JP6711218B2 - Damage inspection device and method for above-ground structure - Google Patents

Description

The present invention relates to an apparatus and method for inspecting ground structures for damage.

There are many steel-made tower structures such as steel towers. The surface of ground structures is galvanized and painted to prevent corrosion of the steel. However, galvanization and coating disappear over time, leading to damage such as thinning of steel and perforation. For this reason, it is necessary to regularly repair galvanization and painting.

If the above-ground structure is large, repairing galvanizing and painting requires huge maintenance costs. In order to reduce the maintenance cost, it is required to grasp the damage situation of the aboveground structure and partially repair only the damaged part or extend the repair period.

2. Description of the Related Art Conventionally, a person has climbed onto a ground structure and grasps the damage state of the ground structure by visual inspection or tapping sound. However, the inspection by visual inspection and tapping sound is a work at a high place, so there is a problem that a scaffold is required.

In order to eliminate the need for a scaffold, in Patent Document 1, a camera is mounted on a lifting robot or a helicopter that raises and lowers a ground structure, and an image of the ground structure captured by the camera is subjected to image processing by a computer, thereby A method of inspecting a structure for grasping a damage state is disclosed.

Japanese Patent Laid-Open No. 11-132962

However, the inspection method described in Patent Document 1 requires an elevating robot and a helicopter, so that there is a problem in that inspection takes time.

By the way, some ground structures have a space inside. For example, a cellular phone base station uses a tubular body having an internal space such as a telephone pole, and a bridge pier also uses a structural material having an internal space. Such ground structures are required to be inspected by taking advantage of the characteristic that there is a space inside.

Therefore, an object of the present invention is to provide an apparatus and method for inspecting damage to a ground structure that can easily inspect the damage to a ground structure having a space inside.

In order to solve the above problems, one embodiment of the present invention is a steel tower having a space inside , a bridge pier, or a sound wave is incident on a ground structure of a base station of a mobile phone , the sound wave inside the ground structure. A wave transmitting device for propagating, and a plurality of sound wave sensors arranged outside the ground structure and apart from the ground structure, and from a damaged portion of the ground structure to the outside of the ground structure. A microphone array that detects sound waves that have leaked into the air and propagated only in air, and a data processing device that specifies the position of the damaged portion using an aperture synthesis method based on the phase difference between the sound waves detected by the plurality of sound wave sensors. And a damage inspection device for a ground structure.
Another aspect of the present invention is to transmit a sound wave to a steel tower, a bridge pier, or a ground structure of a base station of a mobile phone having a space inside, and to propagate the sound wave inside the ground structure, A sound wave sensor for detecting a sound wave that leaks from the damaged portion of the ground structure to the outside of the ground structure and propagates only air, and data for identifying the position of the damaged portion based on the detection data of the sound wave sensor. A processing device, a photographing device that photographs the above-ground structure, and a display device that displays an image of the position of the damaged portion by superimposing it on a photographed image of the above-ground structure photographed by the photographing device. wherein said sonic sensors mounted on aircraft, or a damage inspection apparatus swivelably a sound collector combined with ground structures Before moving the ultrasonic sensor in a horizontal direction.

Yet another aspect of the present invention includes the steps of: pylon, pier, or sound waves on the ground structure of the cellular phone base station enters, propagates the sound waves inside the ground structure having a space therein, the Only the air leaks from the damaged portion of the ground structure to the outside of the ground structure by a microphone array having a plurality of acoustic wave sensors arranged outside the ground structure at a position apart from the ground structure. a step of detect sound waves propagated through the, on the basis of the phase difference of the sound waves plurality of the ultrasonic sensor detects, by using the aperture synthesis method of ground structure and a step of identifying the location of the damaged portion It is a damage inspection method.
Still another aspect of the present invention, a step of injecting a sound wave into the ground structure of a steel tower, pier, or base station of a mobile phone having a space inside, and propagating the sound wave inside the ground structure, A step of detecting a sound wave that leaks from the damaged part of the above-ground structure to the outside of the above-ground structure and propagates only air by a sound wave sensor, and specifies the position of the damaged part based on the detection data of the sound wave sensor. A step of displaying the image of the position of the damaged portion superposed on a captured image of the ground structure captured by the image capturing device, and mounting the sound wave sensor on a flying body, or a neck. a damage inspection method for swing possible sound collector combined with ground structures Before moving the ultrasonic sensor in a horizontal direction.

