Unevenness level inspection device and unevenness level inspection method

Abstract

To provide a technique capable of printing unevenness-level information on an inspection surface in an intuitively and visually recognizable manner.SOLUTION: An unevenness level inspection device 1 is provided with a target T whose distance from an inspection surface is known, a traveling unit 21 for traveling on the inspection surface, a first marker 23 for marking information onto the inspection surface, and a control unit 10 for controlling the first marker 23. The control unit 10 calculates the height of the inspection surface at a measurement position of the target T based on three-dimensional position coordinates of the target T input every time the unevenness level inspection device 1 travels a predetermined distance, a first marker 23 is controlled so as to mark unevenness level information indicating the difference between the height of the inspection surface and the reference height at a corresponding position of the inspection surface, and the unevenness level information is marked in different colors according to the level of the magnitude of the difference between the height of the inspection surface and the reference height.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an unevenness level inspection device and an unevenness level inspection method, and more particularly to an unevenness level inspection device and an unevenness level inspection method for inspecting the horizontal accuracy of the upper surface of a structure. Device and a method for inspecting unevenness level. [Background technology]

[0002] In construction work, foundation work is usually carried out, which is the substructure that forms the base of a building. The top surface of the rising edge of the foundation must be horizontal (i.e., the height difference of the top must be minimized as much as possible). In fact, the horizontal accuracy of a building depends on the accuracy of the top edge. In this specification, "top edge" refers to the part that forms the uppermost surface of any structure, regardless of the rising edge of the foundation.

[0003] For this reason, after pouring the concrete for the foundation rise, a self-leveling material called a top leveler is poured into the formwork to a depth of several millimeters to 1 cm to make the top surface level. Top leveler is a mortar that has been adjusted to have a lower viscosity than ready-mix concrete, and when poured into the formwork it spreads evenly to create a level finish.

[0004] However, in reality, it is difficult to achieve a perfectly level surface, and low areas require plasterwork to be added, while high areas require scraping. The accuracy of the top edge was checked by craftsmen using a tape measure during work, which was tedious work. Therefore, there was a need for an automatic method to measure the unevenness of the top edge. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-11772 Summary of the Invention [Problem to be solved by the invention]

[0006] Patent Document 1 discloses an unevenness level inspection device that includes a traveling mechanism, a target, and a control unit, travels to a desired position while being tracked by a surveying instrument (total station) with an automatic tracking function, measures the unevenness level of the floor surface from the measurement results of the target, and prints the unevenness level information.

[0007] The unevenness level inspection device in Patent Document 1 numerically indicates the amount of height adjustment for equipment installed on the floor as unevenness level information. While numerical values ​​are important at construction sites and the like, there is a need to be able to intuitively and visually recognize the information from an overall view, and there has been a demand for the development of technology to print unevenness level information on the inspection surface in a manner different from conventional methods.

[0008] The present invention has been made in consideration of the above circumstances, and aims to provide an unevenness level inspection device and an unevenness level inspection method that can print unevenness level information on the inspection surface in an intuitive and visually recognizable manner. [Means for solving the problem]

[0009] In order to achieve the above-mentioned object, one embodiment of the present invention provides an unevenness level inspection device comprising a target whose distance from an inspection surface is known, a running unit for running over the inspection surface, a first marker for marking information on the inspection surface, and a control unit for controlling the first marker, wherein the control unit calculates the height of the inspection surface at the measurement position of the target based on the three-dimensional position coordinates of the target input each time the unevenness level inspection device runs a predetermined distance, and controls the first marker to mark unevenness level information indicating the difference between the height of the inspection surface and a reference height at the corresponding position on the inspection surface, and the unevenness level information is marked in different colors according to the level of the difference between the height of the inspection surface and the reference height. In addition, an unevenness level inspection system according to another aspect of the present invention is characterized by comprising an unevenness level inspection device according to the above aspect, and a surveying instrument that transmits distance measuring light to the target, receives reflected light, measures the distance and angle to the target, and outputs the three-dimensional position coordinates of the target to the unevenness level inspection device.

[0010] Another aspect of the present invention provides an unevenness level inspection method that uses an unevenness level inspection device that includes a target whose distance from an inspection surface is known, a traveling unit for traveling over the inspection surface, a first marker that marks information on the inspection surface, and a control unit that controls the first marker, wherein the control unit calculates the height of the inspection surface at the measurement position of the target based on the three-dimensional position coordinates of the target that are input each time the unevenness level inspection device travels a predetermined distance, and controls the first marker to mark unevenness level information indicating the difference between the height of the inspection surface and a reference height at the corresponding position on the inspection surface, and the unevenness level information is printed as a mark of a different color depending on the level of the difference between the height of the inspection surface and the reference height. [Effects of the Invention]

