JP6982709B2 - Structure inspection equipment and structure inspection method - Google Patents

Description

The present invention relates to an inspection device for structures and an inspection method for structures.

Civil engineering structures such as road and railroad bridges and tunnels built in the past, as well as the outer walls of large structures such as buildings and condominiums, are aging and aging, and maintenance of these structures is difficult. There is an urgent need. Conventionally, in the inspection of these large structures, the concrete surface of the structure is hit with a hammer or the like, and the operator listens to the change in the tapping sound generated to determine whether or not the structure is sound. For example, in Patent Document 1, a rotatable rolling member is attached to the tip of an operating rod, and the rolling member is rolled while being pressed against the surface of a structure, and the impact sound generated at this time is picked up by a microphone and sound. A structural inspection tool for analyzing whether or not this is the case is disclosed.

Further, in Patent Document 2, a microphone is attached to a rod-shaped support that supports a contact member that slides on the surface of the structure, and the sliding noise generated when the contact member slides on the surface of the structure is generated. A structural inspection tool that picks up changes with a microphone and determines whether or not it is sound is disclosed.

Since both the structure inspection tools according to Patent Document 1 and Patent Document 2 are those in which an operator holds the structure inspection tool in his hand and presses it against the surface of the structure while rolling or sliding it. The inspectable range is limited. On the other hand, Patent Document 3 discloses a structure inspection device that mounts an inspection tool on a moving body body that can travel while adsorbing to a wall surface of the structure and determines whether the structure is sound or not. There is.

Japanese Unexamined Patent Publication No. 2007-132720 Japanese Unexamined Patent Publication No. 2015-232454 Japanese Unexamined Patent Publication No. 2016-107893

Both the inspection tools for structures described in Patent Document 1 and Patent Document 2 are operated by an operator holding the inspection tool for structures in his / her hand, and the inspectable range is limited and the structure is inspected. There is a problem that the pressing force when pressing the inspection tool against the surface may vary, and as a result, the impact sound and sliding sound collected may vary, making it difficult to perform a reliable inspection. is doing.

Further, the structural inspection device described in Patent Document 3 can be used for a large structure because the moving body main body can move while being adsorbed on the surface of the structure. However, since the suction force of the moving body body is insufficient for the inspection tool to be mounted, after stopping the suction of the moving body body, the suction arm provided on the moving body body is extended and sucked on the wall surface for inspection. Unfold the tools and perform inspection work. When moving, it has a problem that the work efficiency is poor because it cannot run unless the suction by the suction arm is released after the inspection tool is stored.

Therefore, the present invention has been made to solve at least one of such problems, and enables highly reliable inspection and inspection of large structures with high work efficiency. It is intended to provide an inspection device for structures and an inspection method for structures.

[1] The structure inspection device of the present invention is a structure inspection device that inspects a structure, and is a moving body main body that moves while being adsorbed to the structure and a part of the moving body main body. It has an inspection tool to be installed, and a rolling member that rolls on the surface of the structure is attached to the inspection tool, and the pressing force of the rolling member against the structure is applied to the moving body. It is characterized in that the attraction force of the main body to the structure is 1/3 or less, and the minimum value of the pressing force when the rolling member rotates is 1N or more.

The structural inspection device of the present invention analyzes and determines whether or not the building is sound by analyzing the impact sound generated by rolling the rolling member on the surface of the structure. According to such a structure inspection device, the moving body is equipped with an inspection tool by reducing the pressing force of the rolling member against the structure to 1/3 or less of the attractive force of the moving body against the structure. However, unlike the above-mentioned inspection device for structures described in Patent Document 3, the moving body body can run with sufficient suction force without being equipped with a suction arm, so inspection of a large structure is expensive. It is possible to do it with work efficiency. Further, by setting the minimum value of the pressing force when the rolling member rotates to 1N or more, the rolling member can be stably rolled with respect to the surface portion of the structure, and an analyzable impact sound can be picked up. It is possible to perform highly reliable inspections.

[2] In the structure inspection device of the present invention, the moving body main body has a sound input unit that picks up an impact sound generated when the rolling member rolls on a surface portion of the structure, and the sound. It is preferable that the distance between the input portion and the position where the impact sound generated when the rolling member rolls on the surface portion of the structure is 2 cm or more and less than 200 cm.

Here, the sound input unit is, for example, a microphone, and if the distance between the sound input unit and the position where the impact sound is generated is 2 cm or more and less than 200 cm, the impact sound can be analyzed by the sound input unit. It becomes possible to pick up as.

[3] In the structural inspection device of the present invention, it is preferable that the difference between the maximum value and the minimum value of the impact sound picked up by the sound input unit is 10db or more and less than 50db.

By making the difference in sound pressure of the impact sound in this way, the impact sound generated when the rolling member rolls on the surface of the structure can be picked up by the sound input unit as an analyzable sound, and the structure can be picked up. It is possible to determine whether or not it is sound.

[4] In the structural inspection device of the present invention, it is preferable that the maximum value of the pressing force against the structure when the rolling member rotates is less than 20 N.

That is, in the inspection device for structures, the pressing force of the rolling member against the structure is 1N or more and less than 20N, and the rolling member rotates while suppressing slipping and rebounding with respect to the surface portion of the structure. It is possible to make the impact sound pick up as an analyzable sound.

[5] The structure inspection device of the present invention is a structure inspection device that inspects a structure, and is a moving body main body that moves while being adsorbed to the structure and a part of the moving body main body. The inspection tool has an inspection tool to be installed, and the inspection tool has a weight member that gives an impact force to the surface portion of the structure, and the impact force is one of the attraction force of the moving body body to the structure. It is characterized in that it is set to 3/3 or less and the minimum value of the impact force is 1N or more.

The structural inspection device of the present invention analyzes and determines whether or not the building is sound by analyzing the impact sound generated by colliding the weight member with the surface portion of the structure. According to such a structure inspection device, the moving body is equipped with an inspection tool by reducing the impact force of the weight member to the structure to 1/3 or less of the suction force of the moving body to the structure. However, unlike the above-mentioned inspection device for structures described in Patent Document 3, the moving body body can run with sufficient suction force without being equipped with a suction arm, so inspection of a large structure is a high task. It will be possible to do it efficiently. Further, by setting the minimum value of the impact force when the weight member collides to 1N or more, it can be picked up as an analyzable impact sound, and a highly reliable inspection can be performed.

In addition, in the case where the structural inspection device of the present invention has a sound input unit that picks up the impact sound, like the rolling member which is the impact sound generation source described in the sections [2] and [3]. It is preferable that the distance between the sound input unit and the position where the impact sound is generated by the weight member is 2 cm or more and less than 200 cm. Further, it is preferable that the difference between the maximum value and the minimum value of the impact sound picked up by the sound input unit is 10db or more and less than 50db. By doing so, it becomes possible to pick up the impact sound of the weight member as an analyzable sound.

