JP7664730B2 - Method and device for diagnosing the condition of an object to be inspected, and condition diagnosis system - Google Patents

Description

The present invention relates to technology for diagnosing the condition of an object being inspected.

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

Patent document 3 also discloses a self-propelled measuring device that can move to a preset measurement point, and an automatic diagnostic system that uses the device. This system employs a position detection means that combines a GPS (Global Positioning System) with an existing high-precision positioning system to correlate the location where the measurement was performed with the impact test results.

JP 2016-205900 A JP 2019-178953 A JP 2007-018164 A

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

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

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

The present invention aims to solve the above problems, and its purpose is to provide a condition diagnosis method, device, and condition diagnosis system that can efficiently and accurately generate condition evaluation information for the horizontal surface of an object to be inspected.

In order to achieve the above-mentioned object, according to one embodiment of the present invention, there is provided a condition diagnosis device for diagnosing the condition of an object to be inspected extending along a horizontal plane, comprising: a drive unit for moving a main body of the condition diagnosis device in a desired direction on the inspection surface of the object to be inspected; an overall position detection unit for detecting the overall position of the device main body on the inspection surface by detecting at least two external indicators; a detection unit for detecting the condition of the object to be inspected at the overall position of the device main body; and a data processing unit for determining a reference line from the at least two indicators detected by the overall position detection unit, allocating a plurality of inspection sections on the inspection surface according to overall coordinates determined according to the reference line, and generating diagnostic information for the inspection surface from the detection signal detected by the detection unit for each inspection section while moving the device main body according to the assigned inspection sections .
According to one embodiment of the present invention, the device further includes a detection unit moving mechanism that moves the detection unit to a desired position within the device body, the inspection area is a movable range of the detection unit within the device body, and the data processing unit calculates the overall position of the detection unit from the position of the detection unit within the device body and the overall position of the device body, and generates diagnostic information for the surface to be inspected from a detection signal detected by the detection unit at the overall position of the detection unit.
According to an embodiment of the present invention, the data processing unit controls the drive unit to move the device body in accordance with a predetermined sequence of the inspection sections allocated on the inspection target surface.
According to one embodiment of the present invention, there is provided a condition diagnosis system for diagnosing the condition of an object to be inspected extending along a horizontal plane, comprising: a plurality of indicators installed on the horizontal plane of the object to be inspected for identifying the surface of the object to be inspected; and a condition diagnosis device that moves on the surface of the object to be inspected while detecting the plurality of indicators and diagnosing the condition of the object to be inspected, wherein the condition diagnosis device comprises an apparatus main body ; an overall position detection unit that detects an overall position on the surface of the object to be inspected by detecting at least two indicators; a detection unit that detects the condition of the object to be inspected at the overall position; and a data processing unit that determines a reference line from the at least two indicators detected by the overall position detection unit, assigns a plurality of inspection sections on the surface of the object to be inspected according to overall coordinates determined according to the reference line, and generates diagnostic information for the surface of the object to be inspected from the detection signal detected by the detection unit for each inspection section while moving the apparatus main body according to the assigned inspection sections.
According to one embodiment of the present invention, the device further includes an intra-frame moving mechanism for moving the detection unit to a desired position within the device body, the inspection area is a movable range of the detection unit within the device body, and the data processing unit calculates the overall position of the detection unit from the position of the detection unit within the device body and the overall position of the device body, and generates diagnostic information for the surface to be inspected from a detection signal detected by the detection unit at the overall position of the detection unit.
According to one embodiment of the present invention, there is provided a condition diagnosis method for diagnosing the condition of an object to be inspected extending along a horizontal plane, the method comprising the steps of: an overall position detection unit detects at least two external indicators to obtain the overall position of the device body of the condition diagnosis device on the surface to be inspected; a detection unit detects the condition of the object to be inspected at the overall position of the device body; a data processing unit determines a reference line from the at least two indicators detected by the overall position detection unit, assigns a plurality of inspection sections on the surface to be inspected according to overall coordinates determined according to the reference line, moves the device body according to the assigned inspection sections, and generates diagnostic information for the surface to be inspected from the detection signal detected by the detection unit for each inspection section while moving the device body.
According to one embodiment of the present invention, there is provided a program for controlling a computer as a condition diagnosis device for diagnosing the condition of an object to be inspected extending along a horizontal plane, the program including: a function for an overall position detection unit to obtain the overall position of the device body of the condition diagnosis device on the surface to be inspected by detecting at least two external indicators; a function for a detection unit to detect the condition of the object to be inspected at the overall position of the device body; and a function for a data processing unit to determine a reference line from the at least two indicators detected by the overall position detection unit, assign a plurality of inspection sections on the surface to be inspected according to overall coordinates determined according to the reference line, move the device body according to the assigned inspection sections, and generate diagnostic information for the surface to be inspected from the detection signal detected by the detection unit for each inspection section while moving the device body.

