Waterproof sheet construction system and waterproof sheet construction method

Abstract

To provide a waterproof sheet construction system and a waterproof sheet construction method capable of automating work in low cost.SOLUTION: A waterproof construction system is provided with: a traveling body 1 provided with a heating device 3 for fixing waterproof sheet SH on a fixation member FX through induction heating and a traveling device 2 traveling on the waterproof sheet SH; a guiding member 6 indicating a route on which the traveling body 1 travels; a sensor for detecting the guide member 6; and a control device for controlling the traveling body 1, wherein the control device makes the traveling body 1 travel along the route on the basis of a detection result of the sensor, makes the traveling body 1 stop in a state where the heating device 3 is positioned on the fixation member FX, and causes the waterproof sheet SH to be fixed on the fixation member FX through activation of the heating device 3.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a waterproof sheet construction system and a waterproof sheet construction method for fixing a waterproof sheet to a fixing member fixed to a waterproof base.

Background Art

[0002] Patent Document 1 discloses an induction heating welding device including a heating coil unit having a pressing pad that can contact a waterproof sheet covering a fixing member, and a power supply control device that supplies current to a heating coil housed in the heating coil unit via a cable. In the adhesion fixing construction of a waterproof sheet using this induction heating welding device, an operator holds the induction heating welding device and moves it to a location above the fixing member of the waterproof sheet, and excites the heating coil while bringing the pressing surface of the heating coil unit into contact with this location. The fixing member is heated by induction heating by the heating coil, and the waterproof sheet and the fixing member are welded. Thereafter, the waterproof sheet is fixed to the fixing member by pressing the waterproof sheet against the fixing member with the pressing pad.

[0003] Patent Document 2 discloses an induction heating welding system including a searcher and an induction heater that automatically travel on a waterproof base with a waterproof sheet covering fixing members scattered on the waterproof base. In this induction heating welding system, the searcher calculates the position coordinates of the fixing member based on a position signal from a GNSS unit and a metal detector. Further, the induction heater creates a heating travel route for traveling around the fixing member based on the position coordinates acquired from the searcher. The induction heater welds the waterproof sheet to the fixing member while autonomously traveling along the heating travel route.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the welding operation of a waterproof sheet using an induction heating welding apparatus as disclosed in Patent Document 1, an operator needs to move a power supply control device near a fixing member and align a heating coil unit with the fixing member from above the waterproof sheet. Since several fixing members are provided per one square meter of the sheet area, when laying a waterproof sheet on the roof of a large building, the physical and mental burden on the operator is great. In operations under scorching sun or in cold, the burden is even greater.

[0006] In the induction heating welding system described in Patent Document 2, since the GNSS unit is expensive and the exploration machine cannot create a heating travel path when it cannot receive a position signal from the GNSS unit, the induction heater may not be able to perform autonomous travel.

[0007] An object of the present invention is to provide a waterproof sheet construction system and a waterproof sheet construction method that enable low-cost automated work.

Means for Solving the Problems

[0008] As means for solving the above-described problems, a waterproof sheet construction system of the present invention is a waterproof sheet construction system for fixing a waterproof sheet to a fixing member fixed to a waterproof base, including a heating device for fixing the waterproof sheet to the fixing member by induction heating, a traveling body including a traveling device that travels on the waterproof sheet, a guiding member indicating a path along which the traveling body travels, a sensor that detects the guiding member, and a control device that controls the traveling body, wherein the control device causes the traveling body to travel along the path based on a detection result of the sensor, stops the traveling body in a state where the heating device is positioned above the fixing member, and operates the heating device to fix the waterproof sheet to the fixing member.

[0009] According to this configuration, while the traveling body travels along the path indicated by the guiding member, the waterproof sheet is fixed to the fixing member. That is, even without a costly GNSS unit, the traveling body can be made to travel based on a preset path. Thereby, a waterproof sheet construction system capable of automating work at low cost can be realized.

[0010] In the present invention, it is preferable that the sensor includes a camera that images the guiding member.

[0011] According to this configuration, since the guiding member can be accurately detected by the camera, it becomes easier to make the traveling body travel along the path indicated by the guiding member.

[0012] In the present invention, it is preferable that the guiding member is a strip-shaped tape disposed on the waterproof sheet.

[0013] According to this configuration, an operator can dispose the guiding member on the waterproof sheet by attaching the tape. Thereby, the guiding member indicating the path along which the traveling body travels can be easily disposed on the waterproof sheet.

[0014] In the present invention, it is preferable that the guiding member further indicates a stop position where the traveling device stops, and the control device stops the traveling body at the stop position based on the detection result of the sensor.

[0015] According to this configuration, it becomes easier to stop the traveling body at an arbitrary position by the guiding member. Thereby, alignment between the heating device and the fixing member becomes easy.

