JP6653519B2 - Slope spraying method - Google Patents

Description

  The present invention relates to a slope spraying method in which a spray material such as concrete or mortar is sprayed from a nozzle toward a slope.

  Conventionally, in order to reinforce the slope and stabilize its strength, a method of spraying a spray material such as concrete or mortar from a nozzle onto the slope has been used. Further, a construction method of constructing a legal framework by spraying is also used. As this type of construction method, a proposal has been made to install a gondola at the tip of the boom of construction equipment where an operator gets on the machine, and the operator who got on the gondola operates the spray nozzle to spray the spray material onto the slope. (See, for example, Patent Document 1).

JP 2003-073076 A

  However, in spraying work by an operator, it is common to visually check the sprayed thickness, and there is a problem that the sprayed thickness and the finish quality vary depending on the skill level of the worker. . That is, depending on the skill of the worker, the spray thickness is small and the slope is not formed sufficiently strong, or conversely, the spray thickness becomes more than necessary and the spray material is wasted. There is.

  The main problem to be solved by the present invention is that, by measuring the uneven shape of the target slope, it is possible to check the spray thickness of the target slope in real time, and to stably operate regardless of the skill of the worker. Another object of the present invention is to provide a slope spraying method capable of realizing high-quality spraying.

  The present invention that solves this problem is based on the following gist.

[Purpose 1]
A measuring step of measuring the uneven shape of the target slope by a measuring means,
A display step of displaying a measurement result by the measurement means on a display means,
A spraying step of spraying a spray material from a nozzle toward the target slope,
An adjusting step of adjusting a spraying direction of the spray material from the nozzle in accordance with a result of measurement by the measuring means.

[Purpose 2]
Further comprising an imaging step of imaging the target slope by imaging means,
In the display step, an image of the target slope imaged by the imaging means and the measurement result may be superimposed on the display means.

[Purpose 3]
The measurement by the measuring means may be performed by acquiring three-dimensional coordinate values of a plurality of points on the target slope by laser scanning the target slope.

[Purpose 4]
In the display step,
A measurement result of a vertical section of the target slope in the spraying direction of the nozzle may be displayed based on the three-dimensional coordinate value.

[Purpose 5]
A first position detecting step of detecting a position of the measuring means;
A second position detecting step of detecting the position of the nozzle.

[Purpose 6]
The adjusting step may be performed by sending an adjustment instruction from the adjusting unit to a driving unit capable of changing the spraying direction of the nozzle.

  Further objects and other features of the present invention will become apparent from preferred embodiments described below with reference to the accompanying drawings.

  According to the present invention, by measuring the uneven shape of the target slope, the condition of the spray thickness of the target slope can be confirmed in real time, and stable and high-quality spraying can be performed regardless of the skill of the worker. Can be realized.

1 is an overall view of an apparatus configuration for implementing a slope spraying method according to an embodiment. It is a schematic part which shows schematic structure of the slope spraying apparatus which concerns on embodiment. FIG. 4 is a block diagram illustrating a connection state between a control unit and each operation unit. It is an internal structure figure of tilting part R10. It is operation | movement explanatory drawing of a measuring device. It is a block diagram which shows the connection state of a measuring device, a camera, a distance measuring sensor, a display screen, and an image processing part. It is a figure showing example 1 of a display on a display screen. It is a figure showing example 2 of a display on a display screen. It is a figure showing example 3 of a display on a display screen. It is a figure showing example 4 of a display on a display screen. It is a figure showing example 5 of a display on a display screen. It is a figure showing example 6 of a display on a display screen.

  Hereinafter, embodiments of the present invention will be described. FIG. 1 is an overall view of an apparatus configuration for implementing a slope spraying method according to an embodiment of the present invention. FIG. 1 shows a bird's-eye view of the entire work site including the target slope N. The work site includes a measurement device (measurement unit) M, a camera (imaging unit) P, a display screen (display unit) D, and an image. A processing unit F and a slope spray device S are installed. In the present embodiment, an example will be described in which the measuring device M and the camera P are arranged near the slope spraying device S, and the display screen D is mounted on the driver's seat of the construction machine 3. It is not limited to these.

  First, the schematic configuration of the slope spraying device S will be described, and then the configuration of the measuring device (measuring unit) M, the display screen (displaying unit) D, the camera (imaging unit) P, and the procedure of the slope spraying method will be described. . It should be noted that the slope spraying apparatus S is not necessarily required to realize the slope spraying method according to the present invention. For example, as described later, this slope spraying method can also be applied to a case where an operator who gets on a gondola stand installed at the end of the boom carries out spraying work with a nozzle.

