JP2016191661A - Structure inspection device - Google Patents
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- JP2016191661A JP2016191661A JP2015072576A JP2015072576A JP2016191661A JP 2016191661 A JP2016191661 A JP 2016191661A JP 2015072576 A JP2015072576 A JP 2015072576A JP 2015072576 A JP2015072576 A JP 2015072576A JP 2016191661 A JP2016191661 A JP 2016191661A
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- 238000007689 inspection Methods 0.000 title claims abstract description 33
- 238000003384 imaging method Methods 0.000 claims abstract description 9
- 230000002194 synthesizing effect Effects 0.000 claims abstract description 3
- 230000005284 excitation Effects 0.000 claims description 17
- 238000005070 sampling Methods 0.000 abstract description 25
- 230000002159 abnormal effect Effects 0.000 abstract description 13
- 230000010355 oscillation Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000001228 spectrum Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000000644 propagated effect Effects 0.000 description 3
- 239000011358 absorbing material Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
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- Bridges Or Land Bridges (AREA)
- Lining And Supports For Tunnels (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
本発明は、例えば、橋梁やトンネルの内壁などの構造物の状態を点検する装置に関するものである。 The present invention relates to an apparatus for inspecting the state of a structure such as a bridge or an inner wall of a tunnel.
従来、橋梁やトンネルの内壁などのコンクリート構造物にひび割れや空隙などの非健全部があるか否かを検査する方法として、構造物表面をハンマーなどで打撃して加振したときに発生する音を作業者が聞いて、非健全部があるか否かを判断していた。しかし、このような方法では、作業効率が低いだけでなく、作業者により判断が異なる場合があるといった問題点があった。
そこで、ハンマーとマイクロフォンとを一体に構成し、加振したときに発生する音をマイクロフォンで採取し、採取された音の周波数スペクトルと予め記憶しておいた健全部の周波数スペクトルである基準周波数スペクトルを比較することで、コンクリート構造物の剥離の有無を判定する方法が提案されている（例えば、特許文献１参照）。
また、加振による検査を定期的に行うとともに、加振したときに発生する音をマイクロフォンで採取し、採取された音の周波数特性を比較することで、コンクリート構造物の非健全部分を検出する方法も提案されている（例えば、特許文献２参照）。
また、音源を推定するための画像を作成して表示する装置として、４個のマイクロフォンＭ１〜Ｍ４を、互いに直交する２直線上にそれぞれ所定の間隔で配置し、第５のマイクロフォンＭ５をマイクロフォンＭ１〜Ｍ４の作る正方形を底面とする四角錐の頂点の位置に配置して成る音採取手段により、音源から伝播する音の音圧信号を検出し、対となる２つのマイクロフォン（Ｍi,Ｍj）間の位相差に相当する到達時間差Ｄijから音源の方向である水平角θと仰角φとを推定するとともに、音源の方向を撮影して得られた画像中に推定された音源の方向を示す図形を描画した音源推定用画像を作成して表示する音源推定用画像表示装置が知られている（例えば、特許文献３参照）。
Conventionally, as a method of inspecting concrete structures such as bridges and tunnel inner walls for unhealthy parts such as cracks and voids, sound generated when a structure surface is struck with a hammer or the like is vibrated. The worker asked whether or not there was an unhealthy part. However, such a method has a problem that not only the work efficiency is low, but also the judgment may differ depending on the worker.
Therefore, a hammer and a microphone are integrated, and the sound generated when vibrating is collected by the microphone. The frequency spectrum of the collected sound and the reference frequency spectrum that is the frequency spectrum of the healthy part stored in advance Has been proposed to determine whether or not the concrete structure is peeled off (see, for example, Patent Document 1).
In addition, periodic inspections are performed, and the sound that is generated when vibration is collected with a microphone, and the frequency characteristics of the collected sound are compared to detect unhealthy parts of the concrete structure. A method has also been proposed (see, for example, Patent Document 2).
As an apparatus for creating and displaying an image for estimating a sound source, four microphones M1 to M4 are arranged on two straight lines orthogonal to each other at predetermined intervals, and the fifth microphone M5 is a microphone M1. Sound pressure signal of sound propagating from the sound source is detected by sound sampling means arranged at the apex of a quadrangular pyramid with the square formed by M4 as the bottom, and two microphones (M i , M j ) that make a pair are detected. The horizontal angle θ and the elevation angle φ, which are the directions of the sound source, are estimated from the arrival time difference D ij corresponding to the phase difference between) and the direction of the sound source estimated in the image obtained by photographing the direction of the sound source. 2. Description of the Related Art A sound source estimation image display apparatus that creates and displays a sound source estimation image in which a graphic to be shown is drawn is known (see, for example, Patent Document 3).
しかしながら、前記従来の方法では、打撃点の近傍に非健全部が存在することはわかるが、非健全部の位置については特定できないだけでなく、非健全部が存在するとされる加振点の位置をその都度記憶しておく必要があるため、構造物の点検に多大な時間がかかってしまうといった問題点があった。
そこで、前記特許文献３の音源推定用画像表示装置を用いて、非健全部の位置を推定することが考えられるが、音源推定用画像表示装置では、工場内などのように音源が容易に視認できる場合には有効であるが、音源である非健全部の３次元座標までは求めていないので、点検対象が橋梁やトンネルの内壁など特徴的な部分がない構造物の場合には、描画された非健全部の位置を特定することが困難であった。
However, in the conventional method, it can be seen that the unhealthy part exists in the vicinity of the hit point, but not only the position of the unhealthy part can be specified, but also the position of the excitation point where the unhealthy part is supposed to exist Since it is necessary to memorize each time, there is a problem that it takes a lot of time to inspect the structure.
Therefore, it is conceivable to estimate the position of the unhealthy part using the sound source estimation image display device of Patent Document 3, but in the sound source estimation image display device, the sound source can be easily visually recognized, such as in a factory. Although it is effective if possible, it does not determine the three-dimensional coordinates of the unhealthy part that is the sound source, so if the object to be inspected is a structure without a characteristic part such as a bridge or tunnel inner wall, it is drawn. It was difficult to locate the unhealthy part.
本発明は、従来の問題点に鑑みてなされたもので、構造物に非健全部があるか否かの点検を効率よく行うことができるとともに、非健全部の位置を確実に特定できる構造物の点検装置を提供することを目的とする。 The present invention has been made in view of the conventional problems, and can efficiently check whether or not there is an unhealthy part in the structure and can reliably identify the position of the unhealthy part. The purpose is to provide an inspection device.