[0011] According to the unevenness level inspection device and unevenness level inspection method of the above aspects, unevenness level information can be printed on the inspection surface so that it can be intuitively and visually recognized. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a diagram showing an outline of an unevenness level inspection system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a block diagram of the inspection system. [Figure 3] 1A is a side view of the unevenness level inspection device that constitutes the inspection system, and FIG. 1B is a bottom view of the same. [Figure 4] 10 is a flowchart of a process of basic operations of the inspection device and the surveying instrument in the inspection system. [Figure 5] 10 is a flowchart illustrating an overall method for inspecting unevenness level using the inspection system. [Figure 6] 10 is a flowchart of a process related to setting a reference height for unevenness level inspection in the inspection method. [Figure 7] 10 is a flowchart of a process relating to unevenness level inspection in the inspection method. [Figure 8] (A) is a diagram showing an example of an inspection route using the inspection system, and (B) and (C) are diagrams showing examples of inspection results marked on the inspection surface of the same route. [Figure 9] 10 is a flowchart showing a process relating to a hammering test in the test method. [Figure 10] 10A and 10B are diagrams showing another example of test results marked using a modified version of the same system. [Figure 11] FIG. 10 is a diagram showing an outline of an unevenness level inspection system according to a second embodiment of the present invention. [Figure 12] FIG. 2 is a block diagram of the inspection system. [Figure 13] 1A is a side view of the unevenness level inspection device that constitutes the inspection system, and FIG. 1B is a bottom view of the same. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. Furthermore, components having the same functions common to each embodiment and modification will be given the same names, and the same components will be given the same reference numerals, and duplicated descriptions will be omitted as appropriate.

[0014] (First embodiment) 1. Unevenness Level Inspection System S FIG. 1 is a schematic diagram of the appearance of an unevenness level inspection system (hereinafter simply referred to as "system") S according to an embodiment of the present invention. The system S includes an unevenness level inspection device 1 (hereinafter simply referred to as "inspection device") and a surveying instrument 6. FIG. 1 shows a state in which the system S is being used to inspect the unevenness level of the top of a foundation rise 91, and reference numeral 92 indicates an anchor bolt. FIG. 2 is a configuration block diagram of the system S.

[0015] The system S is a system that includes a target T and inspects the unevenness level of an inspection surface by manually moving an inspection device 1 having a traveling part 21 such as wheels over the inspection surface.

[0016] 2. Inspection equipment 1 The inspection device 1 has a rectangular parallelepiped housing 1a that is long and narrow in the direction of travel, and is configured to be able to travel on the inspection surface by a rotating body that forms the traveling part 21. The width of the inspection device 1 is set according to the width of the inspection surface, and is configured to be slightly smaller than half the width at the top level, which is usually the object of inspection, taking into account the anchor bolts 92.

[0017] A pole 1b serving as a target support member is erected on the top surface of the housing 1a, and a target T is attached to the upper end of the pole 1b. The target T is a so-called omnidirectional prism formed by combining multiple triangular pyramidal prisms in a radial pattern, and retroreflects light incident from all around its circumference (360°).

[0018] The inspection device 1 includes a target T, a control and calculation unit 10, a traveling unit 21, a marker 22, a hammering inspection unit 25, a movement distance / speed sensor 28, an inclination sensor 29, a display unit 31, an operation unit 32, a memory unit 33, a communication unit 34, and an indicator 35.

[0019] As shown in FIG. 3, running unit 21 is provided at the bottom of housing 1a. In the example of FIG. 3, running unit 21 includes one front wheel 21a and a pair of rear wheels 21b provided on the left and right opposite each other. Front wheel 21a is a ball caster that can move in 360° directions using bearings. Alternatively, it may be a general swivel caster. Rear wheels 21b are wheels (rollers) that can independently rotate around a rotation axis that is provided perpendicular to the direction of travel when traveling straight.

[0020] The housing 1a is adjusted so that the top surface is horizontal when the inspection device 1 is placed on a horizontal surface. The pole 1b is provided vertically on the top surface of the housing 1a. The target T is attached so that it is directly above the front wheel 21a. The operator manually pushes the housing 1a or the pole 1b of the inspection device 1 by hand to manually move the inspection surface so that the front wheel 21a connected to the pole 1b always abuts against the inspection surface at the contact point R. In this embodiment, the position of the contact point R is treated as the position coordinate of the inspection device 1 (hereinafter referred to as the "inspection device position coordinate"), and the height of the contact point R is treated as the height of the inspection surface at the measurement position of the target T.

