Percussion sound testing aircraft

Abstract

The present invention provides a sound-generating inspection aircraft that can reduce the physical burden on workers and generate sound continuously over a wide area. [Solution] An impact sound inspection aircraft 1 that inspects structures by impact sound. The impact sound inspection aircraft 1 comprises a plurality of rotors 10 arranged in a distributed manner, a drive mechanism 20 for rotating the rotors 10, a base 30 to which the plurality of rotors 10 and the drive mechanism 20 are attached, an arm 40 protruding from the base 30, and rotating bodies 50, 60 positioned at the tip of the arm 40 and rotatable on the surface of the structure S. The rotating body 50 is a rolling member that generates impact sound by rolling on the surface of the structure S, and when in use, it flies while the rolling member is in contact with the surface of the structure S.

Description

Technical Field

[0001] The present invention relates to a hammering inspection flying vehicle.

Background Art

[0002] Civil engineering structures such as road and railway bridges and tunnels, as well as outer walls of large structures such as buildings and condominiums constructed in the past have been undergoing aging deterioration over time, and the maintenance and management of these structures has become an urgent issue. As a method for inspecting these structures, there is known a method in which a rolling member is rolled on the concrete surface of the structure to generate hammering sounds, and an operator listens to changes in the hammering sounds to determine whether the structure is sound or not. A hammering inspection apparatus for carrying out this method is also known.

[0003] For example, Patent Document 1 discloses a hammering inspection apparatus including a percussion rod having a head support rod with a rotating head provided at the tip, a holding rod for holding the percussion rod at an intermediate position of the head support rod, and a percussion rod rotating means for rotating the percussion rod around the axis of the holding rod. In the invention described in Patent Document 1, the rotating core is rotated in a state of being in contact with the surface of the structure, and the rotating head rolls to generate hammering sounds.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the invention described in Patent Document 1 has the problem that it requires the worker to continuously press a holding rod against the surface of the structure while working, which places a heavy physical burden on the worker. Furthermore, the invention described in Patent Document 1 also has the problem that the locations in which a tapping sound can be generated in a single operation are limited. For this reason, in the field of tapping sound inspection, there is a need for a tapping sound inspection device that can fly under its own power without being directly moved by an operator, i.e., a tapping sound inspection aircraft.

[0006] Therefore, the present invention has been made in view of the above-mentioned problems, and aims to provide a sound-generating inspection aircraft that can reduce the physical burden on the worker and can continuously generate sound over a wide area. [Means for solving the problem]

[0007] The present invention relates to a percussion inspection aircraft that inspects structures by percussion, comprising: a plurality of dispersed rotors; a drive mechanism for rotating the rotors; a base to which the plurality of rotors and the drive mechanism are attached; an arm protruding from the base; and one or more rotating bodies positioned at the tip of the arm and rotatable on the surface of the structure, wherein at least one of the rotating bodies is a rolling member that generates the percussion by rolling on the surface of the structure, and the aircraft flies while the rolling member is in contact with the surface of the structure during use. [Effects of the Invention]

[0008] The impact sound inspection aircraft of the present invention comprises a rotor, a drive mechanism, an arm, and a rotating body including rolling members. As the impact sound inspection aircraft flies while the rolling members are in contact with the surface of the structure, the rolling members generate impact sounds, thereby reducing the physical burden on the worker.

[0009] Furthermore, according to the present invention, since the impact sound testing aircraft can fly along a wide area of ​​the surface of a structure such as a vertical wall, an angled wall, or a ceiling, it is possible to continuously generate impact sounds over a wide area.

[0010] Therefore, the impact sound inspection aircraft of the present invention is capable of reducing the physical burden on the operator and generating impact sounds continuously over a wide area. [Brief explanation of the drawing]

[0011] [Figure 1] This is a diagram illustrating the impact sound testing aircraft 1 according to Embodiment 1. [Figure 2] This is a front view illustrating the function of the flexible joint 44 in Embodiment 1. [Figure 3] This figure illustrates the method of using the impact sound testing aircraft 1 according to Embodiment 1. [Figure 4] This is a diagram illustrating the impact sound testing aircraft 2 according to Embodiment 2. [Figure 5] This is a front view of the impact sound testing aircraft 3 according to Embodiment 3. [Figure 6] This is a diagram illustrating the impact sound testing aircraft 4 according to Embodiment 4. [Figure 7] This is a diagram illustrating the impact sound testing aircraft 5 according to Embodiment 5. [Figure 8] This diagram illustrates the modified version of the impact sound testing aircraft 6. [Modes for carrying out the invention]

[0012] The impact sound testing aircraft of the present invention will be described below based on the embodiments shown in the figures. Note that the embodiments described below do not limit the invention as defined in the claims. Furthermore, not all elements and their combinations described in each embodiment are necessarily essential as means of solving the problems of the present invention. Also, for components having exactly the same function or substantially the same function, even if their shape differs slightly, common reference numerals will be used in each embodiment, and previously given explanations may be omitted.

