JP7141613B2 - Condition evaluation device for inspection objects - Google Patents

Description

The present invention relates to an inspection object state evaluation apparatus for evaluating the state of an inspection object.

Various methods for diagnosing the state of a building have been proposed in order to prevent peeling and peeling of exterior materials (outer wall materials) of a building.
In Patent Document 1, a hammering sound generated when the surface of an object to be inspected is hit with a hammer is detected using a microphone, and a hammering sound detection waveform is generated based on the signal from the microphone. 2. Description of the Related Art A device for evaluating the state of an object to be inspected has been proposed, which evaluates the state of the object to be inspected based on the amplitude of a generated waveform for one cycle.

Japanese Patent Application Laid-Open No. 2016-205900

In the above-described prior art, since the worker hits the surface of the object to be inspected with a hammer, for example, in order to evaluate the state of the object to be inspected in a high place such as a building, scaffolding is required for high place work. Otherwise, the work will be done by workers in gondolas suspended from the roof of the building.
Therefore, evaluation of the condition of the object to be inspected entails danger to the workers, needless to say that equipment for evaluating the condition of the object to be inspected is required. In particular, when the area of the object to be inspected is large, such as a large high-rise building, warehouse, or stadium, the equipment cost becomes enormous, and the length of the construction period cannot be avoided. There is no such thing.
SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and its object is to provide an apparatus for evaluating the state of an object to be inspected which is advantageous in evaluating the state of the object to be inspected efficiently at low cost. It is in.

According to one aspect of the present invention, individual information indicating a detection result of detecting a state of an object to be inspected or an evaluation result generated based on the detection result and position information indicating a position of a detection point of the object to be inspected are stored. A state evaluation apparatus for an inspection object that evaluates in association with a frame, a frame supporting portion that supports the frame so as to face the plane of the inspection object, and a detection portion that detects the state of the inspection object. a moving mechanism provided in the frame for moving the detection unit along a plane of the inspection object; a local position information detection unit for detecting position information of the inspection object as local position information; an inspection object evaluation information generation unit that generates inspection object evaluation information that associates the information with the position information, wherein the local position information includes a predetermined point on the frame as a frame side reference point. a frame-side reference point position information detection unit that detects the frame-side reference point as frame-side reference point position information, and the local position information and the frame-side reference point position. and a position information conversion unit that converts the local position information into global position information based on information, wherein the frame-side reference point position information and the global position information are predetermined on the inspection object. is two-dimensional position information in a global coordinate system with a point on the inspection object side as a reference point, and the generation of the inspection object evaluation information by the inspection object evaluation information generation unit includes the individual information and the global position information. An apparatus for evaluating the state of an inspection object, characterized in that it is performed by associating .
In one aspect of the present invention, the inspection object extends along a vertical plane, and the frame supporting section supports the frame so that the plane of the frame is parallel to the vertical plane. characterized by
In one aspect of the present invention, the inspection object extends along a horizontal plane, and the frame supporting section supports the frame so that the plane of the frame is parallel to the horizontal plane. and
Further, according to one aspect of the present invention, individual information indicating a detection result of detecting a state of an object to be inspected or an evaluation result generated based on the detection result, and a position indicating a position of a detection point of the object to be inspected. A state evaluation device for an object to be inspected that evaluates information in association with a rectangular frame having a width in one x-direction and a height in the other y-direction out of two mutually orthogonal directions on a single plane. a frame supporting portion for supporting the frame so that the single plane is parallel to the inspection object ; a detection portion for detecting the state of the inspection object; along the single plane in the x-direction and the y-direction; a local position information detector for detecting the position information of the inspection object as local position information; and the individual information and the position information and an inspection object evaluation information generation unit that generates inspection object evaluation information associated with the local position information in a local coordinate system having a predetermined point on the frame as a frame side reference point a frame-side reference point position information detection unit that detects the frame-side reference point, which is two-dimensional position information, as frame-side reference point position information; and based on the local position information and the frame-side reference point position information. and a position information conversion unit that converts the local position information into global position information, wherein the frame-side reference point position information and the global position information correspond to a predetermined point on the inspection object. The object-side reference point is two-dimensional position information in the global coordinate system, and the generation of the inspection object evaluation information by the inspection object evaluation information generation unit is performed by associating the individual information with the global position information. characterized by
Further, in one aspect of the present invention, the frame supporting section includes at least an X-direction moving section that moves the frame along the x-direction and a Y-direction moving section that moves the frame along the y-direction. It is characterized by having one.
Further, one aspect of the present invention includes an index portion provided integrally with the detection portion, the index portion, and a plurality of reference points set at at least two locations apart from each other on the surface of the frame. a first imaging unit that captures an image of a range and generates image information, and the detection of the local position information by the local position information detection unit is performed when the image is captured at the time when the state of the inspection object is detected. It is characterized in that position information indicating relative positions of the index portion with respect to positions of the plurality of reference points is generated as the local position information based on image information.
In one aspect of the present invention, the local position information detection unit is one or more of an encoder, a glass scale, a length measurement sensor, a laser displacement meter, and an altitude sensor, and the local position information detected by the local position information detection unit is detected by generating, as the local position information, the position information of the detection unit at the time when the state of the inspection object is detected.
In one aspect of the present invention, the detection unit detects a physical quantity around the inspection object, and the first imaging unit performs imaging based on a signal supplied from the detection unit to generate the image information. characterized by
Further, according to one aspect of the present invention, the detection unit detects the physical quantity generated when the inspection object is hit.
Further, one aspect of the present invention includes an evaluation unit that evaluates the state of the inspection object based on individual measurement information indicating the state of the inspection object detected by the detection unit and generates individual evaluation information. and the individual information includes the individual evaluation information.
In one aspect of the present invention, the object to be inspected is a building frame and an exterior material adhered to the building frame, and the evaluation unit evaluates whether or not the exterior material is damaged. .
In one aspect of the present invention, the frame includes a pair of vertical portions extending in the y direction spaced apart in the x direction, and the pair of vertical portions extending in the x direction spaced apart in the y direction. an x-direction actuator having an x-direction table extending in the x-direction and provided on one of the pair of lateral portions and moving in the x-direction; A y-direction table extending in the y-direction, one end of which is attached to the x-direction table, and the other end of which is movably disposed on the other of the pair of lateral portions, and moves in the y-direction. and a y-direction actuator having a y-direction actuator, wherein the detection unit is supported by the y-direction table.
Further, according to one aspect of the present invention, the other end of the y-direction actuator in the extending direction is provided with a rolling wheel that is in rolling contact with the other of the pair of horizontal portions, and an x-axis roller on the other of the pair of horizontal portions. An engaging pawl is provided to prevent the rolling wheel from moving away from the other of the pair of horizontal parts.
In one aspect of the present invention, the y-direction table is provided with a bracket facing the inspection object, and the detection unit includes a plurality of rolling wheels that support the detection unit and roll on the inspection object. a connecting portion that is movable together with the bracket in the y-direction, is movable in the direction of separating and approaching the inspection object, and is immovably connected to the bracket in the x-direction; and the plurality of rolling wheels. and an elastic member that biases the detection unit in a direction in which it contacts the inspection object.

According to one aspect of the present invention, the moving mechanism provided in the frame is used to move the detection unit along the plane of the inspection object while detecting the state of the inspection object and detecting the detection position of the inspection object. It is possible to detect position information as local position information, which is two-dimensional position information in a local coordinate system, and generate inspection object evaluation information in which individual information and position information are associated.
Therefore, compared to the conventional method of installing scaffolding and gondolas to evaluate the condition of the object to be inspected, it is possible to reduce the equipment cost and shorten the construction period. This is advantageous in efficiently evaluating the state of the inspection object at low cost when the inspection object has a large area such as a high-rise building, a warehouse, or a stadium.
Further, according to one aspect of the present invention, it is advantageous in evaluating the state of the inspection target efficiently at low cost when the inspection target extends along the vertical plane.
Further, according to one aspect of the present invention, it is advantageous in evaluating the state of the inspection target efficiently at low cost when the inspection target extends along the horizontal plane.
Further, according to one aspect of the present invention, the state of the object to be inspected is detected while moving the detection unit in the x-direction and the y-direction using the moving mechanism provided on the frame, and the detection position of the object to be inspected is detected. It is possible to detect position information as local position information, which is two-dimensional position information in a local coordinate system, and generate inspection object evaluation information in which individual information and position information are associated.
Therefore, it is advantageous in reducing the equipment cost and shortening the construction period. Especially when the area of the inspection object such as a large high-rise building, warehouse, or stadium is large, the evaluation of the condition of the inspection object is low. It is advantageous in terms of cost and efficiency.
Further, according to one aspect of the present invention, the position information of the detection point of the inspection object is two-dimensional position information in the global coordinate system with a predetermined point on the inspection object as the inspection object side reference point. Since it can be obtained as certain global position information, it is advantageous in accurately specifying the position information of the detection point of the inspection object having a large area.
In addition, according to one aspect of the present invention, the frame can be accurately moved in the x-direction or the y-direction, which is advantageous in efficiently obtaining individual information of an object to be inspected having a large area.
Further, according to one aspect of the present invention, it is advantageous in simplifying the configuration while accurately performing an evaluation in which individual information and position information are associated in a short time.
Further, according to one aspect of the present invention, it is advantageous in simplifying the configuration while accurately detecting the local position information.
In addition, according to one aspect of the present invention, the first imaging section images the periphery of the inspection target using a signal (imaging trigger signal) emitted from the detection section. is advantageous.
In addition, according to one aspect of the present invention, the image of the inspection object and its surroundings is captured based on the physical quantity generated when the inspection object is hit, which is advantageous in facilitating identification of the image corresponding to the individual information. .
Moreover, according to the present invention, it is advantageous in accurately evaluating the state of the inspection object based on the individual evaluation information obtained by evaluating the individual measurement information.
In addition, according to one aspect of the present invention, the presence or absence of damage to the exterior materials adhered to the building skeleton is evaluated, which is advantageous in efficiently evaluating the presence or absence of damage to the exterior materials.
Further, according to one aspect of the present invention, the number of parts of the movement mechanism can be reduced by using the x-direction actuator and the y-direction actuator, which is advantageous in terms of simplifying the configuration and reducing the weight of the state evaluation device. becomes.
Further, according to one aspect of the present invention, the locking pawl causes the rolling wheel to roll stably on the lateral portion, which is advantageous in ensuring the operation of the y-direction actuator.
In addition, according to one aspect of the present invention, since the detection unit is displaced by the connecting unit and the elastic member, the difference in level and unevenness of the inspection object can be absorbed. , which is advantageous in reliably performing the detection operation of the detection unit.

