KR20170043188A - Impact location learning device, method of learning impact location and method of estimating impact location - Google Patents

Impact location learning device, method of learning impact location and method of estimating impact location Download PDF

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KR20170043188A
KR20170043188A KR1020150142590A KR20150142590A KR20170043188A KR 20170043188 A KR20170043188 A KR 20170043188A KR 1020150142590 A KR1020150142590 A KR 1020150142590A KR 20150142590 A KR20150142590 A KR 20150142590A KR 20170043188 A KR20170043188 A KR 20170043188A
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impact
impactor
sensing signals
coordinates
unit
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KR1020150142590A
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Korean (ko)
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KR101777103B1 (en
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김천곤
김진혁
박유림
스레스타 프러?
스레스타 프러??
권희중
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한국과학기술원
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass

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  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Engineering & Computer Science (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Theoretical Computer Science (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

A shock position learning device includes a target structure, a position control part, a launching part, a distance measuring part, a pressure control part, a plurality of shock sensors, and a control part. The position control part changes a position based on a position control signal. The launching part is attached to the position control part and launches a shock field to the target structure based on shock field launching pressure. The distance measuring part is attached to the launching part and measures a hit distance from the launching part to a hit spot, in which the shock filed hits the target structure. The pressure control part controls the shock field launching pressure based on a pressure control signal. The shock sensors generate sensing signals corresponding to a shock wave on the target structure, which is generated when the shock field hits the hit spot. The control part controls the pressure control signal based on the hit distance, calculates coordinates of the hit spot, and stores the sensing signals, corresponding to the coordinates, in a database.

Description

 TECHNICAL FIELD [0001] The present invention relates to an impact position learning apparatus, an impact position learning method, and an impact position estimation method,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to impact position learning, and more particularly, to an impact position learning apparatus for rapidly learning a position of a predetermined impact applied to an entire region of a target structure, To a method for estimating the probability.

Composite materials are widely used as materials for aircraft structures because they have a variety of advantages (for example, high nonspecific strength and high non-rigidity) compared to metal materials that have been widely used. However, there is a problem that the composite material has inherent damage characteristics (e.g., internal cracking and delamination adhesive peeling) due to external low-speed impact.

Various nondestructive testing methods have been developed to detect the intrinsic damage of composite materials in advance. However, there is a problem that excessive inspection time and cost are required in the whole area inspection of the target structure. In addition, there is a problem that the same impact force is difficult to be accurately transmitted to the reference point that impacts the target structure.

An object of the present invention to solve the above problems is to provide an impact position learning apparatus for sequentially applying the same impact force to all areas of a target structure and learning the corresponding detection signals quickly.

It is an object of the present invention to provide an impact location learning method for sequentially applying the same impact force to the entire area of a target structure and learning the corresponding detection signals quickly.

An object of the present invention is to provide an impact position estimation method for estimating a position where an arbitrary impact is applied when an impact is applied based on the impact position learning method.

In order to accomplish one object of the present invention, the impact position learning apparatus includes a target structure, a position adjustment unit, a launch unit, a distance measurement unit, a pressure control unit, a plurality of impact sensors, and a control unit. The position adjustment unit changes position based on the position adjustment signal. The launching unit is attached to the position adjusting unit and fires an impactor on the target structure based on the impactor launching pressure. The distance measuring unit is attached to the launching unit and measures a distance from the launching unit to a point of impact at which the impactor is hit by the target structure. The pressure regulator regulates the impactor firing pressure based on the pressure control signal. The impact sensors generate sensing signals corresponding to shock waves on the object structure that are generated when the impactor is struck at the impact point. The control unit adjusts the pressure control signal based on the hit distance, calculates coordinates of the hit point, and stores the sensed signals corresponding to the coordinates of the hit point in the database.

In one embodiment, the control unit changes the position adjustment signal so that the launch unit sequentially fires the impactor in the entire area of the target structure, and the control unit controls the sensing signals corresponding to the coordinates of the sequential hit points And can be stored in the database.

In one embodiment, the control unit may adjust the pressure adjustment signal so that the impact force when the impactor is struck at the impact point is constant based on the impact distance.

In one embodiment, the distance measuring unit may measure a distance of the laser beam emitted from the target structure, and receive the laser reflected from the target structure to measure the distance.

