State evaluation system

Abstract

To provide a state evaluation system which can perform stable striking operation against an inspection object having a large area and evaluate the state of the inspection object.SOLUTION: A state evaluation system includes a state evaluation device and an information processing device. The state evaluation device includes: a stationary device for fixing the state evaluation device to the surface of an inspection object; a striking device for detecting striking sound generated by striking the surface of the inspection object; a drive device for moving the striking device in almost parallel to the inspection object surface; an imaging device for generating an image including the striking device that is moving; and a control device for generating an evaluation value based on the striking sound. The information processing device includes: an evaluation target region generation unit for defining an evaluation target region in the image; a striking position information generation unit for generating striking position information corresponding to the position of the striking device in the evaluation target region of the image; and an evaluation data generation unit for generating evaluation data in which the evaluation value and the striking position information are associated with each other.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] An embodiment of the present invention relates to a condition evaluation system for evaluating the condition of an inspection object. [Background technology]

[0002] Various methods for diagnosing the condition of a building have been proposed to prevent peeling or falling off of the exterior materials (exterior wall materials) of a building. For example, a method is known in which the surface of an exterior material adhered to the building frame is struck with a hammer, the striking sound generated is detected by a microphone, and the condition of the exterior material is evaluated based on the detection signal from the microphone (see Patent Documents 1 to 3). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-203711 [Patent Document 2] Patent Publication No. 2021-021667 [Patent Document 3] Japanese Patent Publication No. 2021-021668 Summary of the Invention [Problem to be solved by the invention]

[0004] One object of one embodiment of the present invention is to provide a condition evaluation system that can perform a stable impact operation on the surface of an object to be inspected having a large area and evaluate the condition of the object to be inspected. [Means for solving the problem]

[0005] A condition evaluation system according to one embodiment of the present invention includes a condition evaluation device that evaluates the surface of an object to be inspected, and an information processing device that is communicatively connected to the condition evaluation device. The condition evaluation device includes a fixing device that fixes the condition evaluation device to the surface of the object to be inspected, an impact device that detects impact sounds made when the surface of the object to be inspected is struck, a drive device that moves the impact device approximately parallel to the surface of the object to be inspected, an imaging device that generates an image including the moving impact device, and a control device that generates an evaluation value based on the detected impact sounds. The information processing device includes an evaluation target area generation unit that defines an evaluation target area in the image, an impact position information generation unit that identifies the impact device in the image and generates impact position information corresponding to the position of the impact device in the evaluation target area, and an evaluation data generation unit that generates evaluation data in which the evaluation value and the impact position information are associated.

[0006] A condition evaluation system according to one embodiment of the present invention includes a condition evaluation device that evaluates the surface of an object to be inspected, and an information processing device that is communicatively connected to the condition evaluation device. The condition evaluation device includes a fixing device that fixes the condition evaluation device to the surface of the object to be inspected, an impacting device that detects impact sounds made when the surface of the object to be inspected is struck, a drive device that moves the impacting device approximately parallel to the surface of the object to be inspected, and a control device that generates an evaluation value based on the detected impact sounds. The information processing device includes an evaluation target area generation unit in the fixed condition evaluation device that defines an area within which the impacting device can move as an evaluation target area, an impact position information generation unit that calculates the position of the impacting device from position information of the drive device and generates impact position information corresponding to the position of the impacting device in the evaluation target area, and an evaluation data generation unit that generates evaluation data in which the evaluation value and the impact position information are associated.

[0007] The condition assessment system may further include a surveying device communicatively connected to the information processing device and configured to survey the position of the condition assessment device, and the assessment target area generation unit may generate condition assessment device position information corresponding to the position of the condition assessment device relative to the inspection target based on the surveyed position of the condition assessment device, and associate the assessment target area with the condition assessment device position information. The surveying device may survey the position of the condition assessment device based on reflected light from a reflector installed on the condition assessment device.

[0008] The condition assessment system may further include a surveying device installed on the condition assessment device and configured to measure the position of a marker placed on the object to be inspected, and the assessment target area generation unit may generate condition assessment device position information corresponding to the position of the condition assessment device relative to the object to be inspected based on the position of the surveyed marker, and associate the assessment target area with the condition assessment device position information.

[0009] The information processing device may further include an overall evaluation map generation unit that generates an overall evaluation map of the inspection object by combining a plurality of evaluation target regions based on the condition evaluation device position information.

[0010] The impact position information generating unit may identify the position of the impact device by detecting a marker attached to the impact device.

[0011] The impact position information generating unit may identify the position of the impact device by detecting characteristic points of the impact device.

[0012] The fixing device may include a suction portion that is attached to the surface of the inspection object. The fixing device may further include a pressure sensor that generates a reduced pressure detection signal when the suction portion is at or below a predetermined pressure, and the control device may generate a control signal to start the condition evaluation device striking the surface of the inspection object when the control device acquires the reduced pressure detection signal.

[0013] The fixing device may include a stopper for fixing the wheel that rolls on the surface of the object to be inspected.

[0014] The impact device may include a striking head that strikes the surface of the object to be inspected, and a striking head cover that is fixed to the striking head so that the tip of the striking head is exposed and that vibrates in accordance with the vibration motion of the striking head. [Effects of the Invention]

[0015] In a condition assessment system according to one embodiment of the present invention, the condition assessment device is fixed to the surface of the inspection object by a fixing device, so that the condition assessment device can stably perform a striking operation even on an inspection object having a large surface area, and assess the condition of the inspection object. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic diagram illustrating an overview of a condition evaluation system according to an embodiment of the present invention. [Figure 2] 1 is a schematic side view showing a configuration of a condition evaluation device of a condition evaluation system according to an embodiment of the present invention. [Figure 3] 1 is a schematic side view showing a configuration of a condition evaluation device of a condition evaluation system according to an embodiment of the present invention. [Figure 4] 1 is a schematic side view showing a configuration of an impact device of a condition assessment device of a condition assessment system according to an embodiment of the present invention. FIG. [Figure 5] 1 is a schematic side view showing a configuration of an impact device of a condition assessment device of a condition assessment system according to an embodiment of the present invention. FIG. [Figure 6] 1 is a schematic bottom view showing the configuration of an impact device of a condition assessment device of a condition assessment system according to an embodiment of the present invention. FIG. [Figure 7] 1 is a schematic diagram showing the internal structure of a striking unit of a striking device of a condition assessment system according to an embodiment of the present invention; [Figure 8] 3A and 3B are schematic diagrams illustrating a striking operation of a striking unit of a striking device of a condition evaluation system according to one embodiment of the present invention. [Figure 9] 3A and 3B are schematic diagrams illustrating a striking operation of a striking unit of a striking device of a condition evaluation system according to one embodiment of the present invention. [Figure 10] 1 is a block diagram illustrating the configuration of a condition evaluation system according to an embodiment of the present invention. [Figure 11] 10 is a flowchart illustrating a wall surface condition evaluation process in a condition evaluation device of a condition evaluation system according to an embodiment of the present invention. [Figure 12] 4 is a flowchart illustrating a process for generating evaluation data in a condition evaluation system according to an embodiment of the present invention. [Figure 13] FIG. 2 is a schematic diagram illustrating a process for generating evaluation data in a condition evaluation system according to an embodiment of the present invention. [Figure 14] FIG. 2 is a schematic diagram illustrating a process for generating an overall evaluation map in a condition evaluation system according to an embodiment of the present invention. [Figure 15] 1 is a schematic side view showing a configuration of a condition evaluation device of a condition evaluation system according to an embodiment of the present invention. [Figure 16] 1 is a schematic diagram illustrating an overview of a condition evaluation system according to an embodiment of the present invention. [Figure 17] 1A and 1B are schematic side and top views showing the configuration of a condition evaluation device of a condition evaluation system according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that the embodiments are merely examples, and any modifications that a person skilled in the art could easily make while maintaining the gist of the invention are naturally included within the scope of the present invention. Furthermore, in order to clarify the explanation, the drawings may show the width, thickness, shape, etc. of each part more schematically than the actual embodiment. However, the shapes shown in the drawings are merely examples and do not limit the interpretation of the present invention.

