JP2012026894A - Marking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a marking device capable of projecting a two-dimensional graphic at an appropriate position even when the horizontal placement of a casing is difficult.SOLUTION: A marking device 1 is provided with: a projector 10 for projecting a marking graphic; a multi emission device 20 for emitting three laser beams LB1, LB2 and LB3 to horizontal rectangular two directions and down to a vertical direction; first and second inclination sensors 31 and 32; an imaging device 33; a casing 60 to which they are fixed; and a control device 50. The multi-emission device 20 is provided with: a free support member 23 for mounting an emission member 22 on the casing 60 such that its direction is variable; and a weight 29 for maintaining the direction of the emission member 22 from which the third laser beam LB3 is extended down to the vertical direction. The control device 50 is configured to correct the direction of a visible ray flux emitted from the projector 10 based on the position deviation value and rotational deviation angle of the third laser beam LB3 with respect to the reference mark of a placement face SF imaged by the imaging device 33 and the inclination of the projector 10 detected by the first and second inclination sensors 31 and 32.

Description

  The present invention relates to an inking device, and more particularly to an inking device that enables a two-dimensional figure to be projected at a desired position on a projection surface.

  As a device that easily performs the ink marking work to put ink on the ceiling surface or wall surface in building construction, the direction of the reflecting surface of the mirror that reflects the visible light bundle emitted from the light source depends on the desired ink marking pattern By appropriately changing the irradiation direction of the visible light bundle in two dimensions, the inking device that draws a desired two-dimensional figure at a predetermined position on the projection surface with the visible light bundle projected onto the projection surface. Development is progressing (see, for example, Patent Document 1).

JP 2009-162525 A (paragraph 0005, FIG. 1 etc.)

  In particular, in construction sites under construction, the floor surface on which the inking device is placed is often not horizontal. The inking device described in Patent Document 1 includes a digital leveler to detect the inclination of the irradiation window of the visible light bundle with respect to the horizontal plane, and the direction of the visible light bundle to be irradiated based on the inclination detected by the digital leveler Is going to be corrected. However, it is difficult for the digital level to detect the inclination of the plane specified by the two axes, and it is difficult to obtain the accuracy required for the marking device with a commercially available digital level. In addition, the inking device described in Patent Document 1 can ink at a desired position without being placed directly below the inking position. For this purpose, a transmitter is separately placed at a predetermined location. On the other hand, there is no countermeasure against the rotational deviation (degree of rotation in the horizontal plane) of the inking device to be installed, and the orientation of the inking device on the horizontal plane has to be aligned with the core of the building.

  SUMMARY OF THE INVENTION In view of the above-described problems, the present invention makes it possible to project a two-dimensional figure at a desired position on the projection surface even when it is difficult to horizontally place the housing in an appropriate orientation. An object is to provide an apparatus.

  In order to achieve the above object, the marking device according to the first aspect of the present invention is determined in advance by irradiating the projection surface with a visible light beam L (see, for example, FIG. 2) as shown in FIG. A projector 10 for projecting the figure on the projection plane; a housing 60 to which the projector 10 is fixed; a first laser beam LB1 and a second laser beam LB2 extending at right angles to the first laser beam LB1. And a multi-light emitting device 20 that irradiates the first laser beam LB1 and the third laser beam LB3 extending at right angles to the second laser beam LB2, and emits three laser beams LB1, LB2, and LB3. The light emitting member 22 to be mounted, the universal support member 23 attached to the housing 60 so that the direction of the light emitting member 22 is variable, and the light emitting member 2 in which the third laser beam LB3 extends vertically downward from the light emitting member 22. A multi-light emitting device 20 having a weight 29 attached directly or indirectly to the light emitting member 22 so as to maintain the orientation of the first tilt sensor 31 fixed to the housing 60, The laser beam LB1 is received to detect a first light receiving point 31Q (for example, see FIG. 4), and a predetermined first reference point 31P (for example, see FIG. 4) and a first light receiving point 31Q (for example, FIG. 4). A first inclination sensor 31 for detecting the inclination of the projector 10 with respect to the horizontal in a virtual vertical section parallel to the first laser beam LB1 based on a distance D (see FIG. 4); A fixed second tilt sensor 32 that receives the second laser beam LB2 to detect a second light receiving point, and determines a predetermined second reference point and the second light receiving point. Based on the distance, the second laser The second tilt sensor 32 that detects the tilt of the projector 10 with respect to the horizontal in a virtual vertical section parallel to the light LB2, and the third laser beam LB3 irradiated on the mounting surface SF on which the housing 60 is mounted is imaged. An imaging device 33 that can image a reference mark M (for example, see FIG. 5) marked on the mounting surface SF; and an image TP (for example, see FIG. 5) captured by the imaging device 33 The amount of displacement of the housing 60 placed on the placement surface SF with respect to the reference mark M (see FIG. 5 for example) on the placement surface SF from the reference mark M (eg see FIG. 5) and the third laser beam LB3. Δx, Δy (see, for example, FIG. 5) and rotational deviation angle α (see, for example, FIG. 5) are calculated, and the positional deviation amount and rotational deviation angle, the inclination of the projector 10 detected by the first inclination sensor 31, and the second Tilt sensor 32 And a control device 50 that corrects the direction of the visible light flux L (see, for example, FIG. 2) emitted from the projector 10 based on the inclination of the projector 10 detected in step S1. Note that the virtual vertical cross section parallel to the laser beam is typically a vertical plane in contact with the entire laser beam.

  With this configuration, even when it is difficult to place the housing horizontally, the tilt of the housing and the position and rotation deviation on the placement surface are detected, and the visible light bundle projected from the projector The figure can be easily projected at a desired position on the projection surface by appropriately correcting the irradiation direction.

  In addition, the inking device according to the second aspect of the present invention is, for example, as shown in FIG. 1, in the inking device 1 according to the first aspect of the present invention, the light emitting member 22 is the first laser beam. The LB1, the second laser beam LB2, and the third laser beam LB3 are configured to be orthogonal to each other; the first support line 23 passes through the intersection of the three laser beams LB1, LB2, and LB3. A first intermediate rotation support member 24 that rotates about the second axis, and a second axis that rotates about the second axis line AX2 that intersects the first axis AX1 and passes through the intersection of the three laser beams LB1, LB2, and LB3. The intermediate rotation support member 25 is included.