In one embodiment, the launcher fires the impactor in a direction (+ Z axis direction) in which the blow distance is minimum, the position adjuster adjusts the position in the X and Y axis directions, The coordinates of the impact point may be calculated based on the position of the ball and the shooting distance.

In one embodiment, the direction in which the blow distance is minimum is the + Z axis direction, and the launch portion fires the impactor in a direction inclined by a certain angle in the + Z axis direction from the + Z axis direction, Axis direction, and the control unit may calculate the coordinates of the hit point based on the position of the position adjuster, the hit distance, and the predetermined angle.

In one embodiment, the impact sensors may generate the sensing signals by sampling the intensity of the shock wave within a predetermined interval.

According to another aspect of the present invention, there is provided an impact position learning method including: adjusting a position based on a position adjustment signal; Measuring a striking distance between a launching part attached to the position adjusting part and a firing part for firing an impactor and a blowing point where the impactor is struck on the object structure; The control unit calculating coordinates of the hit point; Adjusting the pressure control signal such that the impact force is constant when the impactor is struck on the target structure; Adjusting the impactor launching pressure of the launching unit based on the pressure control signal; The firing unit firing the impactor to the target structure based on the impactor firing pressure; A plurality of impact sensors attached to the target structure generate sensing signals corresponding to coordinates of the hit points; Storing the sensing signals in a database; And adjusting the position while the control unit sequentially changing the position adjustment signal, measuring the shooting distance, calculating coordinates of the shooting point, adjusting the pressure adjusting signal, Controlling the impactor launch pressure, launching the impactor to the target structure, launching the impactor to the target structure, generating the sense signals, and storing the sense signals in a database. And storing the sensing signals for the entire area of the target structure in the database by repeatedly performing the steps.

In order to accomplish one object of the present invention, an impact position estimation method is characterized in that the impactor is sequentially hit on the entire region of the target structure with a constant impact force, and the reference sensing signals generated by the impact sensors attached to the target structure Storing in a database; Generating, when an impact is applied to the object structure, the shock sensors corresponding to the shock; And a controller comparing the reference sensing signals with the sensing signals to estimate the coordinates on which the random impact occurred on the object structure.

In one embodiment, the step of storing the reference sensing signals in a database may include: adjusting a position based on the position adjustment signal; Measuring a distance between a distance measuring unit attached to the position adjusting unit and a firing point at which the impactor is fired and a hit point at which the impactor is struck on the target structure; The control unit calculating coordinates of the hit point; Adjusting the pressure control signal such that the impact force is constant when the impactor is struck on the target structure; Adjusting the impactor launching pressure of the launching unit based on the pressure control signal; The firing unit firing the impactor to the target structure based on the impactor firing pressure; The plurality of impact sensors generating the reference sensed signals corresponding to the coordinates of the hit point; Storing the reference sensing signals in the database; And adjusting the position while the control unit sequentially changing the position adjustment signal, measuring the shooting distance, calculating coordinates of the shooting point, adjusting the pressure adjusting signal, The method comprising the steps of: adjusting a launching pressure of the impactor; launching the impactor to the target structure; generating the reference sensing signals; and storing the reference sensing signals in a database, And storing the reference sensing signals for the region in the database.

In one embodiment, the step of estimating the coordinates at which the random impact occurs may include estimating coordinates having the largest cross correlation value of the reference sensing signals and the sensing signals as the coordinates at which the random impact occurs, can do.

In one embodiment, the step of estimating coordinates in which the random impact occurs may include calculating a coordinate of a root mean square (RMS) of a difference between the reference sensing signals and the sensing signals, It can be estimated as the generated coordinates.

Since the impact position learning apparatus and the impact position learning method according to an embodiment of the present invention sequentially applies the same impact force sequentially to all the target structures and learns corresponding detection signals quickly, More accurate detection signals can be learned faster.

The impact position estimation method according to an embodiment of the present invention can more accurately estimate the position of the arbitrary impact when an arbitrary impact is applied based on the learned sensing signals.