Further, in the structural inspection device of the present invention, the maximum value of the impact force by the weight member is less than 20 N, similar to the pressing force on the structure when the rolling member is rotated described in the section [4]. Is preferable. In this way, the inspection can be performed without damaging the structure.

[6] In the structural inspection device of the present invention, the weight of the weight member is preferably 100 g or more and 500 g or less.

The weight member is equivalent to a hammer that has been held by an operator in his hand and used for hitting sound inspection of a structure. If the weight of the weight member is in the range of 100 g or more and 500 g, the conventional hitting sound is obtained. Utilizing the experience of inspection, it is possible to judge whether the structure is sound or not by the hitting sound, that is, the impact sound.

[7] In the inspection device for a structure of the present invention, the inspection tool has a holding means for holding a gap between the weight member and the surface portion of the structure when the weight member collides with and bounces off the surface portion of the structure. It is preferable to do.

If the weight member is kept pressed against the surface of the structure, the surface side does not vibrate and the impact sound is attenuated, or the vibration does not spread, so that the state of the surface cannot be accurately diagnosed. Therefore, by holding the weight member at a position away from the surface portion of the structure immediately after the collision, it is possible to make an accurate diagnosis of the structure.

[8] The structure inspection method of the present invention is a structure inspection method for inspecting a structure, and is used for a moving body main body that moves while being adsorbed to the structure and a part of the moving body main body. Using an inspection tool for a structure having an inspection tool to be installed, the moving body main body exerts a pressing force on the structure of a rolling member attached to the inspection tool and rolling on the surface portion of the structure. It is characterized in that the moving body main body is operated in a state where the suction force with respect to the structure is 1/3 or less and the minimum value of the pressing force when the rolling member rotates is 1 N or more.

The inspection method for a structure of the present invention is an inspection method for determining whether or not a building is sound by analyzing an impact sound generated by rolling a rolling member on a surface portion of the structure. In such a structure inspection method, the moving body is equipped with an inspection tool by reducing the pressing force of the rolling member against the structure to 1/3 or less of the attraction force of the moving body to the structure. However, unlike the inspection device for structures described in Patent Document 3, the moving body body can run with sufficient suction force without being equipped with a suction arm, so that inspection of a large structure can be performed with high work efficiency. It becomes possible. Further, if the minimum value of the pressing force when the rolling member is rotated is set to 1N or more, the rolling member can be stably rotated and an analyzable impact sound can be picked up, and a highly reliable inspection is performed. It becomes possible.

[9] In the structure inspection method of the present invention, the moving body main body has a sound input unit that picks up an impact sound generated when the rolling member rolls on a surface portion of the structure, and the sound. The moving body main body is operated in a state where the distance between the input portion and the position where the impact sound generated when the rolling member rolls on the surface portion of the structure is 2 cm or more and less than 200 cm. Is preferable.

Even if the moving body is in operation, if the distance between the sound input section and the position where the impact sound is generated is 2 cm or more and less than 200 cm, the impact sound can be picked up as an analyzable sound by the sound input section. It becomes. Here, the sound input unit is, for example, a microphone or the like.

[10] In the structural inspection method of the present invention, it is preferable to analyze the sound by setting the difference between the maximum value and the minimum value of the volume of the impact sound picked up by the sound input unit to 10db or more and less than 50db. ..

By making the difference between the maximum value and the minimum value of the volume of the impact sound in this way, it is possible for the sound input unit to pick up the impact sound generated when the rolling member rolls on the surface of the structure as an analyzable sound. Therefore, it becomes possible to determine whether or not the structure is sound.

[11] In the inspection method for structures of the present invention, it is preferable that the maximum value of the pressing force when the rolling member rotates on the structure is less than 20 N.

That is, in such an inspection method for structures, the pressing force of the rolling member against the structure is 1N or more and less than 20N, and the rolling member slides or bounces against the surface portion of the structure. It is possible to rotate while suppressing it, and it is possible to pick up the impact sound as an analyzable sound.

[12] In the inspection method for structures of the present invention, the moving speed of the rolling member, in which the rolling member rolls while rolling on the surface of the structure, is 10 cm / sec or more and 200 cm / sec. The following is preferable.

By setting the speed of the rolling member with respect to the structure in this way, it is possible to rotate the rolling member with respect to the surface of the structure while suppressing slipping and bouncing, and the sound input section can analyze the impact sound. It becomes possible to pick up as.

[13] The structure inspection method of the present invention is a structure inspection method for inspecting a structure, and is used for a moving body main body that moves while being adsorbed to the structure and a part of the moving body main body. Using an inspection device for a structure having an inspection tool to be installed, the impact force of the weight member attached to the inspection tool and colliding with the surface portion of the structure against the structure is applied to the moving body main body. It is characterized in that the moving body main body is operated in a state where the suction force to the structure is 1/3 or less and the minimum value of the impact force is 1N or more.

The inspection method for a structure of the present invention is an inspection method for determining whether or not a building is sound by analyzing an impact sound generated by colliding a weight member with a surface portion of the structure. In such a structure inspection method, the impact force of the weight member on the structure is set to 1/3 or less of the attraction force of the moving body body to the structure, so that the moving body body can be equipped with an inspection tool. Since the moving body can run with sufficient suction force without being equipped with a suction arm like the inspection device for structures described in Patent Document 3, inspection of a large structure can be performed with high work efficiency. Is possible. Further, if the minimum value of the impact force is 1N or more, it can be picked up as an analyzable impact sound, and a highly reliable inspection can be performed.

In the structural inspection method of the present invention, when the sound input unit for picking up the impact sound is provided, as in the case of the rolling member which is the impact sound generation source described in the sections [9] and [10]. It is preferable that the distance between the sound input unit and the position where the impact sound is generated by the weight member is 2 cm or more and less than 200 cm. Further, it is preferable that the difference between the maximum value and the minimum value of the impact sound picked up by the sound input unit is 10db or more and less than 50db. By doing so, it becomes possible to pick up the impact sound of the weight member as an analyzable sound.

Further, in the structural inspection method of the present invention, the maximum value of the impact force by the weight member is less than 20 N, similar to the pressing force on the structure when the rolling member is rotated described in the section [11]. Is preferable. In this way, the inspection can be performed without damaging the structure.

It is a perspective view which shows 1 Example of the structure of the structure inspection apparatus 1 which concerns on embodiment. It is explanatory drawing which shows typically the operation of the inspection tool 11 shown in FIG. It is a table showing the ratio (pushing pressure / suction force) of the pushing pressure of the rolling member 27 to the suction force of the moving body main body 10 shown in FIG. 1 and its evaluation. It is a table which shows the evaluation about the push pressure and the generation of an impact sound of a rolling member 27 shown in FIG. 1. It is a table showing the evaluation of whether or not the impact sound can be picked up as an analyzable sound by the distance L between the sound input unit 48 and the position where the impact sound is generated shown in FIG. 1. It is a table which shows the relationship between the difference S of the maximum value and the minimum value of the impact sound in the structure inspection apparatus 1 which concerns on embodiment, and the propriety of sound analysis. It is explanatory drawing which shows typically the operation of the rolling member 27 shown in FIG. It is explanatory drawing which shows typically the relationship between the traveling direction of the moving body main body 10 shown in FIG. 1 and the operation of a rolling member 27. It is a front view which shows 1 Example of the structure of the structure inspection apparatus 60 which concerns on other embodiment. It is a top view which shows 1 Example of the structure of the structure inspection apparatus 60.