1 is a block diagram showing the configuration of an inspection object state evaluation apparatus according to a first embodiment; FIG. It is a front view showing a frame, a detection part, and a movement mechanism of a state evaluation device of an inspection object. FIG. 3 is a view taken along the line AA of FIG. 2; FIG. 4 is a side view showing the structure of a frame support; (A) is a schematic diagram for explaining the relationship between the frame and the global coordinate system whose origin is the inspection object side reference point P0, and (B) is a local coordinate system whose origin is the frame side reference point P1 and the detector. It is a schematic diagram explaining a relationship. FIG. 4 is a schematic diagram illustrating movement of a frame along the X direction and the Y direction; 4 is an operation flowchart of the inspection object state evaluation device according to the first embodiment; (A) is a front view showing a modification of the moving mechanism, and (B) is a front view showing another modification of the moving mechanism. (A) is a front view showing a frame, a detection unit, and a moving mechanism of a state evaluation apparatus for an inspection object according to the second embodiment; (B) is a B arrow view of (A); It is a C arrow directional view of A). It is a side view of the detection part of the state evaluation apparatus of the test object which concerns on 2nd Embodiment. It is a front view of the detection part of the state evaluation apparatus of the test object which concerns on 2nd Embodiment. It is a front view of the detection part of the state evaluation apparatus of the test object which concerns on 2nd Embodiment. It is a side view of the detection part of the state evaluation apparatus of the test object which concerns on 3rd Embodiment. FIG. 14 is a view taken along the line AA of FIG. 13; 13. It is a B arrow directional view of FIG.

(First embodiment)
Hereinafter, a state evaluation device for an inspection object (hereinafter referred to as a state evaluation device) according to an embodiment of the present invention will be described with reference to the drawings.
First, referring to FIG. 1, the configuration of a condition evaluation device 10 according to the present embodiment will be described.
In the present embodiment, the state evaluation device 10 detects the state of the exterior material 4 such as tiles, mortar, bricks, blocks, exterior wall panels, and glass adhered to the building skeleton 2 as the state of the inspection object. Although the case of evaluation will be described, the state of the inspection object detected by the state evaluation device 10 is not limited to the state of the exterior material 4, but cracks, stains, cavities, temperature, etc. on the outer surface of the building. Various conventionally known states can be detected.
In this specification, the object to be inspected is a building or structure, and when the object to be inspected is a building, the object to be inspected includes, in addition to the outer surface of the building, for example, the wall surface of the room, the concrete frame of the room, etc. and so on.
In addition, in this specification, the building outer surface refers to the outer surface of the building located on the outermost side of the building, and the building outer surface part refers to the outer surface of the building when exterior materials such as tiles and mortar are not provided. , including internal conditions near this building exterior. In addition, when exterior materials such as tiles and mortar are provided, the exterior surface of the building includes, in addition to the surface of the exterior materials, the exterior material portion inside the surface of the exterior materials and the building skeleton 2 inside the exterior materials. including the surface and near-surface interiors of the

Here, various types of information handled by the condition evaluation device 10 in the embodiment will be described.
1) Individual measurement information:
It is a physical quantity obtained by detecting the state of the outer surface of the building.
In the present embodiment, one or more physical quantities of impact force, hammering sound, and vibration generated when an object to be inspected is hit, particularly when the exterior material 4 is hit, are exemplified.
2) Individual evaluation information:
This is the information that evaluates the condition of the exterior of the building based on the individual measurement information.
In the present embodiment, floats (separation between the building frame 2 and the exterior material 4), cracks, defects/peeling, dirt, etc. etc. are exemplified.
3) Individual information:
It is information indicating the detection result of the state of the inspection object detected by the state evaluation device 10 or the evaluation result generated based on the detection result, and refers to one or both of the above-described individual measurement information and individual evaluation information.
4) Inspection object evaluation information:
This is information that associates individual evaluation information and position information.

The state evaluation device 10 detects the state of an object to be inspected extending along a vertical plane or a horizontal plane, and individual information indicating the detection result or an evaluation result generated based on the detection result and the detection location of the object to be inspected. It is evaluated in association with location information indicating the location.
In the present embodiment, the state evaluation device 10 includes position information indicating the evaluation result of the state of the exterior material 4 and the position of the building outer surface (the position of the detection point of the inspection object) in the vertical plane of the building outer surface. will be described.

As shown in FIGS. 1 to 4, the state evaluation device 10 includes a frame 12, a moving mechanism 14, a detection unit 16, an index unit 18, a first imaging unit 20, a second imaging unit 22, a frame It includes a support section 24, a frame-side reference point position information detection section 26, a first computer 28, a second computer 30, and the like.

As shown in FIGS. 2 and 3, the frame 12 has a rectangular frame shape and has a width W in one x direction and a height H in the other y direction of two directions perpendicular to each other on a single plane. have.
Specifically, the frame 12 has a pair of longitudinal portions 1202 spaced in the x direction and extending in the y direction, and a pair of lateral portions 1204 spaced in the y direction and extending in the x direction. is doing.
In addition, in a state where the frame 12 is supported by the frame support portion 24 to be described later so that a single plane is parallel to the outer surface of the building (vertical plane), the x direction is horizontal, and the y direction is vertical. A plurality of casters 1206 are provided at a portion of the frame 12 facing the outer surface of the building so that a predetermined gap is formed between the frame 12 and the outer surface of the building. 1206 rolls along the outer surface of the building so that the frame 12 can smoothly move along the outer surface of the building.
It should be noted that the frame 12 may have a shape such as a polygonal frame shape, a circular frame shape, an L shape, a U shape, etc., instead of the rectangular frame shape. Alternatively, as shown in FIGS. 8A and 8B, a robot arm may be provided as the moving mechanism 14 .

The moving mechanism 14 is provided on the frame 12 and moves a detection unit 16, which will be described later, in the x-direction and the y-direction along the single plane.
In this embodiment, as shown in FIGS. 2 and 3, the moving mechanism 14 includes an x-direction moving section 32, a y-direction moving section 34, and a drive control section 36 (FIG. 1). there is
The x-direction moving section 32 is configured including a first guide rod 3202 , a first feed screw 3204 , a first motor 3206 and a first carriage 3208 .
A first guide rod 3202 and a first feed screw 3204 are spaced apart in the y-direction and extend in the x-direction at locations near the top of the pair of vertical portions 1202, and both ends thereof are connected to a pair of upper brackets. It is supported at a pair of vertical portions 1202 via 3210 .
The first motor 3206 has its drive shaft connected to one end of the first feed screw 3204 and rotates the first feed screw 3204 forward and backward.
The first carriage 3208 has a guide hole 3208A through which the first guide rod 3202 is inserted, and a threaded hole 3208B into which the first feed screw 3204 is screwed.

The y-direction moving unit 34 includes a second guide rod 3402 , a second carriage 3404 , a third guide rod 3406 , a second feed screw 3408 , a second motor 3410 and a moving body 3412 .
The second guide rod 3402 is arranged to extend in the x-direction near the bottom of the pair of vertical portions 1202, and both ends thereof are supported by the bottom of the pair of vertical portions 1202 via a pair of lower brackets 3414. ing.
The second carriage 3404 has a guide hole 3404A through which the second guide rod 3402 is inserted.
A third guide rod 3406 and a second feed screw 3408 are spaced apart in the x direction and extend in the y direction, and their ends are supported by a first carriage 3208 and a second carriage 3404 .
The second motor 3410 has its drive shaft connected to one end of the second feed screw 3408 and rotates the second feed screw 3408 forward and backward.
The moving body 3412 supports the detection unit 16, which will be described later, and has a guide hole 3412A through which the third guide rod 3406 is inserted, and a screw hole 3412B into which the second feed screw 3408 is screwed. .
Therefore, the first carriage 3208 , the second carriage 3404 , and the movable body 3412 are reciprocated in the x-direction via the first feed screw 3204 by the forward and reverse rotation of the first motor 3206 .
Further, the moving body 3412 is reciprocated in the y-direction via the second feed screw 3408 by the forward and reverse rotation of the second motor 3410 .
That is, the forward and reverse rotation of the first and second motors 3206 and 3410 causes the moving body 3412 to move along the single plane in the region inside the frame 12 .

As shown in FIG. 1, the drive control section 36 controls the rotation of the first and second motors 3206 and 3410 based on control commands supplied from a movement control section 30E of the second computer 30, which will be described later. , thereby moving the mover 3412 in the x and y directions.
Further, the first motor 3206 and the second motor 3410 each have encoders (not shown) for detecting their rotation amounts, and the drive control unit 36 controls the first and second motors based on the rotation amounts detected by these encoders. Rotation control of two motors 3206 and 3410 is performed.
In other words, the drive control unit 36 controls the moving body 3412 to move within a predetermined movement range by monitoring the amount of rotation detected by these encoders.
Here, the x-direction moving section 32 and the y-direction moving section 34 use feed screws 3404 and 3408, respectively. A linear actuator, a robot arm, or the like can be used as appropriate. Alternatively, a robot arm may be used as the moving mechanism 14 as shown in FIG. 8(A).
In this case, the moving mechanism 14 is installed on the frame 12 via the support portion 19 .
Alternatively, as shown in FIG. 8(B), a frame 12 that extends in one direction (here, the y direction) is used, and the moving mechanism 14 is provided on the frame 12 and is a y-direction moving mechanism capable of moving in the y direction. A portion 35 and an x-direction moving portion 33 that can extend in the x-direction may be used. A robot arm can be used as the x-direction moving part 33 that can extend in the x-direction, and a feed screw, a belt conveyor, or a linear actuator can be used as the y-direction moving part 35 that can move in the Y direction. .
Further, when a belt conveyor, a linear actuator, a robot arm, or the like is used as the x-direction moving unit 32 and the y-direction moving unit 34, the first motor 3206 and the second motor 3410 may be provided with encoders for detecting the amount of rotation. Alternatively, a mechanism for detecting the position other than the encoder may be provided.

