JP5142203B2 - Diagnostic robot system for concrete structures - Google Patents

Description

  The present invention relates to a diagnostic robot system for a concrete structure that can detect a minute deformation of the concrete structure and diagnose its soundness.

  Steel structures and concrete structures such as bridges, tunnel structures, nuclear facilities, railway facilities, tanks, etc. in the building structure and civil engineering fields are deteriorated over time, damaged by repeated forces such as earthquakes and vibrations, and cannot be predicted. Force majeure can cause damage to parts of the structure, which often leads to major accidents. In addition, such damage occurs inside a large concrete structure, and it is difficult to detect it visually when it is a small damage. Moreover, it may occur inside the structure and cannot be found from the outside, or damage may occur at a site where the structure is large and difficult to find under normal use conditions. Therefore, it is important from the viewpoint of maintenance costs to detect damages that lead to these major damages as early as possible and to perform necessary repairs.

  In order to discover defects in steel structures and concrete structures, several methods have been used in the past, such as diagnostics using ultrasonic waves, diagnostics using X-rays, and diagnostics using impacts. The ultrasonic diagnostic method is effectively used for a specific structure such as a steel structure or FRP structure, but when the defect is small, the influence on the reflection of the ultrasonic wave is small, or the structure When the part is complicated, the detection accuracy is low and the presence of a defect is often overlooked. For this reason, X-ray diagnosis is used for welded structures and the like, but it has not been put to practical use as a diagnostic method in the field because of the problem of shielding in addition to the high cost of the apparatus. In addition, although the inspection by the impact on the tunnel structure has been used considerably recently, there is much room for improvement as a diagnosis method, such as the point of detection accuracy and the diagnosis results often differ depending on the impact method.

  In view of such a situation, the inventors of the present application have proposed a system for diagnosing deformation of a diagnosis object from a change in vibration mode obtained by applying local vibration to a structure and measuring its response ( Patent Documents 1 to 3).

  The diagnosis system according to the present inventors described in Patent Documents 1 to 3 is intended for diagnosis of steel structures such as H-shaped steel, and particularly when a concrete structure is targeted for diagnosis. No consideration was given to how the device was attached to the structure.

  Therefore, the inventors of the present application have proposed a concrete structure diagnosis system capable of easily attaching a vibration device to a concrete structure and diagnosing the same (Patent Document 4).

Japanese Patent No. 3694749 Japanese Patent No. 3705357 Japanese Patent No. 4069977 Japanese Patent No. 3981740

  The diagnosis system by the inventors of the present application described in Patent Document 4 can diagnose the soundness of the concrete structure by attaching a vibration device to the concrete structure. I could not do it at all. In addition, it has been extremely difficult to detect minute defects quickly, reliably, accurately and efficiently for large concrete structures and concrete structures installed over long distances.

  Accordingly, an object of the present invention is to provide a concrete structure diagnostic robot system capable of remotely diagnosing a concrete structure.

  Another object of the present invention is to provide a diagnostic robot system for a concrete structure capable of detecting a minute defect quickly, accurately and efficiently even for a large concrete structure.

  According to the present invention, the magnetic plate member or plate member fixed to the concrete structure to be diagnosed, and can be attracted and detached magnetically to the magnetic plate member or vacuumed to the plate member by remote operation, A vibration device capable of applying local vibration to the concrete structure when adsorbed, and can be adsorbed and detached magnetically to the magnetic plate member or plate member or vacuumed to the plate member by remote operation. And at least one vibration detecting means for detecting a response to the vibration of the concrete structure, and a moving means capable of remotely moving the vibration exciter and the at least one vibration detecting means to a position to be diagnosed in the concrete structure. Analyzing means for determining the soundness of the concrete structure based on how the vibration mode obtained by the detection of the vibration detecting means has changed from the vibration mode in a healthy state; Diagnosis robotic system of concrete structures with are provided.

  The magnetic plate member or the plate member is fixed to the concrete structure, and the vibration device is configured to be able to be attracted and detached magnetically to the magnetic plate member or plate member or vacuumed to the plate member by remote control. . When the vibration device is adsorbed to the magnetic plate member or plate member, local vibration is applied to the concrete structure. Further, at least one vibration detecting means is configured to be capable of being attracted and detached magnetically to the magnetic plate member or the plate member or vacuumed to the plate member by remote control, and the response to the vibration of the concrete structure when adsorbed. Configure to detect. Further, the moving means is configured to be able to move the vibration device and the at least one vibration detecting means to a position to be diagnosed of the concrete structure by remote operation. The vibration of the concrete structure is fixed by magnetically or vacuum-fixing the vibration device moved to the position to be diagnosed and at least one vibration detection means to the concrete structure, and then locally exciting from the vibration device in this state. Find the degree. As described above, according to the present invention, since the vibration device and at least one vibration detection means can be fixed and diagnosed at a position to be diagnosed of the concrete structure by remote operation, the diagnosis does not take time. In addition, it is easy, and appropriate diagnosis can be performed even in a place where people cannot enter because of safety or space. Furthermore, it is possible to detect minute defects quickly, accurately and efficiently even for large concrete structures.

  Of course, according to the present invention, since the diagnosis of a concrete structure can be diagnosed in the same way as a steel structure, it is possible to easily predict the peeling and dropping of the concrete structure, and therefore, the diagnosis of buildings, tunnels, etc. can be performed accurately and easily. Can be done.

  The moving means includes a moving frame to which the vibration exciter and at least one vibration detecting means are attached, guide means for guiding the moving frame along the surface of the concrete structure, and the position of the moving frame remotely according to the guiding means. It is preferable to include a driving means for moving.

  More preferably, the guide means includes a travel rail attached to the surface of the concrete structure, and a guide wheel engaged with the travel rail and attached to the moving frame.

  The driving means includes a rack gear attached to the traveling rail, a pinion gear attached to the moving frame and meshing with the rack gear, a traveling electric motor for driving the pinion gear, and a stopping position for detecting a stopping position of the moving frame. It is more preferable to include a detection sensor.

  It is also preferable to further include a vibration device vertical drive means capable of moving the vibration device by a remote operation in a direction perpendicular to the surface of the magnetic plate member or the plate member. It is more preferable to further include a suction position confirmation sensor for confirming that the vibration device has moved to the suction position by the vibration device vertical drive means.

  It is also preferable to further comprise a vibration detection means vertical drive means capable of moving at least one vibration detection means by a remote operation in a direction perpendicular to the magnetic plate member or the surface of the plate member. More preferably, the vibration detection means vertical drive means further includes a suction position confirmation sensor for confirming that at least one vibration detection means has moved to the suction position.

  The plate member is a magnetic plate member, and the vibration device is magnetically attracted to the magnetic plate member by being energized, and is separated from the magnetic plate member by being stopped. And a vibration element that is mechanically connected to at least one electromagnet and generates vibration and applies the vibration to the surface of the concrete structure. In this case, it is more preferable to further include a sensor that confirms energization and energization stop of at least one electromagnet.

  It is also preferable that at least one vibration detection means includes a plurality of vibration sensors arranged along the moving direction of the moving means.