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

1 is a diagram showing the overall configuration of a condition diagnosis system according to an embodiment of the present invention; 4 is a schematic diagram illustrating an operation of a whole position detector of the condition diagnosis system according to an embodiment of the present invention; FIG. FIG. 4 is a schematic diagram showing an example of inspection section allocation in the condition diagnosis device according to the present embodiment. 5 is a schematic diagram for explaining the operation of the condition diagnosis device according to the present embodiment. FIG. 4 is a diagram for explaining the relationship between a whole frame coordinate system and an in-frame coordinate system in the condition diagnosis device according to the present embodiment. FIG. 5A to 5C are schematic diagrams for explaining the operation of the condition diagnosis device according to the present embodiment when diagnosing an inclined inspection target surface. 2 is a block diagram showing a control system and a diagnostic information generating system of the condition diagnosis device according to the present embodiment. FIG. 4 is a flowchart showing the operation of the condition diagnosis device according to the present embodiment. FIG. 4 is a diagram showing an example of a monitor screen of the condition diagnosis device according to the present embodiment. FIG. 2 is a diagram showing the configuration of a condition diagnostic device and a reflector according to an embodiment of the present invention. FIG. 2 is a plan view of the condition diagnosis device according to the present embodiment. FIG. 2 is a side view of the condition diagnosis device according to the present embodiment. FIG. 2 is a plan view of an xy actuator in the condition diagnosis device according to the present embodiment. FIG. 2 is a front view of an xy actuator in the condition diagnosis device according to the present embodiment. FIG. 2 is a partially cutaway side view of an xy actuator in the condition diagnosis device according to the present embodiment. FIG. 2 is a side view of a diagnosis unit in the condition diagnosis device according to the present embodiment. FIG. 2 is a front view of a diagnosis unit in the condition diagnosis device according to the present embodiment. FIG. 2 is a plan view of a diagnosis unit in the condition diagnosis device according to the present embodiment. 4A and 4B are front views showing a state in which a diagnostic unit in the condition diagnostic device according to the present embodiment is raised and lowered, respectively. 2 is a schematic cross-sectional view showing the configuration of a detection unit in the condition diagnosis device according to the present embodiment. FIG. 11A and 11B are diagrams illustrating an example of reference point movement in the diagnostic operation of the condition diagnostic device according to the present embodiment. 13A and 13B are diagrams illustrating another example of the reference point movement in the diagnostic operation of the condition diagnostic device according to the present embodiment. 13 is a schematic diagram showing an overall position detection operation of a condition diagnosis device according to another embodiment of the present invention; FIG. 10 is a flowchart illustrating an operation of a condition diagnosis device according to another embodiment of the present invention. FIG. 13 is a schematic diagram showing an example of an inspection section allocation of a condition diagnosis device according to another embodiment of the present invention. FIG. 11 is a schematic diagram for explaining a first example of the operation of a condition diagnosis device in another embodiment of the present invention. FIG. 11 is a schematic diagram for explaining a second example of the operation of the condition diagnosis device in another embodiment of the present invention.

