Sensor attachment / detachment device, sensor attachment / detachment system, sensor attachment method, and sensor detachment method

Abstract

To provide a sensor attaching / detaching device, a sensor attaching / detaching system, a sensor attaching method, and a sensor detaching method which enable sensors to be easily attached to or detached from inspection targets.SOLUTION: The sensor attaching / detaching device of an embodiment comprises a sensor, an adhesive member, a support unit, and a separation execution unit. The adhesive member is adhered to a first plane of the sensor and has a function that adhesive strength decreases. The support unit can support the sensor by coming into contact with a second plane of the sensor directly or via other function units. The separation execution unit performs a process for lowering the adhesive strength of the adhesive member after the sensor is attached to the inspection target by the adhesive member and separating the adhesive member from the inspection target object.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE The present invention relates to a sensor attachment / detachment device, a sensor attachment / detachment system, a sensor mounting method, and a sensor detachment method. [Background technology]

[0002] Methods using mobile objects such as drones have been proposed to evaluate the soundness of structures such as bridges. For example, methods have been proposed in which an electromagnetic induction exploration probe is mounted on a mobile object to evaluate the soundness of a structure, and methods have been proposed in which a vibration device and a microphone are mounted on a mobile object to evaluate the soundness of a structure. Using such methods, the soundness of a structure can be evaluated by remotely controlling the mobile object. While there are methods for evaluating the soundness of a structure by remote control in this way, the work of installing sensors for monitoring on the structure is still done manually.

[0003] The amount of work required to install sensors in a structure increases according to the number of sensors installed in the structure. Furthermore, after monitoring is completed, the installed sensors must be removed from the structure, and the amount of work required to remove the sensors from the structure also increases according to the number of sensors installed in the structure. Conventionally, there have been cases where it has not been easy to attach or remove sensors from a structure. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6941834 [Non-patent literature]

[0005] [Non-Patent Document 1] Fumiaki Kamihan, “Development of a method for evaluating the soundness of railway bridges using remote non-contact measurement”, RTRI Report, Vol.32, No. 6, 2018. Summary of the Invention [Problem to be solved by the invention]

[0006] The problem that the present invention aims to solve is to provide a sensor attachment / detachment device, a sensor attachment / detachment system, a sensor attachment method, and a sensor removal method that can easily attach a sensor to an object to be inspected or remove a sensor from the object. [Means for solving the problem]

[0007] The sensor attachment / detachment device of the embodiment has a sensor, an adhesive member, a support unit, and a peeling execution unit. The adhesive member is attached to a first surface of the sensor and has a function of reducing adhesive strength. The support unit is capable of supporting the sensor by contacting a second surface of the sensor directly or via another functional unit. After the sensor is attached to an object by the adhesive member, the peeling execution unit performs a process for reducing the adhesive strength of the adhesive member to peel the adhesive member from the object. The other functional portion includes an adhesive portion that adheres the sensor to the support portion, the adhesive portion having a smaller adhesive strength than an adhesive strength of the adhesive member to the object. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a diagram showing an example of the configuration of a sensor attachment / detachment device according to the first embodiment. [Diagram 2] FIG. 4 is a diagram showing an overview of a sensor removal process according to the first embodiment. [Diagram 3] FIG. 13 is a diagram showing a system configuration of a sensor attachment / detachment system according to a second embodiment. [Figure 4] FIG. 13 is a diagram showing an example of the configuration of a sensor attachment / detachment device according to a second embodiment. [Diagram 5] FIG. 13 is a diagram showing an example of the configuration of a remote control device and a moving object according to a second embodiment. [Figure 6] 13A and 13B are diagrams illustrating an overview of a sensor bonding process performed by a moving body according to a second embodiment. [Figure 7] 13 is a diagram showing an overview of a sensor detachment process performed by a moving object in the second embodiment. [Figure 8]FIG. 11 is a sequence diagram showing a process flow when attaching a sensor in the sensor attachment / detachment system according to the second embodiment. [Figure 9] FIG. 11 is a sequence diagram showing a process flow when a sensor is detached from the sensor attachment / detachment system according to the second embodiment. [Figure 10] FIG. 1 shows another example of the object. [Figure 11] FIG. 2 shows another example of the object. [Figure 12] FIG. 13 is a diagram showing a configuration example of a sensor attachment / detachment device in a modified example. [Figure 13] FIG. 13 is a diagram showing a system configuration of a sensor attachment / detachment system according to a modified example. [Figure 14] FIG. 1 is a diagram showing a specific example of a path taken by a moving body when attaching multiple sensors to an object. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a sensor attaching / detaching device, a sensor attaching / detaching system, a sensor attaching method, and a sensor detaching method according to embodiments will be described with reference to the drawings. (overview) The sensor attachment / detachment device in the embodiment is a device that can assist in easily at least one of attaching a sensor to an object and detaching the sensor from the object. The sensor attachment / detachment device includes a sensor to be attached inside a support that supports the sensor. An adhesive member having a function of significantly reducing adhesive strength by either electricity, heat, or light is attached to a first surface of the sensor, and the sensor can be easily attached to the object by adhering it to the object with the adhesive member.

[0010] The support portion is provided with a mechanism for reducing the adhesive strength of the adhesive member. By reducing the adhesive strength of the adhesive member at the support portion, the adhesive member can be easily peeled off from the object, and the sensor can be easily removed from the object.

[0011] In this embodiment, the sensor attachment / detachment device having the above-described configuration makes it possible to easily attach a sensor to an object to be inspected or detach the sensor from the object. A specific configuration will be described below.

[0012] (First embodiment) FIG. 1 is a diagram showing a configuration example of a sensor attachment / detachment device 10 in the first embodiment. FIG. 1(A) is a front view of the sensor attachment / detachment device 10, and FIG. 1(B) is a plan view of the sensor attachment / detachment device 10. The sensor attachment / detachment device 10 includes a support unit 11, a sensor 12, an adhesive member 13, and a peeling unit 14. In the following description, the vertical direction is the Z direction, the first surface side of the sensor 12 included in the sensor attachment / detachment device 10 is +Z, and the opposite direction to +Z is -Z. The first surface of the sensor 12 is a surface that contacts an object. On a horizontal plane perpendicular to the Z direction, the longitudinal direction of the sensor attachment / detachment device 10 is the X direction (left-right direction), one side is +X, and the other side is -X. Furthermore, the short side direction of the sensor attachment / detachment device 10 perpendicular to the X direction is the Y direction, one side is +Y, and the other side is -Y.