[0016] The waterproof sheet construction method of the present invention is a method for arranging a waterproof sheet on a fixing member by a traveling body including a heating device for fixing the waterproof sheet to a fixing member fixed to a waterproof base by induction heating and a traveling device that travels on the waterproof sheet, and includes an installation step of installing the waterproof sheet and the fixing member on the waterproof base, an induction member arrangement step of arranging an induction member indicating a path along which the traveling body travels, and a fixing step of causing the traveling body to travel along the path and stopping the traveling body with the heating device positioned above the fixing member, and then causing the heating device to fix the waterproof sheet to the fixing member.

[0017] According to this configuration, while the traveling body travels along the path indicated by the induction member, the waterproof sheet is fixed to the fixing member. That is, even without a costly GNSS unit, the traveling body can be made to travel based on a preset path. As a result, a waterproof sheet construction method that enables low-cost automation of work can be realized.

[0018] In the present invention, it is preferable to include a removal step of removing the induction member.

[0019] According to this configuration, by removing the induction member, it is possible to prevent the induction member from remaining at the work site.

[0020] In the present invention, the waterproof base is divided into a traveling area located inside and a peripheral area located around the traveling area. In the peripheral area, it includes a peripheral fixing step of artificially fixing the waterproof sheet to the fixing member. The fixing step is preferably a step of causing the heating device to fix the waterproof sheet to the fixing member in the traveling area.

[0021] According to this configuration, in the traveling area where there is sufficient space for the traveling body to travel, the waterproof sheet is surely fixed to the fixing member by the traveling body.

Brief Description of the Drawings

[0022]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0023] Hereinafter, a waterproof sheet construction system and a waterproof sheet construction method according to the present invention will be described with reference to the drawings. In the following description, the direction of arrow F in the drawings is defined as the "front side", the direction of arrow B as the "rear side", the direction of arrow U as the "upper side", the direction of arrow D as the "lower side", the direction of arrow R as the "right side", and the direction of arrow L as the "left side".

[0024] As shown in FIGS. 1 and 2, the waterproof sheet construction system is a system for fixing a waterproof sheet SH to a fixing member FX fixed to a waterproof base GR.

[0025] As shown in FIGS. 1 and 2, the waterproof sheet construction system includes a traveling body 1, a control device 5, and an induction member 6. The traveling body 1 includes a heating device 3 that fixes the waterproof sheet SH to the fixing member FX by induction heating, and a traveling device 2 that travels on the waterproof sheet SH. The control device 5 controls the traveling body 1. The induction member 6 indicates a path RT along which the traveling body 1 travels.

[0026] Further, the traveling body 1 is provided with a sensor 25 that detects the guiding member 6. In the present embodiment, the sensor 25 includes a camera 25a. The control device 5 automatically drives the traveling body 1 unmanned along the path RT based on the detection result of the camera 25a, stops the traveling body 1 with the heating device 3 positioned on the fixing member FX, and operates the heating device 3 to fix the waterproof sheet SH to the fixing member FX.

[0027] Particularly in the work under the scorching sun in summer, the surface temperatures of the waterproof sheet SH and the fixing member FX become high. As a result, when artificially fixing the waterproof sheet SH to the fixing member FX, it may take time to remove the heat of the waterproof sheet SH and the fixing member FX. Therefore, in terms of the burden on the worker due to the climate and the deterioration of work efficiency, the work under the scorching sun in summer is not preferable. Also, when the waterproof sheet SH is fixed to the fixing member FX by the heating device 3 with the surface temperatures of the waterproof sheet SH and the fixing member FX being high due to the summer sunlight, the surface temperature of the waterproof sheet SH may become too high. In this case, the surface of the waterproof sheet SH will become shiny. As a result, a part of the waterproof sheet SH will change color compared to other parts, which is not aesthetically preferable.

[0028] When artificially fixing the waterproof sheet SH to the fixing member FX after sunset, the surface temperatures of the waterproof sheet SH and the fixing member FX will drop. However, it is difficult to secure workers for the work after sunset. Also, the work after sunset is not preferable in terms of work efficiency because it gets dark at hand.

[0029] According to this configuration, since the waterproof sheet SH can be automatically fixed to the fixing member FX on the traveling body 1 after sunset, the work can be efficiently performed regardless of the environment at the work site.

[0030] As shown in Fig. 1, the waterproof base GR is the surface part of the building structure where waterproof treatment is performed by the waterproof sheet SH. In this embodiment, the waterproof base GR is the surface part of the roof of the building, and has a plate-shaped metal roof with a corrugated shape in which ridges and valleys are repeated in a longitudinal cross-sectional view, and a heat insulating material laid on top of the metal roof. However, it is not limited to this, and the waterproof base GR may have other forms. For example, the waterproof base GR may be the surface part of a wooden, metal, concrete, or a structure combining metal and concrete. Also, the waterproof base GR may be a gentle inclined surface instead of a horizontal plane.

