JP2019039236A - Building structure inspection method and inspection device - Google Patents

Abstract

To be able to move a rotorcraft while pressing a wheel against a wall surface to be inspected without requiring delicate remote control, and to ensure that location information of defect-located areas are correctly obtained even in locations that radio waves from GPS satellites have difficulty reaching.SOLUTION: A small-sized rotorcraft 51 is made to fly by remote control. A pair of wheels 131 provided rotatably around a horizontal axis on the rotorcraft 51 are pressed against a wall surface W of a building to be inspected, and the rotorcraft 51 is moved in the vertical direction as is. During that time, the rotation of the wheels 131 is detected by a rotary encoder, and the wall W is continuously struck by a striking sound diagnostic device 151 to collect the striking sound at that time. Further, the positional deviation of the rotorcraft 51 with respect to the wheels 131 is absorbed by allowing the displacement between the wheels 131 and the rotorcraft 51 to be elastically received.SELECTED DRAWING: Figure 13

Description

  The present invention relates to a building inspection method for checking the state of a building by flying a remotely operated small rotorcraft and a building inspection device used in this method.

For various structures such as viaducts, dams, tunnels, and buildings, it is essential to regularly check the condition of the walls.
Many of these social infrastructures have been built in Japan since the period of high growth, and there are quite a few that will soon reach the end of their useful lives and those that have already been left after their end of their useful lives. Although it has not reached its useful life, it is not uncommon for buildings to be damaged unexpectedly due to various factors such as unexpectedly harsh natural environments and harsh usage conditions.
For this reason, in order to prevent an unexpected accident, it is important to regularly inspect the walls of the building.

Traditionally, the inspection of the wall of a building is generally performed manually with a scaffold. In other words, the presence or absence of a defect is determined by visually observing the state of the wall surface or estimating the internal state of the wall surface by hitting the wall surface with a hammer.
However, because of the construction of structures such as viaducts, dams, tunnels, buildings, etc., work at high places is inevitable, and there is a danger in manual work.

Therefore, in recent years, an attempt to inspect the wall of a building using a remotely operated small rotorcraft, that is, a small unmanned aerial vehicle known as a drone, has begun to spread.
For example, Patent Document 1 introduces an inspection device for a structure in which a camera and a sounding diagnosis device are mounted on a four-wing rotary wing aircraft (see paragraphs [0042] to [0049]).
In this apparatus, a rotorcraft is caused to fly and a structure, that is, a wall surface of a building is photographed with a camera, and the photographed image is subjected to image analysis to determine whether or not the wall surface is defective (paragraph 1 of Reference 1). [0042] [0043]).
In addition, the sounding diagnosis apparatus includes a striking unit 220 (striking means) and a striking sound detection unit 222 (detecting means), and a striking sound detection unit is provided for hitting sound obtained by striking a wall to be inspected with the striking unit 220. In 222, a sound detection signal is generated, and the presence or absence of a wall surface is determined from the sound detection signal (paragraphs [0043] [0045] to [0046] [0049] in Document 1).

  Therefore, according to the invention described in Patent Document 1, it is possible to determine the presence or absence of a wall surface from an image obtained by photographing with a camera, and the state of the surface of the wall surface that is difficult to be reflected in the image, for example, the exterior material It is possible to determine the presence or absence of lifting or peeling by the sounding diagnostic apparatus.

  However, detection of a wall defect does not make sense unless the position is specified. Therefore, in the invention described in Patent Document 1, the position at the time of image capturing is added to the image (see paragraph [0023]), and the position where the defect is detected by the hitting sound is specified (paragraph [0024]). reference).

Japanese Patent Laying-Open No. 2015-194069 Japanese Patent Laying-Open No. 2006-168861

(1) 1st subject When inspecting the state of a wall surface with a sound impact diagnostic device, the separation interval of the sound impact diagnostic device with respect to the wall surface must be kept constant throughout the inspection. This is to ensure the uniformity of the inspection. That is, if the same detection result is not obtained when the wall surface in the same state is struck, the abnormality determination cannot be performed correctly based on the detection result when the wall surface in a different state is struck.
Therefore, conventionally, there has been known an invention in which a rotor blade is provided with a wheel and the rotor blade device can be moved while the wheel is pressed against a wall surface to be inspected.
For example, in Patent Document 1, guide means constituted by three or more casters (wheels) is provided in a rotary wing machine so that the distance between the rotary wing machine and a wall surface has a predetermined dimension. (Refer to paragraph [0044] of FIG. 1, FIG. 12).
Patent Document 2 discloses a structure in which a rotary wing machine is separated from a wall surface at a constant interval by wheels 14 (front wheel 14A, left rear wheel 14B, and right rear wheel 14C) provided on a body 12 of a rotary wing machine 10. (Refer to [0009] [0010] FIGS. 3 to 4 and FIG. 9 of Document 2).