本発明は、構造物の表面を打撃して加振する加振手段と、前記加振された構造物が発生する音の音圧信号を採取する複数のマイクロフォンを備えた音採取手段と、前記各マイクロフォンに入力する音圧信号の到達時間差から、周波数毎に、前記音の発生方向である音源方向を推定する音源方向推定手段と、打撃された点である加振点方向の映像を撮影する撮影手段とを備えた構造物の点検装置であって、前記音源方向を推定したときに撮影した画像データに前記音源方向を示す図形を合成した音源方向推定用画像を作成する音源方向推定用画像作成手段と、前記音源方向推定用画像を含む複数の画像データと前記撮影手段の位置データとから、前記図形の位置である音源位置の３次元座標を算出する音源位置算出手段とを備えることを特徴とする。
これにより、撮影された画像データと音源方向のデータとを合成した画像を得ることができるとともに、画像上の音源位置の３次元座標についても求めることができる。したがって、構造物に非健全部があるか否かの点検を効率よく行うことができるとともに、非健全部の位置を確実に特定することができる。
The present invention includes a vibration means for striking and vibrating a surface of a structure, a sound collection means including a plurality of microphones for collecting sound pressure signals of sound generated by the vibration structure, The sound source direction estimating means for estimating the sound source direction, which is the sound generation direction, for each frequency from the arrival time difference of the sound pressure signal input to each microphone, and the image of the excitation point direction, which is the hit point, are captured. A sound source direction estimation image for creating a sound source direction estimation image by combining a figure indicating the sound source direction with image data captured when the sound source direction is estimated. Creating means; and sound source position calculating means for calculating three-dimensional coordinates of the sound source position, which is the position of the graphic, from a plurality of image data including the sound source direction estimation image and the position data of the photographing means. Features and That.
As a result, an image obtained by synthesizing the captured image data and the sound source direction data can be obtained, and the three-dimensional coordinates of the sound source position on the image can also be obtained. Therefore, it is possible to efficiently check whether or not the structure has an unhealthy part, and it is possible to reliably identify the position of the unhealthy part.
また、本発明は、構造物の表面を打撃して加振する加振手段と、前記加振された構造物が発生する音の音圧信号を採取する複数のマイクロフォンを備えた音採取手段と、前記各マイクロフォンに入力する音圧信号の到達時間差から、周波数毎に、前記音の発生方向である音源方向を推定する音源方向推定手段と、打撃された点である加振点方向の映像を撮影する撮影手段とを備えた構造物の点検装置であって、前記撮影手段で撮影された複数の画像データから前記構造物の３次元モデルを作成する３次元モデル作成手段と、前記構造物の３次元モデルと、前記音源方向のデータと、前記音源方向を推定したときの前記撮影手段の位置データとから、前記音源位置の３次元座標を算出する音源位置算出手段とを備えることを特徴とする。
このように、構造物の３次元モデルを作成してから、音源位置の３次元座標を算出しても、画像上の音源位置の３次元座標を求めることができる。
The present invention also provides an excitation means that strikes and vibrates the surface of a structure, and a sound collection means that includes a plurality of microphones that collect sound pressure signals of sound generated by the excited structure. The sound source direction estimation means for estimating the sound source direction that is the sound generation direction for each frequency from the arrival time difference between the sound pressure signals input to the microphones, and the image of the excitation point direction that is the hit point An inspection apparatus for a structure including an imaging unit for imaging, a 3D model creating unit for creating a 3D model of the structure from a plurality of image data photographed by the imaging unit, A sound source position calculating unit that calculates a three-dimensional coordinate of the sound source position from a three-dimensional model, the sound source direction data, and the position data of the photographing unit when the sound source direction is estimated. To do.
Thus, even if the three-dimensional model of the structure is created and then the three-dimensional coordinates of the sound source position are calculated, the three-dimensional coordinates of the sound source position on the image can be obtained.
また、前記３次元モデルから、前記構造物の前記表面側から見た図面である２次元図面を作成する２次元図面作成手段と、前記２次元図面と、前記図形の３次元座標もしくは前記音源位置算出手段で算出された音源位置とから、前記音源位置を示す図形が描画された画像を作成する音源画像作成手段とを設けて、非健全部の、構造物の表面側から見たときの画像上に音源位置を表示するようにしたので、撮影された画像データ上に音源位置を描画した場合と比較して、音源の位置を容易に把握することができる。
また、前記音採取手段と前記撮影手段とを搭載して前記構造物の表面に沿って移動させる第１の移動手段と、前記加振手段を搭載して前記構造物の表面に沿って移動させる第２の移動手段と、前記音採取手段と前記撮影手段が、前記加振点を向くように、前記第１及び第２の移動手段の移動を制御する制御手段を備え、音採取手段と撮影手段とを一体化した音・映像採取手段と加振手段と移動させながら、音データと映像データとを採取するようにしたので、構造物の点検効率を更に向上させることができる。
Also, a two-dimensional drawing creating means for creating a two-dimensional drawing as a drawing viewed from the surface side of the structure from the three-dimensional model, the two-dimensional drawing, and the three-dimensional coordinates of the figure or the sound source position A sound source image creating means for creating an image on which a graphic showing the sound source position is drawn from the sound source position calculated by the calculating means, and an image when viewed from the surface side of the structure of the unhealthy part Since the sound source position is displayed on the top, the position of the sound source can be easily grasped as compared with the case where the sound source position is drawn on the captured image data.
The sound collecting means and the photographing means are mounted and moved along the surface of the structure, and the first moving means is mounted and moved along the surface of the structure. Control means for controlling the movement of the first and second moving means so that the second moving means, the sound collecting means, and the photographing means face the excitation point, and the sound collecting means and photographing Since the sound data and the video data are collected while moving the sound / video collection means and the vibration means integrated with the means, the inspection efficiency of the structure can be further improved.
また、本発明は、構造物の表面を打撃して加振する加振手段と、前記加振された構造物が発生する音の音圧信号を採取する複数のマイクロフォンを備えた音採取手段と、前記各マイクロフォンに入力する音圧信号の到達時間差から、周波数毎に、前記音の発生方向である音源方向を推定する音源方向推定手段と、打撃された点である加振点方向の映像を撮影する撮影手段とを備えた構造物の点検装置であって、前記構造物の３次元モデルを記憶する記憶手段と、前記構造物の３次元モデルと、前記音源方向のデータと、前記音源方向を推定したときの前記撮影手段の位置データとから、前記音源の３次元座標を算出する音源位置算出手段とを備え、前記構造物の３次元モデルが、予め撮影した前記構造物の複数の画像データから作成された３次元モデルであることを特徴とする。
このように、先に構造物の３次元モデルを求めておいてから、音データと映像データとを採取して非健全部の３次元座標を算出しても、請求項１に記載の発明と同様に、構造物に非健全部があるか否かの点検を効率よく行うことができるとともに、非健全部の位置を確実に特定することができる。
The present invention also provides an excitation means that strikes and vibrates the surface of a structure, and a sound collection means that includes a plurality of microphones that collect sound pressure signals of sound generated by the excited structure. The sound source direction estimation means for estimating the sound source direction that is the sound generation direction for each frequency from the arrival time difference between the sound pressure signals input to the microphones, and the image of the excitation point direction that is the hit point An inspection apparatus for a structure comprising a photographing means for photographing, a storage means for storing a three-dimensional model of the structure, a three-dimensional model of the structure, data on the sound source direction, and the sound source direction Sound source position calculating means for calculating the three-dimensional coordinates of the sound source from the position data of the photographing means when estimating the position, and the three-dimensional model of the structure is a plurality of images of the structure photographed in advance. 3 created from data Characterized in that it is a source model.
Thus, even if the three-dimensional model of the structure is obtained in advance and then the sound data and the video data are collected and the three-dimensional coordinates of the unhealthy part are calculated, the invention according to claim 1 Similarly, it is possible to efficiently check whether or not there is an unhealthy part in the structure, and it is possible to reliably identify the position of the unhealthy part.