The detection unit 16 detects the physical quantity around the object to be inspected, that is, the state of the outer surface of the building. In other words, it generates individual measurement information indicating the state of the outer surface of the building. It should be noted that "individual" in the present embodiment means at one measurement point (or at the time of unit measurement).
In this embodiment, the detection unit 16 is supported by the moving body 3412 and moved together with the moving body 3412 .
Further, as shown in FIG. 3, the detection unit 16 is used facing the surface of the exterior material 4 whose condition is to be evaluated.
In addition, in the present embodiment, the detection unit 16 individually measures one or more physical quantities generated when the inspection object is hit, particularly one or more of the impact force, hammering sound, and vibration generated when the exterior material 4 is hit. Detect as information.
A microphone is preferably provided in the detection unit 16 as a device for measuring one or more physical quantities of striking force, hitting sound, and vibration. A compact and lightweight condenser microphone can be used as the microphone.
In FIG. 3, reference numeral 1602 denotes a striking hammer that strikes the object to be inspected.
The shape of the tip of the impact hammer 1602 can be appropriately spherical, planar, or projecting. Also, the impact hammer 1602 can use a stainless steel projection.
In addition, if the object to be evaluated by the condition evaluation device 10 is cracks or stains on the outer surface of the building, the detection unit 16 picks up an image of the outer surface of the building, for example, and detects cracks or stains (change in color of the inspection object). It consists of an imaging device. Further, if the object to be evaluated by the condition evaluation device 10 is the temperature of the outer surface of the building, the detection unit 16 is composed of, for example, a thermometer that detects the temperature of the outer surface of the building. In short, the detection unit 16 that corresponds to the object to be evaluated by the state evaluation device 10 is adopted.
In addition, in the present embodiment, each time the detection unit 16 detects one or more physical quantities of striking force, hammering sound, and vibration, a position detection trigger signal is sent from the detection unit 16 to the local position information detection unit 28B, which will be described later. In addition, the imaging trigger signal is supplied to the first imaging unit 20 to instruct imaging.

As shown in FIG. 2, the index section 18 is provided integrally with the detection section 16, and in this embodiment, provided on the surface of the moving body 3412 to which the housing of the detection section 16 is attached.
The indicator section 18 may be imaged by the first imaging section 20. For example, the indicator section 18 may be configured by a sticker with a symbol or mark attached thereto, or may be configured by a light source that lights up or blinks. You may

As shown in FIGS. 2 and 3, the first imaging unit 20 and the second imaging unit 22 are legs protruding from upper and lower middle portions of a pair of vertical portions 1202 of the frame 12 in a direction away from the outer surface of the building. It is attached via a bracket 15 to an intermediate portion of the stay 13 that spans between the tips of the portions 1210 .
The first image capturing unit 20 captures an image of a range including the index portion 18 and a plurality of reference points P1 to P4 set at at least two locations apart from each other on the surface of the frame 12 to generate image information. .
In the present embodiment, the first imaging unit 20 captures an image of at least the entire area inside the outline of the outer edge of the frame 12 in plan view.
As the first imaging unit 20, various conventionally known imaging devices capable of imaging still images or moving images, such as a CCD camera and an infrared camera, can be used.
In the present embodiment, the first imaging section 20 takes an image of the periphery of the inspection target in response to an imaging trigger signal supplied from the detection section 16, and generates image information. As described above, in the present embodiment, the detection unit 16 detects one or more of the physical quantity generated when the test object is struck, namely, the hammering sound and the vibration. It is assumed that imaging is performed by an imaging trigger signal emitted from 16 and image information is generated. That is, it is assumed that an image is captured in accordance with the imaging trigger signal from the detection unit 16 described above.
Also, the first imaging unit 20 may always capture still images or moving images at regular time intervals (for example, in units of 0.1 seconds).
When local position information, which will be described later, is obtained by an encoder, the local position information can also be calculated from the encoder using the physical quantity described above as a trigger signal.
In addition, based on the information obtained from the encoder, it is possible to obtain the physical quantity, which is the individual measurement information of the object to be inspected, at preset position intervals.

Similarly to the first imaging unit 20, the second imaging unit 22 also images at least the entire area inside the contour of the outer edge of the frame 12 in plan view.
The second imaging unit 22 constantly captures images of the detection unit 16 and the situation of the outer surface of the building to generate image information. It is used to monitor the operating state of the unit 16, the state of the exterior surface of the building, and the like.
As the second imaging unit 22, various conventionally known imaging devices capable of capturing still images or moving images that can be displayed on the display unit 30I of the second computer 30, such as a CCD camera, can be used.

A plurality of reference points P1 to P4 provided on the frame 12 will now be described.
In this example, four reference points P1, P2, P3, and P4 are provided on the surface of the frame 12, specifically, on the surfaces of the four corners of the frame 12. As shown in FIG. Note that the number of reference points may be two or more.
Each of the reference points P1, P2, P3, and P4 may be imaged by the first imaging unit 20. For example, each reference point may be configured by providing a sticker with a symbol or mark on the surface of the frame 12. Alternatively, a lighting or blinking light source may be attached to the surface of the frame 12 to form each reference point.
The distances (coordinate positions) of the reference points P1, P2, P3, and P4 are known.
For example, when the reference point P1 is defined as the origin (0, 0) and mutually orthogonal X and Y axes passing through this origin are set, the positions of the other reference points P2, P3, and P4 are the X coordinate and the Y coordinate. is known in mm.
Here, the position of the index portion 18 can be identified by a triangulation method based on at least two reference points among the reference points P1, P2, P3, and P4.
In this embodiment, the X-axis and Y-axis are parallel to the x-direction (horizontal direction) and y-direction (vertical direction) of the frame 12 .
Note that if the position and angle of the first imaging unit 20 are constant with respect to the frame 12, the reference points of P1 to P4 are recognized at least once, and the information can be reused. can.

As shown in FIG. 4, the single plane of the frame support 24 is parallel to the outer surface of the building (vertical plane), the x direction of the frame 12 is horizontal, and the y direction of the frame 12 is vertical. It supports the frame 12 so that it faces.
In the present embodiment, the frame support portion 24 is installed on the roof of the building skeleton 2 at a location near the outer surface of the building.
The frame support section 24 includes a guide rail 2402, a carriage 2404, a base 2406, two winches 2408, two pulleys 2410, two wires 2412, a feed screw 2414, a horizontal movement motor 2416, and a frame. and a movement operation unit 2418 (FIG. 1).

The guide rail 2402 is provided on the roof of the building skeleton 2 so as to extend in the horizontal direction along the outer surface of the building.
A carriage 2404 is provided movably along the guide rail 2402 .
The pedestal 2406 has a plate-like lower surface attached to the upper portion of the carriage 2404. At the rear of the pedestal 2406, a nut member 2407 having a female screw 2407A with a horizontal axis is provided.
The two winches 2408 are provided on the upper surface of the frame 2406 with an interval in the direction in which the guide rail 2402 extends. A winch motor 2422 is provided for unwinding and winding.

The two pulleys 2410 are rotatably attached to the ends of two arms 2424 erected from the base 2406 at intervals in the extending direction of the guide rail 2402 .
Two wires 2412 are wound around each drum 2420, the wires 2412 unwound from the drums 2420 are led out downward through each pulley 2410, and the tips of the wires 2412 are spaced apart in the X direction above the frame 12. It is connected in two places.
Feed screw 2414 is screwed into female thread 2407 A of nut member 2407 .
A horizontal movement motor 2416 is connected to the feed screw 2414 and rotates the feed screw 2414 forward and backward.

The frame movement operation unit 2418 turns on/off the driving of the horizontal movement motor 2416 and the winch motor 2422 by manual operation, and switches the driving direction.
Therefore, when the frame movement operation unit 2418 rotates the horizontal movement motor 2416 forward and backward, the frame 2406, the two winches 2408, and the two pulleys 2410 move in the X direction via the feed screw 2414. As a result, the frame 12 moves in the X direction (horizontal direction) along the outer surface of the building.
In addition, when the two winch motors 2422 are rotated forward and backward by the frame movement operation unit 2418, the wire 2412 is paid out and wound up by the two drums 2420, and the frame 12 moves along the outer surface of the building in the Y direction via the wire 2412. (vertically).

Therefore, in the present embodiment, the frame supporting portion 24 includes an X-direction moving portion 24A that moves the frame 12 along the X-direction and a Y-direction moving portion 24B that moves the frame 12 along the Y-direction. It is configured.
The X-direction moving section 24A is composed of a guide rail 2402, a carriage 2404, a base 2406, a female screw 2407A, a feed screw 2414, a horizontal movement motor 2416, and a frame movement operation section 2418.
The Y-direction moving unit 24B is composed of a wire 2412, a pulley 2410, a winch 2408, and a frame moving operation unit 2418.

As shown in FIG. 2, the first computer 28 is installed on the frame 12 at an appropriate location.
As shown in FIG. 1, the first computer 28 includes, for example, a microcomputer, a sequencer, a notebook computer, a tablet terminal, etc. The first computer 28 includes the detection unit 16, the first imaging unit 20, the second imaging It is connected to the unit 22 and the drive control unit 36 by cable or wirelessly.
The first computer 28 has a CPU, ROM, RAM, touch panel, display device, input/output interface, and the like.
The ROM is composed of, for example, a flash memory or the like, and stores control programs and the like, and the RAM provides a working area.
The evaluation unit 28A, the local position information detection unit 28B, and the communication unit 28C are implemented by the CPU executing the control program.

The evaluation unit 28A evaluates the state of the building exterior based on the individual measurement information indicating the state of the building exterior detected by the detection unit 16, and generates individual evaluation information. In addition, in this Embodiment, individual information includes individual evaluation information.
As in the present embodiment, in the case of the building outer surface portion in which the exterior material 4 is adhered to the building frame 2, the evaluation unit 28A detects the float (separation between the building frame 2 and the exterior material 4) and cracks at each detection point. , the presence or absence of defects, peeling off, stains, etc. is evaluated. Hereinafter, the unfavorable state of the exterior material 4 as described above will be referred to as "damage".
In the following description, floating of the exterior material 4 adhered to the building frame 2 will be mainly described as an example. It should be noted that the depth of the float may be evaluated based on the magnitude of the evaluation result on the back side of the exterior material formed by peeling of the exterior material. Specifically, if the evaluation result is less than the threshold value a, there is "no floating", if the threshold value is greater than or equal to the threshold value a or less than b, there is "deep floating", and if the evaluation result is greater than the threshold value b, " It may be evaluated as "there is shallow floating".
The generation of the individual evaluation information by the evaluation unit 28A is based on the detection results of the frequency, amplitude, wavelength, etc. of one or more detection signals of the hammering sound and the vibration detected by the detection unit 16. Such individual evaluation information Various conventionally known methods can be employed as the generation method.

