Support member and adhesive monitoring method

Abstract

Provided is a support member and adhesive monitoring method that allows the support member and the adhesive to be replaced or reapplied at an appropriate time. The support member and adhesive monitoring method is a method for monitoring changes in a gel-like support member that is interposed between a pedestal and a floor surface to support the pedestal in a state in which a movable device having at least a portion that can move relative to the pedestal is fixed to the pedestal, and an adhesive that is interposed between the pedestal and the floor surface to bond the pedestal to the floor surface, the method including: imaging a portion of the pedestal as a measured object, to measure displacement thereof; and calculating, on the basis of the displacement of the measured object, a vertical thickness change rate of the support member, a horizontal adhesion displacement rate of the adhesive, and an amount of positional displacement of the movable device.

Description

Support member and adhesive monitoring method

[0001] SUMMARY The present disclosure relates to a support member and a method for monitoring adhesive.

[0002] There are known conveyance devices such as palletizing devices and depalletizing devices that load and unload items onto pallets, or transfer items from one pallet to another. Palletizing devices and depalletizing devices are, for example, robots with articulated arms.

[0003] Various methods for fixing and holding such movable devices, such as robots, to floors or walls via pedestals have been disclosed (e.g., Patent Documents 1, 2, and 3). However, the fixing method using magnets in Patent Document 1 is limited to metal floors and has weaker fixing strength than anchor bolts. Furthermore, Patent Documents 2 and 3 fix devices using hooks installed on the floor or wall, which requires prior construction work at the installation site and makes them unremovable.

[0004] Furthermore, in order to obtain vibration-damping effects in addition to supporting and fixing the load of the movable device and base, a method of applying a fall-suppression device using a silicone-based elastic adhesive, as disclosed in Patent Document 4, for example, can be considered. Note that this method allows for easy relocation because the device is removable, but the fixing force is weak, so it is necessary to use another fixing method (for example, adhesive) in combination to prevent horizontal displacement.

[0005] JP 2021-171784 A JP 2013-061053 A JP 2020-138289 A JP 2019-120358 A

[0006] Furthermore, adhesive gels such as those described in Patent Document 4 undergo plastic deformation and a decrease in thickness when a load is continuously applied, which hardens them and causes a loss of vibration damping effect. Furthermore, adhesives also undergo changes in their physical properties over time, such as a decrease in adhesive strength. Therefore, they must be replaced or reapplied at appropriate times.

[0007] The present disclosure is intended to solve the above-mentioned problems, and aims to provide a method for monitoring support members and adhesives that allows support members and adhesives to be replaced or reapplied at appropriate times.

[0008] In order to achieve the above-mentioned object, one embodiment of the present disclosure provides a method for monitoring a support member and adhesive, which monitors changes in a gel-like support member that is interposed between the base and a floor surface to support the base, and an adhesive that is interposed between the base and the floor surface to adhere the base to the floor surface, when the movable device, at least a portion of which is movable relative to the base, is fixed to the base.The method includes capturing an image of a portion of the base as a measurement object to measure displacement, and calculating the vertical thickness change rate of the support member, the horizontal adhesive slippage rate of the adhesive, and the positional deviation amount of the movable device based on the displacement of the measurement object.

[0009] According to the present disclosure, it is possible to obtain the effect that the support member and adhesive can be replaced and reapplied at an appropriate time.

[0010] FIG. 1 is a schematic diagram of a conveying device to which a support member according to this embodiment is applied. FIG. 2 is a functional block diagram of the conveying device shown in FIG. 1. FIG. 3 is a schematic diagram showing an example of a change in thickness of the gel shown in FIG. 1. FIG. 4 is a schematic diagram showing an example of adhesive misalignment shown in FIG. 1. FIG. 5 is a schematic diagram illustrating a method for capturing an image of an object to be measured. FIG. 6 is a schematic diagram showing an example of a cause of positional misalignment. FIG. 7 is a schematic diagram showing an example of a cause of positional misalignment. FIG. 8 is a schematic diagram showing an example of a cause of positional misalignment. FIG. 9 is a schematic diagram illustrating a method for determining the amount of positional misalignment. FIG. 10 is a schematic diagram showing an example of measurement points for measuring a change in gel thickness. FIG. 11 is a schematic diagram illustrating a method for determining the rate of change in gel thickness. FIG. 12 is a graph showing the rate of change in gel thickness and its transition. FIG. 13 is a graph illustrating a method for predicting when to replace the gel. FIG. 14 is a graph illustrating a method for predicting when to replace the gel. FIG. 15 is a schematic diagram showing adhesive misalignment. FIG. 16 is a schematic diagram illustrating a method for determining the rate of adhesive misalignment. FIG. 17 is a flowchart illustrating the flow of the method for monitoring the support member and adhesive according to this embodiment.

[0011] (Embodiments) Hereinafter, embodiments according to the present disclosure will be described in detail with reference to the drawings. Note that the present invention is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily replaceable by those skilled in the art, those that are substantially identical, or those that are equivalent. Furthermore, the components in the following embodiments can be variously omitted, replaced, or modified without departing from the gist of the present disclosure. In the following embodiments, components necessary for illustrating the embodiments will be described, and other components will be omitted. The same components will be assigned the same reference numerals, and different components will be assigned different reference numerals.

[0012] <Conveying device> Fig. 1 is a schematic diagram of a conveying device to which a support member according to this embodiment is applied. Fig. 2 is a functional block diagram of the conveying device shown in Fig. 1. The conveying device 1 shown in Figs. 1 and 2 is a device that stacks (palletizes) articles R onto a pallet P1, unloads (depalletizes) articles R from a pallet P2, or transfers articles R from an arbitrary pallet P2 to another pallet P1 in a facility that is subject to logistics management, such as a warehouse.

[0013] Here, the definition of a pallet by the Japan Pallet Association (general incorporated association) is "a surface on which a single unit of cargo can be placed, with a structure that allows for all loading, transport, and storage by hand or by dedicated vehicles such as forklifts. This includes those with superstructures." In this embodiment, a pallet refers to a container or platform on which goods R are stacked. In other words, the pallet referred to here is not limited to a so-called flat platform, but also includes a cart or the like, and may be of any shape. Goods R are things that are stacked on a pallet, such as goods to be shipped. Note that goods R are also referred to as plastic containers, cardboard boxes, bags, etc., in which goods are packaged.