[0021] The marker 22 includes a first marker 23 and a second marker 24. The marker 22 is a jet-type ink ejection device that includes at least an ink tank, an operating mechanism, and an ink ejection mechanism and ejects ink in a dotted (small circle) shape toward a predetermined position. The first marker 23 is disposed behind the front wheel 21a and adjacent to the front wheel 21a, and marks unevenness level information at a position corresponding to the target measurement position under the control of the unevenness level information output unit 13. The second marker 24 is disposed behind the hammering test unit 25 and adjacent to the hammering test unit 25, and marks the hammering test result at a position corresponding to the impact position under the control of the hammering test result output unit 16. The first marker 23 is configured to be able to eject ink of multiple colors, and the second marker 24 is configured to be able to eject ink of a color different from that of the first marker 23.

[0022] The first marker 23 and the second marker 24 are arranged so that their marking areas A1 and A2 are shifted in the left-right direction, which is perpendicular to the forward-backward direction, which is the direction of travel. In Figure 3(B), the positions on the inspection surface corresponding to the marking areas A1 and A2 are indicated by dashed lines. As a result, the marking by the first marker 23 and the marking by the second marker 24 on the inspection surface do not overlap even if they are at the same position in the direction of travel.

[0023] The hammering inspection unit 25 includes a striking unit 26 having a solenoid coil 26a and a cylindrical hammer 26b, and a sound collection unit 27. The striking unit 26 moves the hammer 26b up and down repeatedly at a predetermined cycle by turning on and off the power to the solenoid coil 26a, striking the inspection surface. The sound collection unit 27 is a so-called microphone that collects the striking sound produced by the hammer 26b and outputs it to the control and calculation unit 10. The hammering inspection unit 25 is aligned with the pole 1b in the front-to-rear direction so as not to increase the width dimension of the inspection device 1. The target T and the hammering inspection unit 25 are aligned in the front-to-rear direction, which is the direction of travel.

[0024] The positional relationship between the target T, the ground contact point R of the front wheel 21a located directly below the target T, and the impact position of the hammer 26b is known.

[0025] The travel distance / speed sensor 28 includes, for example, a rotary encoder provided on the rear wheel 21b of the traveling unit 21, and detects the travel distance of the inspection device 1 from the rotation speed of the rear wheel 21b. It also detects the speed from the angular velocity of the rotation of the rear wheel 21b. Alternatively, the travel distance / speed sensor 28 may measure its own position using a GNSS device that can detect its own position based on a navigation signal from a navigation satellite, and may be able to detect the travel distance and speed. Alternatively, it may be able to detect the travel distance and speed of the inspection device based on the inspection device position coordinates obtained by the coordinate acquisition unit 11.

[0026] The tilt sensor 29 is an electronic tilt sensor, and is provided in the housing 1a or near the target T with respect to two axes, the X-axis direction (left and right direction of the device body) and the Y-axis direction (front and back direction of the device body). The tilt sensor 29 detects the tilt of the target T at a timing synchronized with the timing of measurement of the target T by the surveying instrument 6, and outputs the detection result to the control calculation unit 10.

[0027] The display unit 31 is, for example, a liquid crystal display. The operation unit 32 is, for example, a keyboard, a mouse, etc., and enables the operator to input, select, give instructions, make decisions, etc. In the illustrated example, the display unit 31 and the operation unit 32 are integrally configured as a touch panel display, and are attached to a holder 1c on the top of the housing 1a as a detachable display. However, they may be integrally configured on the outer surface of the housing 1a.

[0028] The storage unit 33 is a non-volatile storage serving as an auxiliary storage device. The storage unit 33 is, for example, a hard disc drive (HDD) or a solid state drive (SSD). A part of the storage unit 33 may also be configured as an external storage device such as a USB flash memory. When each functional unit of the control and calculation unit 10 is implemented as software, the storage unit 33 stores at least a program for executing the function of each functional unit.

[0029] The communication unit 34 enables wireless transmission and reception of information between the inspection device 1 and the surveying instrument 6. As a communication means, Wi-Fi, Bluetooth (registered trademark), infrared communication, the Internet, a mobile phone communication network, etc. can be used.

[0030] The indicator 35 indicates that the operator is driving the inspection device 1 within an appropriate speed range based on the detection results of the travel distance / speed sensor 28. For example, it is equipped with an LED light source and a cover, and emits green light when the speed of the inspection device 1 is within the appropriate range.

[0031] The control and calculation unit 10 includes at least a CPU (Central Processing Unit) and a memory. The CPU reads various programs stored in the storage unit into the memory and executes them. The control and calculation unit 10 corresponds to the control unit of the unevenness level inspection device described in the claims. The control and calculation unit 10 includes, as functional units, a coordinate acquisition unit 11, an unevenness level determination unit 12, an unevenness level information output unit 13, a hammering inspection control unit 14, a hammering inspection determination unit 15, and a hammering inspection result output unit 16.

