WO2019022030A1

WO2019022030A1 - Structure-inspection device and structure-inspection method

Info

Publication number: WO2019022030A1
Application number: PCT/JP2018/027565
Authority: WO
Inventors: 琢也赤木; 裕一 ▲高▼▲桜▼; 大橋　俊夫
Original assignee: 株式会社ネクスコ東日本エンジニアリング; インダストリーネットワーク株式会社
Priority date: 2017-07-28
Filing date: 2018-07-23
Publication date: 2019-01-31
Also published as: JPWO2019022030A1; JP6982709B2; JP6836761B2; JP2021060430A; JP6931139B2; JP2021175988A

Abstract

A structure-inspection device 1 according to the present invention is characterised by: comprising a movement body 10 that moves whilst attaching via suction to a structure 2, and an inspection tool 11 that is installed to part of the movement body 10; having a rolling member 27, which rolls on a surface part 2a of the structure 2, attached to the inspection tool 11; and the main movement body 10 being driven in a state in which the pressing force of the rolling member 27 against the structure 2 is no more than one-third of the suction force of the movement body 10 against the structure, and the lowest value when the rolling member 27 rotates is no less than 1N. The structure-inspection device 1 according to the present invention enables highly-reliable inspections and highly-efficient examinations of large structures to be conducted.

Description

Inspection apparatus for structure and inspection method for structure

The present invention relates to an inspection apparatus for a structure and an inspection method for a structure.

Aging and deterioration have progressed in the past, and civil engineering structures such as bridges and tunnels of roads and railways that were built in the past, and large structures such as buildings and condominiums, and maintenance and management of these structures It is urgently needed. Heretofore, in the inspection of these large structures, the surface of the concrete of the structure is struck with a hammer or the like, and the operator hears the change in the generated hitting sound to judge whether or not the sound is sound. For example, in Patent Document 1, a rotatable rolling member is attached to the tip of the operating rod, this rolling member is rolled while pressing against the surface of the structure, and the impact sound generated at this time is picked up by the microphone An inspection tool for a structure is disclosed that analyzes whether or not.

Further, in Patent Document 2, a microphone is attached to a bowl-like support that supports a contact member sliding on the surface of the structure, and the sliding noise generated when the contact member slides on the surface of the structure A structural inspection tool is disclosed for picking up changes with a microphone to determine if it is healthy.

The structure inspection tools according to Patent Document 1 and Patent Document 2 both hold the structure inspection tool in hand and roll or slide while pressing against the surface of the structure. The inspection range is limited. On the other hand, Patent Document 3 discloses an inspection apparatus for a structure, in which an inspection tool is mounted on a movable body main body capable of traveling while being adsorbed to a wall surface of a structure or the like to determine whether the structure is sound. There is.

JP 2007-132720 A JP, 2015-232454, A JP, 2016-107893, A

Both of the inspection tools for structure described in Patent Document 1 and Patent Document 2 are used by the operator holding the structure inspection tool in hand, and the inspection possible range is limited; The pressing force at the time of pressing the inspection tool against the surface may vary, and as a result, there is a problem that it is difficult to perform a reliable inspection due to the variation of the collected impact sound and sliding noise. doing.

Further, the inspection apparatus for a structure described in Patent Document 3 can cope with a large-sized structure because the movable body is movable while being adsorbed to the surface of the structure. However, since the adsorptive power of the movable body is insufficient for the inspection tool to be mounted, after stopping the adsorption of the movable body, the adsorption arm provided on the movable body is extended and adsorbed on the wall surface, and the inspection is performed. Deploy the tools and perform inspection work. When moving, after storing the inspection tool, it can not travel unless the suction by the suction arm is released, so there is a problem that the working efficiency is poor.

Therefore, the present invention has been made to solve at least one of these problems, and enables reliable inspection and enables inspection of a large structure to be performed with high work efficiency. It is an object of the present invention to provide a structure inspection apparatus and a structure inspection method.

[1] The inspection apparatus for a structure according to the present invention is an inspection apparatus for a structure that inspects a structure, and includes a movable body main body that moves while being adsorbed to the structure and a part of the movable body main body A rolling member for rolling the surface portion of the structure, the rolling tool being attached to the testing tool; and a pressing force of the rolling member against the structure is the movable body The present invention is characterized in that the minimum value of the pressing force when the rolling member rotates is 1 N or more, with 1/3 or less of the adsorption force of the main body to the structure.

The inspection apparatus for a structure of the present invention analyzes impact noise generated by rolling a rolling member on a surface portion of a structure, and checks and determines whether the structure is sound or not. According to such a structure inspection apparatus, the moving body is equipped with the inspection tool by setting the pressing force of the rolling member against the structure to 1/3 or less of the adsorptive force of the moving body to the structure. However, as in the case of the inspection apparatus for a structure described in Patent Document 3 described above, the mobile body can travel with sufficient adsorption power without being equipped with an adsorption arm, so inspection of a large structure is high. It becomes possible to do with work efficiency. In addition, by setting the minimum value of the pressing force when the rolling member rotates to 1 N or more, the rolling member can be stably rolled relative to the surface portion of the structure to pick up an impact sound that can be analyzed. It is possible to carry out a highly reliable inspection.

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

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

[3] In the inspection apparatus for a structure of the present invention, the difference between the maximum value and the minimum value of the impulsive sound picked up by the sound input unit is preferably 10 db or more and less than 50 db.

By making the difference in the sound pressure of the impact sound in this way, it becomes possible for the sound input unit to pick up the impact sound generated when the rolling member rolls on the surface of the structure, and the structure can It is possible to determine whether or not it is sound.