[0013] [Embodiment 1] Figure 1 is a diagram illustrating the impact sound testing aircraft 1 according to Embodiment 1. Figure 1(a) is a plan view of the impact sound testing aircraft 1, Figure 1(b) is a front view of the impact sound testing aircraft 1, and Figure 1(c) is an enlarged view of the rolling member (rotating body 50). Note that Figure 1(b) does not show the impact sound testing aircraft 1 in use, but the structure S is shown to clearly illustrate how the rotating bodies 50 and 60 contact the structure S. Therefore, the orientation of the surface of the structure S is not limited to the direction shown in Figure 1(b). The same applies to Figures 5(b), 6(b), 7(b), and 8, which will be described later. Figure 2 is a front view illustrating the function of the flexible joint 44 in Embodiment 1. Figure 2(a) shows the case of the impact sound testing aircraft 1a according to a comparative example, and Figure 2(b) shows the case of the impact sound testing aircraft 1 according to Embodiment 1. Figure 2 shows the impact sound testing aircraft 1,1a in use.

[0014] The impact sound inspection aircraft 1 according to Embodiment 1 is an impact sound inspection aircraft that inspects a structure S by impact sound. The impact sound inspection aircraft 1 comprises a plurality of rotors 10, a drive mechanism 20, a base 30, an arm 40, and rotating bodies 50, 60 (see Figure 1). The impact sound inspection aircraft 1 may also have components other than those described above. Examples of other components include a battery, a power cable, a sound transmitting member, a microphone, a communication mechanism, and a fall prevention cable.

[0015] The plurality of rotor blades 10 are distributed and arranged. The tapping inspection flying object 1 includes four rotor blades 10. A blade rotation axis ax1 of the rotor blade 10 is parallel to the moving direction of the tapping inspection flying object 1 when the tapping inspection flying object 1 is vertically lifted. The tapping inspection flying object 1 is capable of movement in the air, direction change and attitude control by controlling the rotation speed of each rotor blade 10.

[0016] The drive mechanism 20 is a mechanism for rotationally driving the rotor blades 10. The tapping inspection flying object 1 includes four drive mechanisms 20 corresponding to the four rotor blades 10. Since a known mechanism can be used as the drive mechanism 20, a detailed description with illustration is omitted, but the drive mechanism 20 may have components such as an electric motor, a rod shaft, and a control mechanism.

[0017] Note that energy (electric power) for driving the drive mechanism 20 may be supplied from a drive mechanism battery (not shown) mounted on the tapping inspection flying object 1 (particularly the base body 30), or may be supplied from the outside of the tapping inspection flying object 1 via a power cable or the like (not shown).

[0018] The base body 30 is a member for mounting the plurality of rotor blades 10 and the drive mechanisms 20. The base body 30 has four protruding portions 32, and the drive mechanisms 20 are attached to the tips of the protruding portions 32.

[0019] The arm 40 is a member protruding from the base body 30. The arm 40 protrudes in a direction D2 opposite to the direction D1 of the airflow generated by the plurality of rotor blades 10 during use. Note that the arm 40 may protrude in a direction other than the direction D2 (for example, a direction inclined or perpendicular to the direction D2). Further, in the tapping inspection flying object 1, the arm 40 protrudes from a substantially central portion of the base body 30. The arm 40 has a base-side structure portion 42 connected to the base body 30, and a universal joint portion 44 disposed between rotating bodies 50, 60 and the base-side structure portion 42.

[0020] In this specification, "flexible joint" refers to a part having a joint structure that allows the angles of the components before and after it to be changed, and that also restrains the direction of rotation of the components before and after it (transmits rotational force). Therefore, in the sound-testing aircraft 1, the angles of the rotating bodies 50 and 60 can be flexibly changed (followed) in accordance with the angle of the structure S, and the rolling member (rotating body 50) can be rotated by rotating the base body 30 (the entire aircraft).