[0032] As a basic operation of the inspection device 1, the coordinate acquisition unit 11 acquires the three-dimensional position coordinates of the target T (hereinafter referred to as "target position coordinates") acquired by the surveying instrument 6 at predetermined intervals, and calculates the three-dimensional position coordinates of the inspection device 1 (hereinafter referred to as "inspection device position coordinates"). The acquired coordinates are stored in the memory unit 33. Specifically, the position coordinates of the inspection device 1 can be calculated from the acquired target position coordinates, the detection value of the tilt sensor 29, and the distance L (known) from the target T to the ground point R. The height component (z-axis component) of the inspection device position coordinates is calculated as the height of the inspection device 1.

[0033] The unevenness level determination unit 12 sets a reference height that serves as a basis for unevenness level determination, and calculates the height component (z component) of the height as the height of the inspection surface at the measurement position from the position coordinates of the inspection device acquired by the coordinate acquisition unit 11. The reference height may be input by the operator in advance. If a predetermined reference height is specified, the reference height is set by inputting the reference height. It is also preferable to set the reference height by measuring the foundation rise height at multiple points on site with a tape measure or the like before starting the inspection, and inputting, for example, the average, median, or mode as a representative value. If the reference height is not set in advance, the height of the inspection device 1 at the inspection start point is set as the reference height.

[0034] The unevenness level information output unit 13 controls the first marker 23 to print (mark) unevenness level information corresponding to the determined unevenness level at a corresponding position on the inspection surface.

[0035] The hammering test control unit 14 controls the striking unit 26 and the sound collecting unit 27 to carry out the hammering test.

[0036] The hammering sound determination unit 15 determines whether the inspection surface is abnormal based on differences in hammering sounds, and if an abnormality is detected, controls the second marker 24 to print (mark) a mark indicating the abnormality at a position corresponding to the strike position on the inspection surface. Here, an abnormality refers to peeling or cracks in the top edge leveler, or lifting due to poor adhesion. In the case of an abnormality, the waveform and frequency of the hammering sounds differ from those in the case where there is no abnormality in the top edge leveler and the layers are stacked normally. The hammering sound determination unit 15 performs machine learning using, for example, learning data in which various hammering sounds of the top edge are labeled as normal or abnormal, and determines whether the inspection surface is normal or abnormal using a trained model that determines whether the hammering sounds are normal or abnormal.

[0037] Furthermore, for example, normal hammering sounds may be registered before the start of an inspection at the site, and if a hammering sound that deviates from the normal hammering sound is detected, an abnormality may be determined.

[0038] If the hammering test result output unit 16 determines that an abnormality has occurred, the hammering test result output unit 16 marks the hammering test result on the test surface.

[0039] The functions of these functional units may be implemented in hardware, such as a circuit or a programmable logic device, or in software, such as a program. If implemented in software, the program may be stored and distributed on a computer-readable storage medium, such as a CD (Compact Disc), a DVD (Digital Versatile Disc), or a Blu-ray (registered trademark) disc.

[0040] 3. Survey instrument 6 The surveying instrument 6 is a motor-driven total station with an automatic tracking function. From the outside, the surveying instrument 6 has a base 6a mounted on a leveller, a base 6b that rotates horizontally on the base 6a, a telescope 6c that rotates vertically in the center of the base 6b, and a display unit 77 and an operation unit 78 mounted on the front of the base 6b.

[0041] The surveying instrument 6 includes a control and calculation unit 60, a distance measurement unit 71, a horizontal angle detector 72, a vertical angle detector 73, a horizontal rotation drive unit 74, a vertical rotation drive unit 75, an automatic tracking unit 76, a display unit 77, an operation unit 78, a memory unit 79, and a communication unit 81.

[0042] The distance measurement unit 71 measures the distance to the target T by emitting distance measurement light such as an infrared laser toward the target T and receiving reflected light.

[0043] A horizontal angle detector 72 detects the horizontal rotation angle of the support unit 6b, and a vertical angle detector 73 detects the vertical rotation angle of the telescope 6c. This allows the angle of the optical axis of the distance measurement light, i.e., the angle of the target T, to be measured. A horizontal rotation drive unit 74 and a vertical rotation drive unit 75 are motors controlled by the control and calculation unit 60 to drive the horizontal rotation shaft and the vertical rotation shaft, respectively.

[0044] The automatic tracking unit 76 emits tracking light, such as an infrared laser, having a wavelength different from that of the ranging light, and receives the reflected light with an image sensor such as a CCD sensor or CMOS sensor to obtain a landscape image including the tracking light and a landscape image excluding the tracking light. The control and calculation unit 60 detects the position of the target T from the difference between the two images, and automatically tracks the target T so that the telescope 6c is always facing the direction of the target T.

[0045] The display unit 77 and operation unit 78 are the user interface of the surveying instrument, and allow commands and settings for surveying work to be given, and work status and measurement results to be confirmed.