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

That is, in the inspection apparatus for a structure, the pressing force of the rolling member on the structure is 1N or more and less than 20N, and rotation and rotation of the rolling member is suppressed with respect to the surface portion of the structure. And it is possible to pick up the impulsive sound as an analyzable sound.

[5] The inspection apparatus for a structure according to the present invention is an inspection apparatus for a structure that inspects a structure, and includes a movable body main body that moves while being adsorbed to the structure and a part of the movable body main body A test tool to be installed, the test tool having a weight member for giving an impact force to a surface portion of the structure, the impact force being one of an adsorption force of the moving body main body with respect to the structure / 3 or less, and the minimum value of the impact force is 1N or more.

The inspection apparatus for a structure according to the present invention analyzes impact noise generated by causing a weight member to collide with a surface portion of a structure, and checks and determines whether the structure is healthy or not. According to such a structure inspection apparatus, the moving body is equipped with the inspection tool by setting the impact force of the weight member to the structure to 1/3 or less of the adsorption force to the structure of the moving body. However, as in the case of the inspection apparatus for a structure described in Patent Document 3 described above, the mobile body can travel with sufficient adsorption power without being equipped with an adsorption arm, and thus the work of high-level inspection of a large structure It can be done efficiently. Further, by setting the minimum value of the impact force at the time of collision of the weight member to 1 N or more, it is possible to pick up as an impact sound which can be analyzed, and it becomes possible to conduct a highly reliable inspection.

In addition, in the case of the inspection apparatus for a structure according to the present invention, in the case of having a sound input unit for picking up an impact sound as in the rolling member which is an impact sound generation source described in the sections [2] and [3]. Preferably, the distance between the sound input unit and the generation position of impact sound by the weight member is 2 cm or more and less than 200 cm. Preferably, the difference between the maximum value and the minimum value of the impulsive sound picked up by the sound input unit is 10 db or more and less than 50 db. In this way, it is possible to pick up an impact sound from the weight member as a sound that can be analyzed.

Furthermore, in the inspection apparatus for a structure according to the present invention, the maximum value of the impact force by the weight member is less than 20 N, similarly to the pressing force on the structure when the rolling member rotates in the item [4]. It is preferable to In this way, inspection can be performed without damaging the structure.

[6] In the inspection apparatus for a structure of the present invention, the weight of the weight member is preferably 100 g or more and 500 g or less.

The weight member is equivalent to a hammer which has been used by workers since the old days for workers to hold a hand to test the structure, and if the weight of the weight member is in the range of 100 g to 500 g, the conventional sound hitting It is possible to determine whether the structure is sound or not by striking sound, that is, by making use of the experience of inspection.

[7] In the inspection apparatus for a structure of the present invention, the inspection tool has a holding means for holding a gap between the weight member and the surface when the weight member collides with the surface of the structure and rebounds. Is preferred.

If the weight member is kept pressed against the surface of the structure, the impact noise is not vibrated and the impact sound is not spread or the vibration can not be spread, so that the condition of the surface can not be accurately diagnosed. Therefore, by holding the weight member at a position away from the surface of the structure immediately after the collision, it is possible to make an accurate diagnosis of the structure.

[8] The inspection method for a structure according to the present invention is an inspection method for a structure, which inspects a structure, and includes a mobile body that moves while being adsorbed to the structure and a part of the mobile body. Using the inspection apparatus for a structure having the inspection tool to be installed, the pressing force on the structure of the rolling member attached to the inspection tool and rolling on the surface of the structure, the moving body main body The moving body main body is operated in a state where the minimum value of the pressing force when the rolling member rotates is 1 N or more.

The inspection method for a structure of the present invention is an inspection method that analyzes impact noise generated by rolling a rolling member on a surface portion of a structure, and determines whether or not a building is sound. In such a structure inspection method, the moving body is equipped with the inspection tool by setting the pressing force of the rolling member against the structure to 1/3 or less of the adsorption force of the moving body to the structure. Also, as in the inspection apparatus for a structure described in Patent Document 3, the mobile body can travel with sufficient adsorption power without being equipped with an adsorption arm, so inspection of a large structure can be performed with high work efficiency. It becomes possible. In addition, if the minimum value of the pressing force at the time of rotation of the rolling member is 1 N or more, the rolling member can be stably rotated, an impact sound that can be analyzed can be picked up, and a highly reliable inspection is performed. It becomes possible.

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

If the distance between the sound input unit and the impact sound generation position is 2 cm or more and less than 200 cm even while the mobile body is in operation, the sound input unit can pick up the shock sound as a sound that can be analyzed. It becomes. Here, the sound input unit is, for example, a microphone.

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

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

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

That is, in such an inspection method for a structure, the pressing force of the rolling member against the structure is 1N or more and less than 20N, and the rolling member is slipped or rebounded against the surface portion of the structure. It becomes possible to rotate while restraining, and it becomes possible to pick up an impact sound as a sound that can be analyzed.

[12] In the inspection method for a structure according to the present invention, a moving speed of the rolling member at which the rolling member slides while rolling on a surface portion of the structure is 10 cm / sec or more and 200 cm / sec. It is preferable to set it as the following.

By setting the speed of the rolling member relative to the structure in this way, it becomes possible to rotate the rolling member against sliding and bounce back to the surface portion of the structure, and the sound input unit can analyze the impact sound. It will be possible to pick it up.