また、前記音採取手段を、平面板と、前記平面板に設置されて前記平面板を含む平面の一方の側である前方から伝播される音の音圧信号のみを採取する、互いに一直線上にない、２組のマイクロフォン対を構成する少なくとも３個のマイクロフォンを備えた構成とするとともに、音源方向推定手段にて、前記各マイクロフォンに入力する音圧信号の到達時間差と、前記マイクロフォンの位置座標と、温度センサーで計測した温度を用いて算出した音速とから前記音源の方向を推定するようにしたので、装置を小型化できるとともに、平面板の前方から伝播される音の音圧信号のみを採取することができるので、音源方向の推定精度を向上させることができる。 In addition, the sound sampling means collects only the sound pressure signals of the sound transmitted from the front side which is one side of the plane plate and the plane including the plane plate, which are installed on the plane plate, in a straight line with each other. And a configuration including at least three microphones constituting two pairs of microphones, a difference in arrival time of sound pressure signals input to the respective microphones, and a position coordinate of the microphones by a sound source direction estimating unit. Since the direction of the sound source is estimated from the sound speed calculated using the temperature measured by the temperature sensor, the device can be miniaturized and only the sound pressure signal of the sound propagated from the front of the flat plate is collected. Therefore, it is possible to improve the estimation accuracy of the sound source direction.
なお、前記発明の概要は、本発明の必要な全ての特徴を列挙したものではなく、これらの特徴群のサブコンビネーションもまた、発明となり得る。 The summary of the invention does not list all necessary features of the present invention, and sub-combinations of these feature groups can also be the invention.
図１は、本発明の実施の形態に係る構造物の点検システム１の構成を示す図で、同図において、１０は音・映像採取装置、２０は加振装置、３０はデータ処理装置、４０は記憶・演算装置、５０は移動体制御装置、６０は表示装置である。
音・映像採取装置１０は、音・映像採取ユニット１０Ａと、第１の移動手段１０Ｂと、雲台１０Ｃとを備え、音・映像採取ユニット１０Ａは、雲台１０Ｃを介して、第１の移動手段１０Ｂに搭載される。
また、加振装置２０は、加振手段２０Ａと、加振手段２０Ａを搭載する第２の移動手段２０Ｂとを備える。
移動体制御装置５０は、第１の移動手段１０Ｂ及び第２の移動手段２０Ｂの移動及び停止を制御するとともに、加振手段２０Ａの加振のタイミングを制御する。
なお、本例では、データ処理装置３０を第１の移動手段１０Ｂに搭載したが、記憶・演算装置４０及び表示装置６０とともに、作業エリアに設置してもよい。
FIG. 1 is a diagram showing the structure of a structure inspection system 1 according to an embodiment of the present invention. In FIG. 1, 10 is a sound / video sampling device, 20 is a vibration device, 30 is a data processing device, 40 Is a storage / arithmetic unit, 50 is a moving body control unit, and 60 is a display unit.
The sound / video sampling apparatus 10 includes a sound / video sampling unit 10A, a first moving means 10B, and a pan head 10C. The sound / video sampling unit 10A performs a first movement via the pan head 10C. Mounted on the means 10B.
The vibration device 20 includes a vibration means 20A and a second moving means 20B on which the vibration means 20A is mounted.
The moving body control device 50 controls the movement and stop of the first moving means 10B and the second moving means 20B, and also controls the timing of vibration of the vibration means 20A.
In this example, the data processing device 30 is mounted on the first moving unit 10B, but it may be installed in the work area together with the storage / calculation device 40 and the display device 60.
音・映像採取ユニット１０Ａは、４個のマイクロフォンＭ１〜Ｍ４を備えた音採取手段１１と、撮影手段としてのＣＣＤカメラ（以下、カメラという）１２と、マイクロフォンＭ１〜Ｍ４とカメラ１２とを装着する平面板１３と、平面板１３の周縁部に配置される吸音材１４と、温度センサー１５とを備える。
図２（ａ），（ｂ）は、マイクロフォンＭ１〜Ｍ４とカメラ１２の配置例を示す図で、本例では、平面板１３を円盤状とし、平面板１３の中心にカメラ１２を装着するとともに、マイクロフォンＭ１〜Ｍ４を、カメラ１２を中心とする正方形の各頂点に配置した。このとき、マイクロフォンＭ１〜Ｍ４は、振動膜面が平面板１３の一方の面（以下、前面という）１３ａとほぼ同じ位置になるように装着される。カメラ１２は、撮影方向が前方向（平面板１３の他方の面である後面１３ｂから前面１３ａに向かう方向）になるように平面板１３に装着される。なお、温度センサー１５は、第１の移動手段１０Ｂの部材取付部１６ａに装着される（図３参照）。
The sound / image collection unit 10A is equipped with a sound collection unit 11 having four microphones M1 to M4, a CCD camera (hereinafter referred to as a camera) 12 as a photographing unit, and microphones M1 to M4 and the camera 12. A flat plate 13, a sound absorbing material 14 disposed on the peripheral edge of the flat plate 13, and a temperature sensor 15 are provided.
FIGS. 2A and 2B are diagrams showing an arrangement example of the microphones M1 to M4 and the camera 12. In this example, the flat plate 13 has a disk shape, and the camera 12 is mounted at the center of the flat plate 13. FIG. The microphones M <b> 1 to M <b> 4 are arranged at each vertex of a square centered on the camera 12. At this time, the microphones M <b> 1 to M <b> 4 are mounted so that the vibration film surface is substantially at the same position as one surface (hereinafter referred to as the front surface) 13 a of the flat plate 13. The camera 12 is mounted on the flat plate 13 such that the shooting direction is the front direction (the direction from the rear surface 13b, which is the other surface of the flat plate 13 to the front surface 13a). The temperature sensor 15 is attached to the member mounting portion 16a of the first moving means 10B (see FIG. 3).
図３は、音・映像採取装置１０の詳細を示す図で、音・映像採取ユニット１０Ａを搭載する第１の移動手段１０Ｂは、部材取付部１６ａと、移動体１６ｂと、図外の移動体駆動部とを備える。
部材取付部１６ａは、例えば、板材により形成された台により構成される。
移動体１６ｂは、例えば、部材取付部１６ａに連結された車輪支持脚１６１と、車輪支持脚１６１の先端側に設けられた車輪１６２とにより構成される。
本例では、車輪１６２を永久磁石材料から構成するとともに、車輪支持脚１６１を、柔軟関節用部材から構成することで、第１の移動手段１０Ｂを、鋼鉄製の橋梁の主桁や構成部材に吸着しながら走行することができるようにしている。
移動体駆動手段は、モータ等の駆動源と歯車機構等の駆動力伝達機構とを備え、４個の車輪１６２を、独立にかつ同期させて回転駆動することで、第１の移動手段１０Ｂを、どの方向にも移動可能としている。
FIG. 3 is a diagram showing the details of the sound / video sampling apparatus 10, and the first moving means 10B equipped with the sound / video sampling unit 10A includes a member mounting portion 16a, a moving body 16b, and a moving body not shown. A drive unit.
The member attaching part 16a is comprised by the stand formed with the board | plate material, for example.
The moving body 16b is comprised by the wheel support leg 161 connected with the member attaching part 16a, and the wheel 162 provided in the front end side of the wheel support leg 161, for example.