[0046] The storage unit 79 is configured by, for example, a memory card, a HDD, etc. The storage unit 79 stores various programs for realizing various functions, including a distance measurement program for the surveying instrument 6. The storage unit 79 also stores various information acquired by the control and calculation unit 60.

[0047] The communication unit 81 enables wireless communication of the same type with the inspection device 1. Target position coordinates calculated under the control of the control and calculation unit 60 are transmitted to the controller 4 at predetermined intervals.

[0048] The control and calculation unit 60 is a microcontroller in which a CPU, ROM, RAM, etc. are implemented in an integrated circuit, and controls the rotation drive units 74 and 75, the distance measurement unit 71, and the automatic tracking unit 76. The control and calculation unit 60 also calculates the target position coordinates from the results of distance and angle measurement of the target T. The control and calculation unit 60 automatically tracks the target T, and constantly (at very short predetermined intervals) measures the distance and angle of the target T in accordance with instructions from the inspection device 1, and transmits the target position coordinates to the inspection device 1. 1 Send to.

[0049] The surveying instrument 6 is not limited to a total station, and various surveying instruments capable of acquiring three-dimensional position coordinates of a target, such as a scanner device having an automatic tracking function and a target scanning function, can be applied.

[0050] 4. Testing Method Next, we will explain an inspection method using the system S. First, we will explain the basic operation of the system S. As a basic operation, the system S executes the process of Fig. 4 during inspection.

[0051] The surveying instrument 6 performs automatic tracking in step S01, and measures the distance and angle of the target T in step S02. Next, in step S03, the surveying instrument 6 calculates the target position coordinates, and in step S04, transmits the target position coordinates to the inspection device 1. Then, in step S05, steps S01 to S05 are constantly repeated until an end command is given by an operator via the inspection device 1.

[0052] On the other hand, when the inspection device 1 starts inspection in response to an instruction from the operator, in step S06, the tilt sensor 29 outputs a detection value to the control calculation unit at a timing synchronized with the distance and angle measurement of the target T by the surveying instrument 6. In step S07, when the target position coordinates are received from the surveying instrument 6, the inspection device position coordinates are calculated in step S08. Steps S06 to S09 are constantly repeated until an end instruction is given by the operator in step S09.

[0053] Figure 5 is a flowchart explaining the overall work procedure of this inspection method. When the inspection starts, first, in step S11, an operator installs the surveying instrument 6 at the instrument station. The instrument station is either a known point or is made known by measuring a known point after the surveying instrument 6 is installed. The surveying instrument 6 also measures a plurality of known points to make the direction angle known. Next, in step S12, an operator installs the inspection device 1 at the starting point.

[0054] Next, in step S13, in response to an instruction from the operator, the surveying instrument 6 measures the target position coordinates of the inspection device 1 installed at the starting point, and acquires the inspection device position coordinates in the same manner as in the basic operation described above. Next, in step S14, the inspection device 1 sets a reference height, as will be described later.

[0055] Next, in step S15, the operator instructs the surveying instrument 6 to start automatic tracking. Next, in step S16, the operator instructs the inspection device 1 to instruct the surveying instrument 6 to start inspection, and the inspection device 1 and the surveying instrument 6 start the basic operation of FIG.

[0056] Then, in step S17, the worker manually pushes the inspection device 1 to start it moving.

[0057] In step S18, the inspection device 1 inspects the unevenness level of the inspection surface, and at the same time, in step S19, performs a hammering inspection of the inspection surface. Then, when the operator issues an instruction to end the inspection in step S20, the inspection ends.

[0058] When the straight section of the inspection route ends and a change of direction is required, the worker lifts the inspection device 1, changes direction, and places it back on the inspection route. While the inspection device 1 is not on the ground, processing is suspended, and when it is again on the ground, processing resumes from step S17. The decision to suspend processing may be made, for example, when there is no longer any fluctuation in the values ​​of the travel distance / speed sensor. Alternatively, a separate lift detection sensor may be provided on the bottom surface of the housing 1a, and the decision may be made when the inspection device is lifted and no longer on the ground.

[0059] 6, 7, and 9 are flowcharts showing detailed processes of the inspection device 1 in steps S14, S18, and S19, respectively.

[0060] 6, when step S14 starts, in step S21, the unevenness level determination unit 12 determines whether or not a preset reference height exists. If the determination is Yes, the unevenness level determination unit 12 sets that value as the reference height. If the determination is No, the unevenness level determination unit 12 calculates the height of the inspection surface at the start point from the position coordinates of the inspection device acquired in step S13, sets that height as the reference height, and proceeds to step S15.

[0061] 7, when the unevenness level inspection is started in step S18, in step S31 the unevenness level determination unit 12 determines whether the inspection device 1 has traveled a predetermined distance (e.g., 3 cm) based on the output value of the travel distance / speed sensor 28. Then, if the inspection device 1 has traveled the predetermined distance (if Yes), in step S32 the unevenness level determination unit 12 calculates the height of the inspection surface based on the target three-dimensional coordinates at that position.

