JP6325839B2 - Image creation device for deterioration diagnosis of structures - Google Patents

Description

  The present invention relates to an apparatus for creating an image for diagnosing a deterioration state of a structure such as a bridge or an inner wall of a tunnel.

Conventionally, as a method of inspecting concrete structures such as bridges and tunnel inner walls for unhealthy parts such as cracks and voids, sound generated when a structure surface is struck with a hammer or the like is vibrated. The worker asked whether or not there was an unhealthy part. However, such a method has a problem that not only the work efficiency is low, but also the judgment may differ depending on the worker.
Therefore, a hammer and a microphone are integrated, and the sound generated when vibrating is collected by the microphone. The frequency spectrum of the collected sound and the reference frequency spectrum that is the frequency spectrum of the healthy part stored in advance Has been proposed to determine whether or not the concrete structure is peeled off (see, for example, Patent Document 1).
In addition, periodic inspections are performed, and the sound that is generated when vibration is collected with a microphone, and the frequency characteristics of the collected sound are compared to detect unhealthy parts of the concrete structure. A method has also been proposed (see, for example, Patent Document 2).

JP 2001-249117 A JP 2013-253947 A

  However, in the conventional method, since it is determined whether or not each hitting point is a healthy part, it is difficult to grasp the state of deterioration of the entire structure.

  The present invention has been made in view of conventional problems, and an object of the present invention is to provide an apparatus for creating a deterioration diagnosis image for grasping the state of overall deterioration of a structure.

The present invention includes a vibration means for striking and vibrating a surface of a structure, a sound collection means including a plurality of microphones for collecting sound pressure signals of sound generated by the vibration structure, Sound generation direction estimating means for estimating the sound generation direction for each frequency from the arrival time difference of the sound pressure signal input to each microphone, imaging means for shooting an image of the excitation point direction that is the hit point, and A sound generation direction data estimated by the sound generation direction estimation means and image data which is a video signal in the direction of the excitation point photographed by the photographing means are synthesized to indicate the estimated sound generation direction. An apparatus for creating an image for diagnosing whether or not an unhealthy part exists in the structure, comprising sound source estimation image creation means for creating a sound source estimation image that is an image in which a figure is drawn. And
The excitation means includes means for detecting an excitation force, and sequentially excites a plurality of locations on the surface of the structure, and the sound source estimation image creation means generates sound estimated for each excitation point. A sound source estimation image creation unit that creates the sound source estimation image for each excitation point from the direction data and the captured image of the excitation point direction, and the plurality of generated sound source estimation images. A degradation diagnosis image creating unit that creates a degradation diagnosis image that is a composite image, and when the excitation force exceeds a threshold, of the sound source estimation images constituting the degradation diagnosis image , the sound source estimation images created when the excitation force exceeds a threshold value, characterized that you add a shape for identifying that the excitation force exceeds a threshold value.
In this way, if a deterioration diagnosis image is created by combining a plurality of sound source estimation images created for each excitation point, the unhealthy part can be easily found, and the overall deterioration state of the structure can be determined. It can be accurately grasped. In addition, by adding a graphic for identifying that the excitation force exceeded the threshold value to the sound source estimation image, it was possible to eliminate the data when abnormal excitation was performed. It is possible to accurately grasp the entire deterioration state.

Further, the present invention is previously Kion generating direction estimation means, means for detecting a sound pressure of the sound the structure occurs, reference Kaoto pressure the detected sound pressure were normalized by the excitation force And a means for calculating (sound pressure / excitation force).
In this way, if the detected sound pressure is normalized by the excitation force, it is possible to eliminate the influence of variation in the excitation force.

Further, the present invention provides a band image that is an image in which a graphic showing the sound generation direction for each octave band is drawn from the deterioration diagnosis image created by the sound source estimation image creating means, or a frequency band adjacent to the image. Band image creating means for creating a superposed band image, which is an image obtained by superimposing two or more combined band images, is further provided.
As described above, since the band image creating means is provided to create the band image or the superimposed band image, it becomes easy to see the difference for each frequency. Therefore, the unhealthy part can be found reliably and easily.

Further, the sound collecting means includes a first microphone pair and a second microphone pair arranged at predetermined intervals on two straight lines intersecting each other, and a fifth microphone not on a plane formed by the two microphone pairs. In the sound generation direction estimating means, the phase difference between the microphones constituting the two sets of microphone pairs, and each of the fifth microphone and the four microphones constituting the two sets of microphone pairs, Since the sound source direction is estimated using the phase difference between the microphones constituting the four pairs of microphones configured as described above, the sound source direction can be accurately estimated with a small number of microphones.

  The summary of the invention does not list all necessary features of the present invention, and sub-combinations of these feature groups can also be the invention.