However, when the applicant of the present application conducted an experiment, it was considerable that the rotor blades were moved by remote control while pressing the wheels (the casters of Reference 1 and the wheels 14 of Reference 2) against the wall to be inspected. Turned out to be difficult.
Some improvement is required.

(2) Second problem As described above, when a defect is found on the wall surface to be inspected, it is necessary to specify its position.
In this regard, although there is no specific means in Patent Document 1, it is common to use GPS technology to grasp the current position and obtain the position information of the defective part from the current position information at the time of defect detection. is there. Patent Document 2 also discloses a similar method (see paragraph [0015] of Document 2).
However, radio waves from GPS satellites cannot be received well everywhere.
For example, radio waves do not reach near bridges or tunnels under viaducts, and it is difficult to obtain current position information, so it is difficult to obtain position information of a defective spot.

An object of the present invention is to enable a rotorcraft to be moved without causing a wheel pressed against a wall surface to be inspected to move away from the wall surface without requiring a delicate remote operation.
Another object of the present invention is to make it possible to correctly obtain position information of a defect finding place even in a place where radio waves from GPS satellites are difficult to reach.

  According to the building inspection method of the present invention, a small rotary wing aircraft is caused to fly by remote control, and the wall surface of the building to be inspected is symmetrical to the rotary wing aircraft around the center line of the traveling direction. A step of pressing a pair of wheels provided rotatably around a horizontal axis at a position, a step of moving the rotary wing machine up or down and moving it up and down while pressing the pair of wheels against a wall surface, During the vertical movement of the rotary wing machine, the rotation of the wheel is detected by a rotary encoder, and the striking position provided with the position fixed to the rotation center of the wheel at the position between the pair of wheels. Allowing the displacement between the wheel and the rotary wing machine during the process of continuously hitting the wall surface with the sound diagnosis device and collecting the sound of the hitting sound and the vertical movement of the rotary wing machine And elastically receiving the process, To solve the above problem by providing.

  The building inspection apparatus of the present invention is a small-sized rotary wing machine that can be remotely operated, and is provided on the rotary wing machine so as to be rotatable around a horizontal axis. A pair of wheels that are symmetrical positions and at least part of which is positioned at a position protruding from the vertical projection plane on the front side in the traveling direction of the rotorcraft, a rotary encoder that detects rotation of the wheels, and the pair It is located between the wheels of the wheel and fixed in position relative to the center of rotation of these wheels, and the wall is struck with the pair of wheels pressed against the wall of the building to be inspected. The above-mentioned problem is solved by including a sound-diagnosis device that collects a sound of hitting sound and an absorption mechanism that elastically receives the displacement between the wheel and the rotorcraft.

  According to the present invention, the displacement of the rotary wing machine with respect to the wheels can be absorbed by the absorption mechanism during the vertical movement of the rotary wing machine. The rotary wing machine can be moved without separating the wheel pressed against the wall surface from the wall surface, and the rotation of the wheel can be correctly detected by the rotary encoder. Therefore, it is possible to improve the accuracy of defect detection by the sounding diagnostic apparatus, and it is possible to correctly obtain the position information of the defect detection location even in a place where radio waves from GPS satellites are difficult to reach.

The perspective view of the building inspection apparatus which shows one Embodiment. The top view of a remote control. The schematic diagram for demonstrating the relationship between operation of the stick of a remote control, and attitude | position control of a rotary wing aircraft. The perspective view of the detection structure attached to a rotary wing machine. The top view of a part of detection structure which expands and shows the part of a wheel, a rotary encoder, a tapping sound diagnostic apparatus, and an absorption mechanism. The perspective view which expands and shows the part of a rotary encoder. The perspective view which expands and shows the structure for the rotation transmission which transmits rotation of a wheel to a rotary encoder. The perspective view which expands and shows an absorption mechanism by removing a wheel. The perspective view which expands and shows the state which assembled | attached the wheel. The perspective view which expands and shows a tapping sound diagnostic apparatus. The perspective view which expands and shows the structure of a hit | damage part by removing one microphone in a hit sound diagnostic apparatus. The block diagram which shows the electrical connection of a rotary wing machine. The schematic diagram which shows an example of the state transition of the inspection apparatus at the time of inspecting a wall surface. The schematic diagram which shows another example of the state transition of the inspection apparatus at the time of inspecting a wall surface.