[0018] In this specification and drawings, identical or similar components are represented by the same reference numeral. However, when the components are distinguished, the reference numeral may be accompanied by a capital letter. When a component is distinguished into multiple parts, the multiple parts may be accompanied by a lowercase letter or by a hyphen and a natural number.

[0019] First Embodiment A condition evaluation system 1 according to one embodiment of the present invention will be described with reference to FIGS.

[0020] [1. Overview of Condition Assessment System 1] FIG. 1 is a schematic diagram illustrating an overview of a condition assessment system 1 according to one embodiment of the present invention. The condition assessment system 1 includes a condition assessment device 10, a surveying device 20, and an information processing device 30. The information processing device 30 is communicatively connected to the condition assessment device 10 and the surveying device 20, and can acquire information transmitted from the condition assessment device 10 and the surveying device 20 and perform various information processing. The information processing device 30 may be connected to the condition assessment device 10 and the surveying device 20 by wire or wirelessly.

[0021] FIG. 1 shows a wall 1100 of a building 1000 as an object to be inspected and evaluated by the condition evaluation system 1. A traveling rail 1200 is installed on the top (e.g., roof) of the building 1000, extending in an x-direction parallel to the wall 1100. Here, the height direction of the building 1000 corresponds to the z-direction, and the x- and y-directions perpendicular to the z-direction correspond to directions parallel to the ground. A suspending device 1210 is attached to the traveling rail 1200. The suspending device 1210 can move in the x-direction, which is the extension direction of the traveling rail 1200. One end of a wire 1220 is connected to the suspending device 1210. The other end of the wire 1220 is connected to a winch 1230 installed on the condition evaluation device 10. Therefore, the suspending device 1210 suspends and supports the condition evaluation device 10 via the wire 1220. The winch 1230 can wind up or lower the wire 1220. When the winch 1230 winds up the wire 1220, the condition evaluation device 10 ascends along the wall surface 1100. On the other hand, when the winch 1230 winds down the wire 1220, the condition evaluation device 10 descends along the wall surface 1100. That is, the condition evaluation device 10 can move in the z direction using the winch 1230 installed on the condition evaluation device 10. Furthermore, because the condition evaluation device 10 is suspended from the suspender 1210 via the wire 1220, it can also move in the x direction by moving the suspender 1210. Therefore, even if the wall surface 1100 has a large area, the condition evaluation device 10 can evaluate the condition of the entire wall surface 1100 while moving in the x direction or z direction along the wall surface 1100. The condition evaluation device 10 determines the condition of the wall surface 1100 by striking the wall surface 1100 and generates an evaluation value as a result of the determination. The evaluation value generated by the condition evaluation device is transmitted to the information processing device 30.

[0022] FIG. 1 illustrates a configuration in which the condition assessment device 10 can move not only in the z-axis direction but also in the x-axis direction. However, if the condition assessment device 10 does not need to move in the x-axis direction, the traveling rail 1200 does not need to be installed in the building 1000. The condition assessment device 10 only needs to be installed so that it can move in the x-axis direction according to the size of the wall surface 1100 whose condition is to be assessed. Furthermore, in the condition assessment system 1, if the condition assessment device 10 is not suspended, it is also possible to configure the condition assessment device 10 without installing the winch 1230. The detailed configuration of the condition assessment device 10 will be described later.

[0023] The surveying device 20 can survey the condition evaluation device 10. A reflector 21 such as a prism is installed on the condition evaluation device 10, and the surveying device 20 emits light toward the reflector 21 and receives the light reflected from the reflector 21. The surveying device 20 measures the distance to the reflector 21, the angle, etc., using the light emitted to the reflector 21 and the light reflected from the reflector 21, and as a result, can acquire position information of the reflector 21. Because the reflector 21 is installed on the condition evaluation device 10, the position information of the reflector 21 can be substituted for position information of the condition evaluation device 10. Therefore, the surveying device 20 can acquire position information of the condition evaluation device 10. The position information of the condition evaluation device 10 measured by the surveying device 20 is transmitted to the information processing device 30. Note that the configuration of the surveying device 20 is not limited to this. The surveying device 20 may have any configuration as long as it is capable of performing surveying so as to acquire position information of the condition evaluation device 10.

[0024] The information processing device 30 can execute arithmetic processing based on a program. The information processing device 30 is, for example, a computer. The computer includes, for example, a central processing unit (CPU) as an arithmetic means and a storage device as a storage means. The storage device is, for example, a random access memory (RAM), a read only memory (ROM), or a hard disk drive (HDD). The functions of the information processing device 30 and the information processing executed by the information processing device 30 will be described later.

[0025] 2. Configuration of Condition Evaluation Device 10 Fig. 2 and Fig. 3 are each a schematic side view showing the configuration of the condition evaluation device 10 of the condition evaluation system 1 according to one embodiment of the present invention. Specifically, Fig. 2 is a side view of the condition evaluation device 10 viewed from the x direction in Fig. 1, and Fig. 3 is a side view of the condition evaluation device 10 viewed from the y direction in Fig. 1. The side view shown in Fig. 3 corresponds to a rear view of the condition evaluation device 10 viewed from the surface (rear surface) opposite to the surface (front surface) that contacts the wall surface 1100.

[0026] As shown in FIGS. 2 and 3 , the condition assessment device 10 includes an impact device 100, a driving device 200, a fixing device 300, an imaging device 400, a control device 500, and a frame 600. The impact device 100, the driving device 200, the fixing device 300, the imaging device 400, and the control device 500 are mounted on and supported by a box-shaped frame 600. A reflector 21 and a winch 1230 are also mounted on the frame 600. The reflector 21 is mounted on the rear side of the condition assessment device 10 so as to reflect light emitted from the surveying device 20. The winch 1230 is mounted on the outside of both the left and right sides of the condition assessment device 10. The wire 1220 is connected to the winch 1230 through a pulley 630 mounted on the outside of the top surface of the condition assessment device 10. Preferably, two winches 1230 are installed, with the condition assessment device 10 sandwiched between them. By suspending the condition evaluation device 10 from both the left and right sides by the wires 1220, the raising and lowering movement of the condition evaluation device 10 along the wall surface 1100 is stabilized.

[0027] Wheels 610 are installed on the front side of the condition assessment device 10. The wheels 610 come into contact with the wall surface 1100, and can stabilize the raising and lowering movement of the condition assessment device 10. In addition, wheels 620 are installed on the bottom surface (the surface opposite the top surface) side of the condition assessment device 10. The condition assessment device 10 can also move on the ground using the wheels 620. Unlike the wheels 610, the wheels 620 need to support the entire weight of the condition assessment device 10, so it is preferable that the wheels 620 are larger than the wheels 610.

[0028] Although not shown, an angle sensor may be installed in the condition evaluation device 10. When the wire 1220 is wound up or down by two winches 1230 installed on the left and right sides of the condition evaluation device 10, the left and right balance of the condition evaluation device 10 may be lost, causing the condition evaluation device 10 to tilt. If an angle sensor is installed in the condition evaluation device 10, the angle sensor can detect the tilt of the condition evaluation device 10 and correct the tilt of the condition evaluation device 10 based on the detected angle.

[0029] The main components of the condition evaluation device 10, namely, the fixing device 300, the driving device 200, the imaging device 400, the impact device 100, and the control device 500, will be described below in order.

