JP7407449B2 - Induction heating welding system and induction heating welding method - Google Patents

Description

The present invention provides an induction heating welding system that welds a waterproof sheet to a fixing member by heating the fixing member from above the waterproof sheet with the waterproof sheet covering the fixing members scattered on a waterproof base, and the same. Regarding the method.

Patent Document 1 describes a heating coil unit having a pressure pad that can come into contact with a waterproof sheet covering a fixed member, and a power supply control that supplies current to the heating coil housed in the heating coil unit via a cable. An induction heating welding apparatus is disclosed. When adhesively fixing a waterproof sheet using this induction heating welding device, the worker moves the induction heating welding device to a location above the fixing member of the waterproof sheet, and attaches the pressing surface of the heating coil unit to this location. Excite the heating coil while making contact with the The fixing member is heated by induction heating by the heating coil, and the waterproof sheet and the fixing member are welded together. The waterproof sheet is then fixed to the fixing member by pressing the waterproof sheet against the fixing member using a pressure pad.

Patent Document 2 discloses a movable induction heating welding device in which a pressing tool having a heating coil is mounted below a traveling machine base provided with wheels, and is movable using a post extending upward from the traveling machine base. is disclosed.

JP2018-200847A US Patent Publication No. 2014/0345806

In welding a waterproof sheet using an induction heating welding apparatus such as that disclosed in Patent Document 1, an operator visually locates a fixed member covered with a waterproof sheet, and places a power supply control device above the fixed member. The heating coil unit must be moved and aligned with the fixing member from above the waterproof sheet. There are several fixing members installed in a 1 square meter sheet area, so when laying a tarpaulin on the roof of a large building, finding the fixing members covered by the tarpaulin is a physical and mental task. This places a heavy burden on employees. The burden becomes even greater when working under the scorching sun or cold.

In the induction heating welding apparatus as disclosed in Patent Document 2, wheels are used to move from one welding work location to the next welding work location, so the burden on the worker for movement is reduced; however, The time required to find fixing members remains the same, which places a heavy burden on workers, especially in hot or cold weather.

In view of the above circumstances, an object of the present invention is to provide an induction heating welding system that enables induction heating welding work even under the scorching sun or in the cold without placing a burden on the operator.

In the induction heating welding system according to the present invention, the fixing members scattered on a waterproof base are covered with a waterproof sheet, and the fixing members are inductively heated from above the waterproof sheet, thereby attaching the waterproof sheet to the fixing members. It is an induction heating welding system that welds the
A position coordinate calculation unit that searches the fixed member and calculates the positional coordinates of the fixed member on the waterproof base , and uses the positional coordinates of the fixed member to heat the fixed member by induction from the upper surface of the waterproof sheet. an induction heating machine for welding the waterproof sheet to the fixing member ,
A map creation unit is provided that creates a fixed member map indicating the positions of the scattered fixed members based on the position coordinates, and the induction heating machine uses the fixed member map to Welding the waterproof sheet to the fixing member by induction heating from the top surface of the waterproof sheet,
a welding identification information generation unit that generates identification information that designates the fixed member to which the waterproof sheet is welded as a welded fixed member and the fixed member to which the waterproof sheet is not welded as an unwelded fixed member; An identification fixing member map creation unit that generates an identification fixing member map that identifies the fixing members in the fixing member map into the welded fixing members and the unwelded fixing members based on identification information.

In this configuration, the exploration work involves finding fixed members covered with a waterproof sheet and calculating their position coordinates. The heat welding operation of induction-heat welding the waterproof sheet to the fixing member whose position coordinates have been determined can be performed as a separate operation. For example, a search operation for a predetermined number or all of the fixing members is performed first, and then a heat welding operation is performed based on the position coordinates indicating the positions of the fixing members. This reduces the burden on the worker.

When there are a large number of fixed members, management of position coordinates becomes complicated. For this reason, it is convenient to create a fixed member map showing the positions of scattered fixed members from the position coordinates of the fixed members. For this reason, one of the preferred embodiments of the present invention is provided with a map creation unit that creates a fixed member map indicating the positions of the scattered fixed members based on the position coordinates, and The machine welds the waterproof sheet to the fixing member by induction heating the fixing member from the upper surface of the waterproof sheet using the fixing member map.

Since the work surface is large, such as on the rooftop of a large building, the number of fixing members scattered on the surface exceeds several thousand. Therefore, in order to manage the coordinate position of each fixing member and the heat welding operation for the fixing member, it is important that each fixing member is accurately identified. Therefore, in one of the preferred embodiments of the present invention, the position coordinate calculation unit includes an ID assigning section that assigns an individual fixed member ID to the detected fixed member.

Since it is important that the fixing member be a conductor and have high rigidity, metal is mainly used. For this reason, although a camera system having the capabilities of the human eye can be used to search for the fixed member, a metal detector such as that used in mine detectors is preferable in terms of cost. Further, in order to obtain accurate position coordinates of the detected fixed member, position detection using GNSS (Global Navigation Satellite System) is suitable. Therefore, in one of the preferred embodiments of the present invention, the position coordinate calculation unit receives a detection signal from a metal detector that detects the fixed member and a GNSS unit that performs location detection using a satellite. The position coordinates of the fixing member are calculated based on the position signal.

The position of the fixed member can be grasped from the fixed member map. However, if the fixed members that have been welded to which the waterproof sheet has been fixed by heat welding work and the fixed members that have not yet undergone heat welding work and have not yet been welded are not clearly separated, the fixed members that have been forgotten to be welded may This may result in fixing members having to be worked on repeatedly. In order to avoid this, in one preferred embodiment of the present invention, a welded fixing member to which the waterproof sheet has been welded by induction heating is identified as an unwelded fixing member to which the waterproof sheet has not yet been welded. The induction heating machine is equipped with a welding identification information generating section that generates identification information for the welding process. This identification information allows the fixing members to be classified into welded fixing members and unwelded fixing members.

In order to effectively utilize the identification information generated by the welding identification information generation unit, it is necessary to use the identification information as an attribute value for the fixed member shown in the fixed member map, or to create the fixed member map using the identification information. It is preferable to rewrite the information. Therefore, in one of the preferred embodiments of the present invention, an identification fixing member that identifies the fixing members in the fixing member map into the welded fixing members and the unwelded fixing members based on the identification information. An identification fixing member map creation section that creates a map is provided.

