JP2000314627A - Marking system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily perform a linear marking. SOLUTION: A light reception part 9 receives reference light M that is in parallel with a scheduled line S cast on an execution part 1 by a reference light-casting part 4, a marking device 10 for spraying paint T when the light reception part 9 has received the light, and a display part 11 for performing display according to the light reception position of the reference light M are installed at a driving machine 5. Then, marking is made, while running the driving machine 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a marking system for marking on a surface of a construction site at a construction site, the marking indicating an excavation position or an embankment position.

[0002]

2. Description of the Related Art Conventionally, when excavation or embankment is performed on a construction site at a work site, surveying is performed on the construction site, and a marking that indicates an excavation position or an embankment position, for example, a linear extension is designed. It is installed on the ground surface of the construction part according to the construction plan line in the figure. The marking is formed by applying a paint to the ground surface by a spray gun held by an operator, forming a lime powder in a linear shape on the ground surface, or by using a pile and a long beam.

[0003] However, in dangerous areas such as near active volcanoes and disaster areas, workers are exposed to danger, and thus unmanned construction using remote control machines is performed. For example, GP
A work machine provided with an S antenna and a coordinate measuring prism for a total station is used, and excavation and assembling work are performed by remote control while measuring the position of the work machine in real time. However, when this work machine is provided with an arm such as a hydraulic shovel, the relationship between the position of the hydraulic shovel and the position of the bucket at the tip of the arm is not constant, and the measured coordinate position of the hydraulic shovel and the arm The tip bucket position may be different. As described above, it is difficult to accurately grasp the construction position such as the excavation position and the embankment position. Therefore, even if a work machine whose coordinates can be measured is used, it is necessary to use a different method to previously mark the ground surface on the planning line in order to perform construction accurately.

Japanese Patent Application Laid-Open No. Hei 10
A marking device shown in -60865 is known. In this method, a storage box containing a spray gun is connected to the arm of a remotely operated hydraulic excavator, and a GPS antenna is provided on the upper surface of the storage box coaxially with the spray gun, and the position of the spray gun is measured. An inductive GPS surveying system is provided. This guide type GPS surveying system guides the spray gun on the plan line while measuring the position of the spray gun, and sprays paint from the spray gun to one point on the plan line to perform marking.

[0005]

However, the conventional marking device has the following disadvantages. That is, since the position to be measured is a point, it is troublesome to guide the marking device on the planning line, and the paint that is sprayed without being able to form the marking linearly is one point. Further, since the position of the survey box is always measured, the marking operation takes time. Also, when marking on a slope, if the marking device moves on this slope, the marking device will tilt and the survey box will tilt, and when paint is sprayed in this state, the marking position will be shifted from the measurement point. Therefore, it is very difficult to perform marking on the slope.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and is intended to perform linear marking by an easy operation.

[0007]

According to a first aspect of the present invention, there is provided a reference light irradiating section for irradiating a reference section with reference light so as to be parallel to a planning line, and a traveling machine traveling on the above-described section. A light receiving unit provided for receiving the reference light, a marking device for marking the ground surface of the construction unit when the light receiving unit receives the reference light, and a display unit for performing display according to the light receiving position of the reference light Wherein the marking is made on the planning line while the traveling machine is traveling based on the display on the display unit.

According to a second aspect of the present invention, there is provided a light receiving sensor arranged in a direction perpendicular to the reference light and in a horizontal direction, and the marking device is adapted to a traveling machine in accordance with a light receiving position of the reference light of the light receiving section. The marking position is corrected leftward and rightward with respect to the traveling direction of the vehicle.

