JP2016205838A - Vibrator and diagnostic device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vibrator and a diagnostic device which enable an operation of striking a diagnosed part to be efficiently performed.SOLUTION: A vibrator 2B includes a vibration member 100 for vibrating a diagnosed part by striking it. The vibration member 100 includes a striking member 101, and a supporting device 110 for supporting the striking member 101. The supporting device 110 includes an expansion mechanism 121 having the striking member 101 on a tip side, and expansion drive means 160 for expanding the expansion mechanism 121 on the basis of a control signal from control means.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a vibration exciter that strikes a diagnostic target part and applies vibration to the diagnostic target part, and a diagnostic apparatus that uses the vibration apparatus.

Conventionally, as a method of diagnosing whether there is an unhealthy part such as a crack or a void in a concrete structure as a diagnosis target part, for example, a sound generated when a concrete structure is struck and vibrated by a vibration device There is known a diagnostic apparatus that diagnoses whether or not there is an unhealthy part in the diagnosis target part by collecting the sound with a microphone and analyzing the collected sound. The vibration device includes a multistage telescopic operating rod having a support shaft portion, and a rolling element (striking member) supported rotatably at the tip of the support shaft portion (for example, a patent) Reference 1).
Further, as the microphone, as shown in FIG. 16, four microphones M1 to M4 are arranged at predetermined intervals on two straight lines orthogonal to each other, and a fifth microphone M5 is formed by the microphones M1 to M4. The sound sampling means 10Z arranged at the position of the apex of the quadrangular pyramid with the bottom as the bottom is used to detect the sound pressure signal of the sound propagating from the sound source, and the position between the two paired microphones (M _i , M _j ). A sound source direction estimation device that estimates a horizontal angle θ and an elevation angle φ, which are directions of a sound source, from an arrival time difference D _ij corresponding to a phase difference is known (see, for example, Patent Document 2).

JP 2007-132720 A JP2011-238985A

However, in the case of the conventional vibration device, if it is desired to make a detailed diagnosis of a wide range of the diagnosis target part by changing the length of the operation stick and striking a large number of positions of the diagnosis target part, Since the worker who performs the work has to change the length of the operation rod one by one, the work efficiency of hitting the diagnosis target portion was poor.
The present invention provides a vibration exciter capable of efficiently performing a work of hitting a diagnosis target part.

The vibration device according to the present invention is a vibration device that includes a vibration member that strikes and vibrates a diagnosis target portion, and the vibration member includes a hammer member and a support device that supports the hammer member. The support device includes a telescopic mechanism having the striking member on the distal end side, and a telescopic drive means for expanding and contracting the telescopic mechanism based on a control signal from the control means. The work of hitting can be done efficiently. In addition, since the position of the striking member in the extending direction of the telescopic mechanism can be accurately adjusted, a wide range of the diagnosis target portion can be hit, and a wide range of the diagnosis target portion can be diagnosed in detail and accurately. Become. Furthermore, since it is not necessary for a person to manually change the length of the telescopic mechanism, it is possible to diagnose a diagnosis target part present in a place where a person cannot enter or a dangerous place when a person works. Become.
Further, since the expansion / contraction mechanism is constituted by a multi-node pantograph mechanism, the position of the striking member in the extending direction of the expansion / contraction mechanism can be adjusted more accurately and finely, so that a wide range of the diagnosis target portion is desired. It is possible to strike at intervals of, so that a wide range of the diagnosis target portion can be diagnosed in more detail and more accurately.
In addition, since the moving body for moving the vibrating member and the moving body driving means for driving the moving body based on the control signal from the control means, the wide range of the diagnosis target portion can be hit. In addition, it becomes possible to diagnose a wide range of diagnosis target parts, and further, it becomes easy to diagnose a diagnosis target part present in a place where a person cannot enter or a dangerous place when a person works.
Further, the diagnostic device according to the present invention diagnoses the diagnosis target part based on the vibration device, the sound pressure signal of the sound propagated from the sound source vibrated by the vibration device, and the image data of the sound source. A diagnostic image creating apparatus for creating a diagnostic image of the diagnostic image, wherein the diagnostic image creating apparatus collects at least a sound pressure signal of a sound propagated from an excited sound source A sound and video sampling device configured to include three microphones, an imaging unit for capturing an image of a sound source, and an installation unit for installing each microphone and the imaging unit in a predetermined state; Sound source direction estimating means for estimating the sound source direction for each frequency from the difference in arrival time of the sound pressure signals input to each microphone, the position coordinates of the microphone and the sound velocity, and the sound source direction estimated by the sound source direction estimating means Sound source estimation image creation means for creating a sound source estimation image for each shaken sound source based on data and image data of the picked up sound source, and a plurality of sound sources created by the sound source estimation image creation means Diagnostic image creation means for creating a diagnostic image, which is an image obtained by synthesizing the estimation image, and the at least three microphones receive a sound pressure signal from one side and receive a sound pressure from other than the one side. Since it is installed in the installation means so as to have a directivity for reducing signal input, and the vibration device and the sound / video sampling device are each configured to be movable with moving bodies, direct sound and reflection It is possible to easily and accurately estimate the direction of the sound source even in a narrow space without requiring an arithmetic process for distinguishing it from the sound, and to grasp the wide range state of the diagnosis target part. In addition, it is possible to diagnose a diagnosis target part that exists in a place where a person cannot enter or a dangerous place when a person works.
In addition, the installation means includes a plane plate, and the at least three microphones are installed on the plane plate by being fixed to a microphone fixing hole formed so as to penetrate between the plate surfaces of the plane plate. It is possible to configure a sound sampling means with improved directivity effect that inputs a sound pressure signal from one plate surface side of the flat plate and reduces the input of the sound pressure signal from other than the one plate surface side, The influence of the reflected sound can be reduced and the estimation accuracy of the sound source direction can be improved.

The block block diagram which shows a diagnostic apparatus. (A) is a perspective view which shows a sound and image | video collection device, (b) is sectional drawing which shows a microphone installation means. The perspective view which shows the pan head which supports a sound and image | video collection unit. The perspective view which shows a vibration apparatus. It is a figure which shows an example of the image for sound source estimation. It is a figure which shows the example of arrangement | positioning of three microphones. It is a figure which shows the specific example of the image for sound source estimation. It is a figure which shows the specific example of the image for sound source estimation. It is a figure which shows the specific example of the image for sound source estimation. It is a figure which shows the specific example of the image for sound source estimation. It is a figure which shows the relationship between the acoustic coordinate system XYZ and the optical coordinate system xyz. It is a figure which shows the example of arrangement | positioning of three microphones. It is a figure which shows the example of arrangement | positioning of five microphones. It is a figure which shows the example of arrangement | positioning of five microphones. It is a figure which shows the example of arrangement | positioning of four microphones. It is a figure which shows the example of arrangement | positioning of the microphone which comprises the conventional sound collection means.

Embodiment 1
As shown in FIG. 1, the diagnostic apparatus 1 includes a diagnostic image creation apparatus 1A and an excitation control apparatus 1B.

The diagnostic image creating apparatus 1A includes a sound / video sampling device 2A, a control unit 3A for controlling the sound / video sampling device 2A, an information processing unit 4, a sound source direction estimating unit 5, and a sound source estimating image generating unit 6 And diagnostic image creation means 56 and display means 7.
The sound / video sampling apparatus 2A, the control means 3A for controlling the sound / video sampling apparatus 2A, the information processing means 4 and the sound source direction estimating means 5 constitute a sound source direction estimating apparatus.

As shown in FIG. 2A, the sound / video sampling apparatus 2A includes a sound / video sampling unit 10, a moving unit 20A, and the sound / video sampling unit 10 connected to the moving unit 20A and a sound / video sampling unit. The pan / tilt head 30 as a movable support that supports the sound / video sampling unit 10 so that the direction of the head 10 can be changed.
That is, the moving unit 20A and the control unit 3A constitute a moving unit, and the sound / video sampling apparatus 2A is configured to be movable and stopped by the moving unit 20A and the control unit 3A that controls the moving unit 20A. .

The sound / video sampling unit 10 is an imaging unit that images at least three microphones M,... (M1, M2, M3,... Mx) for sampling a sound pressure signal of sound propagated from a sound source. A CCD camera (hereinafter referred to as a camera) 12, at least three microphones M,..., Installation means 13 for installing the camera 12 in a predetermined state, and microphones M,. Side sound absorbing material 14 for absorbing sound from other than the front end portion so as not to be collected by microphones M,...
The sound pressure signal from the sound source is collected by the at least three microphones M,..., And the video signal of the sound source is collected by the camera 12.
2 and 3 illustrate the sound / video sampling unit 10 in which five microphones M1, M2, M3, M4, and M5 are installed as the microphones M,.