Since a large number of fixing members are scattered, when the heat welding work for one fixing member is completed, the position information of the fixing member located nearby that needs heat welding work is notified. , improving work efficiency. This is also advantageous for the manager who monitors the entire heat welding work because the work process can be grasped. For this reason, one of the preferred embodiments of the present invention is provided with a notification function for notifying position information of the unwelded fixed member located near the current position of the induction heating machine. If the heat welding operation is carried out with a self-propelled induction heating machine, it is advantageous if the location information is shown on a map displayed on a display for the self-propelled operator. If the heat welding operation is carried out with a manual induction heater carried by the operator, it is advantageous to be shown on a map displayed on the induction heater display.

A position coordinate calculation unit that searches a fixed member and calculates its position coordinates can be mounted on a device carried by a worker or on a hand-held trolley, but when mounted on an autonomous vehicle, the burden on the worker is reduced. dramatically reduced. Since the surface of a waterproof base such as a rooftop is flat with few irregularities, it is easy to control the running of an autonomous vehicle. When the fixed members are arranged in a fixed pattern, the travel control for searching the fixed members becomes easier. Therefore, in one of the preferred embodiments of the present invention, the position coordinate calculation unit is mounted on a probe that automatically travels on the waterproof ground. In order for the exploration vehicle to travel efficiently and automatically, it is convenient if an exploration travel route for the exploration vehicle is created in advance on the surface of the waterproof base. Such an exploration route is created so that the exploration vehicle thoroughly explores the waterproof subsurface and finds all the fixed members that can be explored. Note that running on the waterproof base includes running directly on the waterproof base and running on a waterproof sheet laid on the surface of the waterproof base.

The induction heating machine can be configured as a portable device that the worker carries over the fixed member and aligns the heating coil with the fixed member while looking at the fixed member map, and can be used as a conventional portable induction heating machine. It can be used in this induction heating welding system. At that time, if the induction heating machine is equipped with a display that displays the acquired fixed member map and an own machine position calculation section that calculates the own machine's position, the fixed member map displayed on the display will be automatically displayed. Since the machine position can be displayed, the operator can easily move to the fixed member. For this reason, one of the preferred embodiments of the present invention is a portable induction heating machine carried by an operator, and the portable induction heating machine includes a map acquisition unit that acquires the fixed member map; It includes an own machine position calculation unit that calculates the own machine position, and a display that displays the own machine position on the fixed member map.

Of course, if the induction heating machine is also installed in a self-driving vehicle that can patrol fixed parts, the burden on workers will be dramatically reduced. From this, in one of the preferred embodiments of the present invention, the induction heating machine is an automatic traveling machine that automatically travels on the waterproof base, and the induction heating machine a heated travel route creation unit that creates a heated travel route that goes around fixed members; an own machine position calculation unit that calculates the own machine position; and an automatic machine that automatically travels the aircraft based on the heated travel route and the own machine position. and a heating running control section. In order for the induction heating machine to run efficiently and automatically, it is convenient if a heating running path for the induction heating machine is created in advance on the surface of the waterproof base. Unlike the exploration route for exploration vehicles, such a heated travel route does not travel all over the waterproof subsurface, but instead creates an efficient route that uses fixed member positions as passing points. It's convenient. For example, such a heating travel path may be created so as to connect the fixing members found by the probe in the shortest possible time. Note that running the induction heating machine on the waterproof base also includes running directly on the waterproof base and running on a waterproof sheet laid on the surface of the waterproof base.

The present invention provides induction heating for welding the waterproof sheet to the fixing members by applying induction heating to the fixing members from above the waterproof sheet while the fixing members scattered on a waterproof base are covered with the waterproof sheet. A welding method is also covered, and this induction heating welding method is performed by placing a waterproof sheet over fixing members scattered on a waterproof base and heating the fixing members by induction from above the waterproof sheet. An induction heating welding method for welding a sheet to the fixing member, comprising: a position coordinate calculation step of searching the fixing member and calculating the position coordinates of the fixing member on the waterproof base; a map creation step of creating a fixed member map indicating the positions of the fixed members present; and fixing the waterproof sheet to the above by induction heating the fixed member from the upper surface of the waterproof sheet using the position coordinates of the fixed member. and an induction heating step for welding to the component. This induction heating welding method also provides the same effects as the induction heating welding system described above, and can also incorporate the contents of the preferred embodiments described above.

FIG. 1 is a schematic diagram showing the basic configuration and information flow of an induction heating welding system. It is a side view of a spacecraft. It is a bottom view of a spacecraft. It is a perspective view showing induction heating welding work by an induction heating machine separated into a management machine and a running machine. It is a side view of a traveling machine. It is a bottom view of a traveling machine. FIG. 3 is a longitudinal cross-sectional view showing the induction heating welding unit. FIG. 2 is a functional block diagram showing control function units in the exploration vehicle, the management device, and the traveling device. FIG. 3 is a schematic diagram showing a fixed member map. FIG. 2 is a schematic diagram schematically showing the state of induction heating welding work. It is a flowchart which shows the flow of control in induction heating welding work.

Embodiments of the present invention will be described below based on the drawings. FIG. 1 shows the basic configuration and information flow of the induction heating welding system according to the present invention. In this induction heating welding system, a waterproof sheet SH is placed over the fixing members (metallic conductors) FX scattered on a waterproof concrete substratum such as on a rooftop, and then the fixing members FX are This system welds the waterproof sheet SH to the fixing member FX by induction heating (see FIG. 4). In FIG. 1, the induction heating welding system includes a probe SR that functions as an exploration system and an induction heating machine IH that functions as an induction heating system (see FIG. 10). A planar hot-melt adhesive layer made of thermoplastic synthetic resin such as polyester resin is formed as a heat-welding layer on the upper surface of the fixing member FX (see FIG. 4).