According to a third aspect of the present invention, there is provided a travel range display section for displaying whether or not the light receiving section receives the reference light.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. Embodiment 1 FIG. FIG. 1 is a perspective view showing an example of a marking system according to Embodiment 1 of the present invention.
3 is a perspective view showing a schematic configuration, FIG. 4 is a block diagram showing a configuration of a marking system, FIG. 5 is a perspective view and a side view showing a configuration of a marking device, FIG. 6 is a side sectional view showing a light receiving section, and FIG. 8 is a perspective view and a plan view of the marking device, FIGS. 8 and 9 are operation explanatory diagrams, and FIG. 10 is a side view showing the marking device. 1 to 3, reference numeral 1 denotes a construction part, 2a is outside the area of the construction part 1, and for example, a traveling road 2 is formed, an area where construction is already completed, or a next construction scheduled area. In some cases, the area may not be planned.
Reference numeral 3 denotes an elevator tripod installed on the traveling road 2, and reference numeral 4 denotes an elevator tripod provided on the elevator tripod 3. The reference light M such as a laser beam is directed upward and downward toward the construction section 1 so as to be parallel to the planning line S. The reference light irradiation unit 4 has an adjustment operation unit for freely adjusting the inclination angle of the rotation surface of the reference light M. The operation of the adjustment operation unit and the elevator The tilt angle of the rotation plane of the reference light M is set based on the operation of the tripod 3. In this example, the reference light irradiating unit 4 rotates upward and downward along a vertical rotation plane, and the reference light M is set to pass through the planning line S during this rotation. The above planning line S
Is located on the ground surface by reading from the design drawing and performing surveying.

1 to 3, reference numeral 5 denotes a traveling machine composed of a hydraulic shovel traveling on the construction section 1, reference numeral 6 denotes an arm provided on the traveling machine 5, reference numeral 10 denotes an end of the arm 6 via an attachment. The connected marking device is housed in the storage box 7. Reference numeral 8 denotes a support bar provided parallel to the upper surface of the storage box 7, and 9 denotes a support bar 8.
And a light receiving unit for detecting the reference light M from the reference light irradiating unit 4, which comprises a plurality of light receiving sensors 9a to 9k arranged in a horizontal direction as shown in FIG. The marking device 10 performs marking on the ground surface of the construction section 1 when the light receiving section 9 receives the reference light M. As shown in FIG. 4, a plurality of spray guns 10a to 10k arranged in a horizontal direction are provided. It is composed of The marking device 10 is configured such that one of the spray guns 10a to 10k is selected according to the light receiving position of the reference light M of the light receiving unit 9 and the paint of the marking material is jetted downward.
It is controlled by the control device 13. T is a paint after spraying, 11 is a display unit for performing display according to the light receiving position of the reference light M of the light receiving unit 9, and red, protruding from the side of the storage box 7,
It comprises green and yellow rotating lights 12a to 12c and is controlled by a control device 13 described below. In this case, the reference light M
Is detected, the green rotary light 12b is turned on, and when the reference light M deviates from the light receiving unit 9 to the left or right, the red or yellow rotary light 1
2a and 12c light up. That is, when the traveling machine 5 travels outside the allowable traveling range, the rotating lights 12a and 12c
Lights up. The control device 13 is mounted on the traveling machine 5 and controls the marking device 10 and the display unit 11 based on an output corresponding to the light receiving position of the reference light M of the light receiving unit 9.
A camera 14 is installed on the upper surface of a frame that covers the cockpit of the traveling machine 5 and confirms the display and marking position of the display unit 11 by photographing the storage box 7 on the tip side of the arm 6. This is a moving operation room for the operator to remotely control the machine 5 and the marking device 10, and is mounted on the bed of a vehicle 16 moving on the traveling road 2. 1
Reference numeral 7 denotes an operation display provided in the moving operation room 15, and in this case, the display unit 11 at the tip of the arm 6 and the marking position displayed by the camera 14 are displayed. 18
Is a remote control device including an operation lever for remotely operating the traveling machine 5 based on the screen of the display 17 and an injection button for remotely operating the marking on the planning line S.

As shown in FIG. 4, the configuration of the storage box 7 and the control unit 13 will be described. When the reference light M is received by one of the light receiving sensors 9a to 9k, the reference light M is output from each of them. The received light signal 22 stores which of the light receiving sensors 9a to 9k is received based on the received light signal 21 and detects a left or right shift of the arm 6 in the traveling direction with respect to the reference light M, and outputs the reference light of the traveling machine 5. The running position detecting means 23 for detecting the running position in the left and right directions with respect to M, and which of the rotating lights 12a to
It is calculated whether the 12c is to be turned on, and the running range calculation unit 24 serving as a central processing unit for calculating the marking position of the marking device 10 outputs a control signal 25 based on the output of the running range calculation unit 23. A traveling range display control unit that controls the display unit 11 and 26a to 26c control signals 2
A lighting circuit 27 for selectively turning on the rotary lights 12a to 12c based on the condition 5 outputs a control signal 28 based on the marking position calculated by the running range calculation unit 23, and selectively operates the spray guns 10a to 10k. Then, the marking device control unit 29 for injecting the paint T from any of them moves the calculation value calculated by the travel range calculation unit 23 to the moving operation room 1.
It is a traveling range transmission unit that transmits to the 5th side.

