Method and device for diagnosing the condition of an object to be inspected, and condition diagnosis system

Abstract

To provide a state diagnosis method and device and a state diagnosis system with which it is possible to generate evaluation information regarding the horizontal surface state of an inspection object efficiently with good accuracy.SOLUTION: A state diagnosis device 100 for diagnosing the state of an inspection object 10 comprises: drive parts M1, M2 for moving the device body on the inspection object surface of the inspection object 10 in a desired direction; an entire position detection part 200 for detecting at least two external indices so as to detect the entire position on the inspection object surface; a detection part 423 for detecting the state of the inspection object at the entire position; and a data processing part 510 for allocating an inspection section 11 on to the inspection object surface on the basis of the entire position, and while moving the device body in accordance with the allocated inspection section 11, generating diagnosis information of the inspection object surface associating the inspection section 11 with a detection signal S by the detection part 423.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a technique for diagnosing the condition of an object to be inspected. [Background technology]

[0002] Various methods for diagnosing the condition of buildings have been proposed to prevent peeling and falling off of exterior materials (exterior wall materials) of buildings. For example, Patent Document 1 discloses a condition evaluation device that detects the impact sound when the surface of an object to be inspected is struck and evaluates the condition of the object to be inspected based on the waveform of the impact sound detection signal. Patent Document 2 discloses a condition evaluation device that, in order to efficiently diagnose exterior materials of a large area such as the exterior walls of buildings at low cost, moves a detection unit that performs inspection by striking along the exterior wall plane and generates condition evaluation information for the entire exterior wall by associating position information of the inspection with the inspection results.

[0003] Patent Document 3 discloses a self-propelled measuring device that can move to a preset measurement point, and an automatic diagnosis system using the device. This system employs a position detection means that combines a GPS (Global Positioning System) with an existing high-precision positioning system to correlate the measurement location with the impact test result. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-205900 A [Patent Document 2] JP 2019-178953 A [Patent Document 3] JP 2007-018164 A Summary of the Invention [Problem to be solved by the invention]

[0005] According to Patent Document 2, when inspecting a vertical surface such as the exterior wall of a building, the direction of gravity can be used as a reference by suspending the frame on which the detection unit is mounted with a wire. In other words, the detection unit can be easily moved vertically just by winding or unwinding the wire, and the detection unit can be easily moved horizontally by moving the wire winding device itself horizontally.

[0006] In this way, with a wall diagnostic system, it was easy to set the X- and Y-axis directions of the global coordinates based on the horizontal and vertical directions, and to grasp the inclination of the diagnostic device relative to the X- and Y-axis directions (the inclination of the X- and Y-axis directions and the x- and y-axis directions).In contrast, with a floor diagnostic system that performs diagnostics by moving the detector along a horizontal plane such as the floor or rooftop of a building, there is no reference such as the vertical direction, so it is not easy to set the axis directions of the global coordinates or to recognize the inclination of the diagnostic device relative to the global coordinates, making it difficult to measure the exact coordinates of the diagnostic device.

[0007] According to Patent Document 3, in order to obtain highly accurate position information, it is necessary to correct the position information obtained by GPS with an existing high-precision system. Therefore, in order to accurately detect the position of this self-propelled measuring device, a large-scale positioning system must be assumed. Furthermore, this self-propelled measuring device cannot be used in places where it cannot receive radio waves from GPS. Therefore, the system disclosed in Patent Document 3 cannot be applied to cases where, for example, it is necessary to efficiently diagnose indoor floor surfaces where radio waves cannot reach.

[0008] Therefore, the present invention is intended to solve the above-mentioned problems, and its object is to provide a condition diagnosis method and apparatus, as well as a condition diagnosis system, that can efficiently and accurately generate condition evaluation information for the horizontal surface of an object to be inspected. [Means for solving the problem]

[0009] In order to achieve the above object, according to one embodiment of the present invention, there is provided a condition diagnosis device for diagnosing a condition of an object extending along a horizontal plane, the condition diagnosis device including: a drive unit that moves a device body of the condition diagnosis device in a desired direction on an object surface to be inspected of the object; an overall position detection unit that detects an overall position of the device body on the object surface to be inspected by detecting at least two external indicators; and a detection unit that detects the condition of the object to be inspected at the overall position of the device body. determining a reference line from at least two indices detected by the overall position detection unit, and allocating a plurality of inspection sections on the inspection target surface according to overall coordinates determined according to the reference line; While moving the device body according to the assigned inspection section, Every The detection unit was detected Detection Signal from and a data processing unit for generating diagnostic information for the inspection target surface. 。 According to one embodiment of the present invention, the apparatus further includes a detector moving mechanism for moving the detector to a desired position within the apparatus body, the inspection section is a movable range of the detector within the apparatus body, and the data processing unit is configured to determine the position of the detector within the apparatus body and The overall position of the detection unit is calculated from the overall position of the device body, and The detection unit was detected Detection Signal from The method is characterized in that diagnostic information for the inspection target surface is generated. According to an embodiment of the present invention, the data processing unit controls the drive unit to move the device body in accordance with a predetermined sequence of the inspection sections allocated on the inspection target surface. According to one embodiment of the present invention, there is provided a condition diagnosis system for diagnosing a condition of an inspection object extending along a horizontal plane, the condition diagnosis system comprising: a plurality of indices for identifying an inspection object surface, the indices being placed on the horizontal plane of the inspection object; and a condition diagnosis device that moves on the inspection object surface while detecting the plurality of indices, and diagnoses a condition of the inspection object, the condition diagnosis device comprising: A device body, an overall position detection unit that detects an overall position on the inspection target surface by detecting at least two indices; and a detection unit that detects a state of the inspection target at the overall position; A reference line is determined from at least two indices detected by the overall position detection unit, and a plurality of inspection sections are allocated on the inspection target surface according to the overall coordinates determined according to the reference line. , according to the assigned inspection section The device body While moving, the inspection section Every The detection unit was detected Detection Signal from and a data processing unit that generates diagnostic information for the inspection target surface. According to one embodiment of the present invention, the apparatus further includes an in-frame moving mechanism for moving the detection unit to a desired position in the apparatus body, the inspection section is a movable range of the detection unit in the apparatus body, and the data processing unit is a position of the detection unit in the apparatus body and The overall position of the detection unit is calculated from the overall position of the device body, and The detection unit was detected Detection Signal from The method is characterized in that diagnostic information for the inspection target surface is generated. According to one embodiment of the present invention, there is provided a condition diagnosis method for diagnosing a condition of an object extending along a horizontal plane, the method comprising: an overall position detection unit detects at least two external indicators to obtain an overall position of a device body of the condition diagnosis device on the surface of the object to be inspected; a detection unit detects the condition of the object to be inspected at the overall position of the device body; and a data processing unit: A reference line is determined from at least two indices detected by the overall position detection unit, and a plurality of inspection sections are allocated on the inspection target surface according to the overall coordinates determined according to the reference line. , moving the device body according to the assigned inspection section, and Every The detection unit was detected Detection Signal from and generating diagnostic information for the inspection target surface. According to one embodiment of the present invention, there is provided a program for controlling a computer as a condition diagnosis device for diagnosing a condition of an object to be inspected extending along a horizontal plane, the program comprising: a function of an overall position detection unit detecting at least two external indicators to obtain an overall position of a device body of the condition diagnosis device on the surface of the object to be inspected; a function of a detection unit detecting the condition of the object to be inspected at the overall position of the device body; and a data processing unit: A reference line is determined from at least two indices detected by the overall position detection unit, and a plurality of inspection sections are allocated on the inspection target surface according to the overall coordinates determined according to the reference line. , moving the device body according to the assigned inspection section, and Every The detection unit was detected Detection Signal from and generating diagnostic information for the surface to be inspected. Effect of the Invention