In this example, the wheel 162 is made of a permanent magnet material, and the wheel support leg 161 is made of a flexible joint member, so that the first moving means 10B can be used as a main girder or component of a steel bridge. It is possible to run while adsorbing.
The moving body driving means includes a driving source such as a motor and a driving force transmission mechanism such as a gear mechanism. The first moving means 10B is driven by rotating the four wheels 162 independently and synchronously. , Can move in any direction.
図４は、雲台１０Ｃに音・映像採取ユニット１０Ａを取付けた図で、雲台１０Ｃは、支柱１７ａと、アーム駆動機構１７ｂとを備え、音・映像採取ユニット１０Ａの向きを調整する。
支柱１７ａの一端には取付部１８が設けられ、当該取付部１８が図外のねじ等の取付手段により第１の移動手段１０Ｂの部材取付部１６ａに取付けられる（図１参照）。
アーム駆動機構１７ｂは、支柱１７ａの他端と連結された支持台１７１と、軸体１７２と、軸体１７２の両端に連結された一対のアーム１７３とを備え、一対のアーム１７３の他端が平面板１３の後面側に連結されている。
支柱１７ａは、図外の支柱駆動手段により駆動され、アーム１７３は、図外のアーム駆動手段により駆動される。
これにより、音・映像採取ユニット１０Ａの向きを、加振方向に調整することが可能となるので、音源方向の推定精度をより向上させることができる。
FIG. 4 is a diagram in which the sound / video sampling unit 10A is attached to the camera platform 10C. The camera platform 10C includes a column 17a and an arm drive mechanism 17b, and adjusts the direction of the sound / video sampling unit 10A.
An attachment portion 18 is provided at one end of the column 17a, and the attachment portion 18 is attached to the member attachment portion 16a of the first moving means 10B by attachment means such as a screw (not shown) (see FIG. 1).
The arm drive mechanism 17b includes a support base 171 connected to the other end of the support column 17a, a shaft body 172, and a pair of arms 173 connected to both ends of the shaft body 172, and the other ends of the pair of arms 173 are It is connected to the rear surface side of the flat plate 13.
The column 17a is driven by a column driving unit (not shown), and the arm 173 is driven by an arm driving unit (not shown).
As a result, the direction of the sound / video sampling unit 10A can be adjusted to the excitation direction, so that the estimation accuracy of the sound source direction can be further improved.
図５は、加振装置２０の詳細を示す図である。
加振手段２０Ａは、一端が取付部材２１を介して第２の移動手段２０Ｂに連結される支持軸体２２と、支持軸体２２の他端部に、支持軸体２２の中心軸を回転中心として回転可能に取付けられた回転打撃部材２３とを備える。
回転打撃部材２３の外周面は、一定周期で凹凸が繰り返される凹部２３ａと凸部２３ｂとが形成されており、回転打撃部材２３の凸部２３ｂが点検対象である橋梁やトンネルの内壁などの構造物表面に接触した状態で回転することによって、構造物の表面を周期的に打撃して加振する。
第２の移動手段２０Ｂは、第１の移動手段１０Ｂと同様の構成で、板材により形成された部材取付部２６ａと、車輪２６２及び車輪支持脚２６１とを有する移動体２６ｂと、図外の移動体駆動部とを備える。
第２の移動手段２０Ｂにおいても、車輪２６２を永久磁石材料から構成するとともに、車輪支持脚２６１を、柔軟関節用部材から構成することで、鋼鉄製の橋梁の主桁や構成部材に吸着しながら走行することができるようにしている。
例えば、製橋梁の主桁上を加振装置２０の車輪２６２で吸着走行させながら、加振手段２０Ａによって、鋼製橋梁の主桁や構成部材、コンクリート床版等を打撃して加振させるとともに、当該鋼製橋梁の主桁上を音・映像採取装置１０の車輪１６２で吸着走行させながら、加振点の方向である音源方向の音圧データ及び画像データを音・映像採取装置１０で採取すればよい。
FIG. 5 is a diagram showing details of the vibration device 20.
The vibration means 20 </ b> A has a support shaft body 22 whose one end is connected to the second moving means 20 </ b> B via the mounting member 21, and the center axis of the support shaft body 22 is the center of rotation at the other end of the support shaft body 22. And a rotary striking member 23 attached rotatably.
The outer peripheral surface of the rotary hitting member 23 is formed with a concave portion 23a and a convex portion 23b in which concave and convex portions are repeated at a constant period, and the convex portion 23b of the rotary hitting member 23 is a structure such as a bridge or a tunnel inner wall to be inspected. By rotating in contact with the object surface, the surface of the structure is periodically struck and vibrated.
The second moving means 20B has the same configuration as the first moving means 10B, a moving body 26b having a member mounting portion 26a formed of a plate material, wheels 262 and wheel support legs 261, and movement outside the figure. A body drive unit.
Also in the second moving means 20B, the wheel 262 is made of a permanent magnet material, and the wheel support leg 261 is made of a flexible joint member, so that it is attracted to a main girder or a structural member of a steel bridge. So that you can travel.
For example, while causing the main girder of the bridge to be adsorbed and run by the wheels 262 of the vibration device 20, the main girder of the steel bridge, the structural members, the concrete slab, etc. are struck and vibrated by the vibration means 20A. The sound / video sampling device 10 collects sound pressure data and image data in the sound source direction that is the direction of the excitation point while adsorbing and driving the main girder of the steel bridge with the wheels 162 of the sound / video sampling device 10. do it.
データ処理装置３０は、音データ入出力手段３１と、映像入出力手段３２とを備え、記憶・演算装置４０は、記憶手段４１と、３次元モデル作成手段４２と、音源方向推定手段４３と、音源推定用画像作成手段４４と、異音発生位置特定手段４５を備える。
記憶手段４１〜音源推定用画像作成手段４４までの各手段は、例えば、パーソナルコンピュータのソフトウェアとメモリーとにより構成される。
音データ入出力手段３１は、増幅器３１ａと、Ａ／Ｄ変換器３１ｂとを備える。
増幅器３１ａは、ローパスフィルタを備え、マイクロフォンＭ１〜Ｍ４で採取した、音源から伝播される音の音圧信号から高周波ノイズ成分を除去するとともに、各音圧信号を増幅してＡ／Ｄ変換器３１ｂに出力する。
Ａ／Ｄ変換器３１ｂは、音圧信号をＡ／Ｄ変換するとともに、Ａ／Ｄ変換された音圧信号を音圧波形データとして記憶手段４１に送る。
映像入出力手段３２は、カメラ１２で連続的に撮影された映像信号を入力してＡ／Ｄ変換するとともに、Ａ／Ｄ変換された映像信号を画像データとして記憶手段４１に送る。
The data processing device 30 includes sound data input / output means 31 and video input / output means 32. The storage / calculation device 40 includes storage means 41, three-dimensional model creation means 42, sound source direction estimation means 43, A sound source estimation image creating unit 44 and an abnormal sound generation position specifying unit 45 are provided.
Each means from the storage means 41 to the sound source estimation image creating means 44 is constituted by, for example, software of a personal computer and a memory.
The sound data input / output means 31 includes an amplifier 31a and an A / D converter 31b.
The amplifier 31a includes a low-pass filter, removes high-frequency noise components from the sound pressure signal of the sound propagated from the sound source and collected by the microphones M1 to M4, and amplifies each sound pressure signal to thereby convert the A / D converter 31b. Output to.