The microphones M,... Have the same shape, the same size, and the same performance.
Each microphone M,... May be either an omnidirectional microphone or a unidirectional microphone.
The microphones M,... May be small microphones that are generally used, or thin microphones such as surface microphones.

As shown in FIG. 2A, the installation unit 13 includes a microphone installation unit 130 and a camera installation unit 140.
As shown in FIG. 2 (b), the microphone installation means 130 is filled around a microphone 131, a microphone attachment member 132, a windscreen 133, and a microphone attachment member 132, which will be described later, inside the container 131. And an internal sound absorbing material 134.
Then, as shown in FIGS. 2A and 3, the side sound absorbing material 14 formed in a cylindrical shape so as to surround the cylindrical outer peripheral surface of the housing 131 is attached.
As the internal sound absorbing material 134 and the side sound absorbing material 14, for example, a porous body such as glass wool or urethane sponge may be used.

As shown in FIG. 2B, the storage body 131 is formed of, for example, a cylindrical box body having one open end and another bottom. In the following description, the opening 135 side of the storage body 131 is defined as the front side, and the bottom plate 136 side of the storage body 131 is defined as the rear side.
The microphone mounting member 132 includes, for example, a cross-shaped installation base 137 provided so as to rise from the bottom plate 136 of the housing 131 to the front side, and an installation board 138 installed on the front surface 137t of the installation base 137. Composed. A front surface 137t of the installation table 137 is formed in a cross-shaped plane. The installation plate 138 is formed by, for example, a cross-shaped flat plate in which a front surface 138t and a rear surface parallel to the front surface 138t are formed in a cross-shaped plane.
The installation base 137 includes, for example, a microphone positioning hole 137h penetrating in the front and rear directions at the center portion of the cross and the four end portions of the cross, and the microphone positioning hole 137h at the center portion and the microphone positioning hole 137h at the end portion. A column through hole 141h for allowing the installation plate mounting column 141 to pass therethrough is provided therebetween.
The installation plate 138 includes, for example, a microphone fixing hole 138a that passes through the center portion of the cross and the four end portions of the cross in the front-rear direction to fix the microphone, and the microphone fixing hole 138a and the end portion of the center portion. The microphone fixing hole 138a is provided with a column fixing hole 141a for fixing the front end portion of the installation plate mounting column 141.
The installation plate 138 is preferably made of a material having high rigidity and totally reflecting sound.
In the above description, the installation table 137 and the installation plate 138 having a cross-shaped cross section are illustrated. However, the installation table 137 and the installation plate 138 may have any other shape.

With the installation plate 138 positioned on the front surface 137t of the installation table 137 so that the center line of each hole formed in the installation table 137 and the center line of each hole formed in the installation plate 138 coincide, The installation plate mounting column 141 is passed through the hole 141h, and the front end of the installation plate mounting column 141 is fixed to the column fixing hole 141a with a mounting screw (not shown), and is formed at the rear end of the installation plate mounting column 141. A threaded portion protrudes rearward from the bottom plate 136 of the housing 131, and a nut 139 is screwed onto the threaded portion to fasten the rear end portion of the installation plate mounting column 141 to the rear surface 142 of the bottom plate 136 of the housing 131. Thus, the installation plate 138 is installed in a fixed state on the front surface 137 t of the installation table 137.
The microphones M,... Are fixed to the microphone fixing holes 138a with attachment screws or the like not shown in the state of being inserted into the microphone fixing holes 138a and the microphone positioning holes 137h.
Further, a connecting plate 143 connected to the arm 36 of the pan head 30 is attached to the rear surface 142 of the bottom plate 136 of the storage body 131.

The front surface 138t of the installation plate 138 installed on the front surface 137t of the installation table 137 is slightly behind the front end surface 131t of the opening 135 of the housing 131, or is flush with the front end surface 131t, or the front end surface 131t. Is located slightly forward.
For example, the front surface 138t of the installation plate 138 is formed by a plane orthogonal to the center line of the microphone M extending back and forth through the center of the microphone M fixed to the microphone fixing hole 138a, and the microphone fixing holes 138a,. The front end of each fixed microphone M,... Is located on the same plane as the front surface 138t of the installation plate 138 or on a plane parallel to the front surface 138t, for example.

That is, each microphone M,... Collects sound propagated to each microphone M,. That is, each of the microphones M,... Can easily collect sound from a sound source located in front of the housing body 131, and can hardly collect sound from a sound source located outside the housing body 131. Is installed in a predetermined state.
In other words, at least three microphones M,... Are positioned on a plane parallel to the front surface 138t of the installation plate 138, with the center of the diaphragm as the sound pressure detection unit of each microphone M,. It is installed in the microphone installation means 130 so as to have directivity for reducing the input of the sound pressure signal from other than the one side by inputting the sound pressure signal from one side facing one side.
Specifically, the front end of each microphone M,... Is positioned on a plane parallel to, for example, the front surface 138t which is one plate surface of the installation plate 138 as a flat plate, and the front side which is the front surface 138t side of the installation plate 138. So that the sound pressure signal is input from the front side, that is, at the side of the installation plate 138 and the direction of reducing the input of the sound pressure signal from the rear of the installation plate 138. The microphones M,... Are provided with a sound / video sampling unit 10 configured to be installed on the installation plate 138. By providing such a sound / video sampling unit 10, the directivity for reducing the input of the sound pressure signal from other than the front side by inputting the sound pressure signal from the front side which is the front surface 138t side of the installation plate 138. Since the effect is improved, the influence of the reflected sound can be reduced, and the estimation accuracy of the sound source direction can be improved.
That is, at least three microphones M,... Are installed in the microphone installation means 130 so as to have a directivity for inputting the sound pressure signal from one side and reducing the input of the sound pressure signal from the other side. Any configuration can be used.
Preferably, at least three microphones M,... Are fixed to microphone fixing holes 138a,... Formed so as to penetrate between the plate surfaces of the installation plate 138 formed by a flat plate. The center of the diaphragms of the microphones M,... Is located on a plane parallel to the front surface 138t, which is one of the plate surfaces of the installation plate 138, and other than the front part of these at least three microphones M,. , The sides and rear sides of the microphones M,... Are covered with the sound-absorbing material, so that at least three microphones M,. What is necessary is just to be comprised so that it may have the directivity which reduces the input of the sound pressure signal from other than one side.

The wind screen 133 is attached so as to cover the opening 135 on the front side of the housing 131, and reduces wind noise incident on each microphone M,. It is preferable that there is a slight gap between the wind screen 133 and the front ends of the microphones M,..., Even if the wind screen 133 and the tips of the microphones M,. Absent.
Examples of the windscreen 133 include a net body such as urethane foam.
The windscreen 133 may be fixed by adhering the peripheral edge of the windscreen 133 to the outer peripheral surface of the housing 131 on the opening 135 side or by an annular band.

The camera installation means 140 is configured by an attachment member provided so as to extend from the outer peripheral surface of the storage body 131 outward in the radial direction of the cylinder. The camera 12 is fixedly attached to the camera installation means 140 so that the sound source in front of the housing 131 can be imaged.
Therefore, by providing the sound / video sampling unit 10 having the camera 12, the image of the sound source can be collected and the confirmation of the sound source is facilitated.
In addition, the side sound-absorbing material 14 is formed using a C-shaped cross-section from which a part of the cylinder where the camera installation means 140 and the camera 12 on the cylinder outer periphery side of the storage body 131 are located is removed.

  Further, a temperature sensor (not shown) is attached to, for example, the outer surface of the storage body 131 or the pan head 30, and the temperature around the sound / image collection unit 10 is measured by the temperature sensor, and the measured temperature data is obtained. It is sent to the sound source direction estimating means 5.

  The front end of the microphones M,... And the front end of the camera 12 are arranged on the same plane (the sound collection point of the microphone and the imaging point of the camera are arranged on the same plane), thereby calculating the sound center (sound source direction is calculated). The origin of the image) and the image center can be easily matched.

As shown in FIG. 2A, the moving unit 20A of the sound / video sampling apparatus 2A is based on a member mounting portion 21A, a moving body 22A attached to the member mounting portion 21A, and a control signal from the control means 3A. And a moving body driving means (not shown) for driving the moving body 22A. That is, the sound / video sampling apparatus 2A includes the moving body 22A and is configured to be movable.
21 A of member attaching parts are comprised with the stand formed with the board | plate material, for example.
The moving body 22A includes, for example, a wheel support leg 23A connected to the member mounting portion 21A, and a wheel 24A provided on the distal end side of the wheel support leg 23A.
The moving body driving means includes a driving source and a driving force transmission mechanism.
For example, the rotational force of a motor as a driving source is transmitted to the wheel 24A via a transmission gear mechanism as a driving force transmission mechanism, whereby the wheel 24A rotates and the moving unit 20A moves. .
Therefore, the sound / video sampling apparatus 2A can move in the direction F in FIG.