[0062] Next, in step S33, the unevenness level determination unit 12 compares the calculated height of the inspection surface with the reference height to determine the unevenness level. Next, in step S34, the unevenness level information output unit 13 instructs the first marker 23 to print (mark) corresponding to the magnitude of the difference between the current height and the reference height. As a result, in step S35, the first marker 23 prints a marking indicating the unevenness level information on the inspection surface. Then, in step S36, steps S31 to S36 are repeated until an instruction to end the inspection is received.

[0063] Figure 8(B) is an example of marking M1 printed on the inspection surface when the top edge of the foundation rise 91 shown in Figure 8(A) is inspected by moving it along the inspection route 93. The marking M1 indicates the result of the unevenness level inspection. Multiple anchor bolts 92 protrude vertically from the center of the foundation rise 91.

[0064] As shown in FIG. 8(B), in this example, the marking M1 indicating the unevenness level information is displayed in different colors depending on the magnitude of the difference from the reference height: no mark if the difference from the reference height is ±1 mm, a pink mark if it is +1 to 3 mm, a red mark if it is +3 to 5 mm, a light blue mark if it is -1 to -3 mm, and a blue mark if it is -3 to -5 mm. Alternatively, a white mark may be displayed for ±1 mm. Here, ±1 mm is the range of accuracy for the required top level. For convenience, a positive value indicates a difference that is higher than the reference height, and a negative value indicates a difference that is lower than the reference height. The mark colors may be assigned according to a predetermined rule, but it is preferable to use a bipolar hue that is 0 when the height is the same as the reference height, indicating white or no mark, and darkening depending on the magnitude of the difference. Furthermore, if the height of the starting point is used as the reference height and it is unclear what level the reference height is overall, it is preferable to use a single hue that becomes darker as the difference from the reference height increases (from negative values ​​to positive values), as this allows the unevenness level to be intuitively recognized.

[0065] In this way, in this embodiment, the unevenness level information is displayed according to the magnitude of the difference between the current height and the reference height, so that even general clients who are not experts can visually recognize the unevenness level of the surface.

[0066] In addition, when the difference from the reference height is within a range that satisfies a predetermined standard, no marking is made, and the range that does not satisfy the standard is shown in a different color according to its size, so that the range that does not satisfy the standard can be easily recognized.

[0067] Furthermore, since the difference from the reference height is shown in different colors when it is positive and when it is negative, it is easy to recognize whether an operation of adding or scraping is required at that position.

[0068] 9, when the hammering test starts in step S19, the hammering test control unit 14 controls the striking unit 26 to start striking with the hammer 26b in step S41, and also controls the sound collection unit 27 to start collecting hammering sounds in step S42. The collected hammering sounds are associated with hammering position coordinates and sequentially output to the hammering sound determination unit 15.

[0069] Then, in step S43, the hammering sound determination unit 15 determines whether or not there is an abnormality. If there is an abnormality (Yes), the process proceeds to step S44, where the hammering sound determination unit 15 commands the second marker 24 to print a marking at the corresponding position. Then, in step S44, the second marker 24 ejects ink to print the hammering sound inspection result. Then, in step S45, steps S41 to S46 are repeated until a command to end the inspection is received.

[0070] FIG. 8(C) shows an example of an inspection surface on which a marking M2 indicating the hammering test result is printed in addition to a marking M1 indicating the unevenness level information. The hammering test result is displayed as a mark in a different color from the unevenness level information, such as yellow. Alternatively, it may be displayed as a fluorescent mark. In this way, according to this embodiment, it is possible to easily visually recognize the hammering test result of the surface condition in addition to the unevenness level at the site.

[0071] By its very nature, top levelers shrink as they dry, which can cause cracks and peeling. Even if cracks or peeling occur, there is no problem as long as the surface is level. On the other hand, cracks can also cause unevenness. Professional craftsmen are aware of these circumstances. However, for ordinary people, such as clients who come to visit the site, cracks can significantly worsen the impression of the finished product, which can lead to problems. In this embodiment, it is possible to indicate with a mark that there is peeling, etc., while simultaneously indicating that there is no problem with the unevenness level, thereby reassuring clients and others who are concerned about peeling.

[0072] In this embodiment, the marking areas of the first marker 23 and the second marker 24 are positioned adjacent to the height measurement position and the impact position, but they do not coincide, so the marking position is slightly offset from the inspection position. However, when actually performing additional smearing or scraping after this inspection, an on-site craftsman will re-inspect the area around the position where the abnormality was detected in detail, so this is not a problem in practice.

[0073] However, by adjusting the timing of marking in accordance with the movement speed detected by the movement distance / speed sensor 28, it is possible to improve the positional accuracy of the marking relative to the height measurement position and the hammering inspection position.