The A / D converter 31b A / D converts the sound pressure signal and sends the A / D converted sound pressure signal to the storage means 41 as sound pressure waveform data.
The video input / output unit 32 inputs video signals continuously captured by the camera 12 and performs A / D conversion, and sends the A / D converted video signals to the storage unit 41 as image data.
記憶手段４１は、音圧波形データと画像データとを保存するとともに、以下に説明する３次元モデル作成手段４２で作成された構造物の３次元モデルを記憶する。
３次元モデル作成手段４２は、カメラ１２により連続的に撮影されて記憶手段４１に記憶された複数の画像データを用い、周知のステレオマッチングの手法により、構造物の３次元モデルを作成する。
具体的には、図６に示すように、記憶手段４１に記憶された画像データから、同じ箇所が写っている２枚の画像データを読み出し、これら２枚の画像データと、撮影時のカメラ１２の位置座標とから、前記同じ箇所（共通部分）の３次元座標を算出する操作を繰り返すことで、構造物の３次元モデル３ＤＭを作成して記憶手段４１に記憶する。
なお、同じ箇所が写っている２枚の画像データとしては、例えば、時刻ｔkに撮影した画像Ｇkと、時刻ｔk+mに撮影した画像Ｇk+mとを選べばよい。
記憶手段４１には、複数の画像Ｇk（ｋ＝１〜ｎ）が時系列で配列されているので、橋梁などの撮影対象に特徴が乏しい場合でも、３次元モデル３ＤＭを容易に作成することができる。なお、本例では、ｍ＝３としたが、ｍの値は、音・映像採取装置１０と加振装置２０の移動速度などにより適宜決定すればよい。
The storage unit 41 stores the sound pressure waveform data and the image data, and stores a three-dimensional model of the structure created by the three-dimensional model creation unit 42 described below.
The three-dimensional model creating means 42 creates a three-dimensional model of the structure by a known stereo matching technique using a plurality of image data continuously captured by the camera 12 and stored in the storage means 41.
Specifically, as shown in FIG. 6, two pieces of image data showing the same portion are read from the image data stored in the storage means 41, and the two pieces of image data and the camera 12 at the time of shooting are read. The three-dimensional model 3DM of the structure is created and stored in the storage means 41 by repeating the operation of calculating the three-dimensional coordinates of the same part (common part) from the position coordinates.
Incidentally, as the image data for two of the same portion is captured, for example, an image G k taken at time t k, may be selected and the image G k + m taken at time t k + m.
Since a plurality of images G k (k = 1 to n) are arranged in time series in the storage means 41, it is possible to easily create a three-dimensional model 3DM even when the shooting target such as a bridge has few features. Can do. In this example, m = 3, but the value of m may be appropriately determined depending on the moving speed of the sound / video sampling device 10 and the vibration device 20.
音源方向推定手段４３は、記憶手段４１に保存された音圧信号を用いて、平面板１３から見た時の音源方向、すなわち、平面板１３の前面１３ａを水平面とし、マイクロフォンＭ１とマイクロフォンＭ３とを結ぶ線分とマイクロフォンＭ２とマイクロフォンＭ４とを結ぶ線分との交点を原点としたときの水平角θpと仰角φpとを周波数毎に算出するとともに、音源から伝播される音の音圧レベルを計測する。
具体的には、マイクロフォンＭ１〜Ｍ４の音圧波形データをＦＦＴにて周波数解析し、周波数毎にマイクロフォンＭ１〜Ｍ４間の位相差を求め、この求められた位相差と、温度センサー１５により計測された温度を用いて算出した音速ｃとから音源の方向を周波数毎に算出する。
水平角θp及び仰角φpは以下の式［数１］で表わせる。
なお、音圧信号の大きさとしては、マイクロフォンＭ１〜Ｍ４のうちのいずれかに入力される信号の大きさとしてもよいし、マイクロフォンＭ１〜Ｍ４に入力される信号の大きさの平均値を用いてもよい。
The sound source direction estimating means 43 uses the sound pressure signal stored in the storage means 41 as a sound source direction when viewed from the plane plate 13, that is, the front surface 13a of the plane plate 13 is a horizontal plane, and the microphone M1 and the microphone M3. The horizontal angle θ p and the elevation angle φ p when the intersection of the line segment connecting the microphone M2 and the microphone M4 with the origin is calculated for each frequency, and the sound pressure of the sound propagated from the sound source Measure the level.
Specifically, the sound pressure waveform data of the microphones M1 to M4 is subjected to frequency analysis by FFT, the phase difference between the microphones M1 to M4 is obtained for each frequency, and the obtained phase difference and the temperature sensor 15 are measured. The direction of the sound source is calculated for each frequency from the sound speed c calculated using the measured temperature.
The horizontal angle θ p and the elevation angle φ p can be expressed by the following equation [Equation 1].
The magnitude of the sound pressure signal may be the magnitude of a signal input to any of the microphones M1 to M4, or an average value of the magnitudes of signals input to the microphones M1 to M4 is used. May be.
音源推定用画像作成手段４４は、音源方向推定手段４３で算出された音源方向のデータ（水平角θpと仰角φp）と、記憶手段４１に記憶された画像データとを合成し、例えば、図７（ａ）に示すような、画像中に音源の方向を示す図形（例えば、円）が描画された音源方向推定用画像Ｇを作成する。
音源方向推定用画像Ｇの横軸は水平角θで縦軸は仰角φである。
なお、（θ，φ）は、（θp，φp）を、カメラ１２の位置から見た光学座標系に変換したものである。
また、本例では、予め設定された、非健全部があるときに発生する１つもしくは複数の周波数帯域の音（以下、異音という）の音源方向を示す図形のみを描画するようにしている。
例えば、構造物がコンクリートの壁の場合、当該壁に「ひび割れによる浮き」がある場合には、３１５０Ｈｚ〜４０００Ｈｚ帯域の異音が発生し、当該壁に「空隙」がある部分では、４０００Ｈｚ〜５０００Ｈｚ帯域の異音が発生するので、これらの周波数帯域にある音源方向を示す図形のみを描画することにより、異音が発生しているか否かを判定することができる。
The sound source estimation image creation unit 44 combines the sound source direction data (horizontal angle θ p and elevation angle φ p ) calculated by the sound source direction estimation unit 43 and the image data stored in the storage unit 41, for example, A sound source direction estimation image G in which a graphic (for example, a circle) indicating the direction of the sound source is drawn in the image as shown in FIG.
The horizontal axis of the sound source direction estimation image G is the horizontal angle θ, and the vertical axis is the elevation angle φ.
Note that (θ, φ) is obtained by converting (θ p , φ p ) into an optical coordinate system viewed from the position of the camera 12.
Further, in this example, only a figure indicating the sound source direction of a sound of one or a plurality of frequency bands (hereinafter referred to as “abnormal sound”) generated when there is an unhealthy part set in advance is drawn. .
For example, when the structure is a concrete wall, if there is “floating due to cracking” in the wall, abnormal noise in the band of 3150 Hz to 4000 Hz is generated, and in a portion where there is “air gap” in the wall, 4000 Hz to 5000 Hz. Since abnormal sounds in the bands are generated, it is possible to determine whether or not the abnormal sounds are generated by drawing only the graphic indicating the direction of the sound source in these frequency bands.
