JPH0769266B2 - Scanning robot for building surface exploration - Google Patents

Description

Detailed Description of the Invention a. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a scanning robot for exploring defects such as cracks in building displays such as concrete viaducts, walls and ceilings of concrete buildings, and other surface information.

2. Description of the Related Art Conventionally, as a scanning robot of this type, there has been a robot that moves on a wall surface while adsorbing a plurality of suction cups on alternate wall surfaces.

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention However, in the above conventional wall surface traveling robot, if there is an unsteady portion on the surface of the wall, the suction force becomes weak or disappears completely, there is a risk of crashing, and the safety rope may be missing. Not only is it impossible to run, but traveling on the ceiling surface, corners and narrow spaces of the building is not possible, so there was a problem that this part could not be searched.

Since the present invention is intended to solve the above-mentioned conventional problems,
An object of the invention is to provide a scanning robot capable of freely and safely exploring all surfaces of a building.

B. SUMMARY OF THE INVENTION Means for Solving the Problems A scanning robot for building surface exploration according to the present invention includes a base end member movably attached while gripping a structure such as a pillar or parapet of a building, and the base end. An arm configured to rotatably and sequentially connect a plurality of link members to the member via connecting pins, and adjacent connecting pins oriented in directions orthogonal to each other so that they can move three-dimensionally; For rotating the link, a positioner for detecting the rotation angle of the link member by the motor for linking, a surface information input means such as a search camera attached to the tip of the arm, and the positioner for detecting. A processing device for calculating, displaying and / or storing the rotation angle information and the surface information of the building captured by the surface information input means. The one in which the features.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 1 is a base member, and a guide member 2
Is attached to. The guide member 2 is attached so as to surround the pillar 3 of the building, and is firmly fixed to the pillar 3 by a chucking jack 4. An elevating and lowering actuating member 5 having a similar structure is disposed below the guide member 2 so that it can be firmly fixed to the pillar 3 by a chucking jack 6 or can be loosened to move up and down along the two pillars 3. Has become.

The guide member 2 and the lifting operation member 5 are connected to each other via a lifting jack 7.

A turning motor 8 turns the base end member 1 around the column 3 along the guide member 2.

As is apparent from FIG. 2, the first link member 10 is rotatably connected to the distal end portion of the base end member 1 via a connecting pin 9. A link actuating motor 11 is provided on one side of the connecting pin 9,
The 10 is driven to rotate by an appropriate rotation angle. A positioner 12 for detecting the rotation angle is attached to the other side of the connecting pin 9.

Further, a second link member 10 is rotatably connected to the tip end portion of the link member 10 via a connecting pin 9, and is rotatably driven by an appropriate rotation angle by a link operating motor 11, and This rotation angle is read by the positioner 12.

In this embodiment, the connecting pins 9 at both ends of the link member 10 are oriented in directions orthogonal to each other, and
Are configured to rotate in directions orthogonal to each other, and can move in three dimensions.

As described above, an appropriate number of link members 10 are sequentially connected by the connecting pin 9, and the link operating motor 11 is connected.
The link member 10 is rotatably operated by and the positioner 12 reads the angle of rotation to form an arm.

As shown in FIG. 1, a probe camera 13 such as a CCD camera is attached to the tip of the link member 10 at the tip of the arm. Instead of the exploration camera 13, a laser beam receiving device combined with a laser beam emitting device may be provided, that is, any input means that can obtain the surface information of the building according to the exploration purpose. Good.
The exploration camera 13 can rotate about the X and Y axes and can be oriented in any direction.

Reference numeral 14 denotes a connecting cable, which electrically or optically transmits the information obtained by the exploration camera 13 to the processing device 15. Further, a command signal from the control device 16 is transmitted via the cable 14 to the exploration camera 13, each link operating motor 11 or turning motor 8 or the like, or rotation of the link member 10 obtained by the positioner 12 is performed. The corner information is transmitted to the processing device 15.

The processing device 15 is provided with a central processing unit for calculating the search information captured by the search camera 13, a display 17 for displaying, a printer for outputting this, a storage device, and the like.