[0021] Furthermore, the arm 40 is connected to the flexible joint 44 and further includes a branching section 46 that radiates outward from the connection point with the flexible joint 44, and a rotating body support member 48 connected to the tip of the branching section 46 and having a rotating shaft ax2 that is oriented differently from the rotating shafts of the rotating bodies 50 and 60. In the sound-testing aircraft 1, the branching section 46 branches into three equal-spaced branches from the center.

[0022] Here, the function of the flexible joint 44 will be explained using Figure 2. The impact sound testing aircraft 1a, which is a comparative example, basically has the same configuration as the impact sound testing aircraft 1, but is equipped with an arm 40a that does not have a flexible joint. If the structure S is angled (diagonal), when the rotating bodies 50 and 60 of the impact sound testing aircraft 1a are brought into contact with the surface of the structure S, the rotor blades 10 and the base 30 will also become diagonal (see Figure 2(a)). In this case, it becomes difficult for the impact sound testing aircraft 1a to perform stable flight and movement.

[0023] On the other hand, in the impact testing aircraft 1 having a flexible joint 44, even if the structure S is angled, the angles of the rotor blades 10 and the base 30 can be set independently of the angle of the structure S (see Figure 2(b)). As a result, the impact testing aircraft 1 can perform stable flight and movement while the rotating bodies 50 and 60 are in contact with the surface of the structure S.

[0024] The rotating bodies 50 and 60 are positioned at the tip of the arm 40 and are rotatable members on the surface of the structure S. At least one of the rotating bodies 50 and 60 (rotating body 50 in the case of the sound-making aircraft 1) is a rolling member that generates a sound by rolling on the surface of the structure S. Rotating body 60 is a normal wheel (which does not have the function of generating a sound). The rotating bodies 50 and 60 are members that do not have the ability to rotate actively (they rotate passively due to friction with the structure S).

[0025] The rotating bodies 50 and 60 are supported by the rotating body support members 48. The combination of the rotating bodies 50 and 60 and the rotating body support members 48 can be described as a so-called swivel caster. Therefore, the rotating bodies 50 and 60 change their orientation in accordance with the movement and direction change of the sound-testing aircraft 1. In addition, for the rotating body 60, which is a so-called auxiliary wheel, a mechanism or member that can rotate or move on the surface of the structure S (for example, a ball caster or a slider) can be used instead of the rotating body 60 and the rotating body support members 48.

[0026] The rolling member (rotating body 50) has a ring-shaped portion 52 and a sound-generating portion 56 arranged on the outer circumference of the ring-shaped portion 52 (see Figure 1(c)). For this reason, a shaft hole 54 is formed in the center of the ring-shaped portion 52 for passing the shaft (not shown) of the rotating body support member 48.

[0027] The materials constituting the ring-shaped portion 52 and the sound-generating portion 56 can be appropriately determined according to the type of structure S to be subjected to the sound-generating inspection. Generally, it is preferable that the ring-shaped portion 52 be made of a material that is lighter (lower density) than the sound-generating portion 56 (for example, resin or wood), and that the sound-generating portion 56 be made of a hard material capable of generating a clear sound (for example, metal). Furthermore, from the viewpoint of equalizing the position of sound generation, it is preferable to arrange multiple sound-generating portions 56 at equal intervals around the outer circumference of the ring-shaped portion 52.

[0028] When in use, the impact sound testing aircraft 1 flies with its rolling member (rotating body 50) in contact with the surface of the structure S.

[0029] Next, the method of using the impact sound testing aircraft 1 according to Embodiment 1 (method of generating impact sounds) will be explained.

[0030] Figure 3 is a diagram illustrating the method of using the impact sound testing aircraft 1 according to Embodiment 1. Figure 3(a) is a diagram illustrating the first method of using the impact sound testing aircraft 1, Figure 3(b) is a diagram illustrating the second method of using the impact sound testing aircraft 1, and Figure 3(c) is a diagram illustrating the third method of using the impact sound testing aircraft 1. Figures 3(a) to 3(c) are planar views of the impact sound testing aircraft 1 flying in contact with a structure S (not shown), but each figure does not specify the angle of the surface of the structure S with respect to the vertical direction (the angle of use of the impact sound testing aircraft 1). The arrows shown near the rotor blades 10 in Figures 3(a) to 3(c) roughly indicate the direction of movement when the impact sound testing aircraft 1 starts moving. Note that in Figures 3(a) to 3(c), the rotor blades 10 are shown as a circle, assuming they are rotating.