<Structure of slope spray device>
Hereinafter, the slope spraying device S will be described with reference to the drawings. FIG. 2 is a schematic diagram showing a schematic structure of the slope spraying device S. FIG. 2A is a plan view of the slope spraying apparatus S, and FIG. 2B is a side view. The slope spraying device S is generally configured to include an intermediate arm 4, a tip arm 6, and a nozzle 8. The slope spraying device S may be connected to the tip of the boom 2 of the construction machine 3 having the machine body 1 and the boom 2.

  Examples of the construction machine 3 include a traveling crane and a backhoe. The machine body 1 of the construction machine 3 has a traveling device such as a caterpillar and a driver's seat, and can freely travel and stop on the ground G at the construction site.

  The boom 2 is an extension member connected to the machine main body 1. An intermediate arm 4 as an extension member is connected to the end (near the end) of the boom 2. The tip arm 6 is connected to the end of the intermediate arm 4 (near the end) via a relay arm 10. The relay arm 10 is configured such that a rotation axis (second axis, hereinafter abbreviated as an axis) X2 at a distal end thereof is a predetermined angle α with respect to a rotation axis (a first axis, hereinafter abbreviated as an axis) X1 at a root thereof. It is inclined. As a result, the rotation surface of the relay arm 10 with respect to the intermediate arm 4 and the rotation surface of the distal arm 6 with respect to the relay arm 10 are inclined by the predetermined angle α. In the present embodiment, the extension direction of the intermediate arm 4 and the extension direction of the relay arm 10 are substantially parallel to each other and are orthogonal to the rotation axis X1. The extension direction of the tip arm 6 is orthogonal to the rotation axis X2. Therefore, the extension direction of the intermediate arm 4 and the extension direction of the distal arm 6 are inclined by the predetermined angle α.

  A nozzle 8 is arranged at the tip of the tip arm 6 (near the end). The nozzle 8 is capable of injecting (spraying) a spray material such as concrete or mortar from an injection port thereof toward a target slope. The spray material is supplied to the nozzle 8 from a material tank (not shown) for storing the spray material through a hose 12 by a pressure pump (not shown). On the distal end side of the distal arm 6, a tilting axis (third axis, hereinafter abbreviated as axis) X3 orthogonal to the extension direction of the distal arm 6, a rotation axis (fourth axis, hereinafter axis) orthogonal to the axis X3. A tilting axis (fifth axis, hereinafter abbreviated as axis) X5 parallel to the axis X4 and the axis X3 is arranged. The nozzle 8 is connected to the distal end arm 6 via the axes X3, X4, X5.

  In the present embodiment, the axes X1, X2, and X4 extend in a direction parallel to a plane (vertical plane) H perpendicular to the ground G, and the axes X3 and X5 extend in a direction parallel to the ground G. is there.

<Operation structure of slope spray device>
The slope spraying device S further includes a tilting part (first tilting means) R3, a rotating part (first rotating means) R4, a rotating part (second rotating means) R5, a telescopic part (first telescopic means) R6, and a tilting part. Section (second tilting means) R7, tilting section (third tilting means) R8, rotating section (third rotating means) R9, tilting section (fourth tilting means) R10, and control section (adjusting means) C. I have. The boom 2 of the construction machine 3 has a rotating part (fourth rotating means) R1 and a tilting part (fifth tilting means) R2, and rotates and tilts the entire slope spraying device S connected to the tip of the boom 2. Realize.

  In FIG. 2, the specific configuration of each rotating unit, tilting unit, and expansion / contraction unit is omitted, but the operation of each rotating unit, tilting unit, and expansion / contraction unit is realized by the hydraulic cylinder 5. That is, one end of the hydraulic cylinder 5 is connected to a protrusion 7 projecting laterally from the intermediate arm 4, the relay arm 10, the tip arm 6, and the like, and the hydraulic cylinder 5 is driven by a rotating unit, a tilting unit, and a telescopic unit, which will be described later. By being driven by (part of the hydraulic cylinder), rotation, tilting, and expansion / contraction operations are realized. In FIG. 2, the operating directions (rotational direction, tilting direction, expanding / contracting direction) of each rotating unit, tilting unit, and expanding / contracting unit are shown by arrows. FIG. 3 shows a connection state between the control unit C and each of the tilting unit, the rotating unit, and the telescopic unit.