[0010] According to one embodiment of the present invention, by placing multiple indices as reference points on the horizontal surface of the object to be inspected, the position of the condition diagnostic device on the surface of the object to be inspected can be detected using these indices as clues, and condition evaluation information can be generated efficiently and accurately even for a horizontal object to be inspected. Furthermore, diagnostic information can be obtained while moving the device body according to the assigned inspection section. This makes it possible to autonomously and efficiently generate condition evaluation information for the horizontal surface of the object to be inspected simply by placing multiple indices. .Ma Also, from at least two detected indicators, line Determining the above allows the allocation of the inspection area in global coordinates. Furthermore, according to one embodiment of the present invention, since a detector moving mechanism for moving the detector within the device body is provided, diagnostic information with higher resolution can be generated. Furthermore, according to one embodiment of the present invention, condition evaluation can be performed while moving the device body in a specified order of inspection sections, making it possible to autonomously and efficiently generate condition evaluation information for the horizontal surface of the object to be inspected. According to one embodiment of the present invention, a criterion is determined from at least two indicators. line By determining the coordinates, it is possible to obtain the overall coordinates that specify the overall position of the condition diagnosis device, and even if the surface to be inspected has an arbitrary shape, diagnosis information can be obtained while moving the device body according to the assigned inspection section. This makes it possible to autonomously and efficiently generate condition evaluation information for the horizontal surface of the object to be inspected by simply installing multiple indicators. Furthermore, according to one embodiment of the present invention, diagnostic information can be acquired while the device body is moved through the assigned inspection area, making it possible to autonomously and efficiently generate condition evaluation information for the horizontal surface of the inspection target simply by installing a number of indicators. According to an embodiment of the present invention, by executing a program on a computer, diagnostic information can be acquired while moving the device body according to the assigned inspection section. This makes it possible to autonomously and efficiently generate condition evaluation information for the horizontal surface of the inspection object by simply installing multiple indicators. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram showing the overall configuration of a condition diagnosis system according to an embodiment of the present invention; [Diagram 2] 4 is a schematic diagram illustrating an operation of a whole position detector of the condition diagnosis system according to an embodiment of the present invention; FIG. [Diagram 3] FIG. 4 is a schematic diagram showing an example of inspection section allocation in the condition diagnosis device according to the present embodiment. [Figure 4] 5 is a schematic diagram for explaining the operation of the condition diagnosis device according to the present embodiment. FIG. [Diagram 5] 4 is a diagram for explaining the relationship between a whole frame coordinate system and an in-frame coordinate system in the condition diagnosis device according to the present embodiment. FIG. [Figure 6] 5A to 5C are schematic diagrams for explaining the operation of the condition diagnosis device according to the present embodiment when diagnosing an inclined inspection target surface. [Figure 7] 2 is a block diagram showing a control system and a diagnostic information generating system of the condition diagnosis device according to the present embodiment. FIG. [Figure 8] 4 is a flowchart showing the operation of the condition diagnosis device according to the present embodiment. [Figure 9] FIG. 4 is a diagram showing an example of a monitor screen of the condition diagnosis device according to the present embodiment. [Figure 10] FIG. 2 is a diagram showing the configuration of a condition diagnostic device and a reflector according to an embodiment of the present invention. [Figure 11] FIG. 2 is a plan view of the condition diagnosis device according to the present embodiment. [Figure 12] FIG. 2 is a side view of the condition diagnosis device according to the present embodiment. [Figure 13] FIG. 2 is a plan view of an xy actuator in the condition diagnosis device according to the present embodiment. [Figure 14] FIG. 2 is a front view of an xy actuator in the condition diagnosis device according to the present embodiment. [Figure 15] 2 is a partially cutaway side view of an xy actuator in the condition diagnosis device according to the present embodiment. FIG. [Figure 16] FIG. 2 is a side view of a diagnosis unit in the condition diagnosis device according to the present embodiment. [Figure 17] FIG. 2 is a front view of a diagnosis unit in the condition diagnosis device according to the present embodiment. [Figure 18] FIG. 2 is a plan view of a diagnosis unit in the condition diagnosis device according to the present embodiment. [Figure 19] 2A and 2B are front views showing a state in which a diagnostic unit in the condition diagnostic device according to the present embodiment is raised and lowered, respectively. [Figure 20] 2 is a schematic cross-sectional view showing the configuration of a detection unit in the condition diagnosis device according to the present embodiment. FIG. [Figure 21] 11A and 11B are diagrams illustrating an example of reference point movement in the diagnostic operation of the condition diagnostic device according to the present embodiment. [Figure 22] 13A and 13B are diagrams illustrating another example of the reference point movement in the diagnostic operation of the condition diagnostic device according to the present embodiment. [Figure 23] 13 is a schematic diagram showing an overall position detection operation of a condition diagnosis device according to another embodiment of the present invention; FIG. [Figure 24] 10 is a flowchart illustrating an operation of a condition diagnosis device according to another embodiment of the present invention. [Diagram 25] FIG. 13 is a schematic diagram showing an example of an inspection section allocation of a condition diagnosis device according to another embodiment of the present invention. [Figure 26] FIG. 6 is a schematic diagram for explaining a first example of the operation of a condition diagnosis device in another embodiment of the present invention. [Figure 27] FIG. 11 is a schematic diagram for explaining a second example of the operation of the condition diagnosis device in the other embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the components described in the following embodiments and examples are merely examples, and are not intended to limit the technical scope of the present invention.

[0013] 1. System Configuration 1, a condition diagnosis system according to an embodiment of the present invention sets a plurality of reference points R on an inspection object 10 extending along a horizontal plane, and diagnoses the inspection object 10 while automatically moving a condition diagnosis device 100 using these reference points as indicators. Here, as an example, it is assumed that the inspection target surface of the inspection object 10 is a rectangle, the four corners of which are set as four reference points R1 to R4, and indicators 21 to 24 are disposed at these reference points, respectively. Note that the shape of the inspection target surface is not limited to a rectangle, and can be applied to any shape depending on the method of setting the indicators, as will be described later.

[0014] The condition diagnosis device 100 can move by motor drive while detecting its own position according to the indicators 21 to 24. A global position detector 200 is fixed to the upper part of the frame 101 constituting the device body, and the global position detector 200 can determine its own position by detecting the distance and direction to multiple surrounding indicators. Hereinafter, the position determined by the global position detector 200 is expressed by the coordinates (X, Y) of the global coordinate system. The origin of this global coordinate system may be any of the reference points R1 to R4, or any point other than the reference points R1 to R4 may be set. Various types of global position detectors 200 using laser light, ultrasonic waves, radio waves, etc. are commercially available, and the most suitable type can be adopted depending on the position detection accuracy and the environment.

[0015] The condition diagnosis device 100 is provided with casters 104 and driving wheels 110 and 111 on the bottom surface of the frame, and can be moved in a desired direction by independently driving the driving wheels 110 and 111 by a motor. In FIG. 1, the front wheels on the traveling direction side are shown as driving wheels 110 and 111, and the rear wheels are shown as casters 104, but this is not limited thereto. As described later, the front wheels may be casters and the rear wheels may be driving wheels, or both the front and rear wheels may be driving wheels. In addition, an xy actuator 300 is fixed to the bottom surface of the frame 101 as a detection unit moving mechanism, and a diagnosis unit 400 attached to the xy actuator 300 can be moved to any position within the bottom surface of the frame. A predetermined distance is secured between the xy actuator 300 and the plane of the inspection object 10 by the casters 104 and the driving wheels 110 and 111. One inspection section 11 shown in the figure is a movable range within the frame in which the xy actuator 300 can scan the diagnosis unit 400, as described later. Here, the position of the diagnostic unit 400 determined by the xy actuator 300 is expressed by coordinates (x, y) in the frame coordinate system. The origin of this frame coordinate system is preliminarily determined to be one of the four corners of the examination area 11. Note that since the above-mentioned overall position detector 200 and the xy actuator 300 are fixed at their respective predetermined positions in the frame 101, the positional relationship between them is constant.

[0016] The condition diagnosis device 100 can determine a reference direction using at least two reference points and determine a moving direction and orientation in the global coordinate system. Here, the moving direction and orientation of the condition diagnosis device 100 are set to coincide with the Y axis of the global coordinate system and the y axis of the frame coordinate system. The condition diagnosis device 100 moves by ΔY and stops, detecting the overall position where it stops, and the xy actuator 300 sequentially moves the diagnosis unit 400 in the x and y directions in each inspection section 11.