[0031] In the impact sound testing aircraft 1, by moving while flying with the rotating bodies 50 and 60 in contact with the surface of the structure S, it is possible to generate impact sounds by causing the rolling member (rotating body 50) to roll on the surface of the structure S. The type and angle of the structure S are not particularly limited as long as the impact sound testing aircraft 1 can fly while the rotating bodies 50 and 60 are in contact with it, but for the sake of clarity in the following explanation, it is assumed that the surface of the structure S to be inspected is a vertically downward-facing surface (a flat surface like a ceiling).

[0032] The impact testing aircraft 1 can fly linearly along the surface of the structure S with its rotating bodies 50 and 60 in contact with the structure S. In this case, the rolling member (rotating body 50) will move along a linear path p1 (see the first method of use, Figure 3(a)).

[0033] Furthermore, the sound-testing aircraft 1 is capable of flying while alternatingly swinging its body in the yaw direction. In this case, the rolling member (rotating body 50) moves in a swinging manner, so the rolling member (rotating body 50) moves along a meandering path p2 (see the second method of use, Figure 3(b)).

[0034] Furthermore, the sound-testing aircraft 1 is capable of flying while rotating its body in the yaw direction. In this case, the path along which the rolling member (rotating body 50) moves also rotates, so the rolling member (rotating body 50) moves along a rotating path p3 (with a portion that returns in the opposite direction to the overall direction of travel) (see the third method of use, Figure 3(c)).

[0035] In particular, according to the second and third methods of use, it is possible to generate impact sounds within a range that has width relative to the overall flight direction of the impact sound inspection aircraft 1 (downward direction in Figure 2). Furthermore, according to the second and third methods of use, since the distance over which the rolling member (rotating body 50) rolls is increased, it is also possible to increase the number of rotations of the rolling member (rotating body 50) relative to the amount of movement in the overall direction of movement (downward direction in Figure 3) (and consequently, the number of times impact sounds are generated).

[0036] Note that the paths p2 and p3 shown in Figures 3(b) and 3(c) are conceptual examples, and the pitch and width of the swing and rotation can be arbitrarily determined according to the condition of the structure S and the time available for the work. Also, the path through which the rolling member (rotating body 50) passes does not have to be a repeating pattern. In the impact sound inspection aircraft 1, the path through which the rolling member (rotating body 50) passes can be arbitrarily determined by precisely controlling the rotation of each of the multiple rotor blades 10. Therefore, with the impact sound inspection aircraft 1, by positioning the impact sound inspection aircraft 1 at any location such as a wall or ceiling, and precisely controlling and driving the movement of the body of the impact sound inspection aircraft 1, the rolling member (rotating body 50) can be rolled widely and precisely over the entire surface of the structure S, and impact sound inspection can be performed.

[0037] The effects of the impact sound testing aircraft 1 according to Embodiment 1 will be explained below.

[0038] According to Embodiment 1, the impact sound inspection aircraft 1 comprises a rotor 10, a drive mechanism 20, an arm 40, and rotating bodies 50 and 60 including rolling members. As the impact sound inspection aircraft 1 flies while the rolling members (rotating bodies 50) come into contact with the surface of the structure S, the rolling members (rotating bodies 50) generate impact sounds, thereby reducing the physical burden on the worker.

[0039] Furthermore, according to Embodiment 1, since the impact sound testing aircraft 1 can fly along a wide area of ​​the surface of a structure S such as a vertical wall, an angled wall, or a ceiling, it is possible to continuously generate impact sounds over a wide area.

[0040] Therefore, the impact sound inspection aircraft 1 according to Embodiment 1 is capable of reducing the physical burden on the worker and is capable of continuously generating impact sounds over a wide area.

[0041] Furthermore, according to the impact sound testing aircraft 1 of Embodiment 1, the rolling member (rotating body 50) has a ring-shaped portion 52 and an impact sound generating portion 56, making it easier to optimize the configuration (especially the material) of the ring-shaped portion 52 and the impact sound generating portion 56.

[0042] Furthermore, according to the impact sound inspection aircraft 1 of Embodiment 1, since the arm 40 has a base-side structural part 42 and a flexible joint part 44, it is possible to bring the rotating bodies 50 and 60 into close contact with the surface of the structure S even without strictly matching the surface of the structure S and the attitude of the impact sound inspection aircraft 1.

