JP4230161B2 - Marking method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a technique for marking a desired position by unattended remote operation, for example, by forming a mark by remote control on a ground surface at a work site, and the like. This technique is effective when applied to unattended marking performed by a person at a position.
[0002]
[Prior art]
In the fields of architecture and civil engineering, for example, when excavating ground, marking is performed in advance on the excavation position so that the excavation position can be understood. The excavation position is positioned with high accuracy by surveying. Based on the positioning data, marking is performed at a desired excavation position with a marking material such as paint through a manual operation.
[0003]
[Problems to be solved by the invention]
In such a marking work, a work in a place where a person is likely to enter or leave is also assumed in some cases. For example, there are cases such as quick restoration of the area around the volcano after volcanic activity or emergency construction to prevent secondary disasters in the area around the volcano. Unzen Fugendake disaster recovery work is just an example. Furthermore, when there is a risk of debris flow, it may be possible to build a dike immediately to protect the downstream area.
[0004]
In view of this, an unmanned system for such work has been actively studied and proposed by the present applicant so that disaster recovery in such a dangerous area can be performed safely and smoothly. By remotely operating work machines necessary for construction from a safe place, work will be actively promoted.
[0005]
However, while the unmanned operation is actively promoted as described above, the marking operation requiring high accuracy is still performed manually. Regarding the unmanned marking work in the surveying field, at present, the technical proposal has not been made sufficiently.
[0006]
An object of the present invention is to enable marking to be performed unattended.
[0007]
[Means for Solving the Problems]
According to the marking method of the present invention, a vehicle provided with a marking part to be marked at a marking position so that the marking part can be moved is brought closer to the marking part within a movement range of the marking part by remote control, The marking portion is aligned with the marking position, and the marking portion is marked with the marking portion in the aligned state.
[0008]
When the vehicle is remotely operated, the position of the marking unit is tracked to determine the position, the position of the marking unit is displayed on the monitor screen that displays the position of the marking, and the monitor On the screen, the vehicle is guided by remote operation until the marked position coincides with an allowable range corresponding to the movement range of the marking portion.
[0009]
In any one of the configurations described above, the positioning of the marking portion at the marking position within the movement range of the marking portion is performed by a moving member that is provided in the vehicle and moves in two transverse transverse directions. The marking portion having a launching port that emits toward the marked position is positioned so that the firing port is located toward the marked position.
[0010]
In such a configuration, in order to align the marking target position on the trajectory when the launch port moves up and down, the marking target position is within the movement range of the marking portion. The marking portion is moved to a plurality of different locations within the moving range, and each moving position is surveyed to set a coordinate system composed of the two horizontal axes, and the marking position grasped by the coordinate system is set. The marking portion is moved in two lateral directions, and the launch port of the marking portion is positioned toward the marking target position.
[0011]
In any of the above marking methods, the marked position is set in an area where manned marking work is prohibited, and the remote control of the vehicle is performed in an area where manned work is permitted.
[0012]
In order to carry out the marking method of this configuration of the present invention, for example, the following marking system may be used.
[0013]
That is, a work machine configured to perform an operation including a moving operation by remote control, and a marking operation which is provided in the work machine and forms a mark at a position to be marked is configured to be performed by remote control. A marking unit, a surveying unit that measures first coordinate data indicating the position coordinates of the target, a first coordinate data obtained from the surveying unit, and a second coordinate that indicates a position coordinate of a marking target position to be provided with a microprocessor. A first control operation for remotely controlling the operation of the work machine such that an error from the data is within an allowable range; and an error between the first coordinate data and the second coordinate data is within the allowable range by the first control operation. And a remote control unit for performing a second operation for remotely controlling the marking operation by the marking unit. It is sufficient to use the over King system.
[0014]
In the marking system, the work machine includes a support unit that movably supports the marking unit, and the operation by the remote control of the work machine includes a movement operation of the marking unit by the support unit. You may comprise.
[0015]
The support part may be provided with a universal mechanism so that a mark is formed at the marking position by the marking part from a vertical direction.
[0016]
In any one of the configurations described above, the marking unit includes a paint spray, a spray holding member, and a pressing mechanism, and the paint spray is provided in the container and pressed by the container storing the paint. A nozzle for injecting paint to the outside of the container, the spray holding member is configured to hold the paint spray, and the pressing mechanism presses and releases the nozzle by remote control. The mark is formed at the marking position by the coating material sprayed from the nozzle adhering to the marking position, and the second control operation by the remote control unit is performed by the remote control. The unit is performed by remotely controlling the pressing mechanism.