[0014] 1, the transport device 1 includes a base 10, a gel 20 and an adhesive 30 that are support members, a movable device 40, and an imaging device 50. Also, as shown in Fig. 2, the transport device 1 further includes a lighting device 60, a point cloud analysis device 70, a control device 80, and an alarm device 90. Note that in this embodiment, the transport device 1 including the imaging device 50, the lighting device 60, the point cloud analysis device 70, the control device 80, and the alarm device 90 also includes an embodiment in which the functions of each of these devices are configured as part of the functions of the transport device 1 or a transport system in which the transport device 1 is deployed.

[0015] In this embodiment, a horizontal direction is defined as an X-axis direction, a horizontal direction perpendicular to the X-axis direction is defined as a Y-axis direction, and a vertical direction perpendicular to the X-axis and Y-axis directions is defined as a Z-axis direction. The conveying device 1 is supported and fixed on a horizontal surface Gr that is parallel to the X-axis and Y-axis directions and has high rigidity, such as concrete.

[0016] The base 10 is a plate-shaped object made of a highly rigid material such as a steel plate. The base 10 is supported and fixed on the underside to the floor Gr, which is the installation surface, via a gel 20 and an adhesive 30, which are support members. Ideally, the base 10 is supported and fixed in a substantially horizontal position, but as will be described later, when the thickness of the gel 20 decreases, the amount of reduction varies within the horizontal plane, causing the base 10 to tilt relative to the horizontal position. The base 10 supports the movable device 40 on the upper side.

[0017] The gel 20 is a gel-like support member that has adhesiveness and is in the shape of a plate made of an elastic material, for example, a silicone-based resin or a rubber-based material. The gel 20 is disposed between the floor surface Gr and the underside of the base 10, thereby supporting the load applied from the base 10 and the movable device 40 supported by the base 10 in the Z-axis direction by compression and damping vibrations. The gel 20 is disposed in a plurality of dispersed locations in a plan view.

[0018] FIG. 3 is a schematic diagram showing an example of a change in the thickness of the gel shown in FIG. 1. The example shown in FIG. 3 shows a state in which the base 10 is supported by two gels 20-1 and 20-2. As the load from the base 10 and the movable device 40 supported by the base 10 continues to be applied to the gels 20-1 and 20-2, the gels 20-1 and 20-2 undergo plastic deformation and their thickness decreases. As shown in FIG. 3, as the thickness of the gel 20 decreases, the base 10 sinks downward in the Z-axis direction by an amount corresponding to the thickness reduction amount δ of the gel 20. For example, if the thickness reduction amount δ of one of the gels 20-1 is １ The thickness reduction amount δ of the other gel 20-2 ２ is larger, the base 10 tilts from the horizontal position.

[0019] 1 is, for example, a silicone resin that has adhesive properties that allow it to bond at least between the floor surface Gr and the pedestal 10, and is stored in a liquid state and hardens by drying, etc. The adhesive 30 fixes the floor surface Gr and the pedestal 10 by filling the gap between the floor surface Gr and the pedestal 10 with the pedestal 10 supported by the gel 20, for example, and hardening.

[0020] FIG. 4 is a schematic diagram illustrating an example of adhesive misalignment shown in FIG. 1 . As shown in FIG. 4 , the adhesive 30 is applied, for example, in a ring shape with a substantially constant adhesive width Aw along a position at a predetermined distance from the periphery of the base 10. The adhesive 30 undergoes changes in physical properties, such as a decrease in adhesive strength, due to aging. Furthermore, the base 10 is subjected to a horizontally misaligning force when the movable device 40 pivots on the base 10. This causes shear deformation or breakage of the adhesive 30, causing the base 10 to misalign in the X-axis and Y-axis directions relative to the floor surface Gr. For example, as shown in FIG. 4 , pivoting the base 10 relative to the floor surface Gr causes the adhesive surface of the base 10 to misalign in the X-axis and Y-axis directions relative to the adhesive surface of the floor surface Gr.

[0021] The movable device 40 shown in Fig. 1 is a device that operates while supported and fixed to the base 10. The movable device 40 of this embodiment is a palletizing device, a robot having an articulated arm. The movable device 40 experiences shaking, vibration, and shifts in its center of gravity due to the rotation and deformation of the arm 44 and the load of the article R held by the end effector 46. In other words, operation of the movable device 40 generates an excitation force on the base 10.

[0022] The movable device 40 includes a robot pedestal 42, an arm 44 including a plurality of links 442 connected to a plurality of joints 441, and an end effector 46. The robot pedestal 42 is a rectangular parallelepiped base member made of a highly rigid material such as carbon steel (SS material). The robot pedestal 42 is fixed to the base 10 with bolts or the like. The arm 44 is supported on the robot pedestal 42 so as to be able to rotate around an axis and move up and down. The joint 441 is an axis of rotation that serves as a joint of the arm 44. The link 442 connects adjacent joints 441. The end effector 46 is connected to the tip of the arm 44. The end effector 46 is a gripping unit that grips the item R by suction, clamping, or a combination of these.

[0023] As shown in FIG. 2 , the movable device 40 also includes a drive unit 48. The drive unit 48 includes a rotation mechanism that rotates the links 442 relative to each other at the joint 441, and a suction mechanism or clamping mechanism that drives the end effector 46. The rotation mechanism in the joint 441 is realized by a well-known mechanism, such as a rotary actuator including a motor, a rack-and-pinion mechanism including an air cylinder, or a wire or link mechanism. The suction mechanism in the end effector 46 is realized by a mechanism that drives a rotary cylinder or a piston cylinder with a motor or a compressor, or a well-known mechanism that includes a suction source, such as a vacuum pump or an ejector. The clamping mechanism in the end effector 46 is realized by a well-known mechanism, such as a rotary actuator including a motor, a linear actuator including a motor or an air cylinder, a rack-and-pinion mechanism including an air cylinder, or a wire or link mechanism.

[0024] 1 and 2 captures an image of a measurement object including the shape of at least a portion of the base 10 to acquire image data including three-dimensional information about the shape of the measurement object, in order to measure the height in the Z-axis direction and the orientation in the X-axis direction and Y-axis direction of the base 10. The measurement object is any existing part having a unique shape, and includes, for example, the edge of the base 10, a bolt, an unevenness, a notch, etc.