  An embodiment of a structure inspection method and an inspection apparatus will be described with reference to the drawings.

As shown in FIG. 1, the structure inspection apparatus 11 according to the present embodiment is configured by mounting a detection structure 101 on a rotary wing machine 51.
The detection structure 101 diagnoses a pair of wheels 131, a rotary encoder 141 (see FIGS. 5 to 8) that detects the rotation of the wheels 131, and a wall surface W (see FIG. 13) of the structure to be inspected. And a hitting sound diagnosis device 151.
Therefore, the inspection device 11 diagnoses the state of the wall surface W with the sound impact diagnosis device 151 while moving the rotary blade 51 up and down and moving it up and down while pressing the wheel 131 against the wall surface W of the building. At this time, by detecting the rotation of the wheel 131 by the rotary encoder 141, the diagnosis result of the wall surface W can be recognized in association with the diagnosis position.
The inspection device 11 further absorbs the positional deviation of the rotary wing machine 51 with respect to the wheels 131 by the absorption mechanism 161 during the vertical movement of the rotary wing machine 51.

The rotary wing machine 51 is a so-called drone that is remotely operated and is a small one, and this embodiment adopts a six-wing structure. Therefore, the rotary wing machine 51 includes a cylindrical housing 52 at the center thereof, and six rotary blade units 53 are provided in the housing 52. These rotary blade units 53 include a blade portion housing 55 fixed to a pipe-like support portion 54 extending radially from the housing 52 at an interval of 60 degrees, and disposed on the upper surface of the blade portion housing 55 and around a vertical axis. And a propeller 56 that rotates.
Each wing housing 55 contains a motor M (see FIG. 12), and a propeller 56 is fixed to a rotating shaft (not shown) of the motor M.
A housing 52 of the rotary wing machine 51 includes a control circuit 301 for controlling the rotation of the motor M incorporated in each of the six wing rotary blade units 53 and a battery for supplying electric power to the control circuit 301 and the motor M. Including a power supply circuit (both not shown). A power supply line (not shown) connecting the power supply circuit and the motor M is wound around the wing housing 55 from the housing 52 via the support portion 54.
The rotor blade 51 having such a configuration can be self-supporting by a pair of stands 57 attached to the housing 52.

  As shown in FIG. 2, a remote controller 201 called “propo” for remotely operating the rotary wing aircraft 51 includes a power switch 202, two sticks 203 </ b> R and 203 </ b> L, and an antenna 204 for wireless communication.

As shown in FIG. 3, the remote controller 201 is set to mode 1 by default.
Accordingly, the remote controller 201 instructs up / down (throttle) and left / right movement (aileron) by operating the right stick 203R, and instructs forward / reverse (elevator) and left / right turning (ladder) by operating the left stick 203L. .
That is, when the right stick 203R is tilted forward, it is instructed to rise, when it is tilted forward, it is moved to the right when it is tilted to the right, and to the left when it is tilted to the left. When the switch is tilted to the left, the backward movement is commanded.

The rotary wing machine 51 can be controlled in posture by controlling the driving state of the motor M built in the six-wing rotary wing unit 53. When the rotational speeds of the individual motors M are set to the same rotational speed, the rotary wing machine 51 rises or descends vertically. On the other hand, by making a difference in the number of rotations of the individual motors M, it is possible to control the attitude of the rotary wing machine 51, that is, move left and right, move forward or backward, or turn left and right. Become. Such attitude control of the rotary wing aircraft 51 can be instructed by the sticks 203R and 203L of the remote controller 201 as described above.
Therefore, the rotary wing machine 51 has a structure in which the same rotary wing unit 53 is attached to the housing 52 at an equal angle with the six wings. Does not have direction. On the other hand, since the rotary wing machine 51 changes its posture in the forward / reverse direction, the left / right movement direction, or the left / right turning direction according to the remote operation of the remote controller 201, the directionality is determined according to artificial rules. It will be.

  As shown in FIG. 4, the detection structure 101 has a frame structure in which links 102 made of a plurality of pipe-like members are connected and fixed. This frame structure extends from the rear end 104 toward the front in the traveling direction of the rotary wing machine 51, and is connected to and fixed to the four support portions 54 (54R, 54C) of the rotary wing machine 51. The intermediate portion 105 and a tip portion 106 that further extends forward from the intermediate portion 105 in the traveling direction.