  The theory that vibration sensors are arranged at equal intervals, and the analysis means obtains the shape of the vibration mode by observing the relative change in response amplitude from multiple vibration sensors and detects the influence of the deformation from the shape change It is preferable to include an analysis unit. In this case, it is more preferable that the theoretical analysis unit is configured to detect the influence of the deformation by superimposing the change in the shape of the vibration mode for each frequency.

  The vibration sensors are arranged at equal intervals, and the analysis means obtains the shape of the vibration mode by observing the relative change in the response amplitude from the plurality of vibration sensors, and compares the internal strain energy to thereby change the deformation. It is also preferable to include a theoretical analysis unit that detects the influence.

  The analysis means analyzes the measurement data from at least one vibration detection means and defines an experimental mode analysis unit that obtains the natural frequency of the diagnosis target as the experimental natural frequency, and defines one deformed state of the diagnosis target. A theoretical analysis unit that defines multiple individuals that use genetic information as information that characterizes the deformation, such as the position of the deformation point, and calculates the natural frequency of each individual based on the genetic information, and an experiment-specific frequency Searching for individuals with the theoretical natural frequency that matches the frequency with a predetermined degree of coincidence, identifying the individual with the highest degree of coincidence, and estimating the deformed state from the individual's genetic information It is also preferable to include an analysis database that stores the searched individual and enables the theoretical analysis unit to calculate the theoretical natural frequency using the stored individual in the next diagnosis.

  According to the present invention, diagnosis is not troublesome and easy, and appropriate diagnosis can be performed even in a place where a person cannot enter in terms of safety or space. Furthermore, it is possible to detect minute defects quickly, accurately and efficiently even for large concrete structures.

  FIG. 1 is a block diagram schematically showing the entire configuration of a diagnostic robot system for a concrete structure in one embodiment of the present invention, and FIG. 2 is a side view schematically showing the configuration of a vibration exciter portion in this embodiment. 3 is a front view of the vibration device portion of FIG. 2, and FIG. 4 is a cross-sectional view taken along line AA of FIG.

  In these drawings, 10 is a concrete structure to be diagnosed (for example, a concrete wall), 11 is pre-embedded in the concrete structure 10 at a position where the vibration exciter is fixed, or is fixed to the surface with an adhesive, for example. An exciter adsorption steel plate, which is an example of a magnetic plate member, is embedded in the concrete structure 10 in advance at a position where the vibration sensor is fixed, or is magnetically fixed to the surface with an adhesive, for example. A steel plate for vibration sensor adsorption 13, which is an example of a body plate member, is embedded in the concrete structure 10 or fixed to the surface thereof with, for example, an adhesive, and supports the running rail 14 and the cable carrier 15. Each member is shown. The support member 13 is made of a steel plate, and a part of the support member 13 also functions as a vibration sensor adsorption steel plate. In the present embodiment, the support members 13 are arranged at regular intervals (for example, at intervals of about 400 mm).

  The traveling rail 14 is provided along the surface of the concrete structure, and a guide wheel 17 (FIG. 2) attached to the moving frame 16 is engaged with the traveling rail 14. A single vibration device 18 and eleven vibration sensors 19 arranged at equal intervals (for example, at intervals of about 200 mm) along the length direction of the moving frame 16 in this embodiment are integrally attached to the moving frame 16. It has been. Accordingly, the vibration exciter 18 and the vibration sensor 19 are guided along the moving frame 16 along the surface of the concrete structure in the forward or reverse direction, which is the extending direction of the traveling rail 14 (the length direction of the moving frame 16). Note that the number of vibration sensors 19 and the arrangement form thereof are not limited to those shown in the drawings, and can be arbitrarily changed according to the configuration of the diagnostic robot system.

  Driving for moving the moving frame 16 in the forward or backward direction is performed by a traveling electric motor 20 with a brake attached to the moving frame 16. A rack gear 21 is attached to the traveling rail 14 along its extending direction, and a pinion gear 22 meshing with the rack gear 21 is rotationally driven by the traveling electric motor 20 so that the moving frame 16 is attached to the traveling rail 14. It is guided and moves forward or backward.

  The stop position of the moving frame 16 is detected by a stop position detection sensor 23 attached to the moving frame 16. The stop position detection sensor 23 may be constituted by a mechanical sensor composed of a combination of a micro switch attached to the moving frame 16 and a protrusion 24 provided on the concrete structure 10, or a magnetic sensor, an optical sensor, or an infrared ray. You may comprise with a sensor etc.

  The traveling electric motor 20 is electrically connected to a control operation device (control operation panel) 25 provided remotely from the concrete structure 10 via a power line housed in the cable carrier 15. The control operation device 25 is remotely controlled. The stop position detection sensor 23 is also electrically connected to the control operation device 25 through a signal line housed in the cable carrier 15.

  The vibration exciter 18 allows the exciter to move along the slide rail 26 in the direction perpendicular to the surface of the steel plate 11 (concrete structure) for adsorbing the exciter at the stop position of the moving frame 16. A frame 27 is provided. The movement of the slide frame 27 in the vertical direction, that is, the direction of the arrow 27 a is performed by driving the slide frame electric actuator 28. The locking hand 29 is driven in the direction of the arrow 29a (FIG. 3) by the locking electric motor 30, and locks the movement of the slide frame 27 in the direction of the arrow 27a when necessary.

  An adsorption position confirmation sensor 31 for confirming that the slide frame 27 has moved to the adsorption position of the vibration exciter and an initial position confirmation sensor 32 for confirming that the slide frame 27 is at the initial position are further provided. The suction position confirmation sensor 31 and the initial position confirmation sensor 32 may be configured by a mechanical sensor using a micro switch, or may be configured by a magnetic sensor, an optical sensor, an infrared sensor, or the like.

  The slide frame electric actuator 28 and the lock electric motor 30 are electrically connected to the control / operation device 25 via a power line housed in the cable carrier 15, and are remotely controlled by the control / operation device 25. . The suction position confirmation sensor 31 and the initial position confirmation sensor 32 are also electrically connected to the control operation device 25 via signal lines housed in the cable carrier 15.

  The vibration exciter 18 is configured to be magnetically adsorbed and separated from the vibration exciter attracting steel plate 11 by the two electromagnets 33 and 34 (FIGS. 3 and 4) when in the attracting position. . The operation of the electromagnets 33 and 34 is controlled by turning the switches 33a and 34b. The switches 33a and 34b are rotated by driving the electromagnet electric actuator 35. That is, as shown in FIG. 4, a drive rod 36 is connected to the electromagnet electric actuator 35, and arms 37 and 38 for rotating the switches 33a and 34b are connected to the drive rod 36, respectively. Yes. When the electromagnet electric actuator 35 is energized to drive the drive rod 36 in either direction of the arrow 39, the switches 33a and 34b are turned on or off, and the electromagnets 33 and 34 are energized (on state). ) Or energized stop state (off state).

  An on-state confirmation sensor 40 and an off-state confirmation sensor 41 for detecting that the electromagnets 33 and 34 are turned on and turned off at the position of the drive rod 36 are attached to the moving frame 16. . The on-state confirmation sensor 40 and the off-state confirmation sensor 41 may be configured by a mechanical sensor using a micro switch, or may be configured by a magnetic sensor, an optical sensor, an infrared sensor, or the like.