[0074] 5. Variations The inspection device 1 according to this embodiment may be modified as follows. Variation 1: For example, the first marker 23 may be a stamp on which a predetermined figure can be printed in multiple colors, and the second marker 24 may be a stamp on which a figure different from that of the first marker can be printed. For example, as shown in Fig. 10(A), unevenness level information may be displayed as a triangular mark, and the hammering test results may be displayed as markings M3 and M4, respectively.

[0075] Variation 2 The first marker 23 may be configured as an inkjet printer, and may be displayed as marking M5, which indicates the unevenness level information along with a mark (arrow) and displays the difference between the height of the inspection surface and the reference height as a numerical value, as shown in Figure 10(B).

[0076] (Second embodiment) 1. Inspection System SA FIG. 11 is a schematic diagram of the appearance of the unevenness level inspection system SA according to the second embodiment, FIG. 12 is a configuration block diagram, FIG. 13(A) is a side view, and FIG. 13(B) is a bottom view.

[0077] 2. Inspection equipment 1A While the housing 1a of the inspection device 1 is a rectangular parallelepiped with a rectangular cross section, the housing 1Aa of the inspection device 1A has an adsorption part 37 extending downward from one side, giving it an inverted L-shaped cross section. Also, while the inspection device 1 can be moved manually, the inspection device 1A has a travel drive part 36 and can be moved automatically. Also, the inspection device 1A is operated by a controller 4 connected via short-range wireless communication SWC (Short-range Wireless Communication) such as infrared communication, Bluetooth (registered trademark), or Wi-Fi.

[0078] The travel unit 21A of the inspection device 1A has one front wheel 21Aa and a pair of left and right rear wheels 21Ab. The front wheel 21Aa is a ball caster. A travel drive unit 36, which is a motor, is connected to each of the rear wheels 21Ab, and by controlling the rotation of the rear wheels 21Ab, the inspection device 1A Furthermore, when the traveling section 21A is not being driven by the traveling drive section 36, it can be manually moved forward and backward.

[0079] The front wheel 21a of the inspection device 1 is located directly below the target T, whereas in the inspection device 1A, the center of the first marker 23A is aligned directly below the target T. The first marker 23A is , Paul 1b and The first markers 23A are arranged so as to be aligned in the front-rear direction and close to each other. In this way, the first markers 23A can mark the measurement position of the target T.

[0080] The suction unit 37 includes a suction body 37a, a skirt 37b, and a duct hose 37c. The suction body 37a is a rectangular plate with a suction fan 37d in its center. The skirt 37b is provided to surround the outer periphery of the suction body 37a and extends toward the inside of the inspection device 1A. The skirt 37b is made of an elastic material such as rubber with a predetermined friction coefficient, and is designed to adhere to the side wall of the structure when the inspection device 1A is installed along the outer edge of the structure (foundation rise 91) that protrudes upward as shown in Figure 11. The duct hose 37c is attached to the outer surface of the suction body 37a, covering the suction fan 37d, with its exhaust port facing rearward.

[0081] The control and calculation unit 10A further includes, as functional units, a travel control unit 17 and a suction control unit 18. The travel control unit 17 drives the travel drive unit 36 ​​in accordance with a remote operation instruction from the controller, and controls the inspection device 1A to move forward and backward at a constant speed.

[0082] The suction control unit 18 controls the operation of the suction fan 37d, and exhausts the air in the space defined by the suction body 37a, the skirt 37b, and the side wall 91a of the structure to the outside via the duct hose 37c, thereby maintaining the space at a predetermined negative pressure. death However, it is possible to run along the outer edge of the top without falling off.

[0083] 3. Controller 4 The controller 4 is, for example, a computer such as a personal computer, a tablet terminal, or a PDA. The controller 4 includes at least a control and calculation unit 40, a display unit 51, an operation unit 52, and a storage unit 53. In the illustrated example, the controller 4 is a tablet terminal. 1A and the controller 4 are connected by the short-distance wireless communication SWC described above, and are capable of inputting and outputting information to and from each other.

[0084] The display unit 51 is, for example, a liquid crystal display. The operation unit 52 is, for example, a keyboard, a mouse, etc., and enables various inputs, selections, decisions, and instructions. In the illustrated example, the display unit 51 and operation unit 52 are integrated as a touch panel display.

[0085] The storage unit 53 is a so-called auxiliary storage device, for example, a HDD, SSD Furthermore, a part of the storage unit 53 may be configured with an external storage device such as a USB flash memory. The storage unit 53 stores at least a program for operating the inspection device 1A.

[0086] The control and calculation unit 40 is a control and calculation unit that includes at least a CPU and a memory, and the CPU reads out a program stored in the storage unit 53 into the memory and executes it. The control and calculation unit 40 includes, as a functional unit, an apparatus operation unit 41. The apparatus operation unit 41 controls the start, advance, retreat, and stop of the inspection apparatus 1A according to instructions from an operator input via the operation unit 52.