The rear end portion 104 is connected to and fixed to a pair of support portions 54R (see FIG. 1) on the rear end side in the traveling direction of the rotary wing machine 51, and a pair serving as a central portion in the traveling direction of the rotary wing machine 51. And a pair of left and right link structures 108 connected and fixed to the support portion 54C (see FIG. 1).
The central link structure 107 includes a link 102a that is connected and fixed to the pair of support portions 54R of the rotorcraft 51 via the connector C1, a link 102b that is connected and fixed to the central portion of the link 102a and rises vertically, and the link 102b. And a link 102c that extends horizontally toward the front in the traveling direction of the rotary wing machine 51 and is connected and fixed to the intermediate portion 105.
The left and right link structure 108 communicates with the pair of support portions 54C of the rotary wing aircraft 51 via the connector C2, rises obliquely upward toward the front side in the traveling direction, and is connected to the intermediate portion 105 by a pair of links 102d. It is configured.
The connecting and fixing of the rotary wing machine 51 and the detection structure 101 is performed exclusively by the rear end 104.

  The intermediate portion 105 is constituted by four links 102e that are connected and fixed so as to form a rectangle. In these links 102e, the central link structure 107 and the left and right link structures 108 are connected and fixed to the rear end portion in the traveling direction of the rotorcraft 51.

  The tip portion 106 includes a pair of links 102f that fall obliquely downward from the tip portion of the intermediate portion 105 toward the front side in the traveling direction of the rotary wing machine 51, and a single link 102g that connects and fixes these links 102f. have. The link 102e located at the tip of the intermediate part 105 arranged in parallel with the link 102g of the tip part 106 is connected and fixed between a pair of links 102h connected and fixed in an L shape, and between these links 102h. It is structurally reinforced by a flat plate-like connecting plate 109 that has been passed.

  In the rear end portion 104, the intermediate portion 105, and the front end portion 106 described above, the individual links 102 (102a to 102h) are connected and fixed by joints in two or three directions. These joints are omitted in the figure.

The detection structure 101 having the frame structure thus configured is provided with a pair of wheels 131, a rotary encoder 141, a tapping sound diagnostic device 151, and an absorption mechanism 161, which are positioned further on the distal end side of the distal end portion 106. Yes.
The wheel 131 is provided on the rotary wing machine 51 via the detection structure 101 so as to be rotatable around a horizontal axis. The wheel 131 is provided at a position that is symmetrical with respect to a center line (not shown) in the traveling direction of the rotary wing aircraft 51, and is a position that protrudes from the vertical projection plane on the front side in the traveling direction. It is.
The rotary encoder 141 detects the rotation of the wheel 131. In this embodiment, a magnetic / electric induction encoder is used.
The striking sound diagnosis device 151 is provided between the pair of wheels 131 so that the position is fixed with respect to the rotation center X of these wheels 131, and the wall surface W of the building to be inspected (see FIG. 13). The wall surface W is struck in a state where the pair of wheels 131 are pressed against each other, and the struck sound at that time is collected.
The absorption mechanism 161 allows the displacement between the wheel 131 and the rotary wing machine 51 and elastically receives the displacement.
Hereinafter, each of these parts will be described in detail.

As shown in FIGS. 4 to 11, the pair of links 102f and the single link 102g forming the distal end portion 106 are connected and fixed via a pair of three-way joints J1, and these three-way joints J1 are connected to each other. The studs 111 are connected and fixed respectively. The stud 111 protrudes horizontally toward the front end side in the traveling direction of the rotary wing machine 51, and connects the slide joint J2 so as to be slidable. These slide joints J2 are prevented from coming off by end members E1.
A connecting rod 112 is fixed between the pair of slide joints J2. The connecting rod 112 is horizontally arranged in a direction orthogonal to the traveling direction of the rotary wing machine 51, and is attached with the pair of wheels 131, the rotary encoder 141, and the sounding diagnosis device 151 described above.

  A mounting structure of the wheel 131 and the rotary encoder 141 will be described.

The connecting rod 112 is a pipe-like member, and a spline shaft 113 is press-fitted at both ends thereof. The connecting rod 112 and the spline shaft 113 are fixedly connected.
On the outer peripheral surface of the spline shaft 113, a single protrusion 114 is formed along the axial direction. As shown in FIG. 5, the protrusion 114 is formed from the front end side of the spline shaft 113 to about a half region.
A wheel 131 and a rotary encoder 141 are attached to the spline shaft 113 so as to be slidable along the axial direction, and are prevented from coming off by a pair of end members E2. These end members E2 are spline-fitted to the spline shaft 113, and are fixed to the spline shaft 113 at both ends of the region where the protrusion 114 is formed. Therefore, the slide movement range of the wheel 131 and the rotary encoder 141 is limited to the area where the protrusion 114 is formed.