It is a figure which shows the structure of the image preparation apparatus for deterioration diagnosis of the concrete structure which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the vibration means which concerns on this Embodiment 1. FIG. It is a figure which shows arrangement | positioning of the microphones M1-M5 which comprise a sound collection means. It is a figure which shows an example of the image for sound source estimation which concerns on this Embodiment 1. FIG. It is a figure which shows the preparation method of the image for deterioration diagnosis which concerns on this Embodiment 1. FIG. It is a figure which shows the production method of a band image and a superposition | polymerization band image. 5 is a flowchart showing a method for creating a degradation diagnosis image according to the first embodiment. It is a figure which shows an example of the image for a float diagnosis. It is a figure which shows an example of the image for space | gap diagnostics. It is a figure which shows the structure of the image creation apparatus for deterioration diagnosis of the concrete structure concerning this Embodiment 2. FIG. It is a figure which shows the vibration method which concerns on a rotating head and this Embodiment 2. FIG. It is a figure which shows an example of the image for sound source estimation which concerns on this Embodiment 2. FIG. It is a flowchart which shows the preparation method of the image for deterioration diagnosis which concerns on this Embodiment 2. FIG. It is a figure which shows the preparation method of the image for deterioration diagnosis which concerns on this Embodiment 2. FIG.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration of a degradation diagnosis image creation apparatus 1 according to the first embodiment. The degradation diagnosis image creation apparatus 1 includes a vibration means 2, a sound / video sampling unit 10, and unit movement. Means 20, data processing unit 30, storage / calculation unit 40, and display unit 50 are provided.
The vibration means 2 includes a hammer 2a serving as a vibration member, a force sensor 2b that detects the vibration force of the hammer 2a, and a signal generator 2c that outputs a striking signal for each striking.
In this example, as shown in FIGS. 2 (a) and 2 (b), the worker H (only the arm is described) is a wall portion (hereinafter referred to as a wall) of a building as a concrete structure which is an object of deterioration diagnosis. the striking point F _k parts of) third surface, vibrated by striking with a hammer 2a.
In this embodiment, the deterioration diagnosis region R of the wall portion 3 is divided into a plurality of small regions R _k, and a striking point F _k the center of each small region R _k.

The sound / video collection unit 10 includes a sound collection unit 11, a CCD camera (hereinafter referred to as a camera) 12 as a photographing unit, a microphone fixing unit 13, a camera support 14, and a column 15.
The sound collection means 11 includes a plurality of microphones M1 to M5.
The microphones M1 to M5 respectively measure the sound pressure signals of the sound generated by the wall portion 3 vibrated by the hammer 2a.
As shown in FIG. 3, the microphones M1 to M5 are arranged such that four microphones M1 to M4 are arranged at predetermined intervals L on two straight lines (here, the x axis and the y axis) orthogonal to each other. The two microphone pairs (M1, M3) and the microphone pair (M2, M4) are arranged so as to constitute a pair, and the fifth microphone M5 is not located on a plane formed by the microphones M1 to M4 (here, Z (On the axis). In this example, the microphone M5 is arranged at the apex of a quadrangular pyramid whose bottom surface is a square formed by the microphones M1 to M4. Thereby, four pairs of microphones (M5, M1) to (M5, M4) are further configured.

The shooting direction of the camera 12 passes through the intersection of two orthogonal lines in which two microphone pairs (M1, M3) and microphone pairs (M2, M4) are arranged, as indicated by the white arrows in FIG. It is set in a direction that makes approximately 45 ° with two straight lines. The shooting direction of the camera 12 may be another direction such as a direction from the microphone M1 toward the microphone M3 (X-axis direction in FIG. 3).
In this example, the sound / video sampling unit 10 is installed so that the shooting direction of the camera 12 is an excitation point on the surface of the wall 3.
The microphones M1 to M5 are installed on the microphone fixing unit 13, the camera 12 is installed on the camera support base 14, and the microphone fixing unit 13 and the camera support base 14 are connected by three support columns 15. That is, the sound collection means 11 and the camera 12 are integrated. The microphones M1 to M5 are disposed on the upper part of the camera 12.

The unit moving unit 20 includes an elevating unit 21 and a traveling unit 22.
The elevating means 21 supports the sound / video sampling unit 10 at the measurement location and elevates it. The elevating means 21 elevates and lowers the box-shaped base 21a, the upper support 21b, and the base 21a. A side plate 21c to be supported, a unit support base 21m, and an elevating mechanism 21n for raising and lowering the unit support base 21m are provided. The box-shaped base 21a, the upper support 21b, and the side plate 21c constitute an elevating mechanism support member that supports the elevating mechanism 21n.
The unit support 21 m is a plate-like member that supports the sound / video sampling unit 10 and is attached to the lower side of the camera support 14. The sound / image collection unit 10 moves up and down along a slide shaft 212 and a guide shaft 213, which will be described later, of the elevating mechanism 21n.
In this example, a slide mechanism using a ball screw is used. Specifically, one end of the motor 211 provided in the base 21a is connected to the rotation shaft of the motor 211 via a gear (not shown), and the other end can be rotated to the upper support base 21b via a bearing or the like. A slide shaft 212 which is a screw shaft of a ball screw attached to the guide shaft 213, a guide shaft 213 whose both ends are fixed to the base 21a and the upper support 21b and parallel to the slide shaft 212, and a ball screw which is fixed to the unit support 21m. It comprised from the sliding member 214 which is a nut part. The unit support 21m is provided with a through hole (not shown) through which the guide shaft 213 passes. Thereby, the sound / video sampling unit 10 mounted on the unit support 21m can be moved up and down by rotating the motor 211 forward or backward.
The traveling means 22 includes a wheel 22r attached to the base 21a and a driving device (not shown) that drives the wheel 22r, and moves the sound / image collection unit 10 in the left-right direction indicated by the horizontal arrow in FIG. Note that a separate moving rail may be provided, and the traveling means 22 may be moved along the moving rail.