[13] The inspection method for a structure according to the present invention is an inspection method for a structure, which inspects a structure, and includes a mobile body that moves while being adsorbed to the structure and a part of the mobile body. Using the inspection apparatus for a structure having the inspection tool installed, the impact force on the structure of the weight member attached to the inspection tool and caused to collide with the surface portion of the structure is determined by the moving body main body It is characterized in that the moving body main body is operated with 1/3 or less of the adsorption force to the structure and the minimum value of the impact force being 1 N or more.

The inspection method for a structure according to the present invention is an inspection method which analyzes impact noise generated by causing a weight member to collide with a surface portion of a structure, and determines whether a structure is sound or not. In such an inspection method for a structure, even if the moving body is equipped with the inspection tool by setting the impact force of the weight member to the structure to 1/3 or less of the adsorption force to the structure of the moving body, Since the mobile body can travel with sufficient adsorption power without being equipped with the adsorption arm as in the structure inspection device described in Patent Document 3, inspection of a large structure can be performed with high work efficiency. Is possible. Further, if the minimum value of the impact force is 1 N or more, it can be picked up as an analysis impact sound, and it becomes possible to conduct a highly reliable inspection.

In the case of the inspection method for a structure according to the present invention, as in the case of the rolling member which is the impact sound source described in the section of [9] and [10], in the case of having a sound input unit picking up the impact sound. Preferably, the distance between the sound input unit and the generation position of impact sound by the weight member is 2 cm or more and less than 200 cm. Preferably, the difference between the maximum value and the minimum value of the impulsive sound picked up by the sound input unit is 10 db or more and less than 50 db. In this way, it is possible to pick up an impact sound from the weight member as a sound that can be analyzed.

Furthermore, in the inspection method for a structure according to the present invention, the maximum value of the impact force by the weight member is less than 20 N, similarly to the pressing force on the structure when the rolling member rotates in the section of [11]. It is preferable to In this way, inspection can be performed without damaging the structure.

It is a perspective view which shows one Example of a structure of the inspection apparatus 1 for structures which concerns on embodiment. It is explanatory drawing which shows typically operation | movement of the test | inspection tool 11 shown in FIG. It is a table showing the ratio (pressing force / adhesion force) of the pressing force of the rolling member 27 with respect to the adsorption force of the mobile body 10 shown in FIG. 1, and its evaluation. It is a table showing evaluation about generation | occurrence | production of pushing pressure force of the rolling member 27 and impact noise which are shown in FIG. FIG. 6 is a table showing an evaluation of whether or not the impact sound can be picked up as a sound that can be analyzed by the distance L between the sound input unit 48 shown in FIG. It is a table showing a relationship between the difference S between the maximum value and the minimum value of the impulsive sound in the structure inspection device 1 according to the embodiment, and the possibility of sound analysis. It is explanatory drawing which shows typically operation | movement of the rolling member 27 shown in FIG. It is explanatory drawing which shows typically the relationship of the traveling direction of the mobile body 10 shown in FIG. 1, and the operation | movement of the rolling member 27. As shown in FIG. It is a front view which shows one Example of a structure of the inspection apparatus 60 for structures which concerns on other embodiment. It is a top view which shows one Example of a structure of the inspection apparatus 60 for structures.

Hereinafter, a structure inspection method using the structure inspection device 1 and the structure inspection device 1 according to the embodiment of the present invention will be described with reference to the drawings. The structure inspection apparatus 1 and the structure inspection method are an inspection apparatus and an inspection method for nondestructively inspecting the presence or absence of an abnormality such as deterioration of the structure 2 or mixing of foreign matter. The structures 2 are, for example, civil engineering structures such as bridges and tunnels of roads and railroads, and outer walls of large structures such as buildings and apartments.

[Configuration of inspection apparatus 1 for structure]
FIG. 1 is a perspective view showing an example of the configuration of a structure inspection apparatus 1 according to the embodiment. The structure inspection apparatus 1 includes a movable body main body 10 that travels while adhering to an inclined surface, a vertical surface, a ceiling surface, or the like of the structure 2, and an inspection tool 11 installed on a part of the movable body main body 10; have. The moving body main body 10 has a pair of endless traveling

bands

13 and 13 made of a soft elastic body disposed so as to sandwich the main body unit 12. The main body unit 12 includes a main body drive unit 14 and a suction drive unit 15. The main body drive unit 14 has two motors 16 (only the upper motor 16 is shown in FIG. 1), and the upper motor 16 is a drive wheel 17 (not shown) on the left side with respect to the traveling direction of the movable body 10. The other motor 16 (not shown) drives the right drive wheel 17. A pair of driven wheels 18 and 18 (the left side is not shown) is disposed on the rear side with respect to the traveling direction of the movable body 10. The

endless traveling belts

13 and 13 are suspended and driven by the driving

wheels

17 and 17 and the driven

wheels

18 and 18.

Since the two motors 16 can be independently driven and controlled independently, the endless traveling

belts

13 and 13 can be independently driven, and the moving body main body 10 is advanced or It is possible to reverse, to change the direction of travel, or to turn.

A plurality of suction holes 19 are disposed in the

endless travel bands

13 and 13 in the long side direction. The suction holes 19 are formed at equal intervals and at equal intervals over the entire circumference of the endless traveling

belts

13 and 13, and penetrate in the thickness direction and communicate with the pressure reducing chamber 20 of the suction drive unit 15.

