Inspection method for adhesive application surfaces of sheet material

Abstract

This technology provides an opportunity to identify areas where the sheet material and the installation surface are not properly adhered, without requiring significant effort. [Solution] The inspection method for a construction surface to which a sheet member is adhered includes: a traveling step of traveling an inspection device equipped with an adhesive part on the construction surface; a measurement step of attaching the adhesive part to the sheet member each time the inspection device travels a predetermined distance, and measuring at least one of the following: the amount of displacement of the sheet member due to the adhesive, the amount of displacement of the adhesive part due to the adhesive, and the pressure value between the adhesive part and the sheet member; an identification step of identifying areas where the sheet member and the construction surface are not adhered using the measurement results of the measurement step; and an output step of outputting information indicating the areas identified in the identification step.

Description

Technical Field

[0001] This disclosure relates to a method for inspecting an adhesive construction surface of a sheet member.

Background Art

[0002] For example, Patent Document 1 discloses a technique for inspecting an unbonded portion of a member having a thickness of about 7 mm bonded to the entire surface of a workpiece with an adhesive.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, in a case where the construction area to be inspected is vast, such as inspecting the adhesion of a waterproof sheet stretched on the roof of a building, a technique capable of reducing the labor required for inspection has been demanded.

Means for Solving the Problems

[0005] This disclosure has been made to solve the above problems and can be realized in the following forms.

[0006] (1) According to the embodiment of the present disclosure, a method for inspecting a construction surface to which a sheet member is adhered is provided. This inspection method includes a traveling step of traveling an inspection device equipped with an adsorption part on the construction surface; a measuring step of attaching the adsorption part to the sheet member each time the inspection device travels a predetermined distance, and measuring at least one of the following: the amount of displacement of the sheet member due to the adsorption, the amount of displacement of the adsorption part due to the adsorption, and the pressure value between the adsorption part and the sheet member; a identifying step of identifying a location where the sheet member and the construction surface are not adhered using the measurement results of the measuring step; and an output step of outputting information indicating the location identified in the identifying step. This type of inspection method allows for the identification of areas where the sheet material and the surface are not properly adhered, without requiring significant effort, because the inspection is performed using an inspection device. (2) In the inspection method of the above form, in the driving step, the inspection device drives on the construction surface by autonomous driving while generating a driving path, and the output step may include a step of outputting image information that corresponds the map of the construction surface generated using the driving path to the location. This inspection method allows for the visual identification of areas where the sheet material and the installation surface are not properly adhered. (3) In the inspection method of the above form, the travel step may include a step of collecting dust and debris on the planned area of ​​the sheet member on which the adsorption part will be adsorbed using a suction device provided in the inspection device. This type of inspection method makes it easier to attach the adsorption part to the target area.

[0007] Furthermore, this disclosure can be implemented in various forms, for example, in the form of an inspection system or inspection device. [Brief explanation of the drawing]

[0008] [Figure 1] This is an explanatory diagram showing the configuration of the inspection system. [Figure 2] This is a plan view of the inspection device. [Figure 3] This is a flowchart showing an example of the inspection process. [Figure 4] This graph shows an example of the relationship between the displacement of a suction cup and the pressure value inside the suction cup. [Figure 5] This is a diagram showing an example of a map. [Figure 6] This graph shows an example of the relationship between the pressure value inside the suction cup and the displacement of the sheet material. [Modes for carrying out the invention]

[0009] A. First Embodiment: Figure 1 is an explanatory diagram showing the configuration of the inspection system 10 in this embodiment. The inspection system 10 inspects the construction surface Su to which the sheet member Sh is bonded. The inspection system 10 comprises an inspection device 100 and a display device 200. In this embodiment, the inspection system 10 inspects the entire surface of the factory roof to which the waterproof sheet is bonded.

[0010] The inspection device 100 is a mobile device. In this embodiment, the inspection device 100 is an autonomously mobile vacuum cleaner robot, for example, a household vacuum cleaner robot. The inspection device 100 autonomously travels to cover the entire surface of the construction surface Su to be inspected. The inspection device 100 comprises a control unit 110, a suction device 120, a suction unit 130, and a sensor 140. The inspection device 100 is also connected to a communication device (not shown) for communicating with the outside via wireless communication. In this embodiment, the inspection device 100 outputs the inspection results via wireless communication to a display device 200, which is a separate device located remotely from the inspection device 100.

[0011] The control unit 110 consists of a computer comprising a central processing unit (CPU), RAM, ROM, etc., and by executing a program pre-installed in the memory area of ​​the control unit 110, it realizes the control of each part for autonomous driving, as well as the control of the suction device 120 and sensor 140 for inspection processing described later. However, some or all of these controls may be realized by hardware circuits.