According to the present invention, a sound wave sensor detects a leak sound from a damaged portion such as a hole or a thinned portion generated in a ground structure due to corrosion, or a loosened portion of a flange bolt, and specifies the position of the damaged portion. be able to. Therefore, it is possible to easily inspect the above-ground structure having a space inside for damage.

1 is an overall configuration diagram of a damage inspection device for a ground structure according to a first embodiment of the present invention. It is a figure (a ground structure is shown in a section) which shows a speaker attached to a ground structure. It is a figure which shows the example which has arrange|positioned the speaker inside the ground structure. It is a schematic diagram explaining an aperture synthesis method. It is a figure explaining the signal addition in aperture synthesis. It is a figure which shows the signal waveform after addition in aperture synthesis. It is the whole block diagram of the damage inspection device of the above-mentioned structure of a second embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, a ground structure damage inspection apparatus according to an embodiment of the present invention (hereinafter, simply referred to as a damage inspection apparatus) will be described. However, the damage inspection device of the present invention can be embodied in various forms, and is not limited to the embodiments described in the specification. This embodiment is provided with the intention of making it possible for those skilled in the art to fully understand the scope of the invention by sufficiently disclosing the specification.

FIG. 1 shows an overall configuration diagram of a damage inspection apparatus of this embodiment. In FIG. 1, reference numeral 1 is a ground structure, reference numeral 2 is a speaker as a wave transmission device, reference numeral 3 is a microphone array as a plurality of sound wave sensors 3a to 3d, and reference numeral 4 is a CCD or an infrared camera as a photographing device.

The above-ground structure 1 has a tubular shape and is elongated in one direction (for example, the vertical direction). The space inside the above-ground structure 1 is also elongated in one direction. The cross-sectional shape of the cylindrical ground structure 1 is not particularly limited and may be circular or quadrangular. A speaker 2 is attached to the lower side surface of the ground structure 1. As shown in FIG. 2, a hole 1 a is formed in the side surface of the above-ground structure 1. The speaker 2 communicates with the air inside the ground structure 1 through the hole 1a. As shown in FIG. 1, the speaker 2 injects a sound wave 5 into the ground structure 1. The sound wave 5 propagates inside the ground structure 1.

As shown in FIG. 3, the speaker 2 may be arranged inside the ground structure 1 instead of on the side surface. In this case, it is desirable to arrange the speaker 2 below the ground structure 1 so that the speaker 2 generates the sound wave 5 upward. In the case where the ground structure 1 has a manhole or the like and the speaker 2 can be arranged inside, it is not necessary to process the holes 1a and the like in the ground structure 1, and problems such as noise due to incident sound waves are unlikely to occur.

As shown in FIG. 1, the frequency of the sound wave 5 generated by the speaker 2 is adjusted by the signal generator 6. The waveform generated by the signal generator 6 is amplified by the amplifier 7 and vibrates the speaker 2.

The signal generator 6 generates a code pattern as a frequency-adjusted waveform. The pattern serving as a code is a chirp signal whose frequency is changed with time, a pseudo-random signal (a signal whose phase is modulated by an M sequence, a white noise signal which is turned on and off by an M sequence pattern), and the like. The coded pattern is used to distinguish the sound wave 5 propagating inside the ground structure 1 from the sound waves of the surrounding environment of the ground structure 1.