  As described above, the camera platform 30 connects the installation means 13 (hereinafter simply referred to as “installation means 13”) in which the microphones M,... And the camera 12 are installed in a predetermined state to the member mounting portion 21A of the moving unit 20A. At the same time, the orientation of the sound / video sampling unit 10 can be changed by supporting the installation means 13 so that the orientation of the installation means 13 can be changed.

As shown in FIG. 3, the pan head 30 includes a column 31, a column driving unit (not shown), an arm rotation driving mechanism 32, and an arm rotation driving unit (not shown). In other words, a column driving unit and an arm rotation driving unit (not shown) for driving the camera platform 30 based on a control signal from the control unit 3A are provided.
An attachment portion 33 is provided at one end of the support column 31, and the attachment portion 33 is attached to the member attachment portion 21A of the moving unit 20A by attachment means such as a screw (not shown) (see FIG. 2).
The arm rotation drive mechanism 32 is disposed so that the support base 34 connected to the other end of the support column 31 and the center line 34C are orthogonal to the center line 31C of the support column 31, and can rotate around the center line 34C. The arm rotation center shaft body 35 supported by the support base 34 and a pair of arms 36 having one end connected to both ends of the arm rotation center shaft body 35, and the other ends of the pair of arms 36. Is connected to the connecting plate 143 of the microphone installation means 130.

The column drive means includes a column rotation drive unit and a column expansion / contraction drive unit. Both the column rotation driving unit and the column expansion / contraction driving unit include a driving source and a driving force transmission mechanism.
The arm rotation driving means includes a driving source and a driving force transmission mechanism.

  The column rotation driving means is configured such that, for example, the rotation force of a motor as a drive source is transmitted to the column 31 via a transmission gear mechanism as a driving force transmission mechanism, so that the column 31 rotates around the center line 31C of the column 31. Is configured to perform a rotational motion. Thereby, the installation means 13 rotates about the center line 31C of the support column 31, and the microphones M,... And the camera 12 rotate about the center line 31C of the support column 31.

For example, the strut 31 is configured such that a large-diameter strut 31A and a small-diameter strut 31B having different diameters are provided coaxially (in a state where the center lines coincide), and the small-diameter strut 31B is larger than the large-diameter strut 31A. It is configured to be movable in the direction F along the center line 31C.
The strut extension driving means is configured such that, for example, the rotational force of a motor as a driving source is transmitted to the small-diameter strut 31B via a pinion rack as a driving force transmission mechanism, and the strut 31 performs a stretching motion. Thereby, the installation means 13 can be moved in the direction along the center line of the support column 31, and the microphones M,... And the camera 12 can be moved in the direction F along the center line 31C of the support column 31.

  For example, the arm rotation driving means transmits the rotational force of a motor as a drive source to the arm rotation center shaft body 35 via a transmission gear mechanism as a drive force transmission mechanism, so that the arm rotation center shaft body 35 is The rotation center shaft body 35 is configured to perform a rotational motion with the center line as the center of rotation. Thereby, the installation means 13 rotates about the center line 34C of the arm rotation center shaft body 35 orthogonal to the center line of the support column 31, and the microphones M,... And the camera 12 are center lines of the arm rotation center shaft body 35. Rotates around 34C.

The control unit 3A includes a moving body control unit that controls the moving body 22A and a pan head control unit that controls the pan head 30. That is, the diagnostic image creating apparatus 1A includes a control unit 3A that controls the driving source of the moving body driving unit, the column driving unit, and the arm rotation driving unit.
In other words, the moving body control means controls the moving body driving means to control the movement and stop of the moving unit 20A, and the pan head control means controls the strut driving means and the arm rotation driving means. -It is comprised so that the direction of the image | video collection unit 10 can be adjusted.
As described above, by providing the pan head 30 that supports the installation means 13 and is connected to the member mounting portion 21A of the moving unit 20A so that the direction of the sound / image collection unit 10 can be changed, The orientation of the video sampling unit 10 can be adjusted, and the sound source direction estimation accuracy can be further improved.

As shown in FIG. 1, the vibration control device 1B includes a vibration device 2B and a control means 3B.
As shown in FIG. 4, the vibration device 2 </ b> B includes a moving unit 20 </ b> B and a vibration member 100.
That is, the moving unit 20B and the control unit 3B constitute a moving unit, and the vibration exciter 2B is configured to be movable and stopped by the moving unit 20B and the control unit 3B that controls the moving unit 20B.

The moving unit 20B of the vibration exciting device 2B includes a member mounting portion 21B, a moving body 22B mounted on the member mounting portion 21B, and a moving body (not shown) that drives the moving body 22B based on a control signal from the control means 3B. Driving means.
That is, the vibration device 2B includes a moving body 22B for moving the vibration member 100 and is configured to be movable, and includes a moving body drive unit (not shown) that drives the moving body 22B.
The member attachment portion 21B is constituted by a base formed of, for example, a plate material.
The moving body 22B includes, for example, a wheel support leg 23B connected to the member mounting portion 21B and a wheel 24B provided on the tip side of the wheel support leg 23B. That is, the moving body 22B has the same configuration as the moving body 22A.
The moving body driving means includes a driving source and a driving force transmission mechanism.
For example, the rotational force of a motor (not shown) as a driving source is transmitted to the wheel 24B via a transmission gear mechanism (not shown) as a driving force transmission mechanism, whereby the wheel 24B rotates and the moving unit 20B moves. It is configured as follows.
Therefore, the vibration device 2B can move in the direction F in FIG. 4 on the diagnosis target portion.

The vibration member 100 includes a striking member 101 and a support device 110 that supports the striking member 101.
The support device 110 includes a telescopic device 120 and a support bar 150.

  The expansion / contraction device 120 includes an expansion / contraction mechanism 121 and an expansion / contraction driving unit 160 that expands / contracts the expansion / contraction mechanism 121 based on a control signal from the control unit 3B. That is, the vibration control device 1B includes a control source 3B that controls the drive source of the expansion / contraction drive unit 160 and the drive source of the moving body drive unit that drives the moving body 22B.

Based on FIG. 4, the structure of the expansion-contraction mechanism 121 is demonstrated. In FIG. 4, the expansion / contraction mechanism 121 during the contraction operation is indicated by a solid line, and the expansion / contraction mechanism 121 during the extension operation is indicated by a two-dot chain line (imaginary line).
For example, as shown by an imaginary line in FIG. 4, the expansion / contraction mechanism 121 has a center pin 125 that serves as a node at the intersection of the pair of rod-shaped members in a state where the pair of rod-shaped members that form the pair of links 123 and 124 intersect each other. As a multi-joint pantograph as a multi-joint link mechanism in which each rod-like member is formed by combining a plurality of stages of telescopic link units 122 formed so that each rod-like member is rotatable about the center pin 125 as a center of rotation. Configured by mechanism.

That is, each of the adjacent expansion link units 122, 122... Combined in a plurality of stages has one end 123a of one link 123 of one expansion link unit 122 adjacent to each other and the other link 124 of the other expansion link unit 122. The other end portion 124b of the first link portion 122b is coupled by an end pin 126 that is a node so that the links 123 and 124 are configured to be rotatable about the end pin 126. One end 124a of the link 124 and the other end 123b of one link 123 of the other telescopic link unit 122 are coupled by an end pin 127 that is a node, and the links 123 and 124 rotate about the end pin 127. Is configured to be rotatable.
Therefore, the expansion / contraction mechanism 121 having the above-described configuration is configured so that the center pin 125 of each of the adjacent expansion link units 122, 122... Is separated and the center of each of the adjacent expansion link units 122, 122. In this configuration, the contraction operation that allows the pins 125 to approach each other is possible. As the number of the extension link units 122 increases, the maximum extension length of the extension mechanism 121 becomes longer.

  The other end of the expansion / contraction link unit 122 positioned at the other end of the expansion / contraction mechanism 121 has a configuration in which the other ends of the rod-like members connected by the center pin 125 are coupled to each other by the center pin 125. The other end portion of the expansion / contraction link unit 122 is a tip end portion 121 t of the expansion / contraction mechanism 121. One end of the support bar 150 is fixed to the tip 121t of the expansion / contraction mechanism 121, and the support bar 150 is provided to extend in the direction in which the expansion / contraction mechanism 121 extends.