[0030] 2-1. Configuration of the Fixing Device 300 The fixing device 300 can fix the condition evaluation device 10 to the wall surface 1100. The fixing device 300 is installed at two locations, the top and bottom of the condition evaluation device 10. The fixing device 300 includes an adsorption unit 310 and a pressure sensor 320. The adsorption unit 310 can adhere to the wall surface 1100 by contacting the wall surface 1100 and reducing the pressure. A flexible member is provided on the adsorption surface of the adsorption unit 310. Therefore, even if the wall surface 1100 has some unevenness, the flexible member deforms to match the unevenness of the wall surface 1100, allowing the adsorption unit 310 to adhere to the wall surface. The adsorption unit 310 adheres to the wall surface 1100, thereby fixing the condition evaluation device 10 to the wall surface 1100. However, in order to fix the condition evaluation device 10 to the wall surface 1100, the pressure inside the adsorption unit 310 must be reduced to a predetermined pressure or lower. Therefore, the pressure sensor 320 is used to detect the pressure inside the adsorption unit 310. Specifically, the pressure sensor 320 generates a reduced pressure detection signal when the pressure inside the adsorption unit 310 is reduced to a predetermined pressure or less. The reduced pressure detection signal generated by the pressure sensor 320 is transmitted to the control device 500.

[0031] In the condition evaluation system 1, the condition evaluation device 10 is fixed to the wall surface 1100 using the fixing device 300, and then the impact device 100 of the condition evaluation device 10 impacts the surface of the wall surface 1100 to evaluate the condition of the wall surface 1100. Because the condition evaluation device 10 is suspended by a wire 1220, if the condition evaluation device 10 is not fixed to the wall surface 1100, the impact reaction of the impact device 100 causes the condition evaluation device 10 to shake, and the impact position of the impact device 100 becomes unstable. Furthermore, if the condition evaluation device 10 is not fixed to the wall surface 1100, the distance between the wall surface 1100 and the impact device 100 changes, which changes the impact force of the impact device 100. As a result, the condition of the wall surface 1100 cannot be accurately evaluated. However, in the condition evaluation system 1, the condition evaluation device 10 can be fixed to the wall surface 1100 using the fixing device 300. This stabilizes the impact action of the impact device 100, allowing the condition of the wall surface 1100 to be accurately evaluated.

[0032] [2-2. Configuration of drive device 200] The driving device 200 can move the impact device 100 in the x and z directions parallel to the wall surface 1100. The driving device 200 includes a first driving unit 210 and a second driving unit 220. The first driving unit 210 is connected to the impact device 100 and can move the impact device 100 in the z direction along a first rail 211 extending in the z direction. The second driving unit 220 is connected to the first rail 211 and can move the first rail 211 in the x direction along a second rail 221 extending in the x direction. Because the impact device 100 is connected to the first rail 211, the impact device 100 also moves in the x direction as the first rail 211 moves in the x direction. Two second driving units 220 are connected to both ends of the first rail 211 and move the first rail 211 in the x direction in synchronization with each other. This stabilizes the movement of the first rail 211 in the x direction.

[0033] The movement of the impact device 100 by the driving device 200 is limited. Therefore, even if the condition evaluation device 10 is fixed to the wall surface 1100 by the fixing device 300 and the impact device 100 is moved in the x direction and z direction by the driving device 200 while impacting the wall surface 1100, only a portion of the wall surface 1100 can be evaluated. However, the condition evaluation system 1 allows the condition evaluation device 10 to move along the wall surface 1100. Therefore, in the condition evaluation system 1, after finishing the condition evaluation of a portion of the wall surface 1100, the condition evaluation device 10 is moved to another region and the condition is evaluated. By repeating this process, the condition of the entire wall surface 1100, which has a large area, can be evaluated.

[0034] 2-3. Configuration of the imaging device 400 The imaging device 400 can capture an image of the moving impact device 100 and generate an image. For example, the imaging device 400 is a camera. The imaging device 400 has a fixed angle of view, and can generate an image including the impact device 100 even if the impact device 100 moves in the x and z directions. The imaging device 400 is installed, for example, on the back side of the condition evaluation device 10.

[0035] As will be described in detail later, position information of the impact device 100 is obtained based on the image generated by the imaging device 400. That is, the imaging device 400 is installed to obtain the position information of the impact device 100, but an imaging device (not shown) that captures the impact motion of the impact device 100 may also be installed in the condition evaluation device 10. For example, a portable information terminal may be installed on the impact device 100 or the frame 600, and the impact motion of the impact device 100 may be captured using the imaging device of the portable information terminal.

[0036] [2-4. Configuration of the impact device 100] The configuration of the impact device 100 will be described with reference to FIGS.

[0037] Fig. 4 and Fig. 5 are each a schematic side view showing the configuration of the impact device 100 of the condition assessment device 10 of the condition assessment system 1 according to one embodiment of the present invention. Specifically, Fig. 4 is a side view of the impact device 100 viewed from the x direction in Fig. 1, and Fig. 5 is a side view of the impact device 100 viewed from the z direction in Fig. 1. Fig. 6 is a schematic bottom view showing the configuration of the impact device 100 of the condition assessment device 10 of the condition assessment system 1 according to one embodiment of the present invention. The bottom side of the impact device 100 is in contact with a wall surface 1100.

[0038] The percussion device 100 includes a percussion unit 110, a sound collection unit 120, and wheels 130. The detailed configuration of the percussion unit 110 will be described later; the percussion unit 110 includes a main body 111 having a hollow interior. That is, the main body 111 has a cylindrical shape, with the y direction corresponding to the cylindrical direction. The main body 111 of the percussion unit 110 has a prismatic shape with one top surface and four side surfaces. Connecting members 161 with an L-shaped cross section are connected to two opposing side surfaces of the main body 111.

[0039] The sound collection unit 120 is connected to the lower part of the main body 111 of the percussion unit 110. The sound collection unit 120 has a structure that extends in four isotropic directions (+x direction, −x direction, +z direction, and −z direction) with the percussion unit 110 at the center. In this embodiment, an example will be described in which the x direction and the z direction are orthogonal to each other. A microphone 121 is disposed at each end of the sound collection unit 120 in each of the four directions in which it extends. In other words, the percussion device 100 is equipped with four microphones 121. The microphones 121 of the sound collection unit 120 detect the impact sound generated when the percussion unit 110 impacts the wall surface 1100, and generate an impact sound detection signal corresponding to the impact sound. The impact sound detection signal is transmitted to the control device 500.

[0040] The percussion device 100 includes four wheels 130. Two of the wheels 130 are connected to a connecting member 161 that is connected to one side of the main body 111 via a rotation shaft 162. Similarly, the remaining two wheels 130 are connected to a connecting member 161 that is connected to the other side of the main body 111 via a rotation shaft 162. That is, each of the four wheels 130 is connected to the connecting member 161 so as to be rotatable about the rotation shaft 162 that extends in the y direction. Furthermore, one microphone 121 is located between two adjacent wheels 130 of the four wheels 130.

[0041] The wheels 130 are a means for moving the impact device 100. The wheels 130 rotate around the rotation axis 162, allowing the impact device 100 to move in any direction within the zx plane. For example, the wheels 130 are casters, but are not limited to this.

[0042] The impact device 100 also includes a bottom cover 170 below the impact unit 110 and the sound collection unit 120. The bottom cover 170 is connected to at least one of the impact unit 110 and the sound collection unit 120. The bottom surface of the bottom cover 170 is preferably positioned slightly above the contact surface of the wheels 130. The bottom cover 170 has an opening 171 penetrating the top and bottom surfaces. The planar shape of the opening 171 is, for example, circular, but is not limited to this. The opening 171 only needs to have a planar shape that allows the impact head 112 and impact head cover 113 of the impact unit 110 to pass through. In other words, when viewed from the bottom, the bottom cover 170 has an opening 171 through which the impact head 112 and impact head cover 113 of the impact unit 110 are exposed. The outer shape of the bottom cover 170 is, for example, rectangular, but is not limited to this.