[0025] 5 is a schematic diagram illustrating a method for capturing an image of an object to be measured. In this embodiment, the imaging device 50 includes a stereo camera having a first imaging device 52 that captures an image of the object to be measured from a predetermined viewpoint and a second imaging device 54 that captures an image of the object to be measured from a viewpoint different from that of the first imaging device 52, and acquires three-dimensional point cloud information of the surface of the object to be measured. The first imaging device 52 and the second imaging device 54 output image data of the captured object to the control device 80.

[0026] The imaging device 50 is not limited to a stereo camera, but may be a structured illumination camera having an illumination device that irradiates structured light and a camera that captures the structured light reflected from the surface of the object to be measured, or a 3D scanner camera. The imaging device 50 may also serve as an imaging device that captures images of the pallets P1, P2 on which the items R are to be loaded or unloaded, the items R loaded on the pallet P2, the stacked arrangement of the items R, etc., and acquires image data that can identify the position and individual items of the object to be imaged.

[0027] 2 is a device that irradiates light onto an object to be imaged by the imaging device 50. The illumination device 60 may be configured as, for example, a part of the imaging device 50. Alternatively, the illumination device 60 may be an external illumination device provided in the facility where the transport device 1 is installed.

[0028] The point cloud analysis device 70 analyzes the image data acquired by the imaging device 50, including the object to be measured, and acquires the three-dimensional coordinates of the object. The point cloud analysis device 70 includes a pixel disparity map storage unit 72, a coordinate conversion unit 74, a noise reduction unit 76, and an edge recognition unit 78. The pixel disparity map storage unit 72 estimates disparity by matching each pixel of the image data acquired by the first imaging device 52 with each pixel of the image data acquired by the second imaging device 54, and calculates the distance in the depth direction. This acquires the three-dimensional coordinates of each pixel (point cloud). The coordinate conversion unit 74 converts the three-dimensional coordinates of the point cloud acquired by the pixel disparity map storage unit 72 from the camera coordinate system of the imaging device 50 to the device coordinate system of the transport device 1. The noise reduction unit 76 removes outliers from the point cloud using a known algorithm. The edge recognition unit 78 extracts and recognizes the object to be measured from the three-dimensional coordinates of the point cloud constituting the image data.

[0029] The control device 80 is a computer that controls the conveyance device 1. The control device 80 has a communication unit 82, a storage unit 84, and a calculation unit 86. The communication unit 82 is a module used by the calculation unit 86 to communicate with external devices such as the management device 100, and may include, for example, an antenna. In this embodiment, wireless communication is assumed as the communication method used by the communication unit 82, but any communication method may be used. The storage unit 84 is a memory that stores the calculation contents and programs of the calculation unit 86, and various information acquired from the management device 100 via the communication unit 82, and includes, for example, at least one of a main storage device such as a random access memory (RAM), a read-only memory (ROM), and an external storage device such as an HDD (hard disk drive).

[0030] The calculation unit 86 is an arithmetic processing device and includes, for example, a calculation circuit such as a CPU (Central Processing Unit). The calculation unit 86 performs various processes by reading and executing programs (software) from the storage unit 84. The calculation unit 86 may perform processes using a single CPU, or may be provided with multiple CPUs and perform processes using the multiple CPUs.

[0031] The calculation unit 86 acquires upstream data from the management device 100 via the communication unit 82. The upstream data includes transport target data such as the type, weight, dimensions, box perforations, number of glued items, number of items R to be stacked on a pallet, the arrangement of each item R on the pallet or the position where the items R are stacked on the pallet, the order in which the items R are unloaded from the pallet or the order in which they are stacked on the pallet, etc. The calculation unit 86 outputs a predetermined control signal to the drive unit 48 of the movable device 40 based on the upstream data.

[0032] The calculation unit 86 controls the imaging device 50 to capture images at any timing and acquire image data. The calculation unit 86 adjusts the exposure time of the imaging device 50 in response to insufficient or excessive brightness (blown-out highlights) in the image data captured by the imaging device 50. The calculation unit 86 then causes the point cloud analyzer 70 to perform image processing on the acquired image data to acquire the number, position, shape, size, etc. of the items R present in the image data and the three-dimensional coordinates of the objects to be measured. Based on the three-dimensional coordinates of the objects to be measured, the calculation unit 86 calculates the positional deviation amount c at a predetermined position on the base 10, the positional deviation amount C at the tip of the arm 44 of the movable device 40, the thickness reduction amount δ and thickness change rate A of the gel 20, the adhesive deviation amount δ and adhesive deviation rate B. The calculation unit 86 performs thickness change rate determination, adhesive deviation rate determination, and positional deviation amount determination, which will be described later. The calculation unit 86 outputs a control signal to the alarm device 90 to notify predetermined notification information.

[0033] The notification device 90 is a device for allowing an operator to recognize predetermined notification information. The notification device 90 includes a display device that visually presents predetermined notification information, a light-emitting device that presents predetermined notification information by light, a speaker that presents predetermined notification information by sound, a vibrator that presents predetermined notification information by vibration, etc. The display device includes, for example, a liquid crystal display (LCD), an organic electroluminescence display (OELD), or an inorganic electroluminescence display (IELD). The light-emitting device includes, for example, an LED. The notification device 90 includes an input unit for selecting, setting, and stopping the presentation of the notification information to be presented. The input unit is realized, for example, by a keyboard, a mouse, a physical switch, a button, a touch panel, etc.

[0034] The notification device 90 presents, for example, the positional deviation amount c of the base 10 and the positional deviation amount C of the movable device 40, the thickness reduction amount δ and thickness change rate A of the gel 20, and the adhesive deviation amount δ and adhesive deviation rate B, all calculated by the calculation unit 86. The notification device 90 presents, for example, the results of the thickness change rate determination, adhesive deviation rate determination, and positional deviation amount determination, all determined by the calculation unit 86. The notification device 90 issues, for example, a predetermined alarm based on the determination results.

[0035] The management device 100 is a system that manages the operation of each device in a logistics management facility in which the conveying device 1 of this embodiment is deployed. The management device 100 is, for example, a WCS (Warehouse Control System) or a WMS (Warehouse Management System), but is not limited to a WCS or a WMS and may be any system, such as a back-end system such as another production management system. The location where the management device 100 is installed is arbitrary, and the management device 100 may be installed within the facility in which the conveying device 1 is installed, or may be installed at a location remote from the facility to manage the facility from that location.