[0017] The condition diagnosis device 100 is provided with a computer 500 and an operation unit 600, and forms a local network with the overall position detector 200 and the diagnosis unit 400 via a repeater. As will be described later, the computer 500 allocates inspection sections, controls the movement and condition diagnosis of the condition diagnosis device 100, and executes mapping and monitor display of condition diagnosis information based on overall position information from the overall position detector 200, in-frame position information of the diagnosis unit 400 from the xy actuator 300, and inspection information from the diagnosis unit 400 under program control. The operation unit 600 is provided with a start / stop switch for the condition diagnosis device 100, a joystick for moving the device forward / backward and turning left / right, and the like.

[0018] The power for this system consisting of the xy actuator 300, the diagnostic unit 400, the computer 500, etc. may be supplied from a power supply unit 650 mounted on the frame 101, or may be supplied from an external device using an extension cable. It is also possible to provide a repeater for wirelessly connecting the computer 500 to an external computer and execute the above-mentioned control and status diagnosis under the control of the external computer.

[0019] 1.1) Overall position detection As shown in FIG. 2, if the total position detector 200 is a type that uses laser light, the total position can be detected by scanning the surroundings 360° with the laser light at a predetermined angular step at a predetermined cycle and detecting the reflected light. That is, by measuring the time it takes for the laser light emitted at a certain angle to be reflected and returned, the distance and direction to the surrounding indices can be calculated, and the position and orientation of the object can be determined. The measurable range 200a of the total position detector 200 is limited by the spread of the laser light and the light receiving sensitivity of the reflected light. The multiple indices 21 to 24 are arranged within the measurable range 200a, and the intervals between them are set according to the performance of the total position detector 200. In order not to mistake other objects for indices, it is preferable to use reflectors that have a high reflectivity for the scanning laser light as the indices 21 to 24. Note that the total position detector 200 may be of a type that can detect the total position with sufficient resolution, and is not limited to an optical type that uses laser light. As will be described later, the total position can also be detected by using radio waves or ultrasonic waves.

[0020] In this manner, by setting a plurality of reference points (indices) in the range 200a detectable by the total position detector 200, it is possible to detect the position and orientation of the condition diagnosis device 100 on the inspection target surface, and it becomes possible to associate the position of the inspection target surface with the detection information by the diagnosis unit 400. As will be described in detail later, even if the inspection target surface of the inspection target 10 has an arbitrary shape, condition diagnosis is possible by placing a plurality of indices along the shape.

[0021] 1.2) Inspection area allocation As illustrated in FIG. 3, for example, by setting a plurality of reference points (indicators) along the shape of the inspection target surface 10a within the range 200a detectable by the whole position detector 200, the computer 500 can determine the position and orientation of the condition diagnosis device 100 on the inspection target surface. The inspection target surface 10a of the inspection target 10 may have any shape. For example, by setting a plurality of reference points (indicators) R1 to Rn along the inspection target surface 10a within the range 200a detectable by the whole position detector 200, the position and orientation of the condition diagnosis device 100 on the inspection target surface 10a can be determined. In this case, among the lines connecting any two reference points R1 and R2, a line LR that is parallel to a line that is easy to use as a reference when performing diagnostic work, such as the center line of a building or a joint of an inspection target, is determined as a reference line and reference direction, and this is set as the Y axis of the frame whole coordinate system, and a direction perpendicular to it is determined as the X axis. Therefore, it is desirable to set the direction of the reference line in advance with reference to the center line of a building or a joint of an inspection target before starting diagnostic work, and to set the reference points R1 and R2 so as to be parallel to the reference line. Once the whole frame coordinates have been determined in this manner, the computer 500 allocates a plurality of inspection sections 11 on the inspection target surface surrounded by the indices R1 to R4 in the form of whole frame coordinates P(X, Y).

[0022] In the example shown in FIG. 3, the inspection sections of the index, which is the origin, are numbered in the Y-axis direction along the reference line LR, and when the end of the inspection surface is reached, the numbering is performed in the opposite direction of the Y-axis in the next row by one inspection section. The inspection sections are numbered in the same manner. Here, the reference line LR is made to coincide with the Y-axis direction, but the numbering direction may be the X-axis direction instead of the Y-axis direction. Note that at the end of the inspection surface that is not divisible by the inspection sections, it is possible to move the inspection section manually or to assign only a part of the inspection section. For example, in FIG. 3, only a part of the specified inspection section is assigned to the 15th inspection surface, but even such a partial inspection section can be diagnosed by controlling the xy actuator 300 described later.

[0023] The computer 500 performs a condition inspection of the inspection target 10 while constantly detecting the overall position of the condition diagnosis device 100. More specifically, the overall position of the condition diagnosis device 100 is recognized while detecting surrounding indicators by the overall position detector 200, and when the condition diagnosis device 100 reaches the inspection section 11 assigned in advance, the computer 500 stops the condition diagnosis device 100 and transitions to a measurement mode. In the measurement mode, the computer 500 stops the condition diagnosis device 100 so as not to move, and drives the diagnosis unit 400 by the xy actuator 300 to scan the inspection section 11. In this way, a condition inspection of the inspection section 11 is performed, and the inspection results are mapped and stored as described below. In this way, the inspection target surface is inspected while sequentially tracing the assigned inspection sections 11.

[0024] 1.3) Mapping of condition diagnosis results onto the inspected surface As shown in FIG. 4, it is assumed that a plurality of reference points (indices) R1 to R4 are set to define the surface to be inspected. First, appropriate adjacent reference points are selected, and the line connecting them is set as the reference line LR to determine the moving direction and orientation of the condition diagnosis device 100. In FIG. 4, the line connecting the reference points R1 and R2 is set as the reference line LR and is set as the Y axis of the global coordinate system, and the moving direction and orientation of the condition diagnosis device 100 are made to match the direction and orientation of this Y axis. Here, the reference point R2 corresponds to the origin of the global coordinate system, and this point is set as the initial position P(0,0) to start the movement of the condition diagnosis device 100. The Y-direction moving distance ΔY and the X-direction moving distance ΔX of one step of the condition diagnosis device 100 correspond to the y-direction length and x-direction length of the inspection section 11. The global coordinate P(X,Y) of the condition diagnosis device 100 is calculated by the global position detector 200 detecting the indices of the reference points R1 to R4. The Y-direction movement distance ΔY and the X-direction movement distance ΔX, i.e., the size of the inspection section 11, may be determined in consideration of the size of the surface to be inspected and the number of inspection points. For example, in consideration of the case where the condition diagnosis device 100 is slightly shifted or tilted in the X-direction or Y-direction, it is desirable to make the size of the in-frame inspection area 11 larger than the diagnosis area and perform condition diagnosis so that the peripheral parts of the in-frame inspection area 11 overlap each other. In other words, the Y-direction movement distance ΔY and the X-direction movement distance ΔX may be set so that the in-frame inspection area 11 overlaps before and after movement. As an example, if the size of the tile, which is the diagnosis area, is 60 cm x 60 cm, the size of the in-frame inspection area 11 can be 70 cm x 70 cm and the Y-direction movement distance ΔY can be 60 cm.

[0025] The xy actuator 300 provided on the bottom surface of the condition diagnosis device 100 starts a diagnosis operation with the origin of the coordinate system within the frame as the initial position p(0,0) of the diagnosis unit 400. When the condition diagnosis device 100 is stopped, the xy actuator 300 moves the diagnosis unit 400 in the x direction from the initial position p(0,0) at a predetermined interval Δx, while performing a condition diagnosis of the inspection target surface by a percussion operation described later. When the movement in the x direction ends, the diagnosis unit 400 moves in the y direction at a predetermined interval Δy, and the percussion operation by the diagnosis unit 400 is repeated while moving in the x direction in the same manner. The coordinate p(x,y) within the frame of the diagnosis unit 400 can be obtained from the xy actuator 300 as described later. Note that it is preferable that the inspection section 11, which is the movable range of the diagnosis unit 400, is shifted toward the moving direction side of the frame 101 of the condition diagnosis device 100. The reason is that the end of the inspection target surface of the inspection target object 10 is often a wall, and it is made easier to inspect up to that end.