The data processing unit 30 includes sound data input / output means 31 and video input / output means 32.
The sound data input / output means 31 includes an amplifier 31a and an A / D converter 31b.
The amplifier 31a includes a low-pass filter, removes high frequency noise components from the sound pressure signals of the sounds collected by the microphones M1 to M5, amplifies the sound pressure signals, and outputs them to the A / D converter 31b.
The A / D converter 31 b sends the sound pressure waveform data obtained by A / D converting the sound pressure signal to the data storage means 41 of the storage / calculation unit 40.
The video input / output unit 32 inputs a video signal taken by the camera 12 and sends image data obtained by A / D converting the video signal to the data storage unit 41.

The storage / calculation unit 40 includes data storage means 41, sound source direction estimation means 42, sound source estimation image creation means 43, and deterioration diagnosis image creation means 44.
Each means constituting the storage / calculation unit 40 is constituted by, for example, software and a memory of a personal computer.
The data storage means 41 stores the sound pressure waveform data and the image data for each hit location Fk (k = 1 to n).
The sound source direction estimating means 42 uses the sound pressure waveform data stored in the data storage means 41 to calculate the horizontal angle θ and the elevation angle φ, which are the sound source directions, for each frequency f, and the sound pressure level input to the microphone M5. This is used as the sound pressure level of the input sound. A method for calculating the horizontal angle θ and the elevation angle φ will be described later.
The sound source estimation image creation means 43 generates sound source direction data (horizontal angle θ and elevation angle) that is sound source data for each frequency calculated by the sound source direction estimation means 42 for each excitation point F _k (k = 1 to n). φ) and the sound pressure level and the image data stored in the data storage means 41 are combined, and a figure (in this case, showing the direction of the sound source in the image, as shown in FIGS. 4A and 4B) A sound source estimation image G _k (k = 1 to n) is created for each frequency f. FIG. 4A is a sound source estimation image G ₄ of a small region R ₄ including a portion P where a floating due to a crack exists, and FIG. 4B is a small region R including a portion Q where a void is present inside. ₁₄ is a sound source estimation image G ₁₄ of.
The sound source estimation image G _k is created later for each excitation point F _k and is sequentially sent to the degradation diagnosis image creation means 44.

The degradation diagnostic image creation means 44 includes an image composition unit 44a and a band-specific image creation unit 44b.
Image synthesizing unit 44a, as shown in FIG. 5, n pieces of sound source estimation image G _k a (k = 1 to n) were synthesized, creating a degradation diagnostic image G _T.
Banded image creating unit 44b, as shown in FIG. 6 (a), from a composite image degradation diagnostic image G _T, band image G _T is degraded diagnostic image for each octave _{band, p} or adjacent Then, a superposition band image GT _{, p, q} is created by superimposing two or more band images GT _{, p to} GT _{, q} .
Specifically, a 1/3 octave band is used as an octave band, and a center frequency f _p (p = 1 to 18) is set to 160 Hz, 200 Hz, 250 Hz,..., 3150 Hz, 4000 Hz, 5000 Hz, for example. If 6300 Hz and 8000 Hz, the band image G _{T, p} is p = 18.
Further, the superposition band image G _{T, p, q} (p, q = 1-18, where p <q) is a band image G having a center frequency of 200 Hz to 2500 Hz as shown in FIG. ₂ , G ₃ ,..., G ₁₃ are overlapped and superimposed band images G _{T, 2,13} and band images G ₁₀ , G ₁₁ ,..., G ₁₇ with a center frequency of 1250 Hz to 6300 Hz are overlapped. A _{superposition} band image _{GT, 10, 17} or the like created together can be used.
Further, an octave band may be used as the octave band.
The display unit 50 includes a display screen 50M such as a liquid crystal display, and displays the band image GT _{, p} or the superposed band image GT _{, p, q} created by the degradation diagnosis image creation unit 44 on the display screen 50M.

Next, a method for creating a deterioration diagnosis image of the wall 3 using the deterioration diagnosis image creating apparatus 1 will be described with reference to the flowchart of FIG.
In this example, as shown in FIG. 2A, the deterioration diagnosis region R of the wall 3 is divided into a plurality of small regions (here, 4 rows × 5 columns = 20), and each small region R is divided. _{k (k} = _1~20) after creating the image G _k sound source estimated for, creating a deterioration diagnostic image G _T from these source estimation image G _k.
First, a mark X indicating the boundary of the small region R _k is marked on the surface of the wall 3 as indicated by X in FIG. The mark X is used when arranging adjacent sound source estimation images without gaps. A transparent plate with a mark X may be placed in front of the camera 12.
Next, the sound / video sampling unit 10 is set at a measurement point that is the center of the small area R ₁ (step S10), and the video of the small area R ₁ is captured by the camera 12 (step S11). The field of view, as shown in FIG. 5, needs to include all the marks X defining the small region R _1.
The video signal of the camera 12 is A / D converted by the video input / output means 32 and stored in the data storage means 41 as image data (step S12).