[0013] The support part 11 has a configuration capable of accommodating the sensor 12 therein, and is a member that supports the sensor 12 therein. The support part 11 is removed after the sensor 12 is attached to the object. Therefore, it is desirable that the support part 11 has a structure in which the sensor 12 can be installed inside and has an opening through which the sensor 12 can be removed. For example, as shown in FIG. 1, the support part 11 may have a box shape (part of the side faces are omitted in FIG. 1(A)) and a structure with a part open (the ceiling surface is open in FIG. 1(A)). When the support part 11 has the configuration shown in FIG. 1, the support part 11 includes a bottom part, a left holding side wall, a right holding side wall, a front holding side wall, and a rear holding side wall.

[0014] The bottom is the bottom of the support portion 11. The bottom is provided on the -Z side of the sensor 12. The bottom is formed in a substantially plate-like shape on a horizontal plane along the X direction and the Y direction.

[0015] The left retaining sidewall is the -X sidewall of the support 11. The left retaining sidewall is provided on the -X side of the sensor 12. The left retaining sidewall is formed in a substantially plate-like shape on a horizontal plane along the Z direction and the Y direction. The left retaining sidewall stands upright in the +Z direction in the Z direction from the -X end of the bottom.

[0016] The right retaining sidewall is the +X sidewall of the support portion 11. The right retaining sidewall is provided on the +X side of the sensor 12. The right retaining sidewall is formed in a substantially plate-like shape on a horizontal plane along the Z direction and the Y direction. The right retaining sidewall stands upright in the +Z direction in the Z direction from the +X end of the bottom.

[0017] The front holding sidewall is the -Y sidewall of the support part 11. The front holding sidewall is provided on the -Y side of the sensor 12. The front holding sidewall is formed in a substantially plate-like shape on a horizontal plane along the Z direction and the X direction. The front holding sidewall stands upright in the +Z direction in the Z direction from the -Y end of the bottom.

[0018] The rear supporting sidewall is the +Y sidewall of the support portion 11. The rear supporting sidewall is provided on the +Y side of the sensor 12. The rear supporting sidewall is formed in a substantially plate-like shape on a horizontal plane along the Z direction and the X direction. The rear supporting sidewall stands upright in the +Z direction in the Z direction from the +Y end of the bottom.

[0019] 1 is just an example, and the shape of the support part 11 may be other shapes. For example, the support part 11 may be substantially U-shaped with an opening at +Z when viewed from -Y in the Y direction. When the support part 11 is substantially U-shaped, the support part 11 includes a bottom part, a left retaining side wall, and a right retaining side wall.

[0020] The object is an object to be inspected, for example a structure. The structure is, for example, a bridge made of concrete. The structure is not limited to a bridge, but may be any structure in which elastic waves are generated due to the occurrence or growth of cracks or due to external impacts (for example, rain, artificial rain, etc.), or in which the vibration of the structure itself changes due to damage. For example, the structure may be a bedrock. The bridge is not limited to structures erected over rivers, valleys, etc., but also includes various structures (for example, highway viaducts) that are erected above the ground.

[0021] The sensor 12 is attached to the object and detects elastic waves generated from inside the object or vibrations of the object. The sensor 12 is, for example, an acoustic emission (AE) sensor. The sensor 12 is installed at a position where it can detect elastic waves. For example, the sensor 12 is installed on a surface of the object different from the surface on which the load is applied. When the surface on which the load is applied is the road surface of the object, the sensor 12 is installed on either the side or bottom surface of the object.

[0022] The sensor 12 is not limited to an AE sensor, and may be another sensor. For example, the sensor 12 may be an acceleration sensor. An adhesive member 13 is attached to a first surface of the sensor 12. A second surface of the sensor 12 contacts the bottom surface of the support portion 11.

[0023] The adhesive member 13 is attached to the first surface of the sensor 12 and adheres the sensor 12 to the object with a predetermined adhesive force. For example, the adhesive member 13 protrudes from the support part 11 in the Z direction +Z by an arbitrary protrusion amount in a state where it is not in contact with the object. The adhesive member 13 is a member having a function of significantly reducing its adhesive force by the action of any of electricity, heat, or light. The adhesive member 13 is, for example, an electric peeling tape, a thermal peeling tape, or a UV peeling tape. The electric peeling tape is a tape whose adhesive force is significantly reduced by voltage. The electric peeling tape is a tape whose adhesive force is reduced to one-tenth or less in a short time (about several tens of seconds) by the action of voltage, making it possible to easily recover the sensor 12. The thermal peeling tape is a tape whose adhesive force is significantly reduced by heat. The thermal peeling tape is a tape whose adhesive force is reduced in a short time by the action of heat (for example, by being heated), making it possible to easily recover the sensor 12. The UV peeling tape is a tape whose adhesive force is significantly reduced by ultraviolet light. The adhesive strength of the UV peeling tape decreases in a short period of time due to the action of ultraviolet rays (irradiation of ultraviolet rays), making it possible to easily retrieve the sensor 12.

[0024] When the adhesive member 13 is an electric peeling tape, the adhesive member 13 has an electric peeling tape and an electrode. The electric peeling tape is provided between the first electrode and the second electrode of the electrode. The first electrode and the second electrode are attached to the electric peeling tape by an adhesive or the like (not shown). The electrode is a sheet of an electrically conductive adherend. Examples of electrically conductive adherends include metals such as aluminum, tin-doped indium oxide, copper, iron, silver, platinum, and gold, and alloys of these metals. The electrode has a first electrode and a second electrode. Note that the electrode is electrically conductive at least in the portion that contacts the electric peeling tape and in the portion that contacts each terminal of the electric wire extending from the peeling execution unit 14, and it is sufficient that these portions are conductive. A plurality of electrodes may be provided.

[0025] The first electrode is provided, for example, on a first surface of an electric peeling tape. The first surface of the electric peeling tape is the surface that contacts the object. The second electrode is provided, for example, between a second surface of the electric peeling tape and the first surface of the sensor 12. The second surface of the electric peeling tape is the surface opposite to the first surface of the electric peeling tape. The first electrode, the electric peeling tape, and the second electrode are arranged so as to overlap in this order in the Z direction from +Z to -Z.