[0026] In this way, the condition diagnosis device 100 is stopped at every ΔY of the global coordinate system, and while the condition diagnosis device 100 is stopped, the diagnosis unit 400 is scanned in xy by the xy actuator 300, thereby obtaining the diagnosis information of the inspection area 11 with a resolution of Δx and Δy. The xy scan of the diagnosis unit 400 can be performed not automatically but manually by remote control or manual operation. For example, after obtaining the diagnosis information of the inspection range 11 in the frame, the diagnosis unit 400 may be moved to a desired coordinate in the frame by operating the xy actuator 300 by remote control or manual operation, and an additional condition diagnosis may be performed. In addition, Δx and Δy, which determine the resolution of the diagnosis information, may be determined in consideration of the material of the inspection object 10, the size and number of inspection points of the inspection object surface, and the capacity and capacity of the computer 500 described later. The diagnosis information obtained by the diagnosis unit 400 in each inspection area 11 is mapped on the inspection object surface as described below. When the xy actuator 300 is operated manually by remote control, it is desirable to monitor the operation surface, and for example, a camera capable of monitoring the operation surface may be provided.

[0027] As shown in Fig. 5, the global coordinate P(X,Y) of the condition diagnosis device 100 indicates the position of the global position detector 200 relative to the reference point serving as the origin, but since the positional relationship between the global position detector 200 and the xy actuator 300 is constant, the coordinate (X',Y') taking into account the positional deviation can be used as the position information of the xy actuator 300. Therefore, by combining the global coordinate P(X',Y') taking into account the positional deviation of the condition diagnosis device 100 and the in-frame coordinate p(x,y) of the diagnosis unit 400, the position of the diagnosis unit 400 on the inspection target surface can be calculated as the combined coordinate (X'+x,Y'+y). Note that if the position on the plane of the global position detector 200 is made to coincide with the origin p(0,0) of the xy actuator 300, the global coordinate P(X,Y) can be used as it is.

[0028] In this way, the diagnostic information obtained by the diagnostic unit 400 can be associated with the composite coordinates (X'+x, Y'+y) on the surface to be inspected, making it possible to generate a diagnostic information map for the entire surface to be inspected. If the Y-axis of the global coordinate system and the y-axis of the in-frame coordinate system are inclined, the coordinate values ​​can be corrected by geometric calculation using the inclination angle θ. For example, if the global coordinates are P(X',Y') and the coordinates of the in-frame coordinate system inclined by angle θ are p(x',y'), then the above composite coordinates (X'+x,Y'+y) can be expressed by the following formula: The calculation is done by replacing x=x'cosθ-y'sinθ and y=x'sinθ+y'cosθ, respectively. In addition, even if the surface to be inspected is inclined, the coordinate values ​​can be corrected by a similar geometric calculation. A brief explanation will be given below with reference to FIG. 6.

[0029] As shown in Fig. 6, if the overall coordinate system is represented by three-dimensional XYZ axes and the in-frame coordinate system is similarly represented by xyz axes, when the surface to be inspected is inclined at an angle φ with respect to the horizontal plane (XY plane) in the moving direction of the condition diagnosis device 100, the composite coordinates (X'+x, Y'+y) can be corrected by the above-mentioned geometric calculation. The overall position detector 200 may have a function of detecting whether the surface to be inspected is horizontal or inclined. Also, an inclinometer 210 may be provided separately from the overall position detector 200 to detect the inclination.

[0030] 2. Computer Systems The operation of the condition diagnostic device 100 can be realized by causing the computer 500 to execute a predetermined program. The functional configuration realized by the computer 500 will be described in detail below with reference to the drawings.

[0031] <Functional configuration> FIG. 7 illustrates a functional configuration realized by a computer 500. The computer 500 realizes various functions by executing programs stored in a memory (not shown) on a processor. The overall position detector 200, the diagnosis unit 400, and the xy actuator 300 are controlled by a position detection control unit 501, a diagnosis control unit 502, and an xy movement control unit 503, respectively. The drive wheels 110 and 111 for moving the condition diagnosis device 100 are independently driven by motors M1 and M2, respectively, and controlled by a drive motor control unit 522. The overall control of these condition diagnosis operations is performed by a control unit 504. The configurations and operations of the xy actuator 300 and the actuator 411 for raising and lowering the diagnosis unit 400, and the detector 423 for obtaining inspection data, shown in the figure, will be described in detail later.

[0032] The position detection control unit 501 controls the overall position detector 200, and acquires position information of the index (reflector) and overall frame position information of the condition diagnosis device 100 based on the detection data of the overall position detector 200. The diagnosis control unit 502 operates the actuator 411 of the diagnosis unit 400 under the control of the control unit 504, and acquires a detection signal S consisting of a tapping sound detection signal, a vibration detection signal, etc. from the detector 423. The xy movement control unit 503 controls the xy actuator 300, and acquires coordinates p(x, y) indicating the position of the diagnosis unit 400 in the frame.

[0033] The inspection point position synthesis unit 505 generates the inspection point synthesis coordinates (X'+x, Y'+y) using the frame overall position P(X, Y) of the condition diagnosis device 100 and the frame coordinate p(x, y) of the diagnosis unit 400, as described in FIG. 5. The diagnosis information generation unit 506 inputs the inspection point synthesis coordinates (X'+x, Y'+y) and the detection signal S, maps the evaluation result at the coordinate p(x, y) evaluated from the detection signal S to the inspection point synthesis coordinates (X'+x, Y'+y), and aggregates them to generate diagnostic information of the inspection target surface of the inspection target 10. The diagnostic information obtained in this way is accumulated in the diagnostic information accumulation unit 507. The diagnostic information obtained in this way is accumulated in the diagnostic information accumulation unit 507, and the diagnostic information on the inspection target surface is displayed on the display unit 508 as described later.

[0034] By executing the program, the data processing unit 510 realizes the diagnostic information generation function realized by the above-mentioned inspection point position synthesis unit 505 and diagnostic information generation unit 506, and further realizes the navigation function of the condition diagnosis device 100 realized by the inspection section allocation unit 520 and movement control unit 521 described next.

[0035] As described above, the inspection section allocation unit 520 allocates the inspection sections 11 to be inspected by the condition diagnosis device 100 to the inspection target surface on the overall frame coordinate system based on the position information of the multiple indexes. The movement control unit 521 controls the rotation of the drive motors M1 and M2 through the drive motor control unit 522 so as to move the condition diagnosis device 100 in the order of the allocated inspection sections. As is well known, by independently controlling the rotation of the drive motors M1 and M2, the condition diagnosis device 100 can freely move forward, backward, and turn right or left. Needless to say, any other drive mechanism may be used as long as it is possible to move the condition diagnosis device 100 in order through the inspection sections.

[0036] In the navigation mode, the control unit 504 performs a condition inspection of the inspection target 10 while constantly detecting the overall position of the condition diagnosis device 100. More specifically, in the navigation mode, the overall position of the condition diagnosis device 100 is recognized while detecting surrounding indices by the overall position detector 200, and when the condition diagnosis device 100 reaches the inspection section 11 assigned in advance, the control unit 504 stops the condition diagnosis device 100 and transitions to the measurement mode. In the measurement mode, the control unit 504 locks the drive motors M1 and M2 by the drive motor control unit 522 to stop the condition diagnosis device 100 from moving, and drives the diagnosis unit 400 by the xy actuator 300 to scan the inspection section 11. In this way, the condition inspection of the inspection section 11 is performed, and the diagnosis information generation unit 506 maps the inspection results and stores them in the diagnosis information storage unit 507. In this way, the inspection of the inspection target surface is performed while sequentially tracing the assigned inspection sections 11.

[0037] The diagnostic information stored in the diagnostic information storage unit 507 may be displayed on the display unit 508 in response to a user instruction or in real time. The display unit 508 may display the inspection target surface recognized by surrounding indices, and may display the diagnosis result of the inspection section 11 where diagnosis has been completed in real time each time a condition diagnosis is completed according to the movement of the condition diagnosis device 100. The display screen of the display unit 508 may be displayed on the monitor of an external computer so that the user can monitor it from outside. The inspection section allocation operation and condition diagnosis operation according to this embodiment will be described below with reference to FIG. 7.