As shown in FIG. 6, the rotary encoder 141 includes a housing 142 having an oval side surface shape having two axes, and a portion of one of the oval shafts is spline-fitted to the spline shaft 113, and the other An input shaft 143 is provided in the shaft portion.
The rotary encoder 141 outputs an electrical signal corresponding to the rotational speed input to the input shaft 143. The rotary encoder 141 connected to the control circuit 301 housed in the housing 52 of the rotary wing machine 51 via a communication line (not shown) transmits an electric signal to be output to the control circuit 301.
A boss 144 is provided on the housing 142 of the rotary encoder 141 toward the tip side of the spline shaft 113. The boss 144 is also spline-fitted to the spline shaft 113.

As shown in FIG. 7, a hub 132 is rotatably fitted to the boss 144 of the rotary encoder 141. The hub 132 is shorter in the axial direction than the boss 144 and exposes the tip of the boss 144.
The hub 132 is provided with a single protrusion 133 on the outer peripheral surface, and the wheel 131 is spline-fitted.
The hub 132 has a drive gear 134 fixed at one end, and the drive gear 134 meshes with a driven gear 145 fixed to the input shaft 143 of the rotary encoder 141.
Therefore, when the wheel 131 rotates, the hub 132 is rotated, the drive gear 134 rotates, and the rotation is transmitted to the input shaft 143 of the rotary encoder 141 via the driven gear 145. As a result, the rotary encoder 141 outputs an electrical signal corresponding to the rotational speed of the wheel 131.

As shown in FIGS. 8 and 9, a fixing ring 146 is fixedly fitted to the hub 132, and an end member E <b> 3 is fixedly fitted to the exposed tip of the boss 144 described above. A gap is opened between the fixing ring 146 and the end member E3, and the wheel 131 is disposed in this gap. That is, the wheel 131 is attached by being sandwiched between the fixing ring 146 and the end member E3 while being spline-fitted to the hub 132.
Therefore, when the wheel 131 rotates, the hub 132 and the drive gear 134 rotate integrally, and the driven gear 145 and the input shaft 143 of the rotary encoder 141 rotate as the drive gear 134 rotates. The members, that is, the housing 142, the boss 144, the spline shaft 113, and the connecting rod 112 of the rotary encoder 141 do not rotate.

The rotary encoder 141 described above is provided only on the wheel 131 on the left side in the traveling direction of the rotary wing machine 51. The wheel 131 on the right side in the traveling direction is provided with no parts related to the rotary encoder 141 including the housing 142, and has a simple structure in which the wheel 131 is spline-fitted to the spline shaft 113 and both sides of the wheel 131 are positioned. It has become.
Alternatively, as another embodiment, the wheel 131 on the right side in the traveling direction may have a structure in which only the electrical component elements of the rotary encoder 141 are not provided, for example, while the structure of the housing 142 of the rotary encoder 141 is not changed.

  The sounding diagnosis device 151 will be described.

As shown in FIGS. 10 and 11, the sounding diagnostic device 151 is attached to the connecting rod 112. This tapping sound diagnostic apparatus 151 includes a tapping unit 152 and two microphones 153.
The hitting unit 152 is a device that hits the wall surface W while the wheel 131 is pressed against the wall surface W (see FIG. 13) of the building to be inspected.

The hitting unit 152 attaches a solenoid 155 to the frame 154 suspended from the connecting rod 112, and drives the hammer 156 by the solenoid 155. The solenoid 155 includes a movable iron core 155a that moves in the forward / reverse direction of the rotary wing machine 51, and an arm 158 of a hammer 156 that is swingably attached to a support shaft 157 at the tip of the movable iron core 155a. It is connected freely.
The solenoid 155 is electrically connected to a control circuit 301 and a power supply circuit (not shown) housed in the housing 52 of the rotorcraft 51. Therefore, the solenoid 155 is energized from the power supply circuit and pulls the movable iron core 155 a to swing the arm 158 and drive the hammer 156. The driven hammer 156 jumps out in the traveling direction of the rotary wing machine 51 and strikes the wall surface W. When the energization to the solenoid 155 is stopped, the hammer 156 returns to the original position by the urging force of the spring 159.

The pair of microphones 153 are fixed to the connecting rod 112 so as to sandwich the hitting portion 152.
Such a microphone 153 is electrically connected to the control circuit 301 housed in the housing 52 of the rotary wing machine 51, collects the sound of the wall surface W by the striking unit 152, and uses the collected acoustic signal as a control circuit. 301.