The signal generator 6 can generate a sine wave having a constant frequency, or can generate a waveform in which sine waves having different frequencies are superimposed. For example, when the top of the above-ground structure 1 is open like a chimney, the signal generator 6 causes the top of the above-ground structure 1 to emit the sound wave 5 in order to prevent the sound wave 5 from leaking from the top of the above-ground structure 1. Generates a sine wave with a frequency that makes a node. On the other hand, when the top of the ground structure 1 is covered with a lid or the like, the signal generating device 6 generates a sine wave having a frequency such that a standing wave is generated inside the ground structure 1. This is because the sound wave 5 having a large amplitude is generated inside the ground structure 1 with a small energy.

The sound wave 5 propagating inside the ground structure 1 leaks from a damaged portion 8 communicating with the outside, such as a hole caused by corrosion and a gap caused by loosening of a flange bolt. The sound wave 5 similarly leaks to the outside from the damaged portion 8 such as the thinned portion due to corrosion.

The sound wave 9 leaking from the damaged portion 8 to the outside propagates only through the air and is detected by the microphone array 3. By detecting the sound wave 9 leaking from the damaged portion 8 with the microphone array 3, the position of the sound source, that is, the position of the damaged portion 8 can be specified.

The detection data of the microphone array 3 is recorded in the data recording device 11 and input to the data processing device 12. The data processing device 12 uses the aperture synthesis method to identify the position of the damaged portion 8 from the phase difference of the sound wave data detected by the microphone array 3. Further, the data processing device 12 takes a cross-correlation between the signal generated by the signal generation device 6 and the sound wave data detected by the microphone array 3, and the sound wave data detected by the microphone array 3 propagates inside the ground structure 1. Then, it is confirmed that the sound wave 9 leaks from the damaged portion 8.

4 to 6 are schematic diagrams for explaining the aperture synthesis method. When the plurality of sound wave sensors 1 to M are arranged at positions distant from the sound source position (the position of the damaged portion 8), the arrival time of the sound waves to the plurality of sound wave sensors 1 to M changes according to the distance from the sound source position. A sound wave reaches the sound wave sensor of reference numeral 1 after τ ₁ hour, a sound wave reaches the sound wave sensor of reference numeral 2 after τ ₂ time passes,... A sound wave reaches the sound wave sensor of reference numeral i after τ _i time elapses. To reach. The sound wave reaches the sound wave sensor with the code M that is farthest from the sound source position after the time τ _{max has} elapsed.

The column before delay on the left side of FIG. 5 shows the waveforms S ₁ (t) to S _M (t) received by the sound wave sensors _{1 to M.} As shown in the column after the delay on the right side of FIG. 5, the phases of the waveforms S ₁ (t) to S _i (t) received by the sound wave sensors of reference numbers 1 to _i are the phases of the waveforms received by the sound wave sensor of reference number M. If they are shifted, that is, delayed, the phases of the waveforms of the sound wave sensors 1 to M match. As shown in FIG. 6, when the waveforms of the sound wave sensors 1 to M whose phases are matched are overlapped with each other, peaks of the waveforms are obtained.

In the aperture synthesis method, the phases of the waveforms of the sound wave sensors 1 to i are electrically shifted little by little, and the phase difference (the phase of the waveform of the sound wave sensor M and the code 1 to m is overlapped so that the superimposed waveforms have a peak. The difference from the phase of the waveform of the sound wave sensor of i) is obtained. The phase difference corresponds to the difference in the distance from the sound source position to the sound wave sensors with the codes 1 to M. The data processing device 12 specifies the sound source position based on this difference in distance.

The display device 13 includes an image processing device and a display that displays an image generated by the image processing device. The data processing device 12 converts the position of the damaged portion 8 into the coordinate system of the image processing device of the display device 13 and outputs it to the image processing device of the display device 13.

A camera 4 is arranged adjacent to the microphone array 3. The camera 4 outputs the captured image data to the image processing device of the display device 13.