  With this configuration, the distance between the intersection of the three laser beams and the first and second tilt sensors can be maintained constant, and the relationship between the actual tilt angle and the distance detected by the tilt sensor is tilted. Therefore, it is possible to avoid the occurrence of an error due to the difference in the inclination direction.

  Further, as shown in FIG. 1, for example, in the marking device according to the third aspect of the present invention, the imaging device 33 emits light in the marking device according to the first or second aspect of the present invention. It is directly or indirectly attached to the member 22 and doubles as a weight.

  With this configuration, it is possible to simplify the configuration and widen an imageable range centering on the third laser beam.

  According to the present invention, even when it is difficult to place the housing horizontally, it is possible to appropriately correct the inclination of the housing, the position on the placement surface, and the shift in rotation, and simple projection. A figure can be projected at a desired position on the surface.

It is a figure which shows schematic structure of the inking apparatus which concerns on embodiment of this invention. (A) is a longitudinal sectional view and (b) is a horizontal sectional view. It is a schematic block diagram of the light projector with which the inking apparatus which concerns on embodiment of this invention is provided. It is a perspective view of the beam splitter with which the inking apparatus which concerns on embodiment of this invention is provided. It is a figure explaining the detection principle of the side inclination sensor with which the inking apparatus which concerns on embodiment of this invention is provided. It is a figure which shows the example of the image imaged with the imaging device. It is a conceptual diagram of the control apparatus with which the inking apparatus which concerns on embodiment of this invention is provided. It is a schematic block diagram which shows the modification of the universal support member with which the summing-out apparatus which concerns on embodiment of this invention is provided. (A) is a top view, (b) is BB sectional drawing in (a), (c) is CC sectional drawing in (a).

  Embodiments of the present invention will be described below with reference to the drawings. In the drawings, the same or similar members are denoted by the same or similar reference numerals, and redundant description is omitted.

  First, referring to FIG. 1, a summing-up device 1 according to an embodiment of the present invention will be described. 1A and 1B are diagrams showing a schematic structure of the marking device 1, wherein FIG. 1A is a longitudinal sectional view and FIG. 1B is a horizontal sectional view. The inking device 1 is used to detect a tilt of the inking device 1 and a deviation in the installation position of the projector 10 that projects a predetermined figure on the projection surface by irradiating the projection surface with a visible light bundle. A multi-light-emitting device 20 that irradiates two laser beams LB1, LB2, and LB3; a side tilt sensor 31 as a first tilt sensor that receives the side laser beam LB1 as the first laser beam and detects the tilt with respect to the horizontal; The front tilt sensor 32 as a second tilt sensor that receives the front laser beam LB2 as the second laser beam and detects the tilt with respect to the horizontal, and the third surface irradiated to the floor surface SF as the placement surface An image pickup device 33 that picks up an image of the vertical laser light LB3 as the laser light, a control device 50, and a housing 60 that houses them are provided. In this embodiment, casing 60 is formed in a rectangular parallelepiped using a metal plate-like member. The ink marking device 1 also includes a distance sensor 40 that measures the distance to the projection surface.

  Here, the configuration of the projector 10 will be described with reference to FIG. The projector 10 includes a light source 11 and a galvanometer mirror 12 as a mirror device. The light source 11 and the galvanometer mirror 12 are accommodated in a case 19 in which an irradiation window 19w is formed. The light source 11 is a device that emits a laser beam L (hereinafter simply referred to as “laser L”) as a visible light bundle. The light source 11 has a semiconductor laser and is configured to emit a red laser L. The light source 11 is configured to be able to adjust the thickness and brightness of the laser L that emits light.

  The galvanometer mirror 12 includes a first galvanometer mirror 12A that reflects the laser L emitted from the light source 11, and a second galvanometer mirror 12B that further reflects the laser L reflected by the first galvanometer mirror 12A. . The first galvanometer mirror 12A includes a mirror 13A that reflects the laser L, a drive shaft 14A that rotates the mirror 13A, and an actuator 15A that rotates the drive shaft 14A around the axis. The mirror 13A is formed in a rectangular plate shape, and a reflection surface 13Af for reflecting the laser L is formed on one surface of the rectangular plate shape. The reflection surface 13Af is formed smoothly so that the incident angle and the reflection angle of the laser L are equal to each other within an allowable error range in the use of the marking operation.

  The drive shaft 14A is attached so that the end thereof is in contact with the center of the attachment side 13As that is one of the four sides forming the rectangular plate shape of the mirror 13A. The drive shaft 14A is attached to the mirror 13A so as to extend at a right angle to the attachment side 13As and parallel to the reflection surface 13fA. The actuator 15A is attached to the end of the drive shaft 14A opposite to the end attached to the mirror 13A, and is configured to be able to rotate the drive shaft 14A around the axis. The actuator 15A is configured to rotate the reflecting surface 13Af of the mirror 13A attached to the drive shaft 14A by rotating the drive shaft 14A.

  The mirror 13A is configured such that the direction (angle) of the reflecting surface 13Af can be changed by an actuator 15A at an arbitrary deflection angle within a predetermined maximum movable range. In the present embodiment, the deflection angle when moving in the maximum range is configured to be 80 °. The first galvanometer mirror 12A can change the irradiation direction of the laser L to one dimension by changing the direction of the reflecting surface 13Af. The actuator 15A is electrically connected to the control device 50 (see FIG. 1), and can receive a signal from the control device 50 to adjust the rotation direction and the rotation amount (deflection angle) of the drive shaft 14A. It is configured to be able to.

  The second galvanometer mirror 12B is configured in substantially the same manner as the first galvanometer mirror 12A, and includes a mirror 13B having a reflecting surface 13Bf, a drive shaft 14B that rotates the mirror 13B around an axis, and a drive shaft 14B. And an actuator 15B that rotates around the axis. The mirror 13B, the drive shaft 14B, and the actuator 15B correspond to the mirror 13A, the drive shaft 14A, and the actuator 15A of the first galvanometer mirror 12A, respectively. The drive shaft 14B and the actuator 15B are configured in the same manner as the drive shaft 14A and the actuator 15A, but the mirror 13B is configured such that the area of the reflection surface 13Bf is larger than the area of the reflection surface 13Af of the mirror 13A. ing. The mirror 13A receives the laser L emitted from the light source 11 having a constant irradiation direction, while the mirror 13B can receive the laser L whose irradiation direction has been changed by the mirror 13A within the range of the maximum deflection angle. Because. That is, the mirror 13B has a reflecting surface 13Bf having an area capable of receiving the laser L whose irradiation direction is changed within the range of the maximum deflection angle in the mirror 13A.

