiliary rotary wing 28 has a simple structure that operates by switching between stop and rotation at a predetermined rotational speed, the energy consumption can be further reduced, and the inspection of a wide range of inspection objects can be performed. It becomes possible.

  Then, in a state where the nondestructive inspection device 10 is flying in the air while the wheels 42 and 44 are in contact with the wall surface W, the second arm member 20b is rotated and the wall surface is inspected by the inspection unit 22 incorporating the accelerometer. Tap W several times, for example 10 times. The inspection unit 22 stores the time change of the impact force when striking the wall surface W. The storage medium of the inspection unit 22 is connected to a computer, and the time change of the impact force is processed by the computer to determine the deterioration of the wall W. For example, it is determined that the wall W is not deteriorated if the waveform of the graph showing the time change of the impact force is symmetrical in the left-right symmetry, and if it becomes an irregular sawtooth, the wall W according to the waveform It is determined that the surface is deteriorated or that the wall W has a peeling surface.

  FIG. 3 shows a method of inspecting the bottom surface B (concrete surface) of a structure which is an object to be inspected, for example, a concrete bridge, using the nondestructive inspection device 10. This inspection method is implemented as follows. First, the first arm member 20a is turned in the vertical direction. Next, the rotor 16 is rotated in a horizontal plane, and the nondestructive inspection device 10 is caused to fly vertically upward, and the nondestructive inspection device 10 is flying while the wheels 42 and 44 (not shown) are in contact with the bottom surface B. Let The auxiliary rotor 28 is always stopped. Then, similar to the inspection method of the wall surface W, the second arm member 20b is rotated while the wheels 42 and 44 are in contact with the bottom surface B, and the bottom surface B is beaten a plurality of times by the inspection unit 22 Determine

  Using the drone-type nondestructive inspection device as shown in FIG. 1, with the impact force when the wall of the undegraded concrete block is struck by the inspection part, and the grip part of the hammer unit which is the inspection part The impact force when manually striking the wall surface of a non-degraded concrete block with a hammer striking surface was measured 10 times. The inspection unit used a concrete tester (Nitto Construction Co., Ltd., CTS-02V4). In the inspection using the nondestructive inspection device, the nondestructive inspection device was installed on the ground, and the inspection was performed in a state where the wheels were in contact with the wall surface of the concrete block.

  The surface strength when manually struck was 40.09 to 45.40 [N], and the average value was 42.14 [N]. In addition, the index of surface deterioration, which is a value obtained by dividing the time when the wall is pushed when hitting it, by the time when the wall is pushed back, is 1.16 to 1.42, and the average value is 1.27. there were. The index is normally 0.85 to 1.25. On the other hand, the surface strength was 36.97 to 49.06 [N] when using the nondestructive inspection device, and the average value was 44.05 [N]. Moreover, the index of surface deterioration was 1.09 to 1.37, and the average value was 1.23. From the above, there was no large error in the surface strength and the index of surface deterioration between when the nondestructive inspection device was used and when it was struck manually. It is considered that when the nondestructive inspection device is used, the distance holder keeps the distance between the object to be inspected and the inspection part substantially constant.

DESCRIPTION OF REFERENCE NUMERALS 10 nondestructive inspection device 12 base 14 inspection body 16 rotary wing 18 distance holder 20 arm 20a first arm member 20b second arm member 22 inspection unit 24, 26 servo motor 28 auxiliary rotary wing 40 axle 42, 44 wheel

Claims (7)

A substrate,
An inspection body comprising: an arm connected to the base; and an inspection unit held by the arm and striking the object under inspection by the operation of the arm.
A rotary wing for flying the substrate;
A distance holder for keeping the distance between the base and the inspection object at a predetermined value in contact with the inspection object;
Nondestructive inspection device. In claim 1,
The arm includes a first arm member rotatably connected to the base, and a second arm member holding the inspection unit and rotatably connected to the first arm member. Nondestructive inspection device. In claim 1 or 2,
The distance holding body comprises at least two contact portions contacting the object to be inspected;
Nondestructive inspection device in which said arm operates between said two contact parts. In claim 1 or 2,
The nondestructive inspection device, wherein the distance holder includes an axle provided on the base and wheels rotatably provided on both sides of the axle. In any one of claims 1 to 4,
The nondestructive inspection device which further has an auxiliary rotary wing which moves the base in the direction of the inspection object. In claim 5,
The nondestructive inspection device in which the said auxiliary | assistant rotary blade operate | moves by two-step switching of rotation at the stop and predetermined rotation speed. In any one of claims 1 to 6,
The nondestructive inspection apparatus which determines degradation of the said to-be-tested object based on the time change of the impact force when the said test | inspection part strikes the said to-be-tested object.

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