[0043] The bottom cover 170 is made of a material that does not damage the surface of the object to be inspected. For example, the bottom cover 170 can be made of a resin such as vinyl chloride, vinyl acetate, polycarbonate, polystyrene, polyethylene, polypropylene, polyamide, or nylon.

[0044] Here, the configuration of the striking section 110 of the striking device 100 will be described with reference to FIG.

[0045] Fig. 7 is a schematic diagram showing the internal structure of the impact unit 110 of the impact device 100 of the condition evaluation device 10 of the condition evaluation system 1 according to one embodiment of the present invention. For ease of explanation, Fig. 7 shows a cross-sectional view of part of the configuration (the hatched portion in Fig. 7).

[0046] The striking unit 110 includes a main body 111, a striking head 112, a striking head cover 113, a support member 114, a rod 115, an actuator 116, a striking head cover fixing member 117, and a striking force sensor 118. The striking head 112, the striking head cover 113, the support member 114, the rod 115, the actuator 116, the striking head cover fixing member 117, and the striking force sensor 118 are arranged inside the main body 111. As described above, the main body 111 has a rectangular column shape, but the shape of the main body 111 is not limited to this. For example, the main body 111 may have a cylindrical shape. The rod 115 is inserted through the actuator 116. The actuator 116 is connected to and supported by the support member 114, which is connected to the inner wall of the main body 111. The actuator 116 receives a control signal from the control device 500 and, based on the control signal, drives the rod 115 so that the rod 115 repeats periodic movement in the y direction. The striking head 112 is connected to the end of the rod 115 via an impact force sensor 118. Therefore, as the rod 115 moves up and down, the striking head 112 also moves up and down. Since the striking head 112 wears out, it is preferable that it be detachable so that it can be replaced. A striking head cover fixing member 117 is connected to the striking head 112, and the striking head cover 113 is attached and fixed to the striking head cover fixing member 117. It is preferable that the striking head cover 113 be detachably attached to the striking head cover fixing member 117 so that it can be replaced.

[0047] The striking head cover 113 has an opening 113a. The striking head 112 is arranged to be inserted through the opening 113a of the striking head cover 113, and the tip of the striking head 112 is positioned below the lower end of the striking head cover 113 and is exposed from the striking head cover 113.

[0048] The striking head 112 is made of a material that is difficult to deform, such as metal. When the striking head 112 strikes, the tip of the striking head 112 comes into contact with the surface of the object being inspected. To deliver a momentary strike to the surface of the object being inspected, it is preferable that the contact area between the tip of the striking head 112 and the surface of the object being inspected is small. For this reason, it is preferable that the tip of the striking head 112 is curved, such as in a spherical shape. As described above, the tip of the striking head 112 is exposed from the striking head cover 113, but the periphery of the striking head 112 is covered by the striking head cover 113.

[0049] The impact force sensor 118 detects the impact force that the impact head 112 receives from the wall surface 1100 and generates an impact force detection signal. The generated impact force detection signal is transmitted to the control device 500. For example, the impact force sensor 118 is a piezoelectric sensor.

[0050] The striking head cover 113 has a structure in which an upper disc shape is combined with a lower inverted truncated cone shape, with an opening 113a passing through the center of each of the disc shape and the inverted truncated cone shape. The upper surface of the striking head cover 113 is connected to the striking head cover fixing member 117 of the striking part 110, and the striking head cover 113 is fixed to the striking head cover fixing member 117. The striking head cover 113 may be fixed to the striking head cover fixing member 117 by adhesive or by screw fastening. Although not shown, an engaging member for engaging with the striking head cover fixing member 117 may be provided on the upper surface of the striking head cover 113. Providing the engaging member on the striking head cover 113 makes it easier to align the striking head cover 113 and the striking head cover fixing member 117, making it easier to attach the striking head cover 113 to the striking head cover fixing member 117.

[0051] The side of the lower part of the striking head cover 113 (i.e., the side of the inverted truncated cone shape) has a tapered shape. Specifically, the side of the striking head cover 113 is inclined so that the outer circumference of the striking head cover 113 increases from the lower end of the striking head cover 113 toward the top.

[0052] The striking head cover 113 is made of a different material than the striking head 112. The striking head cover 113 is made of a material that is more flexible than the striking head 112. Furthermore, the striking head cover 113 is preferably made of a material with a certain degree of rigidity so that it does not damage the object being inspected upon contact with it and does not deteriorate itself. For example, the striking head cover 113 can be made of a resin such as vinyl chloride, vinyl acetate, polycarbonate, polystyrene, polyethylene, polypropylene, polyamide, or nylon. When the upper (disk-shaped) and lower (frusto-conical) parts of the striking head cover 113 are formed separately, the upper (disk-shaped) and lower (frusto-conical) parts may be made of the same material or different materials. Furthermore, the striking head cover 113 may be made of the same material as the bottom cover 170 or different materials.

[0053] Now, the striking operation of the striking section 110 of the striking device 100 will be described with reference to FIGS.

[0054] 8 and 9 are schematic diagrams illustrating the impact operation of the impact unit 110 of the impact device 100 of the condition evaluation device 10 of the condition evaluation system 1 according to one embodiment of the present invention. For ease of explanation, Figs. 8 and 9 show a cross-sectional view of part of the configuration (the hatched portion in Figs. 8 and 9). In Fig. 8, the state of the impact unit 110 before the impact operation is indicated by a dotted line.

[0055] The actuator 116 drives the rod 115 so that it repeats periodic movement in the y direction. In a steady state (before the striking unit 110 performs a striking operation), the striking head 112 and striking head cover 113 are positioned above the upper surface of the bottom cover 170. The tip of the striking head 112 does not protrude from the opening 171 in the bottom cover 170. When the striking unit 110 starts a striking operation, the rod 115 moves downward, and the tip of the striking head 112 protrudes from the opening 171 in the bottom cover 170. The tip of the striking head 112 protruding from the opening 171 in the bottom cover 170 can strike the surface of the object being inspected. The striking head cover 113 is attached to a striking head cover fixing member 117 connected to the striking head 112 and moves downward in accordance with the downward movement of the striking head 112. A portion of the striking head cover 113 protrudes from the opening 171 in the bottom cover 170.

[0056] 8 shows the state of the striking part 110 when the rod 115 has moved at its maximum stroke. When the tip of the striking head 112 strikes the wall surface 1100, the striking head 112 receives a resistance from the wall surface 1100 that corresponds to the striking force, so only the tip of the striking head 112 may protrude from the opening 171 of the bottom cover 170.

[0057] Figure 9 shows the wall surface 1100 in more detail. The wall surface 1100 shown in Figure 9 is formed by exterior materials 1110 and joints 1120. The joints 1120 are formed between two adjacent exterior materials 1110, and a joint material is applied thereto. A recess is formed in the joints 1120.

[0058] As shown in FIG. 9 , even if the tip of the striking head 112 falls into the joint 1120, in the striking device 100, the striking head cover 113 covers the side end of the striking head 112, and the striking head cover 113 comes into contact with the corner or surface of the exterior material 1110. In other words, the striking head cover 113 covers the corner of the joint 1120 (the corner of the exterior material 1110). Therefore, in the striking device 100, the striking head 112 does not come into contact with the corner of the joint 1120. Furthermore, because the striking head cover 113 comes into contact with the corner of the joint 1120 before the rod 115 extends to its maximum stroke, the striking head 112 does not strike the bottom surface of the joint 1120 (or the joint material). In other words, in the striking device 100, it is possible to prevent the striking head 112 from striking the corner or bottom surface of the joint 1120 instead of the surface of the exterior material 1110 to perform a condition evaluation. Furthermore, because the striking head cover 113 deforms upon contact with the corners of the joints 1120, the striking force caused by the striking head cover 113 coming into contact with the corners of the joints 1120 is small, and the striking force detected by the striking force sensor 118 is also small. As will be described in detail later, in the condition evaluation process using the condition evaluation device 10, an evaluation value for the condition of the wall surface 1100 is generated when the striking force of the striking force detection signal exceeds a threshold. In other words, the striking force when the striking head 112 strikes the joints 1120 is small and does not exceed the threshold, so no evaluation value for the condition of the wall surface 1100 is generated. Therefore, the condition evaluation device 10 can prevent erroneous determination of the condition evaluation when the joints 1120 are struck instead of the exterior material 1110.