  The second galvanometer mirror 12B is disposed so that the extending direction of the drive shaft 14B is perpendicular to the extending direction of the drive shaft 14A of the first galvanometer mirror 12A. Since the first galvanometer mirror 12A and the second galvanometer mirror 12B are arranged in such a relationship, the irradiation direction of the laser L can be changed only one-dimensionally in two dimensions. Can be changed. In the three-dimensional space, the extending direction of the drive shaft 14B perpendicular to the extending direction of the drive shaft 14A is not uniquely determined (the direction perpendicular to the extending direction of the drive shaft 14A is determined as the drive shaft 14A). The drive shaft 14B of the second galvanometer mirror 12B is not only perpendicular to the extending direction of the drive shaft 14A but also reflects the laser L in the direction of the irradiation window 19w. It is arranged at an angle that can be made. The projector 10 described above has a considerable weight because it includes the light source 11 and the galvanometer mirror 12.

  Returning to FIG. 1 again, the description of the configuration of the inking device 1 will be continued. The projector 10 described above has a weight, and is firmly fixed to the housing 60 in order to avoid shaking in order to accurately irradiate the laser L (see FIG. 2). In the projector 10, the surface of the case 19 (see FIG. 2) on which the irradiation window 19w (see FIG. 2) is formed is fixed to the top plate 60t of the housing 60 with the irradiation window 19w (see FIG. 2) facing upward. ing. An exit window 60w is formed on the top plate 60t of the housing 60 so as to be connected to the irradiation window 19w (see FIG. 2) so that the laser L (see FIG. 2) can be irradiated to the outside.

  The multi-light emitting device 20 includes a laser light source 21 that emits a laser beam LB that is a source of the side laser beam LB1, the front laser beam LB2, and the vertical laser beam LB3, and a beam splitter as a light emitting member that divides the laser beam into three laser beams. 22, a universal support member 23 that holds the beam splitter 22, and a weight 29 for maintaining the inclination of the beam splitter 22 with respect to the horizontal plane. The laser beam LB emitted from the laser light source 21 is a visible laser beam, typically a red laser beam.

  As shown in FIG. 3, the beam splitter 22 is configured such that the basic shape is a quadrangular pyramid, and the top of the quadrangular pyramid is cut off to form a top surface 22 t. The top surface 22t has a smaller area than the cross section perpendicular to the axis of the laser beam LB, and is formed in parallel to a rectangular (square or rectangular) bottom surface 22b. Of the four lateral surfaces connecting one side of the bottom surface 22b and one side of the top surface 22t, at least the front surface 22f and one side surface 22s adjacent thereto are formed at 45 ° with respect to the bottom surface 22b. A reflection film that reflects the laser beam LB is formed on the front surface 22f and the side surface 22s. The reflective film is typically formed by attaching a film or plating. On the other hand, the top surface 22t and the bottom surface 22b are formed to be transparent so that the laser beam LB is transmitted. The beam splitter 22 configured as described above is configured such that the laser beam LB incident at a right angle to the top surface 22t is reflected by the side surface 22s and travels at a right angle to the incident light LB, and the front surface 22f. The front laser beam LB2 that reflects and travels at right angles to the incident light LB and the vertical laser beam LB3 that passes through the top surface 22t and exits from the bottom surface 22b can be divided into three. At this time, since the side surface 22s and the front surface 22f are orthogonal to each other on the top surface 22t, the side surface laser beam LB1 and the front laser beam LB2 are orthogonal to each other. If the side laser beam LB1 and the front laser beam LB2 are extended into the beam splitter 22, the side laser beam LB1, the front laser beam LB2, and the vertical laser beam LB3 are orthogonal to each other. In the present specification, even when an extension of each laser beam (in other words, an axis of each laser beam) is orthogonal, the laser beam is expressed as orthogonal.

  The description of the multi-light-emitting device 20 will be continued with reference to FIG. 1 again, but when the configuration of the beam splitter 22 is referred to in the following description, FIG. The universal support member 23 includes a support cylinder 24 as a first intermediate rotation support member, an intermediate cylinder 25 as a second intermediate rotation support member, and a fixed cylinder 26. In the present embodiment, the support cylinder 24 is configured by dividing a cylindrical member into two along the axis thereof, and by being sandwiched between the beam splitters 22, the support cylinder 24 is adjusted to a single cylindrical state. The beam splitter 22 is configured to be gripped. The beam splitter 22 is held by the support cylinder 24 so that the top surface 22 t and the bottom surface 22 b are orthogonal to the axis of the support cylinder 24. The beam splitter 22 is gripped with respect to the longitudinal direction of the support tube 24 so that the distance to the end of the support tube 24 is shorter on the top surface 22t side. A laser light source 21 is provided at the end of the support cylinder 24 on the top surface 22t side. The laser light source 21 has a position and orientation in which the irradiated laser beam LB extends parallel to the axis of the support tube 24 and is incident on the top surface 22t, the front surface 22f, and the side surface 22s of the beam splitter 22 at the position and direction. It is fixed to. On the side surface of the support cylinder 24, holes through which the side laser beam LB1 and the front laser beam LB2 emitted from the beam splitter 22 pass are formed.