[0017]
Alternatively, the marking unit includes an air gun, an air gun holding member, a marking ball storage unit, a marking ball supply unit, an air supply unit, and an air gun control mechanism, and the air gun fires a marking ball. The air gun holding member is configured to hold the air gun, the marking ball storage portion is configured to store a marking ball, and the marking ball supply portion is stored in the marking ball storage portion. A marking ball is configured to be supplied to the air gun, the air supply unit is configured to supply air to the air gun, and the air gun control mechanism is configured to stop the firing of the marking ball by the air gun and stop the firing by remote control. Configured to do before The formation of the mark with respect to the marking position is performed by the coating ball adhering to the marking ball caused by the marking ball fired from the air gun colliding with the marking position, The second control operation by the remote control unit may be performed by the remote control unit being remotely controlled by the air gun control mechanism.
[0018]
Alternatively, the marking unit includes a pump, a nozzle, a pump holding member, a hopper, and a pump control mechanism, and the pump feeds paint supplied to the pump to the nozzle provided in the pump. The pump holding unit is configured to hold the pump, and the hopper is configured to supply the pump with the paint stored in the hopper, the pump The control mechanism is configured to operate and release the pump by remote control, and the formation of the mark with respect to the marking position is performed by the paint discharged from the nozzle adhering to the marking position. In the second control operation by the remote control unit, the remote control unit remotely controls the pump mechanism. It may be configured to marking system, characterized in that takes place in.
[0019]
In the configuration of any of the above marking systems, the marked position where the mark is provided may be a ground surface at a work site.
[0020]
In any of the marking system configurations described above, the surveying unit has a total station, and the measurement of the first coordinate data by the surveying unit is to measure and measure the position of the target by the total station. It may be configured to be performed by.
[0021]
In the configuration of any of the above marking systems, the work machine is provided with a work machine radio and a marking unit radio, the surveying unit is provided with a data communication radio, The remote control unit includes a first radio configured to be able to communicate with the work machine radio, a second radio configured to be able to communicate with the marking unit radio, and the data communication radio. A third radio configured to be communicable is provided, the work machine is remotely controlled via the first radio and the work machine radio, and the marking unit is remotely controlled by the second radio. And the first coordinate data obtained from the surveying unit is sent to the remote control unit via the data communication radio unit and the third radio unit. With a configuration characterized by It may be.
[0022]
Further, in the above configuration, the remote control unit includes a remote control unit for operating a work machine connected to the first radio, a marking command remote control unit connected to the second radio, and the third radio. A display unit for displaying the first coordinate data and the second coordinate data input from a machine, and the marking command remote control unit controls the operation of the marking unit based on an operation given thereto. The work machine operation remote control unit is configured to output a work machine control signal for controlling the work machine based on an operation given thereto, and In the first control operation, a work machine control signal output from the work machine operation remote control unit operated based on the first and second coordinate data displayed on the display unit is provided. The second control operation is performed by being transmitted from the first radio to the work machine radio, and the marking control signal output from the marking command remote control unit is transmitted from the second radio to the marking. It is performed by being transmitted to a departmental radio.
[0023]
As described above, the marking system used in the present invention basically includes a work machine configured to perform an operation including a moving operation by remote control, and the work machine provided with respect to a marking position. A marking unit configured to perform a marking operation for forming a mark by remote control, a surveying target fixed to the marking unit, and first coordinate data indicating a position coordinate of the target The operation of the work machine is performed so that an error between the surveying unit and the first coordinate data obtained from the surveying unit and the second coordinate data indicating the position coordinates of the marked position where the mark is to be provided is within an allowable range. When the first control operation for remote control and the error between the first coordinate data and the second coordinate data are within the allowable range by the first control operation Serial is characterized in that a remote control unit for the marking operation by the marking unit performs a second control operation for remote control.
[0024]
Therefore, in the present invention, the error between the first coordinate data indicating the position coordinates of the target obtained from the surveying section and the second coordinate data indicating the position coordinates of the marking position where the mark should be provided by the remote control section is within an allowable range. The operation of the work machine is remotely controlled so as to be within, and when the error between the first coordinate data and the second coordinate data falls within the allowable range, the marking operation by the marking unit is remotely controlled.
[0025]
Therefore, the work machine moved to the work site is remotely controlled by the remote control unit located away from the work site, so that the mark can be formed at the marked position without entering the dangerous work site. Can do.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an explanatory diagram showing the overall configuration of a marking system used in the marking method of the present invention. FIG. 2A is an overall assembly diagram showing the configuration of the marking portion and its peripheral portion, and FIG. 2B is an enlarged view of the portion indicated by arrow A in FIG.
[0027]
As shown in FIG. 1, the marking system 10 includes a work machine 100, a marking unit 200, a target 300, a surveying unit 400, a remote control unit 500, and the like.
[0028]
The work machine 100 includes a vehicle 110 configured to be able to travel and move by remote control, and an arm 120a provided to be movable on the vehicle 110. The arm 120a is configured as a support portion 120 that supports the marking portion 200 so as to be movable. The vehicle 110 is equipped with a work machine radio 130 and a marking unit radio 140.