  The electromagnet electric actuator 35 is electrically connected to the control / operation device 25 via a power line housed in the cable carrier 15, and is remotely controlled by the control / operation device 25. In addition, the electromagnets 33 and 34 are also electrically connected to the control / operation device 25 via a power line housed in the cable carrier 15, and are supplied with power from the control / operation device 25. The on-state confirmation sensor 40 and the off-state confirmation sensor 41 are also electrically connected to the control / operation device 25 via signal lines housed in the cable carrier 15.

  Although not clearly shown in FIGS. 1 to 4, a vibration unit as shown in FIG. 5 is attached to the slide frame 27. FIG. 5 schematically shows the configuration of only the electromagnets 33 and 34 and the vibration unit 42 in the vibration device 18, where the electromagnets 33 and 34 are in an energized state and the steel plate 11 for attracting the vibration device. The magnetically attracted and fixed state is represented.

  As shown in FIG. 5, the vibration unit 42 includes a vibration element 42a that vibrates in a predetermined frequency range, a vibration rod 42b that transmits the vibration of the vibration element 42a to a local surface of the concrete structure 10, and a vibration rod 42b. A preload spring 42c for applying preload and a spring adjusting knob 42d for adjusting the preload by changing the free length of the preload spring 42c are provided. It is fixed to the steel plate 11. At that time, it is desirable that the vibration device adsorption steel plate 11 is provided with an opening 11a or the like so that the tip of the vibration rod 42b directly contacts the surface of the concrete structure 10.

  As the vibration element 42a, a high-frequency vibration (for example, 500 Hz or more) can be applied in order to observe local deformation of the concrete structure 10, and the piezoelectric element can be applied with a small and minute force. A laminated piezoelectric element utilizing the piezoelectric effect is used. By applying such high-frequency vibrations, it is possible to observe the deformation of the diagnosis target. This is because when the object of diagnosis is a concrete structure such as a nuclear power plant, chemical plant, ship, etc., its weight is heavy, so these natural frequencies (natural frequencies in the first-order mode) are very low. However, since the natural frequency of the deformation point is high, the change at this frequency can be measured.

  The vibration element 42 a is electrically connected to the diagnostic analysis device 43 through a signal line housed in the cable carrier 15, and is remotely driven by the diagnostic analysis device 43.

  FIG. 6A is a side view and FIG. 6B is a front view schematically showing the configuration of each vibration sensor 19 in the present embodiment.

  As shown in the figure, the vibration sensor 19 includes a vibration sensor case 46 that houses a vibration pickup 44 and an electromagnetic holder 45 using an electromagnet along a guide member 47 at a stop position of the moving frame 16. It is comprised so that it can move to the perpendicular | vertical direction with the surface of the steel plate 12 (concrete structure) for vibration sensor adsorption | suction. The movement of the vibration sensor case 46 in the vertical direction, that is, the direction of the arrow 46 a is performed by driving a vibration sensor electric actuator 48 attached to the moving frame 16.

  An adsorption position confirmation sensor 49 for confirming that the vibration sensor case 46 has moved to the adsorption position and an initial position confirmation sensor 50 for confirming that the vibration sensor case 46 is in the initial position are further provided. The suction position confirmation sensor 49 and the initial position confirmation sensor 50 may be configured by a mechanical sensor using a micro switch, or may be configured by a magnetic sensor, an optical sensor, an infrared sensor, or the like.

  The electromagnetic holder 45 and the vibration sensor electric actuator 48 are electrically connected to the control operation device 25 via a power line housed in the cable carrier 15, and are remotely controlled by the control operation device 25. The suction position confirmation sensor 49 and the initial position confirmation sensor 50 are also electrically connected to the control operation device 25 via signal lines housed in the cable carrier 15.

  In this embodiment, the vibration pickup 44 is a small semiconductor accelerometer, and measures the displacement of the concrete structure 10 in order to measure the response to the vibration given by the vibration excitation device 18. As the vibration pickup 44, a laser displacement measuring device, a piezoelectric element, or the like may be used.

  In the present embodiment, eleven pieces of the above vibration sensors 19 are provided at equal intervals, and the vibration pickup 44 of each vibration sensor 19 is electrically connected to the diagnostic analyzer 43 via a signal line housed in the cable carrier 15. It is connected to the. Therefore, the detection signals from these vibration sensors 19 are sent to the diagnostic analyzer 43 via the signal lines.

  FIG. 7 is a block diagram schematically showing an electrical configuration relating to remote control and operation functions of the diagnostic robot system in the present embodiment.

  As shown in the figure, the traveling electric motor 20, the locking electric motor 30, the slide frame electric actuator 28, the electromagnets 33 and 34, and the electromagnet electric actuator 35 in the vibration device 18 are included in the cable carrier 15. It is electrically connected to a control and operation device 25 that is provided remotely via a stored power line. Further, the stop position detection sensor 23, the suction position confirmation sensor 31, the initial position confirmation sensor 32, the on state confirmation sensor 40, and the off state confirmation sensor 41 are also controlled by the control operation device 25 via the signal line housed in the cable carrier 15. Is electrically connected.

  Further, the electromagnetic holder 45 and the vibration sensor electric actuator 48 in each of the eleven vibration sensors 19 are electrically connected to the control operation device 25 via a power line housed in the cable carrier 15, and are attracted. The position confirmation sensor 49 and the initial position confirmation sensor 50 are also electrically connected to the control / operation device 25 via signal lines housed in the cable carrier 15.

  The control operation device 25 includes a touch display 25a and a sequence controller 25b, a power supply device (not shown), a relay motor controller, a solenoid drive device, and the like, and a sequence controller configured by a digital computer based on the operation of the touch display 25a. 25b performs sequence control of the diagnostic robot system. Hereinafter, the operation of the diagnostic robot system based on the control of the sequence controller 25b will be described. However, the operation described below is an example of the minimum basic operation necessary for carrying out the present invention, and in fact, various additional operations, confirmations, and controls are performed. .

  FIG. 8 is a flowchart showing an example of an advance and stop control sequence for controlling the advance and stop operations of the vibration device 18 and the vibration sensor 19 along the surface of the concrete structure 10 of the moving frame 16.

  In this sequence, first, the traveling electric motor 20 is driven in the forward direction to advance the moving frame 16 (step S1). This operation is performed until the stop position detection sensor 23 determines that the stop position of the moving frame 16 has been detected (step S2). When the stop position is detected, the traveling electric motor 20 is braked and the moving frame is moved. 16 is stopped at that position (step S3). Accordingly, the vibration device 18 stops at a position facing the vibration device adsorption steel plate 11, and each vibration sensor 19 stops at a position facing the vibration sensor adsorption steel plate 12 or the support member 13.

  FIG. 9 is a flowchart showing an example of a reverse and stop control sequence for controlling the reverse and stop operations of the vibration device 18 and the vibration sensor 19, and thus along the surface of the concrete structure 10 of the moving frame 16.

  In this sequence, first, the traveling electric motor 20 is driven in the reverse direction to move the moving frame 16 backward (step S11). This operation is performed until it is determined that the stop position detection sensor 23 has detected the stop position of the moving frame 16 (step S12). When the stop position is detected, the traveling electric motor 20 is braked and the moving frame is moved. 16 is stopped at that position (step S13). Accordingly, the vibration device 18 stops at a position facing the vibration device adsorption steel plate 11, and each vibration sensor 19 stops at a position facing the vibration sensor adsorption steel plate 12 or the support member 13.