The expansion / contraction driving means 160 includes a driving source and a driving force transmission mechanism.
The drive source is, for example, a motor (not shown).
The driving force transmission mechanism includes a base 163, a feed screw member 164 having both ends rotatably attached to the base 163, a guide bar 165 having both ends fixed to the base 163, and one end of the telescopic mechanism 121. And a pair of sliders 168 and 169 which are attached to the feed screw member 164 and the guide rod 165 so as to be movable in the extending direction of the feed screw member 164, and the rotational force of the motor as a drive source And a rotational force transmission mechanism such as a transmission gear mechanism (not shown).

The base 163 includes a base portion 163a attached to the member attachment portion 21B, and a pair of left and right support portions 163b and 163b provided so as to extend from both ends of the base portion 163a in the extending direction of the expansion / contraction mechanism 121. Each support portion 163b, 163b is formed with a bearing 161 for rotatably supporting both ends of the feed screw member 164 and a fixing hole 162 to which both ends of the guide rod 165 are fixed. The base 163 is attached to the side surface of the member attachment portion 21B by, for example, an attachment bracket (not shown) or attachment means such as welding.
The feed screw member 164 includes a left-hand thread portion 164a in which a left-hand thread is formed on the peripheral surface of the circular rod from one end side to the center side of the circular rod, and a right-hand side on the peripheral surface of the circular rod from the other end side to the center side of the circular rod. It is a screw rod provided with a right screw part 164b in which a screw is formed. Both ends of the feed screw member 164 are supported by bearings 161 of the base 163 so that the feed screw member 164 can rotate about the central axis of the circular bar.
The guide bar 165 is formed of, for example, a circular bar or a square bar, and both ends are fixed to the left and right fixing holes 162 of the base 163.
Each of the sliders 168 and 169 includes a screw hole 166 through which the feed screw member 164 is screwed and a through hole 167 through which the guide rod 165 passes. The screw member 164 is configured to be movable in the extending direction of the circular rod.

The pair of sliders 168 and 169 includes a left slider 168 provided with a screw hole 166 to be screwed into the left screw portion 164a of the feed screw member 164 and a through hole 167 through which the guide rod 165 passes, and a feed screw member 164. The right slider 169 includes a screw hole (not shown) screwed to the right screw portion 164b (same as the screw hole 166) and a through hole (not shown) through which the guide rod 165 passes (same as the through hole 167). It is.
One end 123a of one link 123 of the telescopic link unit 122 positioned at one end of the telescopic mechanism 121 and the right slider 169 are connected by a base pin 129 so that the link 123 can rotate around the base pin 129 as a rotation center. The one end 124a of the other link 124 of the telescopic link unit 122 positioned at one end of the telescopic mechanism 121 and the left slider 168 are connected by the base end pin 128, and the link 124 is connected to the base end pin. It is configured to be rotatable about 128 as a rotation center.

  According to the telescopic device 120 configured as described above, when the feed screw member 164 is rotated in one direction by controlling the rotation direction of the motor based on the control signal from the control means 3B, the left slider 168 and When the right slider 169 moves in a direction approaching each other by screw feed, the telescopic mechanism 121 operates so as to extend, and the rotation direction of the motor is controlled based on the control signal from the control means 3B, and the feed screw member When 164 is rotated in the direction opposite to the one direction, the expansion / contraction mechanism 121 operates to contract by moving the left slider 168 and the right slider 169 away from each other by screw feed.

The support bar 150 is formed of, for example, a round bar, and one end thereof is fixed to the tip 121t of the expansion / contraction mechanism 121.
At the other end of the support rod 150 provided so as to extend in the direction in which the telescopic mechanism 121 extends, the striking member 101 is provided so as to be rotatable as indicated by an arrow R around the central axis 102 of the support rod 150. ing. That is, the vibration device 2 </ b> B is configured to include the expansion / contraction mechanism 121 including the striking member 101 on the distal end side.

The outer peripheral surface around the central axis 102 of the striking member 101 is formed in a concave portion 104 and a convex portion 105 in which concave and convex portions are repeated at a constant period.
Accordingly, when the striking member 101 rotates around the central axis 102 while the convex portion 105 of the striking member 101 is in contact with the diagnosis target portion, each convex portion 105 around the central axis 102 of the striking member 101 is periodically rotated. Stroke the diagnostic target part by hitting the diagnostic target part.

The diagnosis target part is, for example, a concrete structure such as a concrete structure part of a bridge or an inner wall of a tunnel.
That is, the rotation center axis (center axis 102) of the striking member 101 and the rotation center axis of the wheel 24B are provided so as to extend in parallel and in the same direction. Each convex part 105 around the central axis 102 of the member 101 is configured to periodically strike the diagnosis target part and vibrate the diagnosis target part.

  Accordingly, the telescopic mechanism 121 is expanded and contracted, and the striking member 101 is rotated on the diagnostic target portion by moving the vibration device 2B on the diagnostic target portion in the direction F in FIG. The control means 3B controls the movement and stop of the moving unit 20B so as to hit the part, and the extension / contraction operation of the extension / contraction mechanism 121 of the vibration device 2B is controlled, and the hitting member 101 hits the diagnosis target part. The sound / video is controlled by the control means 3A so that the sound pressure waveform data from the excitation point as the sound source generated every time and the image data of the diagnosis target part including the excitation point are collected by the sound / video sampling device 2A. The position of the sampling device 2A is controlled.

  According to the vibration device 2B of the first embodiment, the striking member 101 in the extending direction of the telescopic mechanism 121 is expanded and contracted by expanding and contracting the telescopic mechanism 121 configured by a multi-node pantograph mechanism based on a control signal from the control unit 3B. Since the position can be adjusted, a wide range of the diagnosis target portion can be hit, and the wide range of the diagnosis target portion can be diagnosed in detail and accurately. Moreover, the operation | work which strikes a diagnostic object part can be performed efficiently with the control signal from the control means 3B. In addition, since it is not necessary for a person to manually change the length of the telescopic mechanism 121, it is possible to diagnose a diagnosis target portion that exists in a place where a person cannot enter or in a dangerous place when a person works. It becomes.

  Further, since the expansion / contraction mechanism 121 is constituted by a multi-node pantograph mechanism, the position of the striking member 101 in the extending direction of the expansion / contraction mechanism 121 can be adjusted more accurately and finely, so that a wide range of diagnosis target parts can be obtained. It is possible to strike at a desired interval, so that a wide range of the diagnosis target portion can be diagnosed in more detail and more accurately.

  Moreover, since the mobile body 22B for moving the vibration member 100 and the mobile body drive means for driving the mobile body 22B based on the control signal from the control means 3B are provided, a wide range of the diagnosis target part is provided. This makes it possible to diagnose a wide range of diagnosis target parts, and further makes it easy to diagnose a diagnosis target part present in a place where a person cannot enter or a dangerous place when a person works.

As shown in FIG. 1, for example, the information processing means 4 removes high-frequency noise components from the sound pressure signal input from the sound / video sampling apparatus 2A, amplifies each sound pressure signal, and outputs a digital signal (sound Pressure waveform data) and output to the sound source direction estimating means 5.
Further, the information processing means 4 outputs, for example, the video signal (image data) input from the sound / video sampling device 2A to the sound source estimation image creating means 6 (note that the video signal input from the sound / video sampling unit 10) If it is an analog signal, it is converted into a digital signal and output).
Further, the information processing means 4 includes, for example, a multiplexer (MUX) that selectively outputs sound pressure waveform data and image data.

The sound source direction estimating means 5 applies the sound pressure waveform data from the information processing means 4 to the excitation point (a plurality of hit points (sound source) where the convex part 105 of the hit member 101 rotating on the diagnosis target part hits the diagnosis target part. )) Stored for each Fk (k = 1 to n), and using the sound pressure waveform data, data (horizontal angle θ _p and elevation angle φ _p ) and sound pressure level in the direction of the sound source (excitation point) for each frequency Ask for. The details of the method of calculating the sound source (excitation point) direction data (horizontal angle θ _p and elevation angle φ _p ) by the sound source direction estimating means 5 will be described later.

The sound source estimation image creating means 6 stores the image data of the diagnosis target part from the information processing means 4 and the data of the sound source direction for each frequency (horizontal angle) calculated by the sound source direction estimating means 5 for each excitation point. θ and elevation angle φ), the sound pressure level, and the image data of the diagnosis target part are combined, and a figure (here, a circle) showing the direction of the sound source in the image as shown in FIGS. The diameter of the circle represents the sound pressure level, and the pattern or color of the circle represents the frequency of the sound pressure signal.) The sound source estimation image G _k (k = 1 to n) drawn for each frequency. create. 5A is a sound source estimation image G ₄ including a portion P where a floating due to a crack exists, and FIG. 5B is a sound source estimation image G ₁₄ including a portion Q where an air gap exists inside. It is.
The sound source estimation images G _k created for each excitation point F _k are sequentially sent to the diagnostic image creation means 56.