[0029]
The work machine radio 130 receives the work machine control signal S1 transmitted from the remote control unit 500 and inputs it to the machine control unit of the circuit. The machine control unit is configured to control the moving direction and moving distance of the vehicle 110 based on the work machine control signal S1, and to control the moving direction and moving distance of the arm 120a.
[0030]
Also, the marking unit radio 140 receives the marking control signal S2 transmitted from the remote control unit 500 and inputs it to the marking control unit (not shown). The marking control unit is configured to control the operation of the marking unit 200 described later based on the marking control signal S2.
[0031]
The marking unit 200 forms a mark with a paint or the like at a position to be marked, for example, on the ground surface of a work site, the surface of a broken structure, or other parts necessary for various operations at the work site. And is attached to the arm 120a of the work machine 100. A surveying target 300 is fixed to the marking unit 200, and the position coordinate of the target 300 is surveyed by the surveying unit 400. The target 300 is composed of a survey cube composed of, for example, a prism that reflects incident light in the same direction as the light.
[0032]
The surveying unit 400 includes a total station 410, a personal computer 420, and a data communication radio 430. The total station 410 is configured to perform distance measurement and angle measurement of the target 300 using the position coordinates where the total station 410 is installed as reference coordinates, and calculate and output first coordinate data indicating the position coordinates of the target 300. Has been. The total station 410 may be, for example, an automatic tracking type that automatically tracks the target 300 to perform distance measurement and angle measurement after the worker P is installed at a predetermined position.
[0033]
The personal computer 420 is configured to convert the first coordinate data output from the total station 410 into data in a communicable format and input the data to the data communication wireless device 430. The data communication radio 430 is configured to transmit the input first coordinate data to the remote control unit 500 as a data signal S3.
[0034]
It should be noted that the surveying unit 400 can be installed at a work site, that is, a location sufficiently away from a place where there is a risk that the work machine is located as long as the target 300 can measure and measure the angle. .
[0035]
The remote control unit 500 includes an information processing device 510, a display unit 520, a keyboard 530, a first wireless device 540, a second wireless device 550, a third wireless device 560, a work machine operation remote control unit 570, and a marking command remote control unit 580. The monitor monitor 590 is provided. The information processing device 510 is connected to a display unit 520 as an output device, a keyboard 530 as an input device, and a third wireless device 560.
[0036]
Further, the internal storage device (not shown) of the information processing apparatus 510 stores second coordinate data 510A indicating the position to be marked where the mark is to be formed, for example, the position coordinates of the ground surface of the work site.
[0037]
The first radio 540 is configured to be capable of wireless communication with the work machine radio 130 and is configured to transmit the work machine control signal S1. The second wireless device 550 is configured to be able to wirelessly communicate with the marking unit black line device 140 and configured to transmit a marking control signal S2. The third wireless device 560 is configured to be capable of wireless communication with the data communication wireless device 430, receives the data signal S3 indicating the first coordinate data transmitted from the data communication wireless device 430, and processes the first coordinate data. It is configured to input to the device 510.
[0038]
Accordingly, the first and second radio units 540 and 550 may be provided in a range where the work machine radio unit 130 and the marking unit radio unit 140 mounted on the work machine 100 can communicate with each other. Can be installed at a position sufficiently away from the work site where there is a risk.
[0039]
The work machine operation remote control unit 570 is configured to generate a work machine control signal for controlling the movement of the work machine 100, the movement of the arm 120a, and the like, and to input the work machine control signal to the first wireless device 540 when operated. Yes. The marking command remote control unit 580 is configured to generate a marking control signal for controlling the operation of the marking unit 300 and to input the marking control signal to the second wireless device 550 when operated.
[0040]
The monitoring monitor 590 is configured to display a photographed image of the work machine 100 photographed by a television camera (not shown), and operates the work machine operating remote control unit 570 while viewing the image of the monitoring monitor 590. It has become.
[0041]
Next, the configuration of the marking unit 200 will be described in detail with reference to FIG. The marking part 200 includes an attachment member 210, a target attachment part 210a, an outer cylinder 220, an inner cylinder 230, a weight 240, a paint spray 250, a winch 260, and the like.
[0042]
As shown in FIG. 2A, a plate-like mounting bracket 122 extending in the vertical direction is fixed to the lower end portion of the arm 120a shown in FIG. 1, and a mounting piece 124 is horizontally attached to the mounting bracket 122. Is provided.
[0043]
As shown in FIG. 2 (A), the mounting member 210 includes a top wall 212 having a rectangular plate shape and four side walls 214 extending downward from four sides of the top wall 212. A target mounting portion 210 a for fixing the target is provided on the upper portion of 212.