[0031] As shown in Figs. 1 and 2, the waterproof sheet SH is a sheet-like member containing a resin material on the front side. Specifically, the waterproof sheet SH is a vinyl chloride-based waterproof sheet. However, it is not limited to this, and the resin material may be other resins, for example, polyolefin-based resins, ethylene vinyl acetate copolymers, etc., or these may be used in combination. Also, the waterproof sheet SH may contain a resin material made of rubber.

[0032] In this embodiment, as the fixing member FX, a first fixing member FX1 and a second fixing member FX2 are used.

[0033] As shown in Figs. 1 and 2, the first fixing member FX1 is made of metal. The first fixing member FX1 is a disk-shaped member with a diameter of about 50 to 100 mm. However, it is not limited to this, and the first fixing member FX1 may have other shapes. For example, the first fixing member FX1 may be square or polygonal in a plan view.

[0034] The second fixing member FX2 (see Fig. 6) is made of metal. The second fixing member FX2 is a rectangular plate-shaped member with a size in the short side direction of about 50 to 100 mm. However, it is not limited to this, and the second fixing member FX2 may have other shapes. For example, the second fixing member FX2 may have an L-shaped cross-section.

[0035] As shown in FIGS. 1 and 2, the first fixing member FX1 and the second fixing member FX2 have through holes. In the present embodiment, the first fixing member FX1 and the second fixing member FX2 are fixed to the waterproof base GR by an anchor member 7 inserted through the through holes. Not limited to this, the first fixing member FX1 and the second fixing member FX2 may be fixed to the waterproof base GR with an adhesive or the like.

[0036] The first fixing member FX1 and the second fixing member FX2 have a bonding layer made of a thermoplastic synthetic resin on the surface. The heating device 3 melts the bonding layer by heating the first fixing member FX1 or the second fixing member FX2 from above the waterproof sheet SH, and fixes the waterproof sheet SH to the surface of the fixing member FX. Not limited to this, the heating device 3 may melt the waterproof sheet SH itself by heating the first fixing member FX1 or the second fixing member FX2 from above the waterproof sheet SH, and fix the waterproof sheet SH to the surface of the fixing member FX.

[0037] 〔Inductive member〕 As shown in FIGS. 1 and 2, the inductive member 6 is a strip-shaped tape disposed on the waterproof sheet SH. In the present embodiment, the inductive member 6 has an adhesive surface on the back side and is a tape containing a resin material on the front side. The size of the inductive member 6 in the short direction is about 15 to 150 mm. Not limited to this, the inductive member 6 may be in other forms. For example, the inductive member 6 may be a magnetic tape, a reflective tape, or a code (e.g., QR code (registered trademark)) displayed on the surface of a seal.

[0038] 〔Travel device〕 As shown in FIGS. 1 and 2, the travel device 2 is used outdoors and can travel by autonomous driving or remote control such as a remote controller. The travel device 2 is an unmanned vehicle that cannot be boarded by a person in terms of structure.

[0039] The travel device 2 includes a body 21, front wheels 22a and rear wheels 22b that support the body 21, a travel mechanism 23 that drives the front wheels 22a and the rear wheels 22b, a battery 24 that supplies power to the travel mechanism 23, and a camera 25a that images the inductive member 6.

[0040] The left and right front wheels 22a can be driven independently. Also, the left and right rear wheels 22b can be driven independently.

[0041] The traveling mechanism 23 is composed of a gear mechanism, a motor, etc. The traveling mechanism 23 is driven by the power from the battery 24. Also, the traveling mechanism 23 transmits power to the front wheels 22a and the rear wheels 22b. The traveling mechanism 23 can steer the front wheels 22a or the rear wheels 22b.

[0042] That is, the traveling device 2 can perform straight running, gentle turning, on-site turning, or ultra-on-site turning, etc. by the traveling mechanism 23.

[0043] The traveling device 2 is provided with an obstacle sensor 26 for detecting obstacles. The obstacle sensor 26 is provided at the front part of the traveling device 2. In this embodiment, the obstacle sensor 26 is a LIDAR (light detection and ranging). Not limited to this, the obstacle sensor 26 may be an ultrasonic sensor.

[0044] The traveling device 2 is provided with a lighting device 27 for illuminating the guiding member 6. The lighting device 27 is provided at the front part of the machine body 21. The lighting device 27 is preferably used in operations after sunset.

[0045] In this embodiment, as shown in FIG. 2, the lighting device 27 is provided on the front surface of the machine body 21. Also, a plurality of lighting devices 27 are provided on the right side and the left side of the camera 25a in plan view. Not limited to this, the lighting device 27 may be provided on any part of the machine body 21. For example, the lighting device 27 may be provided on the left and right side surfaces of the machine body 21, the upper surface of the machine body 21, or the rear surface of the machine body 21. Also, the number of the lighting devices 27 may be one.