[0026] When a voltage is applied (given) to the first electrode and the second electrode of the adhesive member 13, a current flows through the electrically peelable tape, which gradually reduces the adhesive strength of the electrically peelable tape and causes it to be peeled off from the object.

[0027] The peeling execution unit 14 performs a process for reducing the adhesive strength of the adhesive member 13 to peel the adhesive member 13 from the object. Specifically, the peeling execution unit 14 peels the adhesive member 13 from the object by reducing the adhesive strength of the adhesive member 13 through the action of any one of electricity, heat, or light. In this manner, the peeling execution unit 14 performs a process for reducing the adhesive strength of the adhesive member 13. For example, when the adhesive member 13 is an electric peeling tape, the peeling execution unit 14 has a function of applying a voltage to the first electrode and the second electrode to pass electricity through the electric peeling tape in order to reduce the adhesive strength of the electric peeling tape. For example, when the adhesive member 13 is a thermal peeling tape, the peeling execution unit 14 has a function of heating the thermal peeling tape in order to reduce the adhesive strength of the thermal peeling tape. For example, when the adhesive member 13 is a UV peeling tape, the peeling execution unit 14 has a function of irradiating the UV peeling tape with ultraviolet light in order to reduce the adhesive strength of the UV peeling tape.

[0028] In FIG. 1, the adhesive member 13 is an electrical peeling tape, and the peeling execution unit 14 passes electricity through the electrical peeling tape via an electric wire (for example, an anode electrode (first electrode) is provided on the first side of the electrical peeling tape, and a cathode electrode (second electrode) is provided on the second side). In FIG. 1, either the first side or the second side of the electrical peeling tape is hidden by the interface between the sensor 12 and the adhesive member 13 and is not shown. When the sensor 12 is attached to the target object, it is necessary to cut the electric wires extending from the peeling execution unit 14 to each electrode. Therefore, it is desirable that the electric wires extending from the peeling execution unit 14 and each electrode are connected and cut by connectors.

[0029] In the case where the peeling execution unit 14 manually applies electricity to the electrical peeling tape via the electric wire, the peeling execution unit 14 may be provided with a switch, and the switch may be turned on and off to switch whether or not to apply a voltage. When the switch is on, the peeling execution unit 14 determines that a voltage is to be applied, and when the switch is off, the peeling execution unit 14 determines that a voltage is not to be applied. For example, when the switch is on and the electric wire is connected to each electrode, the peeling execution unit 14 applies a voltage to each electrode via the electric wire. Below, an example will be described in which the adhesive member 13 is an electrical peeling tape.

[0030] Next, the operation of the first embodiment will be described. First, the sensor attachment process in the first embodiment will be described. In the first embodiment, the user brings the sensor attachment / detachment device 10 to the object and attaches the sensor 12 to the object. Specifically, the user first presses the sensor attachment / detachment device 10 against the object so that the adhesive member 13 is attached to the object. For example, the user presses the sensor attachment / detachment device 10 against the object with a pressure that causes the adhesive member 13 to be attached to the object with respect to +Z in the Z direction. Next, the user pulls the support portion 11 of the sensor attachment / detachment device 10 in the opposite direction (for example, -Z in the Z direction) after confirming that the adhesive member 13 is attached to the object. When the adhesive member 13 is attached to the object, the sensor 12 attached to the adhesive member 13 is also attached to the object. Therefore, the sensor 12 is taken out from the support portion 11, and the sensor 12 can be attached to the object.

[0031] Next, the sensor detachment process in the first embodiment will be described. FIG. 2 is a diagram showing an outline of the sensor detachment process in the first embodiment. First, as shown in FIG. 2(A), the user moves the support part 11 of the sensor attachment / detachment device 10 to +Z in the Z direction so as to cover the sensor 12 to be removed. At this time, the user connects the electric wires extending from the peeling execution part 14 of the sensor attachment / detachment device 10 to the electrodes of the adhesive member 13 via connectors. Next, the user operates the peeling execution part 14 (for example, turns on the switch) to reduce the adhesive force of the adhesive member 13 (FIG. 2(B)). The period of time for which the adhesive force of the adhesive member 13 decreases is determined in advance by experiments or the like.

[0032] Then, at the timing when the adhesive strength of the adhesive member 13 is reduced, the user removes the sensor 12 by pulling the support part 11 of the sensor attachment / detachment device 10 in the -Z direction (FIG. 2(C)). When the adhesive strength of the adhesive member 13 is reduced, it is assumed that the sensor 12 falls due to its own weight and falls into the support part 11, but even if the adhesive strength of the adhesive member 13 is reduced, the sensor 12 may be attached to the object O. In such a case, the user may remove the sensor 12 from the object O by alternately shaking the support part 11 in the +X direction and the -X direction. In this embodiment, the support part 11 of the sensor attachment / detachment device 10 is removed from the sensor 12 when the sensor 12 is attached to the object. However, if the weight of the support part 11 is sufficiently smaller than the adhesive strength of the adhesive member 13 to the object, the procedure of removing the support part 11 from the sensor 12 may be omitted. In other words, the support part 11 may be left attached to the sensor 12 when measuring the object. In this case, the procedure of FIG. 2(A) in the removal process is omitted.

[0033] According to the sensor attachment / detachment device 10 configured as described above, the sensor 12 is attached to the object O by the adhesive member 13 having a function of significantly reducing its adhesive strength. As a result, after the inspection of the object O is completed, a process of reducing the adhesive strength of the adhesive member 13 is performed, thereby peeling the adhesive member 13 from the object O. Because the sensor 12 is attached to the adhesive member 13, peeling the adhesive member 13 from the object O also allows the sensor 12 to be peeled off together. This makes it possible to easily remove the sensor 12 from the object O.

[0034] Furthermore, a material having a function of significantly reducing adhesive strength by any of electricity, heat, and light is used as the adhesive member 13 provided in the sensor attachment / detachment device 10. Therefore, the sensor 12 can be easily detached from the object O by the action of any of electricity, heat, and light.