As shown in FIG. 1, the diagnostic image creation means 56 includes an image composition unit 56A and a band-specific image creation unit 56B.
The image synthesis unit 56A creates a diagnostic image by synthesizing n sound source estimation images G _k (k = 1 to n).
The band-specific image creation unit 56B creates a band image, which is a diagnostic image for each octave band, or a superimposed band image obtained by superimposing two or more adjacent band images from the diagnostic image, which is a composite image.
Specifically, a 1/3 octave band is used as an octave band, and a center frequency f _p (p = 1 to 18) is set to 160 Hz, 200 Hz, 250 Hz,..., 3150 Hz, 4000 Hz, 5000 Hz, for example. Assuming 6300 Hz and 8000 Hz, the band image is p = 18.
In addition, as a superposition band image, for example, a superposition band image created by superposing band images with a center frequency of 200 Hz to 2500 Hz, a superposition band image created by superposing band images with a center frequency of 1250 Hz to 6300 Hz, etc. Can be used.
Further, an octave band may be used as the octave band. Furthermore, not limited to the octave band, an arbitrary frequency range may be set.

  As shown in FIG. 1, the display means 7 includes a display screen 7a such as a liquid crystal display, and displays the band image or the superimposed band image created by the diagnostic image creation means 56 on the display screen 7a.

The sound source direction estimating means 5, the sound source estimating image creating means 6, and the diagnostic image creating means 56 are constituted by, for example, software of a personal computer and a memory, and the display means 7 is, for example, a liquid crystal display. It is comprised by the display apparatus.
Further, the communication media between the microphones M,... And the camera 12 and the information processing means 4 may be either wired or wireless.
Furthermore, the communication medium between the information processing means 4, the sound source direction estimating means 5 and the sound source estimation image creating means 6, the communication medium between the sound / video sampling device 2A and the control means 3A, and the excitation device 2B and the control means 3B. The communication medium may be either wired or wireless.
Note that the communication medium between the information processing means 4, the sound source direction estimating means 5, and the sound source estimation image creating means 6, the communication medium between the sound / video sampling device 2A and the control means, and the communication between the vibration device 2B and the control means 3B. If the medium is configured to be wireless, it is preferable because the sound / video sampling device 2 and the vibration device 2B can be operated even in places where people cannot enter or leave.

According to the first embodiment, since the diagnostic image of the diagnosis target part is displayed on the display screen 7a of the display unit 7, the diagnostician can diagnose deterioration of the diagnosis target part.
For example, when the diagnosis target part is a wall and the wall has “floating due to cracking”, a striking sound in a band of 3150 Hz to 4000 Hz is generated, and in a portion where the wall has a “gap”, 4000 Hz to 5000 Hz. It is known that a striking sound is generated in the band.
Therefore, in this case, the display means 7 displays the floating diagnostic image as a superposed band image created by superimposing a band image with a center frequency of 3150 Hz and a band image with 4000 Hz from the 18 band images as described above. Display on the screen 7a, or display on the display screen 7a of the display means 7 as an image for gap diagnosis which is a superposition band image created by superimposing band images with a center frequency of 1000 Hz to 5000 Hz. By looking at these floating diagnostic images and void diagnostic images, it becomes possible to diagnose a place where there is a “floating due to a crack” on the wall and a place where there is a “void” on the wall.

In particular, in the sound source direction estimating apparatus according to the first embodiment, at least three microphones M,... Input sound pressure signals from the front side on the front surface 138t side of the installation plate 138, and sound pressure signals from other than the front side are input. By providing the sound / video sampling unit 10 configured to have directivity for reducing input, the influence of reflected sound can be reduced without performing special arithmetic processing, and even in a narrow space The accuracy of sound source direction estimation has been improved.
Further, the diagnosis device 1 of the first embodiment can diagnose a plurality of excitation points (sound sources) because the sound / video sampling device 2A and the excitation device 2B are configured to be movable. It became possible to grasp the state of.

  Hereinafter, a case where there are three microphones, a case where there are five microphones, and a case where there are four microphones will be described.

Embodiment 2
First, a case where there are three microphones will be described.
When there are three microphones, the center of the diaphragm of each microphone M1, M2, M3 is positioned on a plane parallel to the front surface 138t of the installation plate 138, and a sound pressure signal is input from the front side of the installation plate 138. It is configured to have directivity for reducing the input of sound pressure signals from other than the front side, that is, the side of the installation plate 138 and the sound pressure signal from the rear. In this example, when the microphones M1, M2, M3 are viewed from the front of the installation plate 138, the center of the diaphragms of the microphones M1, M2, M3 is arranged at the apexes of the equilateral triangle as an example. I will explain.
In this case, the sound source direction estimating means 5 uses the sound pressure waveform data to estimate the sound source direction when viewed from the front ends of the microphones M1, M2, and M3. That is, assuming that the front surface 138t of the installation plate 138 is a horizontal plane, the horizontal angle θ _p and the elevation angle φ _p when the midpoint between the microphone M1 and the microphone M3 is the acoustic center O are calculated for each frequency. Measure the sound pressure level of sound transmitted from the sound source.
A method for calculating the horizontal angle θ _p and the elevation angle φ _p will be described later.

FIG. 6 shows the acoustic center O, which is the midpoint between the microphones M1 and M3, as the origin, the direction from the microphone M3 toward the microphone M1 as the X-axis direction, the direction from the origin toward the microphone M2 as the Y-axis direction, and the microphone installation means 130. Is a diagram showing the positions of the microphones M1, M2, and M3 in the coordinate system with the Z axis as the front (the imaging direction of the camera 12) and the sound incident direction. The microphones M1, M2, and M3 have L on one side. It is placed at each vertex of the equilateral triangle. Such an XYZ coordinate system in which the plane formed by the microphones M1, M2, and M3 is the XY plane and the imaging direction of the camera 12 is the Z axis is hereinafter referred to as an acoustic coordinate system.
In the calculation of the sound source direction, it is assumed that only the sound pressure signal of the sound propagated from the front (+ Z direction) of the XY plane is input to the microphones M1, M2, and M3, and the sound pressure waveforms of the microphones M1, M2, and M3 The frequency of the data is analyzed by FFT, and the phase difference between the microphones M1 to M3 is obtained for each frequency. From the obtained phase difference and the sound velocity c calculated using the temperature measured by the temperature sensor (not shown). The direction of the sound source is calculated for each frequency.
The horizontal angle θ _p and the elevation angle φ _p can be expressed by the following equation [Equation 1].
Here, the arrival time difference D _ij is the time difference between the sound pressure signal that reaches the microphone M sound pressure signal that reaches the _i and the microphone M _j, signal input to the two microphones M _i and the microphone M _j making a pair determined cross spectrum P _ij of (f), further, by using the phase angle information of the frequency f of interest [psi (rad), is calculated by the equation [expression 2] below.
The sound source direction and sound pressure level are measured for each frequency.
The magnitude of the sound pressure signal may be the magnitude of a signal input to any of the microphones M1, M2, M3, or the magnitude of the signal input to the microphones M1, M2, M3. An average value may be used.

Next, the sound source direction data, the sound pressure level, and the image data obtained by imaging with the camera 12 are synthesized, and the sound source direction (θ _pk , φ _pk ) and the sound pressure signal magnitude a _f (θ _pk , Φ _pk ) and a frequency-displayed circle, a sound source estimation image G _k (k = 1 to n) is created, and the created sound source estimation image G _k is displayed on the display screen 7a of the display means 7. To display.
For example, as shown in FIG. 5, the position of the circle represents the sound source direction (θ _pk , φ _pk ), the diameter of the circle represents the sound pressure level a _f (θ _pk , φ _pk ), and the circle pattern or color is The frequency of the sound pressure signal was expressed.
FIGS. 7A and 7B are diagrams showing specific examples of sound source estimation images, in which speakers 84 installed in a room surrounded by walls on all sides are used as sound sources. FIG. 7A shows a pink sound output from the speaker 84 using a sound / video sampling unit 10 having a configuration in which three microphones M1, M2, and M3 according to the present invention are installed on an installation plate 138. in estimation image G _0, Fig. 7 (b) is a sound source estimation image G _z0 in the case of using the sound and video sampling unit 10Z having the configuration 5 configuration of a conventional microphone. The pink noise is noise that is used for measuring the acoustic characteristics of the speaker 84 and whose power is inversely proportional to the frequency.
In each figure, the position enclosed by the ellipse is the position of the speaker 84 which is a sound source.
As can be seen by comparing FIG. 7A and FIG. _7B , the sound source estimation image G ₀ according to the present invention is more _effective for the speaker 84 than the sound source estimation image G _z0 according to the conventional method. It can be seen that there is little variation in position.