The probe SR includes a metal detector 27a, a GNSS unit 29, a position coordinate calculation unit 64, a map creation unit 65, and a communication unit 28. The metal detector 27a detects the fixed member FX covered with the waterproof sheet SH from above the waterproof sheet SH, and outputs a detection signal. The GNSS unit 29 is a satellite positioning system and outputs a position signal indicating the position coordinates of the probe SR. The position coordinate calculation unit 64 calculates the position coordinates of the fixed member FX from the detection signal from the metal detector 27a and the position signal from the GNSS unit 29. These position coordinates may be world coordinates or local coordinates (coordinates on the waterproof base plane) as long as they indicate the position of the fixing member FX on the waterproof base surface. The position coordinate calculation unit 64 includes an ID assigning section 64a that assigns a fixed member ID to each fixed member FX as identification information for identifying the detected fixed member FX. As the exploration progresses, the position coordinates of a large number of fixed members FX are calculated, so the map creation unit 65 calculates the position coordinates of a large number of fixed members FX. Create a fixed member map showing the position of FX. The created fixed member map is sent to the induction heating machine IH through the communication unit 28 provided in the probe SR.

The induction heating machine IH performs induction heating welding work while visiting the fixing members FX shown in the fixing member map received through the communication unit 16. The induction heating machine IH located above the fixing member FX as a working position activates induction heating and welds the waterproof sheet SH to the fixing member FX by inductively heating the fixing member FX from the upper surface of the waterproof sheet SH.

The induction heating machine IH uses identification information to distinguish the fixed member FX to which the waterproof sheet SH has been welded by induction heating, as a welded fixed member, from the unwelded fixed member, which is the fixed member FX to which the waterproof sheet SH has not yet been welded. and, based on this identification information, it is possible to edit the fixed member map into an identified fixed member map that identifies unwelded fixed members and welded fixed members. From the identified fixed member map, the induction heating machine IH can easily find a nearby unwelded fixed member to perform the induction heating welding operation next.

For the purpose of saving labor, the exploration vehicle SR and the induction heating machine IH are optimally configured as automatic vehicles that automatically travel on waterproof ground using a computer program. However, the probe SR or the induction heater IH may be configured as a handcart or as a portable device carried by an operator.

When the induction heating machine IH is configured as a handcart or a portable device, it is convenient to have a function of notifying the position information of the unwelded fixed member located near the current position of the induction heating machine IH. . As such a notification function, visual notification using a display device may be performed, or auditory notification using a speaker may be performed.

The handcart type induction heating machine IH allows the operator to easily select the fixed member FX to be worked on next by using the fixed member map created based on the position coordinates of the fixed member FX calculated by the probe SR. can be found in. For example, this induction heating machine IH is equipped with a map acquisition function to acquire a fixed member map, an own machine position calculation function to calculate the own machine position, and a display function to display the own machine position on the fixed member map. Accordingly, the operator can easily determine the fixing member FX to be worked on next from the displayed fixing member map.

The induction heating machine IH configured to be able to run automatically has a heating travel route creation function that creates a heating travel route that goes around fixed members FX based on a fixed member map, and an own machine position calculation function that calculates the own machine position. , and an automatic heating traveling control function for automatically traveling based on the heating traveling route and the own machine position. Thereby, the induction heating machine IH can automatically sequentially perform induction heating work on the fixed member FX explored by the probe SR.

In addition, in the self-driving type or handcart type induction heating machine IH, the fixed member map creation part may be provided in the probe SR, or the fixed member map creation part may be installed in the handcart type induction heating machine IH or the probe SR and the induction heating machine. It may be provided in a management unit that can communicate with the IH.

At the timing when the positional coordinates of at least one fixed member FX are calculated by the probe SR, the induction heating machine IH can move to the fixed member FX of this positional coordinate and perform induction heating welding work. In order to avoid mutual interference (collision or temporary stop) between the probe SR and the induction heating machine IH, heating running of the induction heating machine IH is started at the timing when the exploration running of a predetermined area is completed.

Next, embodiments of the probe SR and the induction heating machine IH will be described using FIGS. 2 to 6. The spacecraft SR is configured as an autonomous vehicle. FIG. 2 shows a side view of the spacecraft SR, and FIG. 3 shows a bottom view of the spacecraft SR. The induction heating machine IH is divided into a management machine IHa that does not have a running function and a running machine IHb that has an automatic running function. FIG. 4 is a perspective view of a management machine IHa and a traveling machine IHb that constitute the induction heating machine IH, FIG. 5 shows a side view of the traveling machine IHb, and FIG. 6 shows a bottom view of the traveling machine IHb.

As shown in FIGS. 2 and 3, the exploration vehicle SR includes a body 20, a drive wheel 21 that supports the body 20 on the ground, a front auxiliary wheel 22f, and a rear auxiliary wheel 22r. The pair of left and right drive wheels 21 can be driven independently, and are capable of pivoting turns and super pivoting turns. Power to the drive wheels 21 is transmitted from a traveling mechanism 24 that includes a motor, a gear mechanism, etc., which is driven by a battery 23 as a power source.

The spacecraft SR uses a lidar (light detection and ranging) 26a provided at the front of the aircraft body 20 as an obstacle detection sensor group 26 for avoiding collisions with traveling obstacles, and a lidar (light detection and ranging) 26a provided at the front of the aircraft body 20, The vehicle includes an ultrasonic sensor 26b provided at each end, a contact-type front collision detection sensor 26c that also functions as a front damper, and a rear collision detection sensor 26d that also functions as a rear damper. Further, on the floor side of the probe SR, a metal detector 27a and a position detection coil unit 27b are provided as probe sensors for detecting the fixed member FX. The metal detector 27a can detect the fixed member FX from a relatively long distance, and the position detection coil unit 27b can detect only the fixed member FX located nearby, but with high accuracy. Furthermore, as shown in FIG. 3, the position detection coil unit 27b has four detection coils arranged around the vertical axis VL at a pitch of 90 degrees, so that the fixed member FX is Positional deviations in the left-right direction and the front-back direction of the aircraft are detected.

The probe SR includes a GNSS unit 29 for calculating its own position, and a communication unit 28 for exchanging data with external equipment such as an induction heater IH. The position of the aircraft (GNSS antenna position) is determined from the position signal from this GNSS unit 29. Since the positional relationship between this antenna position and the vertical axis VL, which is the center of the position detection coil unit 27b, is known, from this own aircraft position and the positional deviation of the fixed member FX due to the position detection coil unit 27b, the position of the fixed member FX can be determined. Position coordinates are calculated.