The local position information detection unit 28B detects the position information indicating the position of the detection point of the inspection object along the x direction and the y direction in the local coordinate system with a predetermined point on the frame 12 as the frame side reference point. It is detected as local position information, which is two-dimensional position information.
That is, as shown in FIG. 5B, the frame-side reference point can be one of the reference points P1 to P4 described above. Use it as a reference point.
Therefore, the local position information is two-dimensional position information in a local coordinate system defined by the frame-side reference point as the origin and the mutually orthogonal x-axis and y-axis passing through the reference point. It is indicated by coordinate values (x, y) on the x-axis and y-axis shown in 5(B).
In this embodiment, the x-axis and y-axis in the local coordinate system are parallel to the x-direction (horizontal direction) and y-direction (vertical direction) of the frame 12 . Note that the x-axis and y-axis in the local coordinate system need only be parallel to the x-direction and y-direction of the frame 12, and may not be orthogonal but may intersect at an arbitrary angle.

The local position information detector 28B will be described in detail.
In the present embodiment, the local position information detection unit 28B detects the time when the state of the inspection object is detected, which is the time when the detection unit 16 in the present embodiment hits the exterior material 4 and detects the impact of the hammering sound and vibration. The indicator unit 18 for the positions of a plurality of reference points based on the image information captured by the first imaging unit 20 based on the imaging trigger signal supplied from the detection unit 16, corresponding to the time when one or more are detected. position information (local position information) indicating the relative position of the detector 16 . In other words, position information indicating the position of the detection unit 16 is generated as position information (local position information) of the detection location of the inspection object.
The image information captured by the first imaging unit 20 corresponding to the time when one or more of the hammering sound and the vibration generated when the exterior material 4 is struck by the detection unit 16 is detected by the detection unit 16 Any image information captured by the first imaging unit 20 at the same time or almost the same time as the time when one or more of the hammering sound and the vibration is detected may be used.
Further, when the first imaging unit 20 constantly captures still images at regular time intervals, the local position information detection unit 28B selects the image information sequentially supplied from the first imaging unit 20 over time. 16, and based on the selected image information, position information (local position information) indicating the relative position of the index section 18 with respect to the positions of a plurality of reference points. ).

As described above, since the positions of the reference points P1, P2, P3, and P4 and the position of the index portion 18 can be specified in units of pixels on the image information captured by the first imaging section 20, these positions It is possible to generate position information (local position information) indicating the relative position of the indicator section 18 with respect to the positions of a plurality of reference points by a triangulation method based on . As described above, this position information can be calculated based on the pixel information of the captured image, for example, and calculated as x-coordinate and y-coordinate values in units of mm.

The communication unit 28C is connected to the detection unit 16, the evaluation unit 28A, the local position information detection unit 28B, the second imaging unit 22, and the drive control unit 36, and communicates with the communication unit 30G of the second computer 30 via a cable or wirelessly. are connected to each other and communicate various information.

The frame-side reference point position information detection unit 26 sets the frame-side reference point to a two-dimensional position along the X and Y directions in the global coordinate system with a predetermined point on the inspection object as the inspection object-side reference point. This is detected as frame-side reference point position information, which is position information.
Here, as shown in FIG. 6, the inspection object side reference point P0 can be a predetermined reference point provided on the surface of the inspection object, that is, on the outer surface of the building. is defined arbitrarily.
The inspection object side reference point P0 may be configured by, for example, attaching a sticker with a symbol or mark to an appropriate location on the outer surface of the building, or attaching a lighting or blinking light source to an appropriate location on the outer surface of the building. may be configured Alternatively, a reflective sheet or a reflective prism may be attached to an appropriate location on the outer surface of the building.
In this embodiment, as shown in FIG. 6, the frame-side reference position information detector 26 is composed of a total station 26A installed on the ground away from the inspection object.
The total station 26A performs distance measurement and angle measurement using the inspection object side reference point P0 and the frame side reference point (for example, reference point P1) as targets. Two-dimensional position information of a frame-side reference point (for example, reference point P1) in the global coordinate system defined by the Y-axis is detected as frame-side reference point position information.
That is, as shown in FIG. 5A, the frame-side reference point position information (two-dimensional position information of the frame-side reference point (for example, reference point P1)) uses the inspection object-side reference point P0 as the origin and It is two-dimensional position information in the global coordinate system defined by the mutually orthogonal X-axis and Y-axis passing through the object-side reference point P0, and is indicated by coordinate values (X+x, Y+y) of the X-axis and Y-axis. However, x and y indicate the coordinate values of the x-axis and y-axis of the frame-side reference point (for example, reference point P1) in the local coordinate system, where x=0 and y=0.
In this embodiment, the X and Y axes in the global coordinate system are parallel to the x and y axes in the local coordinate system described above, respectively; parallel to the x-direction (horizontal) and y-direction (vertical) of the .
Note that the x-axis and y-axis in the local coordinate system need only be parallel to the x-direction and y-direction of the frame 12, not orthogonal, and can intersect at an arbitrary angle.

The second computer 30 is installed at a location spaced apart from the frame 12, for example, on the ground where the operator is located.
The second computer 30 is configured by, for example, a notebook computer, a tablet terminal, or the like.
The second computer 30 has a CPU, ROM, RAM, keyboard, mouse, display device, input/output interface, and the like.
The ROM is composed of, for example, a flash memory or the like, and stores control programs and the like, and the RAM provides a working area.
A position information conversion unit 30A, an inspection object evaluation information generation unit 30B, a display control unit 30C, a detection unit control unit 30D, a movement control unit 30E, and a communication unit 30G are realized by the CPU executing the control program.
Also, the ROM or RAM functions as a storage unit 30H.
Also, the keyboard, mouse, and touch panel function as the operation unit 30F, and receive operation input for remote control to the drive control unit 36 provided on the frame 12 .
A display device displays an image, and is configured by, for example, a liquid crystal display device, an EL display device, or the like. The display device functions as the display section 30I.

Based on the local position information and the frame-side reference point position information, the position information conversion unit 30A converts the local position information, which is the position information of the detection point of the inspection object, into the global position information, which is two-dimensional position information in the global coordinate system. Convert to information.
Therefore, even if the frame 12 is moved in the X direction and the Y direction by the frame support part 24, the positional information of the detection point of the inspection object can be obtained as the global positional information, which is the two-dimensional positional information in the global coordinate system. .
Here, the local position information, the frame-side reference point position information, and the global position information will be explained.
That is, the local position information in the local coordinate system shown in FIG. 5B is two-dimensional position information indicated by coordinate values (x, y) on the x-axis and y-axis.
Further, as shown in FIG. 5A, the frame-side reference point position information (two-dimensional position information of the frame-side reference point (for example, reference point P1)) uses the inspection object-side reference point P0 as the origin and It is two-dimensional position information in the global coordinate system defined by the mutually orthogonal X-axis and Y-axis passing through the object-side reference point P0, and the coordinate values (X+x, Y+y) of the X-axis and Y-axis (where x=y=0 ).
As shown in FIG. 5A, the global position information in the global coordinate system includes local position information (two-dimensional position information (x, y)), frame-side reference point position information (two-dimensional position information (X, Y ) and two-dimensional position information (X+x, Y+y) generated based on the above.

The inspection object evaluation information generation unit 30B generates inspection object evaluation information in which the individual evaluation information supplied from the evaluation unit 28A and the position information are associated with each other.
In the present embodiment, the inspection object evaluation information generation unit 30B generates inspection object evaluation information in which individual evaluation information and global position information are associated with each other.
Therefore, since the individual evaluation information can be confirmed by specifying the detection points of the inspection target based on the global position information, even if the inspection target has a large area and there are many detection points of the inspection target. Also, it is advantageous in accurately specifying the detection point of the inspection object and accurately evaluating the state of the inspection object.
Although the inspection object evaluation information generating section 30B is included in the second computer 30 in the present embodiment, it may be included in the first computer .
Alternatively, the first computer 28 includes an evaluation unit 28A, a local position information detection unit 28B, and a communication unit 28C, as well as a position information detection unit 30A, a detection target evaluation information generation unit 30B, a detection unit control unit 30D, and a movement control unit. 30F, and a storage unit 30H, and the second computer 30 may have an operation unit 30F, a communication unit 30G, and a display unit 30I. In this case, the second computer 30 can remotely control the first computer 28 .

The storage unit 30H associates and stores image information captured by the first imaging unit 20 and inspection object evaluation information.
The display unit 30I displays an image.
The display control section 30C causes the display section 30I to display various information.
The display control unit 30C causes the display unit 30I to display an image of the building outer surface based on the image information, and displays an inspection image at a location on the building outer surface image specified by the position information included in the inspection object evaluation information. The individual evaluation information included in the object evaluation information and associated with the position information is displayed. That is, the individual evaluation information is displayed superimposed on the image of the building outer surface displayed on the display unit 30I.
Such a display is performed, for example, by directly drawing an icon or the like corresponding to the individual evaluation information on the image information of the building outer surface stored in the storage unit 30H. After being displayed, the image in which the individual evaluation information is written may be stored in the storage unit 30H.
The display of the individual evaluation information by the display unit 30I is performed, for example, by displaying the individual evaluation information with marks exhibiting a plurality of colors associated with the content of the evaluation. In more detail, for example, a red mark is displayed for a portion where the exterior material 4 is lifted, and a blue mark is displayed for a portion where the exterior material 4 is not lifted.
In addition, the greater the degree of floating of the exterior material 4 (the deeper the cavity on the back side), the darker the red concentration, and the smaller the degree of floating of the exterior material 4 (the shallower the cavity on the back side), the thinner the red density. You may make it display with the mark which carried out.
The display of the evaluation results is not limited by color shades or types. Raw data indicating the detection results of the building exterior conditions, numerical values indicating the detection results of the building exterior conditions, Various conventionally known methods such as information representing the state detection result may be selected.