[0036] <Method of Determining the Amount of Positional Deviation> Figures 6 to 8 are schematic diagrams showing examples of factors that cause positional deviation. Figures 6 and 7 show a simple two-point support model in which the base 10 is supported by two gels 20-1 and 20-2. Also, in Figures 6 to 8, the arm 44 of the movable device 40 is shown in a state extended in the X-axis direction. Here, the amount of positional deviation C from the initial coordinates at the tip of the arm 44 will be described. The amount of positional deviation C includes the amount of positional deviation Cx in the X-axis direction, the amount of positional deviation Cy in the Y-axis direction, and the amount of positional deviation Cz in the Z-axis direction.

[0037] 6, when the thickness of the two gels 20-1 and 20-2 is reduced by the same amount δ, the tip of the arm 44 of the movable device 40 is displaced in the Z-axis direction from its initial position. That is, the amount of positional displacement Cz of the tip of the arm 44 in the Z-axis direction is equal to the amount of thickness reduction δ (Cz = δ). The amount of thickness reduction δ at a predetermined position is calculated based on the displacement of the three-dimensional coordinates of the object to be measured.

[0038] 7, when the thickness reduction amount δ of one gel 20-2 differs from that of the other gel 20-1, the arm 44 rotates around the Y axis and tilts, and the tip of the arm 44 of the movable device 40 shifts in position in the X-axis and Z-axis directions from its initial position. If the distance between the two gels 20-1 and 20-2 is Wg and the angular error of the arm 44 is θ, the thickness reduction amount δ is expressed as δ = Wg × tan θ. If the length of the arm 44 is L, the positional deviation amount Cx of the tip of the arm 44 in the X-axis direction is expressed as Cx = L × (1 - cos θ), and the positional deviation amount Cz in the Z-axis direction is expressed as Cz = L × tan θ.

[0039] As shown in FIG. 8 , when the base 10 rotates about the Z-axis around the pivot axis of the arm 44 relative to its initial position, the tip of the arm 44 of the movable device 40 shifts in position in the X-axis and Y-axis directions from its initial position. If the distance between the pivot axis, which is the center of the rotational shift, and the predetermined position where the adhesive 30 is applied is Wa and the angular error of the arm 44 is φ, the adhesive shift amount δ of the adhesive 30 at that position is expressed as δ = 2 × Wa × sin(φ / 2). The positional shift amount Cx of the tip of the arm 44 in the X-axis direction is expressed as Cx = L × (1 - cos φ), and the positional shift amount Cy of the tip of the arm 44 in the Y-axis direction is expressed as Cy = L × tan φ. The adhesive shift amount δ at a predetermined position is calculated based on the displacement of the three-dimensional coordinates of the object to be measured.

[0040] FIG. 9 is a schematic diagram illustrating a method for determining the amount of misalignment. In this embodiment, if the X-axis misalignment amount Cx, the Y-axis misalignment amount Cy, and the Z-axis misalignment amount Cz are all within a predetermined tolerance Cp, the movable device 40 continues to be used. If at least one of the X-axis misalignment amount Cx, the Y-axis misalignment amount Cy, and the Z-axis misalignment amount Cz exceeds the tolerance Cp, the coordinates when the movable device 40 is operated to transport the item R are corrected based on the misalignment amount C. Specifically, for example, the box coordinates of the item R are corrected. Note that correction processing may be performed if the misalignment amount C, which is a combination of the X-axis misalignment amount Cx, the Y-axis misalignment amount Cy, and the Z-axis misalignment amount Cz, exceeds the tolerance Cp.

[0041] The tolerance Cp of the positional deviation C may be set based on the characteristics of the packaging container to be transported, as in the example shown in Table 1. In this embodiment, the tolerance Cp is set to 1 mm for a plastic container that is rigid and has fixed dimensions, the tolerance Cp is set to 3 mm for a cardboard box that can tolerate some contact, and the tolerance Cp is set to 5 mm for a bag that can be significantly deformed and can be slightly overlapped without causing any problems.

[0042]

[0043] It is preferable to perform the determination and correction process of the positional deviation amount C at an appropriate frequency. As shown in Table 2, in this embodiment, the frequency is determined according to the load level applied to the gel 20 and the adhesive 30. The load level is determined by the integrated value of the load scores (1) to (4). When the load score is 9 points or less, the load level is I and the frequency is once a week. When the load score is 10 points or more and 36 points or less, the load level is II and the frequency is once every other day. When the load score is 37 points or more and 81 points or less, the load level is III and the frequency is once a day.

[0044]

[0045] The load level is determined according to the type of goods being transported, as shown in Table 3. When the goods being transported are cardboard boxes or bags, the load level is determined by the integrated value of the load points (1) to (4) shown in Table 2. When the goods being transported include fragile items such as glass and precision instruments, the load level is III.

[0046]

[0047] As shown in Table 4, the load score (1) is determined based on the operating condition (1). The operating condition (1) is the weight (box weight) of the item R conveyed by the conveying device 1. If the box weight is less than 10 kg, the load score (1) is 1 point. If the box weight is 10 kg or more but less than 20 kg, the load score (1) is 2 points. If the box weight is 20 kg or more, the load score (1) is 3 points.

[0048]

[0049] As shown in Table 5, the load score (2) is determined based on the operating condition (2). The operating condition (2) is the speed of the arm 44. If the speed override with respect to the maximum speed of the arm 44 is less than 30%, the load score (2) is 1 point. If the speed override is 30% or more but less than 80%, the load score (2) is 2 points. If the speed override is 80% or more, the load score (2) is 3 points.

[0050]

[0051] As shown in Table 6, the load score (3) is determined based on the operating condition (3). The operating condition (3) is the operating rate of the movable device 40. If the operating rate is several hours per day, the load score (3) is 1 point. If the operating rate is 10 hours per day, the load score (3) is 2 points. If the operation is continuous, the load score (3) is 3 points.

[0052]

[0053] As shown in Table 7, the load score (4) is determined based on the operating condition (4). The operating condition (4) is the installation environment in which the movable device 40 is installed. If the movable device 40 is installed in an enclosed space with stable temperature and humidity, the load score (4) is 1 point. If the movable device 40 is installed in an open space that is affected by fluctuating outside temperature and humidity, the load score (4) is 3 points. If the movable device 40 is installed in an environment between these two, the load score (4) is 2 points.

[0054]

[0055] <Method for determining the rate of change in gel thickness> Fig. 10 is a schematic diagram showing an example of measurement points for measuring the change in gel thickness. Measurement points 22 are points for calculating the displacement of the base 10 in the Z-axis direction to calculate the thickness reduction amount δ of the gel 20, and are defined by XY coordinates. Measurement points 22 are set at positions where the gel 20 is placed in a planar view. In this embodiment, measurement points 22 are set at a total of eight points: the four corners of the base 10 and the four corners of the robot pedestal 42 of the movable device 40.