  FIG. 10 is a flowchart showing an example of a fixed control sequence for controlling the operation of fixing the vibration device 18 and the vibration sensor 19 to the vibration device adsorption steel plate 11 and the vibration sensor adsorption steel plate 12, respectively.

  In this sequence, first, the locking electric motor 30 is driven to open the locking hand 29, and the movement lock of the slide frame 27 is released (step S21). Next, the slide frame electric actuator 28 is driven to move the slide frame 27 toward the suction position (step S22). This operation is performed until it is determined by the suction position confirmation sensor 31 that the slide frame 27 has moved to the suction position (step S23), and when the movement is detected, the drive of the slide frame electric actuator 28 is stopped. The slide frame 27 is stopped at that position (step S24).

  Next, the electromagnet electric actuator 35 is driven, and the switches 33a and 34b of the electromagnets 33 and 34 are turned in the ON direction (step S25). This operation is performed until the on-state confirmation sensor 40 detects that the electromagnets 33 and 34 are turned on (step S26). When it is detected that the electromagnets 33 and 34 are turned on, The driving is stopped (step S27). Thereby, the electromagnets 33 and 34 are attracted to the steel plate 11 for attracting the vibration device, and the vibration device 18 is fixed to the surface of the concrete structure 10.

  On the other hand, the vibration sensor electric actuator 48 in each vibration sensor 19 is driven to move the vibration sensor case 46 toward the suction position (step S28). This operation is performed until it is determined by the suction position confirmation sensor 49 that the vibration sensor case 46 has moved to the suction position (step S29), and when the movement is detected, the drive of the vibration sensor electric actuator 48 is stopped. Then, the vibration sensor case 46 is stopped at that position (step S30). Next, the electromagnet of the electromagnetic holder 45 is energized to attract the electromagnetic holder 45 to the vibration sensor adsorption steel plate 12 (step S31). By performing the same operation for all the vibration sensors 19, all the vibration sensors 19 are fixed to the surface of the concrete structure 10 at the respective positions.

  FIG. 11 is a flowchart showing an example of a release control sequence for controlling the operation of releasing the vibration device 18 and the vibration sensor 19 from the vibration device adsorption steel plate 11 and the vibration sensor adsorption steel plate 12, respectively.

  In this sequence, first, the electromagnet electric actuator 35 is driven to rotate the switches 33a and 34b of the electromagnets 33 and 34 in the off direction (step S41). This operation is performed until the off-state confirmation sensor 41 detects that the electromagnets 33 and 34 are turned off (step S42). When it is detected that the electromagnets 33 and 34 are turned off, The driving is stopped (step S43). Thereby, the adsorption of the electromagnets 33 and 34 to the steel plate 11 for attracting the vibration device is released, and the vibration device 18 can be separated from the surface of the concrete structure 10. Next, the slide frame electric actuator 28 is driven to move the slide frame 27 in the disengagement direction (step S44). This operation is performed until it is determined by the initial position confirmation sensor 32 that the slide frame 27 has moved to the initial position (step S45). When the movement is detected, the driving of the slide frame electric actuator 28 is stopped. The slide frame 27 is stopped at that position (step S46). Next, the locking electric motor 30 is driven to close the locking hand 29 and lock the movement of the slide frame 27 (step S47).

On the other hand, the biasing of the electromagnet of the electromagnetic holder 45 in each vibration sensor 19 is stopped, and the adsorption of the electromagnetic holder 45 to the vibration sensor adsorption steel plate 12 is released (step S48). Next, the vibration sensor electric actuator 48 is driven to move the vibration sensor case 46 in the detaching direction (step S49). This operation is performed until the initial position confirmation sensor 50 determines that the vibration sensor case 46 has moved to the initial position (step S50), and when the movement is detected, the drive of the vibration sensor electric actuator 48 is stopped. Then, the vibration sensor case 46 is stopped at that position (step S51). The same operation is performed for all the vibration sensors 19 so that all the vibration sensors 19 are released from the surface of the concrete structure 10 at the respective positions.
The control sequence described above may be executed individually to perform operations such as movement and fixation of the vibration device 18 and the vibration sensor 19, but in this embodiment, operations are performed by combining these operations. It is configured to be simpler.

  FIG. 12 is a flowchart schematically showing an example of the overall control processing of the sequence controller in the present embodiment.

  For example, when the operator operates the touch display 25a of the control operation device 25 to instruct forward and stop operations, the sequence controller 25b executes the control process shown in FIG.

  First, it is determined whether or not this time is the first movement (step S61). When the movement is not from the initial movement but from the state where the vibration device 18 and the vibration sensor 19 are fixed to the concrete structure 10, the release control sequence shown in FIG. 11 is executed (step S62). The vibration device 18 and the vibration sensor 19 are moved to the next measurement position along the surface of the concrete structure 10.

  Next, or when it is the first movement and the vibration device 18 and the vibration sensor 19 are not fixed to the concrete structure 10, the forward and stop control sequence shown in FIG. S63), the vibration exciter 18 and the vibration sensor 19 are moved forward along the surface of the concrete structure 10 and moved to the next measurement position.

  Next, the fixing control sequence shown in FIG. 10 is executed (step S64), and the vibration device 18 and the vibration sensor 19 are fixed to the surface of the concrete structure 10.

  Thereafter, diagnosis and analysis processing is executed at the position by the diagnostic analyzer 43 (step S65).

  FIG. 13 is a flowchart schematically showing another example of the overall control processing of the sequence controller in the present embodiment.

  For example, if the operator operates the touch display 25a of the control operation device 25 to instruct reverse and stop operations, the sequence controller 25b executes the control process shown in FIG.

  First, it is determined whether or not this time is the first movement (step S71). When the movement is not from the initial movement but from the state in which the vibration device 18 and the vibration sensor 19 are fixed to the concrete structure 10, the release control sequence shown in FIG. 11 is executed (step S72). The vibration device 18 and the vibration sensor 19 are moved to the next measurement position along the surface of the concrete structure 10.

  Next, or when it is the first movement and the vibration device 18 and the vibration sensor 19 are moved from a state where they are not fixed to the concrete structure 10, the reverse and stop control sequence shown in FIG. S73), the vibration exciter 18 and the vibration sensor 19 are moved backward along the surface of the concrete structure 10 and moved to the next measurement position.

  Next, the fixing control sequence shown in FIG. 10 is executed (step S74), and the vibration device 18 and the vibration sensor 19 are fixed to the surface of the concrete structure 10.

  Thereafter, diagnosis and analysis processing is executed at the position by the diagnostic analyzer 43 (step S75).

  FIG. 14 is a block diagram schematically showing an electrical configuration relating to a diagnosis and analysis function of the diagnostic robot system in the present embodiment.

  As shown in the figure, the vibration pickup 44 in each of the vibration element 42 a and the eleven vibration sensors 19 in the vibration device 18 is electrically connected to the diagnostic analysis device 43 via a signal line housed in the cable carrier 15. Connected.