  The rotating part R1 enables the boom 2 to rotate in a plane parallel to the ground G with respect to the machine main body 1. The rotating unit R1 includes a driving unit that rotates the boom 2 and a sensor that detects a rotation position of the boom with respect to the machine main body 1.

  The tilt portion R2 allows the boom 2 to tilt in a plane (vertical plane) H perpendicular to the ground. That is, the tilting portion R2 is capable of adjusting the tilt of the boom 2 with respect to the ground G. The tilting unit R2 has a driving unit that tilts the boom 2 in the vertical plane H, and a sensor that detects the tilt angle of the boom 2 with respect to the ground G.

  The tilt portion R3 allows the intermediate arm 4 to tilt with respect to the boom 2 in the vertical plane H. The tilting portion R3 includes a driving unit that tilts the intermediate arm 4 with respect to the boom 2 and a sensor that detects a rotation angle of the intermediate arm 4 with respect to the boom 2.

  The rotating portion R4 enables the distal arm 6 to rotate about an axis X1 orthogonal to the extension direction of the intermediate arm 4. In the present embodiment, the distal arm 6 is connected to the intermediate arm 4 via the relay arm 10. Therefore, the rotating portion R4 can substantially rotate the relay arm 10 about the axis X1. The rotating unit R4 includes a driving unit that rotates the relay arm 10 around the axis X1, and a sensor that detects a rotation angle of the relay arm 10 with respect to the intermediate arm 4.

  The rotating portion R5 is configured to rotate the distal end arm 6 around an axis X2 that is in the same plane as the axis X1 and that is inclined at a predetermined angle α with respect to the axis X1. The fact that the axis X2 is in the same plane as the axis X1 means that the axis X1 and the axis X2 are not in a “twist” relationship. The predetermined angle α is preferably in the range of 10 ° to 40 °, but in the present embodiment, the predetermined angle α is 30 °. The relay arm 10 is connected at its root to the intermediate arm 4 about the axis X1 as a rotation axis, and at its distal end to the tip arm 6 about the axis X2 as a rotation axis. Therefore, the distal end arm 6 can be rotated substantially with the predetermined angle α inclined with respect to the intermediate arm 4 via the relay arm 10. The rotating unit R5 includes a driving unit that rotates the distal arm 6 about the axis X2, and a sensor that detects a rotation angle of the distal arm 6 with respect to the relay arm 10 (in a state where the distal arm 6 is inclined by a predetermined angle α).

  The extendable portion R6 allows the distal arm 6 to extend and contract along its extension direction. The distal arm 6 may have a double-pipe structure used for an antenna, a hydraulic cylinder, or the like, for example, to realize the telescopic operation. The extendable portion R6 has a driving unit that extends and contracts the distal arm 6, and a sensor that detects the extendable length.

  The tilt portion R7 allows the tip arm 6 to tilt with respect to the intermediate arm 4 in a vertical plane H. In this embodiment, since the intermediate arm 4 and the distal arm 6 are connected via the relay arm 10, the tilting portion R7 substantially tilts the distal arm 6 relative to the relay arm 10 in the vertical plane H. Make it possible. The tilting unit R7 includes a driving unit that tilts the distal arm 6 with respect to the intermediate arm 4, and a sensor that detects the tilt angle of the distal arm 6 with respect to the intermediate arm 4.

  The tilting portion R8 can tilt the spraying direction of the nozzle 8 around an axis X3 orthogonal to the extension direction of the distal arm 6. In the present embodiment, the axis X3 is parallel to the ground G. Therefore, the tilting portion R8 can tilt the nozzle 8 vertically (within the vertical plane H) to the ground. In the present embodiment, a connecting member is connected to the distal end side of the distal arm 6 via an axis X3. Therefore, the tilting part R8 tilts the spraying direction of the nozzle 8 substantially by tilting the connecting member about the axis X3. The tilting unit R8 includes a driving unit that tilts the spraying direction of the nozzle 8 around the axis X3 with respect to the distal arm 6, and a sensor that detects the tilt angle of the nozzle 8 with respect to the distal arm 6.

  The rotating part R9 is capable of rotating the spraying direction of the nozzle 8 around an axis X4 orthogonal to the axis X3. In the present embodiment, the axis X4 is parallel to the vertical plane H. Therefore, the rotating unit R9 can rotate the nozzle 8 along the ground G (in parallel with the ground G or in a state where the nozzle 8 is inclined to some extent with respect to the ground G). In the present embodiment, the nozzle holding unit 14 is connected to the above-described connecting member via the axis X4, and the nozzle 8 is held by the nozzle holding unit 14. Therefore, the rotating unit R9 substantially rotates the spray direction of the nozzle 8 by rotating the nozzle holding unit 14 around the axis X4. The rotating unit R9 includes a driving unit that rotates the nozzle 8 around the axis X4 with respect to the connecting member 6, and a sensor that detects a rotation angle of the nozzle 8 with respect to the connecting member.