[0056] The positional deviation amount c of the object to be measured (base 10) is calculated based on the difference between the three-dimensional coordinates of the object to be measured stored in the memory unit 84 and the three-dimensional coordinates of the object to be measured based on the image data image-processed by the point cloud analyzer 70. The calculation unit 86 calculates the displacement of the base 10 in the Z-axis direction at each measurement point 22 based on the positional deviation amount c of the object to be measured. Here, the displacement of the base 10 in the Z direction at each measurement point 22 is assumed to be equal to the thickness reduction amount δ of the gel 20 at that measurement point 22. The calculation unit 86 calculates the thickness change rate A (A = thickness reduction amount δ / initial thickness) based on the initial thickness of the gel 20 stored in the memory unit 84 and the thickness reduction amount δ.

[0057] 11 is a schematic diagram illustrating a method for determining the rate of change in gel thickness. In this embodiment, if the rate of change in thickness A of the gel 20 with the greatest thickness reduction is within a predetermined tolerance Ap, the movable device 40 continues to be used. If the rate of change in thickness A exceeds the tolerance Ap, the gel 20 is replaced.

[0058] The allowable value Ap of the thickness change rate A may be set based on the load levels shown in Tables 2 to 7, as in the example shown in Table 8. In this embodiment, when the load level is I, the allowable value Ap is set to 20%, when the load level is II, the allowable value Ap is set to 10%, and when the load level is III, the allowable value Ap is set to 5%.

[0059]

[0060] 12 is a graph showing the change rate of thickness of the gel and its transition. As shown in FIG. 12, the change rate A of thickness of the gel 20 increases approximately linearly in proportion to the operation time, and decreases when the gel 20 is replaced with a new one.

[0061] It is preferable to determine the thickness change rate A and replace the gel 20 at an appropriate frequency. As shown in Table 9, in this embodiment, the frequency is determined according to the level of stress applied to the gel 20 and the adhesive 30. The stress levels are the same as those in Tables 2 to 8. In this embodiment, when the stress level is I, the frequency is once a month, when the stress level is II, the frequency is once every two weeks, and when the stress level is III, the frequency is once a week.

[0062]

[0063] Incidentally, when replacing the gel 20, if the factory layout requires time for replacement work, the environment has a high operating rate and is unlikely to stop machines, or there is a long preparation lead time LT due to the purchase of the gel 20, arrangement of a contractor, etc., the rate of change A in thickness of the gel 20 may exceed the allowable value Ap and replacement may not be possible immediately. Therefore, machine learning may be used to predict the time when the rate of change A in thickness of the gel 20 will exceed the allowable value Ap, and the appropriate time to replace the gel 20.

[0064] 13 and 14 are graphs illustrating a method for predicting when to replace the gel. As shown in Fig. 13 and 14, data measuring the thickness change rate A is accumulated, and the change in thickness change rate A versus operation time is estimated by regression analysis. Note that the operation time in Fig. 13 and 14 may be replaced with the number of articles R to be transported.

[0065] The time when the thickness change rate A will reach the allowable value Ap can be predicted based on the transition of the estimated thickness change rate A. This makes it possible to calculate the remaining life RL, which is the time from the time the data is acquired until the thickness change rate A reaches the allowable value Ap. The regression analysis is performed each time new data is acquired, and the remaining life RL is updated each time. The remaining operable time OT is the time obtained by subtracting a predetermined lead time LT from the remaining life RL. Then, when the remaining life RL becomes equal to or less than the lead time LT, the gel 20 replacement work can be started.

[0066] Data accumulated at each factory, such as data on replacement times predicted by these machine learning methods and results of comparison with replacement records, may be managed by the management device 100 or by remote monitoring further upstream of the management device 100, thereby improving prediction accuracy.

[0067] <Method for determining adhesive misalignment rate> Figure 15 is a schematic diagram showing adhesive misalignment. The calculation unit 86 calculates the displacement of the base 10 in the X-axis direction and the Y-axis direction at a predetermined position where the adhesive 30 is applied, based on the positional misalignment amount c of the object to be measured. Here, the displacement of the base 10 in the X-axis direction and the Y-axis direction at a predetermined position is assumed to be equal to the adhesive misalignment amount δ of the adhesive 30 at that position. The calculation unit 86 calculates the adhesive misalignment rate B (B = adhesive misalignment amount δ / adhesive width Aw) based on the adhesive width Aw of the adhesive 30 at the time of application and the adhesive misalignment amount δ stored in the memory unit 84. The adhesive misalignment rate B includes an adhesive misalignment rate Bx in the X-axis direction and an adhesive misalignment rate By in the Y-axis direction.

[0068] 16 is a schematic diagram illustrating a method for determining the adhesive misalignment rate. In this embodiment, if both the adhesive misalignment rate Bx in the X-axis direction and the adhesive misalignment rate By in the Y-axis direction are within a predetermined tolerance Bp, the movable device 40 continues to be used. If at least one of the adhesive misalignment rate Bx in the X-axis direction and the adhesive misalignment rate By in the Y-axis direction exceeds the tolerance Bp, the adhesive 30 is re-applied. Note that re-application may also be performed if the adhesive misalignment rate B in the X and Y directions exceeds the tolerance Bp.

[0069] The allowable value Bp of the adhesive slippage rate B may be set based on the load levels shown in Tables 2 to 7, as in the example shown in Table 10. In this embodiment, when the load level is I, the allowable value Bp is set to 40%, when the load level is II, the allowable value Bp is set to 20%, and when the load level is III, the allowable value Bp is set to 10%.

[0070]

[0071] It is preferable that the determination of the adhesive shear rate B and the reapplication of the adhesive 30 be performed at an appropriate frequency, similar to the determination of the thickness change rate A and the replacement of the gel 20. Furthermore, similar to the replacement of the gel 20, the reapplication of the adhesive 30 may be performed using machine learning to predict the time when the adhesive shear rate B of the adhesive 30 will exceed the allowable value Bp, and the appropriate time to reapplication of the adhesive 30. Similarly, data accumulated in each factory on the replacement time predicted by machine learning and the results of comparison with replacement records may be managed by the management device 100 or by remote monitoring further upstream of the management device 100, thereby improving prediction accuracy.