[0012] Figure 2 is a plan view of the inspection device 100. Figure 2 shows the back surface of the inspection device 100 as seen from the construction surface Su side. Arrow A1 indicates the direction of travel of the inspection device 100.

[0013] The suction device 120 collects dust and debris from the work surface Su through an air intake port 121 located on the back of the inspection device 100. The dust and debris sucked up through the air intake port 121 are collected in a dust collection container (not shown) located on the inspection device 100. The suction force of the suction device 120 is generated by a suction motor (not shown).

[0014] The suction unit 130 adheres to the sheet member Sh in order to test the adhesive strength between the construction surface Su and the sheet member Sh. In this embodiment, the suction unit 130 comprises a suction cup 131 and a lifting mechanism 132. After fixing the suction cup 131 to the sheet member Sh, the suction unit 130 moves the suction cup 131 upward using the lifting mechanism 132.

[0015] The suction cup 131 is connected to an air intake port of the suction device 120, which is in communication with the suction device 120, and is different from the air intake port 121 that performs dust collection. The suction cup 131 is located behind the air intake port 121 in the direction of travel of the inspection device 100. In this embodiment, the suction cup 131 is made of a material that deforms when it is applied to the surface, and is made of, for example, rubber or polyvinyl chloride.

[0016] The lifting mechanism 132 moves the suction cup 131 vertically. More specifically, the lifting mechanism 132 is connected to the non-adhesive surface of the suction cup 131 and moves the suction cup 131 either closer to or further away from the work surface Su. The lifting mechanism 132 moves the suction cup 131 vertically by driving, for example, a servo motor (not shown).

[0017] Sensor 140 measures various values when the suction part 130 is adsorbed to the sheet member Sh. In the present embodiment, the sensor 140 includes a millimeter-wave radar and a pressure gauge. The sensor 140 measures the displacement amount of the suction part 130 and the pressure value between the suction part 130 and the sheet member Sh accompanying the suction of the suction part 130. The sensor 140 is provided in front of the suction cup 131 in the traveling direction of the inspection device 100.

[0018] The display device 200 (see FIG. 1) displays the video received from the inspection device 100.

[0019] FIG. 3 is a flowchart showing an example of the inspection process. This process is a process for inspecting the adhesion force between the sheet member Sh and the construction surface Su. In step S100, the inspection device 100 executes a "traveling process" of traveling on the construction surface Su. In the present embodiment, the inspection device 100 travels while generating a travel route so as to cover the entire surface of the construction surface Su. Further, the inspection device 100 recognizes walls, steps, and obstacles around the inspection device 100 by a camera or a radar device, and generates a travel route so as to avoid collisions with the recognized obstacles and the like. The control unit 110 controls the steering of the inspection device 100 so that the inspection device 100 travels along the generated travel route.

[0020] In step S110, the inspection device 100 determines whether it has completed traveling over the entire surface of the construction surface Su to be inspected. For example, after the inspection device 100 has traveled a predetermined distance in the travel process of step S100, it performs the process of step S110. The predetermined distance is, for example, the distance that the inspection device 100 can travel in one second, which is 30 cm. The inspection device 100 determines that it has completed traveling over the entire surface of the construction surface Su when it returns to the position at the start of the inspection process. If the entire surface has been traveled, the inspection device 100 proceeds to the process of step S130. On the other hand, if the entire surface has not been traveled, the inspection device 100 performs the measurement process in step S120 and returns to the process of step S100. In other words, the inspection device 100 repeats the processes of steps S100 to S120 until the entire surface of the construction surface Su has been traveled. Details of the measurement process will be described later.

[0021] In step S120, the control unit 110 attaches the suction part 130 to the sheet member Sh, and then performs a "measurement process" in which it measures various values ​​associated with the suction of the suction part 130 using the sensor 140. More specifically, the control unit 110 controls the suction device 120 to attach the suction cup 131 of the suction part 130 to the sheet member Sh. After that, the control unit 110 uses the millimeter-wave radar of the sensor 140 to measure the height of the suction cup 131 as the displacement of the suction cup 131. It also uses the pressure gauge of the sensor 140 to measure the pressure value inside the suction cup 131. After the inspection device 100 has traveled a predetermined distance in the travel process of step S100, the control unit 110 pauses and performs the measurement process of step S120.

[0022] In step S130, the inspection device 100 uses the measurement results obtained in step S120 to perform an "identification process" to identify areas where the sheet member Sh and the construction surface Su are not adhered. Details of the identification process will be described later.