  The intermediate cylinder 25 is a cylindrical member into which the support cylinder 24 can be inserted. In the present embodiment, the intermediate cylinder 25 is formed in a cylindrical shape. The intermediate cylinder 25 is pivotally supported by the support cylinder 24 by an inner / middle shaft 27 that is a rod-like member in a state where the axis of the intermediate cylinder 25 coincides with the axis of the support cylinder 24. The inner / middle shaft 27 is installed on the inner / middle axis AX1 which is a virtual straight line. The inner / middle axis AX1 is an intersection where the three laser beams LB1, LB2, and LB3 intersect in the beam splitter 22 held by the support cylinder 24 in a state where the axis of the intermediate cylinder 25 and the axis of the support cylinder 24 coincide with each other. A virtual straight line passing through. The support cylinder 24 is configured to be able to rotate relative to the intermediate cylinder 25 around the inner middle axis AX1. The length of the intermediate cylinder 25 is typically shorter than the length of the support cylinder 24, and is formed to be about 1/3 of the length of the support cylinder 24 in the present embodiment. The intermediate cylinder 25 moves the support cylinder 24 around the inner central axis AX1 with respect to the intermediate cylinder 25 by an angle corresponding to the maximum inclination (angle) that can be assumed with respect to the horizontal plane when the inking device 1 is placed. The inner diameter and the length can be determined from the viewpoint of preventing the intermediate cylinder 25 and the support cylinder 24 from interfering with each other even if they are rotated. On the side surface of the intermediate tube 25, holes through which the side laser beam LB1 and the front laser beam LB2 emitted from the beam splitter 22 pass are formed. In the present embodiment, from the viewpoint of avoiding the inner / middle shaft 27 from interfering with the side laser beam LB1 and the front laser beam LB2, the direction in which the side laser beam LB1 and the front laser beam LB2 extend in plan view and the inner / middle axis line AX1 The inner and middle shafts 27 are provided so that the angle formed by the angle is 45 °.

  The fixed cylinder 26 is a cylindrical member into which the intermediate cylinder 25 can be inserted. In the present embodiment, the fixed cylinder 26 is formed in a cylindrical shape. The fixed cylinder 26 is pivotally supported by the intermediate cylinder 25 by an intermediate / outer shaft 28 that is a rod-like member in a state where the axis of the fixed cylinder 26 coincides with the axis of the intermediate cylinder 25. The middle / outer shaft 28 is installed on the middle / outer axis AX2 which is a virtual straight line. The middle / outer axis AX2 passes through the intersection of the three laser beams LB1, LB2, LB3 in the beam splitter 22 in a state where the axis of the fixed cylinder 26, the axis of the intermediate cylinder 25, and the axis of the support cylinder 24 coincide with each other, and , An imaginary straight line that intersects the inner central axis AX1. In the present embodiment, the middle / outer shaft 28 is provided so that the inner / middle axis AX1 and the middle / outer axis AX2 are orthogonal to each other. The intermediate cylinder 25 is configured to be rotatable about the middle / outer axis AX2 with respect to the fixed cylinder 26. With this configuration, the beam splitter 22 can rotate around the inner and middle axes AX1 and AX2 around the intersection of the three laser beams LB1, LB2, and LB3. . The length of the fixed cylinder 26 is typically longer than the length of the support cylinder 24. On the side surface of the fixed cylinder 26, holes through which the side laser beam LB1 and the front laser beam LB2 emitted from the beam splitter 22 pass are formed. In the present embodiment, from the viewpoint of avoiding that the inner / outer shaft 28 interferes with the side laser beam LB1 and the front laser beam LB2, in the plan view, the direction in which the side laser beam LB1 and the front laser beam LB2 extend and the inner / outer axis line AX2 The inner and outer shafts 28 are provided so that the angle formed is 45 °.

  The weight 29 is attached to the end of the support cylinder 24 opposite to the end to which the laser light source 21 is attached. An appropriate mass is attached to the support cylinder 24 in such an arrangement that the weight 29 can support the support cylinder 24 pivotally supported by the inner and middle shafts 27 and 28 with its axis extending vertically. ing. The weight 29 has a shape that does not block the vertical laser beam LB3 extending along the axis of the support cylinder 24. The weight 29 is typically formed in a ring shape or a cylindrical shape, and is attached to the support cylinder 24 such that its axis coincides with the axis of the support cylinder 24. Since the beam splitter 22 is attached to the support cylinder 24 as described above, the weight 29 attached to the support cylinder 24 is indirectly attached to the beam splitter 22 via the support cylinder 24. Become. The beam splitter 22 is configured such that the vertical laser light LB3 is maintained in a direction extending vertically downward regardless of the inclination of the housing 60 by the action of the weight 29.

  The multi-light emitting device 20 is attached to the housing 60 by fixing the fixed cylinder 26 to the bottom plate 60 b inside the housing 60. In the multi-light emitting device 20, when the bottom plate 60b of the housing 60 is horizontal, the side laser light LB1 emitted from the beam splitter 22 is perpendicular to the side plate 60s of the housing 60, and the front laser light LB2 is The body 60 is attached to the housing 60 in a direction perpendicular to the regular plate 60f. When the multi-light emitting device 20 is attached to the casing 60, the fixed cylinder 26 is a height where the lowermost part (weight 29 in the present embodiment) of the member integrated with the supporting cylinder 24 does not contact the casing 60. Is formed. A tripod 61 for mounting the inking device 1 on the floor surface SF is attached to the bottom plate 60 b outside the housing 60. Since the tripod 61 is provided, the inking device 1 can be stably placed on an uneven floor surface SF. A bottom hole 60bh smaller than the inner diameter of the fixed cylinder 26 (one smaller in this embodiment) is formed in the bottom plate 60b of the housing 60.

  The side surface tilt sensor 31 will be described with reference to FIG. 4 together with FIG. The side surface tilt sensor 31 has a side surface light receiving point 31Q (first light receiving point) that is a point at which the side surface reference point 31P (first reference point) determined in advance and the side surface laser light LB1 emitted from the beam splitter 22 are received. The light receiving element detects the inclination of the housing 60 and, consequently, the inclination of the projector 10 fixed to the housing 60 from the distance D. The side tilt sensor 31 is typically a CMOS (Complementary Metal Oxide Semi-conductor) or PSD (Position Sensitive Device). The side inclination sensor 31 is fixed to a side plate 60 s inside the housing 60.

  Further, in the present embodiment, the side surface inclination sensor 31 is determined such that the side surface reference point 31P coincides with the side surface light receiving point 31Q when the bottom plate 60b of the housing 60 is horizontal (the broken line in FIG. 4). (See side surface inclination sensor 31 ′, side surface reference point 31P ′, and side surface light receiving point 31Q ′). The inclination that can be detected by the side surface inclination sensor 31 is an inclination in a component in the direction in which the side surface laser beam LB1 extends due to the structure of the multi-light emitting device 20. In other words, when the provisional vertical section of the marking device 1 is taken in parallel to the side surface laser beam LB1, the inclination of the light projector 10 with respect to the horizontal in the section is detected. In the present embodiment, due to the structure of the multi-light emitting device 20, even when the housing 60 is tilted, the housing 60 is relatively tilted around the intersection of the three laser beams LB1, LB2, and LB3. The distance R between the intersection of the two laser beams LB1, LB2, and LB3 and the side surface reference point 31P is constant. Since the distance R can be grasped in advance by a unique value of the marking device 1, by detecting the distance D, the inclination angle θ in the component in the direction in which the side laser beam LB1 extends is determined by arctan (D / R). Can be calculated. Since the distance R is constant, the relationship between the inclination angle θ and the distance D is independent of the direction of inclination (for example, regardless of whether the side surface inclination sensor 31 moves upward or downward in FIG. 4). Therefore, the occurrence of an error due to a difference in inclination direction can be avoided.