After shooting, the worker C uses the hammer 2 a to strike the excitation point F ₁ that is the center of the small region R _{1 to} vibrate the wall 3, and the microphones M ₁ to M ₅ are sound generated by the wall 3. A sound pressure signal of (sound) is collected (step S13). At the time of vibration, a striking signal is output from the signal generator 2c of the vibration means 2, so in this example, a take-in switch between the microphones M1 to M5 and the sound data input / output means 31 as shown in FIG. 31s is provided, and the sound pressure signal is sampled when the impact signal is output.
In this example, when the excitation force detected by the force sensor 2b is within a preset threshold value, a code indicating that the excitation force is normal indicates that the excitation force exceeds the preset threshold value. In such a case, a code indicating a vibration failure is sent before the sound pressure signal and then sent to the data storage means 41.
Next, sound pressure waveform data obtained by amplifying and A / D converting the sound pressure signals that are output signals of the microphones M1 to M5 are stored in the data storage means 41 (step S14).
Next, the sound pressure waveform data stored in the data storage means 41 is extracted, and the sound source direction and sound pressure level, which are sound source data, are calculated using the sound pressure waveform data (step S15).

ここで、到達時間差Ｄ_ijは、マイクロフォンＭ_iに到達する音圧信号と、このマイクロフォンＭ_iに対して対となるマイクロフォンＭ_jに到達する音圧信号との時間差であり、この対となる２つのマイクロフォンＭ_i及びマイクロフォンＭ_jに入力される信号のクロススペクトルＰ_ij（ｆ）を求め、更に、対象とする前記周波数ｆの位相角情報Ψ（ｒａｄ）を用いて、以下の式（３）により算出される。

なお、音源方向と音圧レベルとは周波数毎に計測する。
また、マイクロフォンＭ５に入力される信号の大きさを、計測される音の音圧信号の大きさとする。 The sound source direction is obtained by frequency-analyzing the sound pressure waveform data by FFT, obtaining the respective phase differences between the microphones M1 to M5 for each frequency, and estimating the direction of the sound source for each frequency from the obtained phase difference. . In this example, instead of the phase difference, the arrival time difference _Dij , which is a physical quantity proportional to the phase difference, is used to obtain the horizontal angle θ and the elevation angle φ that are the sound source directions.
Specifically, the sound source direction viewed from the measurement point is estimated from the phase difference (arrival time difference D _ij ) of each microphone pair (Mi, Mj).
The horizontal angle θ and the elevation angle φ can be expressed by the following formulas (1) and (2).

Here, the arrival time difference D _ij is the time difference between the sound pressure signal that reaches the microphone M _i and the sound pressure signal that reaches the microphone M _j that forms a pair with respect to the microphone M _i . The cross spectrum P _ij (f) of the signals input to the two microphones M _i and the microphone M _j is obtained, and further using the phase angle information Ψ (rad) of the target frequency f, the following equation (3) Is calculated by

The sound source direction and the sound pressure level are measured for each frequency.
The magnitude of the signal input to the microphone M5 is the magnitude of the sound pressure signal of the measured sound.

Next, a sound source estimation image G in which a circle displaying the sound source direction (θ, φ) and the frequency and magnitude of the sound pressure signal is displayed on a map in which the horizontal axis is the horizontal angle θ and the vertical axis is the elevation angle φ. ₁ is created and stored in the data storage means 41 (step S16). The circle diameter represents the sound pressure level, and the circle pattern or color represents the frequency of the sound pressure signal.
Next, it is determined whether or not the sound source estimation images G _k for all the small regions R _k (k = 1 to n) have been created (step S17).
When the sound source estimation images G _k for all the small areas R _k have not been created (k <n), the sound / video sampling unit 10 is moved to the center of the next small area R _{k + 1} by the traveling means 22. After setting at a certain measurement point, the process returns to step S11 to shoot a video of the small region R _{k + 1} . Then, by repeating the operations from step S11 to step S17, sound source estimation images G _k (k = 1 to 20) are created for all the small regions R _k .
If the generation of the sound source estimation images G _k for all the small regions R _k is completed (k = n), the measurement is completed and the process proceeds to step S18.
In this example, since the degradation diagnosis area R of the wall 3 is divided into 4 rows × 5 columns of small areas R _k , the small areas R _{1 to} R ₅ , R _{6 to} R ₁₀ , and R _{11 to} R ₁₀ are divided. _When the measurement at ₁₅ is finished, the lifting / lowering means 21 is operated to lower the sound / video sampling unit 10. In this example, the numbering of the small regions is increased from the left to the right in R _{1 to} R ₅ and R _{11 to} R ₁₅ , and from the right in R _{6 to} R ₁₀ and R _{16 to} R _20. Since the number is increased to the left, when the measurement point is changed from F ₅ to F ₆ , it is only necessary to operate the elevating means 21 while the traveling means 22 is stopped (see FIG. 2A). .