  The diagnostic analysis device 43 finally determines the soundness of the concrete structure 10 by obtaining a vibration mode from the response detected by the vibration pickup 44 and the overall control unit 43a that comprehensively controls the operation of the entire diagnosis analysis device 43. An analysis unit 43b to be obtained, an amplifier 43c for a measurement signal from the vibration pickup 44, an A / D converter 43d, a signal generator 43e for generating a waveform signal for vibrating the vibration element 42a, and driving from this waveform signal It mainly includes a drive unit 43f that generates a signal. In the present embodiment, the overall control unit 43a and the analysis unit 43b are configured by a digital computer.

  The overall control unit 43a supervises the entire diagnosis process by instructing an excitation condition for diagnosing the soundness of the concrete structure 10 to be diagnosed most appropriately and displaying the diagnosis result. At the start of diagnosis, control data such as a diagnosis start command and vibration conditions are sent to the drive unit 43f via the signal generator 43e. Further, the measurement data from the vibration pickup 44 is sent to the analysis unit 43b, and the diagnosis result is received from the analysis unit 43b and displayed on the screen.

  The signal generation unit 43e generates a waveform signal of vibration to be applied to the diagnosis target based on the excitation condition from the overall control unit 43a. This waveform signal is amplified by the drive unit 43 f to become a drive signal, and is applied to the vibration element 42 a of the vibration device 18 through the signal line stored in the cable carrier 15. The signal generator 43e is composed of a function generator, a multifunction synthesizer, etc., and generates and outputs a waveform signal of an analog signal corresponding to the excitation condition from the overall control unit 43a. In general, multi-function generators and multi-function synthesizers can generate general waveform signals such as sine waves, rectangular waves, and sawtooth waves themselves, but any waveform signal can be created according to the diagnosis target and purpose. It is desirable to have a function. By using the multi-function generator, it is possible to perform multi-channel vibration using a plurality of vibration devices. That is, the timing of vibration is shifted for each vibration device, the phase is changed, the amplitude, the frequency or the vibration time is changed, and further sweep vibration (vibration in which the amplitude or frequency is changed with time) is performed. It is possible to vibrate according to the object of diagnosis and purpose.

  The drive unit 43f amplifies the waveform signal from the signal generation unit 43e with a predetermined gain, and outputs the amplified signal as a drive signal to the vibration element 42a of the vibration exciter 18 via the signal line stored in the cable carrier 15. To do. The gain may be specified from the signal generator 43e.

  An amplifier 43c for amplifying an analog measurement signal as an output is connected to the vibration pickup 44 via a signal line housed in the cable carrier 15, and the output signal is digitally converted to the amplifier 43c. An A / D converter 43d is connected. The amplifier 43c is composed of a signal conditioner or the like provided for each measuring instrument, and mainly adjusts the signal level input to the A / D converter 43d. The gain of each amplifier is set depending on the configuration of the measuring instrument and the configuration of the diagnosis target. That is, it is necessary to set the gain of each amplifier to be constant (at least when the same level signal is input, the same level signal is output), and the signal from the amplifier 43c is a digital signal. Set to prevent overflow when converting to. If you want to adjust the vibration energy to be applied according to the diagnosis target, or if you want to continuously change the vibration energy to be applied, it may cause overflow if it is a fixed gain amplifier, It is desirable that the gain is adjustable. This gain adjustment may be manual adjustment, or gain adjustment may be performed from the overall control unit 43a.

  A general control unit 43a is connected to the A / D converter 43d, and a digital measurement signal is input to the general control unit 43a.

The analysis unit 43b includes an experimental mode analysis unit 43b ₁ that obtains a natural frequency (hereinafter referred to as an experimental natural frequency) in a primary to n-th vibration mode of a diagnosis target from measurement data, and theoretically a primary to n of a diagnosis target. the theoretical analysis unit 43 b ₂ for calculating the natural frequency (hereinafter theoretical natural frequency) in the next vibration mode, soundness theoretical natural frequency to determine whether they match the experimental natural frequencies and the predetermined conditions An evaluation unit 43b ₃ that performs diagnosis and an analysis database (analysis DB) unit 43b ₄ that stores information such as diagnosis information, theoretical natural frequency, and experimental natural frequency are provided.

  Hereinafter, the analysis unit 43b will be described in more detail.

  When deformation such as damage occurs in the concrete structure 10 to be diagnosed, the response of the applied vibration is measured, and the peak frequency of the power spectrum is displaced. That is, the presence or absence of occurrence of deformation can be known by determining whether or not there is a difference in the power spectrum. Therefore, by comparing how the power spectrum has changed from that at the time of soundness, it is possible to perform soundness diagnosis.

However, even if the occurrence of the deformation can be determined by this, it is impossible to determine the position of the deformation and whether such a deformation has occurred. Therefore, also in order to the diagnostic contents to a position and Henjo contents of such Deformation point, the evaluation unit 43 b _3, and using an analysis algorithm.

  As such an analysis algorithm, a genetic algorithm (GA), neuronetwork regression analysis, multivariate analysis, pattern recognition analysis, and the like can be applied, but among them, it is very effective for optimization problems. The case where the genetic algorithm currently used is used is demonstrated below.

  First, the outline of GA will be briefly described. GA is a technique originally devised by simulating the laws of heredity in the living world, and is a technique for finding a better solution while genetically changing multiple solutions. This solution is expressed (coded) in the form of a gene.

  FIG. 15 is a flowchart showing the GA algorithm.

  In GA, first, an initial group (individual group) that is a group of solutions (individuals) is created (step S81). This individual corresponds to one deformed state to be diagnosed, and the position of the deformed point or the like is used as genetic information characterizing this individual.

  Next, evaluation is performed. In the evaluation, the fitness is obtained for all individuals (solutions), and individuals to be left in the next generation are determined based on the fitness (steps S82 and S83). This goodness of fit is like the height of the evaluation of the solution, and the evaluation function is set so that the better the better the solution, the higher the goodness of fit. In the present invention, the theoretical natural frequency of each individual is calculated, and how well this theoretical natural frequency matches (matches) with the experimental natural frequency (is a good solution) by an evaluation function. evaluate. The evaluation function will be described later.

  In the case where the bolt is relaxed in the steel material, the optimal solution can often be found in the assumed individual, but in the case of concrete structure peeling, it is optimal from the assumed individual. It may not be possible to find a solution. Therefore, in GA, crossover and mutation operations called GA operators are performed (step S84).

  This crossover and mutation operation is based on the laws of heredity. In crossover, new individuals (children) that inherit genes from multiple parents (generally two individuals) are generated with a certain probability, and mutations are made. Then, it sets so that an individual may occur with a lower probability than crossover.

  However, if the deformation is not loosening of the bolt but peeling, the optimum solution cannot be obtained even if the crossover operation is repeated. Will be generated and explored. Such an exploration is considered as one generation, and an optimal solution is obtained by performing a predetermined number of times.

  FIG. 16 is a flowchart showing a procedure when a diagnosis is performed using the GA.

  The diagnostic procedure will be described below with reference to this figure. First, a vibration is applied to the diagnosis target (step S91). Thereby, a response vibration having a vibration mode of the first order to the nth order (n: integer) is measured from the diagnosis target.

Therefore, in the experiment mode analysis unit 43b _{1 of the} analysis unit 43b, the power spectrum analysis of the measurement data is performed, and an experiment is performed by searching for this superior point when the outstanding amplitude changes due to the deformation or a new outstanding amplitude occurs. The natural frequency is set (step S92, step S93).