[0046] The guiding member 6 is detected based on the image captured by the camera 25a. The camera 25a is, for example, a CCD camera. When the sensor 25 is a magnetic sensor, there is a possibility that the sensor 25 cannot detect the guiding member 6 due to the first fixing member FX1 made of metal. In the present embodiment, the sensor 25 that detects the guiding member 6 includes the camera 25a. This is preferable because it makes it easier to detect the guiding member 6.

[0047] The camera 25a is directed forward. The shooting range of the camera 25a includes the front part of the traveling device 2 and the area in front of the traveling device 2. In the present embodiment, the image captured by the camera 25a is a still image. However, the image is not limited thereto and may be a moving image or a video that continuously displays still images.

[0048] 〔Heating device〕 As shown in FIGS. 1 and 2, the heating device 3 is connected to the traveling device 2 via a rod-shaped connecting member 4. However, the connecting member 4 is not limited thereto and may be a flexible member.

[0049] In the present embodiment, one end of the connecting member 4 is connected to the rear part of the traveling device 2. Also, the other end of the connecting member 4 is connected to the front part of the heating device 3. Thereby, the heating device 3 is easily towed by the traveling device 2.

[0050] As shown in FIGS. 1 and 2, the heating device 3 includes a housing 31, a driven wheel 32 that supports the housing 31, a heating unit 33, and a battery 34 that supplies power to the heating unit 33.

[0051] The driven wheel 32 rotates by being towed by the traveling device 2. There are four driven wheels 32. However, the number of driven wheels 32 is not limited thereto and is arbitrary.

[0052] 〔Heating unit〕 As shown in FIG. 3, the heating unit 33 can be displaced in the height direction with respect to the ground and in the left-right direction with respect to the housing 31 by the position changing mechanism 35. The heating unit 33 is suspended and supported by the housing 31 via the position changing mechanism 35. The heating unit 33 is cylindrical.

[0053] The position changing mechanism 35 includes a roller unit 35a that can displace the heating unit 33 in the left-right direction, and an actuator 35b that can displace the height of the heating unit 33 with respect to the ground. The roller unit 35a is supported by a rail extending in the left-right direction provided on the housing 31. By driving the roller unit 35a, the position of the heating unit 33 can be displaced in the left-right direction.

[0054] The heating unit 33 includes a heating coil 33a, a coil storage portion 33b in which the heating unit 33 is stored, a misalignment detection unit 33c, a pressing pad 33d, and a non-contact sheet temperature sensor 33e that detects the surface temperature of the waterproof sheet SH.

[0055] The heating coil 33a is a coil wound thinly and flatly. The heating coil 33a is arranged such that the central axis of the heating coil 33a overlaps with the central axis CL of the heating unit 33. The heating coil 33a is located below the coil storage portion 33b.

[0056] The misalignment detection unit 33c is located below the heating coil 33a. The misalignment detection unit 33c has four coils evenly arranged in the circumferential direction around the central axis CL. Not limited to this, the misalignment detection unit 33c may be in other forms. For example, the misalignment detection unit 33c may have three coils evenly arranged in the circumferential direction around the central axis CL. Also, the misalignment detection unit 33c may be a metal detection device.

[0057] The pressing pad 33d is provided at a position in contact with the lower surface of the misalignment detection unit 33c. The pressing pad 33d has a pressing surface made of silicon rubber.

[0058] The sheet temperature sensor 33e is an infrared sensor. The sheet temperature sensor 33e is provided above the coil storage section 33b.

[0059] 〔Control Device〕 As shown in FIG. 4, the control device 5 includes a first control device 52 provided in the traveling device 2 for controlling the traveling device 2, and a second control device 53 provided in the heating device 3 for controlling the heating device 3. The first control device 52 can communicate with the second control device 53 by wired communication or wireless communication.

[0060] The first control device 52 and the second control device 53 each have a storage unit and a CPU that executes a program. The storage unit is composed of, for example, an HDD, a ROM, a non-volatile memory, etc.

[0061] The first control device 52 causes the traveling body 1 to travel along the path RT based on the signal input from the sensor 25.

[0062] In addition, the first control device 52 detects an obstacle based on the signal input from the obstacle sensor 26. When the traveling body 1 approaches an obstacle, the first control device 52 stops the traveling device 2.

[0063] The second control device 53 determines whether the central axis CL of the heating unit 33 overlaps with the center of the fixing member FX based on the signal from the position deviation detection unit 33c. That is, the position deviation detection unit 33c detects the horizontal position deviation of the heating coil 33a with respect to the fixing member FX.

[0064] When a position deviation occurs between the heating coil 33a and the fixing member FX, the second control device 53 controls the position changing mechanism 35 so that the central axis CL of the heating unit 33 overlaps with the center of the fixing member FX. In other words, the second control device 53 displaces the position of the housing 31 of the heating unit 33 in the ground clearance direction or the left-right direction.