  The tilting portion R10 allows the spray direction of the nozzle 8 to tilt around an axis X5 parallel to the axis X3. In the present embodiment, the axis X5 is parallel to the ground G together with the axis X3. Therefore, the tilting portion R10 can tilt the nozzle 8 perpendicularly (within the vertical plane H) to the ground. In the present embodiment, the nozzle 8 is held by the nozzle holding unit 14 via the axis X5. Therefore, the tilting portion R10 can tilt the nozzle 8 with respect to the nozzle holding portion 14. The tilting unit R10 includes a driving unit that tilts the spraying direction of the nozzle 8 around the axis X5 with respect to the nozzle holding unit 14, and a sensor that detects the tilt angle of the nozzle 8 with respect to the nozzle holding unit 14.

  FIG. 4 is an internal structure diagram of the tilting portion R10. FIG. 4 is viewed from the same direction as FIG. 2B. The tilting portion R10 has two driving units, a cam structure 20 functioning as a swinging unit and a slide structure 22 functioning as a vertical moving unit. The cam structure 20 has a structure in which the cam member 20b and the nozzle 8 are connected by a link member 20a, and the nozzle 8 can be repeatedly and reciprocally oscillated around the axis X5 by rotation of the cam member 20b. It is said. The swing range is, for example, an angle of ± 15 ° (see an alternate long and short dash line in FIG. 4).

  The slide structure 22 has a structure in which the cam structure 20 itself can be moved up and down in a vertical plane H by a hydraulic cylinder or a motor, and the nozzle 8 tilts around the axis X5 by moving the cam structure 20 up and down. It is possible. The tilt range of the slide structure 22 is, for example, ± 45 ° larger than the swing range (see the broken line in FIG. 4). Therefore, after the spray direction of the nozzle 8 is determined by the operation of the slide structure 22, the nozzle 8 is reciprocally oscillated by the operation of the cam structure 20, so that the spray can be uniformly sprayed over a wide area on the target slope. And In addition, as the rocking means, a crank structure or another known reciprocally rockable structure can be applied in addition to the cam structure.

  In addition, a motor, an actuator, etc. other than the above-mentioned hydraulic cylinder can be applied as a drive unit included in each of the rotating unit, the tilting unit, and the extendable units R1 to R10. Known sensors, such as an optical sensor, a magnetic sensor, and a mechanical switch, can be applied to the sensors included in R1 to R10.

  FIG. 3 shows the rotating units R1, R4, R5, and R9, the tilting units R2, R3, R7, R8, and R10, the telescopic unit R6 (hereinafter, these may be collectively referred to as an operating unit), and the control unit C. It is a block diagram which shows a connection state. The control unit C is connected to a driving unit and a sensor of each of the operation units R1 to R10. It is possible to output a drive command to the driving means of the operation units R1 to R10, and to input detection values from the sensors of the operation units R1 to R10.

  The control unit C is for controlling the operation of each of the operation units R1 to R10. The control unit C has an arithmetic processing unit (CPU) C1 and a memory (storage unit) C2 inside. The arithmetic processing unit C1 mainly controls the operation of each of the operation units R1 to R10 based on the programs and operation modes stored in the memory C2 or based on the operation contents operated by the operation unit. In the present embodiment, a control unit C is provided inside the machine main body 1, a display screen D is arranged near the driver's seat, and the control state of the control unit C can be displayed on the display screen D. For example, on the display screen D, position information and rotation angle information based on sensor input values of each of the operation units R1 to R10 are displayed, and information such as an operation direction and an operation speed of each of the operation units R1 to R10 is displayed. Has become. Of course, an operation unit for outputting a drive command for operating each of the operation units R1 to R10 is also arranged near the driver's seat.

<Measurement means>
FIG. 5 is an operation explanatory diagram of the measuring device M shown in FIG. FIG. 5A is a plan view of the work site viewed from above, and FIG. 5B is a side view of the work site viewed parallel to the work plane. The measuring device M has a function of acquiring surrounding three-dimensional mapping data by scanning using a laser. The measuring device M is disposed at a position near the slope spraying device S, or is used by being attached to the slope spraying device S or the construction machine 3. As the measuring device M, for example, an omnidirectional laser lidar imaging unit LiDAR manufactured by Velodyne can be used. That is, the measuring apparatus M rotationally scans a plurality of laser beams L (32 laser beams L1 to L32 in the present embodiment) radially arranged at a predetermined angular pitch along the circumferential direction, and forms a matrix around the periphery. To obtain three-dimensional coordinate values (XYZ coordinate values) of a plurality of points divided into.