In the hitting sound diagnostic apparatus 151, the frame 154 of the hitting portion 152 is rotatably attached to the connecting rod 112. Therefore, even when the flight posture of the rotary wing aircraft 51 is inclined and the inspection device 11 is inclined with respect to the wall surface W, the hitting unit 152 always takes the same posture with respect to the wall surface W.
On the other hand, the microphone 153 is fixedly attached to the connecting rod 112, but can be adjusted in the rotational direction around the axis of the connecting rod 112. Therefore, when the flight attitude of the rotary wing aircraft 51 is inclined and the inspection device 11 is inclined with respect to the wall surface W for inspection, the angle of the microphone 153 can be adjusted to face the wall surface W. .

  The absorption mechanism 161 will be described.

The pair of slide joints J2 connected by the connecting rod 112 is slidable along the stud 111. The direction at this time is the approaching / separating direction of the rotary wing machine 51 with respect to the wall surface W.
Therefore, in the present embodiment, the coil spring SP1 is fitted into the stud 111 and interposed between the three-way joint J1 and the slide joint J2. The coil spring SP1 is interposed in an uncompressed state, and is set to generate a rebound restoring force from a certain point in time when the slide joint J2 comes close to the three-way joint J1.
Further, the wheel 131 and the rotary encoder 141 are slidably movable in a region between the pair of end members E2 on the spline shaft 113. The direction at this time is the horizontal direction.
Therefore, in the present embodiment, a pair of coil springs SP2 are fitted into the spline shaft 113 and are interposed in the respective regions between the wheel 131 and the rotary encoder 141 and the pair of end members E2. When the wheel 131 and the rotary encoder 141 are in a neutral position between the pair of end members E2, the coil spring SP2 is interposed in an uncompressed state, and the wheel 131 and the rotary encoder 141 are disposed on one of the end members E2. Is set so as to generate a resilience restoring force from a certain point in time.
Thus, the absorption mechanism 161 is configured.

As shown in FIG. 12, the control circuit 301 housed in the housing 52 of the rotary wing aircraft 51 includes a flight controller 311 as a core part for driving control of the rotary wing aircraft 51. The flight controller 311 is a processor that controls the rotational speeds of the six motors M built in the six-blade rotor unit 53 in accordance with a command from the remote controller 201 and determines the flight posture of the rotorcraft 51.
Each motor M is connected to the flight controller 311 via an ESC 312 (Electronic Speed Controller). The ESC 312 is a circuit that is provided on a one-to-one basis with the motor M, and that controls the power supply state to the motor M so as to set the rotational speed of the motor M in accordance with a command from the flight controller 311.
A gyro sensor 313 and an acceleration sensor 314 are also connected to the flight controller 311. The gyro sensor 313 and the acceleration sensor 314 are sensors that detect the attitude of the rotary wing aircraft 51 and transmit it to the flight controller 311.

The control circuit 301 includes a CPU 321 as a core part that controls the building inspection device 11 in an integrated manner. The flight controller 311 is also connected to the CPU 321 and is controlled by the CPU 321.
In addition, the CPU 321 is connected to an EEPROM 322 for storing fixed data such as a computer program and a RAM 323 for storing variable data in a rewritable manner and used as a work area. The CPU 321 executes various arithmetic processes according to a computer program stored in the EEPROM 322, and centrally controls each unit.
The CPU 321 also includes an input / output circuit 324 for the rotary encoder 141, a drive circuit 325 for the solenoid 155 of the tapping unit 152 included in the sounding diagnosis device 151, an input / output circuit 326 for the microphone 153, and a communication circuit 327. Is also connected.
The input / output circuit 324 for the rotary encoder 141 receives an analog signal relating to the rotational speed of the wheel 131 detected by the rotary encoder 141, converts the analog signal into a digital signal, and uses the digital signal in the CPU 321.
The input / output circuit 326 for the microphone 153 receives an analog acoustic signal collected by the microphone 153, converts it into a digital signal, and uses it for digital processing in the CPU 321.
The communication circuit 327 is a circuit for establishing wireless communication with the remote controller 201 for driving and controlling the rotary wing machine 51 and executing wireless signal transmission / reception with the remote controller 201.
The communication circuit 327 also supports wired or wireless communication with an external computer (not shown).

  The effect will be described.