[0038] <Operation> 8, the control unit 504 detects position information of the placed reference points (indicators) to determine the entire frame coordinate system, and determines the measurement start position and movement direction of the condition diagnosis device 100 using at least two indices as described below (operation 701). Next, the inspection section allocation unit 520 allocates inspection sections on the inspection target surface based on the position information of the detected indices as described above (operation 702).

[0039] Next, the control unit 504 transitions to a navigation mode, and controls the drive motors M1 and M2 according to the assigned numbers of the inspection zones while detecting its own overall position in real time by the overall position detector 200. As a result, the condition diagnosis device 100 moves through the inspection zones in order as shown in Figures 3 and 4 (operation 703).

[0040] Next, when the condition diagnosis device 100 moves to one of the assigned inspection sections (total frame coordinates P(X,Y)), the control unit 504 transitions to measurement mode (operation 704). In the measurement mode, the driving motors M1 and M2 are locked to stop the condition diagnosis device 100 from moving. In the stationary state, the control unit 504 drives the xy actuator 300 to move the diagnosis unit 400 as shown in FIG. 4, and performs a condition inspection of the current inspection section 11. The inspection results thus obtained are mapped to the inspection point composite coordinates (X'+x, Y'+y) by the diagnosis information generation unit 506, and are then compiled and stored in the diagnosis information storage unit 507.

[0041] Next, the control unit 504 judges whether or not the measurement of all the assigned inspection sections 11 has been completed (operation 705). If not completed (NO in operation 705), the control unit 504 returns to operation 703 to maintain the navigation mode, and repeats the above operations 703 to 705 until the measurement of the entire range of the inspection object 10 is completed. When the measurement is completed (YES in operation 705), the entire position detector 200 judges whether or not a reference point (index) has been moved or added (operation 706). If an index has been moved / added, the moved or added reference point is detected and re-registered (operation 707), and the control unit 504 returns to operation 702 to newly assign an inspection section, and repeats the above operations 702 to 707. When the measurement range of the entire inspection area is completed in this manner (NO in operation 706), the control unit 504 ends the process.

[0042] 9, the diagnostic information stored in the diagnostic information storage unit 507 is preferably displayed on the display unit 508. For example, the display unit 508 displays the inspection target surface recognized by the surrounding indices in the form of the inspection section 11. Then, each time a condition diagnosis is completed in accordance with the movement of the condition diagnosis device 100, the inspection section 11 for which the diagnosis has been completed is displayed in real time as having been measured. At that time, the diagnosis result of the measured inspection section 11 may be displayed at the same time.

[0043] <Effects> As described above, the computer 500 in this embodiment can determine a reference line for the inspection surface using at least two indices by detecting multiple indices set or installed on the horizontal inspection surface of the inspection object 10 using the total position detector 200, and can assign multiple inspection sections 11 to the inspection surface based on the reference line. The computer 500 can acquire diagnosis information while moving the condition diagnosis device 100 in sequence through the assigned inspection sections 11. This makes it possible to autonomously and efficiently generate condition evaluation information for the horizontal surface of the inspection object simply by installing multiple indices.

[0044] 3. Working Example A detailed configuration and operation of a condition diagnosis device 100 according to an embodiment of the present invention will be described below with reference to the drawings. The object for which condition diagnosis is performed by the condition diagnosis device 100 according to this embodiment is an inspection object 10 extending in the horizontal direction, such as a floor tile.

[0045] 3.1) Configuration 10, 11 and 12, a top board 102 is fixed to the top surface of a frame 101 of a condition diagnosis device 100 according to this embodiment, and a support pole 103 is installed at a predetermined position on the top board 102 or on the frame 101. The support pole 103 is extendable, and a total position detector 200 is fixed to its tip. By extending and contracting the support pole 103, the total position detector 200 can be adjusted to a height at which it can receive reflected light from the indicator 20 without any obstacles. Taking into account the height of the user, the height of the total position detector 200 is set to about 2 m.

[0046] The total position detector 200 rotates a laser beam of a predetermined wavelength 360° at a predetermined cycle (e.g., 8 Hz) and at a predetermined angular step (e.g., 0.25°) and detects the reflected light. By measuring the emission angle of the laser beam and the time from emission until the reflected light arrives, the direction and distance to the target 20 can be detected with a predetermined accuracy. The measurable range 200a of the total position detector 200 is, for example, about a radius of 30 m. For example, NAV350 (trademark), a laser positioning sensor manufactured by SICK AG, can be used as such a total position detector 200.

[0047] In addition to laser positioning, a method that can obtain the required resolution can be adopted depending on the environment, such as a method that uses a WiFi access point as an index and detects the radio wave intensity or radio wave arrival angle from multiple access points to calculate the position, a positioning method that uses a beacon as an index, a method that uses the source of ultrasonic waves carrying ID information as an index, a method that estimates the self-position using images captured by a camera, or a method that estimates the self-position using LiDAR (Light Detection And Ranging).

[0048] The indicator 20 is a pole 20a of a predetermined height to which a highly reflective reflector 20b is attached. The reflector 20b may be shaped like a cylinder and attached to a wall or a pillar, or may be cut to a certain area (an area that can sufficiently receive and reflect the laser light) and attached to a wall or a pillar. It is preferable that the height of the reflector 20b can be adjusted to match the height of the overall position detector 200. It is advantageous to make the diameter of the pole 20a somewhat large so that the laser light from the overall position detector 200 is reflected and returned as efficiently as possible, and here a pole with a diameter of about 8 to 10 cm is used. It is also preferable that the length of the reflector 20b is long depending on the distance from the overall position detector 200, and here it is about 40 to 60 cm.

[0049] In this embodiment, the condition diagnosis device 100 is exemplified with the drive wheels 110 and 111 attached to the front of the bottom surface of the frame 101 and the swivel caster 104 attached to the rear, but this is not limited thereto, and the swivel caster 104 may be provided at the front and the drive wheels 110 and 111 at the rear. Using the rear wheels as drive wheels has the advantage of being more maneuverable. As described above, the movement control unit 521 independently controls the drive motors M1 and M2 according to the allocation of the inspection sections, so that the condition diagnosis device 100 can be automatically moved forward, backward, left and right.

[0050] An xy actuator 300 disposed on the bottom surface of the frame 101 is separated a predetermined distance from the plane of the inspection object 10 by casters 104 and drive wheels 110 and 111. The xy actuator 300 will be described later, but a diagnosis unit 400 is attached to the x-carriage of the x-stage. The diagnosis unit 400 can raise or lower an inspection unit 402 by an elevation mechanism 401.

[0051] A computer 500 having a display unit 508 for monitoring and an operation unit 600 are provided on the top board 102 of the condition diagnostic device 100, and together with the overall position detector 200 and the diagnostic unit 400, form a local area network.

[0052] 11 and 12, a bar 105 is provided horizontally at the upper rear end of the frame 101, and a user can move the condition diagnosis device 100 in a desired direction by grasping and operating the bar 105. Alternatively, as clearly shown in Fig. 11, a joystick 600a can be provided on the operation unit 600, and the condition diagnosis device 100 can be moved in a desired direction by a user operation.

[0053] Moreover, it is preferable that the swivel caster 104 has a stopper 104a. The user can reliably stop the condition diagnosis device 100 by operating the stopper 104a with his / her foot, and the diagnosis operation by the diagnosis unit 400 can be stably performed. In addition, when the front wheels are swivel casters 104 and the rear wheels are drive wheels 110 and 111, an emergency stopper can be provided on the rear wheel side, and a function can be provided in which the drive wheels 110 and 111 can be lifted off the surface to be inspected by the user operating the emergency stopper with his / her foot.

[0054] 3.2) xy actuator (detection unit movement mechanism) 13, 14 and 15, the xy actuator 300 comprises a pair of parallel y frames 301 and an x ​​stage 302 perpendicular to the y frames, and the pair of y frames 301 are fixed to the bottom frame of the frame 101. The x stage 302 is fixed on a y carriage 303 movable on each y frame 301, and the pair of y carriages 303 move in the y-axis direction by the rotation of a y-axis stepping motor 304. Therefore, the x stage 302 can be moved to a desired position in the y-axis direction by the y-axis stepping motor 304.