The following describes in detail the embodiments of the present invention with reference to the drawings. However, the components described in the following embodiments and examples are merely examples, and are not intended to limit the technical scope of the present invention to these alone.

1, a condition diagnosis system according to an embodiment of the present invention sets a plurality of reference points R on an inspection object 10 extending along a horizontal plane, and diagnoses the inspection object 10 while automatically moving a condition diagnosis device 100 using these reference points as indicators. In this example, the inspection object surface of the inspection object 10 is assumed to be rectangular, its four corners are set as four reference points R1 to R4, and indicators 21 to 24 are placed at these reference points, respectively. Note that the shape of the inspection object surface is not limited to a rectangle, and can be applied to any shape depending on the method of setting the indicators, as described below.

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

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

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

The condition diagnosis device 100 is provided with a computer 500 and an operation unit 600, and forms a local network with the overall position detector 200 and the diagnosis unit 400 via a repeater. As described below, the computer 500 assigns inspection sections based on overall position information from the overall position detector 200, position information within the frame of the diagnosis unit 400 from the xy actuator 300, and inspection information from the diagnosis unit 400 through program control, controls the movement and condition diagnosis of the condition diagnosis device 100, and performs mapping and monitor display of condition diagnosis information. The operation unit 600 is provided with a start/stop switch for the condition diagnosis device 100, a joystick for moving the device forward/backward and turning left/right, etc.

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

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

By setting multiple reference points (indicators) in the range 200a detectable by the overall position detector 200 in this way, the position and orientation of the condition diagnosis device 100 on the surface to be inspected can be detected, and it becomes possible to associate the position of the surface to be inspected with the detection information by the diagnosis unit 400. As will be described in more detail later, even if the surface to be inspected of the object to be inspected 10 has an arbitrary shape, condition diagnosis is possible by placing multiple indices along the shape.

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

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

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

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

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

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

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

In this way, the diagnostic information obtained by the diagnostic unit 400 can be associated with the composite coordinates (X'+x, Y'+y) on the surface to be inspected, and a diagnostic information map of the entire surface to be inspected can be generated. If the Y axis of the global coordinate system and the y axis of the in-frame coordinate system are inclined, the coordinate values can be corrected by geometric calculation using the inclination angle θ. For example, if the global coordinate is P(X', Y') and the coordinate of the in-frame coordinate system inclined by the angle θ is p(x', y'), the composite coordinates (X'+x, Y'+y) are calculated by replacing x and y with x=x'cosθ-y'sinθ and y=x'sinθ+y'cosθ, respectively. Also, if the surface to be inspected is inclined, the coordinate values can be corrected by a similar geometric calculation. A brief description will be given below with reference to FIG. 6.

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

2. Computer System The operation of the condition diagnosis device 100 can be realized by executing a predetermined program on the computer 500. The functional configuration realized by the computer 500 will be described in detail below with reference to the drawings.

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

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

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

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

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

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

The diagnostic information stored in the diagnostic information storage unit 507 may be displayed on the display unit 508 in response to a user instruction or in real time. The display unit 508 displays the surface to be inspected, recognized by the surrounding indices, and may display the diagnostic results of the inspection section 11 for which a diagnostic has been completed in real time each time a diagnostic is completed as the condition diagnostic device 100 moves. The display screen of the display unit 508 may be displayed on the monitor of an external computer, allowing the user to monitor it from outside. The following describes the inspection section allocation operation and condition diagnostic operation according to this embodiment with reference to FIG. 7.

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

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

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

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

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

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

3. Example Hereinafter, a detailed configuration and operation of a condition diagnosis device 100 according to an embodiment of the present invention will be described with reference to the drawings. The object for which the condition diagnosis device 100 according to this embodiment performs condition diagnosis is an inspection target 10 that extends in the horizontal direction, such as a floor tile.