1 is a block diagram illustrating an impact position learning apparatus according to an embodiment of the present invention.
FIG. 2 is a view showing an embodiment of a position changing operation of the position adjusting unit included in the impact position learning apparatus of FIG. 1. FIG.
FIG. 3 is a view showing a blowing point in the embodiment of FIG. 2. FIG.
4 is a view showing another embodiment of the position changing operation of the position adjusting unit included in the impact position learning apparatus of FIG.
FIG. 5 is a view showing a blowing point in the embodiment of FIG. 4; FIG.
FIG. 6 is a view showing positions of impact points of a target structure included in the impact position learning apparatus of FIG. 1. FIG.
7 is a diagram showing a database included in the control unit of the impact location learning apparatus of FIG.
8 is a timing chart showing sensing signals of the impact position learning apparatus of FIG.
FIG. 9 is a flowchart illustrating an impact position learning method according to an embodiment of the present invention.
10 is a flowchart illustrating an impact position estimation method according to an embodiment of the present invention.
11 is a view showing a case where an arbitrary impact is applied to a target structure.
12 is a diagram showing sensing signals generated by impact sensors corresponding to an arbitrary impact of FIG.
FIG. 13 is a view for explaining a step of estimating the coordinates at which the arbitrary impact occurs, which is included in the impact position estimation method of FIG. 10; FIG.

For the embodiments of the invention disclosed herein, specific structural and functional descriptions are set forth for the purpose of describing an embodiment of the invention only, and it is to be understood that the embodiments of the invention may be practiced in various forms, The present invention should not be construed as limited to the embodiments described in Figs.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Similar reference numerals have been used for the components in describing each drawing.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having", etc., are intended to specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, But do not preclude the presence or addition of other features, numbers, steps, operations, elements, parts or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

1 is a block diagram illustrating an impact position learning apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the impact location learning apparatus 100 includes a target structure 110, a position adjustment unit 120, a launch unit 130, a distance measurement unit 140, a pressure control unit 160, Sensors S1, S2, S3, and S4, and a control unit 170. [

 The position adjustment unit 120 changes the position based on the position adjustment signal CSIG. In one embodiment, the position adjuster 120 may change positions in the X and Y axes (see FIGS. 2 and 3). In another embodiment, the position adjuster 120 can change position only in the Y-axis (see FIGS. 4 and 5). In another embodiment, the position adjuster 120 can change its position only in the X-axis direction, and this case can be understood with reference to FIGS. 4 and 5, so that detailed description is omitted.

The launching unit 130 is attached to the position adjusting unit 120 and emits an impactor 150 to the target structure 110 based on the impactor launch pressure ISP. In one embodiment, the launch portion 130 may fire the impactor 150 to the target structure 110 with air pressure corresponding to the impactor launch pressure ISP. In another embodiment, the launcher 130 may fire the impactor 150 with other launch methods that are well known to those of ordinary skill in the art, other than the method of launching the impactor 150 by air pressure. Since the launching unit 130 is a well-known device widely known to a person skilled in the art, a description of the internal structure of the launching unit 130 is omitted.

The distance measuring unit 140 is attached to the launching unit 130 and measures the distance D from the launching unit 130 to the impact point HP at which the impactor 150 is hit by the target structure 110 do. In one embodiment, the distance measuring unit 140 may emit a laser to the hit point HP and receive the laser reflected from the target structure 110 to measure the strike distance D. In another embodiment, the distance measuring unit 140 may measure the batting distance D using a distance measuring method widely known to a general technician in addition to the laser measuring method.

The pressure regulator 160 regulates the impactor firing pressure ISP based on the pressure control signal PSIG. The impact sensors S1, S2, S3, and S4 are configured to sense the shock waves SW1, SW2, SW3, and SW4 on the target structure 110 that are generated when the impactor 150 is hit at the impact point HP. Signals SSIG1, SSIG2, SSIG3 and SSIG4. 1, the impact position learning apparatus 100 includes four impact sensors S1, S2, S3 and S4, although the impact position learning apparatus 100 includes four impact sensors S1, S2, S3 and S4. ), And may include more impact sensors than the four impact sensors S1, S2, S3, and S4. The positions of the impact sensors S1, S2, S3, and S4 may be set to arbitrary positions on the target structure 110, respectively. The sense signals SSIG1, SSIG2, SSIG3 and SSIG4 will be described later with reference to Fig.

The control unit 170 adjusts the pressure control signal PSIG based on the shooting distance D and calculates the coordinates of the shooting point HP and generates the sensing signals SSIG1, SSIG2, SSIG3, and SSIG4) in the database.