[0043] Furthermore, according to the impact sound testing aircraft 1 of Embodiment 1, the arm 40 further has a branching portion 46 and a rotating body support member 48, and the rotating bodies 50, 60 are supported by the rotating body support member 48. As a result, the configuration presses multiple rotating bodies 50, 60 against the surface of the structure S, making it possible to stabilize the flight state of the impact sound testing aircraft 1.

[0044] Furthermore, according to the impact sound testing aircraft 1 of Embodiment 1, the arm 40 protrudes in a direction D2 opposite to the direction D1 of the airflow generated by the multiple rotor blades 10 during use. Therefore, by making the direction of the propulsive force (lift) directly generated by the rotor blades 10 roughly coincide with the direction in which the rotating bodies 50 and 60 are pressed against the structure S, it is possible to stabilize the flight state of the impact sound testing aircraft 1.

[0045] [Embodiment 2] Figure 4 is a diagram illustrating the impact sound testing aircraft 2 according to Embodiment 2. Figure 4(a) is a plan view of the impact sound testing aircraft 2, Figure 4(b) is an enlarged plan view of the assist wing 70, and Figure 4(c) is a cross-sectional view AA of Figure 4(b). The arrows shown near the assist wings 70, 72, 74, and 76 in Figure 4(a) indicate the approximate direction of the airflow induced by the assist wings 70, 72, 74, and 76.

[0046] The impact sound testing aircraft 2 according to Embodiment 2 has basically the same configuration as the impact sound testing aircraft 1 according to Embodiment 1, but differs from the impact sound testing aircraft 1 in that it is equipped with assist wings.

[0047] The impact sound testing aircraft 2 is equipped with assist wings 70, 72, 74, and 76 that assist the yaw rotation of the impact sound testing aircraft 2 by guiding a portion of the airflow generated by the rotor blades 10 in a direction different from the thrust line of the rotor blades 10 (see Figure 4(a)). In the impact sound testing aircraft 2, the assist wing 70 is positioned downstream of the rotor blades 10 at the protruding portion 32.

[0048] Here, the structures of the assist wings 70, 72, 74, and 76 will be explained using assist wing 70 as an example. Assist wing 70 has an inclined surface 71 (see Figures 4(b) and 4(c)). The airflow generated by the rotor blade 10 is guided (direction changed) by the inclined surface 71. Assist wings 72, 74, and 76 also each have an inclined surface (not shown in reference numerals).

[0049] The direction of the force generated by the assist wings 70, 72, 74, and 76 inducing airflow is preferably such that it strengthens the force (rotational torque) that attempts to rotate the aircraft, which is generated by the rotation of the rotor blades 10 corresponding to the assist wings 70, 72, 74, and 76. For example, suppose there is a rotor blade 10 that generates a force that rotates the percussion test aircraft 2 clockwise when viewed in plan. In this case, it is preferable that the assist wings positioned downstream of the rotor blade 10 guide a portion of the airflow generated by the rotor blade 10 in a counterclockwise direction when viewed in plan, thereby generating a force that rotates the percussion test aircraft 2 clockwise.

[0050] The impact sound inspection aircraft 2 according to Embodiment 2 differs from the impact sound inspection aircraft 1 according to Embodiment 1 in that it is equipped with assist wings, but it is equipped with a rotor 10, a drive mechanism 20, an arm 40, and rotating bodies 50, 60 including rolling members. As such, by flying while the rolling members (rotating bodies 50) are in contact with the surface of the structure S, the rolling members (rotating bodies 50) can generate impact sounds, and it is possible to fly along a wide area of ​​the surface of the structure. For this reason, the impact sound inspection aircraft 2 according to Embodiment 2 is similar to the impact sound inspection aircraft 1 in that it is possible to reduce the physical burden on the operator and is an impact sound inspection aircraft that can continuously generate impact sounds over a wide area.

[0051] Furthermore, according to Embodiment 2, the impact sound testing aircraft 2 is equipped with assist wings 70, 72, 74, and 76. These assist wings generate forces associated with guiding (changing the direction of) the airflow, making it easier to rotate the aircraft in the yaw direction of the impact sound testing aircraft 2.

[0052] The impact sound testing aircraft 2 according to Embodiment 2 has basically the same configuration as the impact sound testing aircraft 1 according to Embodiment 1, and therefore has the applicable effects among the effects of the impact sound testing aircraft 1.