Also, on the display unit 30I, two types of images, that is, the image information captured by the second imaging unit 22 and the image in which the above-described individual evaluation information is superimposed on the image of the building outer surface are displayed at the same time, or , the two types of images may be selectively displayed by switching the screen according to the operation of the operation unit 30F.
Alternatively, a display section (display) other than the display section 30I may be connected to the second computer 30, and image information captured by the second imaging section 22 may be displayed on this separate display section.
Since the image information captured by the second imaging unit 22 indicates the situation of the detection unit 16 and the outer surface of the building, the position and orientation of the frame 12 with respect to the outer surface of the building can be determined by viewing such image information. Whether it is normal or whether the movement of the detection unit 16 is normally performed can be constantly monitored.

The movement control section 30E generates a first control command regarding the movement of the detection section 16 and supplies it to the drive control section 36 via the communication section 30G and the first computer 28 .
The detection unit control unit 30D generates a second control command that instructs the detection unit 16 to perform the detection operation, and supplies the second control command to the detection unit 16 via the communication unit 30G and the first computer 28. FIG.
In the present embodiment, in the entire operating range inside the frame 12, the first detection unit 16 detects a plurality of predetermined locations spaced apart by a predetermined distance in the x direction and the y direction. , a second control command is generated.
Therefore, as shown in FIG. 6, at a predetermined position in the Y direction, detection is performed by the detection unit 16 each time the detection unit 16 is moved a certain distance ΔX along the X direction, and detection is performed over the entire length in the X direction. is performed, the detection unit 16 is moved by a constant distance ΔY along the Y direction, and detection by the detection unit 16 is executed every time the detection unit 16 is moved by a constant distance ΔX along the X direction again.

By repeating such an operation over the entire length in the Y direction, the detection operation by the detection unit 16 is performed over the entire outer surface of the building.
The dimensions of the constant distances .DELTA.X and .DELTA.Y are arbitrarily set according to the size of the frame 12, for example.
It should be noted that the upper limit of the number of detection locations on the outer surface of the building detected by the detection unit 16 in the entire region within the frame 12 within which the detection unit 16 can move is It is determined based on the directional dimension and the above ΔX and ΔY.
The detection unit control unit 30D counts the number of detection points detected by the detection unit 16 each time the detection unit 16 performs detection. It is determined that the operation has reached the upper limit, and if the upper limit has been reached, the fact is displayed on the display section 30I via the display control section 30C.

The operation unit 30F performs operations on the second computer 30, and also operates start and stop of control operations by the movement control unit 30E and the detection unit control unit 30D.
The communication section 30G is connected to the respective sections 30A to 30I, and is also connected to the first computer 28 and the communication section 30G via a cable or wirelessly to communicate various information.

Next, the operation of the condition evaluation device 10 will be described with reference to the flowchart of FIG.
First, as shown in FIG. 6, an inspection object side reference point P0 is installed on the surface of the exterior material 4 provided on the building skeleton 2 to be evaluated (step S10).
Next, the frame supporting portion 24 is installed on the roof of the building frame 2, and the frame 12 provided with the detecting portion 16, the moving mechanism 14, and the first computer 28 is attached to the building frame via the wire 2412 from the frame supporting portion 24. 2 is installed outside the outer surface of the building (step 12). Here, the frame supports 24 allow the single plane of the frame 12 to be parallel to the vertical plane (surface) of the building envelope, with the x direction of the frame 12 oriented horizontally and the y direction of the frame 12 oriented vertically. Install the frame 12 so as to face the
Also, the total station 26A is installed on the ground in the vicinity of the building skeleton 2 (step S14). At this time, the total station 26A can measure the range and angle of the inspection object side reference point P0, and the range and angle measurement of the frame side reference point (for example, the reference point P1) within the movable range of the frame 12. installed in a certain place.
The frame 12 and the first computer 28, the first computer 28 and the second computer 30, and the total station 26A and the second computer 30 are connected by cables or wirelessly.
Next, the operator uses the total station 26A to measure the range and angle of the inspection object side reference point P0, and the range and angle measurements of the frame side reference point (for example, the reference point P1). As a result, the total station 26A detects the two-dimensional positional information of the frame-side reference point in the global coordinate system as the frame-side reference point positional information, and supplies it to the positional information conversion section 30A of the second computer 30 (step S16).
Next, the operator operates the operation section 30F of the second computer 30 to start control of the detection operation of the detection section 16 by the detection section control section 30D (step S18).

Next, the surface of the exterior material 4 is hit by the operation of the detection unit 16, and one or more of hammering sound and vibration are detected, and the detection result (detection signal) is supplied to the evaluation unit 28A (step S20).
At the same time as detection is performed by the detection unit 16, an image is captured by the first imaging unit 20 in accordance with detection of one or more of the hitting sound and the vibration (step S22).

The evaluation unit 28A determines whether the exterior material 4 is damaged, for example, whether there is a float based on the detection result, and determines the degree of float based on the depth of the float formed on the back surface of the exterior material.
That is, the evaluation unit 28A generates the presence or absence of damage to the exterior material 4 and the degree of damage as individual evaluation information for evaluating the state of the exterior surface of the building (step S24).

The local position information detection unit 28B detects a plurality of reference points P1, P2, Local position information indicating the position of the index portion 18 relative to the positions of P3 and P4 is generated (step S26).
Next, the position information conversion unit 30A converts the local position information detected by the local position information detection unit 28B and the frame side reference point position information detected by the total station 26A (frame side reference point position information detection unit 26). Based on this, the local position information, which is the position information of the detection point of the inspection object, is converted into global position information, which is two-dimensional position information in the global coordinate system (step S28).

Next, the inspection object evaluation information generation unit 30B generates inspection object evaluation information in which the individual evaluation information and the position information (global position information) of the detection point of the inspection object are associated (step S30), The generated inspection object evaluation information is stored in the storage unit 30H (step S32).
On the other hand, the detection unit control unit 30D determines whether or not the number of detection points detected by the detection unit 16 has reached a predetermined upper limit (step S34).
If the determination in step S34 is negative, the movement control section 30E moves the detection section 16 to the next detection location (step S36), and returns to step S18 to repeat the same detection operation.
If the determination in step S34 is affirmative, the detection unit control unit 30D determines whether or not the frame 12 has moved over the entire outer surface of the building (step S38). That is, it is determined whether or not the detection unit 16 has detected the entire outer surface of the building.
If the determination in step S38 is negative, a message indicating that the frame 12 is to be moved is displayed on the display section 30I via the display control section 30C (step S40).
In response to this, the operator controls the frame movement operation section 2418 on the roof of the building skeleton 2 to move the frame 12 by a predetermined distance in the X direction or the Y direction (step S42).

As shown in FIG. 6, the frame 12 is moved in the X direction by a predetermined distance .DELTA.X, and when the frame 12 reaches the end of the outer surface of the building, it is moved in the Y direction by a predetermined distance .DELTA.Y. Next, it is moved by a predetermined distance ΔX in the X direction, which is the opposite direction.
The movement distance of the frame 12 in the X direction can be detected by detecting, for example, the movement distance of the carriage 2404 or base 2406 with respect to the guide rail 2402 using a length measurement sensor.
Further, the movement distance of the frame 12 in the Y direction may be detected by detecting the length of the wire 2412 drawn out from the drum 2420 of the winch 2408 using an encoder.
When the movement of the frame 12 is completed, the operator returns to step S18 and operates the operation section 30F, thereby repeating the same detection operation.
If the determination in step S38 is affirmative, the operator operates the operation unit 30F to end the detection operation by the condition evaluation device 10, thus completing a series of detection operations.

As described above, according to the present embodiment, the moving mechanism 14 provided on the frame 12 is used to move the detection unit 16 in the mutually orthogonal x-direction and y-direction while detecting the state of the inspection object. At the same time, the position information of the detection point of the inspection object can be detected as local position information, which is two-dimensional position information in the local coordinate system, and inspection object evaluation information can be generated in which the individual information and the position information are associated. .
Therefore, there is no need to install a scaffold or a gondola for evaluating the state of the object to be inspected as in the conventional method, which is advantageous in terms of reducing equipment costs and shortening the construction period.
In particular, when the area of the object to be inspected is vast, such as a large high-rise building, warehouse, or stadium, it takes a lot of time and effort to assemble and dismantle the scaffolding and install the gondola, and the equipment cost is enormous. In contrast to the unavoidable lengthening of the construction period, this embodiment eliminates the need for equipment such as scaffolding and gondolas, making it possible to efficiently evaluate the state of an object to be inspected at a low cost. It is advantageous in doing so.
In addition, since workers do not have to diagnose the state of the building at a high place, it is possible to prevent workers from falling or falling, and to diagnose the state of the building safely.

Further, according to the present embodiment, the two-dimensional position information in the global coordinate system with the frame-side reference point (for example, reference point P1) as the inspection-object-side reference point P0 is a predetermined point on the inspection object. is detected as the frame-side reference point position information, and based on the local position information and the frame-side reference point position information, the local position information, which is the position information of the inspection object, is converted to the two-dimensional position information in the global coordinate system By converting into global position information and associating the individual information with the global position information, inspection object evaluation information is generated.
Therefore, the position information of the detection point of the inspection object can be obtained as global position information, which is two-dimensional position information in the overall coordinate system with the inspection object side reference point P0 predetermined on the inspection object. , it is advantageous in accurately specifying the position information of the detection point of the inspection object having a large area.

Further, according to the present embodiment, the frame supporting portion 24 includes the X-direction moving portion 24A that moves the frame 12 along the X direction and the Y-direction moving portion 24B that moves the frame 12 along the Y direction. I was prepared.
Therefore, the frame 12 can be accurately moved in the X direction and the Y direction, which is advantageous in efficiently obtaining individual information of an object to be inspected having a large area.

Further, according to the present embodiment, the detection unit 16 includes the indicator unit 18 integrally provided, and a plurality of reference points P1 to P4 set at least two locations apart from each other on the surface of the frame 12. The range is imaged by the first imaging unit 20 to generate image information, and based on the image information imaged at the time when the state of the inspection object is detected, index portions for the positions of the plurality of reference points P1 to P4. 18 relative positions are generated as local position information.
Therefore, it is advantageous in simplifying the configuration while accurately performing evaluations in which individual information and position information are associated in a short time.