異音発生位置特定手段４５は、異音位置特定部４５ａと、２次元図形作成部４５ｂと、音源画像作成部４５ｃとを備える。
異音位置特定部４５ａは、３次元モデル作成手段４２で作成された構造物の３次元モデルと、音源方向推定手段４３で推定された音源方向のデータ（水平角θpと仰角φp）と、音源方向を推定したときのカメラ１２の位置データとから、音源の位置３次元座標を算出する。具体的には、音源方向推定用画像Ｇに表示された音源を示す図形の中心に、例えば、図７（ｃ）に示すような、十字マークを付けるとともに、十字マークが付けられた音源方向推定画像（以下、音源位置表示画像Ｇsという）と３次元モデルとを用いて、十字マークの３次元座標（ｘk，ｙk，ｚk）を特定する。
２次元図形作成部４５ｂは、図６に示した構造物の３次元モデル３ＤＭから、図７（ｂ）に示すような、構造物の表面側から見た図面である２次元図面２ＤＭを作成する。
音源画像作成部４５ｃは、図７（ｄ）に示すような、２次元図面上に音源の位置（ｘk，ｙk）を示す十字のマークを付けた音源画像Ｓを作成する。
なお、音源位置表示画像Ｇsを音源画像としてもよいが、特に、構造物が橋梁などの場合には、音源画像Ｓを用いる方が、音源の位置を把握し易い。
表示装置６０は、液晶ディスプレイ等の表示画面６０Ｍを備え、異音発生位置特定手段４５で作成された音源画像Ｓ、もしくは、音源推定用画像作成手段４４で作成された音源方向推定用画像Ｇと音源画像Ｓの２つの画像を表示画面６０Ｍに表示する。
The abnormal sound generation position specifying means 45 includes an abnormal sound position specifying unit 45a, a two-dimensional graphic creating unit 45b, and a sound source image creating unit 45c.
The abnormal sound position specifying unit 45a includes a three-dimensional model of the structure created by the three-dimensional model creating means 42, sound source direction data (horizontal angle θ p and elevation angle φ p ) estimated by the sound source direction estimating means 43, and The three-dimensional coordinates of the sound source are calculated from the position data of the camera 12 when the sound source direction is estimated. Specifically, for example, a cross mark as shown in FIG. 7C is added to the center of the graphic indicating the sound source displayed in the sound source direction estimation image G, and the sound source direction estimation with the cross mark is added. The three-dimensional coordinates (x k , y k , z k ) of the cross mark are specified using an image (hereinafter referred to as a sound source position display image G s ) and a three-dimensional model.
The two-dimensional figure creating unit 45b creates a two-dimensional drawing 2DM, which is a drawing seen from the surface side of the structure, as shown in FIG. 7B, from the three-dimensional model 3DM of the structure shown in FIG. .
The sound source image creation unit 45c creates a sound source image S with a cross mark indicating the position (x k , y k ) of the sound source on the two-dimensional drawing as shown in FIG.
The sound source position display image G s may be a sound source image. However, in particular, when the structure is a bridge or the like, it is easier to grasp the position of the sound source by using the sound source image S.
The display device 60 includes a display screen 60M such as a liquid crystal display, and includes a sound source image S created by the abnormal sound generation position specifying unit 45 or a sound source direction estimating image G created by the sound source estimating image creating unit 44. Two images of the sound source image S are displayed on the display screen 60M.
次に、本発明による構造物の点検方法について、図８のフローチャートを参照して説明する。本例では、点検対象とする構造物を橋梁とした場合について説明する。
まず、加振装置２０を、橋梁下面の所定の点検対象箇所にセットするとともに、音・映像採取装置１０を、点検対象部分から所定距離だけ離れたデータ採取箇所にセットする（ステップＳ１０）。そして、加振手段２０Ａにて、橋梁下面の点検対象箇所を加振するとともに、音・映像採取装置１０にて加振点近傍で発生する音の音圧信号と映像とを採取する（ステップＳ１１）。
このとき、第２の移動手段２０Ｂを制御して、加振装置２０を初期位置から点検対象箇所まで走行させて停止させた後、第１の移動手段１０Ｂを制御して、音・映像採取装置１０を初期位置からデータ採取箇所まで走行させて停止させれば、音・映像採取装置１０の位置であるカメラ１２の位置は、初期位置を原点とする３次元座標で表せる。
次に、マイクロフォンＭ１〜Ｍ４の出力信号である音圧信号を増幅してＡ／Ｄ変換して得られた音圧波形データを記憶手段４１に保存するとともに、カメラ１２の映像信号をＡ／Ｄ変換して得られた画像データを記憶手段４１に保存する（ステップＳ１２）。
そして、音・映像採取装置１０と加振装置２０を移動させながら、複数の箇所で、音の情報と映像の情報とを採取する。
Next, a structure inspection method according to the present invention will be described with reference to the flowchart of FIG. In this example, a case where a structure to be inspected is a bridge will be described.
First, the vibration device 20 is set at a predetermined inspection target location on the lower surface of the bridge, and the sound / video sampling device 10 is set at a data sampling location separated by a predetermined distance from the inspection target portion (step S10). The vibration means 20A vibrates the inspection target portion on the lower surface of the bridge, and the sound / image collection device 10 collects the sound pressure signal and the image of the sound generated near the excitation point (step S11). ).
At this time, the second moving means 20B is controlled to cause the vibration device 20 to travel from the initial position to the inspection target location and stop, and then the first moving means 10B is controlled to obtain the sound / video sampling device. If the vehicle 10 is moved from the initial position to the data collection location and stopped, the position of the camera 12 that is the position of the sound / image collection device 10 can be represented by three-dimensional coordinates with the initial position as the origin.
Next, the sound pressure waveform data obtained by amplifying and A / D-converting the sound pressure signals output from the microphones M1 to M4 is stored in the storage means 41, and the video signal of the camera 12 is converted to A / D. The image data obtained by the conversion is stored in the storage means 41 (step S12).
Then, while moving the sound / video sampling device 10 and the vibration device 20, sound information and video information are sampled at a plurality of locations.
複数の画像データが得られた時点で、ステレオマッチングの手法により、点検対象物である橋梁の３次元モデルを作成（ステップＳ１３）した後、この３次元モデルを用いて、橋梁の下部側から見た図面である２次元図面を作成する（ステップＳ１４）。
具体的には、２枚の画像データから共通部分を特定するパターンマッチングにて共通部分を特定し、この共通部分の３次元座標をステレオ投影にて求める作業を、複数組について行えば、構造物の３次元モデルを作成することができる。２次元図面は、ある平面への３次元モデルの正射影として得られるが、本例では、平面を水平面としたので、３次元モデルのｘ座標とｙ座標とが２次元図面のｘ座標とｙ座標となる。
ステップＳ１５では、採取した音圧波形データを用いて、異音の音源方向である水平角θp及び仰角φpを推定した後、音源方向のデータと画像データとを合成した音源推定用画像を作成する（ステップＳ１６）。
なお、音源推定用画像Ｇを作成した後、３次元モデル及び２次元図面を作成してもよいし、音源推定用画像の作成と３次元モデル及び２次元図面の作成を同時に行ってもよい。
When a plurality of image data are obtained, a three-dimensional model of the bridge that is the inspection object is created by a stereo matching method (step S13), and then viewed from the lower side of the bridge using the three-dimensional model. A two-dimensional drawing which is a drawn drawing is created (step S14).