[0035] Furthermore, the sensor attachment / detachment device 10 can be used repeatedly by simply replacing the tape (for example, an electrically peelable tape, a thermally peelable tape, or a UV peelable tape) on the adhesive member 13. This allows for stable sensor installation work at low cost.

[0036] Second embodiment In the first embodiment, a configuration in which a user attaches and detaches a sensor to and from an object is described. In the second embodiment, a configuration in which a mobile object such as a drone is used to attach and detach a sensor to and from an object is described.

[0037] Fig. 3 is a diagram showing a system configuration of a sensor attachment / detachment system 100 of the second embodiment. The sensor attachment / detachment system 100 is a system that performs at least one of attaching the sensor 12 to an object O and detaching the sensor 12 from the object O. The sensor attachment / detachment system 100 includes a sensor attachment / detachment device 10a, a remote control device 20, and a moving body 30. The sensor attachment / detachment device 10a is held by the moving body 30 and carried to the object. Although Fig. 3 shows a configuration in which the sensor attachment / detachment device 10a is held under the moving body 30, the sensor attachment / detachment device 10a may be held on top of the moving body 30.

[0038] The sensor attachment / detachment device 10a has a configuration basically similar to that of the first embodiment. However, since the sensor 12 is carried while flying on a moving body, it is preferable that the sensor 12 is fixed to the support part 11. Therefore, the sensor attachment / detachment device 10a may have a configuration shown in FIG.

[0039] 4 is a diagram showing an example of the configuration of a sensor attaching / detaching device 10a in the second embodiment. The sensor attaching / detaching device 10a includes a support unit 11, a sensor 12, an adhesive member 13, a peeling unit 14, and an adhesive unit 15. The sensor attaching / detaching device 10a is different in configuration from the sensor attaching / detaching device 10 in that it additionally includes the adhesive unit 15. The other configuration of the sensor attaching / detaching device 10a is similar to that of the sensor attaching / detaching device 10. The configuration of the adhesive unit 15 will now be described.

[0040] The adhesive portion 15 is a member for fixing the sensor 12 to the support portion 11. The adhesive portion 15 is provided between the sensor 12 and the adhesive portion 15. The adhesive strength of the adhesive portion 15 is smaller than the adhesive strength of the adhesive member 13 to the object O. This is so that when the sensor 12 is attached to the object O, the adhesive portion 15 is peeled off from the sensor 12 before the adhesive member 13 is peeled off from the object O by pulling the support portion 11.

[0041] Returning to FIG. 3, the explanation will continue. The remote control device 20 is a device for wirelessly controlling the moving object 30.

[0042] The moving body 30 is an object that moves while flying according to instructions from the remote control device 20. The moving body 30 is, for example, a drone. The moving body 30 is externally provided with a holding unit (for example, an arm) for holding the sensor attachment / detachment device 10a, multiple propellers, and multiple wheels.

[0043] When attaching and detaching a sensor to and from the moving body 30, the following two problems are anticipated. First task: Checking the adhesion of the sensor 12 to the object O Second issue: Easily and reliably remove the sensor 12.

[0044] When the sensor 12 is attached manually, the adhesive strength of the sensor 12 to the object O can be confirmed by the user's strength of force, but when the sensor 12 is attached to the object O by the moving body 30, the desired adhesive strength may not be expected. Therefore, the first problem is solved by managing the adhesive strength between the adhesive member 13 and the adhesive portion 15. That is, when the required specification of the adhesive strength between the object O and the sensor 12 is xN, a material that is expected to have an adhesive strength exceeding xN on the object O is used as the adhesive member 13, and the adhesive strength between the adhesive portion 15 and the sensor 12 is managed as xN. The moving body 30 presses the adhesive member 13 against the object O with a thrust of xN or more in the direction in which the sensor 12 is attached (sensor attachment direction) to attach the sensor 12 to the object O, and after the attachment operation is completed, the moving body 30 pulls the sensor attachment / detachment device 10a with a thrust of xN or more in the opposite direction to the sensor attachment direction. When the adhesive member 13 is attached to the object O with an adhesive strength exceeding the desired xN, the adhesive portion 15 will peel off first, leaving only the sensor 12 and the adhesive member 13 attached to the object O. In other words, the support portion 11 and the adhesive portion 15 will be removed.

[0045] The second problem is solved by using adhesive member 13 whose adhesive strength decreases rapidly, as in the first embodiment. A specific configuration will be described below.

[0046] 5 is a diagram showing an example of the configuration of the remote control device 20 and the moving object 30 in the second embodiment. First, the configuration of the remote control device 20 will be described. The remote control device 20 includes an operation unit 21, a control circuit 22, and a communication unit 23.

[0047] The operation unit 21 accepts input of instructions from a user. The operation unit 21 outputs the input user instructions to the control circuit 22. The user instructions are, for example, a movement instruction regarding the movement of the moving body 30, an attachment instruction regarding the attachment of the sensor 12, and a removal instruction regarding the removal of the sensor 12.

[0048] The control circuit 22 outputs a control signal corresponding to a user's instruction output from the operation unit 21 to the communication unit 23 .

[0049] The communication unit 23 wirelessly transmits the control signal output from the control circuit 22 to the mobile object 30 .

[0050] Next, a description will be given of the configuration of the moving body 30. The moving body 30 includes a communication unit 31, a processor 32, a movement amount sensor 33, an attitude / speed sensor , a control unit 35, a motor , a rotor 37, and a transmission unit .

[0051] The communication unit 31 receives a control signal transmitted from the remote control device 20 .

[0052] The processor 32 controls the operation of the moving body 30 in response to the control signal received by the communication unit 31. When the control signal is a movement instruction, the processor 32 instructs the control unit 35 to move the moving body 30. When the control signal is an attachment instruction, the processor 32 instructs the control unit 35 to execute a sensor attachment process. When the control signal is a removal instruction, the processor 32 instructs the transmission unit 38 to transmit a signal from the transmission unit 38 to the sensor attachment / detachment device 10a.

[0053] The movement amount sensor 33 is a sensor that measures the movement amount of the moving body 30 .

[0054] The attitude / speed sensor 34 is a sensor that measures the attitude (tilt angle and direction) and acceleration of the moving body 30. The attitude / speed sensor 34 is, for example, a gyro sensor or an acceleration sensor.