At step S18, it creates the degradation diagnostic image G _T n number of sound sources estimation image G _k stored in the data storage unit 41 synthesizes.
Specifically, n sound source estimation images G _k (k = 1 to 20) are sequentially extracted in order of numbers (time order), and adjacent sound source estimation images G _k and G _{k + 1} are combined. it is, to create a degradation diagnosis image G _T is a sound source estimation image degradation diagnostic region R of the wall portion 3.
Note that the image of the small area to which the code indicating the vibration failure is attached, for example, surrounds the image with a thick frame or makes the image itself blank.
When synthesizing the sound source estimation images G _k and G _{k + 1} , as shown in FIG. 5, G _k and G _{k + 1} are in the small regions R _k and R _{k + 1 that} are adjacent in the horizontal direction. when a sound source estimation image, and the right mark X of G _k, synthesized as is marked X on the left side of the G k _{+ 1} coincides, adjacent to G _k and G _{k + 1} and the vertical direction to the case of the small region R _k and R _{k + 1} of the sound source estimation image, and the mark X of the lower G _k, it is synthesized to match the upper mark X of G k _{+ 1,} degradation the diagnostic image G _T can be made accurately.
The use of such degradation diagnostic image G _T, it is possible to easily grasp the state of the overall deterioration of the deterioration diagnosis region R of the wall portion 3.

Next, create a degradation diagnosis image G _T, band image G _T, the _p (step S19).
In this example, using a 1/3-octave band center frequency f _p is, 160 Hz, 200 Hz, 250 Hz, ......, ......, created 5000 Hz, 6300 Hz, a band image G _T of 18 sheets is 8000 _Hz, to _p.
In the wall portion 3, it is known that when there is “floating due to cracking”, a hitting sound is generated in a band of 3150 Hz to 4000 Hz, and in a portion having a “void”, a hitting sound is generated in a band of 4000 Hz to 5000 Hz. . Therefore, 18 sheets of the band image G _T, the _p, the center frequency for image float diagnosis is the polymerization band image created by superimposing the band image G ₁₄ and band image G ₁₅ of 4000Hz of 3150 Hz G _{T, 14, 15,} a band image G _9, G ₁₀ of the center frequency to 1000Hz～5000Hz, ......, voids diagnostic image G _T is the polymerization band image created by superposing G _16, to create a _{9, 16} (step S20), these floating diagnostic images G _{T, 14,15} or gap diagnostic images G _{T, 9,16} are displayed on the display screen 50M of the display means 50 (step S21).

FIGS. 8A and 8B are diagrams showing examples of float diagnosis images GT _{, 14,15} obtained by exciting a concrete specimen having a float due to a crack and a void inside. (A) A figure when a healthy part is vibrated, (b) A figure is a figure when a location where the float by the crack which is an unhealthy part exists is vibrated.
As can be seen by comparing FIGS. (A) and (b), in the floating diagnosis images GT _{, 14, 15} displaying only the 3150 Hz to 4000 Hz band, the sound pressure level is 55 dB when the healthy part is vibrated. _No hitting sound above _SPL is measured, but when a floating part, which is an unhealthy part, is vibrated, the striking sound in the 3150 Hz to 8000 Hz band is measured near the excitation point as shown by the light gray circle in the figure. The
FIGS. 9A and 9B are diagrams showing an example of the gap diagnosis image _{GT, 9,16} . FIG. 9A is a diagram when a healthy part is vibrated, and FIG. It is a figure when an unhealthy part is vibrated.
As can be seen by comparing the (a) and part (b) Fig., The air gap diagnostic image G _T which displays only 1000Hz~5000Hz _band, at _{9, 16,} when the vibrating sound section, the excitation point near (A) A hitting sound in a band of 1000 Hz to 4000 Hz as shown by a gray circle in the figure is measured. When a gap portion which is an unhealthy part is vibrated, it is shown by a gray circle in (b) figure. In addition to the 1000 Hz to 4000 Hz band hitting sound, a 4000 Hz to 5000 Hz band hitting sound as shown by a bright circle is measured.
Thus, degradation diagnosis image G _T for each octave band created from degradation diagnostic image G _T, using the _p, floating diagnostic image G _{T, 14, 15} or voids diagnostic image G _{T, 9, 16} Since the difference for each frequency is made easier to see by creating the unhealthy part, the unhealthy part can be found reliably and easily.

In the first embodiment, the operator C strikes and vibrates the surface of the wall 3 with the hammer 2a. For example, the hammer, the means for rotating the hammer, and the hammer are moved up and down. It is also possible to configure an automatic vibration device that includes a means for causing the vehicle to travel and a traveling device, and use the automatic vibration device to strike and vibrate the surface of the wall portion 3.
Alternatively, the hammer and the means for rotating the hammer may be attached to the unit moving means 20 and moved integrally with the sound / image collection unit 10.
In the first embodiment, the magnitude of the sound pressure signal input to the microphone M5 is the magnitude of the hitting sound (sound pressure level), but the sound pressure level is a force sensor provided in the vibration means 2. By calculating a standardized sound pressure level (sound pressure level / excitation force) that is standardized by the excitation force detected in 2b and setting this standardized sound pressure level as the sound pressure level of the hit sound, the excitation force It is possible to eliminate the influence of the variation.
In addition, as the magnitude of the hitting sound, the sound pressure (Pa) itself may be used instead of the sound pressure level (dB _SPL ) obtained by standardizing the measured sound pressure with the reference sound pressure (human minimum audible sound pressure). Good. In this case, a reference sound pressure (sound pressure / excitation force) may be used instead of the standardized sound pressure level. As the excitation force, an excitation force level (dB) obtained by standardizing the excitation force (N) with the reference excitation force may be used.
In the first embodiment, the measurement is continued even in the case of a vibration failure. However, if the vibration force detected by the force sensor 2b is within a preset threshold value, the hammer 2a or sound / video sampling is performed. The unit 10 may be provided with a lamp or the like that is turned on when the vibration is poor, and when the lamp is turned on, the same portion may be vibrated again.