[0044]
Two opposing side wall 214 portions of the attachment member 210 are attached to the attachment piece 124 via the universal mechanism 126.
[0045]
The outer cylinder 220 has an upper end portion 222 connected to a lower end portion of the mounting member 210 in a state where the axis is directed in the vertical direction. The inner cylinder 230 has an outer diameter smaller than the inner diameter of the outer cylinder 220, and is configured to be movable in the vertical direction with the axis centered in the vertical direction within the inner space of the outer cylinder 220. As shown in FIG. 2B, a convex portion 232 is provided on the inner cylinder 230 toward the inner side in the axial center direction. A hole 234A is provided in the center of the bottom 234 so as to penetrate in the vertical direction.
[0046]
As shown in FIG. 2B, an annular convex portion 236 is provided on the outer peripheral surface of the upper end portion of the inner cylinder 230, and the convex portion 236 is engaged with the inner peripheral surface of the lower end portion of the outer cylinder 220. Convex portions 224 are provided. Accordingly, the inner cylinder 230 is prevented from dropping from the outer cylinder 220 by the engagement between the convex portion 236 and the convex portion 224.
[0047]
The weight 240 has a columnar shape having an outer diameter smaller than the inner diameter of the inner cylinder 230, and is configured to be movable in the vertical direction within the inner space of the inner cylinder 230. One end of a wire 244 is fixed to the upper end 242 of the weight 240.
[0048]
The paint spray 250 is a container 252 that stores the paint, and is sprayed to the outside of the container 252 by being pressed toward the bottom of the container 252 provided in the container 252 and is ejected by releasing the press. And a nozzle 254 for stopping the operation. The nozzle 254 is biased so as to hold a state of protruding to a predetermined position in a state where the pressure is released, and is displaced toward the bottom by being pressed from the predetermined position toward the bottom, It is configured to return to a predetermined position in a state where the pressing is released.
[0049]
In the paint spray 250, the inner cylinder 230 is arranged such that the nozzle 254 is in contact with the edge of the hole 234A in the bottom 234 of the inner cylinder 230 and the spray hole of the nozzle 254 faces downward through the hole 234A. It is held by the inner peripheral surface portion of.
[0050]
A pulley 214A that supports an intermediate portion of the wire 244 is rotatably supported on one of the side walls 214 of the mounting member 210. The winch 260 is attached to the mounting bracket 122, and has a winding portion 262 to which the other end of the wire 244 is fixed, and a motor 264 that rotates the winding portion 262 in the forward and reverse directions. Yes.
[0051]
The motor 264 is configured so that its operation is controlled by the marking control unit. Accordingly, when the motor 264 operates and the winding unit 262 feeds the wire 244, the weight 240 is moved downward, and conversely, when the winding unit 262 winds the wire 244, the weight 240 is moved upward. Yes.
[0052]
When the weight 240 is moved downward, the lower end 245 of the weight 240 eventually presses the bottom of the paint spray 250. By this pressing, the portion of the nozzle 254 is pressed against the edge portion of the hole 234A of the bottom portion 234 of the inner cylinder 230, the nozzle 254 is displaced toward the bottom portion of the container 252, and the coating material is directed downward from the injection port of the nozzle 254. Are to be injected.
[0053]
When the weight 240 is moved upward, the lower end 245 of the weight 240 is eventually separated from the bottom of the paint spray 250. By this separation, the force that the nozzle 254 part presses against the edge of the hole 234A of the bottom 234 of the inner cylinder 230 is released, and the spraying of the paint from the nozzle 254 is stopped.
[0054]
At this time, the nozzle 254 returns to the state where the nozzle 254 protrudes to the predetermined position while maintaining the state where the nozzle 254 is in contact with the edge of the hole 234A of the bottom 234. Further, when the weight 240 is further moved upward, the upper end portion 242 of the weight 240 is engaged with the convex portion 232 of the inner cylinder 230, and the inner cylinder 230 and the weight 240 are moved upward.
[0055]
During the marking operation, the motor 264 is actuated to move the weight 240 downward, and the motor 264 is stopped for a predetermined time while the nozzle 254 is reliably pressed against the edge of the hole 234A. Then, when the motor 264 is stopped for a predetermined time, the paint is sufficiently ejected from the ejection port of the nozzle 254 and the mark is reliably formed. After a predetermined time, the motor 264 is actuated, the weight 240 is moved upward, and the spray of paint is stopped.
[0056]
In addition, the mounting member 210, the outer cylinder 220, the inner cylinder 230, the weight 240, and the paint spray 250 supported by the universal mechanism 126 are arranged so that the injection port of the nozzle 254 of the paint spray 250 is always directed vertically downward. The center of gravity is set.
[0057]
Next, the operation of the marking system 10 configured as described above will be described. In the initial state, it is assumed that the weight 240 of the marking unit 200 is located above and is separated from the bottom of the paint spray 250.