Although not shown, the suction drive unit 15 has a blower pump for sucking the air in the pressure reducing chamber 20 and a blower motor for driving the blower pump, and discharges the air sucked from the pressure reducing chamber 20 to the outside. The blower pump has an umbrella type turbo fan and sucks air from the inside of the pressure reducing chamber 20 to reduce the pressure in the pressure reducing chamber 20. That is, the suction driving unit 15 sucks air from the plurality of suction holes 19 provided in the endless traveling

belts

13 and 13 through the pressure reducing chamber unit 20 so that the surface unit 2 a (wall surface etc.) of the structure 2 is strong. It is possible to adsorb and move while adsorbing to the surface portion 2 a of the structure 2. This type of mobile object is known from, for example, Japanese Patent Application Laid-Open Nos. 2106-84118, 2016-97955, and US Patent Publication 2015-375814.

The inspection tool 11 is attached to a part of the movable body 10. The inspection tool 11 is disposed on an inspection tool attachment frame 25 disposed on the opposite side of the main body drive unit 14 with the suction drive unit 15 interposed therebetween. The inspection tool 11 rotatably holds the mounting plate 26 for attaching the inspection tool 11 to the movable body 10, the rolling member 27 which rolls while rolling on the surface portion 2 a of the structure 2, and the rolling member 27. At the same time, it has a support shaft 28 that slides integrally with the rolling member 27, and a support shaft fixing plate 29 that holds the support shaft 28 and swings integrally with the rolling member 27. The support shaft fixing plate 29 and the mounting plate 26 are connected by the hinge 30, and the rolling member 27, the support shaft 28 and the support shaft fixing plate 29 are perpendicular to the surface 2 a of the structure 2. It is possible to move to The rolling members 27 are spherical, or circular in cross section in the rotational direction, elliptical in side shape, polygonal or the like, and in any shape, ridge lines or a constant pitch on the outer periphery of rotation The corner is projected.

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

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

The rotation and link action of the link drive wheel 42 cause the mounting plate 26 to swing on the inspection tool mounting frame 25 about the rotation axis 36. That is, the rolling member 27 is oscillated. The link drive wheel 42 may be rotated in one direction, and clockwise rotation and counterclockwise rotation may be alternately repeated.

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

Since the position adjustment arm 49 is connected to the inspection tool mounting frame 25 by the universal joint 53, it can be rotated about its axis or tilted with respect to the inspection tool mounting frame 25. Further, the first arm 50 and the second arm 51 are connected to the arm connector 52, and it is possible to freely change the angle between them.

[Operation of inspection tool 11]
FIG. 2 is an explanatory view schematically showing the operation of the inspection tool 11 shown in FIG. Since the mounting plate 26 and the support shaft fixing plate 29 are connected by the hinge 30, when the link motor 41 is rotated, the support shaft fixing plate 29, the support shaft 28, and the rolling member 27 The coaxial link drive wheel 42 rotates, and the driven arm 43 reciprocates (indicated by a two-dot dashed arrow). As the driven arm 43 reciprocates, the rolling member 27 pivots about the rotation shaft 36. The rolling member 27 supported by the support fixing plate 29 is configured to be able to swing in the vertical direction (indicated by the dotted arrow) with respect to the surface portion 2 a of the structure 2 by the hinge 30. The surface 2a of the structure 2 is pressed with a predetermined pressing force 35. The rolling member 27 rotates while rolling on the surface portion 2a of the structure 2, and the impact sound generated when the ridge line or the corner portion of the rolling member 27 strikes the surface portion 2a is a sound input portion 48 (see FIG. 1) Pick up with).

The impact sound picked up by the sound input unit 48 includes the sound from which the mobile body 10 is a generation source, but when there is an abnormality in the structure, the sound analysis from the sound pressure change in the predetermined frequency band etc. It is analyzed by a device (not shown). Usually, when there is an abnormality in the structure 2, the sound pressure tends to appear lower than when there is no abnormality. It is possible to determine whether or not there is an abnormality (whether it is sound or not) based on the difference in sound pressure (change in sound pressure). The sound analysis device may be disposed inside the structure inspection device 1. Also, it may be arranged at another place via the communication device.

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

FIG. 3 is a table showing the ratio of the pressing force of the rolling member 27 to the attraction force of the movable body main body 10 in the structure inspection device 1 (pressing force / adsorption force) and the evaluation thereof. In the table shown in FIG. 3, the column indicates the ratio of the pressing force to the attracting force (pressing force / adsorbing force), and the row indicates the evaluation and the comment. In FIG. 3, ◎ is the most preferable range, ○ is the preferable range, and x or Δ is the range to be avoided. If the pressing force / adsorption force is in the range of more than 1/3, adsorption may not be possible, and if the pressing force / adsorption force is 1/3 or less, the possibility of not being able to be adsorbed is considerably reduced. Here, "capable of adsorbing" means that the movable body can travel with sufficient adsorptive power while using the inspection tool, and not capable of adsorbing means that the movable body 10 is a structural inspection device It says the state which can not support 1

In order to pick up an impact sound generated by rolling the rolling member 27 as a sound that can be analyzed, it is necessary to press the rolling member 27 against the surface portion 2a with an appropriate pressing force. This will be described with reference to FIG.

FIG. 4 is a table showing an evaluation regarding the pressing force of the rolling member 27 and the generation of the impact noise. In this table, the pressing force of the pressing spring 35 on the surface 2a of the rolling member 27 is changed under the condition that the ratio of the pressing force to the attracting force is 1/3 or less. In the table shown in FIG. 4, the column indicates the magnitude of the pressing force, and the row indicates the evaluation and the comment. In FIG. 4, ○ indicates a preferable pressing force, and Δ or x indicates that the pressing force is insufficient. As shown in FIG. 4, when the pressing force is 1 N or more and less than 20 N, the rolling member 27 rotates well and the impact sound can be picked up as a sound sufficient for analysis, and is less than 1 N I can not get an impact sound. In addition, when the pressing force is 20 N or more, the rolling member 27 is difficult to rotate smoothly, and no impact noise that can be analyzed is generated.