FIGS. 8A and 8B are diagrams showing sound source estimation images G ₁ and G _z1 when measurement is performed by installing the reflector 85 on the side surfaces of the speaker 84 and the sound / video sampling units 10 and 10Z. 9A and 9B show sound source estimation images G ₂ and G _z2 when the reflector 85 is installed and measured at a position 45 ° behind the sound / video sampling units 10 and 10Z. FIG. FIGS. 10A and 10B are diagrams showing sound source estimation images G ₃ and G _z3 when the reflection plate 85 is installed and measured on the back of the sound / video sampling units 10 and 10Z.
In any case, it can be seen that the sound source estimation image G _k according to the present invention has less variation in the position of the speaker 84.
As described above, the microphones M1, M2, and M3 and the camera 12 are installed on the installation plate 138, and the sound pressure signal input to the microphones M1, M2, and M3 is limited only to the front 180 ° that is the imaging direction of the camera 12. As a result, it can be seen that the influence of the reflected sound from the rear or side wall can be greatly reduced.

By the way, since the acoustic coordinate system (XYZ coordinate system) is different from the coordinate system when five conventional microphones are arranged in a quadrangular pyramid shape, the horizontal angle θ _p and the elevation angle φ _p are on the image, that is, The horizontal angle θ and the elevation angle φ when the camera 12 is on a horizontal plane are different. Specifically, as shown in FIG. 11A, when the horizontal angle θ _p and the elevation angle φ _p are displayed on the image, the horizontal angle θ _p is on the circle indicated by the alternate long and short dash line in FIG. _p corresponds to the radius of the circle. In order to estimate the sound source, it is only necessary to display the circle C displaying the sound source direction, frequency, and sound volume on the image. Therefore, as shown in FIG. 11B, the sound source direction (θ _p , Φ _p ) need not be coordinate-transformed into the sound source direction (θ, φ) in the optical coordinate system, which is the coordinate system when the camera 12 is on the horizontal plane (xy plane).
However, when examining the distribution of the sound pressure level with respect to the horizontal angle θ, it is easier to visually understand if the sound source direction (θ _p , φ _p ) is transformed into the sound source direction (θ, φ). Therefore, in this embodiment, the above 7 to 10 sound estimation image G shown in, for the G _z, the horizontal axis horizontal angle theta, and the vertical axis displays the image with elevation angle phi.

As shown in FIG. 11B, when the optical coordinate system is such that the camera 12 is on the xy plane and the x axis is the imaging direction of the camera 12 (white arrow), the x axis of the optical coordinate system is the acoustic coordinate. The Z axis of the system, the y axis of the optical coordinate system are the -X axis of the acoustic coordinate system, and the z axis of the optical coordinate system is the Y axis of the acoustic coordinate system.
Therefore, the horizontal angle θ and the elevation angle φ in the optical coordinate system can be expressed by the following formula [Equation 3] using the horizontal angle θ _p and the elevation angle φ _p in the acoustic coordinate system.
Therefore, by performing coordinate conversion from the acoustic coordinate system to the optical coordinate system, for example, as shown in the lower stage of the sound source estimation image G ₀ in FIG. It is possible to create and display a distribution map of sound pressure levels with the level as the vertical axis.
Note that a sound source estimation image G in which the sound source direction (θ _p , φ _p ) in the acoustic coordinate system is transformed to the sound source direction (θ, φ) in the optical coordinate system is generated and displayed on the display screen 7a. Good.

  Thus, in the case of three microphones, the microphones M1, M2, and M3 that collect the sound pressure signals of the sound propagated from the sound source are installed in a triangular shape on the installation plate 138, and in front of the installation plate 138. Only the sound pressure signal of the sound propagated from the imaging direction of the camera 12 is collected, and the direction of the sound source is determined by the sound source direction estimation means 5 from the arrival time difference of the sound pressure signal input to the microphone, the microphone position coordinates, and the sound speed. The sound source estimation image creating means 6 combines the estimated sound source direction data with the image data that is the video signal of the sound source direction imaged by the camera 12, and the estimated sound source direction Since the sound source estimation image G, which is an image in which a graphic showing “” is drawn, is created, the influence of the reflected sound can be greatly reduced. Therefore, it is possible to create the sound source estimation image G that can accurately estimate the direction of the sound source even in a narrow space.

Embodiment 3
In the second embodiment, the microphones M1, M2, and M3 are arranged at the vertices of an equilateral triangle having one side length L. However, the present invention is not limited to this, and three points that are not in a straight line with each other, that is, , May be arranged at each vertex of the triangle.
FIG. 12 shows an example in which three microphones M0, M1, and M2 are arranged at the vertices of an isosceles triangle. The coordinates of the microphone M0 are (0, 0, 0), and the coordinates of the microphone M1 are (L / 2, 0). , 0), the coordinates of the microphone M2 are (0, L / 2, 0), the acoustic center is the position of the microphone M0, and the video center is (L / 3, L / 3, 0). Note that L is sufficiently smaller than the distance between the sound source and the sound / video sampling unit 10, so that there is no problem even if the sound source estimation image G is created assuming that the video center and the sound center match. That is, it is preferable to set the video center near the acoustic center, and it is more preferable if it is inside or on the side of a triangle, such as (L / 4, L / 4, 0).
When the microphones M0, M1, and M2 are arranged as shown in FIG. 12, the horizontal angle θ _p and the elevation angle φ _p can be expressed by the following equation [Equation 4].

Embodiment 4
Next, a case where there are five microphones will be described.
When five microphones are used, the centers of the diaphragms of the microphones M1, M2, M3, M4, and M5 are positioned on a plane parallel to the front surface 138t of the installation plate 138, and a sound pressure signal is transmitted from the front side of the installation plate 138. So that the microphones M1, M2, and M3 have directivity to reduce the input of sound pressure signals from other than the front side, that is, the side of the installation plate 138 and the sound pressure signal from the rear side. , M4, M5 are installed on the installation plate 138. In this case, for example, as shown in FIG. 13, when the microphones M1 to M5 are viewed from the front of the installation plate 138, the first microphone M1 and the third microphone M3 are separated by a predetermined distance L in the vertical direction. place the _L apart position, the disposing a second microphone M2 and a fourth microphone M4 laterally spaced by the same predetermined distance L _L and the position, the fifth microphone M5, the The intersection of the line segment connecting the first microphone M1 and the third microphone M3 and the line segment connecting the second microphone M2 and the fourth microphone M4 (here, the first microphone M1 and the third microphone) It is arranged at an internal dividing point that internally divides between M3 and 1: 3.

Hereinafter, the position of the fifth microphone M5 is the origin (0, 0, 0), the horizontal direction of the installation plate 138 is the x-axis direction, the vertical direction is the y-axis direction, and the direction perpendicular to the front surface 138t of the installation plate 138 is z. Axial direction. Further, the horizontal angle θ is measured clockwise from the y axis with θ = 0 on the y axis, and the elevation angle φ is measured with φ = 0 on the xy plane.
In this example, the coordinates of the position of the first microphone M1 are (0, L _S , 0), the coordinates of the position of the microphone M2 are (L _M , 0, 0), and the coordinates of the position of the microphone M3 are (0, − L _M , 0), and the coordinates of the position of the microphone M4 are (−L _S , 0,0).
Note that the relationship between L _S , L _M , and L _L is L _L = L _S + L _M and L _S <L _M <L _L.
Here, assuming that the microphone pair (M1, M3) is the first microphone pair and the microphone pair (M2, M4) is the second microphone pair, the arrangement of the microphones M1 to M5 in this example is that of the microphones M1 to M4. The quadrangle to be created is a quadrangle in which two diagonals are orthogonal, and the second microphone pair (M2, M4) is centered on the first microphone pair (M1, M3) and the fifth microphone. In other words, it is disposed at a position rotated 90 ° counterclockwise.

In this manner, by arranging the microphones M1 to M5 as shown in FIG. 13, different microphone intervals L _S , L _M , and L _L (L _S <L _M <L _L ) from the five microphones M1 to M5. Three microphone pairs that are not in line with each other can be constructed.
That is, the first and second microphone pair (M1, M3), (M2 , M4) is a microphone pair having a longest distance between microphones L _L, microphone pair (M1, M5), is (M5, M4), The microphone pair having the shortest microphone interval L _S (hereinafter referred to as the fifth and sixth microphone pairs). Further, the microphone pair (M5, M3), (M2 , M5) is a microphone pairs with an intermediate distance between microphones L _M (hereinafter, the third and that the fourth microphone pair) is.