  At the time of rotational scanning, coordinate values are acquired at predetermined time intervals (measurement cycles). For example, it is conceivable to measure at a 360 ° omnidirectional rotation frequency of 5 to 15 Hz and measuring points at 500,000 points / sec (= measuring cycle 2 μs). The measurement points by the laser beam L1 at this time are shown as L (1,1), L (1,2), L (1,3)... In FIG. The number of laser beams, the scan rotation frequency, and the measurement cycle are numerical values that can be appropriately set according to the measurement target. When measuring the unevenness of the target slope N as a measurement target with high resolution, the number of laser beams may be increased, and / or the scan rotation frequency may be reduced, and / or the measurement cycle may be shortened. In the present embodiment, 32 laser beams L1 to L32 radially oscillated radially at a predetermined angular pitch along the vertical direction are rotated 360 degrees all around in the horizontal direction, thereby acquiring surrounding three-dimensional map data. .

  By laser scanning by the measuring device M, three-dimensional coordinate values of a plurality of points mapped on the target slope N are measured as an uneven shape. The laser scan is repeatedly executed, and the measurement results are sequentially processed to obtain the irregular shape of the target slope N in real time. The measurement result from the measuring device M can be transmitted to the image processing unit F as shown in FIG.

  If the nozzle 8 is set within the measurement area of the measurement device M, the three-dimensional coordinate value of the position of the nozzle 8 (the relative position viewed from the measurement device M) can also be measured. Thereby, based on the measurement result by the measuring device M, the positional relationship between the nozzle 8 and the target slope N, and to which part of the target slope N the nozzle 8 is spraying (the blowing direction of the nozzle 8) Etc. can be recognized.

<Imaging unit>
The camera P shown in FIG. 1 is an imaging means such as a CCD camera or a CMOS camera, for example, and the target slope N is contained in the field of view. The video captured by the camera P is sent to the display screen D via the image processing unit F. When a real-time video is simply displayed on the display screen D without performing image processing or superimposed display of the video, the video may be directly sent to the display screen D without passing through the image processing unit F.

  The image captured by the camera P is subjected to image processing by an image processing unit F described later, is superimposed (superimposed) on the measurement result by the measuring device M, and is displayed on the display screen D. When the video and the measurement result are superimposed, the two are aligned on the image. It is desirable that the measuring device M and the camera P are arranged at a close position or substantially at the same position in order to facilitate the alignment of the two, but it is not always necessary.

  If the nozzle 8 as well as the target slope N is contained in the field of view of the camera P, the accuracy of the alignment between the measurement result and the image is further improved. Further, for example, one or a plurality of indices for positioning are arranged on a part or the like in the target slope N, and if the indices are included in the field of view of the camera P and in the measurement area of the measuring device M, the position It further contributes to the improvement of alignment accuracy.

<Display means>
The display screen D is arranged, for example, in the driver's seat of the construction machine 3 or arranged near the measuring device M at the work site to display measurement results and images. As the display screen D, various display devices such as a CRT, a liquid crystal display device, and a plasma display can be applied.

  The display screen D has a function of displaying a measurement result and an image acquired from the image processing unit F described later on the screen. The video may be obtained directly from the camera P. Various images can be displayed on the display screen D by the image processing of the image processing unit F. For example, it is possible to display the measurement results in numerical values, display the measurement results in a graph, and display the measurement results in different colors. It is also possible to superimpose and display the measurement result by the measuring device M and the video by the camera P. It is also possible to divide the screen into a plurality of parts and simultaneously display the graph of the measurement result and the superimposed video. The display image can be displayed as a real-time moving image or as a still image.

<Image processing unit>
The image processing unit F has a function of performing image processing on a measurement result from the measuring device M and an image from the camera P and displaying the image on a display screen D. FIG. 6 is a block diagram illustrating a connection state between the measurement device M, the camera P, the distance measurement sensor Q (described later), the display screen D, and the image processing unit F. The image processing unit F is connected to the measuring device M, the display screen D, and the camera P, acquires the measurement result M1 from the measuring device M, and acquires the video P1 from the camera P.