As shown in FIG. 4, the management machine IHa of the induction heating machine IH is a portable console box, and the traveling machine IHb automatically travels along a predetermined travel route. The management machine IHa and the traveling machine IHb are connected by a connection cable CA. The connection cable CA includes a power line and a signal line. The management machine IHa has a function of supplying power to the traveling machine IHb and managing the heat welding work by the traveling machine IHb. In the induction heating welding work shown in Fig. 4, the disc-shaped fixing member FX is fixed to a concrete waterproof base using anchors, etc., and the waterproof base, including this fixing member FX, is covered with a waterproof sheet SH. There is.

The management machine IHa includes a data processing section 10, a power supply unit 11, a touch panel display 12, a data logger unit 13, an environmental temperature sensor 14, an operation panel 15, a communication unit 48, and the like. The data processing unit 10 controls and manages the touch panel display 12, the environmental temperature sensor 14, the operation panel 15, the communication unit 48, and the like.

The power supply unit 11 supplies heating power (basic power) to the traveling machine IHb using a commercial power source or a private power generator as input. The data logger unit 13 records the ID of the fixed member FX as well as the data of the heat welding work performed there (environmental temperature, work date and time, heating intensity, heating time, positional deviation of heat welding, temperature of the heating target location, etc.) do. The environmental temperature sensor 14 detects the temperature around the management machine IHa. On the operation panel 15, a group of various operation switches (including not only switches but also buttons, levers, etc.) 15a and various notification lamps 15b are arranged. The display 12 displays information for the worker through a graphic interface, and also accepts commands from the worker (including commands for the traveling machine IHb).

The traveling vehicle IHb has a structure similar to the probe SR. As shown in FIGS. 5 and 6, the traveling machine IHb includes a body 40, and front wheels 41 and rear wheels 42 that support the body 40 on the ground. The pair of left and right front wheels 41 can be steered and driven independently. The left and right rear wheels 42 can also be steered and driven independently. In other words, the traveling machine IHb is a 4WS and 4WD vehicle. Power to the front wheels 41 and rear wheels 42 is transmitted from a traveling mechanism 43 consisting of a motor, a gear mechanism, etc. driven by electric power sent from the management machine IHa via the connection cable CA. This traveling mechanism 43 also incorporates a steering mechanism.

Similar to the spacecraft SR, the traveling machine IHb also includes a lidar 26a provided at the front of the aircraft body 20, an ultrasonic sensor 46b provided at the front end and rear end of the aircraft body 40, and a front sensor group 46 for detecting obstacles. A contact-type front collision detection sensor 46c that also functions as a damper and a rear collision detection sensor 46d that also functions as a rear damper are provided. Of course, the traveling vehicle IHb includes a GNSS unit 49 and a communication unit 48 for exchanging data with external equipment such as the probe SR. The own aircraft position (GNSS antenna position) is determined from the position signal from this GNSS unit 49.

Further, an induction heating welding unit 5 is mounted between the front wheel 41 and the rear wheel 42 of the traveling machine IHb. The induction heating welding unit 5 is movable relative to the body 40 in the height direction above the ground and in the left-right direction of the body by the position changing mechanism 6 .

As shown in FIG. 7, the induction heating welding unit 5 includes a housing 50 supported by a body 40 via a position change mechanism 6. The housing 50 includes a cylindrical main body portion 51a and a bottomed cylindrical coil storage portion 51b connected to the lower end of the main body portion 51a. The upper end of the main body portion 51a is connected to the position changing mechanism 6. A connection cable CA is connected to the side wall of the main body portion 51a. A heating coil 51, a positional deviation detection unit 52, and a pressing pad 53 are housed in the coil housing portion 51b.

The heating coil 51 is a thin, flat coil wound, and is arranged at the bottom of the coil storage portion 51b with its center aligned with the central axis CL of the induction heating welding unit 5. A positional deviation detection unit 52 is arranged below the heating coil 51 and is composed of four coils distributed at a circumferential angle of 90 degrees around the central axis CL. The coil arrangement in this positional deviation detection unit 52 is merely an example, and a three-coil arrangement or other arrangement may be adopted, or a metal detection technique other than coils may be adopted. Furthermore, a pressure pad 53 made of silicone rubber that functions as a pressure surface of the induction heating welding unit 5 is arranged on the lower surface of the misalignment detection unit 52 . Further, in the induction heating welding unit 5, a non-contact type sheet temperature sensor 54 (for example, infrared type) for detecting the surface temperature of the waterproof sheet SH is arranged above the coil storage portion 51b.

The main body part 51a of the induction heating welding unit 5 is provided with a coil drive control part 81, a positional deviation control part 82, a temperature measurement part 83, an inclination calculation part 84, and an inclination determination part 85 as control function parts. The coil drive control section 81 causes a predetermined current to flow through the heating coil 51 . The positional deviation control unit 82 uses the detection signals from the four positional deviation detection units 52 to determine whether the central axis CL of the induction heating welding unit 5 and the center of the fixing member FX coincide, that is, the position of the heating coil 51. The heating coil positional deviation, which is the horizontal positional deviation with respect to the fixed member FX, is calculated. Further, the positional deviation control unit 82 controls the position changing mechanism 6 based on the heating coil positional deviation so that the heating coil positional deviation falls within a predetermined range.

The temperature measurement section 83 calculates the surface temperature based on the detection signal of the seat temperature sensor 54. located as far away as possible. In order to form an infrared passage between the sheet temperature sensor 54 and the waterproof sheet SH, a through hole is provided in the bottom of the coil storage portion 51b and the press pad 53.

Next, the main functional parts of the control systems (constructed by hardware such as electronic circuits or software such as computer programs) in the exploration vehicle SR and the traveling vehicle IHb will be explained using FIG.

As shown in FIG. 9, the spacecraft SR explores the fixed members FX while traveling on the top surface of the waterproof sheet SH covering the fixed members FX scattered on the waterproof substrate. , calculate the position coordinates of the fixed member FX, and create a fixed member map. In the fixed member map shown in FIG. 9, the position of each fixed member FX is identifiably indicated by a point Pnm (n and m are natural numbers determined by the number of fixed members FX). The point Pnm is expressed as a two-dimensional matrix, and its components (Xnm, Ynm) are the position coordinates (X coordinate value and Y coordinate value) of the fixed member FX. The traveling machine IHb performs induction heating welding work while visiting each fixed member FX based on the fixed member map.