  The front inclination sensor 32 is fixed to the front plate 60f inside the housing 60 and is configured to receive the front laser light LB2. The front tilt sensor 32 has the same structure as the side tilt sensor 31 and is configured to operate in the same manner as the side tilt sensor 31. In the present embodiment, the front tilt sensor 32 is a light receiving point (second light receiving point) where the front reference point 32P as the first reference point receives the front laser beam LB2 when the bottom plate 60b of the housing 60 is horizontal. Point). The inclination that can be detected by the front inclination sensor 32 is an inclination in a component in a direction in which the front laser light LB2 extends (an inclination in a virtual vertical section parallel to the front laser light LB2). The means for detecting the tilt is the same as the side tilt sensor 31.

  The imaging device 33 is a device that images the vertical laser beam LB3 irradiated on the floor surface SF, and a CCD camera is used in the present embodiment. In the present embodiment, the imaging device 33 is attached to the end of the support tube 24 of the multi-light emitting device 20 opposite to the end to which the laser light source 21 is attached. As a result, the imaging device 33 also serves as the weight 29, and the mass of the weight 29 itself can be reduced or the weight 29 can be omitted, and the installation position on the plane of the imaging device 33 is set to the vertical laser beam LB 3. The vertical laser beam LB3 in the captured image can be brought close to the center of the captured image. If the balance is lost by installing the imaging device 33 at the lower end of the support cylinder 24 and it is difficult to maintain the vertical laser beam LB3 vertically downward, a counterweight 39 may be installed. Further, the direction in which the imaging device 33 is installed with respect to the housing 60 is determined. Or you may be comprised so that the direction of the imaging device 33 with respect to the housing | casing 60 can be specified by putting the frame of the bottom hole 60bh in the image imaged.

  FIG. 5 shows an example of an image captured by the imaging device 33. The example shown in FIG. 5 is an image of the floor surface SF (see FIG. 1A) on which the ink marking device 1 is placed. The picked-up image TP includes a ground ink M serving as a reference for measuring the placement position of the ink marking device 1 and the degree of rotation in the horizontal plane, and the vertical laser light LB3 projected on the floor surface SF. . In the background ink M, in the present embodiment, two orthogonal background inks Mh and Mv are drawn. The reference ink M may be a return ink printed at a predetermined distance (typically 1 m) from each of the X and Y street cores. Ink drawn on the position may be used. The ground ink M is inclined in the captured image TP illustrated in FIG. 5 because the outer peripheral side of the bottom plate 60b of the housing 60 is inclined (rotated) with respect to the ground ink M in plan view. This is because it is placed. Regarding the position of the vertical laser beam LB3 in the captured image TP, the imaging device 33 is attached to the support cylinder 24 where the vertical laser beam LB3 coincides with the axis in the structure of the marking device 1, and the vertical laser beam LB3 and the imaging device 33 are located. Since the relative position is fixed, it will not change. An image captured by the imaging device 33 can be transmitted to the control device 50 as image data.

  Returning to FIG. 1 again, the description of the inking device 1 will be continued. The distance sensor 40 is a device that measures a vertical distance between the top 60t of the housing 60 as a reference position and a projection surface (for example, a ceiling surface) that projects the inked figure. As the distance sensor 40, an existing measuring instrument such as a laser distance measuring instrument or an ultrasonic distance measuring instrument is used. The distance sensor 40 is attached to the top plate 60t from the inside of the housing 60. The distance sensor 40 is electrically connected to the control device 50, and is configured to transmit the acquired distance information as a signal to the control device 50.

  The control device 50 is a member that controls the operation of the marking device 1. FIG. 6 is a conceptual diagram showing a schematic configuration of the control device 50. The control device 50 includes an inclination calculation unit 51, a position calculation unit 52, a height acquisition unit 53, a load unit 54, a correction unit 55, a command unit 56, and a terminal 59. The control device 50 is connected to the side inclination sensor 31 and the front inclination sensor 32 by a signal cable. The inclination calculation unit 51 receives data on the inclination detected by the side inclination sensor 31 and the front inclination sensor 32 (the calculated angle θ shown in FIG. 4 or the distance D that is the basis for calculating the angle), and receives the ink. It is comprised so that the inclination with respect to the horizontal of the whole taking-out apparatus 1 (and projector 10) may be calculated. The control device 50 is connected to the imaging device 33 by a signal cable. The position calculation unit 52 acquires a captured image TP (see FIG. 5) captured by the imaging device 33 as digital data, and recognizes a reference mark such as the vertical laser beam LB3 and the ground ink M (see FIG. 5). Thus, the position and orientation (degree of rotation in the horizontal plane) where the ink marking device 1 is placed are calculated.

  Here, referring to FIG. 5 again in conjunction with FIG. 6, the calculation of the position and orientation where the inking device 1 is placed will be described. When the position calculation unit 52 receives the data of the captured image TP from the imaging device 33, the position calculation unit 52 sets an xy coordinate system in which the lower left corner of the captured image TP is the origin, the horizontal direction is the x axis, and the vertical direction is the y axis. To do. As can be seen from the captured image TP shown in FIG. 5, in this example, the projected spot of the vertical laser beam LB3 serving as a reference for the position of the inking device 1 on the horizontal plane is the position where the inking device 1 is placed. Is shifted by Δx in the x-axis direction and Δy in the y-axis direction from the intersection Pn of the two ground inks Mh and Mv serving as a reference for grasping, and the orientation of the inking device 1 (for example, the x-axis direction) is It is shifted by an angle α with respect to the background ink M (here, the ink background Mh). In FIG. 5, a virtual line Lv forming an angle α formed with the background ink Mh is a line parallel to the outer peripheral side of the bottom plate 60 b (see FIG. 1) of the housing 60 (see FIG. 1).