Since the device of this embodiment is configured as described above, for example, when an attempt is made to search for cracks on the wall surface of a building, the control device 16 is operated to operate the turning motor 8 to operate the pillar of the building. The base end member 11 is set at an appropriate position along the guide member 2 fixed to 3.

When the setting of the base member 1 is completed, the required link operating motor 11 is operated to position the exploration camera 13 at a desired position. The rotation angle of each link member 10 is the positioner.
12 is detected and arithmetically processed by the processing device 15,
The position of the exploration camera 13 is accurately grasped and stored.

Then, the preparation is completed with the direction of the exploration camera 13 facing the surface direction of the building.

Next, the survey camera 13 scans along the building surface while taking in the cracked situation of the building surface.

The scanning of the exploration camera 13 is performed by the control device 16
The above-mentioned motor 11 for link operation is appropriately operated by the scanning of or by a preprogrammed command signal, and the building surface is searched while the scanning position is confirmed by the positioner 12.

The searched information is sequentially input to the processing device 15.

When the predetermined scanning is completed, the chucking jack 4 of the guide member 2 is operated to loosen the guide member 2 from the pillar 3, and then the lifting jack 7 is operated to raise or lower the guide member 2 to a desired position. Then, the chucking jack 4 is operated again to fix the guide member 2 to the pillar 3.
After fixing the guide member 2, the chucking jack 6 of the lifting / lowering operation member 5 is operated to loosen it from the column 3, and is moved to a predetermined position by the lifting jack 7 in preparation for the next lifting operation, and fixed to the column 3. Keep it.

FIG. 3 shows a guide member 20 provided at the lower end of the frame 19 in which the frame 19 is movably attached to the parapet 18 of the viaduct.
The base end member 1 of the device of the present invention is attached to the base member 1 of the present invention, or the guide member 21 is permanently installed in advance at a predetermined position of the viaduct. May be movably attached.

The base member 1 of the present invention may be attached to the tip of an articulated boom such as a crane.

Furthermore, for example, the base end member 1 can be attached to a pillar of a high-rise building, and an arm can be extended to the outside through a window to explore the outer wall of the building.

C. EFFECTS OF THE INVENTION (1) A base end member of a robot is movably attached while gripping a structure such as a pillar or parapet of a building, and
Since a plurality of link members are sequentially rotatably connected to the base end member via connecting pins and adjacent connecting pins are formed by links that are oriented in directions orthogonal to each other and can move three-dimensionally, The surface information inputting means such as a search camera can be positioned or oriented on the wall surface, ceiling surface, corners, or any other portion of the object, and can be controlled with high accuracy.

(2) Since it is equipped with a processing device that calculates, displays and / or stores the rotation angle information of the link member detected by the positioner and the surface information of the building captured by the surface information input means such as a search camera, it is highly accurate. The surface exploration can be reliably and quickly performed.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is an explanatory view of the structure and action of an arm portion, and FIG. 3 is an explanatory view showing another mounting mode. DESCRIPTION OF SYMBOLS 1 ... Base end member, 2 ... Guide member, 3 ... Pillar, 4 ... Chucking jack, 5 ... Lifting operation member, 6 ... Chucking jack, 7 ... Lifting jack, 8 ... Rotating motor, 9
... connecting pin, 10 ... link member, 11 ... link actuating motor, 12 ... positioner, 13 ... exploration camera, 14 ... communication cable, 15 ... processing unit, 16 ... control unit, 17 ...
Displate, 18 ... Parapet, 19 ... Frame, 20,2
1 ... Guide member.

Claims (1)

[Claims] 1. A base end member movably attached while gripping a structure such as a pillar or parapet of a building, and a plurality of link members are rotatably and sequentially connected to the base end member via connecting pins. And an arm configured such that adjacent connecting pins are oriented in directions orthogonal to each other so as to move three-dimensionally, a link operating motor for rotating the link member, and a link member using the link operating motor. Position information detecting means for detecting the rotation angle, surface information input means such as an exploration camera attached to the tip of the arm, rotation angle information detected by the positioner and surface information of the building captured by the surface information input means. And a processing device for calculating, displaying, and / or storing, and a scanning robot for exploring a building surface.