The control unit 170 changes the position adjustment signal CSIG so that the launching unit 120 sequentially fires the impactor 150 in the entire area of the target structure 110. The control unit 170 controls the sequential impact points The sensing signals SSIG1, SSIG2, SSIG3, and SSIG4 corresponding to the coordinates can be stored in the database. The database will be described later with reference to FIG.

In one embodiment, the control unit 170 may adjust the pressure adjustment signal PSIG so that the impact force when the impactor 150 is struck at the impact point HP is constant based on the impact distance D. For example, when the shooting distance D is increased, the control unit 170 sets the pressure adjusting signal PSIG so that the shooting unit 130 fires the projectile 150 based on the increased impactor shooting pressure ISP Can be adjusted. The control unit 170 may adjust the pressure control signal PSIG so that the firing unit 130 fires the projectile 150 based on the reduced impactor firing pressure ISP when the striking distance D decreases.

FIG. 2 is a view showing an embodiment of a position changing operation of the position adjusting unit included in the impact position learning apparatus of FIG. 1. FIG. FIG. 3 is a view showing a blowing point in the embodiment of FIG. 2. FIG.

2 and 3, the launching unit 130 launches the impactor 150 in a direction (+ Z-axis direction) in which the stroke distance D is minimum, and the position adjusting unit 120 launches the X- and Y- And the control unit 170 may calculate the coordinates of the hit point HP based on the position of the position adjusting unit 120 and the batting distance D. [ For example, when the X-axis coordinate of the position adjusting unit 120 is A 1 and the Y-axis coordinate of the position adjusting unit 120 is B 1 , the controller 170 sets the coordinates of the hit point HP as (A 1 , B 1 , D).

4 is a view showing another embodiment of the position changing operation of the position adjusting unit included in the impact position learning apparatus of FIG. FIG. 5 is a view showing a blowing point in the embodiment of FIG. 4; FIG.

4 and 5, when the direction in which the stroke distance D is the minimum is the + Z axis direction and the launching unit 130 is inclined in the + X axis direction by a certain angle? Axis direction and the control unit 170 controls the position of the position adjusting unit 120 and the shooting distance D and the predetermined angle? The coordinates of the hit point HP can be calculated. For example, when the Y axis coordinate of the position adjusting unit 120 is B 2 , the controller 170 may calculate the coordinates of the hit point HP as (D sin θ, B 2 , D cos θ).

FIG. 6 is a view showing positions of impact points of a target structure included in the impact position learning apparatus of FIG. 1. FIG.

Referring to FIG. 6, the impact points HP 11 through HPMN, from which the launcher 130 fires the impactor 150, may be interspersed on the surface of the target structure 110. 6 shows a case where the number of hit points HP11 to HPMN is N x M (N and M are natural numbers, respectively). The impact points HP11 to HPMN may be regularly arranged on the surface of the target structure 110 as shown in FIG. 6, or irregularly arranged (not shown).

7 is a diagram showing a database included in the control unit of the impact location learning apparatus of FIG. FIG. 7 shows a case where the impact position learning apparatus 100 of FIG. 1 includes four impact sensors S1, S2, S3, and S4.

Referring to FIG. 7, the database DB includes a first matrix M (1, 1, 1) including sensing signals E (1, 1, 1) The second matrix data MD2 including the detection signals E (1,1,2) to E (N, M, 2) generated by the second impact sensor S2, The third matrix data MD3 including the sensing signals E (1,1,3) to E (N, M, 3) generated by the impact sensor S3 and the fourth matrix sensor MD3 including the fourth impact sensor S4 And fourth matrix data MD4 including one of the detection signals E (1,1,4) to E (N, M, 4).

(1, 1, 2) generated by the impact sensors S1, S2, S3 and S4 when an impact is applied to the first hit point HP11 of FIG. ), E (1,1,3) and E (1,1,4) are stored in the database DB. When the impact is applied to the second hit point HP12 in FIG. 6, the sensing signals E (2,1,1), E (2,1,2), E ), E (2,1,3), and E (2,1,4) are stored in the database DB. The case where an impact is applied to the remaining hit points HP13 to HPNM in FIG. 6 can be understood based on the above description, and a description thereof will be omitted.

8 is a timing chart showing sensing signals of the impact position learning apparatus of FIG.