[0055] An x-carriage 305 is movably provided on the x-stage 302, and a diagnostic unit 400 is fixed to the x-carriage 305. More specifically, a lifting mechanism 401 is fixed to the x-carriage 305, and an inspection unit 402 is connected to the lifting mechanism 401 so that the inspection unit 402 can be raised and lowered. The x-carriage 305 moves on the x-stage 302 by the rotation of an x-axis stepping motor 306. Therefore, the diagnostic unit 400 fixed to the x-carriage 305 can be moved to a desired position in the x-axis direction by the x-axis stepping motor 306.

[0056] In this way, by controlling the rotation of each of the y-axis stepping motor 304 and the x-axis stepping motor 306, the diagnostic unit 400 fixed to the x-carriage 305 can be moved sequentially in predetermined steps within the inspection section 11 shown by the hatched portion in Fig. 13. That is, by rotating the x-axis stepping motor 306 by a predetermined angle, the diagnostic unit 400 can be moved by a predetermined distance Δx in the x-axis direction, and by rotating the y-axis stepping motor 304 by a predetermined angle, the diagnostic unit 400 can be moved by a predetermined distance Δy in the y-axis direction (see Fig. 4). As for the accuracy of the moving distances Δx and Δy, sufficient positioning accuracy can be obtained by the encoders attached to the y-axis stepping motor 304 and the x-axis stepping motor 306.

[0057] The means for moving the y-carriage 303 and the x-carriage 305 by the y-axis stepping motor 304 and the x-axis stepping motor 306 can be of any type. They may be a feed screw type or a belt feed type, but in this embodiment, the belt feed type is used. As such an xy actuator, a commercially available product can be used, for example, a planar gantry (EXCM-40) manufactured by FESTO. The effective movable range of the diagnostic unit 400, i.e., the size of the examination section 11, is, for example, about 70 x 70 cm.

[0058] 13, the moving direction of the condition diagnosis device 100 coincides with the y-axis direction of the frame coordinate system, and the diagnosis unit 400 is connected to the moving direction side (front side) of the x-stage 302. Therefore, the inspection section 11 is shifted toward the moving direction side of the xy actuator 300 with respect to the stroke 302a in the y-axis direction of the x-stage 302. This makes it easier to diagnose up to the edge of the inspection target surface of the inspection target 10.

[0059] 3.3) Diagnostic unit 16, the diagnosis unit 400 in this embodiment is composed of a lifting mechanism 401 and an inspection unit 402, and the lifting mechanism 401 is fixed to the x-carriage 305 of the x-stage 302. The inspection unit 402 is connected to the lifting mechanism 401 so as to be slidable in the up and down directions. The lifting mechanism 401 and the inspection unit 402 will be described in detail below.

[0060] <Lifting mechanism> 16 to 18, lifting mechanism 401 has plate-shaped bracket 410 fixed to x-carriage 305, and actuator 411 including a DC motor as a driving means is provided on the back side of bracket 410. Rotating shaft 412 of actuator 411 rotatably penetrates through an opening of bracket 410 to the front side, and cam 413 is fixed to the tip of rotating shaft 412. Cam 413 is a disk cam with eccentric rotating shaft 412 as shown in FIG. 17. In addition, a pair of hooks 414 is provided above cam 413 on the surface of bracket 410, and one end of coil spring 415 is hooked on each of hooks. Inspection unit 402 described below is hooked on the other end of each of these coil springs 415, and inspection unit 402 is urged upward by coil spring 415, thereby being pressed against cam 413.

[0061] <Inspection unit> The inspection unit 402 has a follower plate 420 that abuts against the outer periphery of the cam 413, and a pair of hooks 421 extend from both sides of the follower plate 420, to which the other ends of a pair of coil springs 415 are respectively hooked. The follower plate 420 is fixed to a detection section 423 having a rectangular cross section by a connecting section 422, thereby integrally constituting the inspection unit 402. Furthermore, the connecting section 422 is made up of a slider that is connected to a rail fixed to a bracket 410 of the lifting mechanism 401 so as to be slidable in the vertical direction.

[0062] As shown in Figs. 17 and 18, a mounting fixture 424 extending in the horizontal direction is fixed to the detection unit 423, and four casters 425 are fixed to the back surface of the mounting fixture 424. The casters 425 can rotate 360°, and are designed so that a predetermined gap is created between the casters 425 and the bottom surface 426 of the detection unit 423 when the casters 425 are in contact with the surface of the inspection target 10. The distance of this predetermined gap is set so that the diagnostic operation by striking the detection unit 423 is performed appropriately. A microphone cover 427 that covers a microphone is provided to protrude from the four side surfaces of the lower end of the detection unit 423, and a striking hammer (not shown) is provided on the bottom surface. The detailed configuration of such a detection unit 423 will be described later.

[0063] 17, two detection switches 416 and 417 are provided in the upper and lower directions at the lower end of the bracket 410, and a protrusion 428 is provided on the connecting portion 422 so as to be able to come into contact with the detection switch 416 or 417. When the protrusion 428 comes into contact with the upper detection switch 416 to turn it on, the inspection unit 402 is in the raised position, and the condition diagnosis device 100 can move in this raised position. When the protrusion 428 comes into contact with the lower detection switch 417 to turn it on, the inspection unit 402 is in the lowered position, and in this lowered position, the xy actuator 300 is driven to move the detector 423 sequentially, and a percussion operation can be performed in the inspection section 11.

[0064] <Lifting operation> 19, the lifting operation of the inspection unit 402 by the lifting mechanism 401 will be described. As described above, the follower plate 420 of the inspection unit 402 is biased upward by the coil spring 415 and abuts against the outer periphery of the cam 413.

[0065] 19(A), when the vertical distance between the rotation shaft 412 and the outer periphery of the cam 413 becomes the shortest due to the rotation of the actuator 411, the follower plate 420 in contact with the cam 413 is pulled up by the coil spring 415, whereby the entire inspection unit 402 rises and the protrusion 428 comes into contact with the upper detection switch 416 and stops. At this raised position, the detection part 423 moves away from the inspection target 10 together with the swivel caster 425, so that the user can move the condition diagnosis device 100.

[0066] 19(B), when the vertical distance between the rotation shaft 412 and the outer periphery of the cam 413 becomes the longest due to the rotation of the actuator 411, the follower plate 420 in contact with the cam 413 is pressed down against the coil spring 415, whereby the entire inspection unit 402 descends and the protrusion 428 comes into contact with the lower detection switch 417 and stops. In this descended position, the swivel caster 425 comes into contact with the inspection object 10, and the distance between the bottom surface 426 of the detection part 423 and the surface of the inspection object 10 is maintained at a distance suitable for percussion, which will be described later. In this descended state, the diagnosis unit 400 is in contact with the surface of the inspection object 10 by the swivel caster 425, so that it can move freely back and forth and left and right in response to the operation of the xy actuator 300.

[0067] In this manner, the cam 413 can be rotated by controlling the rotation of the actuator 411 to raise or lower the inspection unit 402 .

[0068] 3.4) Detection section The detection unit 423 in this embodiment is a sensor unit that obtains diagnostic information by striking the surface of the inspection target 10, and can basically adopt the detection unit of the above-mentioned Patent Document 1. The configuration and operation of the detection unit 423 will be described below.

[0069] As illustrated in FIG. 20, the detection unit 423 has a striking unit 451 fixed in a rectangular prism-shaped housing 450, and the striking unit 451 is made of a solenoid. For example, when the solenoid is energized, it pushes a plunger 452 downward with a predetermined force, and when the solenoid is de-energized, it retracts the plunger 452 upward by a spring or other means. A striking hammer 453 is provided at the lower end of the plunger 452, and movably passes through an opening 455 provided in the center of a base 454 on the bottom surface of the housing 450. When the solenoid is energized, the striking hammer 453 can strike the inspection surface of the inspection object 10 through the opening 455. As already described, when the diagnosis unit 400 descends, the swivel caster 425 comes into contact with the inspection object 10, and a distance suitable for driving the striking hammer 453 is maintained between the bottom surface of the detection unit 423 and the surface of the inspection object 10.