  Next, the position calculation unit 52 recognizes the background ink M from the data of the captured image TP, and expresses the two background inks Mh and Mv by respective linear function expressions. Recognition of the background ink M in the position calculation unit 52 can be performed by counting pixels of the image. In the present embodiment, the background ink Mh is expressed by a linear expression of y = ax + b (a and b are constants) and the background ink Mv is expressed by a linear equation x = cy + d (c and d are constants) by the least square method. When the linear equations of the two inks Mh and Mv are respectively calculated, the position calculation unit 52 calculates the coordinates (x0, y0) of the intersection point Pn from the two linear equations. Here, the calculation of the coordinates of the intersection point Pn can also be obtained by counting the pixels of the image in the x-axis direction and the y-axis direction, respectively, but the ink M is the thickness (in other words, the line of the ink M line). In this embodiment, the number of pixels forming the width) is often not uniform, and therefore, from the viewpoint of avoiding an error that is likely to occur due to the intersection point Pn occupying a large number of pixels. It is determined from two linear expressions. When the coordinates (x0, y0) of the intersection point Pn are obtained from two linear expressions, x0 = (bc + d) / (1-ac) and y0 = (ad + b) / (1-ac).

  In parallel with the calculation of the coordinates of the intersection point Pn, the position calculation unit 52 recognizes the vertical laser beam LB3 from the data of the captured image TP and calculates the coordinates (X0, Y0). The coordinates of the vertical laser beam LB3 can be obtained by counting the pixels of the image in the x-axis direction and the y-axis direction, respectively. Next, the position calculation unit 52 calculates the deviation Δx (= X0−x0) in the x-axis direction and the deviation Δy (= Y0−y0) in the y-axis direction from the calculated coordinates of the intersection point Pn and the coordinates of the vertical laser beam LB3. Is calculated. The positional deviation amounts Δx and Δy are deviations on the captured image TP. However, since the imaging device 33 is always at a constant height from the floor surface SF, the deviation amounts Δx and Δy in the captured image TP are intersection points. This corresponds to the positional deviation between Pn and the vertical laser beam LB3. Further, the position calculation unit 52 calculates the rotation deviation α from the slope (a) of the linear expression of the ground ink Mh. The rotational deviation α is calculated by the equation: α = arctan (a).

  Returning to the description of the control device 50 again, the control device 50 is connected to the distance sensor 40 by a signal cable. The height acquisition unit 53 is configured to acquire and decode a distance information signal sent from the distance sensor 40 and send the distance information to the correction unit 55. The load unit 54 is a part that reads data (for example, CAD data) of a drawing in which a graphic (projected graphic) projected on the projection plane is input from the terminal 59. The load unit 54 is configured to be able to capture only data of a specific layer (layer on which a figure is drawn) when drawing data is divided into a plurality of layers. The correction unit 55 projects the projected figure onto a predetermined position on the projection plane (ceiling surface), the tilt calculated by the tilt calculation unit 51, the position and orientation calculated by the position calculation unit 52, and the height acquisition unit. The irradiation direction of the laser L (see FIG. 2) (in other words, the angles of the mirrors 13A and 13B) is determined from the distance to the projection plane acquired in 53, the projection graphic data read by the load unit 54, and the like. Has been.

  Further, the control device 50 is connected to the projector 10 by a signal cable. The command unit 56 is a part that transmits a signal for operating the actuators 15A and 15B so as to change the angles of the mirrors 13A and 13B of the projector 10 according to the calculation result of the correction unit 55. The terminal 59 is used to select drawing data in which a predetermined projection figure is drawn, selection of a shape (rectangle, circle, etc.) stored in advance of the projection figure to be irradiated on the projection surface and its size (length of each side). This is a portion that receives input of data of the sheath and radius and the projection position. The terminal 59 is formed by a USB, a card slot, or the like. As described above, the control device 50 includes the inclination calculation unit 51, the position calculation unit 52, the height acquisition unit 53, the load unit 54, the correction unit 55, and the command unit 56, which are conceptually distinguished for convenience of explanation. And may not be physically distinguished. Although the inclination calculation unit 51, the position calculation unit 52, the height acquisition unit 53, the load unit 54, the correction unit 55, and the command unit 56 are typically configured integrally in a computer (CPU, memory, etc.). For example, a part or all of the position calculation unit 52 may be configured separately, for example, the position calculation unit 52 may be integrated with the imaging device 33.

  Still referring to FIG. 1, the operation of the marking device 1 will be described. In the following description, when referring to the configuration of the projector 10, reference is made to FIG. 2, and when referring to the configuration of the control device 50, FIG. 6 is appropriately referred to. First, an input means (typically a personal computer) is connected to the terminal 59 of the control device 50 to input information relating to the projected figure. The information related to the projected figure is typically the shape, size, and irradiation position. For example, when data is input as data on a CAD drawing, the shape, size, and irradiation position can be input immediately, thereby saving labor. Alternatively, the shape (for example, anemone circle), size (for example, diameter 300 mm), irradiation position (for example, the circular core is X2 from the X2 core, y1 from the Y1 core), regardless of the CAD drawing. Or may be input via a storage medium (such as a memory card) in which these pieces of information are stored in advance. Information regarding the projected figure is stored in the load unit 54 of the control device 50.

  Next, the ink marking device 1 is placed on the floor surface SF. At this time, the inking device 1 is in the vicinity of a mark (in the present embodiment, the background ink M (see FIG. 5)) near the position where the projected figure is projected in plan view and serving as a clue to detect the installation position. It may be placed at any position. When the inking device 1 is placed, due to the structure of the multi-light emitting device 20, the support cylinder 24 is stationary with the vertical laser beam LB3 extending vertically. When the support cylinder 24 is stationary, the side inclination sensor 31 and the front inclination sensor 32 detect the inclination of the inking device 1 placed on the floor surface SF. At this time, since the inclinations of the two components of the side laser beam LB1 and the front laser beam LB2 that extend perpendicularly to each other are detected, the inclination of the entire inking device 1 with respect to the horizontal plane can be detected. The side tilt sensor 31 receives the side laser beam LB1, detects the distance D (see FIG. 4) between the side light receiving point 31Q (see FIG. 4) and the side reference point 31P (see FIG. 4), and the detected distance. The data of the inclination angle θ (see FIG. 4) corresponding to D or the distance D is transmitted to the inclination calculation unit 51 of the control device 50. On the other hand, as with the side surface tilt sensor 31, the front surface tilt sensor 32 also transmits data regarding the component tilt in the direction in which the front laser beam LB <b> 2 extends to the tilt calculation unit 51. The inclination calculation unit 51 calculates how much the entire inking device 1 is inclined in the direction of the side plate 60s and the direction of the normal plate 60f based on the data received from the side inclination sensor 31 and the front inclination sensor 32. Then, the calculation result data is transmitted to the correction unit 55.