8, the impact sensors S1, S2, S3, and S4 sample the intensities of the shock waves SW1, SW2, SW3, and SW4 within a predetermined interval to generate the sensing signals SSIG1, SSIG2, SSIG3, Can be generated.

8 is a timing chart showing the detection signals SSIG1, SSIG2, SSIG3 and SSIG4 when the predetermined period is set to 16 ms and the sampling period is set to 1 ms. In one embodiment, the predetermined interval may be set to a value other than 16 ms, and the sampling period may be set to a value other than 1 ms.

FIG. 9 is a flowchart illustrating an impact position learning method according to an embodiment of the present invention.

Referring to FIG. 9, the impact position learning method includes a step of adjusting a position based on a position adjustment signal of a position adjustment unit (step S110); (Step S115) of measuring a distance between a launching part attached to the position adjusting part and a launching part for launching an impactor and a blowing point on which the impactor is struck; The control unit calculating coordinates of the hit point (step S120); Adjusting the pressure control signal such that the impact force is constant when the impactor is struck to the target structure (step S125); The pressure regulating unit adjusting the impactor firing pressure of the firing unit based on the pressure control signal (step S130); The launching unit launching the impactor to the target structure based on the impactor launch pressure (step S135); A plurality of impact sensors attached to the target structure generate sensing signals corresponding to the coordinates of the impact point (step S140); The control unit storing the sensing signals in a database (step S145); And adjusting the position while the control unit sequentially changing the position adjustment signal, measuring the shooting distance, calculating coordinates of the shooting point, adjusting the pressure adjusting signal, Controlling the impactor launch pressure, launching the impactor to the target structure, launching the impactor to the target structure, generating the sense signals, and storing the sense signals in a database. And storing the sensing signals for the entire area of the target structure in the database (step S150).

The above steps S110 to S150 can be understood with reference to FIGS. 1 to 8, and therefore, a detailed description thereof will be omitted.

10 is a flowchart illustrating an impact position estimation method according to an embodiment of the present invention.

Referring to FIG. 10, the impact position estimation method includes the steps of: storing the reference sensing signals generated by the impact sensors attached to the object structure in the database, the impactor being sequentially hit on the entire region of the object structure with a constant impact force; (Step S210); When any shock is applied to the object structure, the shock sensors generate detection signals corresponding to the random impact (step S215); And a control unit comparing the reference sensing signals with the sensing signals to estimate coordinates of the arbitrary impact on the object structure (step S220).

The step S210 of storing the reference sensing signals in the database may include: adjusting the position based on the position adjusting signal; Measuring a distance between a distance measuring unit attached to the position adjusting unit and a firing point at which the impactor is fired and a hit point at which the impactor is struck on the target structure; The control unit calculating coordinates of the hit point; Adjusting the pressure control signal such that the impact force is constant when the impactor is struck on the target structure; Adjusting the impactor launching pressure of the launching unit based on the pressure control signal; The firing unit firing the impactor to the target structure based on the impactor firing pressure; The plurality of impact sensors generating the reference sensed signals corresponding to the coordinates of the hit point; Storing the reference sensing signals in the database; And adjusting the position while the control unit sequentially changing the position adjustment signal, measuring the shooting distance, calculating coordinates of the shooting point, adjusting the pressure adjusting signal, The method comprising the steps of: regulating the impactor firing pressure; launching the impactor to the target structure; generating the reference sensing signals; and storing the reference sensing signals in the database, And storing the reference sensing signals for the entire area in the database.

The step S210 of storing the reference sensing signals in the database indicates a step of generating reference sensing signals to be compared with sensing signals corresponding to an impact by using the impact position learning method of FIG. The step of storing the reference sensing signals in the database (S210) can be understood with reference to FIG. 9, and a detailed description thereof will be omitted.

11 is a view showing a case where an arbitrary impact is applied to a target structure.

Referring to FIG. 11, in the step S215 of generating sense signals, when any impact IM is applied to the target structure 110, the impact sensors S1, S2, (SSIG1, SSIG2, SSIG3 and SSIG4) corresponding to the input signals IM, IM.

12 is a diagram showing sensing signals generated by impact sensors corresponding to an arbitrary impact of FIG.

12, the impact sensors S1, S2, S3, and S4 sample the intensities of the shock waves SW1, SW2, SW3, and SW4 within a predetermined interval to generate the detection signals SSIG1, SSIG2, SSIG3, and SSIG4.