  The image processing unit F is configured to transmit the image data D1 to the display screen D based on the acquired measurement result M1 and video P1. The display screen D displays an image on the screen based on the acquired image data D1. Various video displays can be displayed on the screen by switching the display and simultaneously displaying a plurality of videos by dividing the screen.

  The image processing unit F has a superimposing display unit F1. The superimposition display unit F1 is also called, for example, a superimpose interface unit, and has a function of superimposing the measurement result M1 from the measurement device M and the video P1 from the camera P in the present embodiment. More specifically, it has a function of generating image data D1 based on the data of the measurement result M1 and the data of the video P1 so that the measurement result M1 and the video P1 are superimposed on the display screen D.

  The control unit C may have a function as the image processing unit F, or the image processing unit F and the control unit C, which are separate from the control unit C, can communicate with each other by wire or wirelessly. You may. For example, a terminal device such as a tablet terminal, a smartphone, or a personal computer may function as the image processing unit F and the display screen D, and may communicate with the control unit C. In this case, the image processing program may be installed in the storage device in the terminal device, and the CPU in the terminal device may function as the image processing unit F based on the image processing program.

<Screen display example>
FIG. 7 is a display example 1 on the display screen D. In the first display example, a measurement result M1 obtained by measuring the terrain of the entire work site including the target slope N with the measuring device M is displayed on the display screen D. Since the three-dimensional coordinate values of the entire work site are measured by the measuring device M, a three-dimensional image of the entire work site is represented on the display screen D. In FIG. 7, each of the lines extending in the horizontal direction corresponds to the laser beams L1 to L32. The horizontal line is a representation in which three-dimensional coordinate values acquired at a predetermined cycle during 360 ° full-circle scanning are connected by a line. Since the surrounding three-dimensional coordinate values are measured by the measuring device M, when the surrounding terrain is displayed on the display screen D, the position of the viewpoint can be changed. That is, not only display of the surrounding terrain centering on the position of the measuring device M, but also representation of the surrounding terrain viewed from the viewpoint position shifted from the measuring device M can be realized. In FIG. 7, the position U1 is the position of the measuring device M, and the position U2 is the position of the nozzle.

  FIG. 8 is a display example 2 on the display screen D. The display example 2 is an enlarged view of the target slope N portion in FIG. In FIG. 8, a line corresponding to the laser light L is indicated by a broken line La and a solid line Lb. The solid line Lb is the measurement result M1 of the target slope N at the time of starting the work, that is, before starting the spraying operation by the slope spraying device S, and the broken line La is the current time, that is, the measurement by the slope spraying device S. It is the measurement result M1 of the target slope N during the spraying operation.

  The difference between the solid line Lb and the broken line La indicates the spray thickness of the target slope N by the spray from the nozzle 8. As described above, the unevenness (terrain) of the target slope N is measured by the measuring device M, and the measurement results at different times (the measurement result M1 before the start of the work and the measurement result M1 at the present time after the start of the work, etc.) are displayed on the display screen D. , The spray thickness of each part on the target slope N can be accurately grasped. It is possible to correctly grasp a portion where the spraying operation is sufficiently progressing and a portion where the spraying operation is insufficient, and it is possible to determine the shortage of the spraying. By adjusting the spraying direction of the nozzle 8 toward the part where the spraying is insufficient, the finishing quality can be improved.

  FIG. 9 is a display example 3 on the display screen D. Display example 3 is an enlarged display of the target slope N in FIG. 7 as in FIG. In FIG. 9, the spray thickness is displayed in different colors. In the present embodiment, the spray thickness as a difference between the measurement result M1 before the start of the operation and the measurement result M1 after the start of the operation (at the present time) is 0 to less than 2 cm, 2 cm to less than 4 cm, 4 cm to less than 6 cm, 6 cm The colors are displayed in seven levels of 8 cm or more, less than 10 cm, 10 cm or more but less than 12 cm, and 12 cm or more. In FIG. 9, for black and white display, the type of hatching is changed instead of color coding. With such a color-coded display, it is easy to intuitively grasp the spray thickness. Since the shortage of the spray thickness can be quickly and intuitively grasped, the spray direction of the nozzle 8 can be immediately adjusted, and the spray finish quality of the target slope N as a whole can be improved.

  FIG. 10 is a display example 4 on the display screen D. In the display example 4, the measurement result M1 and the video P1 are displayed in a superimposed manner. The measurement result M1 is color-coded for each sprayed thickness (classified for each different hatching mode in the drawing) as in FIG. The measurement result M1 and the image P1 are aligned and displayed on the display screen D in an overlapping manner. The measurement result M1 is subjected to a transmission process such as a transmittance of 50%, for example, and is adjusted so that the image P1 behind it can be viewed.