For example, when a sweep vibration in which the frequency is continuously changed from the start frequency to the stop frequency as shown in FIG. 17 is applied to the diagnosis target, measurement data as shown in FIG. 18 is observed. Therefore, the experimental modal analysis unit 43 b _1, with respect to the measurement data by performing power spectral analysis, to obtain a power spectrum as shown in Figure 19, to the place where by a vertical line with the experimental natural frequencies in FIG.

  Note that frequency analysis is performed by Fourier transforming the measured data, and the point where the amplitude at each frequency is excellent may be the natural frequency of the experiment. Furthermore, power spectrum analysis is performed on the data obtained by Fourier transform. By doing so, the amplitude change may be clarified, and thereby the experimental natural frequency may be identified with high accuracy.

  The reason for applying the sweep vibration as shown in FIG. 17 is to resonate the deformation point so that information such as the position, size, and type of the deformation point is included in the measurement data.

  That is, since the position of the deformation point is unknown at the time of diagnosis, the deformation point is resonated by vibrating at a wide frequency so that the measurement data includes the information. Of course, when the deformation point can be identified or when the deformation point can be predicted with high accuracy, the vibration may be a constant frequency instead of a sweep vibration, or a vibration whose frequency changes within a narrow range. May be.

  The vibration applied in FIG. 17 is considered as a surface acoustic wave propagating on or near the surface to be diagnosed, but it is deep like an internal defect such as corrosion of reinforcing steel in a concrete structure or deformation of concrete due to acid rain. When measuring the deformation at the position, it is natural that energy is required to propagate the vibration to the depth and return the response. For this reason, for example, it is necessary to apply a vibration of energy corresponding to the depth of the detected deformation point, such as applying a sweep vibration whose amplitude increases with time.

  In the case of the diagnosis target as shown in FIG. 17, the deformation modes are assumed to be (1) concrete peeling, (2) material deterioration, (3) adhesion peeling with reinforcing bars, (4) surface cracks, and the like. be able to.

Theoretical analysis unit 43 b ₂ is the higher of the theoretical natural frequency from a low following diagnosis target is calculated using the finite element method or the like. In the finite element method, a diagnosis target is divided into a plurality of elements, and calculation is performed by changing the boundary conditions of each element.

  For this reason, element division corresponding to the presumed deformation point is important. For example, when peeling is assumed as the deformation, the element is divided so that the peeling position assumed in 1 of the element is included. In addition, when peeling is assumed as the deformation, a boundary condition that there is no continuity with adjacent elements is set in the gene information. Thus, gene information is set according to the assumed property of deformation, and this is used as a calculation parameter.

  At the time of the first diagnosis (K = 1), the theoretical natural frequency is calculated using the constants necessary for calculating the theoretical value of the structure as an operation parameter so that the theoretical natural frequency matches the experimental natural frequency under a predetermined condition. This calculation parameter is changed. Then, the operation parameter when matching is identified as the constant to be diagnosed.

  As a result, a theoretical natural frequency (high accuracy) close to the natural frequency of the actual diagnosis target can be easily obtained, and the time required for calculation can be shortened.

  The first diagnosis (K = 1) means the first diagnosis when the apparatus is installed or when the analysis database data is initialized after installation. Since the change of the diagnosis target is performed by detecting the state change, in the first diagnosis (K = 1), there is no data regarding the original state, so the diagnosis cannot be performed, and no individual group is set in GA. Because it is in a state.

  For this reason, at the time of the first diagnosis, an individual group in GA is set (step S94, step S96), and the genetic information of the individual is coded (step S97).

  Thereafter, the theoretical natural frequency is calculated by the finite element method (step S98). At this time, the deformed point position constituting the gene information is calculated as a calculation parameter, and a curve of amplitude (vertical axis) with respect to the frequency (horizontal axis) as shown in FIG. 20 is obtained.

  It is assumed that the maximum value of this curve corresponds to the natural frequency in the first to nth vibration modes, and this natural frequency is affected by the occurrence of the deformation and appears as a frequency change or the like.

The evaluation unit 43b ₃ evaluates the fitness by substituting the theoretical natural frequency fa (i) and the experimental natural frequency fe (i) obtained in this way into the preset evaluation function δ (step S99). ). Here, i indicates the natural frequency of the i-th vibration mode. As the evaluation function δ, for example, a function that adds the square of the difference between the theoretical natural frequency fa (i) and the experimental natural frequency fe (i) in each vibration mode as shown in the following equation. Of course, various evaluation functions δ can be defined. For example, the absolute value of the difference may be added in each vibration mode.

  On the other hand, if it is determined in step S94 that the diagnosis is not the first diagnosis (K = 1), the data D (K-1), which is the previous diagnosis result, is read from the analysis DB unit 141d, and this data D (K- The fitness is evaluated using the theoretical natural frequency included in 1) and the experimental natural frequency obtained in step S93 (step S99).

  It is determined whether or not the fitness value obtained in this way is smaller than a certain fitness reference value (step S100). If the fitness value is larger than the fitness reference value (when the fitness value is low), it is set in advance. Genetic manipulation is performed based on the crossover probability Pc and the mutation probability Pm (step S101). Such a process is set as one generation, and an optimum solution is obtained by repeating the process up to a preset number of generations.

When the optimum solution is obtained, it is determined whether or not the diagnosis is first (K = 1). When K = 1, the analysis DB unit 43b ₄ uses the obtained individual solution consisting of the optimum solution as data D (K). (Step S105).

  On the other hand, if the diagnosis is not the first (K ≠ 1), the soundness diagnosis is performed by judging the change position and the change contents from the genetic information in the individual with the optimum solution (step S103, step S104), The result is stored (step S105).

  As described above, according to the present embodiment, the steel plate for adsorption 11 is fixed to the concrete structure 10, and the vibration exciter 18 is magnetically attracted to and detached from the steel plate for adsorption 11 by remote control. Configure as possible. When the vibration exciter 18 is adsorbed to the adsorbing steel plate 11, local vibration is applied to the concrete structure 10. Further, the plurality of vibration sensors 19 are configured to be magnetically attracted to and detached from the adsorption steel plate 12 by remote control, and configured to detect a response to vibration of the concrete structure 10 when adsorbed. Further, the vibration device 18 and the plurality of vibration sensors 19 are configured to be movable to a position to be diagnosed on the concrete structure 10 by remote operation. The vibration level of the concrete structure 10 is determined by magnetically fixing the vibration device 18 and the plurality of vibration sensors 19 moved to the position to be diagnosed to the concrete structure 10 and then locally exciting the vibration device 18 in this state. Ask for. Thus, since the vibration device 18 and the plurality of vibration sensors 19 can be fixed and diagnosed at a position to be diagnosed of the concrete structure 10 by remote operation, the diagnosis is troublesome and easy, Appropriate diagnosis can be performed even in a place where people cannot enter because of safety or space. Furthermore, it is possible to detect minute defects quickly, accurately and efficiently even for large concrete structures. Of course, since the diagnosis of the concrete structure can be diagnosed in the same manner as the steel structure, it is possible to easily predict the peeling and dropping of the concrete structure, and therefore, the diagnosis of the building, the tunnel, etc. can be performed accurately and easily. Furthermore, by identifying a concrete structure when it is healthy, it is possible to identify a place where a local change caused by some kind of stress such as secular change, strong pressure, or impact is occurring. In addition, since it is possible to grasp local changes, it is possible to appropriately deal with the changes, which is very effective from the viewpoint of asset management. In addition, from the viewpoint of structure maintenance management technology, early detection of minute deformations (predictors and signs) and implementation of preventive repair and reinforcement can reduce and maintain the life cycle cost of structures. It can contribute to the effective use of administrative expenses.