12 is a timing chart showing the detection signals SSIG1, SSIG2, SSIG3, and SSIG4 when the predetermined period is set to 16 ms and the sampling period is set to 1 ms. In one embodiment, the predetermined interval may be set to a value other than 16 ms, and the sampling period may be set to a value other than 1 ms.

FIG. 13 is a view for explaining a step of estimating the coordinates at which the arbitrary impact occurs, which is included in the impact position estimation method of FIG. 10; FIG. FIG. 13 shows a case where N and M are six. In one embodiment, N, M may each have a value other than six.

In one embodiment, the estimating step (S220) of estimating the coordinates at which the random impact occurs may be performed by calculating a coordinate having a largest cross correlation value of the reference sensing signals and the sensing signals, Can be estimated as coordinates.

13 shows cross correlation coefficients V11 (V11) between the reference sensing signals included in the database DB of FIG. 7 and the sensing signals SSIG1, SSIG2, SSIG3 and SSIG4 corresponding to the arbitrary impact IM of FIG. To V66). The (1, 1) cross-correlation coefficient V11 corresponds to the first sensing signal SSIG1 of FIG. 12 and the first reference sensing signal E (1,1,1) included in the database DB of FIG. The second cross-correlation coefficient of the second reference sensing signal E (1,1,2) included in the database DB of FIG. 7, and the second cross-correlation coefficient of the second reference signal SS The third sensing signal SSIG3 of FIG. 12 and the third reference sensing signal E (1,1,3) included in the database DB of FIG. 7, and the third cross correlation coefficient of the fourth sensing signal E Correlation between the sensing signal SSIG4 and the fourth reference sensing signal E (1,1,4) included in the database DB of FIG. The remaining cross-correlation coefficients (V12 to V66) can be understood based on the above description.

FIG. 13 shows a case where the fourth (4, 4) cross correlation coefficient V44 is the largest, and in this case, the position where an arbitrary impact IM is applied can be estimated to be (4, 4).

In one embodiment, estimating the coordinates at which the random impact occurs (S220) may include calculating coordinates of a minimum root mean square (RMS) of the differences between the reference sensing signals and the sensing signals, Can be estimated as the coordinates at which the impact is generated.

13 is a graph showing the relationship between the square root mean square values of the differences between the reference sensing signals included in the database DB of FIG. 7 and the sensing signals SSIG1, SSIG2, SSIG3, and SSIG4 corresponding to the arbitrary impact IM of FIG. (V11 to V66). The (1, 1) root-mean-square root V11 corresponds to the first reference signal SSIG1 of FIG. 12 and the first reference sensing signal E (1,1,1) included in the database DB of FIG. (1, 1, 2) included in the database (DB) of FIG. 7 and the first square root of the difference between the first square root of the difference of the first sensing signal SSIG2 of FIG. 12 and the second sensing signal SSIG2 of FIG. (2) of the difference between the square root of the square root of 2, the third root mean square of the root mean square, the third sense signal SSIG3 of FIG. 12 and the third reference sense signal E (1,1,3) And the fourth root mean square of the difference between the fourth sensing signal SSIG4 of FIG. 12 and the fourth reference sensing signal E (1,1,4) included in the database DB of FIG. 7 . The remaining root-mean-square roots V12 to V66 can be understood based on the above description.

FIG. 13 shows the case where the (4, 4) root-mean-square root (V44) is the smallest, and in this case, the position where any impact IM is applied can be estimated as (4, 4).

The impact position learning apparatus, impact position learning method, and impact position estimation method according to embodiments of the present invention can be widely applied to nondestructive inspection of a target structure.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. It will be understood that the invention may be modified and varied without departing from the scope of the invention.