[0055] The control unit 35 drives and rotates the motor 36 to move the moving body 30 based on at least an instruction from the processor 32. Furthermore, the control unit 35 grasps the inclination of the moving body 30 based on information on the attitude (tilt angle and direction) and acceleration information of the moving body 30 measured by the attitude / speed sensor 34. When there is a change in the inclination of the moving body 30, the control unit 35 adjusts the rotation speed of the motor 36 so that the moving body 30 is in the correct attitude (tilt).

[0056] The motor 36 rotates to provide power to the rotor 37. The number of motors 36 provided is equal to the number of rotors 37 provided in the moving body 30, for example.

[0057] The rotor 37 rotates each propeller by power obtained from the motor 36. The rotors 37 are provided in the same number as the propellers provided on the moving body 30, for example.

[0058] The transmitter 38 transmits a signal including a removal instruction to the sensor attachment / detachment device 10a.

[0059] FIG. 6 is a diagram showing an outline of the sensor adhering process performed by the moving body 30 in the second embodiment. First, the user operates the remote control device 20 to move the moving body 30 holding the sensor attachment / detachment device 10a to the position of the object O. The user operates the remote control device 20 to land the moving body 30 on the surface of the object O on which the sensor 12 is to be installed. If necessary, the user moves the moving body 30 on the surface of the object O to move it to the desired location. After moving the moving body 30 to the desired location, the user operates the remote control device 20 to control the moving body 30 so that the moving body 30 presses the adhesive member 13 against the object O with a force exceeding xN as a thrust in the Z direction +Z (FIG. 6(A)). As a result, the sensor 12 is attached to the object O.

[0060] Next, the user operates the remote control device 20 to control the moving body 30 so that the moving body 30 pulls the sensor attachment / detachment device 10a with a thrust of -Z in the Z direction of xN or more (FIG. 6(B)). As described above, when the adhesive member 13 is attached to the object O with an adhesive force exceeding the desired xN, as shown in FIG. 6(C), the adhesive portion 15 peels off first, and only the sensor 12 and the adhesive member 13 remain attached to the object O. Thereafter, the user operates the remote control device 20 to return the moving body 30 to the user's position and install a new sensor 12 in the sensor attachment / detachment device 10a, thereby allowing the sensor 12 to be installed again.

[0061] FIG. 7 is a diagram showing an overview of the sensor detachment process performed by the moving object 30 in the second embodiment. First, the user operates the remote control device 20 to move the moving body 30 holding the sensor attachment / detachment device 10a (the sensor attachment / detachment device 10a including the support unit 11, the peeling unit 14, and the adhesive unit 15) on which the sensor 12 is not installed, to the position of the target object O. Next, the user operates the remote control device 20 to move the moving body 30 to the location where the sensor 12 is installed. The user operates the remote control device 20 to move the moving body 30 to +Z in the Z direction so as to cover the sensor 12 to be removed, as shown in FIG. 7(A). This causes the sensor 12 to be accommodated within the support unit 11.

[0062] Next, the user operates the remote control device 20 to transmit a signal from the moving body 30 to the peeling execution unit 14 to perform a process of reducing the adhesive force of the adhesive member 13. The peeling execution unit 14 reduces the adhesive force of the adhesive member 13 in response to the signal obtained from the moving body 30 (FIG. 7(B)). Then, at the timing when the adhesive force of the adhesive member 13 is reduced, the user operates the remote control device 20 to move the moving body 30 to −Z in the Z direction and pull the support part 11 of the sensor attachment / detachment device 10a to remove the sensor 12 (FIG. 7(C)). As shown in FIG. 7(A), the adhesive part 15 and the sensor 12 are adhered to each other by moving the moving body 30 to +Z in the Z direction. Therefore, the sensor 12 can be easily removed by moving the moving body 30 to −Z in the Z direction and pulling the support part 11 of the sensor attachment / detachment device 10a. The user can then operate the remote control device 20 to return the moving body 30 to the user's position and retrieve the sensor 12 housed in the sensor attachment / detachment device 10a, and then remove another sensor 12 again by executing the processes shown in Figures 7(A) to 7(C).

[0063] FIG. 8 is a sequence diagram showing a process flow when attaching a sensor in the sensor attachment / detachment system 100 according to the second embodiment. The user operates the operation unit 21 of the remote control device 20 to input an instruction to take off the moving body 30 holding the sensor attachment / detachment device 10a to the remote control device 20. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including a movement instruction to take off the moving body 30 to the moving body 30 via the communication unit 23 (step S101).

[0064] The communication unit 31 of the moving body 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is an instruction regarding a movement instruction, the processor 32 instructs the control unit 35 to move the moving body 30. The control unit 35 rotates and drives the motor 36 to provide power to the rotor 37, and the moving body 30 flies (step S102). The user operates the remote control device 20 to move the moving body 30 holding the sensor attachment / detachment device 10a to the position of the target O.

[0065] Next, when the user moves the moving body 30 to the position of the target object O, he / she operates the operation unit 21 of the remote control device 20 to input an instruction to land the moving body 30 holding the sensor attachment / detachment device 10a to the remote control device 20. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including a movement instruction to land the moving body 30 to the moving body 30 via the communication unit 23 (step S103).

[0066] The communication unit 31 of the moving object 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is an instruction regarding a movement instruction, the processor 32 instructs the control unit 35 to land the moving object 30. The control unit 35 controls the rotation of the motor 36 to provide power to the rotor 37, and lands the moving object 30 on the surface of the object O (step S104).

[0067] Next, when the user lands the moving body 30 on the surface of the object O, the user operates the operation unit 21 of the remote control device 20 to input an instruction to the remote control device 20 to move the moving body 30 holding the sensor attachment / detachment device 10a to a location for installing the sensor 12. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including a movement instruction to move the moving body 30 to a location for installing the sensor 12 to the moving body 30 via the communication unit 23 (step S105).

[0068] The communication unit 31 of the moving body 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is an instruction regarding a movement instruction, the processor 32 instructs the control unit 35 to move the moving body 30 on the surface of the target object O to perform alignment (step S106).

[0069] Next, when the moving object 30 moves to a location where the sensor 12 is to be installed, the user operates the operation unit 21 of the remote control device 20 to input an attachment instruction to the remote control device 20. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including an attachment instruction to the moving object 30 holding the sensor attachment / detachment device 10a via the communication unit 23 (step S107).