Also, the defect information, such as varying shape to affect the vibration mode not only the peak frequency, theoretical analysis section 43b ₂ of the analysis unit 43b may be configured to place the vibration modes in the analysis. That is, as in this embodiment, a plurality of vibration sensors 19 are arranged on the concrete structure 10 at equal intervals, and the vibration mode is observed by observing a relative change in response amplitude from the vibration pickup 44 of the vibration sensors 19. A small influence of deformation is detected from the shape change. As described above, it is possible to detect a defect with higher sensitivity when the change in the vibration mode is detected than when the change in the frequency is detected.

Hereinafter, the derivation of the evaluation function theoretical analysis portion 43 b ₂ of the present embodiment is used will be described specifically.

  First, the definition of power spectral density (PSD) will be described. Now, assuming that the continuous time series between 0 and T is x (t), the discrete Fourier transform (DFT) X (f) is defined as follows. Here, i = √ (−1) and f = cyclic frequency (Hz).

This equation is a complex equation and its magnitude is plotted in engineering units (EU) such as m / s ² or g versus frequency. Thereby, the power spectrum is defined as follows. Note that * indicates a complex conjugate.

The power spectrum is a real-valued frequency domain function in units (EU) ² . G _x (f), which is a PSD, is defined as:

Here, E [] represents a set average for a specific frequency f over n samples of X (f). From the definition of PSD, it can be seen that PSD can be calculated from the measured response of the structure, for example, acceleration response, without measuring the excitation force. However, the excitation force must have the same amplitude and the same vibration waveform. Thus, when diagnosing the soundness of a concrete structure, it is not necessary to measure the excitation force.

Next, derivation of the vibration mode will be described. Assuming that D _i (f) is the PSD magnitude at frequency f and channel number i, the absolute value of the difference in PSD magnitude before and after damage is expressed as follows: Here, G _i (f) and G- _i ^* (f) represent the size of the PSD when it is not damaged and when it is damaged, respectively.

If a change of the PSD was measured in the range of different frequencies f _m from the frequency f _1, the matrix [D] are as follows. Here, n is the number of measurement points.

In this matrix [D], each column represents the PSD change at the same frequency but at different measurement points. The sum of PSD changes at different frequencies can be used as an indicator of damage occurrence and damage increase. In other words, the damage indicator (Total Change) is calculated from the sum of the rows of the matrix [D] as shown in the following equation.

  However, in this damage indicator (Total Change), since the position of the damage in the concrete structure is unknown, the indicator indicating the damage position was derived as follows.

First, a maximum value of PSD change at each frequency (maximum value of each column of matrix [D]) is extracted, and all PSD changes measured at other measurement points are deleted. For example, in the matrix [D], if D ₃ (f ₁ ) is the maximum value in the first column, this value is used as M ₃ (f ₁ ), and all other values in this column are deleted. . By performing the same process for other columns, a matrix [M] of the maximum change in PSD at different frequencies is obtained as in the following equation.

In order to monitor the frequency of damage detection at all measurement points, the following new matrix [C] is formed. This matrix consists of 0, which is an undamaged position, and 1, which is a damaged position. For example, in this matrix [C], 1 is entered at a position corresponding to M ₃ (f ₁ ) and M ₂ (f ₂ ).

The total maximum change SM of the PSD is calculated from the sum of the rows of the matrix [M] as shown in the following equation.

The total SC of the number of times that damage is detected at different measurement points is calculated from the sum of the rows of the matrix [C] as shown in the following equation.

In order to reduce the influence of noise and measurement errors, the standard deviation σ of the element in the vector {SM} or twice the two σ is subtracted from the vector {SM}. Negative subtraction results are deleted. Similar processing is performed for the vector {SC}, and as a result, the following equation is obtained.

As a result, as shown in the following formula, the damage indicators (Damage Indicator 1 and Damage Indicator 2) are defined from the scalar product of {SMD} and {SCD}.

These damage indicators (Damage Indicator 1 and Damage Indicator 2) are used to evaluate the position of damage in a continuous concrete structure, while the damage indicator (Total Change) described above is used to evaluate damage in a continuous concrete structure. It is used to evaluate the occurrence and extent of

As modifications of the present invention, theoretical analysis section 43b ₂ of the analysis unit 43b may be configured to take into analyze changes in internal strain energy. This is because if the vibration mode is obtained, a change in internal strain energy during vibration of the entire concrete structure is also obtained, so that defect detection can be performed by comparing energy. Also in this case, a plurality of vibration sensors 19 are arranged on the concrete structure 10 at equal intervals, and a vibration mode is obtained by observing a relative change in response amplitude from the vibration pickup 44 of the plurality of vibration sensors 19. Compare energy. Even when such internal strain energy is compared, a defect can be detected with higher sensitivity than when a frequency change is detected.

Hereinafter, the derivation of the evaluation function that theoretical analysis unit 43 b ₂ of this variant is used, will be described briefly.

The internal strain energy is calculated from the vibration displacement at the measurement point. The displacement mode shape is determined by complementing the displacement data of limited measurement points. The strain energy of the entire concrete structure is calculated by differentiating the vibration mode function due to the displacement, for example. For example, the strain energy We of the minute element can be obtained from the following equation.
We = (σxεx + σyεy + σzεz + 2τyzγyz + 2τzxγzx + 2τxyγxy) / 2

  Since this We is a strain energy function of a minute element, this is integrated over the entire volume of the structure portion to obtain the entire strain energy W as an evaluation function. That is, by obtaining an evaluation function from W = ∫We · dV, the concrete structure as a continuum is evaluated from the change in the overall strain energy W.

As a further modification of the present invention may be configured to represent the influence of defects more clearly by theoretical analysis unit 43 b ₂ are superposed change in the vibration mode shapes due to defects in each frequency in the analysis unit 43b. That is, in the matrix [D] described above, since the row represents the degree of damage D for each frequency f and the column represents the degree of damage D for each measurement point, the influence of the defect is obtained for each frequency. Therefore, by superimposing this matrix [D] at the frequency f, the influence of defects at each measurement point is obtained as the influence of all frequencies, and the damage position becomes very clear.

  In the above-described embodiment, the vibration device and the vibration sensor are magnetically attracted and separated by the electromagnet. However, the vibration device and the vibration sensor are configured to be attracted and separated by a vacuum. It is clear that it is also good. In addition, since such a vacuum suction device is commercially available and its configuration is well known, its description is omitted in this specification.

  All the embodiments described above are illustrative of the present invention and are not intended to be limiting, and the present invention can be implemented in other various modifications and changes. Therefore, the scope of the present invention is defined only by the claims and their equivalents.