[0072] <Support Member and Adhesive Monitoring Method> Fig. 17 is a flowchart illustrating the flow of the support member and adhesive monitoring method according to this embodiment. The processing shown in Fig. 17 is executed by the calculation unit 86 based on programs and data pre-stored in the storage unit 84. For example, when an operator inputs a predetermined start command through the input unit of the alarm device 90, the calculation unit 86 proceeds to step S1 shown in Fig. 17 and starts the processing.

[0073] The memory unit 84 is assumed to have stored in advance the initial thickness and placement position of the gel 20, the adhesive width Aw and application position of the adhesive 30, the initial coordinates of the object to be measured, the type and weight of the article R to be transported by the transport device 1, and the operating conditions of the transport device 1. The operating conditions of the transport device 1 include at least the speed (override) of the arm 44, the operating rate, and the installation environment.

[0074] In step S1, the calculation unit 86 causes the imaging device 50 to capture an image of the object to be measured. The imaging device 50 outputs image data including three-dimensional information about the shape of the object to be measured to the control device 80. The calculation unit 86 causes the point cloud analysis device 70 to perform image processing on the image data to acquire three-dimensional coordinate data of the object to be measured. The calculation unit 86 proceeds to step S2.

[0075] In step S2, the calculation unit 86 calculates the positional deviation amount c of the object to be measured (base 10) and the positional deviation amount C of the movable device 40 based on the difference between the three-dimensional coordinates of the object to be measured stored in the storage unit 84 and the three-dimensional coordinates of the object to be measured based on the image data image-processed by the point cloud analysis device 70. The calculation unit 86 calculates the displacement of the base 10 in the Z-axis direction at the arrangement position of the gel 20 based on the positional deviation amount c of the object to be measured, and acquires this as the thickness reduction amount δ of the gel 20. The calculation unit 86 calculates the thickness change rate A based on the initial thickness of the gel 20 stored in the storage unit 84 and the thickness reduction amount δ.

[0076] The calculation unit 86 calculates the displacement of the base 10 in the XY plane direction at the application position of the adhesive 30 based on the positional deviation amount c of the object to be measured, and acquires this as the adhesive deviation amount δ of the adhesive 30. The calculation unit 86 calculates the adhesive deviation rate B based on the adhesive width Aw of the adhesive 30 and the adhesive deviation amount δ stored in the memory unit 84. The calculation unit 86 proceeds to steps S2 and S3. Steps S2 and S3 may be executed in parallel or sequentially.

[0077] In step S3, the calculation unit 86 determines the thickness change rate A. Specifically, the calculation unit 86 determines whether the thickness change rate A calculated in step S2 exceeds the allowable value Ap (A>Ap), is equal to or less than a predetermined threshold value At (A≦At), or is between the threshold value At and the allowable value Ap (Ap≧A>At). Here, the allowable value Ap indicates the thickness change rate A at which replacement of the gel 20 is necessary, and is determined corresponding to the load level as shown in Table 8. The threshold value At is a preset value smaller than the allowable value Ap.

[0078] If the calculation unit 86 determines that the thickness change rate A exceeds the allowable value Ap (A>Ap), the process proceeds to step S6. If the calculation unit 86 determines that the thickness change rate A is equal to or less than a predetermined threshold value At (A≦At), the process proceeds to step S5. If the calculation unit 86 determines that the thickness change rate A is equal to or less than the allowable value Ap and exceeds the predetermined threshold value At (Ap≧A>At), the process proceeds to step S8.

[0079] In step S4, the calculation unit 86 determines the adhesive misalignment rate B. Specifically, the calculation unit 86 determines whether the adhesive misalignment rate B calculated in step S2 exceeds the allowable value Bp (B>Bp), is equal to or less than a predetermined threshold value Bt (B≦Bt), or is between the threshold value Bt and the allowable value Bp (Bp≧B>Bt). Here, the allowable value Bp indicates the adhesive misalignment rate B at which reapplication of the adhesive 30 is necessary, and is determined corresponding to the load level as shown in Table 10. The threshold value Bt is a preset value that is smaller than the allowable value Bp.

[0080] If the calculation unit 86 determines that the adhesive misalignment rate B exceeds the allowable value Bp (B>Bp), the process proceeds to step S7. If the calculation unit 86 determines that the adhesive misalignment rate B is equal to or less than a predetermined threshold value Bt (B≦Bt), the process proceeds to step S5. If the calculation unit 86 determines that the adhesive misalignment rate B is equal to or less than the allowable value Bp and exceeds the predetermined threshold value Bt (Bp≧B>Bt), the process proceeds to step S8.

[0081] If the thickness change rate A is equal to or less than a predetermined threshold value At (step S3; A≦At), and if the adhesive misalignment rate B is equal to or less than a predetermined threshold value Bt (step S4; B≦Bt), in step S5, the calculation unit 86 determines the amount of misalignment C. Specifically, the calculation unit 86 determines whether the amount of misalignment C calculated in step S2 exceeds the allowable value Cp (C>Cp) or is equal to or less than the allowable value Cp (C≦Cp). Here, the allowable value Cp indicates the amount of misalignment C that requires correction of the box coordinates of the item R, and is determined corresponding to the packaging container to be conveyed, as shown in Table 1.

[0082] If the calculation unit 86 determines that the positional deviation amount C exceeds the allowable value Cp (C>Cp), the process proceeds to step S9. If the calculation unit 86 determines that the positional deviation amount C is equal to or less than the allowable value Cp (C≦Cp), the process of the flowchart shown in FIG. 17 ends, and the movable device 40 continues to be used.

[0083] If the thickness change rate A exceeds the allowable value Ap (step S3; A>Ap), in step S6, the calculation unit 86 controls the alarm device 90 to issue an alarm urging replacement of the gel 20. At this time, the calculation unit 86 may automatically issue a purchase request or purchase order for the gel 20 and create a construction history. The calculation unit 86 may also output to the management device 100 data on performance related to replacement of the gel 20, such as the progress of the thickness change rate A of the gel 20, the operating time until replacement, or the number of times the item R was transported. These data can contribute to improving the accuracy of predictions of when to replace the gel 20, as shown in, for example, FIGS. 13 and 14 .