  When the support cylinder 24 is stationary, the imaging device 33 images the vertical laser beam LB3 and the ground ink M (see FIG. 5). The imaging device 33 transmits the data of the captured image TP (see FIG. 5) to the position calculation unit 52 of the control device 50. The position calculation unit 52 that has received the image data calculates the position where the inking device 1 is placed from the positional relationship between the intersection Pn of the inking ink M and the vertical laser beam LB3, and also calculates the position with respect to the outer edge of the captured image TP. The orientation (degree of rotation in the horizontal plane) of the placed inking device 1 is calculated from the inclination of the black M, and the calculation result data is transmitted to the correction unit 55. In parallel, the distance sensor 40 detects the distance between the projection surface of the projection figure and the projector 10 and transmits the detected distance data to the height acquisition unit 53. The height acquisition unit 53 transmits the received distance data to the correction unit 55.

  When the correction unit 55 receives data from the inclination calculation unit 51, the position calculation unit 52, and the height acquisition unit 53, the correction state 55 is set to the standard state (the reference position in the horizontal state) with respect to the placement state of the inking device 1. The inclination, the positional deviation, and the rotational deviation are calculated from the state of being mounted without rotating. Note that the distance detected by the distance sensor 40 is a distance in a direction perpendicular to the surface of the top plate 60t, so that the top plate 60t in the vertical direction (projector 10) is based on the result of the tilt calculated by the tilt calculation unit 51. Is calculated for the subsequent correction.

  The command unit 56 emits one laser L from the light source 11 of the projector 10. Then, the emitted laser L reflects from the mirrors 13A and 13B, passes through the irradiation window 19w, and is irradiated onto the projection surface. The command unit 56 controls the actuators 15A and 15B so as to draw the projection figure stored as data in the load unit 54 at a predetermined position on the projection surface with the laser L irradiated to the projection surface, and the mirrors 13A and 13B. The angles of the reflecting surfaces 13Af and 13Bf are appropriately changed. At this time, the command unit 56 corrects the angles of the reflecting surfaces 13Af and 13Bf based on the correction result calculated by the correction unit 55, and controls the actuators 15A and 15B. The angles of the reflection surfaces 13Af and 13Bf are changed at such a speed that a projected figure is drawn by the locus of one laser L irradiated on the projection surface and its afterimage. In this way, the projected figure drawn by the laser L is projected onto the projection plane. What is necessary is just to carry out construction, such as putting black (mark) on the projection surface in a state where the projected figure is projected, or forming an opening directly.

  Since the inking device 1 can irradiate the projection figure to a predetermined position on the projection plane even when the projector 10 (top plate 60t) is tilted, it is vertically below the projection position where the projection figure is to be drawn (projection figure). Even if a material is placed at the position where the ink is drawn), a figure projected with a laser L from a position avoiding the material to a predetermined position on the projection surface Can be drawn. In addition, a supplier who puts a ceiling board cannot install a scaffold in a wide range on the floor SF (typically, a scaffold plate supported by three points by a stepladder is arranged in a wide range without a gap). Even if it is a case, it is possible to place the ink marking device 1 on the side of the installed scaffolding and perform the ink marking using the scaffolding installed by the supplier who puts on the ceiling board. (Reduction rate of time and cost required) can be improved.

  The inking device 1 stores not only one information about the projected figure stored in the load unit 54 of the control device 50 but also a plurality of figures having different shapes and / or irradiation positions, and switches (invalid) It may be configured so that each figure can be sequentially irradiated onto the projection surface by switching in the figure.

  As described above, the inking device 1 can detect inclination deviation, positional deviation, and rotational deviation with one light source (laser light source 21), and the inking apparatus 1 alone can detect inclination deviation and positional deviation. In addition, even if it is difficult to place the housing 60 horizontally, the installation position and orientation of the ink pick-up device 1 can be set as the reference position of the floor surface SF. Even if it is not matched with (typically ground ink M), it is possible to draw a projected figure at a desired position on the projection surface, and it is possible to greatly reduce the labor of the inking operation.

  In the above description, the projector 10 is configured to appropriately change the irradiation direction of the laser L using the two galvanometer mirrors 12A and 12B. However, instead of the galvanometer mirror 12, a MEMS mirror (MEMS Micro Electro Mechanical Systems (abbreviation of Micro Electro Mechanical Systems) may be used.

  In the above description, the beam splitter 22 is configured so that one laser beam LB is divided into three laser beams LB1, LB2, and LB3, and the three divided laser beams LB1, LB2, and LB3 are orthogonal to each other. However, the beam splitter that divides the laser beam LB into the side laser beam LB1 and the vertical laser beam LB3 and the beam splitter that further divides the front laser beam LB2 from the vertical laser beam LB3 are arranged vertically (these 2). The top and bottom of the two beam splitters may be reversed). In this way, the manufacturing of the beam splitter can be simplified.

  In the above description, the side tilt sensor 31 and the front tilt sensor 32 are CMOS or PSD. However, the reference point and the light receiving point are imaged by the imaging device, and the distance between the reference point and the light receiving point detected from the captured image is determined. It may be configured to calculate an inclination.

  In the above description, the imaging device 33 is attached to the lower end of the support cylinder 24, but may be attached to the bottom plate 60 b of the housing 60. When the image pickup device 33 is attached to the bottom plate 60b of the housing 60, the image pickup device 33 is not shaken after the inking device 1 is placed on the floor surface SF, and an image can be taken stably.

  In the above description, the ground ink M recognized from the data of the captured image TP is expressed by a linear equation by the least square method, and the vertical laser light LB3 is counted in the x-axis direction and the y-axis direction, respectively. Although the shift of the position and orientation (rotation in the horizontal plane) where the inking device 1 is placed is detected, the present invention is not limited to this, and other image processing methods can be used. That is, it suffices if the positional deviation between the background ink M and the vertical laser beam LB3 and the rotational angle deviation in the horizontal plane can be detected from the captured image TP.