[0087] In addition, the inspection device 1A may be configured to omit the display unit 31 and the operation unit 32, and have the functions of the display unit 31 and the operation unit 32 performed by the display unit 51 and the operation unit 52 of the controller 4, and the controller 4 may be attached to the holder 1c of the inspection device 1A for use.

[0088] 4. Testing Method The procedures and processes of the inspection method using System SA are generally the same as those of System S, but on straight sections of the inspection route, the inspection is carried out by automatically driving the vehicle according to instructions from the controller.

[0089] According to the above configuration, the travel drive unit 36 ​​can be used to automatically travel the inspection surface to inspect the unevenness level and hammering inspection, thereby improving work efficiency.

[0090] In particular, suction parts 37 are provided along the side, and the robot can travel while adsorbing to the side wall extending downward from the inspection surface, which is advantageous for inspecting the unevenness level of the top of a narrow, erect structure such as the top of a foundation.

[0091] The unevenness level inspection device according to the first and second embodiments is configured to simultaneously perform two inspections, an unevenness level inspection and a hammering inspection. However, the present invention is not limited to this, and may be configured to have two modes, an unevenness level inspection mode and a hammering inspection mode, and to perform only one of them.

[0092] The above describes preferred embodiments of the present invention, but the above embodiments are merely examples of the present invention, and these can be combined based on the knowledge of those skilled in the art, and such forms are also included in the scope of the present invention. [Explanation of symbols]

[0093] 1: Unevenness level inspection device 22: Marker 23: First marker 24: Second marker 25: Hammering Testing Department 26: Striking section 26b: Hammer 27: Sound collection section 1A: Inspection equipment 1Aa: Housing 10A: Control calculation section 21A: Running part 23A: First marker L: distance T: Target

Claims

1. a target whose distance from the inspection surface is known; a traveling unit for traveling on the inspection surface; a first marker for marking information on the inspection surface; a control unit for controlling the first marker, the control unit calculates the height of the inspection surface at the measurement position of the target based on the three-dimensional position coordinates of the target input each time the unevenness level inspection device travels a predetermined distance, and controls the first marker to mark unevenness level information indicating the difference between the height of the inspection surface and a reference height at the corresponding position on the inspection surface; the unevenness level information is marked with different colors according to the level of the magnitude of the difference between the height of the inspection surface and the reference height; An unevenness level inspection device characterized in that the reference height is a representative value of the height of the inspection surface obtained by measuring at a plurality of points on the inspection surface.

2. a striking unit that strikes the inspection surface with a hammer; a hammering sound inspection unit including a sound collection unit for detecting hammering sounds; a second marker for marking information on the inspection surface; 2. The unevenness level inspection device according to claim 1, wherein the control unit determines whether or not there is an abnormality on the surface of the inspection surface based on the hammering sounds collected by the hammering inspection unit, and when an abnormality is detected, controls the second marker to mark a position corresponding to the striking position.

3. 3. The unevenness level inspection device according to claim 2, wherein the marking area of ​​the first marker and the marking area of ​​the second marker are arranged so as to be shifted in the left-right direction perpendicular to the traveling direction.

4. a rectangular parallelepiped housing that houses the first marker, the second marker, and the hammering test unit; Further provided is a travel drive unit that drives the travel unit, A suction unit extending downward is provided on one side surface of the housing, and the suction unit includes a suction main body equipped with a suction fan, a skirt surrounding the outer periphery of the suction main body, and a duct hose that exhausts air sucked by the suction fan rearward; 4. The unevenness level inspection device according to claim 2, wherein the traveling drive unit is driven to travel along the edge of a structure.

5. The unevenness level inspection device according to any one of claims 1 to 4, a surveying instrument that transmits distance measuring light to the target, receives reflected light, measures the distance and angle to the target, and outputs the three-dimensional position coordinates of the target to the unevenness level inspection device.

6. 1. A method for inspecting a level of unevenness using an unevenness inspection device including: a target whose distance from an inspection surface is known; a traveling unit for traveling on the inspection surface; a first marker for marking information on the inspection surface; and a control unit for controlling the first marker, the control unit calculates the height of the inspection surface at the measurement position of the target based on the three-dimensional position coordinates of the target input each time the unevenness level inspection device travels a predetermined distance; controlling the first marker to mark unevenness level information indicating a difference between the height of the inspection surface and a reference height at a corresponding position on the inspection surface; the unevenness level information is printed as marks of different colors according to the level of the difference between the height of the inspection surface and the reference height, A method for inspecting unevenness levels, wherein the reference height is a representative value of the height of the inspection surface obtained by measuring at a plurality of points on the inspection surface.

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