[0059] [2-5. Configuration of control device 500] The configuration of the control device 500 will be described with reference to FIG.

[0060] FIG. 10 is a block diagram illustrating the configuration of a condition evaluation system 1 according to one embodiment of the present invention.

[0061] 10, the control device 500 includes a control signal generation unit 510, an information acquisition unit 520, and an evaluation value generation unit 530. The control signal generation unit 510, the information acquisition unit 520, and the evaluation value generation unit 530 function when a program is executed.

[0062] The control signal generating unit 510 can generate various control signals for controlling the condition evaluation device 10. For example, when starting or stopping the impact action of the impact unit 110 of the impact device 100, the control signal generating unit 510 generates an impact device control signal for controlling the impact unit 110 and transmits it to the impact unit 110. When moving the impact device 100 along the wall surface 1100, the control signal generating unit 510 generates a drive device control signal for controlling the movement of the impact device 100 and transmits it to the first drive unit 210 and the second drive unit 220. When fixing or releasing the condition evaluation device 10 to or from the wall surface 1100, the control signal generating unit 510 generates a fixing device control signal for controlling the pressure of the suction unit 310 and transmits it to the suction unit 310. When starting or stopping the image capture of the impact device 100, the control signal generating unit 510 generates an imaging device control signal and transmits it to the imaging device 400. When the condition evaluation device 10 is raised and lowered along the wall surface 1100 , the control signal generation unit 510 generates a raising and lowering control signal and transmits it to the winch 1230 .

[0063] The information acquisition unit 520 acquires various information or signals from the condition evaluation device 10. For example, the information acquisition unit 520 acquires a striking force detection signal generated by the striking unit 110 or a striking sound detection signal generated by the sound collection unit 120. The information acquisition unit 520 also acquires a reduced pressure detection signal generated by the pressure sensor 320. The information acquisition unit 520 also acquires images generated by the imaging device 400.

[0064] The evaluation value generation unit 530 can determine the state of the wall surface 1100 based on the tapping sound detection signal and generate an evaluation value that represents the state of the wall surface 1100. Below, the state evaluation process of the state evaluation device 10, including the evaluation value generation process executed by the evaluation value generation unit 530, will be described with reference to FIG.

[0065] 2-6. Condition Evaluation Process of Condition Evaluation Device 10 11 is a flowchart illustrating the condition evaluation process of the wall surface 1100 in the condition evaluation device 10 of the condition evaluation system 1 according to one embodiment of the present invention. The condition evaluation process of the condition evaluation device 10 is started after the hoisting device 1210 is moved and the winch 1230 is wound up or wound down to move the condition evaluation device 10 to a predetermined position where the condition of the wall surface 1100 is evaluated. The flowchart shown in FIG. 11 includes steps S100 to S190. Steps S100 to S190 will be described in order below.

[0066] In step S100, the condition evaluation device 10 is fixed to the wall surface 1100. That is, the control signal generation unit 510 generates a fixing device control signal for controlling the pressure inside the suction unit 310 to be reduced, and transmits the signal to the suction unit 310. As a result, the suction unit 310 starts reducing the pressure.

[0067] In step S110, it is determined whether the condition evaluation device 10 is fixed to the wall surface 1100. When the condition evaluation device 10 is fixed to the wall surface 1100 by the fixing device 300, the pressure inside the suction unit 310 becomes equal to or lower than a predetermined pressure. In this case, the pressure sensor 320 detects a decrease in pressure in the suction unit 310, generates a decrease in pressure detection signal, and transmits the signal to the control device 500. Therefore, when a decrease in pressure detection signal is generated, the information acquisition unit 520 can acquire the decrease in pressure detection signal. When the information acquisition unit 520 acquires the decrease in pressure detection signal (step S110: YES), the condition evaluation device 10 is fixed to the wall surface 1100, and step S120 is executed. On the other hand, when the pressure sensor 320 does not generate a decrease in pressure detection signal, the suction unit 310 is not sufficiently suctioned, and the condition evaluation device 10 is not fixed to the wall surface 1100. Therefore, when the information acquisition unit 520 does not acquire a reduced pressure detection signal after a predetermined time has elapsed since execution of step S100 (step S110: NO), it is necessary to check the suction unit 310 or the wall surface 1100, and step S190 is executed.

[0068] In step S120, the impact operation of the impact device 100 is started. That is, the control signal generating unit 510 generates an impact device control signal for starting the impact operation of the impact section 110 and transmits it to the impact section 110. As a result, the impact section 110 starts its impact operation on the wall surface 1100.

[0069] In step S130, the movement of the impact device 100 begins. That is, the control signal generating unit 510 generates a drive unit control signal for moving the impact device 100 along a predetermined path, and transmits the signal to the first drive unit 210 and the second drive unit 220. As a result, the impact device 100 begins moving along the wall surface 1100. The impact device 100 moves along the predetermined path and stops at a movement end position.

[0070] In step S140, the hitting sound generated by the hitting unit 110 hitting the wall surface 1100 is detected by the microphone 121. The information acquiring unit 520 acquires the hitting sound detection signal generated by the microphone 121. Furthermore, since the hitting force detection signal is generated by the hitting force sensor 118, the information acquiring unit 520 also acquires the hitting force detection signal.

[0071] In step S150, it is determined whether or not to generate an evaluation value. When the striking head 112 strikes the surface of the exterior material 1110 on the wall surface 1100, the distance traveled by the striking head 112 differs from when the striking head 112 strikes the joint 1120, resulting in a different striking force detected by the striking force sensor 118. When the striking head 112 strikes the surface of the exterior material 1110 reliably, the resistance force the striking head 112 receives from the surface increases, resulting in a higher striking force detected by the striking force sensor 118. In contrast, when the striking head 112 strikes the joint 1120, the resistance force the striking head 112 receives from the joint 1120 decreases, resulting in a lower striking force detected by the striking force sensor 118. With the striking device 100, when the striking head 112 strikes the joint 1120, the striking head cover 113 may come into contact with the corner of the joint 1120. However, the striking head cover 113 is flexible and can deform significantly. In this case, the resistance force that the striking head 112 receives from the joint 1120 is small, and the striking force detected by the striking force sensor 118 is also small. Therefore, by determining whether the maximum striking force is equal to or greater than a threshold, an evaluation value can be generated only when the striking head 112 strikes the exterior material 1110 of the wall surface 1100. In step S150, the evaluation value generation unit 530 converts the striking force detection signal into an impact force detection waveform and calculates the maximum striking force. If the maximum striking force is equal to or greater than the threshold (step S150: YES), step S160 is executed to generate an evaluation value. On the other hand, if the maximum striking force is less than the threshold (step S150: NO), no evaluation value is generated and step S170 is executed.

[0072] In step S160, the evaluation value generation unit 530 converts the tapping sound detection signal into a tapping sound detection waveform. Because the impact device 100 has four microphones 121, the control device 500 generates four converted tapping sound detection waveforms. The evaluation value generation unit 530 can evaluate the state of the wall surface 1100 based on the four converted tapping sound detection waveforms. For example, the evaluation value generation unit 530 determines the state of the wall surface 1100 based on the maximum amplitude of each of the four tapping sound detection waveforms (for example, the amplitude of the first waveform cycle) and generates an evaluation value. Note that a conventional method can be used to generate the evaluation value.