  In the display example 4, the measurement result M1 of the measuring device M and the image P1 of the camera P are displayed as images in the same visual field from the same viewpoint. The display example 4 is a real-time image in which a video at the present time and a color-coded display of the spray thickness as a measurement result are always superimposed. Therefore, it is possible to grasp at a glance at which position the amount of spray is insufficient in the target slope N.

  When the measurement result M1 and the image P1 are superimposed on the display screen D, the two are aligned. This alignment can be realized by various methods. For example, the measuring device M and the camera P are both arranged at the work site (the relative positional relationship between the two does not change), and the same object exists in the visual field of the measuring device M and the visual field of the camera P. In such a case, both can be aligned with reference to the same object. The same target object may be, for example, the nozzle 8 or a reference index arranged on the target slope N or in the vicinity of the target slope N.

  Further, for example, when the measuring device M is fixed to the work site, the camera P is attached to the slope spraying device S, and the relative positional relationship between the two varies, the reference Calibration (positioning) of both visual fields is performed using an index or the like. Then, based on the sensor output of each of the operation units R1 to R10 of the slope spraying device S, the relative position relationship between the measurement result M1 and the image P1 is detected by detecting in which direction and how much the visual field of the camera P has moved. Can be maintained. By using the sensor outputs of the operation units R1 to R10, even when the same object does not exist in the field of view of the measuring device M and the field of view of the camera P, the relative positional relationship between the two fields of view is maintained. can do.

  FIG. 11 is a display example 5 on the display screen D. The display example 5 shows the vertical cross-sectional shape of the target slope N in the spraying direction. From the measurement result M1 of the measuring device M, it is possible to grasp at which position on the target slope N the nozzle 8 is currently spraying (also referred to as the spraying position or the spraying direction). For example, on the measurement result M1, an intersection of the virtual line obtained by further extending the extension direction of the nozzle 8 and the target slope N may be obtained, or the change amount per unit time of the spray thickness at the present time ( The position where the increase amount is the largest may be set as the spraying position.

  In display example 5, the shape of the vertical cross section of the target slope N passing through the spray position is shown. By displaying the cross-sectional shape along the vertical in the spraying direction, it is possible to grasp in real time the location where the spraying amount is insufficient and the finishing situation of the slope. In addition, by displaying the target slope shape T in the spraying direction together, the work efficiency can be further improved.

In addition, for example, as shown in FIG. 1 , if the distance measuring sensor Q is attached near the nozzle holding unit 14, the vertical cross-sectional shape of the target slope N in the spraying direction can be more simply and reliably measured. If the distance measuring sensor Q can measure the distance between itself and the target slope N along the vertical direction in the spraying direction of the nozzle 8, the longitudinal section of the target slope N in the blowing direction The surface shape can be easily measured. In this case, the distance measurement sensor Q is connected to the image processing unit F and transmits the measurement result Q1 to the image processing unit F.

  FIG. 12 is a display example 6 on the display screen D. In display example 6, the display screen is divided into a plurality of screen areas, and display images E1, E4, and E5 of display examples 1, 4, and 5 are displayed in the respective display areas. Thereby, various information such as the overall topography of the work site, the spray direction of the nozzle 8, the spray thickness at each position of the target slope N, and the shortage amount from the target spray thickness can be grasped. It can contribute to improvement of spraying operation efficiency and improvement of finish quality. Note that the display image E6 displays instruction buttons for moving, enlarging, and reducing the viewpoint with respect to the display image E1. By selecting these instruction buttons, it is possible to move, enlarge, and reduce the viewpoint of the display image E1. It is.

<Explanation of slope spraying method>
Subsequently, the procedure of the actual slope spraying method will be described. A slope spraying device S is set at a predetermined position on a work site having a target slope N (S1). The measuring device M and the camera P are installed in the vicinity thereof (S2). The tablet terminal provided with the display screen D and the image processing unit F is set in a state where it can communicate with the measuring device M, the camera P, the distance measuring sensor Q, and the control unit C (S3).