Hereinafter, the structure inspection device 1 and the structure inspection method using the structure inspection device 1 according to the embodiment of the present invention will be described with reference to the drawings. The structure inspection device 1 and the structure inspection method are inspection devices and inspection methods for non-destructively inspecting the presence or absence of abnormalities such as deterioration or foreign matter mixed in the structure 2. The structure 2 is, for example, a civil engineering structure such as a bridge or a tunnel of a road or a railroad, or an outer wall of a large structure such as a building or a condominium.

[Structure of inspection device 1 for structures]
FIG. 1 is a perspective view showing one embodiment of the configuration of the structural inspection device 1 according to the embodiment. The structure inspection device 1 includes a moving body main body 10 that travels while being adsorbed on an inclined surface, a vertical surface, or a ceiling surface of the structure 2, an inspection tool 11 installed on a part of the moving body main body 10. have. The moving body main body 10 has a pair of endless traveling zones 13 and 13 made of a soft elastic body arranged so as to sandwich the main body unit 12. The main body unit 12 has a main body driving unit 14 and a suction driving unit 15. The main body drive unit 14 has two motors 16 (only the upper motor 16 is shown in FIG. 1), and the upper motor 16 is a drive wheel 17 (not) on the left side with respect to the traveling direction of the moving body main body 10. (Shown), and the other motor 16 (not shown) drives the right drive wheel 17. A pair of driven wheels 18 and 18 (not shown on the left side) are arranged on the rear side of the moving body main body 10 in the traveling direction. The endless traveling zones 13 and 13 are driven by being suspended from the driving wheels 17 and 17 and the driven wheels 18 and 18.

Since the two motors 16 can be independently and freely driven and controlled, the endless traveling zones 13 and 13 can be driven independently, and the moving body main body 10 can be advanced. It can be moved backward, or the direction of travel can be changed or turned.

A plurality of suction holes 19 are arranged in the endless traveling zones 13 and 13 in the long side direction. The suction holes 19 are formed at equal intervals with the same size over the entire circumference of the endless traveling zones 13 and 13, penetrate in the thickness direction, and communicate with the decompression chamber 20 of the suction drive unit 15.

Although not shown, the suction drive unit 15 has a blower pump for sucking air in the decompression chamber 20 and a blower motor for driving the blower pump, and discharges the air sucked from the decompression chamber 20 to the outside. The blower pump has an umbrella-shaped turbofan and sucks air from the inside of the decompression chamber 20 to depressurize the decompression chamber 20. That is, the suction drive unit 15 is strong against the surface portion 2a (wall surface, etc.) of the structure 2 by sucking air from the plurality of suction holes 19 provided in the endless traveling zones 13 and 13 through the pressure reducing chamber portion 20. It is possible to run while adsorbing to the surface portion 2a of the structure 2. In addition, this kind of mobile body is known in Japanese Patent Application Laid-Open No. 2106-84118, Japanese Patent Application Laid-Open No. 2016-97955, US Patent Publication 2015-375814 and the like.

The inspection tool 11 is attached to a part of the moving body main body 10. The inspection tool 11 is arranged on the inspection tool mounting frame 25 arranged on the opposite side of the main body drive unit 14 with the suction drive unit 15 interposed therebetween. The inspection tool 11 rotatably holds a mounting plate 26 for attaching the inspection tool 11 to the moving body main body 10, a rolling member 27 that oscillates while rolling the surface portion 2a of the structure 2, and the rolling member 27. It has a support shaft 28 that swings integrally with the rolling member 27, and a support shaft fixing plate 29 that holds the support shaft 28 and swings integrally with the rolling member 27. The support shaft fixing plate 29 and the mounting plate 26 are connected by a hinge 30, and the rolling member 27, the support shaft 28, and the support shaft fixing plate 29 are in the vertical direction with respect to the surface portion 2a of the structure 2. It is possible to move to. The rolling member 27 has a spherical shape, a circular cross section in the rotation direction, an elliptical side shape, a polygonal shape, or the like. The corners are protruding.

A pressurizing frame 31 is attached to the mounting plate 26. The pressure frame 31 is composed of a frame 32 fixed so as to be orthogonal to the mounting plate 26, a frame 33 extending in the arrangement direction of the rolling member 27, and a connecting tool 34 connecting the two. Has been done. The angle formed by the frame 32 and the frame 33 can be changed by the connector 34 of the pressurizing frame 31, and the pressurizing frame 31 is fixed so as to maintain the state after the angle is determined. The pressurizing frame 31 may be composed of one member in which the frame 32 and the frame 33 are integrated. A pressure spring 35 is interposed between the tip of the frame 33 and the support shaft fixing plate 29. The pressure spring 35 is a so-called compression spring and presses the rolling member 27 against the surface portion 2a of the structure 2 with a predetermined pressing force.

The inspection tool 11 is swingably attached to the inspection tool mounting frame 25 by the mounting plate 26. Specifically, by fitting the end of the mounting plate 26 on the suction drive portion 15 side to the rotating shaft 36, the inspection tool 11 can be swung around the rotating shaft 36 as a rotating shaft, and the inspection tool 11 is prevented from rising. ing. The inspection tool 11 (rolling member 27) is swung by the link mechanism 40. The link mechanism 40 has a link motor 41, a link drive wheel 42 that rotates coaxially with the link motor 41, and a driven arm 43 that is operated by the link drive wheel 42. One end of the driven arm 43 is rotatably supported by a pin or the like on the outer peripheral edge of the link drive wheel 42, and the other end is rotatably supported by the mounting plate 26. The connecting portion between the mounting plate 26 and the driven arm 43 is a slide joint portion 44 in the link mechanism 40.

Due to the rotation of the link drive wheel 42 and the link action, the mounting plate 26 swings on the inspection tool mounting frame 25 with the rotating shaft 36 as the center of rotation. That is, the rolling member 27 is oscillated. The link drive wheel 42 may be rotated in one direction, or clockwise and counterclockwise may be alternately repeated.

The moving body main body 10 has a sound input unit 48 that picks up an impact sound generated when the rolling member 27 rolls on the surface portion 2a of the structure 2. The sound input unit 48 is a so-called microphone or the like, and is attached to the tip end portion of the position adjusting arm 49. The position adjusting arm 49 includes a first arm 50 and a second arm 51, and an arm connector 52 that connects the first arm 50 and the second arm 51. The base of the first arm 51 is connected to the inspection tool mounting frame 25 by a universal joint 53.