To explain the moving operation room 15 side, reference numeral 30 denotes a traveling range receiving unit for receiving a signal from the traveling range transmitting unit 29, and 31 denotes a reference light to the light receiving unit 9 based on a lighting position signal from the traveling range receiving unit 30. An out-of-range alarm sound generating section for generating an alarm sound from the speaker when M is not received, and a light receiving confirmation light section 32 for turning on a lamp (not shown) when the reference light M is received by the light receiving section 9. is there. An operation display 17 and a remote control device 18 are provided in the moving operation room 15 together with these devices. The display position of the reference light M can be confirmed by the display unit 11 displayed on the operation display 17, and the operability of the driver is improved by the alarm sound of the out-of-range alarm sound generation unit 31 and the lamp of the light reception confirmation light unit 32. I do. Out of range warning sound generator 3
Reference numeral 1 may express the light receiving position of the reference light M not only by the alarm sound but also by a difference in voice, timbre or melody.

The structure of the storage box 7 will be described with reference to FIGS. Plate-like brackets 7a and 7 as attachments are provided on two side surfaces of the storage box 7.
b is protruded, and the distal end side of the arm 6 can be connected to one of these brackets 7a, 7b. The mounting directions of the brackets 7a and 7b are determined when the traveling machine 5 is retracted with respect to the reference light M and the arm 6 is pulled (or while the traveling machine 5 is moved forward and pressed) to perform the marking. In some cases, the traveling machine 5 slides the arm 6 (or rotates the arm 6) to perform marking in the lateral direction, and the two are selected according to the construction situation. FIG.
(B) shows a connection state when marking is performed while pulling the arm 6. That is, rod-shaped shafts 71, 72 are inserted into two holes provided in the brackets 7a, 7a, and a cylinder portion 73 and a support portion 74 on the distal end side of the arm are turned around the shaft 72 around the shafts 71, 72. It is movably connected by bolts and nuts (not shown), and the storage box 7 is rotated by the cylinder 73 in the direction of the arrow so that the spray guns 10a to 10k can vertically spray the construction unit 1. . FIG. 3 shows a case where the traveling machine 5 moves in parallel to perform marking, and the arm 6 is attached to brackets 7b, 7b. In this case, the display unit 11 faces the side surface with respect to the arm 6 and is slightly difficult to confirm with the camera 14. However, the display unit 11 is provided on the side surface on the bracket 7b side so as to be easily confirmed with the camera 14. Alternatively, it may be provided on the upper surface or the bottom surface side of the storage box 7, and a plurality of display units 11 may be provided.

Each of the light receiving sensors 9a to 9k has a capacity of 5
Each of the light receiving sensors 9a to 9k has a total length of 50 to 1 cm. Each of the light receiving sensors 9a to 9k has a total length of 50 to 1 cm.
It is about 00 cm. The correspondence of the rotating lights 12a to 12c to be turned on with respect to the light receiving position of the light receiving unit 9 can be arbitrarily set by the traveling range calculation unit 23 by wireless or wired remote control. You may make it change. In this case, when the light receiving sensors 9b to 9j receive the reference light M, the green rotating light 1
2b is set to light up. When the remaining light receiving sensors 9a and 9k at both ends receive the reference light M, the red and yellow rotating lights 12a and 12c are set to be turned on, respectively, whereby the operation margin is improved. I do.
The light receiving unit 9 is arranged outside four support plates 40 formed on four surfaces of the upper, lower, front, and rear of the support rod 8.
The left and right sides of 0 are attached to the support rods 8, 8 with bolts 41, 41. The light receiving section 9 is formed by arranging 50 to 100 photodiodes 42 of about 1 cm in a row on the outside of the support plate 40, and is formed on four surfaces, so that light in the near infrared region from almost all directions is formed. Can be sensed. On the outer surface of the photodiode 42, a filter material 43 passing 630 to 750 nm, which is the same as the wavelength of the reference light M, is formed so as to pass only the reference light M. When the photodiode 42 receives the reference light M, it is turned on, detected by the traveling position detecting means 22, and outputs a voltage signal, a current signal, or a digital signal.