Further, according to the present embodiment, the imaging trigger signal is supplied to the first imaging section 20, and the first imaging section 20 performs imaging and generates image information.
Also, the detection unit 16 is configured to detect a physical quantity generated when the inspection object is hit.
Therefore, since images are constantly captured at regular intervals, it is advantageous in making it easy to identify the image corresponding to the individual information.

Further, according to the present embodiment, the evaluation unit 28A evaluates the state of the inspection object based on the individual measurement information indicating the state of the inspection object detected by the detection unit 16, and generates the individual evaluation information. .
Therefore, it is advantageous in accurately evaluating the state of the inspection object based on the individual evaluation information obtained by evaluating the individual measurement information.

Further, according to the present embodiment, the object to be inspected is the building frame 2 and the exterior material 4 adhered to the building frame 2, and the evaluation unit 28A evaluates whether the exterior material 4 is damaged.
Therefore, it is possible to evaluate whether or not the exterior material 4 adhered to the building frame 2 is damaged, which is advantageous in efficiently evaluating whether or not the exterior material 4 is damaged.

In the embodiment, the object to be inspected is a building, and the case of evaluating the adhesion state such as lifting or peeling of the exterior material 4 such as tiles has been described. When exterior materials 4 such as exterior wall panels and glass are not provided, the method can be widely applied to the evaluation of the state of the interior near the outer surface of the building in addition to the outer surface of the building. In addition, when the exterior material 4 is provided, in addition to the surface of the exterior material 4, the exterior material 4 part inside the surface of the exterior material 4, the surface of the building frame 2 inside the exterior material 4, and the surface near the surface It is widely applicable when evaluating the interior of
Furthermore, the present invention can be widely applied when evaluating indoor wall surfaces of buildings, indoor concrete frames, entrances, corridors, floors, ceilings, and the like.
Moreover, the present invention is not limited to buildings as objects to be inspected, but can be widely applied to the evaluation of structures such as bridges, dams, tunnels, roads, passages, and the like.

Further, in the embodiment, the inspection object evaluation is performed by associating the individual evaluation information indicating the evaluation result generated based on the detection result of the state of the building outer surface with the position information indicating the position of the detection point of the inspection object. and display the individual evaluation information associated with the position information included in the inspection object evaluation information at the location on the image of the building outer surface specified by the position information contained in the inspection object evaluation information. The case of displaying on 30I has been described. In this case, the individual evaluation information corresponds to the individual information of the present invention.
However, instead of the individual evaluation information, generating inspection object evaluation information that associates individual measurement information indicating the detection result of the state of the building outer surface with position information indicating the position of the detection point of the inspection object; The individual measurement information associated with the position information included in the inspection object evaluation information is displayed on the display unit 30I at the location on the image of the building outer surface specified by the position information contained in the inspection object evaluation information. may In this case, the individual measurement information corresponds to the individual information of the present invention.

For example, when detecting the temperature as the state of the exterior of a building, the temperature measurement value (raw data) is treated as individual measurement information, and the temperature measurement value (individual measurement information) is associated with the location information indicating the location of the detection point. and measure the temperature associated with the position information included in the inspection object evaluation information at the location on the image of the building exterior specified by the position information included in the inspection object evaluation information. The value (individual measurement information) may be displayed on the display section 30I.
This is advantageous in evaluating the individual measurement information itself indicating the state of the exterior surface of the building detected by the detection unit 16 .

Also, after generating inspection object evaluation information that associates the temperature measurement value (individual measurement information) with position information indicating the position of the detection point of the inspection object, the individual measurement information included in the inspection object evaluation information Evaluation may be performed based on the evaluation information, the evaluation result may be generated as individual evaluation information, and the individual evaluation information may be associated with the position information included in the inspection object evaluation information. In this case, the individual evaluation information associated with the position information may be displayed on the display unit 30I at a location on the image of the building outer surface specified by the position information included in the inspection object evaluation information.
This is advantageous in accurately evaluating the state of the building outer surface based on the individual evaluation information obtained by evaluating the individual measurement information.

In addition, in the present embodiment, in order to detect the position information of the detection point of the object to be inspected, the index portion 18 provided integrally with the detection portion 16 and the plurality of reference points P1 to P4 set on the frame 12 are used. , and a first imaging section 20 for imaging the index section 18 and the reference points P1 to P4, and the local position information detection section 16 detects the state of the inspection object based on the image information captured at the time when the state is detected. A case has been described above in which position information indicating the position of the index portion 18 relative to the positions of the plurality of reference points P1 to P4 is generated as local position information (position information of detection points of the inspection object).
However, the local position information detection unit 16 only needs to be able to detect the position information of the detection point of the inspection object as local position information, and various conventionally known configurations can be adopted as its configuration.
For example, the following configuration may be used.
Encoders are provided to detect the amount of rotation of the first motor 3206 of the x-direction moving section 32 and the second motor 3410 of the y-direction moving section 34 that constitute the moving mechanism 14 .
Based on the amount of rotation detected by these encoders, the position of the detector 16 relative to predetermined reference points P1 to P4 along the x and y directions is detected, and the position of the detector 16 is localized. It is generated as positional information (positional information of the detection point of the inspection object).
Therefore, the local position information detection unit 16 may be one or more of an encoder, a glass scale, a length measurement sensor, a laser displacement meter, and an altitude sensor. The position information of the detection unit 16 at the time when the state of the object is detected may be generated as the local position information.
By doing so, it is advantageous in simplifying the configuration while accurately detecting the local position information.

In the present embodiment, the frame side reference point position information, which is two-dimensional position information in the global coordinate system with a predetermined point on the inspection object as the inspection object side reference point P0, is used as the frame side reference point. The case where the frame-side reference point position information detection unit 26 for detecting as is configured by the total station 26A has been described.
However, the frame side reference point position information detecting section 26 only needs to be able to detect the frame side reference point position information of the frame side reference points in the global coordinate system, and various conventionally known configurations can be adopted as its configuration.
For example, the position of the carriage 2404 of the frame support 24 along the guide rail 2402 is detected by a length measurement sensor, and the position of the frame-side reference point (for example, reference point P1) in the X direction is detected based on the detection result. The encoder detects the length of the wire 2412 drawn out from the drum 2420 of the winch 2408, detects the position of the frame-side reference point in the Y direction based on the detection result, and determines the overall coordinates based on the positions in the X and Y directions. Frame-side reference point position information of a frame-side reference point (for example, reference point P1) in the system may be detected.
Alternatively, the X- and Y-direction positions of a frame-side reference point (for example, reference point P1) are detected by a laser scanner or a laser displacement meter, and based on the X- and Y-direction positions of the frame-side reference point in the global coordinate system. frame side reference point position information may be detected.
Alternatively, using a conventionally known technique called SLAM (Simultaneous Localization And Mapping), based on the image information of the building outer surface imaged by the first imaging unit 20 (or the second imaging unit 22), X direction, Y direction By estimating the self-position, the frame-side reference point position information of the frame-side reference point (for example, the reference point P1) in the global coordinate system may be detected.

Alternatively, using a conventionally known technique called visual inertial odometry (VIO), X direction, The frame-side reference point position information of the frame-side reference point (for example, reference point P1) in the global coordinate system may be detected by estimating the self-position in the Y direction. In this case, in order to correct the positional deviation of the frame 12, the positional information of the frame 12 can be corrected by hanging a rope of a certain pattern on the wall surface and using the image information of the rope.
Alternatively, an altitude sensor that measures altitude based on changes in air pressure may be used to detect the frame-side reference point position information of the frame-side reference point in the global coordinate system.
Alternatively, the position of the frame side reference point (for example, reference point P1) in the X direction and the Y direction is detected by GNSS (Global Navigation Satellite System), and based on the positions in the X direction and the Y direction, the frame side reference in the global coordinate system The frame side reference point position information of the point may be detected.
Furthermore, the frame side reference point position information may be detected by combining a plurality of the frame side reference point position information detection units 26 described above.

In the present embodiment, the state evaluation device 10 includes the evaluation result of the state of the exterior material 4 in the vertical plane of the building outer surface, the position information indicating the position of the building outer surface (the position of the detection point of the inspection target), and the However, the position indicating the evaluation result of the state of the exterior material 4 and the position of the building outer surface (the position of the detection point of the inspection object) in the building outer surface or the horizontal plane of the structure as appropriate can be evaluated in association with information. In this case, the frame supporting portion supports the frame 12 and moves the frame 12 so that the plane of the frame 12 is parallel to the horizontal plane.

Moreover, in the present embodiment, detection is performed by the detection unit 16 by moving the detection unit 16 over the entire operation range inside the frame 12, but the present invention is not limited to this. For example, as shown in FIG. 8A, when a robot arm is used as the movement mechanism 14 in the frame 12, the moving body 3412 can be arbitrarily moved not only inside the frame 12 but also outside the frame 12, Detection by the detection unit 16 included in 3412 may be performed. Alternatively, as shown in FIG. 8B, when the frame 12 is not a closed curve, the moving body 3412 may be arbitrarily moved outside the frame 12 and detection may be performed by the detection unit included in the moving body 3412. .

(Second embodiment)
Next, a second embodiment will be described with reference to FIGS. 9 to 12. FIG.
In the following embodiments, parts and members that are the same as those in the first embodiment are denoted by the same reference numerals as in the first embodiment, and description thereof will be omitted.
2nd Embodiment is a modification of 1st Embodiment, and is the figure which demonstrated the structure of the movement mechanism to the x direction and y direction of a state evaluation apparatus more concretely.
As shown in FIGS. 9A to 9C, as in the first embodiment, the frame 12 includes a pair of vertical portions 1202 extending in the y direction and spaced apart in the x direction. It has a pair of horizontal portions 1204 extending in the x-direction at intervals and connecting both ends of the pair of vertical portions 1202 to form a rectangular frame shape.
In the drawing, reference numeral 1220 denotes pedestals provided at four corners of the frame 12, and a plurality of reference points P1 to P4 are provided on the pedestals 1220, respectively.