In order to fly the rotary wing aircraft 51 of the inspection device 11 that is self-supporting on the ground G by the stand 57, the remote controller 201 is operated and the right stick 203R is tilted forward (see FIGS. 2 and 3).
The operation signal of the remote controller 201 is captured by the control circuit 301 via the communication circuit 327, and the CPU 321 transmits the captured operation signal to the flight controller 311. The flight controller 311 issues a command to each ESC 312 based on the operation signal of the remote controller 201, thereby driving and controlling each motor M. Therefore, the rotary wing machine 51 takes a posture according to the command from the remote controller 201.
Therefore, when the right stick 203R is tilted forward, the inspection device 11 is raised vertically from the autonomous position.

  The inspection process of the wall surface W is performed according to the following procedure.

[Procedure A]
As shown in FIG. 13 or FIG. 14, a pair of detection structures 101 mounted on the rotary wing machine 51 is provided on a wall surface W of a building to be inspected by flying the rotary wing machine 51 by remote control using a remote controller 201. The wheel 131 is pressed.
At this time, if the operator operating the remote controller 201 raises the rotary wing machine 51 of the inspection device 11 vertically, the operator sticks the left stick 203L forward to move forward, and the pair of wheels 131 hit the wall surface W. Then, the stick 203L is returned to the neutral position (see FIGS. 2 and 3).
The position of the wall surface W against which the pair of wheels 131 abut, that is, the pressing position of the wheel 131 on the wall surface W is a position determined in advance as the inspection start position BP. This inspection start position BP is a position at which inspection of the wall surface W executed in the procedure C described later is started, and is an absolute inspection starting point that is artificially determined.

[Procedure B]
While the pair of wheels 131 is pressed against the wall surface W, the rotary wing machine 51 is raised or lowered to move in the vertical direction.
FIG. 13 shows an example in which the rotary wing machine 51 is lifted for inspection. At this time, the operator who operates the remote controller 201 tilts the right stick 203R forward (see FIGS. 2 and 3). As a result, the rotary wing machine 51 rises.
FIG. 14 shows an example in which the rotary wing machine 51 is moved down for inspection. At this time, the operator who operates the remote controller 201 tilts the right stick 203R forward (see FIGS. 2 and 3). Thereby, the rotary wing machine 51 descends.
At the time of implementation, either the rotary wing machine 51 is raised as shown in FIG. 13 for inspection, or the rotary wing machine 51 is lowered as shown in FIG. 14 for inspection. Good. Whether the rotary wing machine 51 has moved up or down can be determined based on the output signal of the rotary encoder 141 that detects the rotation of the wheel 131.

[Procedure C]
During the movement of the rotary wing machine 51 in the vertical direction, the rotation of the wheel 131 is detected by the rotary encoder 141. Further, the wall surface W is continuously struck by the hammer 156 of the sound diagnosing device 151, and the sound of the sound is collected by the microphone 153.
This makes it possible to recognize the diagnosis result in association with the diagnosis position of the wall surface W.
That is, the CPU 321 of the control circuit 301 drives the sounding diagnostic device 151 at a predetermined interval to strike the wall surface W with the hammer 156 and collects the sounding sound at this time with the microphone 153. The collected sound is digitally converted by the input / output circuit 326 and temporarily recorded in the RAM 323, for example. The digital sound data of the hitting sound temporarily stored in this way is transmitted to the external computer via the communication circuit 327, for example.
At this time, for example, the CPU 321 obtains the distance traveled by the inspection device 11 along the wall surface W based on the rotation speed data of the wheel 131 detected by the rotary encoder 141 and digitally converted by the input / output circuit 324. Then, the distance at the sampling timing of the hitting sound by the microphone 153 is calculated, and this is linked to the digital sound data of the hitting sound and stored.
Therefore, the data of the distance traveled by the inspection device 11 on the wall surface W is linked to the digital sound data of the beating sound temporarily stored in the RAM 323 and transferred to the external computer.
Therefore, the external computer can obtain the absolute position of the digital acoustic data of each hit sound. This is because the starting position of the inspection device 11 is a known absolute starting point.
With the above processing, if a defect is found in the digital sound data of the hit sound, it becomes possible to know which position in the wall surface W is defective.
[Procedure D]
During the movement of the rotary wing machine 51 in the vertical direction, the displacement between the wheel 131 and the rotary wing machine 51 is allowed and elastically received. That is, the position shift of the rotary wing machine 51 with respect to the wheel 131 is absorbed by the absorption mechanism 161.
As a result of experiments by the inventors of this application, when the rotary blade 51 is moved by remote control while pressing the wheel 131 against the wall surface W to be inspected, the position between the rotary blade 51 and the wheel 131 is fixed. The task was found to be quite difficult.
On the other hand, in the present embodiment, the absorption mechanism 161 absorbs the displacement of the rotary wing machine 51 with respect to the wheel 131. For this reason, even if the rotary wing aircraft 51 in flight becomes unstable, it is possible to prevent the flight state of the rotary wing aircraft 51 from affecting the wheels 131.
Therefore, according to the inspection device 11 of the present embodiment, the rotary blade 51 is moved without moving the wheel 131 pressed against the wall surface W from the wall surface W without requiring a delicate remote operation, and the wheel 131 is rotated. The rotary encoder 141 can detect correctly. As a result, it is possible to improve the accuracy of defect detection by the sound hitting diagnostic apparatus 151, and it is possible to correctly obtain the position information of the defect detection location even in a place where radio waves from GPS satellites are difficult to reach.