[0053] [Embodiment 3] Figure 5 is a front view of the impact sound testing aircraft 3 according to Embodiment 3.

[0054] The impact sound testing aircraft 3 according to Embodiment 3 has basically the same configuration as the impact sound testing aircraft 1 according to Embodiment 1, but the rotation axis of the rotor blades is different from that of the impact sound testing aircraft 1.

[0055] The impact sound testing aircraft 3 comprises a rotor 10a and a drive mechanism 20a. The rotor axis ax1 of the rotor 10a is tilted with respect to the direction of movement D3 of the impact sound testing aircraft 3 when it is vertically ascending (see Figure 5). The direction and degree of tilt of the rotor axis ax1 of the rotor 10a can be determined by considering the balance with the lift and stability required for the flight of the impact sound testing aircraft 3.

[0056] By tilting the rotation axis ax1 of the rotor blade 10a, thrust including a component perpendicular to the vertical upward direction (direction of movement D3) (horizontal direction) can be obtained from the rotor blade 10a. Therefore, by adjusting the rotation speed of each rotor blade 10a, it becomes possible to make the sound-testing aircraft 3 fly horizontally or nearly horizontally while suppressing (or without tilting) the aircraft.

[0057] In addition, in the sound-testing aircraft 3, the drive mechanism 20a directly connected to the rotor blade 10a is also tilted with respect to the direction of movement D3, but the drive mechanism 20a itself does not need to be tilted. Furthermore, the direction and degree of tilt of the blade rotation axis ax1 may be actively changed during flight.

[0058] The impact sound testing aircraft 3 according to Embodiment 3 has a rotor blade rotation axis different from that of the impact sound testing aircraft 1 according to Embodiment 1, but it is equipped with a rotor blade 10a, a drive mechanism 20a, an arm 40, and rotating bodies 50, 60 including rolling members. Therefore, by flying while the rolling members (rotating bodies 50) are in contact with the surface of the structure S, the rolling members (rotating bodies 50) can generate impact sounds, and it is possible to fly along a wide area of ​​the surface of the structure. For this reason, the impact sound testing aircraft 3 according to Embodiment 3 is similar to the impact sound testing aircraft 1 in that it is possible to reduce the physical burden on the operator and is an impact sound testing aircraft that can continuously generate impact sounds over a wide area.

[0059] Furthermore, according to the impact sound testing aircraft 3 of Embodiment 3, the rotation axis ax1 of the rotor blade 10a is inclined with respect to the direction of movement D3 of the impact sound testing aircraft 3 when the impact sound testing aircraft 3 is vertically ascended, making it possible to easily move the rotating bodies 50 and 60 while in contact with the surface of the structure S.

[0060] The impact sound testing aircraft 3 according to Embodiment 3 has basically the same configuration as the impact sound testing aircraft 1 according to Embodiment 1, and therefore has the applicable effects among the effects of the impact sound testing aircraft 1.

[0061] [Embodiment 4] Figure 6 is a diagram illustrating the impact sound testing aircraft 4 according to Embodiment 4. Figure 6(a) is a plan view of the impact sound testing aircraft 4, and Figure 6(b) is a front view of the impact sound testing aircraft 4.

[0062] The impact sound testing aircraft 4 according to Embodiment 4 has basically the same configuration as the impact sound testing aircraft 1 according to Embodiment 1, but the configuration of the arm and the rotating body is different from that of the impact sound testing aircraft 1.

[0063] The impact sound testing aircraft 4 according to Embodiment 4 includes an arm 40a and a rotating body 50 (see Figure 6). The rotating body 50 is a rolling member, and the impact sound testing aircraft 4 does not have the rotating body 60 (auxiliary wheels) found in the impact sound testing aircraft 1.

[0064] The arm 40a has a base-side structural part 42a connected to the base 30, and a rotating body support member 48a connected to the tip of the base-side structural part 42a, which has a rotating shaft ax2 oriented in a different direction from the rotation axis of the rotating body 50. The rotating body 50, which is a rolling member, is supported by the rotating body support member 48a.