Further, in the embodiment 1, although the creation of all the small areas R _k sound estimation image G _k of creating the deterioration diagnostic image G _T after completing, each taking one small region R _k, or The degradation diagnosis image G _Tk may be created every time the sound source estimation image G _k of one small region R _k is created.
Further, in the first embodiment, floating diagnosis images _{GT , 14,15} and gap diagnosis images _{GT, 9,16} , which are superposition band images, are created from the deterioration diagnosis image GT _{, p} and displayed. The deterioration diagnosis of the wall portion 3 is performed by displaying it on the display screen 50M of 50, but the deterioration diagnosis image GT _{, p} for each octave band which is a band image is displayed on the display screen 50M, and the wall portion 3 of the wall portion 3 is displayed. You may make it perform a deterioration diagnosis.
Whether the band image is used may be appropriately selected depending on the number of divisions of the deterioration diagnosis region R and the deterioration state of the wall 3.

Embodiment 2. FIG.
FIG. 10 is a diagram showing the configuration of the degradation diagnosis image creation apparatus 1Z according to the second embodiment. The degradation diagnosis image creation apparatus 1Z includes a vibration means 2Z, a sound / video sampling unit 10, and unit movement. Means 20, a data processing unit 30, a storage / calculation unit 40Z, and a display unit 50 are provided.
Since the sound / video sampling unit 10, the unit moving means 20, the data processing unit 30, and the display means 50 have the same configuration as that of the first embodiment, the description thereof is omitted.
The vibration means 2Z is fixed to the microphone fixing portion 13 of the sound / video sampling unit 10 and extends in the photographing direction of the camera 12, and the head mounting shaft 2m extends upward from the tip of the support shaft 2T. The rotary head 2n is mounted so as to be rotatable about the head mounting shaft 2m.
The support shaft 2T and the head mounting shaft 2m move to the left and right as the unit moving means 20 moves to the left and right.
As shown in FIGS. 11A and 11B, the rotary head 2 n has a plurality of protrusions 2 q that collide with the surface of the wall 3 on the outer periphery, and vibrates the surface of the wall 3.
In this example, a mark X indicating the boundary of the region S _L including the hitting start point P _La and the hitting end point P _Lb as shown in FIG. L is a row number, and the mark X is used when arranging the sound source estimation images in the upper and lower regions S _L and S _{L + 1} without gaps.
Then, the unit moving means 20 continuously moves the sound / video sampling unit 10 leftward or rightward line by line to vibrate the surface of the wall 3 at a predetermined time interval and to rotate the rotary head 2n. Each time hits the surface of the wall 3, the direction of sound hit (sound source direction) is estimated. The predetermined time interval is determined by the moving speed of the sound / video sampling unit 10 and the number of protrusions 2q of the rotary head 2n. Hereinafter, the portion where projections 2q collides that excitation point F _k.
The unit moving means 20 is configured to move the camera 12 at the same time. However, as will be described later, the camera 12 captures only an image of the entire deterioration diagnosis region R on the surface of the wall 3. It can be assumed that the 12 shooting positions are fixed.

The storage / calculation unit 40Z includes data storage means 41, sound source direction estimation means 42, sound source estimation image creation means 43Z, and deterioration diagnosis image creation means 44Z.
The data storage means 41 captures the image data of the deterioration diagnosis region R of the wall 3 photographed by the camera 12 and the sound (excited vibration) collected each time the projection 2q of the vibration means 2Z collides with the surface of the wall 3. Sound pressure waveform data for each point).
The sound source direction estimating means 42 uses the sound pressure waveform data stored in the data storage means 41 to calculate the horizontal angle θ _r and the elevation angle φ _r that are the sound source directions for each frequency f, and the sound input to the microphone M5. The pressure level is measured and used as the sound pressure level of the hitting sound that is the input sound.
The sound source estimation image creation means 43Z combines the horizontal angle θ _r , the elevation angle φ _r , the sound pressure level, and the image data of the deterioration diagnosis region R of the wall 3 stored in the data storage means 41, A sound source estimation image G _zk (k = 1 to N) in which a graphic indicating the direction of the sound source is drawn for each frequency f is created and sent to the degradation diagnosis image creating means 44Z. Here, N is the number of collisions of the rotary head 2n, and N = m × L, where L is the number of rows and m is the number of collisions of the rotary head 2n per column.

As shown in FIG. 12A, the origin O _r, which is the position where the horizontal angle θ _r and the elevation angle φ _r are θ _r = 0 and φ _r = 0, is the position of the excitation point F _k on the image. . Therefore, when creating a sound source estimation image G _zk is measured from the origin _{O r (θ r, φ r} ) to may be displayed overlapping the figure indicating the direction of the sound source.
G _{z1 in} FIG. 12B is a sound source estimation image when the excitation point F ₁ which is the leftmost hitting start point P _1a of the region S ₁ which is the first excitation point is excited, and G _zk is The sound source estimation image G _zN when the (q−1) -th excitation point F _Lq (excitation point F _k ) is excited from the impact start point P _La in the region S _L is the bottom row. This is an image for sound source estimation when the excitation point F _N of the hitting end point P _LEb of FIG.
In this manner, the sound source estimation image G _zk is created every time the rotary head 2n collides with the surface of the wall portion 3 and sent to the degradation diagnosis image creation means 44.