In the case of a sound source direction estimating apparatus including five microphones, the information processing means 4 includes a low-frequency extraction unit, a mid-frequency extraction unit, and a high-frequency extraction unit, which are not shown, and the microphones M1 to M5 are included. A sound pressure signal of each microphone pair is extracted from the collected sound pressure signal.
That is, since the horizontal angle θ and the elevation angle φ, which are sound source directions, are calculated for each frequency, it is not necessary to obtain the arrival time difference between the first to fifth microphone pairs for all the calculated frequencies.
That is, the extraction unit for the low-pass extracts the longest microphones M1 constituting the microphone pair having a microphone spacing L _L, M2, M3, M4 sound pressure waveform data from the sound pressure signals, the sound source direction estimating unit 5 send.
Further, the mid-area for extracting section extracts the sound pressure waveform data from the microphone M2, M3, M5 sound pressure signal of which constitutes the microphone pair having a middle microphone spacing L _M, and sends the sound source direction estimating unit 5.
Further, the high frequency band extraction unit extracts the sound pressure waveform data from the sound pressure signals of the microphones M1, M4, and M5 constituting the microphone pair having the shortest microphone interval L _S and sends the sound pressure waveform data to the sound source direction estimating means 5.

The sound source direction estimation means 5 performs frequency analysis on the sound pressure waveform data extracted by the low-frequency extraction unit, the mid-frequency extraction unit, and the high-frequency extraction unit by FFT, and performs two pairs of microphones (Mi, Mj) The arrival time difference D _ij corresponding to the phase difference between) is obtained for each frequency, and the direction of the sound source is determined from the obtained arrival time difference D _ij and the sound velocity c calculated using the temperature measured by a temperature sensor (not shown). Calculate for each frequency.
Specifically, the horizontal angle θ and the elevation angle φ of the sound in the low-frequency region (for example, when L _L = 100 mm and c = 340 m / s, the frequency is 1700 Hz or less) are extracted by the low-frequency extraction unit. microphones M1, the arrival time difference D ₁₃ between M3, a second microphone pair (M2, M4) constituting the microphone M2, the arrival time difference between M4 D ₂₄ constituting the first microphone pair (M1, M3) which is If sound velocity c and, by using a microphone spacing L _L, is calculated by the equation [expression 5] below.
Here, the arrival time difference D _ij obtains the cross spectrum P _ij (f) of the signals input to the two microphones Mi and the microphone Mj to be paired, and further the phase angle information Ψ (rad) of the target frequency f. Is calculated by the above-described equation [Equation 2].

Further, the horizontal angle θ and the elevation angle φ of the sound in the intermediate frequency region (for example, 1700 Hz to 2266 Hz when L _M = 75 mm) are the third microphone pair (M5, M3) extracted by the mid-range extraction unit. Difference between arrival times D ₅₃ between the microphones M5 and M3 constituting the microphone, arrival time difference D ₂₅ between the microphones M2 and M5 constituting the fourth microphone pair (M2, M5), the sound velocity c, and the microphone interval L _M Is calculated by the following equation [Equation 6].
Similarly, the horizontal angle θ and the elevation angle φ of the sound in the high-frequency region (for example, 2266 Hz to 6800 Hz when L _S = 25 mm) are the fifth microphone pair (M1, M5) extracted by the high-frequency extraction unit. the arrival time difference D ₁₅ between the microphones M1, M5 constituting the, the arrival time difference D ₅₄ between the microphones M5, M4 constituting sixth microphone pair (M5, M4), the sound velocity c, and the distance between microphones L _S Is calculated by the following equation [Equation 7].

As described above, in the sound source direction estimation apparatus including five microphones, the first to fourth microphones M1 to M4 are arranged on the installation plate 138 and the first to fourth microphones M1 to M4 that are not in line with each other are arranged. A fifth microphone M5 is arranged at the intersection of square diagonal lines with the positions of .about.M4 as vertices, and different microphone intervals L _S , L _M , L _L (L _S < A difference in arrival time of sound pressure signals input to each of the microphones constituting one of the two microphone pairs, for each of two microphone pairs that are not in line with each other, with L _M <L _L ); Differences in arrival times of sound pressure signals input to the microphones constituting the other microphone pair, and microphones M1 to M Position since from the coordinates and speed of sound c to estimate the direction of the sound source, the sound source direction for generating a sound of a low frequency, long distance between microphones _(L = L L) microphone pair (M1, M3), (L = L _S ) microphone pair (M1, M5), (M5, M4) data with a short microphone interval for the sound source direction that is estimated using the data of (M2, M4) and generates a high-frequency sound. The direction of the sound source that generates the sound of the intermediate frequency is estimated using the data of the microphone pairs (M5, M3), (M2, M5) having the intermediate microphone interval (L = L _M ). Then, the direction of the sound source can be accurately estimated without lowering the upper limit of the measurable frequency.

Embodiment 5
In the fourth embodiment, the distance between the first microphone M1 and the third microphone M3 is set to L _L = 100 mm, and the fifth microphone M5 is set to 1: between the first microphone M1 and the third microphone M3. However, the microphone interval L _L and the position of the fifth microphone M5 may be determined as appropriate according to the frequency range to be measured.
FIG. 14 is a diagram illustrating an example in which the fifth microphone M5 is arranged at the midpoint between the first microphone M1 and the third microphone M3. In this case, the quadrangle formed by the microphones M1 to M4 is a square, The fifth microphone M5 is located at the center of the square.
Again, the microphone pair having a longest distance between microphones L _L, as in the first embodiment, first and second microphone pair (M1, M3), a (M2, M4).
On the other hand, the microphone pair having the shortest microphone interval (L = L _L / 2) includes the microphone pairs (M1, M5), (M2, M5) in addition to the microphone pairs (M1, M5), (M5, M4). And microphone pairs (M5, M3), (M5, M4) and microphone pairs (M5, M3), (M2, M5).
The microphone pair having an intermediate microphone interval (L = L _L / √2) includes the microphone pair (M1, M4), (M2, M1), the microphone pair (M1, M4), (M3, M4) There are microphone pairs (M2, M3), (M2, M1) and microphone pairs (M2, M3), (M3, M4).

Also in this case, the sound source direction estimation means 5 performs frequency analysis on the sound pressure waveform data extracted by the sound pressure signal extraction means 23 by FFT, and corresponds to the phase difference between two paired microphones (Mi, Mj). The arrival time difference D _ij is calculated for each frequency, and the direction of the sound source is calculated for each frequency from the obtained arrival time difference D _ij and the sound speed c calculated using the temperature measured by the temperature sensor 15.
The horizontal angle θ and the elevation angle φ of the sound in the low frequency region (for example, when L _L = 50 mm and c = 340 m / s, the frequency is 3400 Hz or less) are calculated by the above-described equation [Equation 5].

In addition, the horizontal angle θ and the elevation angle φ of the sound in the intermediate frequency region (3400 Hz to 4808 Hz when L _L = 50 mm) are microphone pairs (M1, M4), (M2, M1), microphone pairs (M1, M4). , (M3, M4), microphone pair (M2, M3), (M2, M1), microphone pair (M2, M3), (M3, M4) and microphone pair (Ma, Mb), (Mc, Md) The arrival time difference D _ab between the microphones Ma and Mb constituting the microphone pair (Ma, Mb), the arrival time difference D _cd between the microphones Mc and Md constituting the microphone pair (Mc, Md), and the sound velocity c. , And the microphone interval L _L , the following equation [Equation 8] is used.

Similarly, the horizontal angle θ and the elevation angle φ of the sound in the high frequency region (for example, 4808 Hz to 6800 Hz when L _L = 50 mm) are not limited to the microphone pairs (M1, M5) and (M5, M4). (M1, M5), (M2, M5), a microphone pair (M5, M3), (M5, M4), a microphone pair (M5, M3), (M2, M5) and a microphone pair (Mp, Mq) ), (Mr, Ms), the arrival time difference D _pq between the microphones Mp, Mq constituting the microphone pair (Mp, Mq) and the arrival between the microphones Mr, Ms constituting the microphone pair (Mr, Ms). Using the time difference D _rs , the sound speed c, and the microphone interval L _L , the following equation [Equation 9] is used.

As described above, when the square formed by the microphones M1 to M4 is a square and the fifth microphone M5 is positioned at the center of the square, the horizontal angle θ and the elevation angle φ of the sound in the intermediate frequency region, and the high frequency region The horizontal angle θ and the elevation angle φ of each sound can be obtained four by four. Therefore, if the horizontal angle θ and the elevation angle φ are averaged, the estimation accuracy of the horizontal angle θ and the elevation angle φ of the sound in the intermediate frequency region and the high frequency region can be greatly improved.
Thus, if the microphones M1 to M5 are respectively arranged at the apex and center of the square, the direction of the sound source can be estimated with higher accuracy without lowering the upper limit of the measurable frequency.