[0070] The communication unit 31 of the moving body 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is an attachment instruction, the processor 32 instructs the control unit 35 to execute the adhesion process of the sensor 12. For example, the control unit 35 executes the adhesion process of the sensor 12 by controlling the rotation speed of the motor 36 to apply power to the rotor 37 so that the thrust of the moving body 30 in the +Z direction exceeds xN (step S108).

[0071] At the timing when the sensor 12 is thought to be attached to the object O, the user operates the operation unit 21 of the remote control device 20 to input an instruction to the remote control device 20 to take off the moving body 30. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including a movement instruction to take off the moving body 30 to the moving body 30 via the communication unit 23 (step S109).

[0072] The communication unit 31 of the moving body 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is an instruction to move, the processor 32 instructs the control unit 35 to move the moving body 30. The control unit 35 rotates and drives the motor 36 to provide power to the rotor 37, and the moving body 30 takes off (step S110).

[0073] Next, the user operates the operation unit 21 of the remote control device 20 to input an instruction to move the moving object 30 to the remote control device 20. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including a movement instruction to move the moving object 30 to the moving object 30 via the communication unit 23 (step S111).

[0074] The communication unit 31 of the moving body 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is an instruction regarding a movement instruction, the processor 32 instructs the control unit 35 to land the moving body 30. The control unit 35 controls the rotation of the motor 36 to apply power to the rotor 37 and rotate the multiple propellers, thereby moving the moving body 30 (step S112).

[0075] 9 is a sequence diagram showing the flow of processing when a sensor is detached in the sensor attachment / detachment system 100 in the second embodiment. At the start of the processing in FIG. 9, it is assumed that the sensor 12 is not yet installed in the sensor attachment / detachment device 10a held by the moving object 30. The user operates the operation unit 21 of the remote control device 20 to input an instruction to the remote control device 20 to take off the moving body 30 holding the sensor attachment / detachment device 10a (the sensor attachment / detachment device 10a including the support unit 11, the peeling execution unit 14, and the adhesive unit 15) on which the sensor 12 is not installed. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including a movement instruction to take off the moving body 30 to the moving body 30 via the communication unit 23 (step S201).

[0076] The communication unit 31 of the moving body 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is an instruction to move, the processor 32 instructs the control unit 35 to move the moving body 30. The control unit 35 rotates and drives the motor 36 to provide power to the rotor 37, and the moving body 30 flies (step S202). The user operates the remote control device 20 to move the moving body 30 to the location where the sensor 12 is installed.

[0077] Next, the user moves the moving body 30 to the location where the sensor 12 is installed, and operates the operation unit 21 of the remote control device 20 to input an instruction to land the moving body 30 to the remote control device 20. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including a movement instruction to land the moving body 30 to the moving body 30 via the communication unit 23 (step S203).

[0078] The communication unit 31 of the moving object 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is an instruction regarding a movement instruction, the processor 32 instructs the control unit 35 to land the moving object 30. The control unit 35 controls the rotation of the motor 36 to apply power to the rotor 37, and lands the moving object 30 on the surface of the object O (step S204).

[0079] Since the moving body 30 is moving in the air above the location where the sensor 12 is installed, when the moving body 30 lands on the surface of the object O, the support part 11 covers the sensor 12 installed on the object O.

[0080] Next, when the user lands the moving body 30 on the surface of the object O, he / she operates the operation unit 21 of the remote control device 20 to input a removal instruction to the remote control device 20. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including an instruction to the moving body 30 to remove the sensor 12 to the moving body 30 via the communication unit 23 (step S205).

[0081] The communication unit 31 of the mobile object 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is a removal instruction, the processor 32 causes the sensor attachment / detachment device 10a to transmit a signal via the transmission unit 38. The transmission unit 38 transmits the signal to the sensor attachment / detachment device 10a in accordance with the instruction from the processor 32 (step S206).

[0082] The peeling execution unit 14 of the sensor attachment / detachment device 10a performs a process of reducing the adhesive strength of the adhesive member 13 in response to the signal transmitted from the transmission unit 38. For example, the peeling execution unit 14 reduces the adhesive strength of the adhesive member 13 by passing electricity through the adhesive member 13. As a result, the adhesive member 13 is peeled off from the object O.

[0083] At the timing when the sensor 12 is thought to have been detached by the object O, the user operates the operation unit 21 of the remote control device 20 to input an instruction to the remote control device 20 to take off the moving body 30. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including a movement instruction to take off the moving body 30 to the moving body 30 via the communication unit 23 (step S208).

[0084] The communication unit 31 of the moving body 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is an instruction to move, the processor 32 instructs the control unit 35 to move the moving body 30. The control unit 35 rotates and drives the motor 36 to provide power to the rotor 37, and the moving body 30 takes off (step S209).

[0085] Next, the user operates the operation unit 21 of the remote control device 20 to input an instruction to move the moving object 30 to the remote control device 20. In response to the input instruction, the control circuit 22 of the remote control device 20 transmits a control signal including a movement instruction to move the moving object 30 to the moving object 30 via the communication unit 23 (step S210).

[0086] The communication unit 31 of the moving body 30 receives the control signal transmitted from the remote control device 20. The communication unit 31 outputs the received control signal to the processor 32. Since the control signal received by the communication unit 31 is an instruction regarding a movement instruction, the processor 32 instructs the control unit 35 to land the moving body 30. The control unit 35 controls the rotation of the motor 36 to apply power to the rotor 37 and rotate the multiple propellers, thereby moving the moving body 30 (step S211).

[0087] According to the sensor attachment / detachment system 100 configured as described above, the sensor 12 can be attached and detached by operating the moving body 30. This eliminates the need for the user to directly attach and detach the sensor 12. This makes it possible to easily attach the sensor 12 to the object O to be inspected and detach the sensor 12 from the object O. Furthermore, the effort required for attaching and detaching the sensor 12 can be reduced.

[0088] Below, a modification of the second embodiment will be described. (Modification 1 of the second embodiment) In the above-described example, the object O to which the sensor 12 is attached has a surface parallel to the X direction. The object O to which the sensor 12 is attached may be the object O shown in FIG. 10 or FIG. 11. FIG. 10 is a diagram (part 1) showing another example of the object O. The object O shown in FIG. 10 is an object having a surface parallel to the Z direction. For example, the object O shown in FIG. 10 is a wall surface of a structure or the like. FIG. 11 is a diagram (part 2) showing another example of the object O. The object O shown in FIG. 11 is an object that does not have a surface parallel to the X direction or a surface parallel to the Z direction. For example, the object O shown in FIG. 11 is an object that has a surface with a predetermined inclination.