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

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

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

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

In this embodiment, the condition diagnosis device 100 is exemplified with drive wheels 110 and 111 attached to the front of the bottom surface of the frame 101 and swivel casters 104 attached to the rear, but this is not limited to this and the swivel casters 104 may be provided at the front and the drive wheels 110 and 111 at the rear. Using the rear wheels as drive wheels has the advantage of being more maneuverable. As described above, the movement control unit 521 can independently control the drive motors M1 and M2 according to the assignment of the inspection section, allowing the condition diagnosis device 100 to automatically move forward, backward, left and right.

The xy actuator 300, which is placed on the bottom surface of the frame 101, is separated a predetermined distance from the plane of the inspection object 10 by the casters 104 and the drive wheels 110 and 111. The xy actuator 300 will be described later, but a diagnostic unit 400 is attached to the x carriage of the x stage. The diagnostic unit 400 can raise or lower the inspection unit 402 by the lifting mechanism 401.

A computer 500 having a monitor display unit 508 and an operation unit 600 are provided on the top panel 102 of the condition diagnosis device 100, and together with the overall position detector 200 and the diagnosis unit 400, they form a local area network.

As shown in Figs. 11 and 12, a bar 105 is provided horizontally at the rear upper end of the frame 101, and the user can grasp and operate the bar 105 to move the condition diagnosis device 100 in a desired direction. Alternatively, as shown in Fig. 11, a joystick 600a can be provided on the operation unit 600, and the condition diagnosis device 100 can be moved in a desired direction by user operation.

The casters 104 desirably have stoppers 104a. The user can operate the stoppers 104a with his/her foot to reliably stop the condition diagnosis device 100, and the diagnosis operation by the diagnosis unit 400 can be stably performed. In addition, if the front wheels are casters 104 and the rear wheels are drive wheels 110 and 111, an emergency stopper can be provided on the rear wheel side, and the user can operate the emergency stopper with his/her foot to lift the drive wheels 110 and 111 off the surface to be inspected.

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

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

By controlling the rotation of the y-axis stepping motor 304 and the x-axis stepping motor 306 in this manner, the diagnostic unit 400 fixed to the x-carriage 305 can be moved sequentially in predetermined steps within the inspection section 11 shown by the hatched portion in FIG. 13. That is, by rotating the x-axis stepping motor 306 by a predetermined angle, the diagnostic unit 400 can be moved a predetermined distance Δx in the x-axis direction, and by rotating the y-axis stepping motor 304 by a predetermined angle, the diagnostic unit 400 can be moved a predetermined distance Δy in the y-axis direction (see FIG. 4). The accuracy of the moving distances Δx and Δy can be achieved by the encoders attached to the y-axis stepping motor 304 and the x-axis stepping motor 306.

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

In addition, according to this embodiment, as shown in FIG. 13, the traveling direction of the condition diagnosis device 100 coincides with the y-axis direction of the frame coordinate system, and the diagnosis unit 400 is connected to the traveling direction side (front side) of the x-stage 302. Therefore, the inspection section 11 is shifted toward the traveling direction side of the xy actuator 300 with respect to the stroke 302a in the y-axis direction of the x-stage 302. This makes it easier to diagnose up to the edge of the inspection target surface of the inspection object 10.

16, the diagnosis unit 400 in this embodiment is composed of a lifting mechanism 401 and an inspection unit 402, and the lifting mechanism 401 is fixed to the x-carriage 305 of the x-stage 302. The inspection unit 402 is connected to the lifting mechanism 401 so as to be slidable in the vertical direction. The lifting mechanism 401 and the inspection unit 402 will be described in detail below.