The running range calculator 23 calculates the lighting position from the detected value, and the running range display controller 24 controls the lighting circuits 26a to 26c to turn on the rotating lamp 12 of the display 11.
a to 12c are selectively turned on. For example, the light receiving sensors 9b to 9j receive the reference light M and
Is detected by the travel position calculation unit 23, the lighting circuit 26b is controlled by the travel range display control unit 24, and the central green rotary lamp 12b is turned on. Light receiving sensor 9b ~
When the reference light M deviates from 9j and the light receiving sensor 9a receives the light, the left rotating light 12a is turned on. On the other hand, when the reference light M deviates to the right from the light receiving sensor 9j and is received by the light receiving sensor 9k, the right yellow rotating lamp 12c is turned on.

As shown in FIGS. 7A and 7B, the structure of the marking device 10 will be described. A truncated pyramid-shaped container 10y is arranged in the storage box 7, a cylindrical liquid tank 10t for storing the paint T, and a cylindrical compressor 10p connected to the liquid tank 10t. And are juxtaposed. The compressor 10p is provided with a spray gun 10a juxtaposed at the opening on the bottom of the container 10y.
To 10k. This spray gun 10
a to 10k correspond to the respective light receiving units 9a to 9k.
It is arranged at intervals of 10 cm to 10 cm, and the marking device control unit 27
Each having a valve controlled by The paint T is selectively injected from the valve opened by this control by the pressure of the compressor 10p. The injection position of the paint T is controlled by the control device 13, that is, when the light receiving sensors 9a to 9k receive the reference light M, the detected position is detected by the traveling position detecting means 22, and the injection position is calculated by the traveling range calculating unit 23. Is done. The valves of the spray guns 10a to 10k are opened by the marking device control unit 27 based on the spray position, and the paint T is sprayed when the spray button of the remote control device 18 is pressed. For example, the light receiving sensor 9a
Is received, the paint T is ejected from the spray gun 10a, and when the light receiving sensor 9b receives light, the paint T is ejected from the spray gun 10b.

The operation will be described below. As shown in FIG. 8A, in this case, the case where the marking is performed on the construction section 1 along the trapezoidal planning line S composed of the planning lines S1 to S5 will be described below. . Prior to the marking operation, the storage box 7 is attached to the arm 6 of the traveling machine 5.
The arm 6 is connected to the brackets 7a, 7a so that the marking is performed while pulling the arm 6. FIG. 8 (a)
In, the reference light irradiating unit 4 is arranged on, for example, an extension of the planning line S1 constituting the planning line S, and the reference light M of the reference light irradiating unit 4 is set to pass through the planning line S1. Since the reference light M can be irradiated for about 450 m, the linear length is 4 mm.
It can correspond to the planning line S1 of about 50 m.