[0058]
As shown in FIG. 1, distance measurement and angle measurement of the target 300 are performed by the total station 410 of the surveying unit 400, and first coordinate data indicating the position coordinates of the target 300 is input to the data communication radio 430. The The data communication radio 430 transmits the input first coordinate data to the remote control unit 500 as a data signal S3.
[0059]
The third radio 560 receives the data signal S3, and the first coordinate data indicated by the data signal S3 is input to the information processing apparatus 510. The information processing apparatus 510 receives the input first coordinate data and the second coordinate data 510A stored in the internal storage device (indicating the position coordinates of the ground surface of the work site, which is the marking position where the mark is to be formed). And the error is calculated and displayed on the display unit 520.
[0060]
The operator operates the work machine operation remote controller 570 based on the error displayed on the display unit 520 so that the error falls within an allowable range. Thus, the work machine operation remote control unit 570 is Control As a result, the work machine 100 is operated such that the error between the coordinate position of the target 300 and the second coordinate data 510A falls within an allowable range. This operation includes a moving operation of the vehicle 110 and a moving operation of the arm 120a.
[0061]
Then, when the error between the first coordinate data and the second coordinate data 510A falls within the allowable range, the operator performs an operation for forming a mark on the marking command remote controller 580. As a result, a marking control signal is generated and input to the second radio 550 and transmitted to the marking unit radio 140.
[0062]
The marking unit radio 140 receives the marking control signal S2 transmitted from the remote control unit 500 and inputs it to the marking control unit. As a result, the marking control unit controls the motor 264 to move the weight 240 downward. The coating material is sprayed downward from the nozzle 254 of the coating material spray 250 pressed by the weight 240, and the coating material adheres to the ground surface at the marking position, thereby forming a mark.
[0063]
As described above, the marking control unit holds the state where the weight 240 is moved downward by controlling the motor 264 for a predetermined time, and then controls the motor 264 again to move the weight 240 upward. The press of 254 is released and the formation of the mark is stopped.
[0064]
In this manner, the mark can be formed by remote operation without a person entering the vicinity of the marking position where the mark is to be formed.
[0065]
In the configuration described above, the outer cylinder 220 and the inner cylinder 230 constitute a spray holding member, and the wire 244, the weight 240, and the winch 260 constitute a pressing mechanism.
[0066]
The marking system that can be used in the present invention need not be limited to the above-described configuration, and may be a marking system having the configuration described below. Since this marking system is different from the marking system shown in FIG. 2 above mainly in the marking portion, only the marking portion will be described in the following description.
[0067]
FIG. 3 is an assembly view of the marking portion and its peripheral portion. Parts identical or corresponding to those in FIGS. 1 and 2 are designated by the same reference numerals and description thereof is omitted.
[0068]
The marking unit 200A includes an air gun 270, an air gun holding member 270a, a marking ball storage unit 280, a marking ball supply unit 290, an air supply unit (not shown), and an air gun control mechanism (not shown). . The air gun holding member 270a is attached to the lower part of the mounting member 210, holds the air gun 270, and stores the marking ball storage portion 280 and the marking ball supply portion 290.
[0069]
The air gun 270 is provided with an air supply port 272 for supplying air from a high-pressure air hose (not shown), for example, from a high-pressure air tank provided on the work machine 100 side, and a paint. And a barrel part 274 that fires a marking ball, which is a bullet, by air. The marking ball is fired and stopped when the air gun 270 is operated by an air gun control mechanism (not shown).
[0070]
The air gun control mechanism is controlled by the marking control unit. The marking ball storage unit 280 stores a large number of the marking balls. The marking ball supply unit 290 is configured to supply the marking ball stored in the marking ball storage unit 280 to the air gun 270.
[0071]
In addition, the mounting member 210 supported by the universal mechanism 126, the air gun 270, the air gun holding member 270a, the marking ball storage portion 280, and the marking ball supply portion 290 are such that the launch port of the barrel portion 274 is always vertically downward. The center of gravity is set so that it faces.
[0072]
According to the above configuration, the mark at the marking position is formed by the coating ball adhering to the marking ball caused by the marking ball launched from the launch port of the barrel part 274 of the air gun 270 colliding with the marking position. Is done by adhering to.
[0073]
The remote control operation until the error between the first coordinate data and the second coordinate data 510A falls within the allowable range is the same as that described in the marking system shown in FIG. When the error between the first coordinate data and the second coordinate data 510A falls within the allowable range, the operator performs an operation for forming a mark on the marking command remote controller 580.
[0074]
As a result, a marking control signal is generated and input to the second radio 550 and transmitted to the marking unit radio 140. The marking unit radio 140 receives the marking control signal S2 transmitted from the remote control unit 500 and inputs it to the marking control unit.