Since the position adjusting arm 49 is connected to the inspection tool mounting frame 25 by a universal joint 53, it can rotate about an axis or be tilted with respect to the inspection tool mounting frame 25. Further, the first arm 50 and the second arm 51 are connected to the arm connector 52, and the angle formed by the two can be freely changed.

[Operation of inspection tool 11]
FIG. 2 is an explanatory diagram schematically showing the operation of the inspection tool 11 shown in FIG. Since the mounting plate 26 and the support shaft fixing plate 29 are connected by a hinge 30, the support shaft fixing plate 29, the support shaft 28, and the rolling member 27 are connected to the link motor 41 when the link motor 41 is rotated. The coaxial link drive wheel 42 rotates, and the driven arm 43 reciprocates (indicated by the arrow of the alternate long and short dash line). The reciprocating motion of the driven arm 43 causes the rolling member 27 to swing around the rotating shaft 36 as the center of rotation. The rolling member 27 supported by the support fixing plate 29 is configured to be swingable in the vertical direction (indicated by the dotted arrow) with respect to the surface portion 2a of the structure 2 by the hinge 30, but is a pressure spring. The surface portion 2a of the structure 2 is pressed by the 35 with a predetermined pressing force. The rolling member 27 rotates while rolling on the surface portion 2a of the structure 2, and the impact sound generated when the ridgeline or the corner portion of the rolling member 27 hits the surface portion 2a is sound input unit 48 (see FIG. 1). ) To pick it up.

The impact sound picked up by the sound input unit 48 includes a sound originating from the moving body body 10, but if there is an abnormality in the structure, sound analysis is performed from the sound pressure change in a predetermined frequency band when there is no abnormality. Analyzed by device (not shown). Normally, when there is an abnormality in the structure 2, the sound pressure tends to appear lower than when there is no abnormality. It is possible to determine whether or not there is an abnormality (whether or not it is sound) based on the difference in sound pressure (change in sound pressure). The sound analyzer may be arranged inside the structure inspection device 1. Further, it may be arranged in another place via a communication device.

The pressing force applied by the rolling member 27 to the surface portion 2a becomes a reaction force with respect to the suction force of the moving body main body 10. That is, the pressing force against the suction force should be regulated within an appropriate range. This will be described with reference to FIG.

FIG. 3 is a table showing the ratio (pushing pressure / suction force) of the pushing pressure of the rolling member 27 to the suction force of the moving body main body 10 in the structure inspection device 1 and its evaluation. In the table shown in FIG. 3, the ratio of the pressing force to the suction force (pressing pressure / suction force) is shown in the column column, and the evaluation and the comment are shown in the row column. In FIG. 3, ⊚ represents the most preferable range, ◯ represents a preferable range, and × or Δ represents a range to be avoided. If the pressing force / suction force is in the range of more than 1/3, there is a possibility that adsorption cannot be performed, and if the pressing force / adsorption force is set to 1/3 or less, the possibility that adsorption cannot be achieved is considerably reduced. Here, being able to adsorb means that the moving body main body can travel with sufficient suction force while using the inspection tool, and being unable to be adsorbed means that the moving body main body 10 is an inspection device for structures. A state in which 1 cannot be supported.

In order to pick up the impact sound generated by rolling the rolling member 27 as an analyzable sound, the rolling member 27 must be pressed against the surface portion 2a with an appropriate pressing force. This will be described with reference to FIG.

FIG. 4 is a table showing the evaluation of the pressing force of the rolling member 27 and the generation of the impact sound. In this table, the pressing force of the rolling member 27 by the pressure spring 35 with respect to the surface portion 2a is changed under the condition that the ratio of the pressing force to the suction force is 1/3 or less. In the table shown in FIG. 4, the parallel column shows the magnitude of the pressing force, and the parallel column shows the evaluation and the comment. In FIG. 4, ◯ indicates a preferable pressing force, and Δ or × indicates that the pressing force is insufficient. As shown in FIG. 4, when the pressing force is 1 N or more and less than 20 N, the rolling member 27 rotates well and can pick up the impact sound as a sound sufficient for analysis, and when it is less than 1 N, it is sufficient. No impact sound is obtained. Further, when the pressing force is 20 N or more, the rolling member 27 becomes difficult to rotate smoothly, and an analyzable impact sound is not generated.

As a method for obtaining an analyzable impact sound by setting the pressing force to 1 N or more and less than 20 N, the spring constant of the pressure spring 35 is changed or the distance between the frame 33 and the support shaft fixing plate 29 is adjusted. It becomes possible by doing so. Although not shown, it is preferable to provide a protrusion or a recess so that the position of the pressure spring 35 does not shift at a position where the support shaft fixing plate 29 and the frame 33 both face each other.

Although not shown, a pressure actuator (a kind of linear actuator) can be used instead of the pressure spring 35 as a means for pressing the rolling member 27 against the surface portion 2a of the structure 2. It is more preferable that the pressure actuator has a built-in pressure sensor, but the pressure sensor may be arranged between the pressure actuator and the support shaft fixing plate 29. Alternatively, the pressure sensor may be arranged between the rolling member 27 and the support shaft 28.

The moving body main body 10 has a sound input unit 48 that picks up an impact sound generated when the rolling member 27 rolls on the surface portion 2a of the structure 2. The sound input unit 48 is required to arrange and maintain the position of the sound input unit 48 with respect to the rolling member 27 at the optimum position where the impact sound can be picked up by the position adjusting arm 49. This will be described with reference to FIG.

FIG. 5 is a table showing the distance L between the sound input unit 48 and the position where the impact sound is generated, and the evaluation of whether or not the impact sound can be picked up as an analyzable sound by the distance L. In the table shown in FIG. 5, the distance L between the sound input unit 48 and the position where the impact sound is generated is shown in the parallel column, and the evaluation and the comment are shown in the parallel column. In FIG. 5, ⊚ indicates a range in which the impact sound can be sufficiently picked up as an analyzable sound, ○ indicates a range in which the impact sound can be picked up as an analyzable sound, and × or Δ indicates a range in which the impact sound cannot be picked up as an analyzable sound. There is. When the distance L is less than 2 cm, it is possible to pick up the impact sound, but in addition to the impact sound, the vibration of the rolling member 27 may be picked up as noise and analysis may not be possible. Further, in the range where the distance L is 2 cm or more and less than 200 cm, the impact sound can be sufficiently picked up as an analyzable sound, but in the range where the distance L is 2 cm to 5 cm, the sound is changed to other than the impact sound. The vibration of the moving member 27 may be picked up, and the distance L is more preferably in the range of 5 cm to less than 200 cm. Further, in the range where L is less than 200 cm to 400 cm, it becomes difficult to pick up the impact sound as an analyzable sound.