Specifically, if a common part is specified by pattern matching that specifies a common part from two pieces of image data, and a three-dimensional coordinate of the common part is obtained by stereo projection, a structure is obtained. The three-dimensional model can be created. Although the two-dimensional drawing is obtained as an orthogonal projection of the three-dimensional model onto a certain plane, in this example, since the plane is a horizontal plane, the x-coordinate and y-coordinate of the three-dimensional model are the x-coordinate and y of the two-dimensional drawing. It becomes coordinates.
In step S15, the horizontal angle θ p and the elevation angle φ p that are the sound source direction of the abnormal sound are estimated using the collected sound pressure waveform data, and then the sound source estimation image obtained by combining the sound source direction data and the image data is obtained. Create (step S16).
In addition, after creating the sound source estimation image G, a 3D model and a 2D drawing may be created, or the creation of the sound source estimation image and the creation of the 3D model and the 2D drawing may be performed simultaneously.
次に、音源の位置に十字マークを付けられた音源位置表示画像Ｇsを作成（ステップＳ１７）した後、この音源位置表示画像Ｇsの十字マーク近傍の画像を、３次元モデルとパターンマッチングさせることで、十字マークの３次元座標（ｘk，ｙk，ｚk）を特定する（ステップＳ１８）。
最後に、２次元図面上に音源の位置（ｘk，ｙk）を示す十字マークを付けた音源画像Ｓを作成し、音源位置表示画像Ｇsと音源画像Ｓとを表示装置６０の表示画面６０Ｍに表示をする（ステップＳ１９）。
Next, a sound source position display image G s with a cross mark attached to the position of the sound source is created (step S17), and then the image near the cross mark of the sound source position display image G s is pattern-matched with the three-dimensional model. Thus, the three-dimensional coordinates (x k , y k , z k ) of the cross mark are specified (step S18).
Finally, a sound source image S with a cross mark indicating the position (x k , y k ) of the sound source is created on the two-dimensional drawing, and the sound source position display image G s and the sound source image S are displayed on the display screen of the display device 60. Display on 60M (step S19).
以上、本発明を実施の形態を用いて説明したが、本発明の技術的範囲は前記実施の形態に記載の範囲には限定されない。前記実施の形態に、多様な変更または改良を加えることが可能であることが当業者にも明らかである。そのような変更または改良を加えた形態も本発明の技術的範囲に含まれ得ることが、特許請求の範囲から明らかである。 As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the embodiment. It is apparent from the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.
例えば、前記実施の形態では、構造物の３次元モデルを作成した後、３次元モデルと、音源方向のデータと、音源方向を推定したときの撮影手段の位置データとから、音源位置の３次元座標を算出したが、音源方向を推定したときに撮影した画像データに音源方向を示す図形、もしくは、音源の位置に十字マークを付けた音源方向推定用画像を作成し、この音源方向推定用画像を３次元モデルを作成するための画像データとして用いることで、音源方向を示す図形を含む３次元モデルを作成し、この３次元モデルから図形の位置である音源位置の３次元座標を算出するようにしてもよい。 For example, in the above embodiment, after creating a three-dimensional model of a structure, the three-dimensional model of the sound source position is obtained from the three-dimensional model, the sound source direction data, and the position data of the photographing means when the sound source direction is estimated. Creates a sound source direction estimation image in which the coordinates are calculated, but the image data taken when the sound source direction is estimated shows the sound source direction or a cross mark is added to the position of the sound source. Is used as image data for creating a three-dimensional model, thereby creating a three-dimensional model including a graphic indicating the direction of the sound source, and calculating the three-dimensional coordinates of the sound source position, which is the position of the graphic, from the three-dimensional model. It may be.
また、前記実施の形態では、音・映像採取ユニット１０Ａのカメラ１２で撮影した画像データから構造物の３次元モデルを作成したが、構造物表面をカメラ１２で予め撮影して得られた複数の画像データから３次元モデルを作成してもよい。この場合には、構造物を２度撮影することになるが、最初の撮影では、カメラ１２を移動させるだけでよいだけでなく、点検時には、画像データから３次元モデルを作成する処理を省略できるので、処理時間を短縮することができる。すなわち、短時間で音源推定用画像Ｇや音源画像Ｓを得ることができる。
また、前記実施の形態では、平面板１３に、マイクロフォンＭ１〜Ｍ４を、カメラ１２を中心とする正方形の各頂点に配置した音採取手段１１を用いたが、例えば、特許文献３に開示されているような、互いに交わる２つの直線上にそれぞれ所定の間隔で配置された第１及び第２のマイクロフォン対（Ｍ１，Ｍ３）及び（Ｍ２，Ｍ４）と第１及び第２のマイクロフォン対の作る平面上にない第５のマイクロフォンＭ５とを備えた音採取手段を用いてもよい。
In the embodiment, the three-dimensional model of the structure is created from the image data photographed by the camera 12 of the sound / video sampling unit 10A. However, a plurality of images obtained by photographing the surface of the structure in advance by the camera 12 are used. A three-dimensional model may be created from the image data. In this case, the structure is photographed twice. In the first photographing, not only the camera 12 needs to be moved, but also the process of creating a three-dimensional model from the image data can be omitted at the time of inspection. Therefore, the processing time can be shortened. That is, the sound source estimation image G and the sound source image S can be obtained in a short time.
Moreover, in the said embodiment, although the sound collection means 11 which has arrange | positioned the microphones M1-M4 to each vertex of the square centering on the camera 12 was used for the plane board 13, it is disclosed by patent document 3, for example. The planes formed by the first and second microphone pairs (M1, M3) and (M2, M4) and the first and second microphone pairs disposed at predetermined intervals on two straight lines that intersect each other. You may use the sound collection means provided with the 5th microphone M5 which is not on.
また、前記実施の形態では、橋梁下面を点検対象としたが、本発明は、これに限るものではなく、トンネルの壁面などのコンクリート構造物の点検にも適用可能である。
また、点検対象物を加振するには、加振装置２０は必ずしも必要ではなく、作業者がハンマー等の加振手段を用いて打撃してもよい。
また、構造物が小さい場合などは、音・映像採取ユニット１０Ａは、点検対象物上を走行させる必要はなく、地上にて移動させてもよい。
In the above embodiment, the lower surface of the bridge is an inspection target. However, the present invention is not limited to this, and can also be applied to inspection of a concrete structure such as a wall surface of a tunnel.
In addition, the vibration device 20 is not necessarily required to vibrate the inspection object, and an operator may strike using a vibration means such as a hammer.
Further, when the structure is small, the sound / video sampling unit 10A does not need to travel on the inspection target, and may be moved on the ground.