[0075]
As a result, the marking control unit controls the air gun control mechanism to fire the marking ball from the launch port of the barrel part 274 of the air gun 270. A mark is formed when the marking ball hits the marking position and the paint adheres to the ground surface at the marking position.
[0076]
In this manner, similarly to the configuration shown in FIG. 3, the mark can be formed by remote operation without a person entering the vicinity of the marking position where the mark is to be formed.
[0077]
Next, in the marking system shown in FIG. 4, the difference from the marking system shown in FIG. 2 is mainly the marking portion. Therefore, in the following description, only the marking portion is described. FIG. 4 is an assembly view of the marking portion and its peripheral portion. Parts identical or corresponding to those in FIGS. 1 and 2 are designated by the same reference numerals and description thereof is omitted.
[0078]
As shown in FIG. 4, the marking unit 600 includes a pump 610, a nozzle 620, a pump holding member 630, a hopper (not shown), and a pump control mechanism (not shown). The pump 610 includes a pump main body 612 and a motor 614 for driving the pump main body 612. The pump main body 612 is configured to feed the paint supplied from the hopper through the hose 616 to the nozzle 620 provided at the lower portion of the pump main body 612 and discharge it from the discharge port of the nozzle 620. .
[0079]
The pump holding member 630 accommodates a motor 614 provided on the top of the pump body 612 and holds the top of the pump body 612. The hopper is configured to supply the paint stored in the hopper to the pump body 612 via the hose 616.
[0080]
The operation and release of the pump 610, that is, the control of the motor 614 is controlled by a pump control mechanism, and this pump control mechanism is controlled by a marking control unit.
[0081]
In addition, the mounting member 210, the pump 610, the nozzle 620, and the pump holding member 630 supported by the universal mechanism 126 have their centers of gravity set so that the outlet of the nozzle 620 always faces vertically downward. Yes.
[0082]
According to the above configuration, the mark is formed at the marking position by the paint discharged from the nozzle 620 being attached to the marking position. The pump 610 may be a pump suitable for transporting a liquid paint. For example, a single male screw (rotor) rotates eccentrically in two female screws (stator) so that fluid can be sucked from the suction side. A Mono pump that continuously feeds to the discharge side can be employed.
[0083]
The said coating material should just be excellent in visibility as a mark. As this paint, for example, bentonite can be colored and used.
[0084]
In the configuration of the marking system having the marking unit shown in FIG. 4 configured as described above, the remote control operation until the error between the first coordinate data and the second coordinate data 510A falls within the allowable range is shown in FIG. It is the same. That is, when the error between the first coordinate data and the second coordinate data 510A falls within the allowable range, the operator performs an operation for forming a mark on the marking command remote controller 580.
[0085]
As a result, a marking control signal is generated and input to the second radio 550 and transmitted to the marking unit radio 140. The marking unit radio 140 receives the marking control signal S2 transmitted from the remote control unit 500 and inputs it to the marking control unit. As a result, the marking control unit controls the pump control mechanism to drive the motor 614, whereby the paint supplied from the hopper by the pump body 612 is discharged from the launch port of the nozzle 620.
[0086]
A mark is formed by the discharged paint adhering to the marking position. As described above, even in the configuration having the marking portion 600 shown in FIG. 4, a person enters the vicinity of the marked position where the mark is to be formed, as in the case of having the marking portions 200 and 200A shown in FIGS. The mark can be formed by remote control.
[0087]
In the configuration of the marking system described above, the marking portions 200, 200A, and 600 shown in FIGS. 2, 3, and 4 have a configuration that is directly attached to the arm 120a of the vehicle 110 as shown in FIG. ing. Therefore, the movement of the marking units 200, 200A, and 600 is controlled by the movement of the arm 120a.
[0088]
However, when the vehicle 110 configured as the backhoe 110a is used as the work machine 100 and the arm 120a is used, the arm 120a is originally not configured to be finely controlled, and thus performs precise marking. May be inappropriate.
[0089]
Therefore, as shown in FIG. 5, if a configuration in which the marking unit 700 is provided so that it can be finely moved in the biaxial direction by a biaxial table 710 attached to the arm 120 a of the vehicle 110 such as the backhoe 110 a is adopted, as shown in FIG. 1. Marking with high accuracy that cannot be performed with the configuration can be performed.
[0090]
The biaxial table 710 is configured in a rectangular frame 711 in the case shown in FIG. The rectangular frame 711 is provided with a parallel X-axis guide 712 relative to the rectangular frame 711. The X-axis guide 712 is provided with a Y-axis guide 713 extending in the orthogonal direction so as to be movable in the Y-axis direction along the X-axis guide 712.