The spacecraft SR is equipped with an own vehicle position calculation section 61, an exploration route management section 62, an automatic exploration travel control section 63, a position coordinate calculation unit 64, a map creation unit 65, and a collision avoidance control section 66.

The own aircraft position calculation unit 61 calculates the own aircraft position, for example, the position of the vertical axis VL of the position detection coil unit 27b, based on the position signal from the GNSS unit 29. Based on the surface shape of the waterproof base to be explored, the exploration route management unit 62 sets an exploration travel route for thoroughly exploring the waterproof base as a travel control target for the probe SR. This exploration travel route may be generated by the exploration vehicle SR, but it may also be generated by the management machine IHa or a remote management computer and sent by data communication.

The automatic exploration travel control unit 63 moves the probe SR along the exploration travel route based on the exploration travel route set by the exploration route management unit 62 and the own aircraft position calculated by the own aircraft position calculation unit 61. Make it run automatically. Although the exploration route can also be created by the exploration route management unit 62, it is created by the management machine IHa and sent to the exploration route management unit 62. At that time, a map of the waterproof subsurface is displayed on the display 12, so the operator can specify the entire waterproof subsurface as the exploration area, or partially specify the area to be explored by dragging. is also possible. Basically, the exploration route consists of a straight route (main exploration route) and a turn route for changing direction, but the operator can specify the direction of the main exploration route. Further, it is also possible to specify an area that does not require exploration by dragging or the like.

The automatic exploration travel control section 63 includes a proximity travel control section 63a that is capable of more precise steering control. When it is detected that the probe SR approaches the fixed member FX based on the detection result by the metal detector 27a, the proximity traveling control unit 63a is activated and steers the probe SR to approach the fixed member FX.

The position coordinate calculation unit 64 determines the fixed member FX based on the positional deviation between the vertical axis VL and the detected fixed member FX by the position detection coil unit 27b and the own machine position calculated by the own machine position calculation unit 61. Calculate the position coordinates of. The position coordinate calculation unit 64 includes an ID assigning section 64a, and a fixed member ID is assigned to the fixed member FX whose position coordinates have been calculated. Note that when an RFID tag is attached to each fixed member FX, the ID assigning section 64a is configured as an RFID tag reader. The map creation unit 65 creates a fixed member map (see FIG. 9) in which fixed members FX identified by fixed member IDs are distributed by their position coordinates. The created fixed member map is sent from the management machine IHa to the traveling machine IHb or directly to the traveling machine IHb via the communication unit 28.

Based on the detection signals from the obstacle detection sensor group 26 described above, the collision avoidance control unit 66 issues a deceleration command, a stop command, and a collision avoidance command in order to avoid a collision with an obstacle or to alleviate the impact of a collision. A steering command is given to the automatic exploration travel control section 63.

The traveling machine IHb includes a map acquisition section 70, an own machine position calculation section 71, a heating travel route creation section 72, a collision avoidance control section 73, an automatic heating travel control section 74, a welding identification information generation section 75, and a fixed member identification map creation section. 76 and a notification device 77. Furthermore, the induction heating welding unit 5 mounted on the traveling machine IHb is equipped with a coil drive control section 81, a positional deviation control section 82, and a temperature measurement section 83.

The map acquisition unit 70 acquires the fixed member map created by the map creation unit 65 of the probe SR via the communication unit 48. The own machine position calculation unit 71 calculates the own machine position, for example, the position of the center line SL of the induction heating welding unit 5, based on the position signal from the GNSS unit 49. The heating traveling route creation unit 72 creates a heating traveling route for the traveling machine IHb to circulate around the fixed members FX and perform induction heating welding, based on the fixed member map, for example, to arrive at the next fixed member FX in the shortest possible time. Create a route. The automatic heating travel control unit 74 automatically travels the aircraft body 40 so that the calculated own aircraft position follows the created heating travel route.

The collision avoidance control unit 73 issues a deceleration command, a stop command, and a collision avoidance command to avoid a collision with an obstacle or to alleviate the impact of a collision based on the detection signal from the obstacle detection sensor group 46 described above. A steering command is given to the automatic heating travel control section 74.

The welding identification information generation unit 75 generates identification information for distinguishing the fixed member FX to which the waterproof sheet SH is welded, as a welded fixed member, and from an unwelded fixed member that has not been welded. Further, by assigning identification information to the fixed members FX shown in the fixed member map, the fixed member identification map creation unit 76 determines whether the fixed members FX on the map are welded fixed members or unwelded fixed members. Create an identification fixed member map that allows you to determine whether there is a fixed member.

In addition, the traveling machine IHb has various automatic operations (running, stopping, heating, pressing, etc.) that can be checked even from a distance from the traveling machine IHb. The notification device 77 is equipped with a stacked lamp that displays the information.

The coil drive control unit 81 as a functional unit related to the induction heating welding unit 5 has an inverter circuit, converts the power supplied from the power supply unit 11 of the management machine IHa into power of a predetermined frequency, and supplies the power to the heating coil 51. Then, the heating coil 51 is excited. Thereby, the fixing member FX is heated by induction.

In order to efficiently induction-heat the fixed member FX, it is necessary to align the center of the heating coil 51 and the center of the fixed member FX as accurately as possible. For this centering, movement of the body 40 by the automatic heating traveling control section 74 and movement of the heating coil 51 relative to the body 40 by the position change mechanism 6 are used. That is, based on the detection result from the positional deviation detection unit 52, the positional deviation control unit 82 controls the positional change mechanism 6 to reduce the positional deviation between the center of the heating coil 51 and the center of the fixed member FX. a second function that provides a second control signal to the automatic heating travel control section 74 so as to reduce the positional deviation between the center of the heating coil 51 and the center of the fixed member FX; It is equipped with Although the heating coil 51 can be moved relative to the body 40 by the position changing mechanism 6 with high precision, the movement range is small. For this reason, first, the automatic heating traveling control section 74 moves the body 40, and then the position changing mechanism 6 moves the heating coil 51.