  According to the present embodiment, the displacement between the wheel 131 and the rotary wing machine 51 is allowed in two directions, ie, the approach and separation direction of the rotary wing machine 51 with respect to the wall surface W and the horizontal direction. Therefore, no matter which direction the rotary wing machine 51 shakes, the influence of the shake can be prevented from affecting the wheel 131.

The wall surface W inspection method illustrated in FIG. 13 shows an example in which the wall surface W is inspected by causing the rotor blades 51 to move only vertically and horizontally without tilting the rotor blades 51. On the other hand, the entire posture of the inspection device 11 such as the upper part of the bridge portion of the viaduct or in the tunnel may have to be tilted, or it may be easier to tilt.
Even in such a case, it is desirable that the sound-sound diagnosis device 151 faces the wall surface W.
On the other hand, in the present embodiment, the frame 154 of the hitting portion 152 is attached to the connecting rod 112 so that the connecting rod 112 can rotate freely. Even when 11 is inclined, the hitting portion 152 can always face the wall W.
In addition, since the microphone 153 can adjust the angle in the rotation direction around the axis of the connecting rod 112, the flight posture of the rotary wing aircraft 51 is inclined and the inspection device 11 is inclined with respect to the wall surface W. In the case of inspection, the angle of the microphone 153 can be adjusted so as to face the wall surface W.

  In implementation, various modifications and changes are allowed.

DESCRIPTION OF SYMBOLS 11 Inspection apparatus 51 Rotor blade 131 Wheel 141 Rotary encoder 151 Sound impact diagnostic apparatus 161 Absorption mechanism W Wall surface

Claims (6)

A small rotorcraft is operated by remote control, and it is installed on the wall surface of the building to be inspected so that it can be rotated around the horizontal axis at a position that is symmetrical about the center line of the traveling direction of the rotorcraft. A step of pressing the pair of wheels formed,
The step of moving the rotor blade up or down and moving it up and down while pressing the pair of wheels against the wall surface;
During the movement of the rotary wing machine in the vertical direction, the rotation of the wheel is detected by a rotary encoder, and the position between the pair of wheels is fixed with respect to the rotation center of the wheels. The process of continuously striking the wall surface with a sound diagnosing device and collecting the sound of the sound at that time,
During the vertical movement of the rotorcraft, allowing the displacement between the wheels and the rotorcraft to be elastically received;
A method for inspecting a building, comprising: Displacement between the wheel and the rotary wing machine is allowed in two directions, a horizontal direction and a proximity / separation direction of the rotary wing machine with respect to the wall surface,
The building inspection method according to claim 1. Further comprising the step of setting an angle around a horizontal axis of the sound impact diagnostic device,
The building inspection method according to claim 1 or 2, wherein A small rotorcraft that can be remotely controlled;
The rotary wing machine is provided so as to be rotatable about a horizontal axis and is symmetrical with respect to a center line in the traveling direction of the rotary wing machine, and is a vertical projection plane on the front side in the traveling direction of the rotary wing machine. A pair of wheels, at least a portion of which is positioned at an overhanging position;
A rotary encoder that detects rotation of the wheel;
Positioned between the pair of wheels, the position is fixed with respect to the center of rotation of these wheels, and the wall surface is struck with the pair of wheels pressed against the wall surface of the building to be inspected. , A percussion diagnosis device that collects percussion at that time, and
An absorption mechanism that elastically receives the displacement between the wheel and the rotorcraft,
A building inspection device comprising: The absorption mechanism allows displacement in two directions, a horizontal direction and a proximity / separation direction of the rotorcraft with respect to a wall surface,
The building inspection apparatus according to claim 4, wherein: The sound hitting diagnostic device is provided so that the angle can be varied around a horizontal axis.
The building inspection apparatus according to claim 4 or 5, wherein

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