The degradation diagnosis image creation means 44Z includes an image composition unit 44r and a band-specific image creation unit 44b.
The image synthesis unit 44r creates a degradation diagnosis image G _z by synthesizing m sound source estimation images G _zk created every time the rotary head 2n collides with the surface of the wall 3 (for each excitation point). To do.
Banded image creating unit 44b as in the first embodiment, the deterioration diagnostic image G _z, the deterioration diagnostic image G _z for each octave _{band, p,} or deterioration of every two or more octave band adjacent A polymerization degradation diagnostic image G _{z, p, q} is created by superimposing the diagnostic images G _{z, p to} G _{z, q} .
The display means 50 includes a display screen 50M such as a liquid crystal display, and displays the deterioration diagnosis image G _{z, p} or the polymerization deterioration diagnosis image G _{z, p, q} created by the deterioration diagnosis image creation means 44 as a display screen 50M. To display.

Next, a method of creating a degradation diagnosis image using the degradation diagnosis image creation apparatus 1Z will be described with reference to the flowchart of FIG.
As shown in FIG. 11 (c), the vibration means 2Z moves the deterioration diagnosis region R on the surface of the wall 3 from the right direction to the left direction, and then moves it up and down and then reverses it. The operation of moving from the direction to the left is repeated, and each excitation point in the deterioration diagnosis region R is excited.
Next, after setting the sound / video sampling unit 10 at the center of the deterioration diagnosis region R (step S30), the camera 12 captures an image of the entire deterioration diagnosis region R (step S31). The video signal of the camera 12 is A / D converted by the video input / output means 32 and stored in the data storage means 41 as image data (step S32).

After shooting, the sound moving and video sampling unit 10 is moved by the unit moving means 20 and the rotary head 2n of the vibration means 2Z is set to the initial set point, and then the unit moving means 20 is moved to the right to The surface of the portion 3 is hit and vibrated, and the sound pressure signal of the sound generated by the wall portion 3 is collected by the microphones M1 to M5 (step S33).
Since the timing of impact can be calculated from the initial set point P ₀ which is the initial position of the rotary head 2n, the moving speed of the sound / video sampling unit 10 and the number of protrusions 2q, the sound is adjusted in accordance with the timing of this impact. What is necessary is just to take in pressure data.
As the initial set point, the rotary head 2n than striking starting point P _La is preferably located prior to one rotation.

Next, the sound pressure waveform data obtained by amplifying and A / D-converting the sound pressure signal that is the output signal of the microphones M1 to M5 is stored in the data storage means 41 (step S34).
Then, the sound pressure waveform data stored in the data storage means 41 is extracted, and the sound source direction (horizontal angle θ _r and elevation angle φ _r ) and the sound pressure level, which are sound source data, are calculated using the sound pressure waveform data. (Step S35).
As described above, the calculated horizontal angle theta _r and elevation phi _r is excitation point F _k width w, which is centered on the center of the small region r _k of the height h (0, 0) It is the value.
The calculation method of the sound source direction is the same as that in the first embodiment.

Next, the horizontal angle θ _r , the elevation angle φ _r , the sound pressure level, and the image data of the deterioration diagnosis region R of the wall 3 stored in the data storage means 41 are synthesized, and FIG. As shown in b), a sound source estimation image G _zk in which a graphic indicating the direction of the sound source is drawn for each frequency f in the image is created and stored in the data storage means 41 (step S36). The circle diameter represents the sound pressure level, and the circle pattern or color represents the frequency of the sound pressure signal.
If the generation of the sound source estimation image G _k for all the regions S _L is completed (k = n), the measurement is completed and the process proceeds to step S38.
When the generation of the sound source estimation image G _k for all the regions S _L is not completed, the next region S _{L + 1} is measured. That is, when the rotary head 2n reaches the hitting end point P _1b , that is, when the measurement of the first row (region S ₁ ) is completed, the lifting / lowering means 21 is driven to move the sound / video sampling unit 10 to the second row. After moving to the striking start point P _2a of (region S ₂ ), the process returns to step S 33, and the operations from step S 33 to step S 37 are repeated, so that the sound source estimation images G _k (k = 1) for all rows L. ~ M).
In step S38, as shown in FIG. 14, the N sound source estimation images G _zk stored in the data storage means 41 are combined to create a deterioration diagnosis image G _z .
Specifically, N sound source estimation images G _zk are sequentially taken out in order of numbers (in time order), and synthesized so that the marks X of the respective sound source estimation images G _zk are superimposed. A degradation diagnosis image G _z that is a sound source estimation image in the degradation diagnostic region R of the above is created. From the deterioration diagnosis image G _z illustrated in FIG. 14, it is estimated that there are unhealthy portions in the upper left and lower left in the deterioration diagnosis region R of the wall 3.
Next, a band image G _{z, p} that is a deterioration diagnosis image for each octave band is created from the deterioration diagnosis image G _{z by} the same method as in the first embodiment (step S39), and then the deterioration diagnosis image. From G _{z, p} , floating diagnostic images G _{z, 14,15} or gap diagnostic images G _{z, 9,16} which are _{superposition} band images are created (step S40). The floating diagnostic images G _{z, 14,15} are superposition band images created by superposing the band image G _{z, 14} having a center frequency of 3150 Hz and the band image G _{z, 15} having a center frequency of 4000 Hz. The diagnostic images G _z, 9,16 are superposed band images created by superimposing band images G _{z, 0} , G _{z, 10} ..., G _{z, 16} having a center frequency of 1000 Hz to 5000 Hz.
Finally, the floating diagnostic images G _{z, 14,15} or the gap diagnostic images G _{z, 9,16} are displayed on the display screen 50M of the display means 50 (step S41).