The image processing device of the display device 13 generates an image in which a captured image of the ground structure 1 captured by the camera 4 is overlaid with an image in which the position of the damaged portion 8 is visualized. The image that visualizes the position of the damaged portion 8 is a mark such as a circle. The display of the display device 13 displays this superimposed image. Thereby, the position of the damaged portion 8 can be grasped on the display.

The output device 14 irradiates the ground structure 1 with a laser beam that directs the damaged portion 8. The output device 14 includes a laser beam emitting unit that emits a laser beam, and a control unit that controls the direction of the laser beam emitted by the laser beam emitting unit. The laser beam emitting unit reflects the laser emitted from the laser light source by a rotatable mirror and directs it toward the ground structure 1. The position data of the damaged portion 8 calculated by the data processing device 12 is input to the control unit. The control unit controls the angle of the mirror based on the position data of the damaged portion 8 so that the laser beam irradiates the damaged portion 8.

Instead of irradiating the ground structure 1 with the laser beam, an image created by the image processing device of the display device 13 can be projected onto the ground structure 1 by a projector. The “irradiating the beam for instructing the damaged portion 8 on the ground structure 1” of the present invention includes the case of projecting an image in which the position of the damaged portion 8 is visualized on the ground structure 1 by the projector.

With the damage inspection device described above, the position of the damaged portion 8 of the ground structure 1 can be visualized. In addition, by performing the damage inspection repeatedly at regular intervals and recording the change over time in the detection data of the sound wave sensors 3a to 3d, it is possible to detect the damage at the initial stage.

FIG. 7 shows an overall configuration diagram of a damage inspection device according to a second embodiment of the present invention. The structures of the ground structure 1, the speaker 2, the amplifier 7, the signal generator 6, the display device 13, and the output device 14 are the same as those of the damage inspection device of the first embodiment, and therefore the same reference numerals are given to them. The description is omitted.

In the damage inspection apparatus of the second embodiment, a sound vehicle 22 such as a microphone and a CCD or infrared camera 23 are mounted on a flying body 21 such as a drone. The detection data of the sound wave sensor 22 and the image data captured by the camera 23 are recorded in the data recording device 24 via wireless or wired communication and input to the data processing device 25. The position of the flying body 21 is also input to the data processing device 25.

The data processing device 25 is based on the intensity of the detection data of the sound wave sensor 22 when the sound wave sensor 22 approaches the ground structure 1, moves up and down with respect to the ground structure 1, and moves in the circumferential direction. , The position of the damaged portion 8 is specified. That is, the data processing device 25 specifies the height of the sound wave sensor 22 when the intensity of the detected sound wave 9 reaches a peak as the height of the damaged portion 8 when the sound wave sensor 22 moves up and down with respect to the ground structure 1. .. Also, when the sound wave sensor 22 moves in the circumferential direction of the ground structure 1. The position of the sound wave sensor 22 in the circumferential direction when the detected intensity of the sound wave 9 reaches its peak is specified as the position of the damaged portion 8 in the circumferential direction. The data processing device 25 converts the position of the damaged portion 8 into the coordinate system of the image processing device of the display device 13 and outputs it to the display device 13.

The display device 13 displays an image obtained by superimposing an image obtained by visualizing the position of the damaged portion 8 on a captured image of the ground structure 1 captured by the camera 23. The output device 14 irradiates the ground structure 1 with a laser beam that directs the damaged portion 8.

The damage inspection apparatus and method of this embodiment have been described above. The present invention is not limited to being embodied in the above-described embodiment, and can be changed to other embodiments without changing the gist of the present invention.

For example, in the damage inspection apparatus of the first embodiment, the position of the damaged part is specified using a plurality of sound wave sensors, but damage is detected using one sound wave sensor combined with a sound collector (parabolic antenna). It is also possible to specify the position of the section. For example, the position of the damaged portion can be specified by oscillating (rotating) the sound collector so that the intensity of the sound wave reaches its peak while moving the sound collector and one sound wave sensor in the horizontal direction.