[0065] The second control device 53 calculates the surface temperature of the waterproof sheet SH based on the detection signal of the seat temperature sensor 33e. The seat temperature sensor 33e is arranged at a position as far away from the heating coil 33a as possible so as to be less affected by signal interference caused by the excitation of the heating coil 33a. In order to form an infrared passage between the seat temperature sensor 33e and the waterproof sheet SH, through holes are provided in the bottom of the coil housing portion 33b and the pressing pad 33d.

[0066] 〔Regarding the detection of the guiding member〕 Based on FIG. 5, the detection of the guiding member 6 will be described. The guiding member detection unit 25b initializes the values of the array indicating the pixel values to 0. Next, pixel values (such as luminance, brightness, chroma, etc.) are calculated from the image IM1 captured by the camera 25a. Based on the calculated pixel values, a portion different from the pixel values of other regions is detected as the guiding member 6.

[0067] Specifically, as shown in FIG. 5, in the image IM1, the pixel values of the region of the guiding member 6 illuminated by the lighting device 27 are different from the pixel values of the region 27a of the waterproof sheet SH illuminated by the lighting device 27. Thereby, the guiding member detection unit 25b detects the portion of the guiding member 6 illuminated by the lighting device 27.

[0068] That is, the guiding member detection unit 25b detects the guiding member 6 based on the difference in pixel values between the guiding member 6 and the portion 27a of the waterproof sheet SH around the guiding member 6 in the image IM1. In other words, the guiding member detection unit 25b detects the guiding member 6 based on the difference in color between the guiding member 6 and the portion 27a of the waterproof sheet SH in the image IM1.

[0069] The color of the guiding member 6 is different from the color of the waterproof sheet SH. In the present embodiment, the color of the guiding member 6 is the complementary color to the color of the waterproof sheet SH. Thereby, the guiding member detection unit 25b can easily detect the guiding member 6. However, as long as the guiding member detection unit 25b can detect the guiding member 6, the color of the guiding member 6 does not have to be the complementary color to the color of the waterproof sheet SH. Also, the guiding member detection unit 25b may execute any image processing as long as it can detect the guiding member 6 from the image IM1.

[0070] The first control device 52 causes the traveling device 2 to travel along the path RT based on the detection result of the guiding member 6. The control of the traveling device 2 can be executed in various modes. For example, the first control device 52 controls the traveling device 2 so that the area of the guiding member 6 detected by the guiding member detection unit 25b is located at the center in the image IM1.

[0071] Next, a waterproof sheet construction method will be described with reference to FIGS. 6 and 7. Note that the steps described below may be in a different order or a plurality of steps may be performed simultaneously as long as there is no contradiction.

[0072] The waterproof sheet construction method is a construction method in which a traveling body 1 including a heating device 3 that fixes the waterproof sheet SH to a fixing member FX fixed to the waterproof base GR by induction heating and a traveling device 2 that travels on the waterproof sheet SH fixes the waterproof sheet SH to a first fixing member FX1 and a second fixing member FX2.

[0073] In the example shown below, the waterproof base GR is rectangular in plan view. As shown in FIG. 6, the waterproof base GR is divided into an inner traveling region GR1, a peripheral region GR2 located around the traveling region GR1, and an outer end E surrounding the peripheral region GR2. The outer end E is a vertical wall rising from the peripheral region GR2. In the present embodiment, the outer end E is a parapet. Also, it is assumed that the traveling speed of the traveling body 1 is constant.

[0074] In FIG. 6, the short side direction (the vertical direction in the figure) of the waterproof base GR is referred to as the Y direction, the same direction as the arrow is referred to as the +Y direction, and the direction opposite to the arrow is referred to as the -Y direction. The longitudinal direction (the left-right direction) of the waterproof base GR in the figure is referred to as the X direction, the same direction as the arrow is referred to as the +X direction, and the direction opposite to the arrow is referred to as the -X direction.

[0075] [1] Arrangement process As shown in FIG. 1, in the arrangement process, the first fixing member FX1 and the second fixing member FX2 are arranged on the waterproof base GR (step S001). In the peripheral region GR2, the first fixing member FX1 and the second fixing member FX2 are arranged. In the running region GR1, the first fixing member FX1 is arranged. In other words, in the running region GR1, the second fixing member FX2 is not arranged.

[0076] The distance D1 between adjacent first fixing members FX1 in the running region GR1 is different from the distance D2 between adjacent first fixing members FX1 in the peripheral region GR2. The distance D1 is the magnitude of the intervals in the ±X direction and the ±Y direction between adjacent first fixing members FX1. Also, the distance D2 is the magnitude of the intervals in the ±X direction and the ±Y direction between adjacent first fixing members FX1. The distance D1 is larger than the distance D2. For example, D1 is about 500 mm to 1200 mm. Also, D2 is about 300 mm to about 600 mm. Without being limited to this, the distance D1 may be the same as the distance D2.