In the second embodiment, the vibration means 2Z and the sound collection means 11 are moved simultaneously. However, only the vibration means 2Z may be moved. In this case, since the horizontal angle θ _r and elevation angle φ _r calculated for each excitation point are values with the center of the camera 12 being (0, 0), the sound source estimation image G _zk can be easily created. However, when the deterioration diagnosis region R of the wall portion 3 is large, the upper limit values of the horizontal angle θ _r and the elevation angle φ _r are large, and the accuracy may be reduced.
In place of the vibrating means of the first embodiment, with use of the vibrating means 2Z embodiment 2, it is also possible to create the image data for each small area r _k by the camera 12. In this case, although the accuracy of determination of deterioration diagnosis is improved, the amount of image data increases, so that it takes time to perform image processing for creating the deterioration diagnosis image GT _{, p} as compared to this example. Therefore, it is effective when the number of deterioration diagnosis regions R of the wall 3 is small, but the method of the second embodiment is preferable when the number of deterioration diagnosis regions R is large.

  In the first and second embodiments, the deterioration diagnosis image for diagnosing the deterioration state of the wall portion 3 of the building is created. However, the present invention is applied to the inner wall of a bridge or a tunnel, and further to the structure of the building. It can be applied to other concrete structures. Further, the present invention can be applied not only to a concrete structure but also to a deterioration diagnosis of a structure made of mortar, tile, or the like.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the embodiment. It is apparent from the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

1. Image creation device for deterioration diagnosis, 2 vibration means, 2a hammer,
2b force sensor, 2c signal generator, 3 building wall,
10 sound / video sampling unit, 11 sound sampling means, 12 CCD camera (camera),
13 microphone fixing part, 14 camera support base, 15 struts,
20 unit moving means, 21 lifting means, 22 traveling means, 30 data processing section,
31 sound data input / output means, 31a amplifier, 31b A / D converter,
32 video input / output means, 40 storage / calculation unit, 41 data storage means,
42 sound source direction estimating means, 43 sound source estimating image creating means,
44 image preparation means for deterioration diagnosis, 44a image composition unit, 44b image creation unit for each band,
50 display means, 50M display screen, M1-M5 microphone.

Claims (4)

Excitation means for striking and oscillating the surface of the structure, sound collection means having a plurality of microphones for collecting sound pressure signals of the sound generated by the excited structure, and input to each microphone Sound generation direction estimation means for estimating the sound generation direction for each frequency from the arrival time difference of the sound pressure signal to be performed, imaging means for shooting the image of the excitation point direction that is the hit point, and the sound generation direction estimation The figure indicating the estimated sound generation direction is drawn by combining the sound generation direction data estimated by the means and the image data which is the image signal of the excitation point direction imaged by the imaging means. A sound source estimation image creating means for creating a sound source estimation image that is an image, and an apparatus for creating an image for diagnosing whether or not an unhealthy part exists in the structure,
The vibration means includes a means for detecting a vibration force, and sequentially vibrates a plurality of locations on the surface of the structure,
The sound source estimation image creating means includes:
A sound source estimation image creation unit that creates the sound source estimation image for each excitation point from the sound generation direction data estimated for each excitation point and the captured video of the excitation point direction;
A degradation diagnosis image creation unit that creates a degradation diagnosis image that is an image obtained by synthesizing the created plurality of sound source estimation images ;
When the excitation force exceeds the threshold, the excitation estimation image created when the excitation force exceeds the threshold among the excitation estimation images constituting the degradation diagnosis image is added to the excitation estimation image. Add to degradation diagnostic image creation device of a structure characterized by Rukoto shapes for identifying that force exceeds a threshold. Before Kion generating direction estimation means,
Means for detecting the sound pressure of the sound generated by the structure;
2. The image generation apparatus for deterioration diagnosis of a structure according to claim 1, further comprising means for calculating a normalized sound pressure obtained by normalizing the detected sound pressure with the excitation force . A band image which is an image in which a graphic showing the sound generation direction for each octave band is drawn from the degradation diagnosis image created by the sound source estimation image creating means, or two or more adjacent frequency bands degradation diagnostic image creation device of a structure according to claim 1 or claim 2, characterized in that a band image generating means for generating polymerization band image is an image obtained by superimposing band image further. The sound collecting means includes first and second microphone pairs arranged at predetermined intervals on two straight lines that intersect with each other, and a fifth microphone that is not on a plane formed by the two microphone pairs. ,
The sound generation direction estimation means includes a phase difference between microphones constituting the two sets of microphone pairs, and each of the fifth microphone and the four microphones constituting the two sets of microphone pairs. degradation diagnostic image creation device of a structure according to any one of claims 1 to 3, characterized in that for estimating the sound source direction using a phase difference between microphones constituting the four sets of microphones pairs.

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