[0089] (Modification 2 of the second embodiment) The sensor attachment / detachment device 10a may be configured to include a push solenoid (pressing unit). FIG. 12 is a diagram showing an example of the configuration of a sensor attachment / detachment device 10b in a modified example. The sensor attachment / detachment device 10b includes a support unit 11, a sensor 12, an adhesive member 13, a peeling unit 14b, an adhesive unit 15, and a push solenoid 16. The sensor attachment / detachment device 10b is different in configuration from the sensor attachment / detachment device 10a in that it includes a peeling unit 14b instead of the peeling unit 14 and that it newly includes a push solenoid 16. The other configurations of the sensor attachment / detachment device 10b are similar to those of the sensor attachment / detachment device 10a. The configurations of the peeling unit 14b and the push solenoid 16 will now be described.

[0090] The peeling execution unit 14b performs a process for reducing the adhesive force of the adhesive member 13 to peel the adhesive member 13 from the object. Furthermore, the peeling execution unit 14b operates the push solenoid 16 by applying a voltage to the push solenoid 16. Specifically, the peeling execution unit 14b operates the push solenoid 16 so that the pressing force of the push solenoid 16 becomes a predetermined pressing force (for example, a force exceeding xN). When the sensor 12 is attached to the object O in the sensor attachment / detachment device 10b, the support unit 11, the adhesive portion 15, and the push solenoid 16 are removed.

[0091] The push solenoid 16 is a member capable of pressing the sensor 12 with a predetermined pressing force (for example, a force exceeding xN). The push solenoid 16 is provided between the support 11 and the adhesive 15. Even if the thrust in the direction in which the sensor 12 is attached (sensor attachment direction) by the moving body 30 is a predetermined thrust (for example, a thrust exceeding xN), there are cases in which the adhesive member 13 does not contact the object O with the predetermined thrust (for example, when an attachment or the like is interposed between the support 11 and the object O). In this case, the push solenoid 16 applies a pressing force by pushing the sensor 12 in the Z direction +Z, so that the sensor 12 can be reliably applied with a predetermined pressing force against the object O, and the sensor 12 can be more reliably attached to the object O. Note that, when the push solenoid 16 is provided, the adhesive member 13 does not need to protrude by any amount in the Z direction +Z beyond the support 11 without contacting the object O.

[0092] (Modification 3 of the second embodiment) In the above-described embodiment, the moving body 30 is configured to attach one sensor attachment / detachment device 10a to the object O at a time. The moving body 30 may be configured to attach multiple sensor attachment / detachment devices 10a to the object O at a time. In this configuration, the moving body 30 is configured to hold multiple sensor attachment / detachment devices 10a at the same time. FIG. 13 is a diagram showing a system configuration of a sensor attachment / detachment system 100a in a modified example. The sensor attachment / detachment system 100a includes multiple sensor attachment / detachment devices 10a (10a-1, 10a-2, 10a-3), a remote control device 20, and a moving body 30. Note that, although FIG. 13 shows a configuration in which the moving body 30 holds three sensor attachment / detachment devices 10a at the same time, the moving body 30 may hold two sensor attachment / detachment devices 10a, or may hold four or more sensor attachment / detachment devices 10a. A sensor attachment / detachment device 10b may be used instead of the sensor attachment / detachment device 10a.

[0093] The moving body 30 attaches the sensor attachment / detachment devices 10a to the object O one by one in response to an instruction from the remote control device 20. If multiple sensor attachment / detachment devices 10a are held at the same height, multiple sensor attachment / detachment devices 10a may be attached to the object O at the same time. Therefore, the sensor attachment / detachment devices 10a may be held on the moving body 30 at different heights in the order in which they are installed.

[0094] The moving body 30 may be configured to move along a predetermined route while maintaining a constant distance from the object O, without being instructed by the remote control device 20, and to attach each sensor 12 provided in each sensor attachment / detachment device 10a to the object O at a predetermined interval. FIG. 14 is a diagram showing a specific example of a route when the moving body 30 attaches a plurality of sensors 12 to the object O. In FIG. 14, the location indicated by the cross mark L represents the attachment position of the sensor 12. The moving body 30 moves from the cross mark L at the lower left in the direction indicated by the arrow, and attaches the sensor 12 at each position of the cross mark L. In this case, information on the route along which the moving body 30 moves is stored in a storage unit (not shown) in the moving body 30. The control unit 35 determines whether or not to attach the sensor 12 based on the amount of movement measured by the movement amount sensor 33, and performs the sensor adhesion process as described in the embodiment when it is determined that the sensor 12 is to be attached. For example, the moving body 30 may store information on the amount of movement required to attach the sensor 12 in advance, and may determine to attach the sensor 12 every time the moving body 30 moves a distance indicated by the information on the amount of movement.

[0095] (Modification 4 of the second embodiment) In the above-described embodiment, the sensor 12 is attached and detached by the moving body 30, but the sensor 12 may be attached or detached manually. For example, the sensor 12 may be attached manually and then detached by the moving body 30, or the sensor 12 may be attached by the moving body 30 and then detached by hand.

[0096] When the sensor 12 is manually attached and then removed by the moving body 30, the sensor 12 can be attached using the sensor attachment process shown in the first embodiment, and the sensor 12 can be removed using the sensor removal process shown in the second embodiment. When the sensor 12 is attached to the moving body 30 and then manually removed, the sensor 12 can be attached using the sensor attachment process shown in the second embodiment, and the sensor 12 can be removed using the sensor removal process shown in the first embodiment.

[0097] (Modification 5 of the second embodiment) In the above-described embodiment, the moving body 30 transmits an instruction to peel off the adhesive member 13 from the object O to the sensor attachment / detachment device 10a. The instruction to peel off the adhesive member 13 from the object O may be directly transmitted from the remote control device 20 to the sensor attachment / detachment device 10a. Direct transmission from the remote control device 20 to the sensor attachment / detachment device 10a means transmitting an instruction from the remote control device 20 to the sensor attachment / detachment device 10a without going through the moving body 30. In this configuration, when the instruction inputted via the operation unit 21 is an instruction to peel off the adhesive member 13 from the object O, the control circuit 22 of the remote control device 20 transmits the instruction to the sensor attachment / detachment device 10a via the communication unit 23.