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

Although not shown, as a means for pressing the rolling member 27 against the surface 2 a of the structure 2, it is possible to use a pressure actuator (a kind of linear actuator) instead of the pressure spring 35. The pressure actuator is more preferably one incorporating a pressure sensor, but a pressure sensor may be provided between the pressure actuator and the support shaft fixing plate 29. Alternatively, the pressure sensor may be disposed between the rolling member 27 and the support shaft 28.

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

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

The spatial position of the sound input unit 48 with respect to the rolling member 27 has a degree of freedom within a range in which the distance between the rolling member 27 and the sound input unit 48 is 2 cm or more and less than 200 cm. In such a case, it is preferable to appropriately adjust the direction in which the sound input unit 27 faces. Moreover, it is desirable to make the sound input part 27 into a directional microphone. The position adjustment arm 49 can adjust the sound input unit 48 to an appropriate position with respect to the rolling member 27 by the arm connector 52 and the universal joint 53, but there is no positional deviation while the structure inspection device 1 is in operation. As fixed.

In the structure inspection apparatus 1 shown in FIG. 1, the position adjustment arm 49 is attached to the movable body 10 (inspection tool attachment frame 25), but can be attached to the attachment plate 26 on the inspection tool 11 side. It is. In this way, when the rolling member 27 is rocked, the sound input unit 48 is rocked in conjunction, so the relative position between the rolling member 27 and the sound input unit 48 does not change. It is possible to suppress the change of the sound pressure due to the relative position change of the moving member 27 and the sound input unit 48.

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

FIG. 6 is a table showing the difference S between the maximum value and the minimum value of the impulsive sound and the possibility of sound analysis. In FIG. 6, the column indicates the difference S between the maximum value and the minimum value of the impulsive sound, and the row indicates the evaluation and the comment. In FIG. 6, ○ indicates a range where analysis is sufficient, Δ indicates a potential but unstable range, and x indicates a non-analytical range. As shown in FIG. 6, analysis is impossible when the difference S is less than 10 db, and analysis is possible when the difference S is less than 10 db to 50 db. However, analysis may be possible but unstable if the difference S is less than 10 db to less than 20 db and less than 40 db to 50 db, and analysis may be impossible if the difference S is greater than 50 db. Therefore, it is more preferable to set the difference S between the maximum value and the minimum value to 20 db to 40 db.

When analyzing the sound picked up by the sound input unit 48, the frequency band of the sound generated from the mobile body 10 (the main body drive unit 14 and the suction drive unit 15) is excluded, and the structure is It becomes possible to determine whether 2 is sound or not. Such a test may be generally referred to as a hit sound test.

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

FIG. 7A shows an example in which the moving body main body 10 travels to a predetermined position and the rolling member 27 is operated there. That is, the mobile unit main body 10 rolls the rolling member 27 from left to right in the figure at a predetermined position, and after moving a predetermined distance, stops the rolling, and in that state the mobile unit main body 10 is positioned at a predetermined position It is an operation of traveling up to and rolling the rolling member 27 from the right to the left in the drawing, and by repeating such an operation, an operation without waste can be performed.

In FIG. 7B, the movable body main body 10 is moved to a predetermined position, the rolling member 27 is reciprocated to the left and right of the drawing, and the rolling member 27 is returned to the left in the drawing. After the moving body main body 10 travels, the rolling member 27 is reciprocated to the left and right again. In this way, the rolling member 27 is moved twice on the same trajectory, that is, the same portion is inspected twice, and the reliability of the inspection can be enhanced.

FIG. 7C shows an operation of rolling the rolling member 27 from the left to the right in the figure and from the right to the left while traveling the moving body main body 10. In this way, the inspection can be continued without stopping the movable body main body 10, so that inspection of a large structure can be performed with higher work efficiency. The pitch (or gradient) of the locus along which the rolling member 27 rolls from the left to the right, or the locus along which the rolling member rolls from the right to the left, It is possible to make it denser, sparser or adjustable depending on the peristaltic speed.

The traveling direction of the movable body 10 is switched when, for example, there is a step portion or an end portion such as a step end or the like that hinders the movement of the movable body 10 or the rolling member 27 in the structure 2 (see FIG. 8). It is possible to cope by it. This will be described with reference to FIG.

FIG. 8 is an explanatory view schematically showing the relationship between the traveling direction of the mobile unit body 10 shown in FIG. 1 and the operation of the rolling member 27. As shown in FIG. In FIG. 8, it will be described by way of example that the surface 2 a of the structure 2 is a wall perpendicular to the ground. In addition, the arrow has shown the traveling direction of the mobile body 10 in the figure. FIG. 8 (a) shows an example in which the operation inappropriate portion 2b is on the lower side of the mobile body 10, and FIG. 8 (b) shows an example in which the operation unsuitable portion 2b is on the left of the mobile body 10, FIG. 8C shows an example in which the operation inappropriate portion 2b is above the movable body 10, and FIG. 8D shows an example in which the operation inadequate portion 2b is on the right of the movable body 10 . The movable body 10 is a so-called endless track traveling body using the endless traveling

belts

13 and 13, so that it is possible to freely change the traveling direction such as forward, backward, and turning.