[0065] The impact sound inspection aircraft 4 according to Embodiment 4 differs from the impact sound inspection aircraft 1 according to Embodiment 1 in the configuration of its arm and rotating body. However, it comprises a rotor 10, a drive mechanism 20, an arm 40a, and a rotating body 50 including rolling members. Therefore, by flying while the rolling members (rotating body 50) are in contact with the surface of the structure S, the rolling members (rotating body 50) can generate impact sounds, and it can fly along a wide area of ​​the structure's surface. For this reason, the impact sound inspection aircraft 4 according to Embodiment 4, like the impact sound inspection aircraft 1, can reduce the physical burden on the operator and is an impact sound inspection aircraft capable of continuously generating impact sounds over a wide area.

[0066] Furthermore, according to the impact sound testing aircraft 4 of Embodiment 4, the arm 40a has a base-side structural part 42a and a rotating body support member 48a, and the rotating body 50, which is a rolling member, is supported by the rotating body support member 48a, so it is possible to fly while continuously generating impact sounds with a relatively simple configuration.

[0067] The impact sound testing aircraft 4 according to Embodiment 4 has basically the same configuration as the impact sound testing aircraft 1 according to Embodiment 1, and therefore has the corresponding additional effects among the effects of the impact sound testing aircraft 1.

[0068] [Embodiment 5] Figure 7 is a diagram illustrating the impact sound testing aircraft 5 according to Embodiment 5. Figure 7(a) is a plan view of the impact sound testing aircraft 5, and Figure 7(b) is a front view of the impact sound testing aircraft 5.

[0069] The impact sound testing aircraft 5 according to Embodiment 5 has basically the same configuration as the impact sound testing aircraft 4 according to Embodiment 4, but the number of arms and rotating bodies is different from that of the impact sound testing aircraft 4.

[0070] The impact sound testing aircraft 5 according to Embodiment 5 comprises four sets of arms 40a and rotating bodies 50 (see Figure 7). The base-side structural part 42a of the arm 40a is connected to the protruding part 34 of the base 30a. The base 30a has the same configuration as the base 30 in the impact sound testing aircraft 4, except that it has four protruding parts 34.

[0071] Furthermore, in order to facilitate horizontal movement, it is preferable that the impact sound testing aircraft 5 has at least one of the configurations of the impact sound testing aircraft 2 according to Embodiment 2 and the configurations of the impact sound testing aircraft 3 according to Embodiment 3.

[0072] The impact sound inspection aircraft 5 according to Embodiment 5 differs from the impact sound inspection aircraft 4 according to Embodiment 4 in the number of arms and rotating bodies, but it is equipped with a rotor 10, a drive mechanism 20, an arm 40a, and a rotating body 50 including rolling members. Therefore, by flying while the rolling members (rotating body 50) are in contact with the surface of the structure S, the rolling members (rotating body 50) can generate impact sounds, and it can fly along a wide area of ​​the surface of the structure. For this reason, the impact sound inspection aircraft 5 according to Embodiment 5, like the impact sound inspection aircraft 4, can reduce the physical burden on the operator and is an impact sound inspection aircraft that can continuously generate impact sounds over a wide area.

[0073] The impact sound testing aircraft 5 according to Embodiment 5 has basically the same configuration as the impact sound testing aircraft 4 according to Embodiment 4, and therefore has the applicable effects among the effects of the impact sound testing aircraft 4.

[0074] Although the present invention has been described above based on the embodiments described above, the present invention is not limited to the embodiments described above. It can be implemented in various forms without departing from the spirit of the invention, and for example, the following modifications are also possible.

[0075] (1) The shape, number, size, position, etc. of the components in the present invention are not limited to those shown in the descriptions of each embodiment and in each drawing, and can be changed as appropriate as long as the effects of the present invention are not impaired. Also, each drawing is a schematic diagram, and the shape, etc. of the components in each drawing are not necessarily accurate.

[0076] (2) In each of the above embodiments, the rolling member (rotating body 50) has a ring-shaped portion 52 and a sound-generating portion 56 as separate components, but the present invention is not limited thereto. The rolling member may consist of a ring-shaped portion and a sound-generating portion made of a single component. Furthermore, the rolling member may have a shape other than a wheel (for example, a substantially spherical shape) as long as it is a shape that can roll.

[0077] (3) The impact testing aircraft 1, 2, 3, and 5 in the above embodiments 1 to 3 and 5 are equipped with a plurality of rotating bodies 50 and 60, but the number of rotating bodies and rolling members in the above embodiments 1 to 3 and 5 are illustrative examples, and the present invention is not limited to these.