[0098] (Other variations) In the first embodiment, instead of the sensor attaching / detaching device 10, a sensor attaching / detaching device 10a or a sensor attaching / detaching device 10b may be used.

[0099] In the first and second embodiments, a configuration in which one sensor attachment / detachment device 10, 10a, 10b has both the function of attaching the sensor 12 to the object O and the function of removing the sensor 12 from the object O has been shown. Here, each function may be implemented in a separate device, such as a sensor attachment device having only the function of attaching the sensor 12 to the object O and a sensor removal device having only the function of removing the sensor 12 from the object O. In this case, the sensor attachment device having only the function of attaching the sensor 12 to the object O may include at least the support unit 11, the sensor 12, and the adhesive member 13. The sensor attachment device may include an adhesive unit 15 or a push solenoid as necessary. The sensor removal device having only the function of removing the sensor 12 from the object O may include at least the support unit 11 and the peeling execution unit 14. The sensor removal device may include an adhesive unit 15 as necessary.

[0100] According to at least one of the embodiments described above, the sensor 12, an adhesive member 13 that is adhered to a first surface of the sensor 12 and has the function of reducing its adhesive strength, a support part 11 that can support the sensor 12 by contacting the second surface of the sensor 12 directly or via another functional part, and a removal execution part 14 that performs a process to reduce the adhesive strength of the adhesive member 13 and remove the adhesive member 13 from the object O after the sensor 12 is attached to the object O with the adhesive member 13, thereby making it possible to easily attach the sensor to an object to be inspected or remove the sensor from the object.

[0101] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0102] 10, 10a, 10a-1 to 10a-3...sensor attachment / detachment device, 11...support section, 12...sensor, 13...adhesive member, 14, 14b...peeling execution section, 15...adhesive section, 16...push solenoid, 20...remote control device, 30...moving body, 21...operation section, 22...control circuit, 23...communication section, 31...communication section, 32...processor, 33...movement amount sensor, 34...attitude / speed sensor, 35...control section, 36...motor, 37...rotor, 38...transmission section

Claims

1. A sensor; an adhesive member that is attached to the first surface of the sensor and has a function of reducing adhesive strength; a support portion capable of supporting the sensor by contacting the second surface of the sensor directly or via another functional portion; a removal execution unit that performs a process for reducing an adhesive force of the adhesive member to remove the adhesive member from the object after the sensor is attached to the object by the adhesive member; Equipped with the other functional unit includes an adhesive unit that adheres the sensor and the support unit to each other; The adhesive strength of the adhesive portion is smaller than the adhesive strength of the adhesive member to the object. Sensor attachment / detachment device.

2. the adhesive member has a function of decreasing adhesive strength by any one of electricity, heat, or light; the peeling execution unit peels off the adhesive member from the object by reducing an adhesive strength of the adhesive member by the action of any one of electricity, heat, and light. The sensor attachment / detachment device according to claim 1 .

3. the other functional unit includes a pressing unit that presses the sensor against the object with a predetermined pressing force; The pressing unit presses the sensor against the object with a predetermined pressing force to adhere the sensor to the object. The sensor attachment / detachment device according to claim 1 or 2.

4. One or more sensor attachment / detachment devices according to any one of claims 1 to 3; a moving body that holds the one or more sensor attachment / detachment devices and moves in the air, and attaches each sensor provided in the one or more sensor attachment / detachment devices to an object using the adhesive member, or detaches each sensor attached to the object from the object; A sensor attachment / detachment system comprising:

5. the peeling execution unit performs a process for peeling the adhesive member from the object in response to an instruction from the moving body or a remote control device that remotely controls the moving body. The sensor attachment / detachment system according to claim 4 .

6. One or more sensor attachment / detachment devices comprising: a sensor; an adhesive member adhered to a first surface of the sensor and having a function of reducing adhesive strength; a support part capable of supporting the sensor by contacting a second surface of the sensor directly or via another functional part; and a detachment execution part that performs a process to reduce the adhesive strength of the adhesive member and detach the adhesive member from the object after the sensor is attached to the object by the adhesive member; a moving body that holds the one or more sensor attachment / detachment devices and moves in the air, and attaches each sensor provided in the one or more sensor attachment / detachment devices to an object using the adhesive member, or detaches each sensor attached to the object from the object; Equipped with the movable body presses the sensor against the object with a thrust force exceeding an adhesive force of an adhesive portion that adheres the sensor to the support portion; Sensor attachment / detachment system.

7. When the moving body holds a plurality of sensor attachment / detachment devices, the moving body moves the object along a predetermined path and attaches each sensor provided in each sensor attachment / detachment device to the object at a desired position; The sensor attachment / detachment system according to any one of claims 4 to 6.

8. A sensor attachment method comprising: operating a moving body moving in the air while holding one or more sensor attachment / detachment devices comprising a sensor, an adhesive member attached to a first surface of the sensor and having a function of reducing adhesive strength, and a support part capable of supporting the sensor by contacting a second surface of the sensor directly or via another functional part; and having the moving body press the sensor against an object with a thrust that exceeds the adhesive strength of the adhesive part that adheres the sensor to the support part, thereby attaching each sensor provided on the one or more sensor attachment / detachment devices to the object using the adhesive member.

9. a moving body moving in the air while holding one or more sensor attachment / detachment devices, the sensor attachment / detachment devices including at least a peeling execution unit that performs a process for peeling off an adhesive member that is attached to a first surface of a sensor and has a function of reducing adhesive strength from an object, and a support unit that is capable of supporting the sensor by contacting the second surface of the sensor directly or via another functional unit; the sensor attached to the object by the adhesive member is covered with the support portion; detaching the sensor from the object by reducing the adhesive strength of the adhesive member using the peeling execution unit; the other functional unit includes an adhesive unit that adheres the sensor and the support unit to each other; A sensor removal method, wherein an adhesive strength of the adhesive portion is smaller than an adhesive strength of the adhesive member to the object.

Images