  In the above description, the support tube 24, the intermediate tube 25, and the fixed tube 26, all of which are formed in a cylindrical shape but having different lengths, are pivotally supported by the inner and middle shafts 27 and 28. Thus, the axial line of the support cylinder 24 is configured to maintain a vertically extending state, but may be configured as follows.

  FIGS. 7A and 7B are diagrams showing a schematic configuration of a universal support member 123 according to a modification, where FIG. 7A is a plan view, FIG. 7B is a cross-sectional view along BB in FIG. It is CC sectional drawing. The universal support member 123 includes a support body 124 as a first intermediate rotation support member, an intermediate body 125 as a second intermediate rotation support member, and a fixed body 126. The support 124 includes a semi-cylindrical portion 124a formed by cutting a short cylindrical member in half by a circular diameter into a semi-cylindrical shape, and a midpoint from the midpoint of the arc of the semi-cylindrical portion 124a. The cylindrical portion 124b is formed to extend. In the support 124, an optical path 124r for allowing the vertical laser beam LB3 to pass is formed in the semi-cylindrical part 124a on the axis of the cylindrical part 124b and its extension line, and a point on the optical path 124r at the center of the arc of the semi-cylindrical part 124a. The beam splitter 22 is gripped. A weight 29 for maintaining the vertical laser beam LB3 so as to extend vertically is attached to the end of the cylindrical portion 124b opposite to the semi-cylindrical portion 124a.

  The intermediate body 125 is formed in a semi-cylindrical shape similar to the semi-cylindrical part 124a in basic shape, but is sized to include the semi-cylindrical part 124a. A semicircular arc-shaped depression 125d that fits the semicylindrical portion 124a is formed at the center of the arc of the intermediate body 125. The recess 125d is formed so that the arc extending direction thereof is orthogonal to the arc extending direction of the outer edge of the intermediate body 125 in plan view. A semi-cylindrical portion 124a is placed in the recess 125d via a bearing (not shown), and the semi-cylindrical portion 124a is an inner / middle axis AX1 as a first axis passing through the center of the arc of the semi-cylindrical portion 124a. It is comprised so that it can rotate around.

  The fixed body 126 is formed in a semi-cylindrical shape similar to the intermediate body 125 in the basic shape, but the size is formed to include the intermediate body 125. A semicircular recess 126 d into which the intermediate body 125 is fitted is formed at the center of the arc of the fixed body 126. The recess 126d is formed such that the extending direction of the arc coincides with the extending direction of the arc of the outer edge of the fixed body 126 in plan view. An intermediate body 125 is placed in the recess 126d via a bearing (not shown), and can rotate around a middle / outer axis AX2 as a second axis passing through the center of the arc of the intermediate body 125. It is configured as follows. The inner / middle axis AX1 and the middle / outer axis AX2 are configured to intersect at the intersection of the three laser beams LB1, LB2, and LB3 of the beam splitter 22. The fixed body 126 is fixed to the housing 60.

  Similar to the universal support member 23 (see FIG. 1), the universal support member 123 configured as described above has a support 124 and an intermediate body 125 around the intersection of the three laser beams LB1, LB2, and LB3 of the beam splitter 22. , And the vertical laser beam LB3 can be maintained in the vertical direction even if the angle of the fixed body 126 changes. Since the support body 124, the intermediate body 125, and the fixed body 126 are fitted through the bearing (not shown), the universal support member 123 has an advantage that the members can be easily replaced.

DESCRIPTION OF SYMBOLS 1 Inking apparatus 10 Projector 20 Multi light-emitting device 22 Beam splitter 23 Swivel support member 24 Support cylinder 25 Intermediate cylinder 29 Weight 31 Side tilt sensor 31P Side reference point 31Q Side light receiving point 32 Front tilt sensor 33 Imaging device 50 Control device 60 Case AX1 Inner / Medium Axis AX2 Middle / Outer Axis D Distance M Ink LB1 Side Laser Light LB2 Front Laser Light LB3 Vertical Laser Light SF Floor TP Captured Image

Claims (3)

A projector that projects a predetermined figure onto the projection surface by irradiating the projection surface with a visible light beam;
A housing to which the projector is fixed;
A first laser beam, a second laser beam extending perpendicular to the first laser beam, and a third laser beam extending perpendicular to the first laser beam and the second laser beam. A light emitting member that emits the three laser beams, a universal support member that attaches the light emitting member to the housing such that the direction of the light emitting member is variable, and the third light emitting device. A multi-light emitting device comprising: a weight attached directly or indirectly to the light emitting member so that laser light maintains a direction of the light emitting member extending vertically downward from the light emitting member;
A first inclination sensor fixed to the housing, receiving the first laser beam to detect a first light receiving point, and a predetermined first reference point and the first light receiving point. A first tilt sensor that detects a tilt of the projector with respect to the horizontal in a virtual vertical section parallel to the first laser beam based on a distance from a point;
A second inclination sensor fixed to the housing, receiving the second laser beam to detect a second light receiving point, and a predetermined second reference point and the second light receiving point; A second inclination sensor that detects an inclination of the projector with respect to the horizontal in a virtual vertical section parallel to the second laser light based on a distance from a point;
An imaging device that images the third laser light irradiated on the placement surface on which the housing is placed, the imaging device capable of imaging the reference mark marked on the placement surface;
From the reference mark and the third laser light in the image captured by the imaging device, the positional displacement amount and the rotational displacement of the casing placed on the placement surface relative to the reference mark on the placement surface. An angle is calculated, and the projector is based on the positional deviation amount, the rotation deviation angle, the inclination of the projector detected by the first inclination sensor, and the inclination of the projector detected by the second inclination sensor. A control device that corrects the direction of the visible light flux emitted from the light source;
Inking device. The light emitting member is configured such that the first laser beam, the second laser beam, and the third laser beam are orthogonal to each other;
The universal support member has a first intermediate rotation support member that rotates about a first axis passing through the intersection of the three laser beams, and an intersection of the three laser beams that intersects the first axis. A second intermediate pivot support member pivoting about a second axis passing therethrough;
The ink marking device according to claim 1. The imaging device is directly or indirectly attached to the light emitting member, and also serves as the weight;
The ink marking device according to claim 1 or 2.

Images