As a marking operation, first, the traveling machine 5 is brought close to the reference light irradiation unit 4 side, and the operation display 17 is operated.
The reference light M is received by the light receiving unit 9 while confirming the display unit 11 indicated by. In that state, FIG.
As shown in (b), the traveling machine 5 is moved backward on the planning line S1 by moving the traveling machine 5 backward by remote control of the remote control device 18. When the spray button of the remote control device 18 is pressed, the paint T is sprayed and a marking is formed on the plan line S1. In this case, when the central light receiving sensor 9f among the light receiving sensors 9a to 9k receives the reference light M, the paint T is sprayed from the spray gun 10f corresponding to the received light receiving sensor 9f. On the other hand, when the traveling machine 5 is displaced in the traveling direction and the reference light M is detected by the light receiving sensor 9b, the paint T is sprayed from the corresponding spray gun 10b. The paint T is sprayed along. Therefore, even if the traveling machine 5 is displaced to the left or right in the traveling direction during the traveling of the traveling machine 5, the control device 13 controls the marking device 10, so that the paint T is sprayed only on the planning line S1. A marking having a width of about 10 cm to about 10 cm is provided. When the traveling machine 5 is too far from the reference light M and the reference light M is received by the light receiving sensor 9a at the left end of the light receiving unit 9, for example, the red rotary light 12a is turned on, and the reference light is received by the light receiving sensor 9k at the right end. When the light M is received, the yellow rotating light 12c is turned on, so that it is possible to know whether the traveling machine 5 has shifted in either the left or right direction. In this case, the injection of the paint T is stopped. When the traveling machine 5 deviates from the traveling range in this way, the reference light M is received by the light receiving unit 9 and the green rotating light 12b is moved forward again to a position where the green rotating light 12b is turned on. As described above, since the green rotary light 12b is turned on, the operation direction of the traveling machine 5 is easily recognized, and the operation is facilitated.

After the end of the planning line S1 is marked with the paint T, the reference light irradiating section 4 is repositioned on the extension of the planning line S2 below the planning line S, and the reference light M is applied to the planning line S2. As shown in FIG. A plurality of reference light irradiation units 4 may be arranged. When a plurality is arranged, all of the light receiving sensors 9a to 9k receive light because the reference light M intersects at the end of the planning line S.
The end of the planning line S can be reliably recognized. In this case, all of the turn-on lights 12a to 12c are turned on. The marking work of the plan line S2 is performed in the same manner as the plan line S1. That is, as shown in FIG. 9A, the traveling machine 5 is brought closer to the reference light irradiation unit 4 so that the light receiving unit 9 receives the reference light M. In this state, the traveling machine 5 is moved backward by operating the remote control device 18, and marking is performed on the plan line S2. Planning lines S3 and S on the lower left and left sides of planning line S
4 is also marked in the same manner as the planning lines S1 and S2. As shown in FIG. 9B, marking is performed on the planning line S5 above the planning line S in the same manner as the planning lines S1 to S4, and the marking operation is completed. In accordance with the marking, excavation and embankment are performed on the construction section 1 by a work machine (not shown) different from the traveling machine 5. The storage box 7 may be detached from the arm 6 of the traveling machine 5 and an attachment for another operation may be connected, so that the traveling machine 5 can perform excavation and erection work. When the size of the traveling machine 5 is increased, the marking system of the present invention is effectively operated to facilitate the operation, and the marking operation can be performed smoothly even by using the large traveling machine 5.

On the other hand, a case where marking is performed on the inclined surface K as shown in FIG. 10 will be described. In this case, when the storage box 7 is connected to the arm 6 of the traveling machine 5, the storage box 7 is connected to the brackets 7b. Also in this case, the reference light M is similarly set perpendicular to the inclined surface K, and
Is set parallel to the inclined surface K. In this state, the traveling machine 5 performs marking on the inclined surface K while moving in parallel with the reference light M. According to this, even if there is an inclination, marking can be similarly easily performed. The light receiving section 9 may be provided not only on the upper surface of the storage box 7 but also on the side surface of the storage box 7 as shown in FIG.
The reference light M needs to be offset with respect to the planning line S.

Embodiment 2 FIG. In the first embodiment, the case is described in which the marking device 10 including the spray guns 10a to 10k arranged in a row is provided. In the second embodiment, as shown in FIGS. 12 (a) and 12 (b). The movable spray gun 4 moves left and right with respect to the traveling direction of the traveling machine 5 according to the light receiving position of the reference light M of the light receiving unit 9.
A marking device 10 consisting of zeros may be provided. The movable spray gun 40 has a total length of about 50 to 100 cm, and is connected to a left and right reciprocating belt 41 of a sprocket device controlled by the marking device control unit 27.
It can move left and right. According to this, the movable spray gun 40 is moved leftward and rightward in response to the light received by the light receiving sensors 9a to 9k, so that the paint T can always be jetted onto the reference light M. In this way, the marking does not rattle when the spray guns 10a to 10k are switched, and the displacement of the marking formed by the movable spray gun 40 is further reduced.