In the example shown in FIG. 8A, the rolling member 27 is moved close to the lower operation nonconforming portion 2b, and then the moving body main body 10 is moved upward to swing the rolling member 27 for inspection. . Conversely, the moving member main body 10 may be allowed to travel until the rolling member 27 approaches the improper operation portion 2b from the upper side to the lower side. In the example shown in FIG. 8 (b), the rolling member 27 is moved to the right while traveling the moving body main body 10 rightward after moving the rolling member 27 close to the operation inappropriate portion 2b on the left side from the right side Is an example of doing Conversely, the mobile unit main body 10 may be allowed to travel until the rolling member 27 approaches the improper operation portion 2b from the right side to the left direction.

In the example shown in FIG. 8C, after the rolling member 27 is brought close to the operation inappropriate portion 2b on the upper side, the moving body main body 10 is caused to travel downward to swing the rolling member 27 for inspection. . Conversely, the moving member main body 10 may be allowed to travel until the rolling member 27 approaches the improper operation portion 2b from the lower side to the upper side. In the example shown in FIG. 8D, after the rolling member 27 is brought close to the operation inappropriate portion 2b on the right side, the moving body main body 10 is caused to travel leftward to swing the rolling member 27 for inspection. Conversely, the moving member main body 10 may be allowed to travel until the rolling member 27 approaches the improper operation portion 2b from the left side to the right side. Each operation example described in FIG. 7 can be applied to the operation of the rolling member 27. In this way, it is possible to check the vicinity of the improper operation portion 2b.

In order to roll the rolling member 27 and pick up the impact sound due to the rotation as a sound that can be analyzed, it is necessary to appropriately control the moving speed at which the rolling member 27 is moved. The moving speed at which the rolling member 27 swings while pressing the surface portion 2a of the structure 2 is 10 cm / under the condition that the pressing force with which the rolling member 27 presses the surface portion 2a is 1N or more and less than 20N. It is preferable to set the pressure more than one second and less than 200 cm / second. When the moving speed of the rolling member 27 is less than 10 cm / sec, or 200 cm / sec or more, the rolling member 27 may slip or bounce on the surface portion 2a and can not pick up an impact sound that can be analyzed. is there.

According to the inspection apparatus 1 for a structure and the inspection method for a structure described above, the movable body main body 10 moving while being adsorbed to the structure 2, and the inspection tool 11 installed in a part of the movable body main body 10; The rolling member 27 is mounted on the inspection tool 11 to roll the surface portion 2 a of the structure 2, and the pressing force of the rolling member 27 against the structure 2 can be measured against the structure of the movable body 10. The moving body main body 10 is operated in a state where the minimum value of the pressing force when the rolling member 27 rotates is 1 N or more at 1/3 or less of the adsorption force.

According to the inspection apparatus 1 for a structure and the inspection method for a structure, the pressing force of the rolling member on the structure is set to 1/3 or less of the adsorption force on the structure of the movable body. Even if the body 10 is equipped with the inspection tool 11, the moving body can travel with sufficient suction power without being equipped with a suction arm as in the structure inspection device described in Patent Document 3 described above. Thus, it becomes possible to inspect large structures with high working efficiency. In addition, by setting the minimum value of the pressing force when the rolling member rotates to 1 N or more, the rolling member can be stably rolled relative to the surface portion of the structure to pick up an impact sound that can be analyzed. It is possible to carry out a highly reliable inspection.

In addition, the moving body main body 10 has a sound input unit 48 that picks up an impact sound generated when the rolling member 27 rolls on the surface 2 a of the structure 2, and the sound input unit 48 and the rolling member 27 are structured A distance of 2 cm or more and less than 200 cm is set as the distance between the generation position of the impact noise generated when rolling the surface portion 2 a of the object 2 and the surface. In this way, the sound input unit 48 can reliably pick up an impact sound as a sound that can be analyzed. In addition, the distance and position with respect to the generation | occurrence | production position of the impact sound of the sound input part 48 are optimally adjustable by the position adjustment arm 49, and it is possible to maintain the state.

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

Further, in the structure inspection device 1 and the structure inspection supplement method according to the embodiment, the maximum value of the pressing force on the structure 2 when the rolling member 27 rotates is less than 20N. That is, the minimum value of the pressing force of the rolling member 27 against the structure 2 is 1 N or more, and the maximum value is less than 20 N, and the rolling member 27 slips or bounces against the surface 2 a of the structure 2 It becomes possible to rotate while restraining, and it becomes possible to pick up an impact sound as a sound that can be analyzed.

Further, in the inspection method for a structure described above, the moving speed of the rolling member in which the rolling member 27 swings while rolling on the surface portion 2a of the structure 2 is 10 cm / sec or more and less than 200 cm / sec. Do. With such a moving speed within the range of the pressing force as described above, it becomes possible to rotate the rolling member 27 while suppressing slipping and jumping with respect to the surface portion 2 a of the structure 2, The sound input unit 48 can pick up the impact sound as a sound that can be analyzed.

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

[Configuration of inspection apparatus 60 for structure]
FIG. 9 is a front view showing an example of the configuration of a structure inspection device 60 according to another embodiment, showing a cross section of the inspection tool 61 taken along the line AA of FIG. . FIG. 10 is a plan view showing an example of the configuration of the structure inspection device 60. As shown in FIG. 9 and 10 are schematic views showing the shape of each part in a simplified manner.

As shown in FIGS. 9 and 10, in the structure inspection apparatus 60, an inspection tool 61 is disposed on the rear side with respect to the traveling direction (indicated by a thick arrow) of the movable body 10. The movable body 10 has the same configuration as that shown in FIG. 1 and thus the detailed description is omitted. In FIGS. 9 and 10, the same parts as in FIG. 1 are assigned the same reference numerals as in FIG. The inspection tool 61 is connected to the movable body 10 by the inspection tool mounting frame 62. The inspection tool 61 has a weight member 63 which collides with the surface 2a of the structure to generate an impact sound, an electromagnetic solenoid 64 which makes the weight member 63 collide with the surface 2a of the structure, and a surface 2a of the structure It has a spring 65 as a holding means for holding it at a position away from it.