The temperature measurement section 83 calculates the surface temperature of the waterproof sheet SH based on the detection signal of the sheet temperature sensor 54 and provides it to the coil drive control section 81 . The coil drive control unit 81 determines the adjustment of the electric power flowing through the heating coil 51 and the end timing of induction heating based on the surface temperature of the waterproof sheet SH. When the induction heating by the heating coil 51 is completed, a press control signal is given to the position changing mechanism 6. In response to the pressure control signal, the position change mechanism 6 applies pressure to the induction heating welding unit 5 via the pressure pad 53 so as to apply pressure to the waterproof sheet SH and the fixing member FX. As a result, the welded waterproof sheet SH and fixing member FX are fixed to each other. In order to perform this fixing process more efficiently, a configuration is adopted in which the pressure pad 53 is forcibly cooled to remove heat from the waterproof sheet SH.

In this embodiment, the positional deviation detection unit 52 is also used to detect the inclination of the fixing member FX with respect to the surface of the waterproof base. For this reason, the induction heating welding unit 5 is equipped with a tilt calculation section 84 and a tilt determination section 85. The inclination calculation unit 84 calculates the inclination of the fixing member FX with respect to the surface of the waterproof base based on the detection signal from the positional deviation detection unit 52. The inclination determination unit 85 compares the calculated inclination of the fixed member FX with a preset allowable inclination value, and if the inclination exceeds the allowable value, issues an instruction to stop induction heating welding for the fixed member FX. is given to the coil drive control section 81. Information (ID, position coordinates, inclination data) on the fixed member FX for which induction heating welding has been canceled is sent to the management machine IHa and displayed on the display 12. After the worker corrects the posture of the fixed member FX, which has been canceled, the worker manually performs induction welding, or uses a method other than induction welding (for example, fixing using a mechanical connector). It is also possible to fix the waterproof sheet SH to the fixing member FX.

Next, an example of the movement of the probe SR and the traveling machine IHb in the induction heating welding work will be explained using FIGS. 10 and 11.
In the exploration vehicle SR, the exploration travel route managed by the exploration route management unit 62 is set as the target travel route for automatic travel (#01). The automatic exploration travel control unit 63 moves the aircraft 20 to the start point of the target travel route (#02), and exploration travel begins (#03) (see FIG. 10(a)).

When the fixed member FX is detected by the metal detector 27a (#04 Yes branch), the probe SR approaches the fixed member FX by the proximity travel control unit 63a to the position where the position detection coil unit 27b detects the fixed member FX. . Further, the proximity travel control section 63a controls the drive wheels 21 based on the detection result of the position detection coil unit 27b, thereby correcting the positional deviation between the vertical axis VL of the position detection coil unit 27b and the center of the fixed member FX. (#05) When the positional deviation correction is completed, the current position of the aircraft, that is, the position coordinates of the detected fixed member FX is calculated (#06). This position coordinate is recorded together with the fixed member ID given to the fixed member FX (#07).

In this example, when the probe SR searches a predetermined area and detects at least one or more (generally several dozen or more) fixed members FX, the heating traveling of the traveling vehicle IHb is started. , it is checked whether the exploration of the predetermined area is completed (#08). If the exploration of the predetermined area has not been completed (No branch in #08), the process returns to step #03 and continues the exploration run.

When the exploration of the predetermined area is completed (#08 Yes branch), a fixed member map indicating the detected position of the fixed member FX is created using the recorded position coordinates of the fixed member FX (#11). The created fixed member map is transmitted to the management machine IHa (#12), and further transferred from the management machine IHa to the traveling machine IHb (#13) (see FIG. 10(b)). Furthermore, it is checked whether the exploration of the waterproof ground surface to be worked on has been completed, that is, whether the exploration run has been completed (#14). If the exploration run has not ended (No branch in #14), the process returns to step #03 and continues the exploration run. When the exploration run is completed (#14 Yes branch), the probe SR stops or returns to the home position.

Initially, the traveling machine IHb is waiting at the home position. In the processing step of step #13, the traveling machine IHb acquires a fixed member map (#21). It is checked whether the fixed member map sent is the first initial map or an additional map created after the initial map (#22). In the case of the initial map, the new fixed member map is expanded into the memory (#24). In the case of an additional map, the current fixed member map is updated with the contents of the additional map (#23), and the updated fixed member map is developed in the memory (#24).

When the fixed member map is developed, the traveling machine IHb refers to the identified fixed member map (#30) and checks whether a target point for the next heating run exists (#31). If there is an unwelded fixed member on the fixed member map, there is a target point, and if there is no unwelded fixed member, there is no target point. If there is no target point (#31 No branch), the traveling machine IHb stops or returns to the home position. If there is a target point (#31 Yes branch), an unwelded fixed member close to the own machine position is set as a target point for heating travel (#32). The heated travel route creation unit 72 creates a travel route to the set target point as a heated travel route (#33).

The traveling machine IHb uses the created heating traveling route as the target traveling route and performs heating traveling until reaching the target point (#34). When the fuselage 40 reaches the target point (fixed member FX) (#35 Yes branch), the traveling machine IHb stops heating travel, and the alignment between the heating coil 51 of the induction heating welding unit 5 and the fixed member FX is controlled by positional deviation control. This is performed by the unit 82 (#36). When the heating coil 51 and the fixing member FX are in a proper positional relationship (#37 Yes branch), the heating coil 51 is excited and induction heating welding is started (#38). When the coil drive control unit 81 determines that the induction heating has ended (#39 Yes branch), the excitation of the heating coil 51 is stopped, and the pressing process of pressing the pressing pad 53 against the waterproof sheet SH is performed for a predetermined period of time ( #40). When the pressing process is completed, identification information is generated for the fixed member FX that is the target of this induction heating welding, and the fixed member FX is regarded as a welded fixed member, and the fixed member FX is changed from an unwelded fixed member to a welded fixed member. The identification map is rewritten (#41). Work data for the induction heating welding work on the fixed member FX is generated, transferred to the management machine IHa, and recorded in the data logger unit 13 (#42). After that, the process returns to step #30, and heating running is continued. As shown in FIG. 10(C), in this example, the probe SR takes the lead, and then the traveling vehicle IHb performs heating running so as to follow the probe SR. Therefore, there is a period in which both the exploration travel of the exploration vehicle SR and the heating travel of the traveling vehicle IHb are performed, and high work efficiency can be obtained.

Although omitted in the flowchart of FIG. 11, during the process of aligning the heating coil 51 and the fixing member FX, the inclination of the fixing member FX is measured by the positional deviation detection unit 52 and the positional deviation control section 82. , the measurement results are also transferred to the management machine IHa as work data.