[0091]
Further, the Y-axis guide 713 is provided with a Y-axis direction moving member 714 that can move freely in the Y-axis direction along the Y-axis guide 713. A marking unit 700 is attached to the Y-axis direction moving member 714 via a universal mechanism unit. A target 300 is provided at the upper end of the marking unit 700 so that the position of the marking unit 700 can be tracked by a tracking device such as the total station 410.
[0092]
Inclinometers 715a and 715b are provided on the side surfaces of the rectangular frame 711 constituting the biaxial table 710 along the X-axis direction and the Y-axis direction, respectively. Further, an attachment portion 716 to the arm 120a is provided on one end surface.
[0093]
The inclinometers 715a and 715b send the inclination data to the control device in the vehicle 110, wirelessly transmit a signal when the inclination is abnormal to the control, and display it on the rotating lamp of the device.
[0094]
FIG. 6A shows an enlarged cross section of the main part of the universal mechanism portion of the marking portion 700 of the A portion shown in FIG. The marking unit 700 is configured to be dynamic so that the verticality can always be maintained based on the inclination information from the inclinometers 715a and 715b provided on the biaxial table 710.
[0095]
FIG. 6B shows an enlarged cross-sectional configuration of the spray unit 720 that emits the marking material to the marking position of the marking unit 700 of the B portion shown in FIG. In the spray part 720, the cylindrical guide part 721 is provided toward the spray direction of the spray 720a, ie, toward the vertical direction. The cylindrical guide portion 721 is supported by the universal mechanism portion 722, and the tip end side of the cylindrical guide portion 721 is projected downward from the universal mechanism portion 722 as it is to constitute a marking material scattering prevention portion 721 a.
[0096]
In the marking unit 700 having such a configuration, the vehicle 110 is remotely controlled while confirming an image on the monitor monitor 590 until the marked unit enters the biaxial table 710 that is within the movement range of the marking unit 700 in the X and Y directions. Inductive control.
[0097]
The vehicle is stopped when the marking position enters the moving range of the marking unit 700. In this state, the Y-axis guide 713 is moved to an arbitrary point along the X-axis guide 712 by remote control. In the moved state, the Y-axis direction moving member 714 is moved to an arbitrary point along the Y-axis guide 713, and the position of the marking 700 in that state is acquired as survey data.
[0098]
Again, as described above, the marking unit 700 is moved to an arbitrary position different from the acquired survey data, and the survey data is acquired. From the two types of survey data thus obtained, the coordinate system of the biaxial guide with respect to the marking position is determined. In such a coordinate system, the marking position is determined, the movement distance in the X-axis and Y-axis directions necessary to move the marking unit 700 to that position is calculated, and the marking material of the marking unit 700 is placed at the marking position. Align with high accuracy with the launch port facing. The situation of the marking system having such a configuration is shown in FIG.
[0099]
Further, FIG. 8 shows a universal mechanism 800 different from the structure shown in FIG. FIG. 8 shows a plan view of the main part of the universal mechanism 800. The Y-axis guide 713 is provided with a holding member 810 formed in a substantially U-shaped plane via a Y-axis direction moving member 714.
[0100]
The holding member 810 is provided with a frame member 830 that is rotatably supported by opposing support points 820 along the Y-axis direction. In the frame of the frame member 830, the marking portion 700 is rotatably supported at a support point 840 that is opposed along the X-axis direction. Therefore, even when the biaxial table 710 is inclined with respect to the ground surface with respect to the X axis direction and the Y axis direction, the marking unit 700 always maintains its posture in the vertical direction with respect to the biaxial direction by its own weight. Can do.
[0101]
Moreover, the modification of the marking part 700 which uses the universal mechanism 800 shown in FIG. 8 was shown in FIG. In the configuration shown in FIG. 9, the universal mechanism 800 is provided with a support rod 850 that always maintains the axis in the vertical direction. A storage portion 860 is provided at the lower end of the support rod 850, and a marking device main body 870 is provided in the storage portion 860 with the firing direction of the marking material 880 aligned with the axial direction of the support rod 850. A target 300 is provided above the support rod 850.
[0102]
In FIG. 9, the marking device main body 870 is configured as an external supply type MONO pump 870 a that supplies the marking material 880 from the outside via a supply hose 890. In such a configuration, for example, the storage unit 860 may be replaced with a tank-integrated type mono pump 870b illustrated in FIG. 10A via the attachment unit 860a of the marking device main body 870. A paint bullet type 870c shown in FIG. 10B can also be used.
[0103]
The present invention is not limited to the above-described embodiment, and may be changed as necessary without departing from the scope of the invention.
[0104]
【The invention's effect】
According to the present invention, marking can be performed by remote operation. Therefore, it is possible to perform unattended and safe marking in a place where human entry is dangerous.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing the overall configuration of a marking system used in the present invention.