[0084] If the adhesive shear rate B exceeds the allowable value Bp (step S4; B>Bp), in step S7, the calculation unit 86 controls the alarm device 90 to issue an alarm urging the reapplication of the adhesive 30. At this time, the calculation unit 86 may automatically issue a purchase request or purchase order for the adhesive 30 and create a construction history. The calculation unit 86 may also output data on the results of the reapplication of the adhesive 30, such as the progress of the adhesive shear rate B of the adhesive 30, the operating time until reapplication, or the number of transports of the item R, to the management device 100. This data can contribute to, for example, improving the accuracy of predicting when to reapplication of the adhesive 30.

[0085] If the thickness change rate A is equal to or less than the allowable value Ap and exceeds the predetermined threshold value At (step S3; Ap≧A>At), and if the adhesive shear rate B is equal to or less than the allowable value Bp and exceeds the predetermined threshold value Bt (step S4; Bp≧B>Bt), in step S8, the calculation unit 86 executes a process to reduce the excitation force of the movable device 40. The excitation force reduction process refers to a process of changing the operating conditions of the movable device 40 so as to slow down or limit the operation of the movable device 40 more than usual in order to suppress the excitation force on the base 10 due to the operation of the movable device 40. Examples of changes in the operating conditions include reducing the rotation speed and acceleration of the arm 44, reducing the rotation speed and acceleration of the joint 441, limiting the rotation range of the arm 44, and limiting the weight of the item R to be transported. The calculation unit 86 also controls the alarm device 90 to issue an alarm indicating that the reduction process has been executed, and outputs performance data of the reduction process to the management device 100.

[0086] If the amount of positional deviation C exceeds the allowable value Cp (C>Cp), in step S9, the calculation unit 86 executes a correction process for the box coordinates of the item R. The amount of correction at this time is calculated based on the amount of positional deviation C. The calculation unit 86 also controls the notification device 90 to issue an alarm indicating that the correction process has been executed, and outputs performance data of the correction process to the management device 100.

[0087] In the processing of the flowchart shown in Figure 17, the thickness change rate determination (step S3), adhesive misalignment rate determination (step S4), and position misalignment amount determination (step S5) are performed at the same timing, but they may also be performed separately based on the preferred frequencies described above.

[0088] (Operation and Effect of the Embodiment) The method for monitoring the support member and adhesive described in the embodiment can be understood, for example, as follows.

[0089] The first aspect of the monitoring method for a support member and adhesive is a method for monitoring changes in a gel-like support member (gel 20) that is interposed between the base 10 and the floor surface Gr to support the base 10, and an adhesive 30 that is interposed between the base 10 and the floor surface Gr to adhere the base 10 to the floor surface Gr, when a movable device 40, at least a portion of which is movable relative to the base 10, is fixed to the base 10.The method includes capturing an image of a portion of the base 10 as the object to be measured and measuring displacement, and calculating, based on the displacement of the object to be measured, the thickness change rate A of the support member (gel 20) in the vertical direction (Z-axis direction), the adhesive slippage rate B of the adhesive 30 in the horizontal directions (X-axis direction and Y-axis direction), and the positional deviation amount C of the movable device 40.

[0090] The support member and adhesive monitoring method according to the first aspect calculates the thickness change rate A of the support member (gel 20) based on the displacement of a portion of the base 10 calculated from captured image data, without directly measuring the support member. Therefore, calculations from imaging to calculation can be automatically performed by a processing device. Furthermore, while it was previously difficult to manually measure the adhesive misalignment amount δ in the horizontal plane of the adhesive 30, the adhesive misalignment rate B can be calculated based on the displacement of a portion of the base 10 calculated from the captured image data. Furthermore, the support member (gel 20) and adhesive 30 can be replaced or reapplied at an appropriate time based on the thickness change rate A, adhesive misalignment rate B, and positional misalignment amount C. Furthermore, because the object to be measured is a portion of the base 10, no markers or the like are required, measurement can be performed without the hassle of marker contamination, peeling, or the hassle of installing markers.

[0091] The second aspect of the method for monitoring a support member and adhesive is the same as the first aspect of the method for monitoring a support member and adhesive, and further includes correcting the coordinates at which the movable device 40 is operated when the positional deviation amount C exceeds a predetermined tolerance value Cp.

[0092] The second aspect of the method for monitoring the support member and adhesive corrects the coordinates at which the movable device 40 operates, thereby preventing the operating parts (arm 44 and end effector 46) of the movable device 40 from moving to unexpected positions, which can result in interference, collision, poor contact, etc.

[0093] The third aspect of the method for monitoring a support member and adhesive is the same as the second aspect of the method for monitoring a support member and adhesive, in which the movable device 40 is a palletizing device that transports the item R, and the allowable value Cp of the positional deviation amount C is determined according to the characteristics of the item R.

[0094] The support member and adhesive monitoring method according to the third aspect can prevent articles R being conveyed by the palletizing device from failing to be grasped or falling, by correcting the coordinates at which the movable device 40 is operated. Furthermore, because the tolerance Cp is determined according to the characteristics of the articles R, conveyance failures can be prevented even for hard articles R such as plastic containers, for which the tolerance Cp needs to be small, and the number of corrections can be reduced for deformable articles R such as bags, for which the tolerance Cp can be increased.

[0095] The fourth aspect of the method for monitoring a support member and adhesive is the method for monitoring a support member and adhesive of the first aspect, and further includes issuing an alarm information prompting replacement of the support member (gel 20) when the thickness change rate A exceeds a predetermined allowable value Ap.

[0096] The fourth aspect of the monitoring method for the support member and adhesive issues an alarm to prompt the operator to replace the support member (gel 20), thereby preventing the operator from overlooking the issue and enabling the support member (gel 20) to be replaced at the appropriate time.

[0097] A fifth aspect of the monitoring method for a support member and an adhesive is the fourth aspect of the monitoring method for a support member and an adhesive, further comprising changing operating conditions to suppress the excitation force caused by the operation of the movable device 40 when the thickness change rate A is equal to or less than the allowable value Ap and exceeds a predetermined threshold value At.

[0098] The fifth aspect of the method for monitoring the support member and adhesive suppresses the vibration force when the thickness change rate A reaches or exceeds the threshold value At, even before it reaches the allowable value Ap, thereby stabilizing the operation of the movable device 40 even if the vibration-damping function of the support member (gel 20) has decreased compared to the initial state.

[0099] The sixth aspect of the method for monitoring a support member and adhesive is the fourth aspect of the method for monitoring a support member and adhesive, in which the allowable value Ap of the thickness change rate A is determined according to a load level estimated based on the speed, operating rate, installation environment, and weight of the movable device 40.