  The measurement of the surrounding terrain is started by the measurement device M, and the measurement result M1 is transmitted to the tablet terminal (S4). The target slope N is photographed by the camera P, and the image P1 is transmitted to the tablet terminal (S5). In addition, the distance measuring sensor Q measures the vertical cross-sectional shape of the target slope N in the spraying direction, and transmits the measurement result Q1 to the tablet terminal (S6). The tablet terminal performs alignment between the measurement result M1 and the image P1 (S7). The alignment is performed based on, for example, the position of the nozzle 8 in the field of view, or by measuring a reference index installed at a position near the target slope N with the measuring device M and photographing with the camera P.

  The tablet terminal generates image data D1 based on the measurement result M1 and the video P1, and displays an image on the display screen D based on the image data D1 (S8). The image display is performed by any one of display examples 1 to 6 or a combination thereof.

  The tablet terminal transmits the measurement result M1 to the control unit C as an adjusting unit (S9). The control unit C determines, based on the measurement result M1, which part of the target slope N has an insufficient amount of spraying (S10), and based on the determination, sends an adjustment command to each of the operation units R1 to R10. Is created, and the driving unit of each operation unit is operated to adjust the spraying direction of the nozzle 8 (S11).

  The embodiments have been described above, but the present invention is not limited to these, and various modifications and changes can be made within the scope of the gist. For example, in the above-described embodiment, the slope spraying method using the slope spraying apparatus S has been described. However, the means for realizing the slope spraying method is not limited to the slope spraying apparatus S including the operation units R1 to R10. Need not be. For example, even when a gondola for an operator is installed at the end of the boom and the operator gets on the gondola and sprays the target slope N with the nozzle 8, the slope spraying method is applied. be able to.

C: control unit C1: arithmetic processing unit (CPU)
C2: Memory (storage means) D: Display screen (display means)
D1: Image data E1, E4, E5, E6: Display image F: Image processing unit F1: Superimposed display means G: Ground H: Vertical plane
L (L1 to L32): laser beam La: broken line Lb: solid line M: measuring device (measuring means)
M1: Measurement result N: Target slope P: Camera (imaging means) P1: Video Q: Distance measuring sensor Q1: Measurement result R1: Rotating part (fourth rotating means) R2: Tilting part (Fifth tilting means)
R3: tilting unit (first tilting unit) R4: rotating unit (first rotary unit)
R5: rotating part (second rotating means) R6: elastic part (first elastic means)
R7: tilting part (second tilting means) R8: tilting part (third tilting means)
R9: rotating part (third rotating means) R10: tilting part (fourth tilting means)
S: Slope spraying device T: Target slope shape U1, U2: Position X1: Rotation axis (first axis)
X2: Rotation axis (second axis) X3: Tilt axis (third axis)
X4: Rotation axis (4th axis) X5: Tilt axis (5th axis)
α: Predetermined angle 1: Machine body 2: Boom 3: Construction machine 4: Intermediate arm 5: Hydraulic cylinder 6: Tip arm 7: Projection 8: Nozzle 10: Relay arm 12: Hose 14 Nozzle holding part 16: Spray locus 20: cam structure (oscillation means)
20a: Link member 20b: Cam member 22: Slide structure (vertical movement structure)

Claims (5)

A slope measurement step of measuring the uneven shape of the target slope by a measuring means,
A display step of displaying a measurement result by the measurement means on a display means,
A spraying step of spraying a spray material from a nozzle toward the target slope,
A nozzle position measuring step of measuring the position of the nozzle by the measuring means,
Have a, an adjustment step of adjusting in accordance with blowing direction of the blowing material from the nozzle to the measurement result by said measuring means,
The measuring means is installed separately from the slope spraying device having the nozzle and does not move with respect to the target slope,
The slope spraying device is freely movable on the ground, is movable with respect to the target slope by stopping,
A slope spraying method , wherein the slope measurement step and the nozzle position measurement step are performed in the same process in order to measure a relative positional relationship between the target slope and the nozzle . Further comprising an imaging step of imaging the target slope by imaging means,
2. The slope spraying method according to claim 1, wherein, in the displaying step, an image of the target slope imaged by the imaging unit and the measurement result are superimposed on the display unit. 3.   2. The method according to claim 1, wherein the measurement of the slope by the measuring unit is performed by acquiring three-dimensional coordinate values of a plurality of points on the target slope by laser scanning the target slope. 3. 2. The slope spraying method according to 2. In the display step,
4. The slope spraying method according to claim 3, wherein a measurement result of a vertical section of the target slope in the spray direction of the nozzle is displayed based on the three-dimensional coordinate values.   The slope according to any one of claims 1 to 4, wherein the adjusting step is performed by sending an adjusting command from the adjusting unit to a driving unit capable of changing the spray direction of the nozzle. Spraying method.

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