[0077] Here, when a force that blows the waterproof sheet SH upward acts due to strong wind, a larger force is applied to the joint between the fixing member FX and the waterproof sheet SH in the peripheral region GR2 than to the joint between the fixing member FX and the waterproof sheet SH in the running region GR1. Therefore, by reducing the interval between the first fixing members FX1 arranged in the peripheral region GR2, it becomes difficult for the waterproof sheet SH to be peeled off from the fixing member FX due to strong wind or the like.

[0078] The second fixing member FX2 is arranged so as to surround the traveling region GR1 in a plan view in the peripheral region GR2. As a result, in the peripheral region GR2, the waterproof sheet SH is firmly fixed by the second fixing member FX2 having a larger contact area with the waterproof sheet SH than the first fixing member FX1.

[0079] As shown in FIG. 1, the anchor member 7 is inserted through the through holes of the first fixing member FX1 and the second fixing member FX2, and the first fixing member FX1 and the second fixing member FX2 are artificially fixed to the waterproof base GR by the anchor member 7.

[0080] Next, the waterproof sheet SH is artificially laid on the waterproof base GR. The first fixing member FX1 and the second fixing member FX2 are covered by the waterproof sheet SH.

[0081] [2] Step of artificially fixing the waterproof sheet SH (corresponding to the peripheral fixing step) In the peripheral region GR2, the waterproof sheet SH is artificially fixed to the first fixing member FX1 and the second fixing member FX2 (step S002). As shown in FIG. 6, in the peripheral region GR2, the distance D3 from the outer end E to the outermost first fixing member FX1 is smaller than D1. The distance D3 is the magnitude of the intervals in the ±X direction and the ±Y direction from the outer end E to the outermost first fixing member FX1. As a result, when the waterproof sheet SH is fixed to the outermost first fixing member FX1 on the traveling body 1, there is no space for the traveling body 1 to travel, and the traveling body 1 comes into contact with the outer end E.

[0082] Also, in the peripheral region GR2, when the waterproof sheet SH is fixed to the first fixing member FX1 and the second fixing member FX2 on the traveling body 1, since the distance D2 is small in the peripheral region GR2, there may be no space for the traveling body 1 to turn. In the peripheral region GR2, while the waterproof sheet SH is artificially fixed to the first fixing member FX1 and the second fixing member FX2, in the traveling region GR1 where there is sufficient space for the traveling body 1 to travel, the waterproof sheet SH can be automatically fixed to the first fixing member FX1 on the traveling body 1.

[0083] [3] Inductive member placement process In the inductive member placement process, an inductive member 6 indicating the path RT along which the traveling body 1 travels is placed (step S003). The inductive member 6 is artificially placed from the starting point P1 to the ending point P2. In the present embodiment, the inductive member 6 is placed without any gap from the starting point P1 to the ending point P2.

[0084] In the present embodiment, the path RT is set to pass over all the first fixing members FX1 in the traveling area GR1. The path RT includes a straight path RT1 and a turning path RT2. The straight path RT1 is formed by arranging the inductive member 6 linearly. The traveling body 1 travels straight along the straight path RT1.

[0085] The turning path RT2 connects adjacent straight paths RT1. In the present embodiment, the turning path RT2 is formed by arranging the inductive member 6 in an arc shape. That is, the turning path RT2 is formed such that the traveling body 1 makes a gentle turn rather than a sharp turn along the straight path RT1 as much as possible. This is preferable because it makes it difficult for the waterproof sheet SH to be twisted by the traveling body 1.

[0086] As shown in FIG. 6, the inductive member 6 indicates the stop position ST where the traveling device 2 stops. When the traveling device 2 stops with the front end thereof aligned with the stop position ST, the heating device 3 is set to a position directly above the first fixing member FX1. In the example of FIG. 6, a linearly long inductive member 6 and a short dashed-line inductive member 6 intersecting it are arranged, and the intersection of the two indicates the stop position ST.

[0087] [4] Process of fixing the waterproof sheet SH by the traveling body 1 (corresponding to the fixing process) In the traveling area GR1, the control device 5 causes the traveling body 1 to travel along the path RT (step S004), stops the traveling body 1 with the heating device 3 positioned above the first fixing member FX1 (step S005), and causes the heating device 3 to fix the waterproof sheet SH to the first fixing member FX1 (step S006). A part of the path RT may pass through the surrounding area GR2.

[0088] The first control device 52 causes the traveling device 2 to travel straight along the straight path RT1 based on the detection result of the sensor 25. Specifically, the first control device 52 causes the traveling device 2 to travel straight in the +Y direction along the straight path RT1 from the starting point P1 to the starting point P3 of the turning path RT2.