[0070] The striking hammer 453 is provided with a vibration sensor 456, which detects vibrations when striking the striking hammer 453. Microphones 458 are provided via vibration-proof rubber 457 on the four side surfaces of the lower end of the housing 450, and a microphone cover 427 is provided on top of these. The microphones 458 detect striking sounds from the inspection surface when striking. Note that, although four microphones 458 are provided in this embodiment, the present invention is not limited to this.

[0071] The detection operation of the detection unit 423 is performed as follows. First, when the detector 423 is moved to a position to be inspected by the xy actuator 300, the striking hammer 453 strikes the inspection surface. The vibration of the striking hammer 453 at this time is detected by the vibration sensor 456, and the striking sound caused by striking the inspection surface is detected by the microphone 458. According to Patent Document 1, a reference time is determined by the vibration detection signal obtained in this way, and the state of the inspection surface, such as peeling, can be evaluated from the striking sound detection signal based on the reference time. However, the detection unit 423 is not limited to this embodiment, and any method capable of evaluating the state of the inspection object 10 can be adopted. For example, as also described in Patent Document 1, the state of the inspection surface, such as peeling, can be evaluated using the striking sound detection signal from the microphone 453 and the inspection surface vibration detection signal that detects the vibration of the inspection surface caused by the striking of the striking hammer 453.

[0072] 4. Application Examples In the above embodiment and examples, the case where the whole position detector 200 detects a plurality of indices and recognizes the whole surface of the inspection object is exemplified, but even if the inspection object 10 is larger than the detection range of the whole position detector 200 or has a complex shape, it can be measured by repeatedly applying the above-mentioned condition diagnosis method while adding or changing the arrangement of indices. Below, a square inspection object 10 is exemplified, and a case where the condition is diagnosed by dividing it into four measurement surfaces will be described.

[0073] As shown in Fig. 21(A), a measurement surface 901, which is a part of a large surface to be inspected, is defined by four indices (reflectors) 21-24, the indices are registered as described above to determine a coordinate system, and condition diagnosis information of the measurement surface 901 is acquired while moving the condition diagnosis device 100. Next, as shown in Fig. 21(B), only the reflectors 21 and 24 are moved, a measurement surface 902 is defined by the four reflectors 21-24, the indices are re-registered, and then condition diagnosis information of the measurement surface 902 is acquired while moving the condition diagnosis device 100 in the same manner. Next, as shown in Fig. 21(C), only the reflectors 21 and 22 are moved, a measurement surface 903 is defined by the four reflectors 21-24, the indices are re-registered, and then condition diagnosis information of the measurement surface 903 is acquired in the same manner. Next, as shown in FIG. 21(D), only the reflectors 21 and 24 are moved, the measurement surface 904 is defined by the four reflectors 21-24, the indices are re-registered, and then the condition diagnosis information of the measurement surface 904 is obtained in the same manner. The condition diagnosis information of the measurement surfaces 901-904 thus obtained is stored in the diagnosis information storage unit 507, so that the condition diagnosis information of the entire inspection target surface can be displayed. By repeatedly applying the above condition diagnosis method while sequentially changing the arrangement of the reflectors (indices) in this way, it becomes possible to diagnose the condition of the inspection target object 10 of any size. Note that the reflector arrangements in FIGS. 21(B)-(D) may be achieved by adding reflectors instead of changing the arrangement.

[0074] 22, only reflectors 23 and 24 are moved from the reflector arrangement in Fig. 21(D) above, or a reflector is added to define measurement surface 905 using the four reflectors 21 to 24, and the indices are re-registered, and then condition diagnosis information for measurement surface 905 is obtained in a similar manner while moving condition diagnosis device 100. By changing the arrangement or adding reflectors in this way, it becomes possible to handle any shape of inspection target surface.

[0075] Furthermore, even if the surface to be inspected has a shape as exemplified in FIG. 4, if the reference line LR is determined based on at least two reflectors, it is possible to measure the entire surface of the object to be inspected 10 with a resolution of Δx and Δy of the inspection area 11.

[0076] 5. Other embodiments In the above-mentioned embodiment and example, the inspection target surface is defined by simply placing multiple indicators, and inspection sections are allocated, enabling automatic diagnosis, but depending on the shape of the inspection target surface, it is possible that the allocation of inspection sections may be changed midway. As another embodiment, a condition diagnosis device that automatically performs floor diagnosis in a room with any floor shape will be described below with reference to Figs. 23 to 25. However, since the basic functional configuration implemented in the computer 500 is similar to that shown in Fig. 7, a description of the configuration will be omitted and the operation of this embodiment will be described. Note that the same reference numbers will be used to designate operations similar to those in Fig. 8, and the description will be simplified.

[0077] As illustrated in FIG. 23, a floor 10b in a room, which is a surface to be inspected, is surrounded by walls 10c, and indicators R1 to R8 are installed to detect the overall position of the condition diagnosis device 100 in the room. As described above, the overall position detector 200 rotates the laser light 360° around the device 100 at a predetermined cycle and at a predetermined angle step, and detects the reflected light, thereby detecting the direction and distance of each indicator relative to the device 100 itself with a predetermined accuracy. Similarly, the overall position detector 200 can also detect the distance to the wall 10c. Therefore, it is also possible to detect the overall position of the device 100 itself by using the four walls 10c as indicators.

[0078] <Operation> 24, the control unit 504 determines the whole frame coordinate system from the position information of the wall surface 10c or a plurality of reference points (indicators) detected by the whole position detector 200 (operation 710). Here, it is assumed that the Y-axis direction is determined with the line defined by the indices R1, R2, and R3 or the corresponding wall surface as the reference line LR as shown in FIG.

[0079] Next, the inspection section allocation unit 520 allocates the inspection sections 11 on the surface to be inspected in the frame global coordinate system as described above (operation 711). As illustrated in FIG. 25, the X-axis and Y-axis of the global coordinate system are determined using the reference line LR, and each inspection section 11 is allocated as a global coordinate P(X,Y), and a total of p×q inspection sections are arranged. When allocating the inspection sections, there are cases where the inspection sections close to the wall surface 10c cannot be inspected in their entirety. In the example of FIG. 25, the inspection sections P(1,k+1), P(2,m), P(3,n), P(p-1,2), P(p-1,q) and P(p,3) to P(p,q) are partial inspection sections.

[0080] Next, the control unit 504 transitions to a navigation mode, and while detecting its own overall position in real time using the overall position detector 200, controls the drive motors M1 and M2 in accordance with the assigned numbers of the inspection sections, so that the condition diagnosis device 100 moves through the inspection sections in order (operation 712).

[0081] As described above, the condition diagnosis device 100 can detect the distance to the wall surface 10c by the overall position detector 200, so it can determine whether the inspection section to be moved to is a section facing the wall surface. At this time, the control unit 504 determines whether the inspection section is a partial inspection section P(1,k+1), P(2,m), P(3,n), etc. shown in Figure 25 (operation 713). If it is not a partial inspection section (NO in operation 713), the control unit 504 locks the drive motors M1 and M2, drives the xy actuator 300 to move the diagnosis unit 400, and performs a condition inspection of the current inspection section 11. The inspection results obtained in this way are mapped to the inspection point composite coordinates (X'+x, Y'+y) by the diagnosis information generation unit 506, and are collected and stored in the diagnosis information storage unit 507. If it is a partial inspection section (YES in operation 713), the control unit 504 may cut out and map only the relevant inspection section from the detection signal S from the detection unit 423 driven by the xy actuator 300 and store it in the diagnostic information storage unit 507, or may use the entire detection signal S of the inspection section to overwrite the detection signal of the previously inspected section (operation 715).

[0082] Next, the control unit 504 judges whether or not the measurement of all the assigned inspection sections 11 has been completed (operation 716). If not completed (NO in operation 716), the control unit 504 returns to operation 712 to maintain the navigation mode, and repeats the above operations 712 to 716 until the measurement of the entire range of the inspection object 10 is completed. When the measurement is completed (YES in operation 716), the entire position detector 200 judges whether or not a reference point (index) has been moved or added (operation 717). If an index has been moved / added, the moved or added reference point is detected and re-registered (operation 718), and the control unit 504 returns to operation 711 to newly assign an inspection section, and repeats the above operations 711 to 718. When the measurement range of all the areas is completed in this manner (NO in operation 717), the control unit 504 ends the process.