[0073] In step S170, it is determined whether the impact device 100 has stopped at the movement end position. If the impact device 100 has stopped at the movement end position, this means that the impact operation within the movement range of the impact device 100 has ended. In this case, no further impact operation is necessary. Therefore, if the impact device 100 has stopped at the movement end position (step S170: YES), step S180 is subsequently executed. On the other hand, if the impact device 100 has not stopped at the movement end position (step S170: NO), step S130 is executed to continue the impact operation by the impact device 100.

[0074] In step S180, the striking operation of the striking device 100 is stopped. That is, the control signal generating unit 510 generates a striking device control signal for stopping the striking operation of the striking section 110, and transmits it to the striking section 110. As a result, the striking section 110 stops its striking operation.

[0075] In step S190, the condition evaluation device 10 is released from its fixation to the wall surface 1100. That is, the control signal generation unit 510 generates a fixation device control signal for controlling the pressure inside the suction unit 310 to atmospheric pressure, and transmits the signal to the suction unit 310. This releases the pressure reduction in the suction unit 310, and the condition evaluation device 10 is released from its fixation to the wall surface 1100.

[0076] When step S190 is executed, the condition evaluation process of the condition evaluation device 10 ends.

[0077] In the condition evaluation process of the condition evaluation device 10, a configuration in which the impact device 100 moves along a predetermined path has been described, but the movement of the impact device 100 is not limited to the predetermined path. The impact device 100 may also move in response to a user's operational instruction. Even in this case, an evaluation value is generated in step S160. Furthermore, the impact device 100 may be able to stop midway along the predetermined path or end the impact operation.

[0078] The evaluation value generated in step S160 is transmitted to the information processing device 30. The information processing device 30 of the condition evaluation system 1 generates evaluation data in which the transmitted evaluation value is associated with the position information of the impact device 100. Therefore, the configuration of the information processing device 30 and the process of generating evaluation data by the information processing device 30 will be described below.

[0079] 3. Configuration of Information Processing Device 30 Returning to Fig. 10, the configuration of the information processing device 30 will be described. As shown in Fig. 10, the information processing device 30 includes an evaluation target area generation unit 31, a hitting position information generation unit 32, an evaluation data generation unit 33, and an overall evaluation map generation unit 34. The information processing device 30 can function as the evaluation target area generation unit 31, the hitting position information generation unit 32, the evaluation data generation unit 33, and the overall evaluation map generation unit 34 by executing a predetermined program.

[0080] The evaluation target area generation unit 31 acquires an image generated by the imaging device 400 and defines an evaluation target area within the image. The evaluation target area is set to include the movement path of the impact device 100, and, as will be described in detail below, position information of the impact device 100 is determined based on the evaluation target area. The evaluation target area generation unit 31 also acquires position information of the condition evaluation device 10 generated by the surveying device 20 and associates the evaluation target area with the position information of the condition evaluation device 10. The position information of the condition evaluation device 10 is position information based on the wall surface 1100. Therefore, by associating the evaluation target area with the position information of the condition evaluation device 10, it is possible to identify the area of ​​the wall surface 1100 to which the evaluation target area corresponds. For a wall surface 1100 having a large area, the condition of each of multiple areas of the wall surface 1100 (i.e., the evaluation target area) is evaluated while the condition evaluation device 10 is moved along the wall surface 1100.

[0081] As described above, the imaging device 400 has a fixed angle of view, so the imaging device 400 captures the same area to generate an image. That is, even if the impact device 100 moves, the area included in the image does not change. Therefore, the evaluation target area generation unit 31 can also define the maximum range of the image as the evaluation target area.

[0082] The impact position information generating unit 32 acquires an image generated by the imaging device 400 and identifies the impact device 100 in the image. The impact position information generating unit 32 also generates position information for the identified impact device 100. The position information for the impact device 100 is determined based on the evaluation target area. Therefore, even if the impact device 100 moves, position information corresponding to the moving impact device 100 can be generated.

[0083] The impact position information generating unit 32 may determine the position of the impact device 100 based on the structural characteristics of the impact device 100, or if a marker (e.g., a QR code (registered trademark)) is installed on the impact device 100, may determine the position of the impact device 100 based on the marker.

[0084] Note that the position information of the impact device 100 corresponds to the position information of the impact location of the impact device 100, and therefore will be described below as impact position information for the sake of convenience.

[0085] The evaluation data generation unit 33 acquires the evaluation values ​​generated by the control device 500 and the impact position information generated by the impact position information generation unit 32, and generates evaluation data in which the evaluation values ​​and impact position information are associated. Because the evaluation values ​​are generated while the impact device 100 moves, multiple evaluation data are generated for one evaluation target area. Furthermore, because the evaluation data has impact position information based on the evaluation target area, the evaluation data generation unit 33 can also generate an evaluation data map in which the evaluation values ​​are represented along the movement path of the impact device 100 in the evaluation target area.

[0086] The overall evaluation map generation unit 34 combines multiple evaluation target areas based on the condition evaluation device position information associated with the evaluation target areas, and generates an overall evaluation map corresponding to the entire wall surface 1100. This makes it possible to evaluate the condition of the entire wall surface 1100, even if the wall surface 1100 has a large area.

[0087] 4. Evaluation Data Generation Process by Information Processing Device 30 FIG. 12 is a flowchart illustrating the evaluation data generation process in the condition evaluation system 1 according to one embodiment of the present invention. FIG. 13 is a schematic diagram illustrating the evaluation data generation process in the condition evaluation system 1 according to one embodiment of the present invention. The evaluation data generation process in the information processing device 30 starts when the condition evaluation process by the control device 500 of the condition evaluation device 10 starts. The flowchart shown in FIG. 12 includes steps S300 to S330. Steps S300 to S330 will be described below in order with appropriate reference to FIG. 13.

[0088] In step S300, the evaluation target area generation unit 31 generates an evaluation target area 700 in the image generated by the imaging device 400 (see FIG. 13(A)). The evaluation target area generation unit 31 also associates the evaluation target area 700 with the condition evaluation device position information generated by the surveying device 20.

[0089] In step S310, the impact position information generating unit 32 identifies the impact device 100 in the image generated by the imaging device 400, and generates impact position information for the impact of the impact device 100.

[0090] In step S320, the evaluation data generation unit 33 acquires the evaluation value generated by the control device 500 and the hitting position information generated by the hitting position information generation unit 32, and generates evaluation data in which the evaluation value and the hitting position information are associated with each other.

[0091] In step S330, it is determined whether the condition evaluation process by the condition evaluation device 10 has ended. If the condition evaluation process has ended (step S330: YES), the evaluation data generation process ends. On the other hand, if the condition evaluation process has not ended (step S330: NO), step S310 is executed again. By repeating steps S310 to S330, multiple pieces of evaluation data are generated. Furthermore, since each piece of evaluation data has not only an evaluation value but also impact position information, it is possible to generate an evaluation data map 800 that shows the evaluation values ​​within the evaluation target area 700 along the movement path of the impact device 100 (see FIG. 13(B)).

[0092] [5. Overall evaluation map generation process by information processing device 30] FIG. 14 is a schematic diagram illustrating the process of generating the overall evaluation map 900 in the condition evaluation system 1 according to one embodiment of the present invention.

[0093] As described above, the evaluation data generation process in the information processing device 30 generates an evaluation data map 800 in which the condition within the evaluation target area 700 is evaluated. By moving the condition evaluation device 10 along the wall surface 1100 and repeating the condition evaluation process, for example, as shown in FIG. 14(A), the conditions within the first evaluation target area 700-1 to the fifth evaluation target area 700-5 can be evaluated. That is, first evaluation data maps 800-1 to 800-5 in which the conditions of the first evaluation target area 700-1 to the fifth evaluation target area 700-5, respectively, are evaluated are generated. Condition evaluation device position information is associated with each of the first evaluation target area 700-1 to the fifth evaluation target area 700-5. Therefore, by combining the first evaluation data maps 800-1 to the fifth evaluation data maps 800-5 based on the respective condition evaluation device position information, an overall evaluation map 900 corresponding to the entire wall surface 1100 can be generated.