[0089] When the traveling device 2 is traveling along the straight path RT1, the first control device 52 stops the traveling device 2 at the stop position ST based on the detection result of the sensor 25. As a result, the traveling device 2 stops with the heating device 3 positioned above the first fixing member FX1. Specifically, the traveling device 2 stops with the heating unit 33 positioned above the first fixing member FX1.

[0090] Not limited to this, the first control device 52 may stop the traveling device 2 as follows. After stopping the traveling device 2 at the stop position ST, the first control device 52 causes the traveling device 2 to creep in the +Y direction or the -Y direction. While the traveling device 2 is creeping, the second control device 53 detects the first fixing member FX1 by the position deviation detection unit 33c of the heating device 3. A signal indicating that the first fixing member FX1 has been detected is input from the second control device 53 to the first control device 52. Based on this signal, the first control device 52 stops the traveling device 2.

[0091] Next, a signal indicating that the traveling device 2 has stopped is input from the first control device 52 to the second control device 53. Based on this signal, the second control device 53 activates the heating device 3. As a result, the waterproof sheet SH is fixed to the surface of the first fixing member FX1 by the heating device 3. The second control device 53 stops the operation of the heating device 3 after a predetermined time has elapsed.

[0092] A signal indicating that the heating device 3 has stopped is input from the second control device 53 to the first control device 52. Based on this signal, the first control device 52 causes the traveling device 2 to travel straight in the +Y direction again.

[0093] The first control device 52 causes the traveling device 2 to turn along the turning path RT2 based on the detection result of the sensor 25. Specifically, the first control device 52 turns the traveling device 2 along the turning path RT2 from the starting point P3 of the turning path RT2 to the ending point P4 of the turning path RT2.

[0094] By repeating the above steps, while the waterproof sheet SH is fixed to the first fixing member FX1 by the heating device 3, the traveling body 1 reaches the ending point P2.

[0095] [5] Removal step In the removal step, the guiding member 6 is manually removed from the waterproof sheet SH (step S007). That is, the guiding member 6 is temporarily arranged from the guiding member arrangement step to the removal step. When the operator removes the guiding member 6, the waterproof sheet SH is pulled by the guiding member 6. Thereby, the operator can visually confirm whether the waterproof sheet SH is firmly fixed to the first fixing member FX1 by the traveling body 1.

[0096] 〔Alternative embodiment〕 The present invention is not limited to the above-described embodiment. For example, it may be configured as follows in the following alternative embodiments. In the alternative embodiments described below, the same configurations as those in the embodiment are given the same numbers and reference signs as those in the above-described embodiment.

[0097] 〔1〕In the above-described embodiment, the sensor 25 includes the camera 25a. However, it is not limited to this, and the sensor 25 may be in other forms. For example, when the guiding member 6 is a magnetic tape, the sensor 25 may be a magnetic sensor. Also, when the guiding member 6 is a reflective tape, the sensor 25 may be an optical sensor.

[0098] 〔2〕When the guiding member 6 is a magnetic tape, the guiding member 6 may be arranged on the waterproof base GR. In other words, the guiding member 6 may be located under the waterproof sheet SH. In this case, the step of removing the guiding member 6 is not performed, and the guiding member 6 is permanently arranged.

[0099] 〔3〕The camera 25a may not be provided on the traveling body 1. The camera 25a may be installed outside the traveling body 1 at a location where the guiding member 6 can be imaged from above. In this case, the captured image is output to the control device 5 by wired communication or wireless communication.

[0100] 〔4〕The traveling device 2 and the heating device 3 may be integrated.

[0101] 〔5〕The heating device 3 may not be connected to the traveling device 2 via the connecting member 4. In this case, the heating device 3 may include a drive wheel and a traveling mechanism for driving the drive wheel, and may be configured to be able to travel following the traveling device 2.

[0102] 〔6〕The first control device 52 and the second control device 53 may be constituted by one control device. Further, the control device 5 may include another control device in addition to the first control device 52 and the second control device 53.

[0103] 〔7〕The first control device 52 may be located outside the traveling body 1 and may be capable of communicating with the traveling body 1 by wired communication or wireless communication.

[0104] 〔8〕The guiding member detection unit 25b may identify the guiding member 6 by a learned unit using deep learning. In this case, the learned unit is learned to detect the guiding member 6 from the image IM1.

[0105] 〔9〕The fixing member FX may not include the second fixing member FX2. That is, the waterproof sheet SH may be fixed using only the first fixing member FX1.

[0106] 〔10〕The turning path RT2 may extend in a direction orthogonal to the straight - ahead path RT1. Specifically, the turning path RT2 may extend in the ±X direction from the end point of the straight - ahead path RT1 to the start point of the adjacent straight - ahead path RT1. In this case, the first control device 52 causes the traveling device 2 to turn more than 90 degrees at the start point P3 of the turning path RT2. The first control device 52 causes the traveling device 2 to travel straight in the +X direction from the start point P3 of the turning path RT2 to the end point P4 of the turning path RT2. The first control device 52 causes the traveling device 2 to turn more than 90 degrees at the end point P4 of the turning path RT2. The first control device 52 may cause the traveling device 2 to travel along the turning path RT2 as described above.