[0083] 6. Other Examples In the above-described embodiment and example, the main body of the condition diagnostic device 100 can be moved manually or by motor drive, but the present invention is not limited to this, and the device can also be moved by other methods.

[0084] <Example 1> As illustrated in FIG. 26, the device body of the condition diagnosis device 100 may be connected to the following towing device 150, and the following towing device 150 may follow the worker 160 to tow the condition diagnosis device 100. The condition diagnosis device 100 has a configuration similar to that of the embodiment illustrated in FIG. 5 to FIG. 20, but the drive wheels 110 and 111 may be casters. The following towing device 150 is connected to the traveling direction side of the condition diagnosis device 100. The following towing device 150 follows the worker 160 moving in the traveling direction while detecting the distance and direction using a following object detection means 151 such as a following sensor or a camera. Various types of following towing devices have been proposed as the following towing device 150, and for example, a following dolly described in JP 2019-003241 A can be adopted. In this way, while moving / stopping the condition diagnosis device 100 by the tracking traction device 150, diagnosis information of the entire surface to be inspected can be obtained for each in-frame inspection range 11 as described in the above embodiment.

[0085] <Example 2> As shown in Fig. 27, the main body of the condition diagnosis device 100 may be connected to a towing device 155, and the condition diagnosis device 100 may be towed by the driver operating the towing device 155 or by remote control via wireless. The condition diagnosis device 100 has a configuration similar to that of the embodiment shown in Figs. 5 to 20, but the drive wheels 110 and 111 may be swivel casters. In this example, the overall position detector 200 may be provided in either the condition diagnosis device 100 or the towing device 155. Even when such a towing device 155 is used, diagnosis information of the entire surface to be inspected can be obtained for each of the inspection ranges 11 within the frame while moving / stopping the condition diagnosis device 100.

[0086] <Example 3> As described above, the condition diagnosis device 100 can move by the driving wheels 110 and 111 driven by a motor, but the present invention is not limited to this. The condition diagnosis device 100 may be provided with omnidirectional wheels on the bottom of the frame, and each wheel may be independently driven by a motor to move in a desired direction. For example, Mecanum wheels may be used as the omnidirectional wheels, and the drive motor control unit 522 in FIG. 7 may independently control the rotation speed and rotation direction of each of the four wheels that make up the Mecanum wheels, thereby enabling the device to move or rotate in any direction. The use of Mecanum wheels makes it easier for the condition diagnosis device 100 to turn easily, and condition diagnosis can be easily performed even on floors of any shape. [Industrial Applicability]

[0087] The present invention is applicable to diagnosing conditions such as peeling on horizontal surfaces such as floors or rooftops of buildings. [Explanation of symbols]

[0088] 10. Inspection object 11 Inspection Area 20 indicators 20a Pole 20b Reflector 21~24 Index (Reflector) 100 Condition diagnostic device 101 Frame 102 Tabletop 103 Post 104 Swivel Caster 110,111 Drive wheels 200 Overall position detector 200a Measurable range 300 xy actuator (detection unit movement mechanism) 301 y frame 302 x Stage 303 y carriage 304 y-axis stepper motor 305 x Carriage 306 x-axis stepper motor 400 Diagnostic Unit 401 Lifting mechanism 402 Inspection Unit 410 Bracket 411 Actuator 412 Rotational Axis 413 Cam 414 Hook 415 Coil Spring 416, 417 Detection switch 420 Follower Board 421 Hook 422 Connecting part 423 Detection Unit 424 Mounting fixture 425 Swivel Caster 426 Bottom 427 Microphone Cover 428 Protrusion 450 Case 451 Striking section 452 Plunger 453 Impact Hammer 454 Base 455 Opening 456 Vibration Sensor 457 Anti-vibration rubber 458 Microphone 500 Computers 504 Control section 505 Inspection point position synthesis unit 506 Diagnostic Information Generation Unit 507 Diagnostic Information Storage Unit 508 Display section 510 Data Processing Unit 520 Inspection Section Allocation Department 521 Movement control unit 522 Drive motor control unit

Claims

1. A condition diagnosis device for diagnosing a condition of an inspection object extending along a horizontal plane, comprising: a drive unit that moves a main body of the condition diagnosis device in a desired direction on the inspection target surface of the inspection target; an overall position detection unit that detects an overall position of the device body on the inspection target surface by detecting at least two external indicators; a detection unit for detecting a state of the inspection object in the entire position of the device body; a data processing unit that determines a reference line from at least two indicators detected by the overall position detection unit, allocates a plurality of inspection zones on the inspection target surface according to overall coordinates determined according to the reference line, and generates diagnostic information of the inspection target surface from a detection signal detected by the detection unit for each of the inspection zones while moving the device body according to the allocated inspection zones; An apparatus for diagnosing the condition of an object to be inspected.

2. a detection unit moving mechanism for moving the detection unit to a desired position within the device body, the inspection section being a movable range of the detection unit within the device body; The device for diagnosing the condition of an object to be inspected according to claim 1, characterized in that the data processing unit calculates an overall position of the detection unit from the position of the detection unit within the device body and the overall position of the device body, and generates diagnostic information of the surface to be inspected from a detection signal detected by the detection unit at the overall position of the detection unit.

3. 3. The condition diagnosis device according to claim 1, wherein the data processing unit controls the drive unit to move the device body in accordance with a predetermined sequence of the inspection sections allocated on the inspection target surface.

4. A condition diagnosis system for diagnosing a condition of an inspection object extending along a horizontal plane, comprising: A plurality of indicators for identifying an inspection target surface, the indicators being placed on a horizontal surface of the inspection target; a condition diagnosis device that moves on the inspection object surface while detecting the plurality of indices and diagnoses a condition of the inspection object; It consists of: The condition diagnosis device, A device body, an overall position detection unit that detects an overall position on the inspection target surface by detecting at least two indices; a detection unit for detecting a state of the inspection object at the overall position; a data processing unit that determines a reference line from at least two indicators detected by the overall position detection unit, allocates a plurality of inspection zones on the inspection target surface according to overall coordinates determined according to the reference line, and generates diagnostic information of the inspection target surface from a detection signal detected by the detection unit for each of the inspection zones while moving the device body according to the allocated inspection zones; A system for diagnosing a condition of an inspection object, comprising:

5. a frame movement mechanism for moving the detection unit to a desired position in the device body, the inspection section being a movable range of the detection unit in the device body; The system for diagnosing the condition of an object to be inspected as described in claim 4, characterized in that the data processing unit calculates an overall position of the detection unit from the position of the detection unit within the device body and the overall position of the device body, and generates diagnostic information of the surface to be inspected from a detection signal detected by the detection unit at the overall position of the detection unit.

6. A condition diagnosis method for a condition diagnosis device that diagnoses a condition of an inspection object extending along a horizontal plane, comprising: an overall position detection unit detects at least two external indicators to obtain an overall position of the device body of the condition diagnosis device on the inspection target surface of the inspection target; A detection unit detects a state of the inspection object in the entire position of the device body, The data processing unit determining a reference line from at least two indicators detected by the overall position detection unit; allocating a plurality of inspection zones on the inspection surface according to global coordinates determined according to the reference line; Moving the device body according to the assigned inspection section; generating diagnostic information of the inspection target surface from a detection signal detected by the detection unit for each inspection section while moving the device body; A condition diagnosis method comprising:

7. A program for controlling a computer as a condition diagnosis device for diagnosing a condition of an inspection object extending along a horizontal plane, comprising: a function of acquiring an overall position of the main body of the condition diagnosis device on the inspection target surface of the inspection target by detecting at least two external indicators by an overall position detection unit; A function in which a detection unit detects a state of the inspection object in the entire position of the device body; a data processing unit that determines a reference line from at least two indices detected by the overall position detection unit, allocates a plurality of inspection zones on the inspection target surface according to the overall coordinates determined according to the reference line, moves the device body according to the allocated inspection zones, and generates diagnostic information of the inspection target surface from a detection signal detected by the detection unit for each inspection zone while moving the device body; A program for causing the computer to execute the above.

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