[0100] The sixth aspect of the monitoring method for the support member and adhesive determines the allowable value Ap according to the load level, so that when the load level is high, replacement can be performed even if the deterioration in vibration-damping function is small, thereby preventing the operation of the movable device 40 from becoming unstable.

[0101] The seventh aspect of the monitoring method for a support member and adhesive is the same as the first aspect of the monitoring method for a support member and adhesive, and further includes issuing an alarm information prompting re-application of the adhesive 30 when the adhesive misalignment rate B exceeds a predetermined allowable value Bp.

[0102] The seventh aspect of the method for monitoring the support member and adhesive issues alarm information to prompt the operator to re-apply the adhesive 30, thereby preventing the operator from overlooking the problem and allowing the adhesive 30 to be re-applied at the appropriate time.

[0103] The eighth aspect of the method for monitoring a support member and adhesive is the seventh aspect of the method for monitoring a support member and adhesive, and further includes changing the operating conditions to suppress the vibration force caused by the operation of the movable device 40 when the adhesive shear rate B is equal to or less than the allowable value Bp and exceeds a predetermined threshold value Bt.

[0104] The eighth aspect of the method for monitoring the support member and adhesive suppresses the vibration force when the adhesive shear rate B reaches or exceeds the threshold value Bt even before it reaches the allowable value Bp, thereby reducing the adhesive shear force acting on the base 10 and stabilizing the operation of the movable device 40.

[0105] The ninth aspect of the method for monitoring a support member and adhesive is the seventh aspect of the method for monitoring a support member and adhesive, in which the allowable value Bp of the adhesive shear rate B is determined according to a load level estimated based on the speed, operating rate, installation environment, and weight of the movable device 40.

[0106] The ninth aspect of the method for monitoring the support member and adhesive determines the allowable value Bp according to the load level, so that when the load level is high, even if the decrease in adhesive strength is small, replacement can be performed to prevent the operation of the movable device 40 from becoming unstable.

[0107] The tenth aspect of the method for monitoring a support member and adhesive is the same as the first aspect of the method for monitoring a support member and adhesive, in which the frequency of monitoring each of the thickness change rate A, adhesive misalignment rate B, and positional misalignment amount C is determined according to a load level estimated based on the speed, operating rate, installation environment, and weight of the movable device 40.

[0108] The tenth aspect of the method for monitoring the support member and adhesive determines the monitoring frequency according to the load level, so that it is possible to prevent a decrease in work efficiency by frequently measuring items with low load levels, and to frequently measure items with high load levels so that the support member (gel 20) and adhesive 30 can be replaced and re-applied at the appropriate time.

[0109] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of the description of these embodiments.

[0110] For example, the load level may be two levels or four or more levels. The range of load points that determine the load level is not limited to the values ​​in the embodiment. The frequency corresponding to the load level is not limited to the values ​​in the embodiment. The operating conditions for calculating the load points are not limited to the types and numbers in the embodiment. The allowable values ​​Ap, Bp, Cp and the threshold values ​​At, Bt are not limited to the values ​​in the embodiment.

[0111] 1 Conveying device 10 Base 20, 20-1, 20-2 Gel (supporting member) 22 Measurement point 30 Adhesive 40 Movable device 42 Robot stand 44 Arm 441 Joint 442 Link 46 End effector 48 Driving unit 50 Imaging device 52 First imaging device 54 Second imaging device 60 Lighting device 70 Point cloud analysis device 72 Pixel parallax map storage unit 74 Coordinate conversion unit 76 Noise removal unit 78 Edge recognition unit 80 Control device 82 Communication unit 84 Memory unit 86 Calculation unit 90 Notification device 100 Management device Gr Floor surface P1, P2 Pallet A Thickness change rate B Adhesive shear rate C Position misalignment amount Ap, Bp, Cp Tolerance At, Bt Threshold LT Lead time OT: Available operating time R: Item RL: Remaining life Aw: Adhesive width δ: Amount of thickness reduction, amount of adhesive slippage

Claims

1. A method for monitoring a support member and adhesive, in which a movable device, at least a portion of which is movable relative to the base, is fixed to the base, and changes in a gel-like support member that is interposed between the base and a floor surface to support the base, and an adhesive that is interposed between the base and the floor surface to adhere the base to the floor surface, are monitored, the method comprising: capturing an image of a portion of the base as a measurement object to measure displacement; and calculating, based on the displacement of the measurement object, the vertical thickness change rate of the support member, the horizontal adhesive slippage rate of the adhesive, and the positional deviation amount of the movable device.

2. The method for monitoring a support member and an adhesive according to claim 1, further comprising correcting coordinates for operating the movable device when the amount of misalignment exceeds a predetermined allowable amount of misalignment.

3. The method for monitoring a support member and an adhesive according to claim 2, wherein the movable device is a palletizing device that transports articles, and the allowable positional deviation value is determined according to the characteristics of the articles.

4. The method for monitoring a support member and adhesive according to claim 1, further comprising issuing a notification to prompt replacement of the support member when the thickness change rate exceeds a predetermined thickness change rate tolerance.

5. The method for monitoring a support member and adhesive according to claim 4, further comprising changing operating conditions to suppress the excitation force caused by the operation of the movable device when the thickness change rate is equal to or less than the thickness change rate tolerance and exceeds a predetermined threshold.

6. The method for monitoring a support member and an adhesive according to claim 4, wherein the thickness change rate tolerance is determined according to a load level estimated based on the speed, operating rate, installation environment, and weight of the movable device.

7. The method for monitoring a support member and adhesive according to claim 1, further comprising issuing a notification to prompt reapplication of the adhesive when the adhesive slippage rate exceeds a predetermined adhesive slippage rate tolerance.

8. The method for monitoring a support member and an adhesive according to claim 7, further comprising changing operating conditions to suppress the excitation force caused by the operation of the movable device when the adhesive slippage rate is equal to or less than the adhesive slippage rate tolerance value and exceeds a predetermined threshold value.

9. The method for monitoring a support member and an adhesive according to claim 7, wherein the adhesive slippage rate tolerance is determined according to a load level estimated based on the speed, operating rate, installation environment, and weight of the movable device.

10. The method for monitoring a support member and adhesive according to claim 1, wherein the frequency of monitoring each of the thickness change rate, adhesive misalignment rate, and positional misalignment amount is determined according to a load level estimated based on the speed, operating rate, installation environment, and weight of the movable device.

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