The movement mechanism 14 includes an x-direction movement section 38, a y-direction movement section 40, and a drive control section 36 (FIG. 1), as in the first embodiment.
The x-direction moving section 38 includes an x-direction actuator 42 extending in the x-direction and provided on one of the pair of horizontal sections 1204 .
The x-direction actuator 42 includes a linearly extending case 4202, an x-direction table 4204 provided movably in the x-direction, and an x-direction motor 4206 provided at one end of the case 4202 in the extending direction. ing.
The x-direction actuator 42 is attached to the front face 1204A of one lateral section 1204 opposite the building envelope.
A belt pulley mechanism and a ball screw mechanism (not shown) that convert the rotation of the x-direction motor 4206 into linear movement of the x-direction table 4204 are incorporated inside the case 4202 . The table 4204 linearly moves back and forth in the x direction.
As such an x-direction actuator 42, conventionally known various commercially available products such as a uniaxial actuator can be used.

The y-direction moving unit 40 includes a y-direction actuator 44 extending in the y-direction.
The y-direction actuator 44 includes a linearly extending case 4402, a y-direction table 4404 provided movably in the y-direction, and a y-direction motor 4406 provided at one end of the case 4402 in the extending direction. ing.
The y-direction actuator 44 has one end in the extending direction of the case 4402 attached to the x-direction table 4204 and the other end in the extending direction movably disposed on the other of the pair of lateral portions 1204 . It is supported by the orientation table 4404 .
At the other end in the extending direction of the y-direction actuator 44, there is a rolling wheel 4408 which is in rolling contact with the other of the pair of horizontal portions 1204, and is coupled to the other of the pair of horizontal portions 1204 so as to be movable in the x-direction. A locking pawl 4410 is provided to prevent the rolling wheel 4408 from moving away from the other of the pair of lateral portions 1204 .
The locking pawl 4410 is configured to be locked in a locking groove 1210 formed extending in the x-direction on the other side of the lateral portion 1204 and to be movable along the locking groove 1210 .

Therefore, the y-direction actuator 44 is reciprocated in the x-direction via the x-direction table 4204 by forward and reverse rotation of the x-direction motor 4206 of the x-direction actuator 42 .
Further, the y-direction table 4404 that supports the detection unit 16 is reciprocated in the y-direction by the forward and reverse rotation of the y-direction motor 4406 of the y-direction actuator 44 .
That is, the forward and reverse rotations of the motors 4206 and 4406 move the detector 16 along the single plane in the area inside the frame 1212 .

It goes without saying that in the second embodiment as well, a plurality of casters 1206 may be provided on the portion of the frame 12 facing the outer surface of the building, as in the first embodiment.

As shown in FIGS. 10 and 12, the y-direction table 4404 is provided with a bracket 46 directed toward the inspection object.
The detection unit 16 includes a housing 48 , four rolling wheels 50 , a coupling portion 52 and an elastic member 54 .
As shown in FIGS. 10 to 12, the housing 48 has an elongated shape extending vertically, and includes a rectangular plate-shaped bottom wall 4802 and four side walls 4804, 4806, 4808 rising from the four sides of the bottom wall 4802. , 4810 and a rectangular plate-like top wall 4812 connecting the tops of the four side walls 4804 , 4806 , 4808 , 4810 .
An opening (not shown) is formed in the center of the bottom wall 4802, and the tip of an impact hammer 1602 supported inside the housing 48 is configured to protrude and be retracted through the opening.
As shown in FIGS. 10-12, four side walls 4804, 4806, 4808 and 4810 are provided with microphone covers 59A, 59B, 59C and 59D, respectively. Also, microphones included in the detection section (not shown) are attached to the microphone covers 59A, 59B, 59C, and 59D.
The four rolling wheels 50 are supported by the housing 48 via mounting pieces 4820 provided on a pair of opposing side walls 4804 and 4806, respectively.
As shown in FIG. 11, the four rolling wheels 50 are swivel casters that can turn 360 degrees. The distance L (FIG. 11) formed between the bottom wall 4802 and the building outer surface 5 (inspection object) (in other words, the distance between the tip of the impact hammer (not shown) and the building outer surface 5 (inspection object) The gap formed between them is supported so as to have a value sufficient for the detection operation of the detection unit 16 to be performed appropriately.
The number of rolling wheels 50 may be plural, and a ball caster whose movement direction is not restricted may be used as the rolling wheels 50 .

As shown in FIGS. 10 and 12, the connecting portion 52 is movable together with the bracket 46 in the y-direction and moves toward and away from the building outer surface portion 5 (inspection object) (in other words, in the x-direction and the y-direction). orthogonal direction) and is immovably coupled to the bracket 46 in the x-direction.
In this embodiment, the coupling portion 52 includes a rail 5202 , a slider 5204 and a mounting plate 5206 .
The rail 5202 is attached to the surface of the bracket 46 opposite to the y-direction table 4404, and extends in a direction away from the building outer surface 5 (inspection object).
The slider 5204 is coupled to the rail 5202 so as to be movable in the extending direction of the rail 5202 (to move away from the building outer surface 5 (inspection object)) and immovable in the x direction. .
The mounting plate 5206 is screwed to the slider 5204 via four spacers 5208 and screwed to the side wall 4808 of the detector 16 via four spacers 5210 .
The elastic member 54 urges the detection unit 16 in a direction in which the four rolling wheels 50 are brought into contact with the building outer surface 5 (inspection object).
In this embodiment, the elastic member 54 is composed of a tension coil spring stretched between a standing portion 5206A standing from the mounting plate 5206 and a projecting portion 4602 projecting from the bracket 46. As shown in FIG.
The limit positions of the four rolling wheels 50 in the direction of contact with the object to be inspected are determined by the stoppers 5220 provided on the rails 5202 coming into contact with the sliders 5204, as shown in FIG.

According to the second embodiment, by using the x-direction actuator 42 and the y-direction actuator 44, the number of parts of the moving mechanism 14 can be reduced. is advantageous.
In addition, the locking pawl 4410 allows the rolling wheel 4408 to roll stably on the lateral portion 1204, which is advantageous in ensuring the operation of the y-direction actuator 44. FIG.
In addition, even if each rolling wheel 50 rides on a step or unevenness formed on the building outer surface 5 (object to be inspected), the detection unit is The displacement of 16 absorbs steps and irregularities.
Therefore, the distance L between the detection unit 16 and the building outer surface 5 (inspection object) can be maintained at an appropriate value, which is advantageous in reliably performing the detection operation of the detection unit 16 .

(Third Embodiment)
Next, a third embodiment will be described with reference to FIGS. 13 to 15. FIG.
In the third embodiment, a configuration example that can be used for the detection unit 16 described in the first and second embodiments will be described.
That is, the detection unit 16 detects, as individual measurement information, one or more physical quantities generated when the object to be inspected is hit, particularly one or more of the impact force, hammering sound, and vibration generated when the exterior material 4 is hit. There is, and in the third embodiment, a case in which a hammering sound is detected as individual measurement information will be described.

As shown in FIGS. 13 to 15, the detection unit 16 includes a housing 48, three rolling wheels 50A, 50B, 50C, a striking unit 56, a first microphone 58A, a second microphone 58B, and a second microphone 58B. It includes a third microphone 58C, a fourth microphone 58D, and a hammer vibration sensor 60.
The housing 48 has a rectangular bottom wall 4802, four side walls 4804, 4806, 4808 and 4810 rising from the four sides of the bottom wall 4802, and an upper wall connecting the tops of the four side walls 4804, 4806, 4808 and 4810. 4812.
The bottom wall 4802 is provided with an opening 4830 through which the striking hammer 1602 appears.
Of the three rolling wheels 50A, 50B, 50C, two rolling wheels 50A, 50B are rotatably attached to a pair of opposing end faces of the bottom wall 4802 and arranged coaxially.
The remaining one rolling wheel 50C is rotatably attached to the lower part of the bottom wall 4802 via a metal fitting 51, and when viewed from above, the rolling wheel 50C is parallel to the axes of the two rolling wheels 50A and 50B. It is located on the axis that
The three rolling wheels 50A, 50B, and 50C are arranged so that the outer peripheral surfaces of the three rolling wheels 50A, 50B, and 50C are in contact with the surface of the exterior material 4, and the lower surface of the bottom wall 4802 and the exterior material 4 are in contact with each other. are provided parallel to each other at regular intervals.
As the rolling wheels 50A to 50C, as in the second embodiment, use of a swivel caster capable of turning 360° or a ball caster is advantageous for smooth movement of the detection unit 16. FIG.

As shown in FIG. 14, the striking portion 56 includes a solenoid 62 and an impact hammer 1602. As shown in FIG.
The solenoid 62 is mounted on a pedestal 4840 provided on the bottom wall 4802 within the housing 48 .
The solenoid 62 is provided movably in a direction perpendicular to the surface of the exterior material 4 in a state in which a solenoid body 6202 having a coil and three rolling wheels 50A, 50B, and 50C are in contact with the surface of the exterior material 4. and a plunger 6204 .
The plunger 6204 is moved to a projecting position where it projects from the solenoid body 6202 by supplying a drive current to the coil, and is moved to a retracted position where it is retracted into the solenoid body 6202 by stopping the supply of the drive current. It is configured.

As shown in FIGS. 14 and 15, the impact hammer 1602 is provided at the lower end of the plunger 6204 and appears and disappears through the opening 4830 of the bottom wall 4802 as the plunger 6204 moves.
With the outer peripheral surfaces of the three rolling wheels 50A, 50B, and 50C in contact with the surface of the exterior material 4, the plunger 6204 moves to the projecting position, and the impact hammer 1602 hits the surface of the exterior material 4, The impact hammer 1602 is separated from the surface of the exterior material 4 by moving the plunger 6204 to the retracted position.

The first microphone 58A, the second microphone 58B, the third microphone 58C, and the fourth microphone 58D pick up the hitting sound generated when the hitting hammer 1602 hits the surface of the exterior material 4, and detect the corresponding hitting sound. A signal is generated, and is symmetrically spaced from the center of the striking part P1 (see FIG. 14) of the striking hammer 1602 to the exterior material 4 at an equal distance (for example, a distance corresponding to one tile: 53 mm) from the center. are placed. Specifically, they are arranged point-symmetrically at an angle of 90° to each other on a circle with a radius of 53 mm centered on the hitting part P1.
In this embodiment, the case where the distance from the striking part P1 to each of the microphones 58A to 58D is 53 mm will be described, but the distance is not limited to this, and may be within 100 mm.