[0023] Figure 4 is a graph showing an example of the relationship between the displacement of the suction cup 131 and the pressure value inside the suction cup 131 as the suction cup 131 adheres. In the graph shown in Figure 4, the horizontal axis represents the displacement of the suction cup 131 as it is moved upward by the lifting mechanism 132. The vertical axis represents the pressure value between the suction part 130 and the sheet member Sh, i.e., the pressure value inside the suction cup 131. Curve Gr1 shows the pressure value at the location where the sheet member Sh and the construction surface Su are adhered. Curve Gr2 shows the pressure value at the location where the sheet member Sh and the construction surface Su are not adhered. The displacement amount Dmax is a predetermined value and is the upper limit value at which the lifting mechanism 132 moves the suction cup 131 upward. The suction part 130 stops suction inside the suction cup 131 by the suction device 120 when the displacement of the suction cup 131 rises to the displacement amount Dmax.

[0024] When the suction cup 131 is attached to a location where the sheet member Sh and the construction surface Su are adhered, the sheet member Sh does not move even if the suction cup 131 moves upward. As a result, the suction cup 131 extends upward, and the volume of air inside the suction cup 131 increases. On the other hand, when the suction cup 131 is attached to a location where the sheet member Sh and the construction surface Su are not adhered, the sheet member Sh moves along with the upward movement of the suction cup 131. Therefore, the volume inside the suction cup 131 does not increase as much as when the suction cup 131 is attached to a location where the sheet member Sh and the construction surface Su are adhered. As a result, the pressure P1 at the displacement Dmax is greater than the pressure P2 at the displacement Dmax.

[0025] In step S130, the inspection device 100 identifies locations where the pressure value at the displacement amount Dmax is below a predetermined threshold pressure Pth as locations where the sheet member Sh and the construction surface Su are not adhered. The threshold pressure Pth is a pressure value that indicates that the sheet member Sh and the construction surface Su are not adhered, and is determined in advance through experimentation and empirical means.

[0026] In step S140 (shown in Figure 3), the inspection device 100 performs an "output process" in which it outputs information indicating the location identified in step S130 to the display device 200. In this embodiment, the inspection device 100 outputs image information that correlates the map of the construction surface Su generated using the travel route generated in step S100 with the location identified in step S130.

[0027] Figure 5 shows an example of a map output by the inspection device 100. In map M1, the areas with hatched lines indicate the construction surface Su over which the inspection device 100 has traveled. The specific locations po1 indicated by black circles are areas identified by the inspection device 100 where the sheet member Sh and the construction surface Su are not yet bonded.

[0028] According to the inspection method of the inspection system 10 of this embodiment described above, since the inspection is performed using the inspection device 100, it is possible to identify areas where the sheet member Sh and the construction surface Su are not adhered without requiring a great deal of effort.

[0029] Furthermore, the inspection device 100 outputs a map M1, which is image information, allowing for the visual identification of specific locations po1. For example, when installing solar panels on a construction surface Su, the installer can refer to the map M1 to avoid specific locations po1 when constructing the mounting structure.

[0030] B. Other embodiments: (B1) In the embodiment described above, the suction portion 130 is attached to the sheet member Sh by the suction device 120 sucking the air inside the suction cup 131. However, the suction portion 130 may be attached to the sheet member Sh by a suction device different from the suction device 120. Alternatively, the suction portion 130 may be attached to the sheet member Sh by pressing the suction cup 131 against the sheet member Sh using a physical mechanism, without relying on the suction device 120, thereby removing the air inside the suction cup 131.

[0031] (B2) In the driving process of the above-described embodiment (step S100 in Figure 3), the inspection device 100 autonomously drives while generating a driving path. However, the inspection device 100 may autonomously drive along a pre-generated driving path, or it may be driven by remote control.

[0032] (B3) In the travel process of the embodiment described above, the inspection device 100 may use the suction device 120 to collect dust and debris on the area where the adsorption unit 130 is to be adsorbed. This configuration makes it easier to adsorb the adsorption unit 130 onto the area where it is to be adsorbed.

[0033] (B4) In the measurement process of the above-described embodiment (step S120 in Figure 3), the sensor 140 measures the amount of displacement of the suction cup 131 and the pressure value inside the suction cup 131 due to the suction of the suction cup 131. However, the sensor 140 only needs to measure at least one of the following: the amount of displacement of the sheet member Sh, the amount of displacement of the suction part 130, and the pressure value in the suction part 130. For example, when the sensor 140 measures the amount of displacement of the sheet member Sh due to suction and the pressure value inside the suction part 130, the inspection device 100 can identify the areas where the sheet member Sh and the construction surface Su are not adhered in a specific step (step S130 in Figure 3) as follows.