1 is a block diagram schematically showing an entire configuration of a diagnostic robot system for a concrete structure in one embodiment of the present invention. It is a side view which shows schematically the structure of the vibration apparatus part in embodiment of FIG. It is a front view of the vibration apparatus part of FIG. It is the sectional view on the AA line of FIG. It is a top view which shows roughly the structure of only the electromagnet and the vibration part in the vibration apparatus of FIG. It is the side view and front view which show schematically the structure of each vibration sensor in embodiment of FIG. FIG. 2 is a block diagram schematically showing an electrical configuration related to remote control and operation functions of the diagnostic robot system in the embodiment of FIG. 1. It is a flowchart showing an example of a forward and stop control sequence. It is a flowchart showing an example of a reverse and stop control sequence. It is a flowchart showing an example of a fixed control sequence. It is a flowchart showing an example of a release control sequence. It is a flowchart which shows roughly an example of the whole control processing of the sequence controller in this embodiment of FIG. It is a flowchart which shows roughly the other example of the whole control processing of the sequence controller in this embodiment of FIG. FIG. 2 is a block diagram schematically showing an electrical configuration related to a diagnosis and analysis function of the diagnostic robot system in the embodiment of FIG. 1. It is a flowchart which shows the algorithm of GA. It is a flowchart which shows the procedure in the case of making a diagnosis using GA. It is a figure which illustrates a sweep vibration as a vibration waveform provided to a diagnostic object. It is a figure which illustrates measurement data. It is the figure which calculated | required the power spectrum from measurement data. It is the waveform of the vibration mode calculated in the theoretical analysis part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Concrete structure 11 Steel plate for vibration apparatus adsorption | suction 12 Steel plate for vibration sensor adsorption | suction 13 Support member 14 Traveling rail 15 Cable carrier 16 Moving frame 17 Guide wheel 18 Exciting device 19 Vibration sensor 20 Electric motor for traveling 21 Rack gear 22 Pinion Gear 23 Stop position detection sensor 24 Projection 25 Control operation device (control operation panel)
25a Touch display 25b Sequence controller 26 Slide rail 27 Slide frame 28 Slide frame electric actuator 29 Locking hand 30 Locking electric motor 31, 49 Adsorption position confirmation sensor 32, 50 Initial position confirmation sensor 33, 34 Electromagnet 33a, 34a Switch 35 Electric actuator for electromagnet 36 Drive rod 37, 38 Arm 40 On-state confirmation sensor 41 Off-state confirmation sensor 42 Excitation part 42a Vibration element 42b Vibration rod 42c Preload spring 42d Spring adjustment knob 43 Diagnostic analysis device 43a Overall control part 43b Analysis unit 43b ₁ experimental mode analysis unit 43b ₂ theoretical analysis unit 43b ₃ evaluation unit 43b ₄ analysis DB unit 43c amplifier 43d A / D converter 43e signal generation unit 43f drive unit 44 Vibration Pickup 45 Electromagnetic Holder 46 Vibration Sensor Case 47 Guide Member 48 Electric Actuator for Vibration Sensor

Claims (14)

A magnetic plate member fixed to a plurality of positions of the concrete structure to be diagnosed, and a vibrating device capable of providing a local vibration to the concrete structure upon adsorb, the magnetic plate by remote control At least one vibration detecting means capable of magnetically adsorbing and detaching from a member, and detecting a response to vibration of the concrete structure when adsorbed; the vibration exciter and the at least one vibration detecting means; The concrete structure based on how the vibration mode obtained by the detection of the vibration detecting means changes from the vibration mode in the healthy state, and the moving means that can be moved by remote operation to a plurality of positions to be diagnosed of the structure An analysis means for determining the soundness of an object ,
And at least one electromagnet that is magnetically attracted to the magnetic plate member by being energized and is detached from the magnetic plate member by being stopped, and the at least one electromagnet And a vibration element that generates vibration and applies the vibration to the surface of the concrete structure, and is provided at a plurality of positions by remotely operating the at least one electromagnet. A diagnostic robot system for a concrete structure, characterized in that it can be magnetically attracted to and detached from the magnetic plate member .   The moving means includes a moving frame to which the vibration exciter and the at least one vibration detecting means are attached; guide means for guiding the moving frame along the surface of the concrete structure; and a position of the moving frame. The diagnostic robot system according to claim 1, further comprising a drive unit that is moved remotely according to the guide unit.   The said guide means is provided with the traveling rail attached to the surface of the said concrete structure, and the guide wheel which is engaged with this traveling rail and was attached to the said moving frame. The diagnostic robot system described.   The driving means includes a rack gear attached to the traveling rail, a pinion gear attached to the moving frame and meshing with the rack gear, a traveling electric motor that drives the pinion gear, and a stop position of the moving frame The diagnostic robot system according to claim 3, further comprising a stop position detection sensor for detecting 5. The apparatus according to claim 1, further comprising a vibration device vertical drive unit capable of moving the vibration device in a direction perpendicular to the surface of the magnetic plate member by remote operation. Diagnostic robot system.   6. The diagnostic robot system according to claim 5, further comprising a suction position confirmation sensor for confirming that the vibration device has moved to the suction position by the vibration device vertical drive means. 7. The apparatus according to claim 1, further comprising a vibration detection means vertical drive means capable of moving the at least one vibration detection means in a direction perpendicular to the surface of the magnetic plate member by remote control. The diagnostic robot system according to the item.   The diagnostic robot system according to claim 7, further comprising a suction position confirmation sensor for confirming that the at least one vibration detection means has moved to the suction position by the vibration detection means vertical drive means. The diagnostic robot system according to any one of claims 1 to 8, further comprising a sensor that confirms energization and deactivation of the at least one electromagnet. The diagnostic robot system according to any one of claims 1 to 9 , wherein the at least one vibration detecting unit includes a plurality of vibration sensors arranged along a moving direction of the moving unit. . The vibration sensors are arranged at equal intervals, and the analysis means obtains the shape of the vibration mode by observing the relative change in response amplitude from the plurality of vibration sensors, and the influence of the deformation is determined from the shape change. The diagnostic robot system according to claim 10 , further comprising a theoretical analysis unit for detection. The diagnostic robot system according to claim 11 , wherein the theoretical analysis unit is configured to detect an influence of deformation by superimposing a change in shape of the vibration mode for each frequency. The vibration sensors are arranged at equal intervals, and the analysis means obtains the shape of the vibration mode by observing the relative change in response amplitude from the plurality of vibration sensors, and compares the internal strain energy. The diagnostic robot system according to claim 10 , further comprising a theoretical analysis unit that detects an influence of deformation. The analysis means analyzes the measurement data from the at least one vibration detection means to determine the natural frequency of the diagnostic object as the experimental natural frequency, and defines one deformed state of the diagnostic object In addition, a theoretical analysis unit that defines a plurality of individuals as genetic information with information that characterizes the deformation such as the position of the deformation point, and calculates the natural frequency of each individual based on the genetic information to obtain a theoretical natural frequency; The individual having the theoretical natural frequency that matches with the experimental natural frequency with a predetermined coincidence is searched, the individual with the highest coincidence is identified, and the deformed state is estimated from the genetic information of the individual An evaluation unit and an analysis database that stores an individual searched by the evaluation unit and enables the theoretical analysis unit to calculate a theoretical natural frequency using the stored individual in the next diagnosis Diagnosis robotic system according to claim 1, any one of 10, wherein the door.