  In the fourth and fifth embodiments, the microphones M1 to M4 are arranged at the vertices of a quadrangle whose diagonals are orthogonal, but may be quadrangles whose diagonals are not orthogonal. However, in this case, since the calculation of the horizontal angle θ and the elevation angle φ becomes complicated, it is preferable to arrange the microphones M1 to M4 at the vertices of a quadrangle whose diagonals are orthogonal.

Embodiment 6
Next, a case where there are four microphones will be described.
In the case of four microphones, the centers of the diaphragms of the microphones M1, M2, M3, and M4 are positioned on a plane parallel to the front surface 138t of the installation plate 138, and the microphones M1, M2, M3, and the like. The center of the diaphragm of M4 is arranged so as not to be positioned in a straight line, and a sound pressure signal is input from the front side of the installation plate 138 and the sound pressure signal from other than the front side, that is, the installation plate 138 side The microphones M1, M2, M3, and M4 are installed on the installation plate 138 so as to have directivity that reduces the input of sound pressure signals from the rear and the rear. In this case, from the front of the mounting plate 138 when viewed each microphone M1, M2, M3, M4, for example, as shown in FIG. 15, four of one side are positioned at the vertices of a square of L _m microphones M1 ~ M4 can be used to form two microphone pairs that are not in line with each other, with different microphone spacings (L ₁ = √2L _m , L ₂ = L _m ).
Microphone pair (M1, M3), (M2 , M4) is a microphone pair having the longer a distance between microphones L ₁ of a microphone pair (M1, M4), (M2 , M1) and microphone pair (M1, M4), (M3, M4) and a microphone pair (M2, M3), (M2 , M1), the microphone pair (M2, M3), (M3 , M4) and, but the microphone pair having the shorter distance between microphones L ₂ of .
The method of calculating the horizontal angle θ and the elevation angle φ from the sound pressure signal of the sound input to the microphones M1 to M4 is the same as that of the above-described configuration in which the microphones M1 to M5 are arranged at the center. Therefore, the description is omitted.

  Similarly, if n (n is an even number of 4 or more) microphones M1 to Mn are respectively arranged at the vertices of the n polygon, three or more microphones having mutually different microphone intervals and not in a straight line with each other. A microphone pair can be constructed.

  According to the sound source direction estimating apparatus of each embodiment, the sound / video sampling unit 10 configured by setting at least three microphones M1, M2, M3... Mx in a predetermined state, the moving unit 20A, and the pan head 30, the sound / video sampling unit 2A can be moved by the moving unit 20A, and the direction of the sound / video sampling unit 10 can be changed by the pan / tilt head 30. Since it can be adjusted, the direction of the sound source can be estimated with higher accuracy.

Embodiment 7
If the moving body 22A, 22B is configured to have a wheel with a magnet at the tip of the leg or a structure having a magnet at the tip of the leg configured to be walkable, for example, as a diagnosis target unit The sound / video sampling device 2A and the vibration device 2B can be moved while attracting the magnet to the steel wall or ceiling.
In this case, for example, the main girder and the configuration of the steel bridge are formed by the vibration member 100 of the vibration device 2B while being attracted and moved by the moving body of the vibration device 2B on the main girder of the steel bridge as the diagnosis target portion. While striking and oscillating members, concrete floor slabs, etc., while moving the main girder of the steel bridge by the moving body of the sound / video sampling device 2A, Since the sound pressure data and the image data can be collected by the sound / video sampling apparatus 2A, it becomes possible to efficiently and accurately perform the damage site identification inspection of the steel bridge.

Embodiment 8
The vibration apparatus may be configured without the moving body 22B. In this case, the member attaching portion 21B or the base 163 described above may be used in the vicinity of the diagnosis target portion.

Embodiment 9
In the vibration device 2B of the first embodiment, the vibration device having a moving body with a magnet as in the seventh embodiment, or the vibration device having a structure without the moving body as in the eighth embodiment, a vibration member If the moving means for moving only 100 (that is, the portion other than the member mounting portion 21B and the moving body 22B) is provided in a direction orthogonal to the direction in which the telescopic mechanism 121 extends, the striking member 101 is moved in various directions. Therefore, the vibration exciter can be applied to various diagnosis target parts.

Embodiment 10
The striking member 101 is not configured to rotate, but is configured to reciprocate in a direction approaching and moving away from the diagnosis target portion, that is, configured to strike and strike like a hammer. May be.

Embodiment 11
Alternatively, a rod-shaped expansion / contraction mechanism that can be expanded and contracted as the expansion / contraction mechanism 121 may be used, and an excitation device having a configuration that includes expansion / contraction drive means that expands / contracts the expansion / contraction mechanism based on a control signal from the control means 3B. Even with the vibration device, it is possible to accurately adjust the position of the striking member in the extending direction of the telescopic mechanism, so that a wide range of the diagnosis target portion can be hit, and the wide range of the diagnosis target portion is detailed. In addition, the diagnosis can be performed accurately and the diagnosis work can be performed efficiently. In addition, since it is not necessary for a person to manually change the length of the telescopic mechanism, it is possible to diagnose a diagnosis target part present in a place where a person cannot enter or a dangerous place when a person works. Become.

Embodiment 12
A swinging means for swinging only the vibrating member 100 left and right (to the left and right support portions 163b and 163b side in FIG. 4) around a point where the center axis 102 of the support bar 150 and the base portion 163a of the base 163 intersect. If the vibration device is provided, the wide range of the diagnosis target portion can be hit in a fan shape, and the wide range of the diagnosis target portion can be diagnosed in detail in a fan shape. In other words, in a contact state between the striking member and the diagnosis target part, or in a state where the distance between the striking member and the diagnosis target part is kept constant, the swinging mechanism that swings the telescopic mechanism around the one end side of the telescopic mechanism is the center of rotation. It is good also as a vibration apparatus provided with the moving means.

  The present invention can be applied not only to a concrete structure but also to a diagnosis of a structure made of mortar or tile, metal, and other parts to be diagnosed.

1 diagnostic device, 1A diagnostic image creation device,
2A sound and video sampling device, 2B vibration device,
5 sound source direction estimation means, 6 sound source estimation image creation means, 12 cameras (imaging means),
13 installation means, 22A; 22B moving body, 56 diagnostic image creation means,
100 vibration member, 101 striking member, 110 support device, 121 telescopic mechanism,
138 installation plate (planar plate), 138a microphone fixing hole, 160 telescopic drive means,
M, ... At least three microphones.

Claims (5)

A vibration device comprising a vibration member that strikes and vibrates a diagnosis target part,
The vibration member includes a striking member and a support device that supports the striking member,
The vibration support device according to claim 1, wherein the support device includes an expansion / contraction mechanism provided with the striking member on a distal end side, and an expansion / contraction drive means for extending / contracting the expansion / contraction mechanism based on a control signal from the control means.   The vibration device according to claim 1, wherein the expansion and contraction mechanism is configured by a multi-node pantograph mechanism.   The moving body for moving the said vibration member, The moving body drive means which drives the said moving body based on the control signal from a control means is provided, The Claim 1 or Claim 2 characterized by the above-mentioned. Vibration device. The vibration device according to any one of claims 1 to 3,
A diagnostic image creation device for creating a diagnostic image for diagnosing a diagnosis target part based on a sound pressure signal of sound propagated from a sound source vibrated by the vibration device and image data of the sound source A diagnostic device,
The diagnostic image creation apparatus comprises:
Install at least three microphones for collecting sound pressure signals of sound propagated from a vibrated sound source, image pickup means for picking up an image of the sound source, and each microphone and image pickup means in a predetermined state. A sound and video sampling device configured to include an installation means,
Sound source direction estimating means for estimating the sound source direction for each frequency from the arrival time difference between the sound pressure signals input to each microphone, the position coordinates of the microphone, and the sound speed;
Sound source estimation image creation means for creating a sound source estimation image for each of the excited sound sources based on the sound source direction data estimated by the sound source direction estimation means and the imaged sound source image data;
Diagnostic image creation means for creating a diagnostic image that is an image obtained by combining a plurality of sound source estimation images created by the sound source estimation image creation means,
The at least three microphones are installed in the installation means so as to have a directivity for inputting a sound pressure signal from one side and reducing the input of the sound pressure signal from other than the one side,
The diagnostic apparatus according to claim 1, wherein each of the vibration device and the sound / video sampling device includes a moving body and is configured to be movable.   The installation means includes a plane plate, and the at least three microphones are installed on the plane plate by being fixed to microphone fixing holes formed so as to penetrate between the plate surfaces of the plane plate. The diagnostic device according to claim 4.