The weight member 63 is fixed to one end of the handle member 66. The configuration of the weight member 63 and the handle member 66 can be reworded as one type of hammer. The other side of the handle member 66 is connected to the bearing member 67. The weight rotation shaft 68 is inserted into the bearing member 67, and the weight member 63 is rotatable around the weight rotation shaft 68 via the handle member 66 via the shaft member 67. The weight rotation shaft 68 is fixed to the side wall portions 62a of the left and right ends of the inspection tool attachment frame 62 (see FIG. 10). The weight of the weight member 63 is set to 100 g or more and 500 g or less. In FIG. 9, a weight member 63 represented by a dotted line represents a state before collision with the surface portion 2a, and a weight member 63 represented by a solid line represents a time of collision. The handle member 66 is extended from the weight rotation shaft 68 to the movable body main body 10 side. The spring 65 is suspended between the inspection tool mounting frame 62 and the handle member 66. The spring 65 exerts a tensile force in the direction in which the weight member 63 is always separated from the surface 2a. The weight member 63 illustrated in FIG. 9 is a sphere, but is not limited to a sphere, and may be a so-called hammer type or a disc shape.

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

The weight member 63, the solenoid frame 69, the electromagnetic solenoid 64, the spring 65 and the like are referred to as a hammer unit 71. In the example shown in FIG. 10, six sets of hammer units 71 are disposed in the axial direction of the weight rotation shaft 68. The number of hammer units 71 may be more or less than six sets, and can be installed corresponding to the size of the inspection target in the surface portion 2a of the structure. Each hammer unit is driven at a timing shifted to such an extent that the impact sound does not strike one set at a time. Although the inspection tool 61 illustrated in FIGS. 9 and 10 is disposed on the rear end side with respect to the traveling direction of the movable body 10, it may be disposed on the tip side in the traveling direction.

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

In the structure inspection apparatus 60 described above, the electromagnetic solenoid 64 is used as a drive unit for causing the weight member 63 to collide with the surface 2a of the structure, and the spring 65 is used as a holding unit. However, it is possible to comprise by the cam mechanism etc. which have both functions of a drive part and a holding means.

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

For example, when the structure 2 is a concrete structure, it is determined to be sound if the impulsive sound is a clean sound such as a kink or concon. In the case of dull noise such as don or dos, it can be determined that there is a cavity in the vicinity of the surface portion 2a or the surface portion 2a. Further, in the case of a muddy sound that makes it feel thin, such as a broom or pecopeco, it can be determined that the surface portion 2a is exfoliated. The determination of sounds like these can be determined empirically by hearing, but when there is an abnormality in the structure or there is no abnormality, a sound analysis device (not shown) from changes in sound pressure in a predetermined frequency band etc. It is possible to analyze by In addition, it is confirmed that there is no difference between the determination result by the impact sound by the rolling member 27 described above and the determination result of the impact sound by the weight member 63.

The weight member 63 is pulled back by the spring 65 to a position away from the surface portion 2a, that is, a position represented by a dotted line in FIG. 9 immediately after colliding with the surface portion 2a. In this way, it is possible to prevent the vibration of the surface portion 2a from being damped and the expansion of the vibration of the surface portion 2a from being suppressed by the weight member 63 being in contact with the surface portion 2a.

The impact force that the weight member 63 applies to the surface portion 2a is a reaction force against the attraction force of the moving body main body 10, similarly to the pressing force that the rolling member 27 applies to the surface portion 2a. That is, the impact force on the adsorption force should be regulated within an appropriate range. This will be described with reference to FIG.

In the structure inspection device 60, the pressing force shown in FIG. 3 can be described by replacing it with an impact force. In FIG. 3, when the ratio of the impact force to the adsorption force is more than 1/3, adsorption may not be possible, and if the ratio of the impact force to the adsorption force is 1/3 or less, the adsorption may not be able to occur. Indicates that it will be quite low.

In order to pick up an impact sound generated by causing the weight member 63 to collide with the surface portion 2a as an analyzable sound, it is necessary to apply an appropriate impact force to the surface portion 2a. This will be described with reference to FIG. The structure inspection device 60 can be described by replacing the pressing force shown in FIG. 4 with an impact force. As shown in FIG. 4, when the impact force is 1 N or more and less than 20 N, the impact sound can be picked up as a sound sufficient for analysis. For example, in the case where the structure 2 is a concrete structure, it should be avoided because an impact force of 20 N or more may damage the collision portion of the weight member 63. In order to obtain an impact sound that can be analyzed with an impact force of 1 N or more and less than 20 N, adjust the push force of the electromagnetic solenoid 64 and the drive stroke of the electromagnetic solenoid 64 or adjust the distance between the weight member 63 and the surface portion 2a. Is possible.

Further, the sound input unit 48 is required to be disposed and maintained at an optimum position for picking up an impact sound generated when the weight member 63 collides with the surface portion 2 a. This will be described with reference to FIG. The appropriate distance L to the generation position of the impact noise in the structure inspection device 60 can be described in the same manner as the structure inspection device 1 regardless of the configuration of the inspection tool. As shown in FIG. 5, in the range where the distance L is 2 cm or more and less than 200 cm, it is possible to pick up an impact sound as a sound that can be analyzed. Although the position of the sound input 48 can be arbitrarily adjusted, it is fixed so that there is no misalignment during operation of the structure inspection device 60.