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

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

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

As shown explicitly in FIG. 17, two detection switches 416 and 417 are provided at the lower end of the bracket 410 in the vertical direction, and a protrusion 428 is provided on the connecting portion 422 so that it can come into contact with the detection switch 416 or 417. When the protrusion 428 is in contact with the upper detection switch 416 and turns it on, the inspection unit 402 is in the raised position, and the condition diagnosis device 100 can move in this raised position. When the protrusion 428 is in contact with the lower detection switch 417 and turns it on, the inspection unit 402 is in the lowered position, and in this lowered position, the xy actuator 300 is driven to move the detector 423 sequentially while performing a percussion operation in the inspection section 11.

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

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

As shown in FIG. 19B, when the vertical distance between the rotating shaft 412 and the outer circumference of the cam 413 becomes the longest due to the rotation of the actuator 411, the follower plate 420 in contact with the cam 413 is pressed down against the coil spring 415, causing the entire inspection unit 402 to descend and the protrusion 428 to come into contact with the lower detection switch 417 and stop. In this descended position, the swivel caster 425 comes into contact with the inspection target 10, and the distance between the bottom surface 426 of the detection unit 423 and the surface of the inspection target 10 is maintained at a distance suitable for percussion, which will be described later. In this descended state, the diagnostic unit 400 is in contact with the surface of the inspection target 10 by the swivel caster 425, so that it can move freely back and forth and left and right in response to the operation of the xy actuator 300.

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

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

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

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

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

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

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

Furthermore, as shown in FIG. 22, only reflectors 23 and 24 are moved from the reflector arrangement in FIG. 21(D) above, or a reflector is added, and the measurement surface 905 is defined by the four reflectors 21 to 24. After re-registering the index, condition diagnosis information for the measurement surface 905 is obtained while moving the condition diagnosis device 100 in the same manner. By changing the arrangement or adding reflectors in this way, it becomes possible to handle any shape of the inspection target surface.

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

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

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

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

Then, the inspection section allocation unit 520 allocates the inspection sections 11 on the surface to be inspected in the frame global coordinate system as described above (operation 711). As illustrated in FIG. 25, the reference line LR is used to determine the X-axis and Y-axis of the global coordinate system, and each inspection section 11 is allocated as a global coordinate P(X,Y), and a total of p×q inspection sections are arranged. When allocating the inspection sections, it may not be possible to inspect all of the inspection sections close to the wall surface 10c. In the example of FIG. 25, the inspection sections P(1,k+1), P(2,m), P(3,n) ... P(p-1,2), P(p-1,q) and P(p,3) to P(p,q) are partial inspection sections.

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

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

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

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

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

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

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

The present invention can be applied to diagnosing conditions such as peeling on horizontal surfaces such as building floors or rooftops.

10: Inspection object 11: Inspection section 20: Indicator 20a: Pole 20b: Reflector 21-24: Indicator (reflector)
100 Condition diagnosis device 101 Frame 102 Top plate 103 Support 104 Caster 110, 111 Drive wheel 200 Overall position detector 200a Measurable range 300 xy actuator (detection unit moving mechanism)
301 y frame 302 x stage 303 y carriage 304 y axis stepping motor 305 x carriage 306 x axis stepping motor 400 diagnosis unit 401 lift mechanism 402 inspection unit 410 bracket 411 actuator 412 rotating shaft 413 cam 414 hook 415 coil spring 416, 417 detection switch 420 follower plate 421 hook 422 connecting portion 423 detection portion 424 attachment 425 swivel caster 426 bottom surface 427 microphone cover 428 protrusion 450 housing 451 striking portion 452 plunger 453 striking hammer 454 base 455 opening 456 vibration sensor 457 anti-vibration rubber 458 microphone 500 computer 504 control portion 505 inspection point position synthesis portion 506 diagnosis information generation portion 507 Diagnosis information storage unit 508 Display unit 510 Data processing unit 520 Inspection section allocation unit 521 Movement control unit 522 Drive motor control unit

Claims (7)