[0078] (4) The impact sound testing aircraft of the present invention may further include an arm rotation mechanism that rotates at least a portion of the arm including the branching portion. Figure 8 is a front view of an impact sound testing aircraft 6 according to a modified example. The impact sound testing aircraft 6 basically has the same configuration as the impact sound testing aircraft 1 according to Embodiment 1, but further includes an arm rotation mechanism 80 that rotates at least a portion of the arm 40 including the branching portion 46 (in the case of the impact sound testing aircraft 6, the entire arm 40) (see Figure 8). As the arm rotation mechanism 80, for example, one having an electric motor that generates rotational force can be used. With the impact sound testing aircraft 6, because it is equipped with an arm rotation mechanism 80, it is possible to rotate the rolling member (rotating body 50) without rotating the base body 30 (the entire aircraft).

[0079] In the sound-testing aircraft 6, the arm rotation mechanism 80 is located at the base 30 side end of the arm 40 (base-side structural part 42), but the present invention is not limited to this. The arm rotation mechanism may be located, for example, in the intermediate part of the base-side structural part (between the base and the flexible joint part), or between the flexible joint part and the branching part.

[0080] Furthermore, the arrow shown above the arm rotation mechanism 80 in Figure 8 indicates that the arm 40 is rotatable by the arm rotation mechanism 80. The direction of rotation of the arm 40 is not limited to the direction shown in Figure 8 (clockwise when viewed from above), but may be in the opposite direction (counterclockwise when viewed from above), or it may be rotatable in both directions. [Explanation of Symbols]

[0081] 1,2,3,4,5,6…Percussion testing aircraft, 10,10a…Rotor wing, 20,20a…Drive mechanism, 30,30a…Base, 32,34…Protruding part, 40,40a…Arm, 42,42a…Base side structure, 44…Swivel joint, 46…Branching part, 48,48a…Rotating body support member, 50…Rotating body (rolling member), 52…Ring-shaped part, 54…Axle hole, 56…Percussion sound generating part, 60…Rotating body (auxiliary wheel), 70,72,74,76…Assist wing, 71…Inclined surface, 80…Arm rotation mechanism, S…Structure, ax1…Wing rotation axis, ax2…Rotation axis of the rotating body support member

Claims

1. A percussion inspection aircraft that inspects structures by percussion, Multiple rotor blades arranged in a distributed manner, A drive mechanism for rotating the aforementioned rotor blade, A base for attaching the plurality of rotor blades and the drive mechanism, An arm protruding from the aforementioned base, The structure comprises one or more rotating bodies positioned at the tip of the arm and rotatable on the surface of the structure, At least one of the rotating bodies is a rolling member that generates the sound by rolling on the surface of the structure, The impact sound testing aircraft is characterized in that, during use, it flies while the rolling member is in contact with the surface of the structure.

2. The impact sound inspection aircraft according to claim 1, characterized in that the rolling member has an annular portion having a ring shape and an impact sound generating portion arranged on the outer circumference of the annular portion.

3. The sound-testing aircraft according to claim 1, characterized in that the arm has a base-side structural part connected to the base body and a flexible joint part disposed between the rotating body and the base-side structural part.

4. The arm further comprises a branching section connected to the flexible joint and branching radially from the point of connection with the flexible joint, and a rotating body support member connected to the tip of the branching section and having a rotation axis that is oriented differently from the rotation axis of the rotating body. The impact sound testing aircraft according to claim 3, characterized in that the rotating body is supported by the rotating body support member.

5. The sound-inspecting aircraft according to claim 4, further comprising an arm rotation mechanism for rotating at least a portion of the arm including the branching portion.

6. The arm has a base-side structural part connected to the base body, and a rotating body support member connected to the tip side of the base-side structural part, which has a rotating shaft oriented in a different direction from the rotating shaft of the rotating body. The impact sound testing aircraft according to claim 1, characterized in that the rotating body, which is the rolling member, is supported by the rotating body support member.

7. The impact sound testing aircraft according to claim 1, characterized in that the arm protrudes in a direction opposite to the direction of the airflow generated by the plurality of rotor blades during use.

8. The impact sound testing aircraft according to claim 7, further comprising an assist wing that assists the yaw rotation of the impact sound testing aircraft by guiding a portion of the airflow generated by the rotor blade in a direction different from the thrust line of the rotor blade.

9. The impact sound testing aircraft according to claim 7, characterized in that the rotation axis of the rotor blade is inclined with respect to the direction of movement of the impact sound testing aircraft when the impact sound testing aircraft is being raised vertically.

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