The spatial position of the sound input unit 48 with respect to the rolling member 27 has a degree of freedom within a range in which the distance between the rolling member 27 and the sound input unit 48 is 2 cm or more and less than 200 cm. In such a case, it is preferable to appropriately adjust the direction in which the sound input unit 27 faces. Further, it is desirable that the sound input unit 27 is a directional microphone. The position adjusting arm 49 can adjust the sound input portion 48 to an appropriate position with respect to the rolling member 27 by the arm connecting tool 52 and the universal joint 53, but there is no misalignment during the operation of the structural inspection device 1. It is fixed as.

In the structural inspection device 1 shown in FIG. 1, the position adjusting arm 49 is attached to the moving body main body 10 (inspection tool mounting frame 25), but can be attached to the mounting plate 26 on the inspection tool 11 side. Is. In this way, when the rolling member 27 is swung, the sound input unit 48 is interlocked and swung, so that the relative positions of the rolling member 27 and the sound input unit 48 do not change. It is possible to suppress the change in sound pressure due to the relative position change between the moving member 27 and the sound input unit 48.

The sound picked up by the sound input unit 48 when operating the structure inspection device 1 is an impact sound generated when the rolling member 27 rolls while rotating the surface portion 2a of the structure 2. In the inspection method for determining whether the structure 2 is sound or not based on the change in sound pressure, the difference in sound pressure (difference between the maximum value and the minimum value) generated while the rolling member 27 is rolling is appropriate. It is required to keep it within a reasonable range. This will be described with reference to FIG.

FIG. 6 is a table showing the difference S between the maximum value and the minimum value of the impact sound and the possibility of sound analysis. In FIG. 6, the column column shows the difference S between the maximum value and the minimum value of the impact sound, and the column column shows the evaluation and the comment. In FIG. 6, ◯ represents a range in which analysis can be sufficiently performed, Δ represents a range in which there is a possibility but is unstable, and × represents a range in which analysis cannot be performed. As shown in FIG. 6, analysis is not possible when the difference S is less than 10db, and analysis is possible when the difference S is less than 10db to 50db. However, if the difference S is less than 10db to 20db and 40db to less than 50db, the analysis may be possible but unstable, and if the difference S is 50db or more, the analysis may not be possible. Therefore, it is more preferable to set the difference S between the maximum value and the minimum value to 20db to 40db.

When analyzing the sound picked up by the sound input unit 48, the frequency band of the sound generated from the moving body main body 10 (main body drive unit 14 and suction drive unit 15) is excluded, and the structure is determined from the change in sound pressure of the impact sound. It becomes possible to determine whether or not 2 is sound. Such an inspection may be generally called a tapping sound inspection.

FIG. 7 is an explanatory diagram schematically showing the operation of the rolling member 27 shown in FIG. As described above, the moving body main body 10 travels while being attracted to the surface portion 2a of the structure 2, and the rolling member 27 rolls while applying a predetermined pressing force to the surface portion 2a. FIG. 7 shows an example in which the rolling member 27 operates on the opposite side of the traveling direction of the moving body main body 10, but since the traveling direction of the moving body main 10 can be freely changed, it is the opposite of the drawing of FIG. The moving body body 10 may travel in the direction. In FIG. 7, the locus of the rolling member 27 when the rolling member 27 rolls on the surface portion 2a is represented by T, and the rolling member 27 does not roll and rolls when moving in the same direction as the moving body main body 10. The locus of the member 27 is represented by t.

FIG. 7A shows an example in which the moving body main body 10 travels to a predetermined position and the rolling member 27 is operated there. That is, the moving body main body 10 rolls the rolling member 27 from the left side to the right side in the figure at a predetermined position, stops the rolling after moving a predetermined distance, and in that state, the moving body main body 10 is placed in a predetermined position. It is an operation of traveling to and rolling the rolling member 27 from the right side to the left side in the drawing, and by repeating such an operation, a lean operation becomes possible.

FIG. 7B shows a state in which the moving body body 10 travels to a predetermined position, the rolling member 27 is reciprocated to the left and right in the figure, and the rolling member 27 returns to the left side in the figure, and the next inspection position is set. This is an operation in which the rolling member 27 is reciprocated from side to side again after the moving body main body 10 is made to travel. By doing so, the rolling member 27 is rotated twice on the same locus, that is, the same portion is inspected twice, so that the reliability of the inspection can be improved.

FIG. 7C shows an operation of rolling the rolling member 27 from the left side to the right side and from the right side to the left side of the figure while traveling the moving body main body 10. By doing so, the inspection can be continued without stopping the moving body main body 10, so that the inspection of a large structure can be performed with higher work efficiency. The pitch (or gradient) of the locus of the rolling member 27 rolling from left to right or the locus of rolling from right to left is the traveling speed of the moving body 10 and the rolling member 27. It can be made denser, sparser or adjusted depending on the swaying speed.

When the structure 2 has a step portion or an endless portion 2b (see FIG. 8) that hinders the operation of the moving body main body 10 or the rolling member 27, the traveling direction of the moving body main body 10 is switched. This makes it possible to respond. This will be described with reference to FIG.

FIG. 8 is an explanatory diagram schematically showing the relationship between the traveling direction of the moving body main body 10 shown in FIG. 1 and the operation of the rolling member 27. In FIG. 8, the surface portion 2a of the structure 2 will be described as an example of a wall perpendicular to the ground. In the figure, the arrow indicates the traveling direction of the moving body main body 10. FIG. 8A shows an example in which the unsuitable part 2b is located on the lower side of the moving body body 10, and FIG. 8B shows an example in which the unsuitable part 2b is located on the left side of the main body 10 of the moving body. FIG. 8C shows an example in which the unsuitable part 2b is located above the mobile body 10, and FIG. 8D shows an example in which the unsuitable part 2b is located to the right of the moving body 10. .. Since the mobile body 10 is a so-called endless track traveling body using the endless traveling zones 13 and 13, the traveling direction can be freely changed such as forward movement, backward movement, and turning.

In the example shown in FIG. 8A, the rolling member 27 is brought close to the unsuitable portion 2b on the lower side, and then the moving body main body 10 is moved upward to shake the rolling member 27 for inspection. .. On the contrary, the moving body main body 10 may be made to travel from the upper side to the lower side until the rolling member 27 approaches the operation unsuitable portion 2b. In the example shown in FIG. 8B, the rolling member 27 is brought closer from the right to the unsuitable portion 2b on the left side, and then the rolling member 27 is swung and inspected while the moving body body 10 is driven to the right. Is an example of doing. On the contrary, the moving body main body 10 may be made to travel from the right side to the left until the rolling member 27 approaches the operation unsuitable portion 2b.