[0094] The overall evaluation map 900 is displayed on a display unit of the information processing device 30 or another information communication terminal, and thereby the user can visually confirm the state evaluation of the entire wall surface 1100.

[0095] According to the condition evaluation system 1 of this embodiment, even if the wall surface 1100 has a large area, the condition evaluation device 10 can be fixed to the wall surface 1100 using the fixing device 300, so that a stable striking operation can be performed on the wall surface 1100 and the condition of the wall surface 1100 can be accurately evaluated.

[0096] <Modification> 15, a description will be given of a condition evaluation device 10A, which is a modified example of the condition evaluation device 10. Note that, hereinafter, when the configuration of the condition evaluation device 10A is the same as that of the condition evaluation device 10, description of the configuration of the condition evaluation device 100A may be omitted.

[0097] Fig. 15 is a schematic side view showing the configuration of a condition evaluation device 100A of a condition evaluation system 1 according to one embodiment of the present invention. Specifically, Fig. 15 is a side view of the condition evaluation device 10A as viewed from the y direction. In other words, Fig. 15 is a rear view of the condition evaluation device 10A as viewed from the surface (rear surface) opposite to the surface (front surface) that comes into contact with the wall surface 1100.

[0098] As shown in FIG. 15 , the condition evaluation device 10A includes a drive unit 200A. The drive unit 200A can move the impact device 100 in the x and z directions parallel to the wall surface 1100. The drive unit 200A includes a first drive unit 210A and a second drive unit 220A. The first drive unit 210A is connected to the impact device 100 and can move the impact device 100 in the x direction along a first rail 211A extending in the x direction. The second drive unit 220A is connected to the first rail 211A and can move the first rail 211A in the z direction along a second rail 221A extending in the z direction. As the first rail 211A moves in the z direction, the impact device 100 also moves in the z direction. Two second drive units 220A are connected to both ends of the first rail 211A and move the first rail 211A in the z direction in synchronization with each other. This stabilizes the movement of the first rail 211A in the z direction. Furthermore, even when the impact device 100 moves the first rail 211A in the x direction, the position of the center of gravity of the condition evaluation device 10A is stabilized because both ends of the first rail 211A are supported.

[0099] In the condition evaluation process of the condition evaluation device 10A, the driving device 200A moves the impact device 100 in the x direction and z direction, so that the impact device 100 can strike an area of ​​a certain area on the wall surface.

[0100] Even in a condition evaluation system 1 including the condition evaluation device 10A according to this modified example, the condition evaluation device 10A can be fixed to the wall surface 1100 using the fixing device 300, so that a stable striking operation can be performed on the wall surface 1100, and the condition of the wall surface 1100 can be accurately evaluated.

[0101] Second Embodiment A condition assessment system 1B according to one embodiment of the present invention will be described with reference to Figures 16 and 17. In the following, when the configuration of the condition assessment system 1B is the same as that of the condition assessment system 1, the description of the configuration of the condition assessment system 1B may be omitted.

[0102] [1. Overview of Condition Assessment System 1B] FIG. 16 is a schematic diagram illustrating an overview of a condition assessment system 1B according to one embodiment of the present invention. The condition assessment system 1B includes a condition assessment device 10B, a surveying device 20B, and an information processing device 30. The information processing device 30 is communicably connected to the condition assessment device 10B and the surveying device 20B. Therefore, the information processing device 30 can receive information transmitted from the condition assessment device 10B and the surveying device 20B and execute the various processes described in the first embodiment. The information processing device 30 may be connected to the condition assessment device 10B and the surveying device 20B by wire or wirelessly.

[0103] In the condition evaluation system 1B, a floor surface 1300 extending across the xy plane is evaluated as an inspection object. The condition evaluation device 10B can evaluate the condition of the floor surface 1300 by moving over the floor surface 1300 and striking the floor surface 1300. The evaluation value of the condition of the floor surface 1300 generated by the condition evaluation device 10B is transmitted to the information processing device 30. The detailed configuration of the condition evaluation device 10B will be described later.

[0104] The surveying device 20B is installed on the condition evaluation device 10B and moves along with the movement of the condition evaluation device 10B on the floor surface 1300. The surveying device 20B can measure the distance and direction to a marker 22B placed on the floor surface 1300. For example, the surveying device 20B may be, but is not limited to, a position detection sensor or a laser range finder. Because the surveying device 20B is installed at a predetermined height above the floor surface 1300, it is preferable that the marker 22B is also placed at a certain height above the floor surface 1300 using a pole or the like to match the height of the surveying device 20B. Furthermore, the marker 22B defines the area of ​​the floor surface 1300 along which the condition evaluation device 10B moves and evaluates. Therefore, it is preferable that multiple markers 22B are placed on the floor surface 1300. For example, it is even more preferable that three or more markers 22B are placed. The position of the marker 22B measured by the surveying device 20B is transmitted to the information processing device 30.

[0105] 2. Configuration of Condition Evaluation Device 10B Fig. 17 is a schematic side view and a top view showing the configuration of a condition evaluation device 10B of a condition evaluation system 1B according to one embodiment of the present invention. Specifically, Fig. 17(A) is a side view of the condition evaluation device 10B viewed from the y direction, and Fig. 17(B) is a top view of the condition evaluation device 10B viewed from the z direction.

[0106] As shown in Figures 17(A) and 17(B), the condition assessment device 10B includes an impact device 100, a driving device 200B, a fixing device 300B, a control device 500, and a frame 600. The impact device 100, the driving device 200B, and the control device 500 are installed and supported on a box-shaped framework 600. A surveying device 20B is installed on the frame 600 on the top side of the condition assessment device 10. Wheels 620B that come into contact with a floor surface 1300 are installed on the frame 600 on the bottom side of the condition assessment device 10. The condition assessment device 10B can move on the floor surface 1300 by rotating the wheels 620B.

[0107] The following describes the fixing device 300B and the driving device 200B, which are different components from the condition evaluation device 10 and the condition evaluation device 10A, in order.

[0108] 3. Configuration of Fixing Device 300B As shown in FIG. 17 , the fixing device 300B is attached to the wheel 620B and can fix the rotation axis of the wheel 620B so that the wheel 620B does not rotate. When the fixing device 300B fixes the rotation of the wheel 620B, the movement of the condition evaluation device 10B is fixed. In other words, the fixing device 300B can fix the condition evaluation device 10B to the floor surface 1300. In the condition evaluation system 1B, the impact device 100 impacts the floor surface 1300 while moving and evaluates the floor surface 1300. Therefore, if the condition evaluation device 10B is not fixed to the floor surface, the movement of the impact device 100 will cause the condition evaluation device 10B to move, and the position of the floor surface 1300 that the impact device 100 hits will not be stable. Therefore, the fixing device 300B is used to fix the condition evaluation device 10B to the floor surface so that the condition evaluation device 10B will not move even if the impact device 100 moves. This stabilizes the position of the floor surface 1300 that is struck by the striking device 100.

[0109] The configuration of the fixing device 300B is not limited to the one described above. As described above, the fixing device 300B may have any configuration that allows the condition evaluation device 10B to be configured relative to the floor surface 1300. For example, the fixing device 300B may be a stopper that fixes the condition evaluation device 10B directly to the floor surface 1300 without using the wheels 620B.