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

Further, the inspection tool 11 of the above embodiment rotates the rolling member 27 while rolling on the surface portion 2 a of the structure 2 and picks up and analyzes the impact noise generated at that time. It is also possible to slide on the surface 2 a of the structure 2 without rotating the member 27 and pick up the sliding noise generated at that time.

Moreover, in the above-mentioned embodiment, the inspection apparatus 1 for structures has the inspection tool 11, and the inspection apparatus 60 for structures has the inspection tool 61. However, the type of the structure 2 and the surface portion 2a Depending on the state, the inspection tool 11 and the inspection tool 61 may be exchanged, or both the inspection tool 11 and the inspection tool 61 may be installed on the movable body 10.

DESCRIPTION OF

SYMBOLS

1, 60 ... Inspection apparatus for structures, 2 ... Structure, 2a ... 2nd part of a structure, 2b ... Operation unsuitable part, 10 ... Moving body main body, 11, 61 ... Inspection tool, 12 ... Main body unit, 13 ... Endless running Band 14 14 body drive unit 15 adsorption drive unit 19 adsorption hole 25 62 Frame for mounting the inspection tool 26 mounting plate 27 rolling member 35 pressure spring 36 rotation shaft , 40: link mechanism, 41: link motor, 42: link drive wheel, 43: driven arm, 44: slide joint portion, 48: sound input portion, 49: position adjustment arm, 53: universal joint, 63: weight member , 64 ... electromagnetic solenoid, 65 ... spring

Claims

An inspection apparatus for a structure that inspects a structure,
A mobile body that moves while being adsorbed to the structure;
And an inspection tool installed on a part of the movable body.
A rolling member that rolls on the surface of the structure is attached to the inspection tool,
The pressing force of the rolling member with respect to the structure is set to 1/3 or less of the adsorption force of the moving body main body to the structure, and the minimum value of the pressing force when the rolling member rotates is set to 1N or more An inspection apparatus for a structure characterized by
In the structure inspection apparatus of claim 1,
The moving body main body has a sound input unit that picks up an impact sound generated when the rolling member rolls on the surface portion of the structure. The sound input unit and the rolling member are the surface portion of the structure. A structure inspection apparatus characterized in that the distance between the point of generation of impact noise generated when rolling and 2 cm or more and 200 cm or less.
The inspection apparatus for a structure according to claim 1 or 2
The structure inspection apparatus, wherein the difference between the maximum value and the minimum value of the impulsive sound picked up by the sound input unit is 10 db or more and 50 db or less.
The inspection apparatus for a structure according to any one of claims 1 to 3.
An inspection apparatus for a structure, wherein a maximum value of pressing force on the structure when the rolling member rotates is set to 20 N or less.
An inspection apparatus for a structure that inspects a structure,
A mobile body that moves while being adsorbed to the structure;
And an inspection tool installed on a part of the movable body.
The inspection tool has a weight member that applies an impact force to the surface of the structure,
The inspection apparatus for a structure, wherein the impact force is set to 1/3 or less of the adsorption force of the movable body to the structure, and the minimum value of the impact force is set to 1 N or more.
The inspection apparatus for a structure according to claim 5, wherein the weight of the weight member is 100 g or more and 500 g or less.
In the inspection apparatus for a structure according to claim 5 or 6,
The inspection apparatus according to the present invention is characterized in that the inspection tool has a holding means for holding a gap between the weight member and the surface portion when the weight member collides with the surface portion of the structure and rebounds.
A structure inspection method for inspecting a structure, the method comprising:
Using a structure inspection apparatus having a moving body main body moving while being adsorbed to the structure, and an inspection tool installed on a part of the moving body main body,
The rolling member is mounted on the inspection tool, and the pressing force of the rolling member for rolling the surface portion of the structure against the structure is 1/3 or less of the adsorption force of the moving body main body to the structure, the rolling member The inspection method for a structure characterized in that the moving body main body is operated in a state where the minimum value of the pressing force at the time of rotation is 1N or more.
In the inspection method for a structure according to claim 8,
The moving body main body has a sound input unit that picks up an impact sound generated when the rolling member rolls on the surface of the structure, and the sound input unit and the rolling member are the surface of the structure A method of inspecting a structure, comprising: operating the movable body with a distance of 2 cm or more and 200 cm or less between a position at which an impact sound is generated when rolling the wheel.
In the structure inspection method according to claim 9,
A method of inspecting a structure, wherein the difference between the maximum value and the minimum value of the volume of the impact sound picked up by the sound input unit is 10 dB or more and less than 50 db to analyze the sound.
The inspection method for a structure according to any one of claims 8 to 10,
The inspection method for a structure, wherein a maximum value of pressing force when the rolling member rotates with respect to the structure is set to 20 N or less.
In the structure inspection method according to any one of claims 8 to 11,
And a moving speed of the rolling member at which the rolling member swings while rolling on a surface portion of the structure is 10 cm / sec or more and 200 cm / sec or less.
A structure inspection method for inspecting a structure, the method comprising:
Using a structure inspection apparatus having a moving body main body moving while being adsorbed to the structure, and an inspection tool installed on a part of the moving body main body,
The impact force of the weight member attached to the inspection tool and caused to collide with the surface portion of the structure with respect to the structure of the moving body is set to 1/3 or less of the adsorption force of the movable body to the structure, and the minimum value of the impact force The inspection method for a structure characterized in that the moving body main body is operated in a state in which is 1N or more.