In the example shown in FIG. 8 (c), the rolling member 27 is brought close to the unsuitable portion 2b on the upper side, and then the moving body main body 10 is moved downward to shake the rolling member 27 for inspection. .. On the contrary, the moving body main body 10 may be made to travel from the lower side to the upper side until the rolling member 27 approaches the operation unsuitable portion 2b. In the example shown in FIG. 8D, the rolling member 27 is brought close to the unsuitable portion 2b on the right side, and then the moving body main body 10 is moved to the left to shake the rolling member 27 for inspection. On the contrary, the moving body main body 10 may be made to travel from the left side to the right side until the rolling member 27 approaches the operation unsuitable portion 2b. As the operation of the rolling member 27, each operation example described with reference to FIG. 7 can be applied. By doing so, it is possible to inspect the vicinity of the operation improper portion 2b.

In order to roll the rolling member 27 and pick up the impact sound due to the rotation as an analyzable sound, it is necessary to appropriately control the moving speed when the rolling member 27 is swayed. The moving speed when the rolling member 27 oscillates while pressing the surface portion 2a of the structure 2 is 10 cm / under the condition that the pressing force on which the rolling member 27 presses the surface portion 2a is 1 N or more and less than 20 N. It is preferably 2 seconds or more and less than 200 cm / sec. If the moving speed of the rolling member 27 is less than 10 cm / sec or 200 cm / sec or more, the rolling member 27 may slide or bounce on the surface portion 2a, and an analyzable impact sound may not be picked up. be.

According to the structure inspection device 1 and the structure inspection method described above, the moving body main body 10 that moves while being adsorbed to the structure 2, the inspection tool 11 installed on a part of the moving body main body 10, and the inspection tool 11 A rolling member 27 that rolls the surface portion 2a of the structure 2 is attached to the inspection tool 11, and the pressing force of the rolling member 27 against the structure 2 is applied to the structure of the moving body main body 10. The moving body main body 10 is operated in a state where the minimum value of the pressing force when the rolling member 27 rotates is set to 1 N or more at 1/3 or less of the suction force.

According to the structure inspection device 1 and the structure inspection method, the rolling member moves by reducing the pressing force on the structure to 1/3 or less of the suction force on the structure of the moving body body. Even if the body body 10 is equipped with the inspection tool 11, the moving body body can travel with sufficient suction force without equipping the body body 10 with a suction arm as in the above-mentioned structure inspection device described in Patent Document 3. Therefore, it is possible to inspect large structures with high work efficiency. Further, by setting the minimum value of the pressing force when the rolling member rotates to 1N or more, the rolling member can be stably rolled with respect to the surface portion of the structure, and an analyzable impact sound can be picked up. It is possible to perform highly reliable inspections.

Further, the moving body main body 10 has a sound input unit 48 that picks up an impact sound generated when the rolling member 27 rolls the surface portion 2a of the structure 2, and the sound input unit 48 and the rolling member 27 are structures. The distance between the position where the impact sound generated when the surface portion 2a of the object 2 is rolled and the position where the impact sound is generated is 2 cm or more and less than 200 cm. In this way, the sound input unit 48 can reliably pick up the impact sound as an analyzable sound. The distance and position of the sound input unit 48 with respect to the position where the impact sound is generated can be optimally adjusted by the position adjusting arm 49, and the state can be maintained.

In the structure inspection device 1 and the structure inspection method according to the embodiment, the difference between the maximum value and the minimum value of the impact sound picked up by the sound input unit 48 is 10db or more and less than 50db. By doing so, the impact sound generated when the rolling member 27 rolls on the surface portion 2a of the structure 2 can be picked up by the sound input unit 48 as an analyzable sound, and the structure 2 is sound. It is possible to determine whether or not.

Further, in the structure inspection device 1 and the structure inspection supplement method according to the embodiment, the maximum value of the pressing force against the structure 2 when the rolling member 27 rotates is set to less than 20N. That is, the minimum value of the pressing force of the rolling member 27 with respect to the structure 2 is 1N or more, and the maximum value is less than 20N, so that the rolling member 27 slides or rebounds with respect to the surface portion 2a of the structure 2. It is possible to rotate while suppressing it, and it is possible to pick up the impact sound as an analyzable sound.

Further, in the structure inspection method described above, the moving speed of the rolling member in which the rolling member 27 oscillates while rolling on the surface portion 2a of the structure 2 is 10 cm / sec or more and less than 200 cm / sec. do. If the moving speed is set within the range of the pressing force as described above, the rolling member 27 can be rotated while suppressing slipping or bouncing with respect to the surface portion 2a of the structure 2. The sound input unit 48 can pick up the impact sound as an analyzable sound.

In the structure inspection device 1, the rolling member 27 is rolled and the impact sound is picked up by the sound input unit 48 to determine whether or not the surface portion 2a of the structure is sound. However, instead of the rolling member 27, it is possible to make the weight member collide with the surface portion 2a of the structure to generate an impact sound that can be analyzed. The structure inspection method using the structure inspection device 60 will be described below.

[Structure of inspection device 60 for structures]
FIG. 9 is a front view showing one embodiment of the configuration of the structural inspection device 60 according to another embodiment, and shows a cross section of the inspection tool 61 cut along the AA cutting line of FIG. .. FIG. 10 is a plan view showing an embodiment of the configuration of the structure inspection device 60. 9 and 10 are schematic views showing the shape of each part in a simplified manner.

As shown in FIGS. 9 and 10, in the structure inspection device 60, the inspection tool 61 is arranged on the rear side with respect to the traveling direction (indicated by a thick arrow) of the moving body main body 10. The mobile body 10 has the same configuration as that shown in FIG. 1, and detailed description thereof will be omitted. In FIGS. 9 and 10, the same parts as those in FIG. 1 are designated by the same reference numerals as those in FIG. The inspection tool 61 is connected to the moving body main body 10 by the inspection tool mounting frame 62. The inspection tool 61 includes a weight member 63 that collides with the surface portion 2a of the structure to generate an impact sound, an electromagnetic solenoid 64 that causes the weight member 63 to collide with the surface portion 2a of the structure, and the weight member 63 with the surface portion 2a of the structure. It has a spring 65 as a holding means for holding it at a position away from the above.

The weight member 63 is fixed to one tip of the handle member 66. The configuration of the weight member 63 and the handle member 66 can be rephrased as a kind of hammer. The other side of the handle member 66 is connected to the bearing member 67. A weight rotation shaft 68 is inserted through the bearing member 67, and the weight member 63 is configured to be rotatable around the weight rotation shaft 68 via the handle member 66 via the shaft member 67. The weight rotation shaft 68 is fixed to the side wall portions 62a at both left and right ends of the inspection tool mounting frame 62 (see FIG. 10). The weight of the weight member 63 is set to 100 g or more and 500 g or less. In FIG. 9, the weight member 63 represented by the dotted line represents before the collision with the surface portion 2a, and the weight member 63 represented by the solid line represents the time of collision. The handle member 66 extends from the weight rotation shaft 68 toward the moving body main body 10. The spring 65 is suspended between the inspection tool mounting frame 62 and the handle member 66. The spring 65 applies a pulling force in a direction in which the weight member 63 is always separated from the surface portion 2a. Although the weight member 63 illustrated in FIG. 9 is a sphere, it is not limited to a sphere, and may be a so-called hammer type or a disc shape.