[0034] Figure 6 is a graph showing an example of the relationship between the pressure value inside the suction cup 131 and the displacement of the sheet member Sh when the suction cup 131 is attached. In the graph shown in Figure 6, the vertical axis represents the pressure value between the suction part 130 and the sheet member Sh, i.e., the pressure value inside the suction cup 131. The horizontal axis represents the distance between the sheet member Sh and the sensor 140 inside the suction cup 131. Curve Gr3 shows the distance from the sheet member Sh at the location where the sheet member Sh is bonded to the construction surface Su. Curve Gr4 shows the distance from the sheet member Sh at the location where the sheet member Sh is not bonded to the construction surface Su. Pressure Pmax is a predetermined pressure value. The suction part 130 stops suction by the suction device 120 when the pressure value inside the suction cup 131 rises to pressure Pmax.

[0035] When the suction cup 131 is attached to a location where the sheet member Sh and the installation surface Su are not adhered, the inside of the suction cup 131 is sucked, causing the sheet member Sh to lift away from the installation surface Su, and the distance to the sensor 140 decreases from distance L1 to distance L2. On the other hand, when the suction cup 131 is attached to a location where the sheet member Sh and the installation surface Su are adhered, even if the inside of the suction cup 131 is sucked, the sheet member Sh does not lift away from the installation surface Su, so the distance to the sensor 140 remains unchanged at distance L1.

[0036] Therefore, the inspection device 100 can identify locations where the distance at pressure Pmax is less than or equal to a predetermined threshold distance Lth as locations where the sheet member Sh and the construction surface Su are not adhered. The threshold distance Lth is a distance value that indicates that the sheet member Sh and the construction surface Su are not adhered, and is determined in advance through experimentation and empirical means.

[0037] (B5) In the output process of the embodiment described above (step S140 in Figure 3), the inspection device 100 outputs image information. However, the inspection device 100 may output information indicating the location where the sheet member Sh and the construction surface Su are not adhered, for example, the latitude and longitude of that location may be output.

[0038] (B6) In the above-described embodiment, the inspection device 100 performs the identification process and the output process after completing travel over the entire surface of the construction surface Su. However, the inspection device 100 may perform the identification process and the output process at any time, as long as it is not before the first measurement process is performed. For example, the inspection device 100 may perform the identification process in parallel with the measurement process and then perform the output process immediately thereafter. That is, the inspection device 100 may repeat the processes S100 to S140 until the entire surface of the construction surface Su has been completed. In this case, the inspection device 100 outputs, for example, image information that correlates a map of the construction surface Su generated using the travel path up to the position the inspection device 100 has traveled with the areas where the sheet member Sh and the construction surface Su are not adhered. Alternatively, the inspection device 100 may perform the identification process and the output process after performing the measurement process a predetermined number of times.

[0039] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features in the embodiments corresponding to the technical features in each form described in the summary of the invention can be replaced or combined as appropriate in order to solve the problems described above or to achieve some or all of the effects described above. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate. [Explanation of Symbols]

[0040] 10...Inspection system, 100...Inspection device, 110...Control unit, 120...Suction device, 121...Air intake, 130...Suction part, 131...Suction cup, 132...Lifting mechanism, 140...Sensor, 200...Display device, Sh...Sheet member, Su...Installation surface

Claims

1. A method for inspecting a construction surface to which a sheet member has been bonded, A travel step of moving an inspection device equipped with a suction part on the construction surface, Each time the inspection device travels a predetermined distance, the suction part is attached to the sheet member, and a measurement step is performed to measure at least one of the following: the amount of displacement of the sheet member due to the suction, the amount of displacement of the suction part due to the suction, and the pressure value between the suction part and the sheet member. A process to identify areas where the sheet member and the construction surface are not adhered, using the measurement results from the measurement process described above. An inspection method comprising: an output step of outputting information indicating the location identified in the specified step.

2. The inspection method according to claim 1, In the aforementioned travel process, the inspection device travels autonomously on the construction surface while generating a travel path. The inspection method includes a step of outputting image information that corresponds the map of the construction surface generated using the travel route to the location.

3. The inspection method according to claim 1 or claim 2, The inspection method includes a step of collecting dust and debris on a planned area of ​​the sheet member on which the adsorption portion is to be adsorbed using a suction device provided by the inspection device, wherein the aforementioned travel step is a step of collecting dust and debris on the planned area of ​​the sheet member on which the adsorption portion is to be adsorbed.

Images