[0107] 〔11〕The guiding member 6 may not indicate the stop position ST. In this case, a signal indicating that the first fixing member FX1 has been detected by the position deviation detection unit 33c from the second control device 53 is input to the first control device 52. Based on this signal, the first control device 52 may stop the traveling device 2.

[0108] 〔12〕In the above - described embodiment, the stop position ST is located between adjacent first fixing members FX1. However, it is not limited to this, and the stop position ST may be in a position overlapping the first fixing member FX1 in plan view. Note that the method of indicating the stop position ST by the guiding member 6 is not limited to the above example. For example, a form in which it is arranged horizontally so as not to overlap the long guiding member 6 is possible.

[0109] 〔13〕When the second fixing member FX2 is arranged in the traveling region GR1, the waterproof sheet SH may be fixed to the second fixing member FX2 by the traveling body 1.

[0110] 〔14〕In the waterproof sheet construction method, step S007 may be omitted. That is, the waterproof sheet construction method may not include the removal step.

[0111] 〔15〕In the above-described embodiment, the guiding members 6 are arranged without any space therebetween. However, the guiding members 6 may be arranged discontinuously. For example, the guiding members 6 may be arranged with partial spaces therebetween. Also, the guiding members 6 may be arranged with a certain space therebetween.

[0112] 〔16〕In the above-described embodiment, the guiding member 6 is arranged so as to pass over the first fixing member FX1. However, the guiding member 6 may be arranged at a predetermined distance in the left-right direction from the first fixing member FX1.

[0113] 〔17〕In the above-described embodiment, the first control device 52 causes the traveling device 2 to travel such that the guiding member 6 is positioned at the left-right center of the traveling device 2. However, the first control device 52 may cause the traveling device 2 to travel at a predetermined distance in the left-right direction from the guiding member 6.

[0114] 〔18〕The configurations disclosed in the above-described embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Also, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within the scope not departing from the object of the present invention.

Industrial Applicability

[0115] The present invention can be applied to a waterproof sheet construction system and a waterproof sheet construction method for fixing a waterproof sheet to a fixing member fixed to a waterproof base.

Explanation of Reference Numerals

[0116] 1: Traveling body 2: Traveling device 25: Sensor 25a: Camera 3: Heating device 5: Control device 6: Guiding member FX: Fixing member GR: Waterproof base GR1: Traveling area GR2: Peripheral area RT: Route SH: Waterproof sheet ST: Stop position

Claims

1. A waterproof sheet construction system for fixing a waterproof sheet to a fixing member fixed to a waterproof base, comprising: A traveling body including a heating device for fixing the waterproof sheet to the fixing member by induction heating, and a traveling device that travels on the waterproof sheet; A guiding member indicating a path along which the traveling body travels; A sensor for detecting the guiding member; A control device for controlling the traveling body, comprising: Based on the detection result of the sensor, the control device causes the traveling body to travel along the path, stops the traveling body in a state where the heating device is positioned above the fixing member, and operates the heating device to fix the waterproof sheet to the fixing member. A waterproof sheet construction system.

2. The waterproof sheet construction system according to claim 1, wherein the sensor includes a camera that images the guiding member.

3. The waterproof sheet construction system according to claim 1, wherein the guiding member is a strip-shaped tape disposed on the waterproof sheet.

4. The guiding member further indicates a stop position where the traveling device stops, The waterproof sheet construction system according to claim 1, wherein the control device stops the traveling body at the stop position based on the detection result of the sensor.

5. A waterproof sheet construction method for fixing a waterproof sheet to a fixing member fixed to a waterproof base by induction heating, using a traveling body including a heating device for fixing the waterproof sheet to the fixing member by induction heating and a traveling device that travels on the waterproof sheet, comprising: An arranging step of arranging the waterproof sheet and the fixing member on the waterproof base; A guiding member arranging step of arranging a guiding member indicating a path along which the traveling body travels; A fixing step of causing the traveling body to travel along the path, stopping the traveling body in a state where the heating device is positioned above the fixing member, and causing the heating device to fix the waterproof sheet to the fixing member. A waterproof sheet construction method.

6. The waterproof sheet construction method according to claim 5, further comprising a removing step of removing the guiding member.

7. The waterproof base is divided into an inner traveling region and a peripheral region located around the traveling region, In the peripheral region, the method includes a peripheral fixing step of artificially fixing the waterproof sheet to the fixing member, The fixing step is a step of causing the heating device to fix the waterproof sheet to the fixing member in the traveling region. The waterproof sheet construction method according to claim 5.

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