1... Ground structure 2... Speaker (wave transmission device)
3 Microphone array (acoustic wave sensor)
4... Camera (shooting device)
5, 9... Sound wave 6... Signal generator 7... Amplifier 8... Damaged part 11... Data recording device 12... Data processing device 13... Display device 14... Output device 21... Flight body 22... Sound wave sensor 23... Camera (imaging device)
24... Data recording device 25... Data processing device

Claims (8)

A steel tower having a space inside , a bridge pier, or a wave transmitting device for injecting a sound wave into a ground structure of a base station of a mobile phone, and propagating the sound wave inside the ground structure,
It has a plurality of acoustic wave sensors arranged outside the above-ground structure and apart from the above-ground structure, and leaks only the air from the damaged portion of the above-ground structure to the outside of the above-ground structure. A microphone array that detects the propagated sound waves,
A data processing device that specifies the position of the damaged portion using an aperture synthesis method based on the phase difference of the sound waves detected by the plurality of sound wave sensors, and a damage inspection device for a ground structure. A steel tower having a space inside , a bridge pier, or a wave transmitting device for injecting a sound wave into a ground structure of a base station of a mobile phone, and propagating the sound wave inside the ground structure,
A sound wave sensor for detecting a sound wave propagating only air by leaking from the damaged portion of the ground structure to the outside of the ground structure,
A data processing device for specifying the position of the damaged portion based on the detection data of the sound wave sensor;
A photographing device for photographing the above-ground structure,
A display device for displaying the image of the position of the damaged portion superposed on the captured image of the above-ground structure photographed by the photographing device ,
It said ultrasonic sensor is mounted on a flying body, or swing possible sound collector combined with damage inspection device ground structure Before moving the ultrasonic sensor in a horizontal direction. The damage inspection device,
A photographing device for photographing the above-ground structure,
The ground structure according to claim 1, further comprising: a display device that superimposes and displays an image that visualizes the position of the damaged portion on a captured image of the ground structure captured by the imaging device. Damage inspection device. The damage inspection device,
The ground structure according to any one of claims 1 to 3, further comprising: an output device that irradiates the ground structure with a beam indicating the damaged part based on position data of the damaged part. Damage inspection device. A step of propagating the sound wave inside the ground structure by injecting a sound wave into a ground structure of a steel tower, bridge pier, or base station of a mobile phone having a space inside,
A microphone array having a plurality of acoustic wave sensors arranged outside the above-ground structure and apart from the above-ground structure causes air to leak from the damaged portion of the above-ground structure to the outside of the above-ground structure. comprising the steps of: detect the sound waves propagated through the only,
A method of inspecting damage to a ground structure, comprising: specifying a position of the damaged portion using an aperture synthesis method based on a phase difference of sound waves detected by the plurality of sound wave sensors. A step of propagating the sound wave inside the ground structure by injecting a sound wave into a ground structure of a steel tower, bridge pier, or base station of a mobile phone having a space inside,
A step of detecting a sound wave that propagates only air by leaking from the damaged portion of the ground structure to the outside of the ground structure by a sound wave sensor ;
A step of specifying the position of the damaged portion based on the detection data of the sound wave sensor;
A step of superimposing and displaying an image visualizing the position of the damaged portion on a photographed image of the above-ground structure photographed by a photographing device ,
The ultrasonic sensor was mounted on a flying body, or swing possible sound collector and damage inspection method of the ultrasonic sensor ground structure Before moving horizontally in combination. The said damage|damage inspection method is provided with the process which superimposes the image which visualized the position of the said damaged part on the picked-up image of the said ground structure image|photographed with the imaging device, and it displays it. Of above ground structure damage inspection method. The damage inspection method according to any one of claims 5 to 7 was repeated at regular intervals, of terrestrial structures you and recording the temporal change in the detected data of the sound wave Damage inspection method.

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