Embodiment 3 FIG. In the first embodiment, the case where the marking device 10 for spraying the paint T from the spray guns 10a to 10k is described. In the third embodiment, as shown in FIGS. 13 (a) and 13 (b). Using a powder of lime or the like as a marking material, a vibration motor 51 for vibrating the powder is provided on the side surface of the container 10y, and is controlled by the marking device control unit 27 on the bottom surface of the container 10y. Shutters 52a to 52k that are slid horizontally and opened according to the light receiving position of
The opening is made on the slit side, and marking is performed with powder.
You may make it move to right direction. According to this,
Since lime is cheaper than the paint T, a large amount of marking can be applied at low cost.

In this embodiment, the traveling machine 5
Was remotely controlled, but is not limited to this.
The traveling machine 5 may be operated by a man. Alternatively, the reference light M may be formed by moving the reference light irradiating unit 4 using a heavy machine, or by moving a heavy machine provided with the reference light irradiating unit 4.

[0025]

As described above, according to the first aspect of the present invention, the reference light irradiating section for irradiating the construction section with the reference light so as to be parallel to the planning line, and the traveling machine traveling on the construction section A light receiving unit that is provided in the light receiving unit and receives the reference light, a marking device that performs marking on the ground surface of the construction unit when the light receiving unit receives the reference light, and a display that performs display according to a light receiving position of the reference light And marking is performed on the plan line while the traveling machine is running based on the display on the display unit, so that linear marking along the plan line can be easily performed.

According to the second aspect of the present invention, the marking device comprises a light receiving sensor arranged in a direction perpendicular to the reference light and in a horizontal direction, and the marking device is provided for the traveling machine in accordance with the light receiving position of the reference light of the light receiving portion. Since the marking position is corrected leftward and rightward with respect to the traveling direction, even if the traveling direction of the traveling machine is slightly shifted, linear marking along the planned line can be performed.

According to the third aspect of the present invention, the traveling range display unit for displaying whether the light receiving unit receives the reference light is provided.
The operation direction of the arm is easily recognized, and the operation is further facilitated.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a configuration of a marking system according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing a configuration of a marking system according to the first embodiment.

FIG. 3 is a perspective view showing a configuration of a marking system according to the first embodiment.

FIG. 4 is a block diagram showing a configuration of a marking system according to the first embodiment.

FIG. 5 is a perspective view and a side view showing the marking device according to the first embodiment;

FIG. 6 is a side cross-sectional view illustrating a light receiving unit according to the first embodiment.

FIG. 7 is a perspective view and a plan view showing the configuration of the marking device according to the first embodiment.

FIG. 8 is a plan view illustrating an operation according to the first embodiment.

FIG. 9 is a plan view illustrating an operation according to the first embodiment.

FIG. 10 is a side view showing the marking device according to the first embodiment.

FIG. 11 is a perspective view showing a marking device according to the first embodiment.

FIG. 12 is a perspective view and a plan view showing a configuration of a marking device according to a second embodiment.

FIG. 13 is a perspective view and a plan view showing a configuration of a marking device according to a third embodiment.

[Explanation of symbols]

Reference Signs List 1 construction section, 4 reference light irradiation section, 5 traveling machine, 9 light receiving section, 9a to 9k light receiving sensor, 10 marking device, 10a to 10k spray gun, 11 display section, 1
3 control device, 14 camera, 15 moving operation room, 17
Display, 18 remote control, S planning line, M
Reference light, T paint.

Claims (3)

[Claims] 1. A reference light irradiator for irradiating reference light to a construction section so as to be parallel to a planning line, a light receiving section provided on a traveling machine running on the construction section and receiving the reference light,
When the light receiving unit receives the reference light, it includes a marking device that performs marking on the ground surface of the construction unit, and a display unit that performs display according to the light receiving position of the reference light, based on the display of the display unit. A marking system, wherein marking is performed on the planning line while the traveling machine is traveling. 2. The apparatus according to claim 1, further comprising a light receiving sensor arranged in a direction perpendicular to the reference light and in a horizontal direction. The marking system according to claim 1, wherein the marking position is corrected in a rightward direction. 3. A driving range display unit for displaying whether or not the light receiving unit receives the reference light is provided.
Marking system.