Among the first microphone 58A, the second microphone 58B, the third microphone 58C, and the fourth microphone 58D arranged in this way, the first microphone 58A constitutes the housing 48 as shown in FIGS. It is attached to the lower outer surface of the side wall 4804 on the front side via the anti-vibration rubber 64A.
As shown in FIGS. 13 and 15, the second microphone 58B is attached to the lower outer surface of the rear side wall 4806 of the housing 48 via the anti-vibration rubber 64B.
As shown in FIGS. 14 and 15, the third microphone 58C is attached to the lower outer surface of the left side wall 4808 of the housing 48 via the anti-vibration rubber 64C.
As shown in FIGS. 13, 14 and 15, the fourth microphone 58D is attached to the lower outer surface of the right side wall 4810 of the housing 48 via anti-vibration rubber 64D.
In this embodiment, four microphones, that is, the first microphone 58A, the second microphone 58B, the third microphone 58C and the fourth microphone 58D are provided, but the number of microphones may be two, six or more. There may be.
In addition, the sound receiving surface of each of the microphones 58A to 58D is arranged so as to face the surface of the exterior material 4 to be inspected, and the height from the surface of the exterior material 4 to each of the microphones 58A to 58D is is preferably within 5 mm.

As shown in FIG. 14, the impact hammer vibration sensor 60 is attached to the impact hammer 1602, detects the vibration of the impact hammer 1602 generated when the impact hammer 1602 strikes the exterior material 4, and generates a detection signal corresponding to the vibration. is generated. Various conventionally known sensors such as a piezoelectric element can be used as the impact hammer vibration sensor 60 .

Therefore, the detection unit 16 is arranged symmetrically with the striking unit 56 that strikes the surface of the inspection object with the striking hammer 1602 and is equidistant from the center of the striking unit 56 . It is equipped with a plurality of microphones 58A to 58D for picking up hitting sounds and generating detection signals corresponding to the hitting sounds.

Each detection signal generated by each of the microphones 58A to 58D is supplied to the evaluation unit 28A (FIG. 1), and the evaluation unit 28A detects the frequency, amplitude, wavelength, etc. of each detection signal based on the detection results. Generate individual evaluation information.
Further, the detection signal corresponding to the vibration of the striking hammer 1602 detected by the striking hammer vibration sensor 60 is, for example, at what time the frequency, amplitude, wavelength, etc. of each detection signal generated by the microphones 58A to 58D are detected ( It is used to determine the timing of detection, such as whether to identify
Waveform generation units are provided for generating hammering detection waveforms by performing waveform processing such as amplification and filtering on detection signals from the microphones 58A to 58D. It is optional to generate individual evaluation information based on detection results such as amplitude and wavelength.

According to the third embodiment, the striking sound generated when the inspection object is struck by the striking hammer 1602 is generated by four symmetrically arranged objects at equal distances from the center of the striking point of the striking hammer 1602. Detection by the microphones 58A to 58D is performed to generate a detection signal for each microphone, and each detection signal generated for each microphone is used to evaluate the state of the inspection object, thereby efficiently evaluating and judging the inspection object. This is advantageous for doing things well and accurately.

2 Building skeleton 4 Exterior material 10 State evaluation device 12 Frame 14 Moving mechanism 16 Detecting unit 18 Index unit 20 First imaging unit 24 Frame supporting unit 24A X direction moving unit 24B Y direction moving unit 26 Frame side reference point position information detecting unit 26A total station 28A evaluation unit 28B local position information detection unit 30A position information conversion unit 30B inspection object evaluation information generation unit 32 x-direction moving unit 34 y-direction moving unit 42 x-direction actuator 4204 x-direction table 44 y-direction actuator 4404 y-direction table 4408 Rolling wheel 4410 Locking claw 46 Bracket 50 Rolling wheel 52 Coupling portion 54 Elastic members P1 to P4 Reference point P0 Inspection object side reference point

Claims (14)

An object to be inspected, which is evaluated by detecting the state of the object to be inspected and associating individual information indicating the detection result or an evaluation result generated based on the detection result with position information indicating the position of the detection location of the object to be inspected. A condition evaluation device for
a frame;
a frame support that supports the frame so as to face the plane of the inspection object;
a detection unit that detects the state of the inspection object;
a moving mechanism provided on the frame for moving the detection unit along a plane of the inspection object;
a local position information detection unit that detects the position information of the inspection object as local position information;
an inspection object evaluation information generation unit that generates inspection object evaluation information that associates the individual information with the position information;
with
The local position information is two-dimensional position information in a local coordinate system having a predetermined point on the frame as a frame-side reference point ,
a frame side reference point position information detection unit that detects the frame side reference point as frame side reference point position information;
a position information conversion unit that converts the local position information into global position information based on the local position information and the frame-side reference point position information;
The frame-side reference point position information and the global position information are two-dimensional position information in a global coordinate system having a predetermined point on the inspection object as the inspection object-side reference point,
The generation of the inspection object evaluation information by the inspection object evaluation information generation unit is performed by associating the individual information with the global position information.
A state evaluation device for an object to be inspected, characterized by: The inspection object extends along a vertical plane,
The frame support supports the frame such that the plane of the frame is parallel to the vertical plane.
2. The apparatus for evaluating the state of an object to be inspected according to claim 1, wherein: The inspection object extends along a horizontal plane,
The frame support supports the frame such that the plane of the frame is parallel to the horizontal plane.
2. The apparatus for evaluating the state of an object to be inspected according to claim 1, wherein: An object to be inspected, which is evaluated by associating individual information indicating the state of the object to be inspected and the detection result or an evaluation result generated based on the detection result with position information indicating the position of the detection location of the object to be inspected. An object state evaluation device,
a rectangular frame having a width in one x direction and a height in the other y direction of two directions perpendicular to each other on a single plane;
a frame support supporting the frame with the single plane parallel to the inspection object ;
a detection unit that detects the state of the inspection object;
a movement mechanism provided on the frame for moving the detector in the x-direction and the y-direction along the single plane;
a local position information detection unit that detects the position information of the inspection object as local position information;
an inspection object evaluation information generation unit that generates inspection object evaluation information that associates the individual information with the position information;
with
The local position information is two-dimensional position information in a local coordinate system having a predetermined point on the frame as a frame-side reference point ,
a frame side reference point position information detection unit that detects the frame side reference point as frame side reference point position information;
a position information conversion unit that converts the local position information into global position information based on the local position information and the frame-side reference point position information;
The frame-side reference point position information and the global position information are two-dimensional position information in a global coordinate system having a predetermined point on the inspection object as the inspection object-side reference point,
The generation of the inspection object evaluation information by the inspection object evaluation information generation unit is performed by associating the individual information with the global position information.
A state evaluation device for an object to be inspected, characterized by: The frame support part
At least one of an X-direction moving unit that moves the frame along the x-direction and a Y-direction moving unit that moves the frame along the y-direction,
5. The apparatus for evaluating the state of an object to be inspected according to claim 4 , wherein: an indicator unit provided integrally with the detection unit;
a first imaging unit configured to generate image information by imaging a range including the index unit and a plurality of reference points set at at least two locations apart from each other on the surface of the frame;
Detection of the local location information by the local location information detection unit includes:
Based on the image information captured at the time when the state of the inspection object is detected, position information indicating relative positions of the index portion with respect to positions of the plurality of reference points is generated as the local position information. is done by
6. The apparatus for evaluating the state of an object to be inspected according to claim 1 , wherein: The local position information detection unit is one or more of an encoder, a glass scale, a length measurement sensor, a laser displacement meter, and an altitude sensor,
Detection of the local location information by the local location information detection unit includes:
By generating the position information of the detection unit at the time when the state of the inspection object is detected as the local position information,
6. The apparatus for evaluating the state of an object to be inspected according to claim 1 , wherein: The detection unit detects a physical quantity around the inspection object,
The first imaging unit performs imaging using a signal supplied from the detection unit and generates the image information.
7. The apparatus for evaluating the state of an object to be inspected according to claim 6 , wherein: The detection unit detects the physical quantity generated when the inspection object is hit.
9. The apparatus for evaluating the state of an object to be inspected according to claim 8 , wherein: an evaluation unit that evaluates the state of the inspection object based on individual measurement information indicating the state of the inspection object detected by the detection unit and generates individual evaluation information;
The individual information includes the individual evaluation information,
10. The apparatus for evaluating the condition of an inspection object according to any one of claims 1 to 9 , characterized in that: The object to be inspected is a building frame and an exterior material adhered to the building frame,
The evaluation unit evaluates the presence or absence of damage to the exterior material,
11. The apparatus for evaluating the state of an object to be inspected according to claim 10 , wherein: The frame includes a pair of vertical portions extending in the y direction spaced apart in the x direction, and a pair of horizontal portions extending in the x direction spaced apart in the y direction and connecting the ends of the pair of vertical portions. and
The moving mechanism includes an x-direction actuator extending in the x-direction and having an x-direction table provided on one of the pair of lateral portions and moving in the x-direction; a y-direction actuator having a y-direction table that is attached to the x-direction table and whose other end in the extending direction is movably disposed on the other of the pair of horizontal portions and that moves in the y-direction;
The detection unit is supported by the y-direction table,
12. The apparatus for evaluating the state of an inspection object according to any one of claims 1 to 11 , characterized in that: At the other end of the y-direction actuator in the extending direction, a rolling wheel is in rolling contact with the other of the pair of horizontal parts; A locking pawl is provided to prevent the rolling wheel from moving in a direction away from the other of the pair of horizontal parts.
13. The apparatus for evaluating the state of an object to be inspected according to claim 12 , wherein: The y-direction table is provided with a bracket facing the inspection object side,
The detection unit is movable in the y direction integrally with a plurality of rolling wheels that support the detection unit and roll on the inspection object, and the bracket, and is movable in a direction away from and close to the inspection object. further comprising a connecting portion that is immovably connected to the bracket in the x direction, and an elastic member that biases the detecting portion in a direction in which the plurality of rolling wheels contact the inspection object
14. The apparatus for evaluating the state of an inspection object according to claim 12 or 13 , characterized in that:

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