[0110] 4. Configuration of Drive Device 200B The driving device 200B can move the impact device 100 in the x and y directions parallel to the floor surface 1300. The driving device 200B includes a first driving unit 210B and a second driving unit 220B. The first driving unit 210B is connected to the impact device 100 and can move the impact device 100 in the y direction along a first rail 211B extending in the y direction. The second driving unit 220B is connected to the first rail 211B and can move the first rail 211B in the x direction along a second rail 221B extending in the x direction. As the first rail 211B moves in the x direction, the impact device 100 also moves in the x direction. Two second driving units 220B are connected to both ends of the first rail 211B and move the first rail 211B in the x direction in synchronization with each other. This stabilizes the movement of first rail 211B in the x direction.

[0111] The driving device 200B also includes an encoder that stores position information of the driving device 200B. The position information of the driving device 200B is transmitted to the information processing device 30. The condition evaluation system 1B obtains position information of the impact device 100 from the position information of the driving device 200B, and generates evaluation data based on this. Therefore, the process of generating evaluation data in the condition evaluation system 1B will be described below.

[0112] [5. Evaluation data generation process in condition evaluation system 1B] The evaluation data generation process in the condition evaluation system 1B is basically the same as that in the condition evaluation system 1. That is, the flowchart shown in Fig. 12 is executed. However, in step S310 of the condition evaluation system 1B, the impact position information generation unit 32 acquires position information of the drive device 200B and generates impact position information for the impact of the impact device 100.

[0113] According to the condition evaluation system 1B of this embodiment, even if the floor surface 1300 has a large area, the condition evaluation device 10 can be fixed to the floor surface 1300 using the fixing device 300B, so that stable striking operations can be performed on the floor surface 1300 and the condition of the floor surface 1300 can be accurately evaluated.

[0114] The above-described embodiments can be implemented by appropriately combining the configurations as long as they are not mutually contradictory. Furthermore, even if a person skilled in the art appropriately adds or deletes the configuration or modifies the design based on the embodiments, or adds or omits a process or modifies conditions, such addition or deletion of the configuration or modification of conditions is included in the scope of the present invention as long as the gist of the present invention is maintained.

[0115] Even if there are other effects and advantages different from those brought about by the above-described embodiments, those that are clear from the description in this specification or that can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0116] 1, 1B: condition evaluation system, 10, 10A, 10B: condition evaluation device, 20, 20B: surveying device, 21: reflector, 22B: marker, 30: information processing device, 31: evaluation target area generation unit, 32: impact position information generation unit, 33: evaluation data generation unit, 34: overall evaluation map generation unit, 100, 100A: condition evaluation device, 110: impact unit, 111: main body, 112: impact head, 113: impact head cover, 113a: opening, 114: support member, 115: rod, 116: actuator, 117: impact head cover fixing member, 118: impact force sensor, 120: sound collection unit, 121: microphone, 130: wheel, 161: connecting member, 162: rotating shaft, 170: bottom cover, 171: Opening, 200, 200A, 200B: Driving device, 210, 210A, 210B: First driving unit, 211, 211A, 211B: First rail, 220, 220A, 220B: Second driving unit, 221, 221A, 221B: Second rail, 300, 300B: Fixing device, 310: Adsorption unit, 320: Pressure sensor, 400: Imaging device, 500: Control device, 510: Control signal generation unit, 520: Information acquisition unit, 530: Evaluation value generation unit, 600: Frame, 610: Wheel, 620, 620B: Wheel, 630: Pulley, 700: Evaluation target area, 700-1: First evaluation target area, 700-2: Second evaluation target area, 700-3: Third evaluation target area, 700-4: Fourth evaluation target area, 700-5: Fifth evaluation target area, 800: Evaluation data map, 800-1: First evaluation data map, 800-2: Second evaluation data map, 800-3: Third evaluation data map, 800-4: Fourth evaluation data map, 800-5: Fifth evaluation data map, 900: Overall evaluation map, 1000: Building, 1100: Wall surface, 1110: Exterior material, 1120: Joint, 1200: Traveling rail, 1210: Lifting tool, 1220: Wire, 1230: Winch, 1300: Floor surface

Claims

1. a condition evaluation device for evaluating the surface of the inspection object; an information processing device communicably connected to the condition evaluation device, The condition evaluation device is a fixing device that fixes the condition evaluation device to the surface of the inspection object; a striking device that detects a striking sound produced when the surface of the test object is struck; a driving device that moves the impact device substantially parallel to the surface of the object to be inspected; an imaging device for generating an image including the moving impact device; a control device that generates an evaluation value based on the detected hitting sounds, The information processing device includes: an evaluation target area generation unit that defines an evaluation target area in the image; a striking position information generating unit that identifies the striking device in the image and generates striking position information corresponding to the position of the striking device in the evaluation target area; an evaluation data generation unit that generates evaluation data in which the evaluation value and the impact position information are associated with each other.

2. a condition evaluation device for evaluating the surface of the inspection object; an information processing device communicably connected to the condition evaluation device, The condition evaluation device is a fixing device that fixes the condition evaluation device to the surface of the inspection object; a striking device that detects a striking sound produced when the surface of the test object is struck; a driving device that moves the impact device substantially parallel to the surface of the object to be inspected; a control device that generates an evaluation value based on the detected hitting sounds, The information processing device includes: an evaluation target area generating unit that defines an area in which the impact device can move as an evaluation target area in the fixed condition evaluation device; an impact position information generating unit that calculates a position of the impact device from the position information of the drive device and generates impact position information corresponding to the position of the impact device in the evaluation target area; an evaluation data generation unit that generates evaluation data in which the evaluation value and the impact position information are associated with each other.

3. further comprising a surveying device communicably connected to the information processing device and configured to survey the position of the condition assessment device; 2. The condition evaluation system of claim 1, wherein the evaluation target area generation unit generates condition evaluation device position information corresponding to the position of the condition evaluation device relative to the inspection object based on the surveyed position of the condition evaluation device, and associates the evaluation target area with the condition evaluation device position information.

4. 4. The condition assessment system according to claim 3, wherein the surveying device measures the position of the condition assessment device based on reflected light from a reflector installed on the condition assessment device.

5. The condition evaluation system according to claim 3 , wherein the information processing device further includes an overall evaluation map generation unit that generates an overall evaluation map of the inspection object by combining the plurality of evaluation target areas based on the condition evaluation device position information.

6. a surveying device that is installed on the condition evaluation device and that measures the positions of markers placed on the inspection object, 3. The condition evaluation system according to claim 1, wherein the evaluation target area generation unit generates condition evaluation device position information corresponding to the position of the condition evaluation device relative to the inspection object based on the position of the surveyed marker, and associates the evaluation target area with the condition evaluation device position information.

7. 7. The condition evaluation system according to claim 6, wherein the information processing device further includes an overall evaluation map generation unit that combines the plurality of evaluation target areas based on the condition evaluation device position information to generate an overall evaluation map of the inspection object.

8. 3. The condition assessment system according to claim 1, wherein the impact position information generating unit identifies the position of the impact device by detecting a marker attached to the impact device.

9. 3. The condition assessment system according to claim 1, wherein the impact position information generating unit identifies the position of the impact device by detecting a characteristic point of the impact device.

10. The condition evaluation system according to claim 1 or 2, wherein the fixing device includes an adsorption part that adsorbs to the surface of the inspection object.

11. the fixing device further includes a pressure sensor that generates a reduced pressure detection signal when the suction portion is at or below a predetermined pressure; The condition assessment system according to claim 10 , wherein the control device generates a control signal to initiate impact of the condition assessment device on the surface of the object to be inspected when the control device acquires the reduced pressure detection signal.

12. 3. The condition evaluation system according to claim 1, wherein the fixing device includes a stopper that fixes a wheel that rolls on the surface of the inspection object.

13. The impact device is a striking head that strikes the surface of the object to be inspected; 3. The condition assessment system according to claim 1, further comprising: a striking head cover fixed to the striking head so that the tip of the striking head is exposed, and vibrating in accordance with the vibration motion of the striking head.

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