2A is an assembly explanatory view showing the entire configuration of the marking portion and its peripheral portion, and FIG. 2B is an enlarged view of the portion indicated by arrow A in FIG. 2A. is there.
FIG. 3 is an assembly explanatory view showing a modification of the marking portion and its peripheral portion.
FIG. 4 is an assembly explanatory view showing a modified example of the marking portion and its peripheral portion.
FIG. 5 is a perspective view showing a state of a marking portion configured to be able to perform fine movement by a two-axis table.
6A is an enlarged view of a portion A shown in FIG. 5, and FIG. 6B is an enlarged view of a portion B shown in FIG.
7 is an explanatory diagram showing an overall configuration of a marking system when the marking unit shown in FIG. 5 is used.
FIG. 8 is a plan view of an essential part showing a modification of the universal mechanism.
FIG. 9 is an explanatory diagram showing a configuration of a marking unit using the universal mechanism shown in FIG.
FIGS. 10A and 10B are front views showing a marking device constructed as a tank-integrated type mono pump, and FIG.
[Explanation of symbols]
10 Marking system
100 work machines
110 vehicles
110a Backhoe
120 Supporting part
120a arm
122 Mounting bracket
124 Mounting piece
126 Universal mechanism
130 Radio for work machines
140 Radio for marking part
200 Marking part
200A marking part
210 Mounting member
210a Target mounting part
212 Upper wall
214 Side wall
214A Pulley
220 outer cylinder
222 Upper end
224 Convex
230 inner cylinder
232 Convex
234 bottom
234A hole
236 Convex
240 weights
242 Upper end
244 wire
245 Lower end
250 paint spray
252 containers
254 nozzle
260 winches
262 Winding part
H.264 motor
270 Air Gun
270a Air gun holding member
272 Air supply port
274 Gun barrel
280 Marking ball housing
290 Marking ball supply unit
300 targets
400 Surveying Department
410 Total Station
420 PC
430 Radio for data communication
500 Remote control unit
510 Information processing apparatus
510A Second coordinate data
520 display
530 keyboard
540 First radio
550 Second radio
560 Third radio
570 Remote control unit for work machine operation
580 Remote controller for marking command
590 monitoring monitor
600 Marking part
610 pump
612 Pump body
614 motor
616 hose
620 nozzles
630 Pump holding member
700 Marking part
710 2-axis table
711 Rectangular frame
712 X-axis guide
713 Y-axis guide
714 Y-axis direction moving member
715a Inclinometer
715b inclinometer
716 Mounting part
720 spray section
720a spray
721 Tubular guide
721a Anti-scattering part
722 Universal mechanism
800 Universal mechanism
810 Holding member
820 support points
830 Frame member
840 support points
850 support rod
860 storage
860a Attachment part
870 Marking device body
870a External supply type MONO pump
870b Mono tank pump with integrated tank
870c Paint bullet type
880 Marking material
890 Supply hose
P worker
S1 Work machine control signal
S2 Marking control signal
S3 Data signal

Claims (5)

The backhoe is a vehicle which is provided to be movable in two axes table provided with a marking unit for marking the object to be marked position on the arm portion of the backhoe, wherein the backhoe to the surveying of separate and separately disposed from said backhoe, While tracking the target part for surveying provided in the marking part, by the remote operation by radio, the marking position approaches to be within the movement range of the marking part,
The object to be marked position within the moving range, and the marking portion aligned by remote control of the two-axis table,
A marking method characterized in that, in the aligned state, marking is performed at the marking position by the marking portion. The marking method according to claim 1,
To remotely control the backhoe ,
Tracking the position of the marking part to grasp the position,
On the monitor screen that displays the marking position, the position of the marking portion is displayed based on the position grasp,
A marking method characterized in that the backhoe is guided by remote operation until the position to be marked coincides with an allowable range corresponding to a moving range of the marking portion on the monitor screen. The marking method according to claim 1 or 2,
To align the marking part with the marking position within the movement range of the marking part,
The marking portion having a launch port that emits a marking material toward a marked position by a moving member that is provided on the backhoe and moves in two intersecting transverse biaxial directions. The launch port is positioned toward the marked position. The marking method characterized by aligning so that it may do. The marking method according to claim 3, wherein
To align the marking position on the trajectory when the launch port moves up and down,
With the marking position within the movement range of the marking portion, the marking portion is moved to a plurality of different locations within the movement range, and each of the movement positions is surveyed to form the two horizontal axes. Set the coordinate system
Move the marking part in the biaxial direction toward the marked position grasped in the coordinate system,
A marking method, wherein a launch port of the marking portion is positioned toward the marking position. The marking method according to any one of claims 1 to 4,
The marked position is set in an area where manned marking work is prohibited,
The marking method according to claim 1, wherein the remote operation of the backhoe is performed in an area where manned work is permitted.

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