In this embodiment, the exploration vehicle SR and the traveling vehicle IHb are capable of data communication with the management device IHa, and the respective work traveling conditions are managed by the management device IHa. The worker can grasp the working running status of the probe SR and the traveling machine IHb through the display 12 of the management machine IHa. For example, screens similar to those shown in FIGS. 10(a), 10(b), and 10(c) are displayed on the display 12. Furthermore, when the dot indicating the fixed member FX is clicked, the fixed member ID, position coordinates, identification information, work data, etc. are displayed as attribute information of the fixed member. In FIG. 10, unexplored fixing members are shown as dotted circles, searched fixing members are shown as open circles, and welded fixing members are shown as black circles, but they may be displayed in different colors. In addition, the untraveled exploration route as the target travel route is shown as a dotted line, the explored exploration route is shown as a solid line, and the heating route traveled for melting and heating is shown as a thick solid line, but these may also be displayed in different colors. However, it may be indicated by an area instead of a line.

[Another embodiment]
(1) In the embodiment described above, induction heating work was explained using one probe SR, one traveling machine IHb, and one management machine IHa. The induction heating work may be performed by the traveling machine IHb. In that case, the management device IHa acts as a management center, allocates areas to be explored by each probe SR, creates an exploration travel route for each probe SR to travel, and sends it to each probe SR. The management machine IHa integrates the fixed member maps sent from each spacecraft SR to create an integrated map, and each traveling machine IHb assigns the fixed member FX to which induction heating should be performed and creates a heating travel route. , and sent to each traveling machine IHb. Furthermore, the management machine IHa integrates the welding identification information sent from each traveling machine IHb, creates integrated identification information, and uses it to create the next heating travel route.

(2) In the embodiment described above, the induction heating machine IH was separated into the management machine IHa and the traveling machine IHb, but it is also possible to integrate the management machine IHa and the traveling machine IHb. Further, the induction heating machine IH may omit the automatic traveling function and may be operated by a remote control by an operator, a handcart type moved by the operator, or a portable type carried by the operator. In that case, a function of acquiring a fixed member map, a function of calculating the own machine position, and a display device that shows the fixed member FX to be worked next together with the own machine position on the fixed member map are provided.

(3) In the above-described embodiment, the fixing member FX has a disk shape, but other shapes, for example, a polygonal or rectangular fixing member FX may be adopted. Furthermore, the definition of waterproof sheet SH should be broadly interpreted and may be a construction sheet or a protective sheet.

(4) In the embodiment described above, the positional deviation detection unit 52 used to calculate the heating coil positional deviation, which is the horizontal positional deviation of the heating coil 51 with respect to the fixed member FX, It was also used to detect the slope of Alternatively, separate positional deviation detection units 52 may be used for each purpose.

(5) The functional units shown in FIG. 8 are divided for convenience of explanation, and any plurality of functional units may be integrated, or each functional unit may be further divided. Furthermore, the functional units of the exploration vehicle SR, the management device IHa, and the traveling vehicle IHb may be transferred to the exploration vehicle SR, the management device IHa, and the traveling vehicle IHb.

(6) In the above-described embodiment, the waterproof base is made of concrete, but other bases, such as precast concrete bases, may be used. Further, the planar shape thereof may be not only a horizontal plane but also a vertical plane such as a vertical wall or an inclined plane.

(7) The seat temperature sensor 54 may be a contact type sensor, such as a bimetal sensor or a thermistor sensor, instead of a non-contact type.

(8) In the embodiment described above, the induction heating machine IH uses the fixed member map created by the map creation unit 65 to inductively heat the fixed member FX from the upper surface of the waterproof sheet SH. Instead, by omitting the map creation unit 65 and directly using the position coordinates of the fixed member calculated by the position coordinate calculation unit 64, the induction heating machine IH approaches the fixed member FX and moves the fixed member FX. Induction heating may be performed from the upper surface of the waterproof sheet SH.

(9) In the embodiment described above, the coil drive control section 81 was incorporated in the induction heating welding unit 5 of the traveling machine IHb. Alternatively, the coil drive control section 81 may be incorporated into the management machine IHa. In this case, the coil drive control unit 81 built into the management machine IHa converts the power supplied from the power supply unit 11 into power of a predetermined frequency, and transfers the converted power to the traveling machine via the connection cable CA. It is sent to the heating coil 51 of the IHb. Other devices installed in the management machine IHa and the traveling machine IHb may also be installed in place of each other.

INDUSTRIAL APPLICATION This invention is applicable to the induction heating welding system which heats the fixing members dotted on the waterproof base from above a waterproof sheet, and welds them to the waterproof sheet.

5: Induction heating welding unit 6: Position change mechanism 16: Communication unit 26: Obstacle detection sensor group 27a: Metal detector 27b: Position detection coil unit 28: Communication unit 29: GNSS unit 46: Obstacle detection sensor group 48: Communication unit 49 : GNSS unit 51 : Heating coil 52 : Positional deviation detection unit 53 : Pressing pad 61 : Own aircraft position calculation part 62 : Exploration route management part 63 : Automatic exploration travel control part 63a : Proximity travel control part 64 : Position coordinates Calculation unit 64a: ID assignment section 65: Map creation unit 70: Map acquisition section 71: Own machine position calculation section 72: Heating travel route creation section 74: Automatic heating travel control section 75: Welding identification information generation section 76: Fixed member identification Map creation unit 77: Notification device 82: Positional deviation control unit 84: Tilt calculation unit 85: Tilt determination unit SR: Probe IH: Induction heating machine IHa: Management machine IHb: Traveling machine FX: Fixed member SH: Waterproof sheet

Claims (12)