The weight member is equivalent to a hammer that has been held by an operator in his hand and used for hitting sound inspection of a structure. If the weight of the weight member is in the range of 100 g or more and 500 g, the conventional hitting sound is obtained. Utilizing the experience of inspection, it is possible to judge whether the structure is sound or not by the hitting sound, that is, the impact sound.

As shown in FIG. 9, the electromagnetic solenoid 64 is attached to a protrusion 70 extending toward the weight member 63 side of the solenoid frame 69. The solenoid frame 69 is fixed to the inspection tool mounting frame 62. Further, as shown in FIG. 10, the solenoid frame 69 has a pair of pillar portions 69a in the extension direction of the weight rotation shaft 68, and the handle member 66 has a weight rotation shaft in the space 69b between the pair of pillar portions 69a. It is configured to rotate around 68. The pushing force, speed, and driving stroke of the electromagnetic solenoid 64 are set so that the impact force on the surface portion 2a of the weight member 63 is 1N or more in consideration of the elastic force of the spring 65. Further, the drive stroke of the electromagnetic solenoid 64 is set so as to be separated from the handle member 66 before the weight member 63 collides.

A hammer unit 71 includes a weight member 63, a solenoid frame 69, an electromagnetic solenoid 64, a spring 65, and the like. In the example shown in FIG. 10, six sets of hammer units 71 are arranged in the axial direction of the weight rotation shaft 68. The number of hammer units 71 may be larger or smaller than 6 sets, and can be installed on the surface portion 2a of the structure according to the size of the inspection target. Each hammer unit is driven by shifting the timing so that the impact sound is not covered by one set. Although the inspection tool 61 illustrated in FIGS. 9 and 10 is arranged on the rear end side with respect to the traveling direction of the moving body main body 10, it may be arranged on the tip end side in the traveling direction.

The inspection tool 61 has a sound input unit 48 that picks up an impact sound generated when the weight member 63 collides with the surface portion 2a of the structure. The sound input unit 48 is a so-called microphone or the like, and is attached to the tip end portion of the position adjusting arm 49. As shown in FIG. 9, the position adjusting arm 49 includes a first arm 50 and a second arm 51, and an arm connector 52 that connects the first arm 50 and the second arm 51. The arm connector 52 is preferably a universal joint capable of moving the sound input unit 48 to an arbitrary position. The sound input unit 48 adjusts the distance from the position where the impact sound is generated to an appropriate position within a range of 2 cm or more and 200 cm or less.

The structure inspection device 60 described above exemplifies a configuration in which an electromagnetic solenoid 64 is used as a driving unit for causing the weight member 63 to collide with the surface portion 2a of the structure, and a spring 65 is used as the holding means. However, it can be configured by a cam mechanism or the like having both functions of a drive unit and a holding means.

[Operation of inspection tool 61 and inspection method]
Next, the operation of the inspection tool 61 and the inspection method using the inspection tool 61 will be described with reference to FIGS. 9 and 10. The weight member 63 is rotatable around the weight rotation axis 68, but is held by the spring 65 at a position away from the surface portion 2a of the structure, that is, at a position represented by a dotted line in FIG. When the electromagnetic solenoid 64 is driven, the weight member 63 rotates toward the surface portion 2a and collides with the surface portion 2a to generate an impact sound. This impact sound is picked up by the sound input unit 48, and it is determined from the difference in the impact sound whether the structure 2 is damaged or sound.

For example, when the structure 2 is a concrete structure, if the impact sound is a clear sound such as kinkin or concrete, it is determined to be sound. In the case of a dull sound such as dong or dos, it is possible to determine that the surface portion 2a has deteriorated or that there is a cavity near the surface of the surface portion 2a. Further, in the case of a voiced sound that makes the person feel thin, such as bumpy or fluffy, it is possible to determine that the surface portion 2a is peeled off. The sound can be determined empirically by hearing, but when there is an abnormality in the structure or there is no abnormality, the sound analyzer (not shown) is based on the change in sound pressure in a predetermined frequency band. It is possible to analyze by. It has been confirmed that there is no difference between the determination result of the impact sound of the rolling member 27 and the determination result of the impact sound of the weight member 63.

Immediately after colliding with the surface portion 2a, the weight member 63 is pulled back by the spring 65 to a position away from the surface portion 2a, that is, a position represented by a dotted line in FIG. By doing so, it is possible to prevent the vibration of the surface portion 2a from being attenuated and the spread of the vibration of the surface portion 2a being suppressed due to the weight member 63 being in contact with the surface portion 2a.

The impact force applied to the surface portion 2a by the weight member 63 is a reaction force to the suction force of the moving body main body 10, similar to the pressing force applied to the surface portion 2a by the rolling member 27 described above. That is, the impact force with respect to the suction force should be regulated within an appropriate range. This will be described with reference to FIG.

In the structure inspection device 60, the pressing force shown in FIG. 3 can be described by replacing it with an impact force. In FIG. 3, if the ratio of the impact force to the adsorption force is in the range of more than 1/3, the adsorption may not be possible, and if the ratio of the impact force to the adsorption force is set to 1/3 or less, the adsorption may not be possible. Shows that it will be considerably lower.

In order to pick up the impact sound generated by colliding the weight member 63 with the surface portion 2a as an analyzable sound, an appropriate impact force must be applied to the surface portion 2a. This will be described with reference to FIG. In the structure inspection device 60, it can be explained by replacing the pressing force shown in FIG. 4 with an impact force. As shown in FIG. 4, when the impact force is 1 N or more and less than 20 N, the impact sound can be picked up as a sound sufficient for analysis. For example, when the structure 2 is a concrete structure, it should be avoided because if the impact force is 20 N or more, the circumference of the collision portion of the weight member 63 may be damaged. As a method of obtaining an impact sound that can be analyzed by setting the impact force to 1 N or more and less than 20 N, the pushing force of the electromagnetic solenoid 64 and the drive stroke of the electromagnetic solenoid 64, or the distance between the weight member 63 and the surface portion 2a are adjusted. Is possible.

Further, the sound input unit 48 is required to be arranged and maintained at an optimum position for picking up the impact sound generated when the weight member 63 collides with the surface portion 2a. This will be described with reference to FIG. The appropriate distance L from the position where the impact sound is generated in the structure inspection device 60 can be explained in the same manner as in the structure inspection device 1 regardless of the configuration of the inspection tool. As shown in FIG. 5, in the range where the distance L is 2 cm or more and less than 200 cm, the impact sound can be picked up as an analyzable sound. The position of the sound input 48 can be adjusted arbitrarily, but the structure inspection device 60 is fixed so as not to be displaced during operation.

The present invention is not limited to the above-described embodiment, and modifications, improvements, and the like to the extent that the object of the present invention can be achieved are included in the present invention. For example, the structure inspection method may be performed by using another inspection device without using the structure inspection device 1 or the structure inspection device 60.