A condition diagnosis device for diagnosing a condition of an inspection object extending along a horizontal plane, comprising:
a drive unit that moves a main body of the condition diagnosis device in a desired direction on the inspection target surface of the inspection target;
an overall position detection unit that detects an overall position of the device body on the inspection target surface by detecting at least two external indicators;
a detection unit for detecting a state of the inspection object in the entire position of the device body;
a data processing unit that determines a reference line from at least two indicators detected by the overall position detection unit, allocates a plurality of inspection zones on the inspection target surface according to overall coordinates determined according to the reference line, and generates diagnostic information of the inspection target surface from a detection signal detected by the detection unit for each of the inspection zones while moving the device body according to the allocated inspection zones;
An apparatus for diagnosing the condition of an object to be inspected. a detection unit moving mechanism for moving the detection unit to a desired position within the device body, the inspection section being a movable range of the detection unit within the device body;
The device for diagnosing the condition of an object to be inspected according to claim 1, characterized in that the data processing unit calculates an overall position of the detection unit from the position of the detection unit within the device body and the overall position of the device body, and generates diagnostic information of the surface to be inspected from a detection signal detected by the detection unit at the overall position of the detection unit . 3. The condition diagnosis device according to claim 1 , wherein the data processing unit controls the drive unit to move the device body in accordance with a predetermined sequence of the inspection sections allocated on the inspection target surface. A condition diagnosis system for diagnosing a condition of an inspection object extending along a horizontal plane, comprising:
A plurality of indicators for identifying an inspection target surface, the indicators being placed on a horizontal surface of the inspection target;
a condition diagnosis device that moves on the inspection object surface while detecting the plurality of indices and diagnoses a condition of the inspection object;
It consists of:
The condition diagnosis device,
A device body,
an overall position detection unit that detects an overall position on the inspection target surface by detecting at least two indices;
a detection unit for detecting a state of the inspection object at the overall position;
a data processing unit that determines a reference line from at least two indicators detected by the overall position detection unit, allocates a plurality of inspection zones on the inspection target surface according to overall coordinates determined according to the reference line , and generates diagnostic information of the inspection target surface from a detection signal detected by the detection unit for each of the inspection zones while moving the device body according to the allocated inspection zones;
A system for diagnosing a condition of an inspection object, comprising: a frame movement mechanism for moving the detection unit to a desired position in the device body, the inspection section being a movable range of the detection unit in the device body;
The system for diagnosing the condition of an object to be inspected as described in claim 4, characterized in that the data processing unit calculates an overall position of the detection unit from the position of the detection unit within the device body and the overall position of the device body, and generates diagnostic information of the surface to be inspected from a detection signal detected by the detection unit at the overall position of the detection unit . A condition diagnosis method for a condition diagnosis device that diagnoses a condition of an inspection object extending along a horizontal plane, comprising:
an overall position detection unit detects at least two external indicators to obtain an overall position of the device body of the condition diagnosis device on the inspection target surface of the inspection target;
A detection unit detects a state of the inspection object in the entire position of the device body,
The data processing unit
determining a reference line from at least two indicators detected by the overall position detection unit;
allocating a plurality of inspection zones on the inspection surface according to global coordinates determined according to the reference line;
Moving the device body according to the assigned inspection section;
generating diagnostic information of the inspection target surface from a detection signal detected by the detection unit for each inspection section while moving the device body;
A condition diagnosis method comprising: A program for controlling a computer as a condition diagnosis device for diagnosing a condition of an inspection object extending along a horizontal plane, comprising:
a function of acquiring an overall position of the main body of the condition diagnosis device on the inspection target surface of the inspection target by detecting at least two external indicators by an overall position detection unit;
A function in which a detection unit detects a state of the inspection object in the entire position of the device body;
a data processing unit that determines a reference line from at least two indices detected by the overall position detection unit, allocates a plurality of inspection zones on the inspection target surface according to the overall coordinates determined according to the reference line, moves the device body according to the allocated inspection zones, and generates diagnostic information of the inspection target surface from a detection signal detected by the detection unit for each inspection zone while moving the device body;
A program for causing the computer to execute the above.

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