１ 構造物の点検システム、１０ 音・映像採取装置、
１０Ａ 音・映像採取ユニット、１０Ｂ 第１の移動手段、１０Ｃ 雲台、
１１ 音採取手段、１２ カメラ、１３ 平面板、１４ 吸音材、１５ 温度センサー、
１６ａ，２６ａ 部材取付部、１６ｂ，２６ｂ 移動体、
２０ 加振装置、２０Ａ 加振手段、２０Ｂ 第２の移動手段、
２１ 取付部材、２２ 支持軸体、２３ 回転打撃部材、
３０ データ処理装置、３１ 音データ入出力手段、３２ 映像入出力手段、
４０ 記憶・演算装置、４１ 記憶手段、４２ ３次元モデル作成手段、
４３ 音源方向推定手段、４４ 音源推定用画像作成手段、
４５ 異音発生位置特定手段、４５ａ 異音発生位置特定部、
４５ｂ ２次元図形作成部、４５ｃ 音源画像作成部、
５０ 移動体制御装置、６０ 表示装置、６０Ｍ 表示手段、
Ｍ１〜Ｍ４ マイクロフォン。
1 Structure inspection system, 10 sound / video sampling device,
10A sound / video sampling unit, 10B first moving means, 10C pan head,
11 sound sampling means, 12 camera, 13 plane plate, 14 sound absorbing material, 15 temperature sensor,
16a, 26a member attaching part, 16b, 26b movable body,
20 vibration device, 20A vibration means, 20B second movement means,
21 mounting members, 22 support shafts, 23 rotating impact members,
30 data processing device, 31 sound data input / output means, 32 video input / output means,
40 storage / arithmetic unit, 41 storage means, 42 three-dimensional model creation means,
43 sound source direction estimating means, 44 sound source estimating image creating means,
45 abnormal noise generation position specifying means, 45a abnormal noise generation position specifying unit,
45b two-dimensional figure creation unit, 45c sound source image creation unit,
50 mobile control device, 60 display device, 60M display means,
M1-M4 microphones.
Claims (6)
前記音源方向を推定したときに撮影した画像データに前記音源方向を示す図形を合成した音源方向推定用画像を作成する音源方向推定用画像作成手段と、
前記音源方向推定用画像を含む複数の画像データと前記撮影手段の位置データとから、前記図形の位置である音源位置の３次元座標を算出する音源位置算出手段とを備えることを特徴とする構造物の点検装置。 Excitation means for striking and oscillating the surface of the structure, sound collection means having a plurality of microphones for collecting sound pressure signals of the sound generated by the excited structure, and input to each microphone Sound source direction estimation means for estimating the sound source direction that is the sound generation direction for each frequency from the arrival time difference of the sound pressure signal to be performed, and imaging means for photographing the image of the excitation point direction that is the hit point A structural inspection device comprising:
Sound source direction estimation image creating means for creating a sound source direction estimation image obtained by synthesizing a graphic indicating the sound source direction with the image data captured when the sound source direction is estimated;
A structure comprising sound source position calculating means for calculating a three-dimensional coordinate of a sound source position that is a position of the graphic from a plurality of image data including the sound source direction estimating image and position data of the photographing means. Item inspection device.
前記撮影手段で撮影された複数の画像データから前記構造物の３次元モデルを作成する３次元モデル作成手段と、
前記構造物の３次元モデルと、前記音源方向のデータと、前記音源方向を推定したときの前記撮影手段の位置データとから、前記音源位置の３次元座標を算出する音源位置算出手段とを備えることを特徴とする構造物の点検装置。 Excitation means for striking and oscillating the surface of the structure, sound collection means having a plurality of microphones for collecting sound pressure signals of the sound generated by the excited structure, and input to each microphone Sound source direction estimation means for estimating the sound source direction that is the sound generation direction for each frequency from the arrival time difference of the sound pressure signal to be performed, and imaging means for photographing the image of the excitation point direction that is the hit point A structural inspection device comprising:
3D model creating means for creating a 3D model of the structure from a plurality of image data photographed by the photographing means;
A sound source position calculating unit that calculates a three-dimensional coordinate of the sound source position from the three-dimensional model of the structure, the sound source direction data, and the position data of the photographing unit when the sound source direction is estimated; A structure inspection device characterized by that.
前記２次元図面と、前記図形の３次元座標もしくは前記音源位置算出手段で算出された音源位置とから、前記音源位置を示す図形が描画された画像を作成する音源画像作成手段とを備えることを特徴とする請求項１または請求項２に記載の構造物の点検装置。 2D drawing creation means for creating a 2D drawing from the 3D model as viewed from the surface side of the structure;
Sound source image creating means for creating an image in which a graphic representing the sound source position is drawn from the two-dimensional drawing and the sound source position calculated by the three-dimensional coordinates of the graphic or the sound source position calculating means. The structure inspection apparatus according to claim 1 or 2, wherein the structure inspection apparatus is characterized.
前記加振手段を搭載して前記構造物の表面に沿って移動させる第２の移動手段と、
前記音採取手段と前記撮影手段が、前記加振点を向くように、前記第１及び第２の移動手段の移動を制御する制御手段を備えることを特徴とする請求項１〜請求項３のいずれかに記載の構造物の点検装置。 A first moving means for mounting the sound collecting means and the photographing means to move along the surface of the structure;
A second moving means for mounting the vibration means and moving it along the surface of the structure;
The said sound collection means and the said imaging | photography means are provided with the control means which controls the movement of a said 1st and 2nd moving means so that it may face the said excitation point. An inspection device for a structure according to any one of the above.
前記構造物の３次元モデルを記憶する記憶手段と、
前記構造物の３次元モデルと、前記音源方向のデータと、前記音源方向を推定したときの前記撮影手段の位置データとから、前記音源の３次元座標を算出する音源位置算出手段とを備え、
前記構造物の３次元モデルが、予め撮影した前記構造物の複数の画像データから作成された３次元モデルであることを特徴とする構造物の点検装置。 Excitation means for striking and oscillating the surface of the structure, sound collection means having a plurality of microphones for collecting sound pressure signals of the sound generated by the excited structure, and input to each microphone Sound source direction estimation means for estimating the sound source direction that is the sound generation direction for each frequency from the arrival time difference of the sound pressure signal to be performed, and imaging means for photographing the image of the excitation point direction that is the hit point A structural inspection device comprising:
Storage means for storing a three-dimensional model of the structure;
A sound source position calculating means for calculating the three-dimensional coordinates of the sound source from the three-dimensional model of the structure, the sound source direction data, and the position data of the photographing means when the sound source direction is estimated;
The structure inspection apparatus, wherein the three-dimensional model of the structure is a three-dimensional model created from a plurality of image data of the structure photographed in advance.
平面板と、前記平面板に設置されて前記平面板を含む平面の一方の側である前方から伝播される音の音圧信号のみを採取する、互いに一直線上にない、２組のマイクロフォン対を構成する少なくとも３個のマイクロフォンを備え、
前記音源方向推定手段は、
前記各マイクロフォンに入力する音圧信号の到達時間差と、前記マイクロフォンの位置座標と、温度センサーで計測した温度を用いて算出した音速とから前記音源の方向を推定することを特徴とする請求項１〜請求項５のいずれかに記載の構造物の点検装置。 The sound collecting means is
A pair of microphones that are not in line with each other, and collect only the sound pressure signals of the sound transmitted from the front side of the plane plate and one side of the plane including the plane plate. Comprising at least three microphones,
The sound source direction estimating means includes
2. The direction of the sound source is estimated from a difference in arrival time of sound pressure signals input to each microphone, a position coordinate of the microphone, and a sound speed calculated using a temperature measured by a temperature sensor. The inspection apparatus for a structure according to any one of claims 5 to 6.
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