Claims (12)

Target structure;
A position adjustment unit for changing a position based on the position adjustment signal;
A firing unit attached to the position adjusting unit and firing an impactor to the target structure based on the impactor firing pressure;
A distance measuring unit attached to the launching unit and measuring a distance from the launching unit to a point of impact at which the impactor is struck by the target structure;
A pressure regulator for regulating the impactor launching pressure based on the pressure control signal;
A plurality of shock sensors for generating sensing signals corresponding to shock waves on the object structure generated when the impactor is struck at the impact point; And
And a control unit for adjusting the pressure control signal based on the batting distance, calculating coordinates of the batting point, and storing the sensing signals corresponding to the coordinates of the batting point in a database. The method according to claim 1,
The control unit changes the position adjustment signal so that the launch unit sequentially fires the impactor in the entire area of the target structure,
Wherein the controller stores the sensing signals corresponding to the coordinates of the sequential hit points in the database. The method according to claim 1,
Wherein the control unit adjusts the pressure adjustment signal so that an impact force when the impactor is struck at the impact point is constant based on the impact distance. The method according to claim 1,
Wherein the distance measuring unit emits a laser to the hit point and receives the laser reflected from the target structure to measure the hit distance. The method according to claim 1,
Wherein the launcher fires the impactor in a direction in which the blow distance is minimum (+ Z-axis direction)
The position adjuster adjusts the position in the X and Y axis directions,
Wherein the control unit calculates the coordinates of the impact point based on the position of the position adjustment unit and the impact distance. The method according to claim 1,
The direction in which the shooting distance is minimum is the + Z axis direction,
The launcher fires the impactor in a direction inclined by a certain angle in the X-axis direction in the + Z-axis direction,
The position adjusting unit adjusts the position in the Y-axis direction,
Wherein the control unit calculates coordinates of the impact point based on the position of the position adjustment unit, the impact distance, and the predetermined angle. The method according to claim 1,
Wherein the impact sensors sample the intensity of the shock wave within a predetermined interval to generate the sensing signals. Adjusting the position based on the position adjustment signal;
Measuring a striking distance between a launching part attached to the position adjusting part and a firing part for firing an impactor and a blowing point where the impactor is struck on the object structure;
The control unit calculating coordinates of the hit point;
Adjusting the pressure control signal such that the impact force is constant when the impactor is struck on the target structure;
Adjusting the impactor launching pressure of the launching unit based on the pressure control signal;
The firing unit firing the impactor to the target structure based on the impactor firing pressure;
A plurality of impact sensors attached to the target structure generate sensing signals corresponding to coordinates of the hit points;
Storing the sensing signals in a database; And
The control unit adjusts the position while sequentially changing the position adjustment signal, measuring the hit distance, calculating coordinates of the hit point, adjusting the pressure control signal, The method comprising the steps of: adjusting a self-launch pressure; launching the impactor to the target structure; generating the sensing signals; and storing the sensing signals in a database, And storing the sensing signals in the database. Storing the reference sensing signals generated by the impact sensors attached to the object structure in a database, the impact sensors being sequentially hit on the entire area of the object structure with a constant impact force;
Generating, when an impact is applied to the object structure, the shock sensors corresponding to the shock; And
And the control unit compares the reference sensing signals with the sensing signals to estimate coordinates of the arbitrary impact on the object structure. 10. The method of claim 9,
Wherein the step of storing the reference sensing signals in a database comprises:
Adjusting the position based on the position adjustment signal;
Measuring a distance between a distance measuring unit attached to the position adjusting unit and a firing point at which the impactor is fired and a hit point at which the impactor is struck on the target structure;
The control unit calculating coordinates of the hit point;
Adjusting the pressure control signal such that the impact force is constant when the impactor is struck on the target structure;
Adjusting the impactor launching pressure of the launching unit based on the pressure control signal;
The firing unit firing the impactor to the target structure based on the impactor firing pressure;
The plurality of impact sensors generating the reference sensed signals corresponding to the coordinates of the hit point;
Storing the reference sensing signals in the database; And
The control unit adjusts the position while sequentially changing the position adjustment signal, measuring the hit distance, calculating coordinates of the hit point, adjusting the pressure control signal, The method comprising the steps of: adjusting a self-launch pressure; launching the impactor to the target structure; generating the reference sensing signals; and storing the reference sensing signals in the database, And storing the reference sensing signals for the region in the database. 10. The method of claim 9,
Wherein the step of estimating coordinates in which the random impact occurs,
And estimating the coordinates having the largest cross correlation value of the reference sensing signals and the sensing signals as the coordinates where the random impact occurs. 10. The method of claim 9,
Wherein the step of estimating coordinates in which the random impact occurs,
And estimating the coordinates having the smallest root mean square (RMS) of the differences between the reference sensing signals and the sensing signals as the coordinate at which the random impact occurred.
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