Further, the inspection tool 11 of the above-described embodiment rotates the rolling member 27 while rolling on the surface portion 2a of the structure 2, and picks up and analyzes the impact sound generated at that time. The member 27 may be slid on the surface portion 2a of the structure 2 without rotating, and the sliding sound generated at that time may be picked up.

Further, in the above-described embodiment, the structure inspection device 1 has the inspection tool 11, and the structure inspection device 60 has the inspection tool 61, but the type of the structure 2 and the surface portion 2a The inspection tool 11 and the inspection tool 61 may be exchanged depending on the state, or both the inspection tool 11 and the inspection tool 61 may be installed on the moving body main body 10.

1,60 ... Structural inspection device, 2 ... Structure, 2a ... Structural surface, 2b ... Unsuitable part, 10 ... Moving body main body, 11,61 ... Inspection tool, 12 ... Main unit, 13 ... Endless running Band, 14 ... Main body drive unit, 15 ... Suction drive unit, 19 ... Suction hole, 25, 62 ... Inspection tool mounting frame, 26 ... Mounting plate, 27 ... Rolling member, 35 ... Pressurized spring, 36 ... Rotating shaft , 40 ... Link mechanism, 41 ... Link motor, 42 ... Link drive wheel, 43 ... Driven arm, 44 ... Slide joint part, 48 ... Sound input part, 49 ... Position adjustment arm, 53 ... Universal joint, 63 ... Weight member , 64 ... electromagnetic solenoid, 65 ... spring

Claims (13)

It is an inspection device for structures that inspects concrete structures.
A moving body that moves while adsorbing to the concrete structure,
It has an inspection tool installed on a part of the moving body body, and has
A rolling member that rolls on the surface of the concrete structure is attached to the inspection tool.
The rolling member is oscillated while rolling on the surface portion of the concrete structure by a link mechanism.
The link mechanism includes a link motor, a link drive wheel that rotates coaxially with the link motor, and a driven arm that is operated by the link drive wheel.
An inspection device for a structure, which has a configuration in which the rolling member is oscillated while rolling by alternately repeating clockwise and counterclockwise rotation of the link drive wheel. In the structural inspection apparatus according to claim 1,
The moving body main body has a sound input unit that picks up an impact sound generated when the rolling member rolls on a surface portion of the concrete structure.
A structure characterized in that the distance between the sound input portion and the position where the impact sound generated when the rolling member rolls on the surface portion of the concrete structure is 2 cm or more and 200 cm or less. Inspection equipment. In the structural inspection apparatus according to claim 1,
The moving body main body has a sound input unit that picks up an impact sound generated when the rolling member rolls on a surface portion of the concrete structure.
An inspection device for structures, characterized in that the difference between the maximum value and the minimum value of the impact sound picked up by the sound input unit is 10db or more and 50db or less. It is an inspection device for structures that inspects concrete structures.
A moving body that moves while adsorbing to the concrete structure,
It has an inspection tool installed on a part of the moving body body, and has
A rolling member that rolls on the surface of the concrete structure is attached to the inspection tool.
The moving body main body has a sound input unit that picks up an impact sound generated when the rolling member rolls on a surface portion of the concrete structure.
A structure characterized in that the distance between the sound input portion and the position where the impact sound generated when the rolling member rolls on the surface portion of the concrete structure is 2 cm or more and 200 cm or less. Inspection equipment. It is an inspection device for structures that inspects concrete structures.
A moving body that moves while adsorbing to the concrete structure,
It has an inspection tool installed on a part of the moving body body, and has
A rolling member that rolls on the surface of the concrete structure is attached to the inspection tool.
The moving body main body has a sound input unit that picks up an impact sound generated when the rolling member rolls on a surface portion of the concrete structure.
An inspection device for structures, characterized in that the difference between the maximum value and the minimum value of the impact sound picked up by the sound input unit is 10db or more and 50db or less. It is an inspection device for structures that inspects concrete structures.
A moving body that moves while adsorbing to the concrete structure,
It has an inspection tool installed on a part of the moving body body, and has
The inspection tool has a weight member that gives an impact force to the surface portion of the concrete structure.
The weight member swings on the surface of the concrete structure by a link mechanism.
The link mechanism has a link motor, a link drive wheel that rotates coaxially with the link motor, and a driven arm that is operated by the link drive wheel.
An inspection device for a structure, characterized in that the weight member is swung by alternately repeating clockwise and counterclockwise rotation of the link drive wheel. The structural inspection device according to claim 6 , wherein the weight member has a weight of 100 g or more and 500 g or less. In the structural inspection apparatus according to claim 6 or 7.
The inspection tool is a structure inspection device, characterized in that the inspection tool has a holding means for holding a gap between the weight member and the surface portion of the concrete structure when the weight member collides with and bounces off the surface portion of the concrete structure. .. It is an inspection method for structures that inspects concrete structures.
It has a moving body main body that moves while adsorbing to the concrete structure, and an inspection tool installed on a part of the moving body main body, and the inspection tool rolls the surface portion of the concrete structure by a link mechanism. A moving rolling member is attached, and the link mechanism is an inspection for a structure having a link motor, a link drive wheel that rotates coaxially with the link motor, and a driven arm operated by the link drive wheel. Using the device,
An inspection method for a structure, characterized in that the rolling member is oscillated while rolling by alternately repeating clockwise and counterclockwise rotation of the link drive wheel. In the structural inspection method according to claim 9,
The moving body main body has a sound input unit that picks up an impact sound generated when the rolling member rolls on a surface portion of the concrete structure, and the sound input portion and the rolling member are the concrete structure. A structural inspection method, characterized in that the moving body main body is operated with a distance of 2 cm or more and 200 cm or less from a position where an impact sound generated when rolling a surface portion of the concrete is generated. In the structural inspection method according to claim 9,
The moving body main body has a sound input unit that picks up an impact sound generated when the rolling member rolls on a surface portion of the concrete structure.
Before the maximum value of the volume of the impact noise pick up by the Kion input unit and the minimum value difference of 10db or more, and structure inspection method characterized by analyzing the sound with less than 50db. The structural inspection method according to any one of claims 9 to 11.
An inspection method for a structure, wherein the rolling member oscillates while rolling on a surface portion of the concrete structure, and the moving speed of the rolling member is 10 cm / sec or more and 200 cm / sec or less. .. It is an inspection method for structures that inspects concrete structures.
It has a moving body main body that moves while adsorbing to the concrete structure, and an inspection tool installed on a part of the moving body main body, and the inspection tool has a link mechanism to move the surface portion of the concrete structure. At the same time, a weight member that collides with the surface portion of the concrete structure is attached, and the link mechanism is operated by a link motor, a link drive wheel that rotates coaxially with the link motor, and the link drive wheel. Using a structural inspection device with a driven arm,
An inspection method for a structure, characterized in that the weight member is swung by alternately repeating clockwise and counterclockwise rotation of the link drive wheel.

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