In this induction heating welding system, the waterproof sheet is welded to the fixing members by induction heating the fixing members from above the waterproof sheet with the waterproof sheet covering the fixing members scattered on a waterproof base. hand,
a position coordinate calculation unit that searches the fixed member and calculates the position coordinates of the fixed member on the waterproof base;
an induction heating machine that welds the waterproof sheet to the fixing member by induction heating the fixing member from the upper surface of the waterproof sheet using the position coordinates of the fixing member ,
A map creation unit is provided that creates a fixed member map indicating the positions of the scattered fixed members based on the position coordinates, and the induction heating machine uses the fixed member map to Welding the waterproof sheet to the fixing member by induction heating from the top surface of the waterproof sheet,
a welding identification information generation unit that generates identification information that designates the fixed member to which the waterproof sheet is welded as a welded fixed member and the fixed member to which the waterproof sheet is not welded as an unwelded fixed member;
an identification fixed member map creation unit that generates an identification fixed member map that identifies the fixed members in the fixed member map into the welded fixed members and the unwelded fixed members based on the identification information;
Induction heating welding system equipped with . The induction heating welding system according to claim 1 , wherein the position coordinate calculation unit includes an ID assigning section that assigns an individual fixing member ID to the detected fixing member. The position coordinate calculation unit calculates the position coordinates of the fixed member based on a detection signal from a metal detector that detects the fixed member and a position signal from a GNSS unit that detects a location using a satellite. Item 2. The induction heating welding system according to item 1 or 2 . The induction heating welding system according to any one of claims 1 to 3, further comprising a notification function for notifying position information of the unwelded fixed member located near the current position of the induction heating machine. The induction heating welding system according to any one of claims 1 to 4 , wherein the position coordinate calculation unit is mounted on a probe that automatically travels on the waterproof base. The induction heating welding system according to claim 5 , wherein an exploration route for the exploration vehicle is created so that the exploration vehicle thoroughly explores the waterproof subsurface. In this induction heating welding system, the waterproof sheet is welded to the fixing members by induction heating the fixing members from above the waterproof sheet with the waterproof sheet covering the fixing members scattered on a waterproof base. hand,
a position coordinate calculation unit that searches the fixed member and calculates the position coordinates of the fixed member on the waterproof base;
an induction heating machine that welds the waterproof sheet to the fixing member by induction heating the fixing member from the upper surface of the waterproof sheet using the position coordinates of the fixing member ,
A map creation unit is provided that creates a fixed member map indicating the positions of the scattered fixed members based on the position coordinates, and the induction heating machine uses the fixed member map to Welding the waterproof sheet to the fixing member by induction heating from the top surface of the waterproof sheet,
The induction heating machine is a portable induction heating machine carried by a worker, and the portable induction heating machine includes a map acquisition unit that obtains the fixed member map, and a machine position calculation unit that calculates the machine position. An induction heating welding system comprising: a part; and a display that displays the position of the fixing member on the fixed member map . In this induction heating welding system, the waterproof sheet is welded to the fixing members by induction heating the fixing members from above the waterproof sheet with the waterproof sheet covering the fixing members scattered on a waterproof base. hand,
a position coordinate calculation unit that searches the fixed member and calculates the position coordinates of the fixed member on the waterproof base;
an induction heating machine that welds the waterproof sheet to the fixing member by induction heating the fixing member from the upper surface of the waterproof sheet using the position coordinates of the fixing member ,
A map creation unit is provided that creates a fixed member map indicating the positions of the scattered fixed members based on the position coordinates, and the induction heating machine uses the fixed member map to Welding the waterproof sheet to the fixing member by induction heating from the top surface of the waterproof sheet,
The induction heating machine is an automatic traveling machine that automatically travels on the waterproof ground, and includes a heating traveling route creating section that creates a heating traveling route that circulates around the fixed members based on the fixed member map, and a heating traveling route creation section that creates a heating traveling route that circulates around the fixed members based on the fixed member map, an own aircraft position calculation unit that calculates the aircraft position; an automatic heated travel control unit that automatically travels the aircraft based on the heated travel route and the own aircraft position;
Induction heating welding system equipped with . The induction heating welding system according to claim 8 , wherein the heating travel path is created so as to connect the fixing members in the shortest possible length. In this induction heating welding method, the waterproof sheet is welded to the fixing members by induction heating the fixing members from above the waterproof sheet with the waterproof sheet covering the fixing members scattered on a waterproof base. hand,
a position coordinate calculation step of searching the fixed member and calculating the position coordinates of the fixed member on the waterproof base;
a map creation step of creating a fixed member map indicating the positions of the scattered fixed members based on the position coordinates;
an induction heating step of welding the waterproof sheet to the fixing member by induction heating the fixing member from the upper surface of the waterproof sheet using the fixing member map ;
In addition,
a welding identification information generation step of generating identification information that designates the fixed member to which the waterproof sheet is welded as a welded fixed member and the fixed member to which the waterproof sheet is not welded as an unwelded fixed member;
An identification fixing member map generating step of generating an identification fixing member map that identifies the fixing members in the fixing member map into the welded fixing members and the unwelded fixing members based on the identification information;
An induction heating welding method comprising : Using a portable induction heating machine carried by a worker, the fixing members scattered on the waterproof base are covered with a waterproof sheet, and the fixing members are heated by induction from above the waterproof sheet. An induction heating welding method for welding a waterproof sheet to the fixing member,
a position coordinate calculation step of searching the fixed member and calculating the position coordinates of the fixed member on the waterproof base;
a map creation step of creating a fixed member map indicating the positions of the scattered fixed members based on the position coordinates;
a map acquisition step of acquiring the fixed member map;
An induction heating step of welding the waterproof sheet to the fixed member by induction heating the fixed member from the upper surface of the waterproof sheet using the portable induction heating machine using the fixed member map;
In addition,
a self-position calculation step of calculating a self-position of the portable induction heating machine;
an own aircraft position display step of displaying the own aircraft position on a display on the fixed member map;
An induction heating welding method comprising: Using an automatic traveling machine that automatically travels on a waterproof base, the fixing members dotted on the waterproof base are covered with a waterproof sheet, and the fixing members are heated by induction from above the waterproof sheet. An induction heating welding method for welding a waterproof sheet to the fixing member,
a position coordinate calculation step of searching the fixed member and calculating the position coordinates of the fixed member on the waterproof base;
a map creation step of creating a fixed member map indicating the positions of the scattered fixed members based on the position coordinates;
an induction heating step of welding the waterproof sheet to the fixed member by induction heating the fixed member from the upper surface of the waterproof sheet by the automatic traveling machine using the fixed member map;
In addition,
a heated travel route creation step of creating a heated travel route for the automatic traveling machine to tour the fixed member based on the fixed member map;
a self-position calculation step of calculating a self-position of the automatic traveling machine;
an automatic heating traveling step of causing the automatic traveling machine to travel automatically based on the heating traveling route and the own machine position;
An induction heating welding method comprising:

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