JP2007118165A - Ink position recording device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an ink position recording device capable of safely and accurately marking a indicated position without making a worker come close to the indicated position indicated as an ink position for marking in any condition of a floor surface near the indicated position. <P>SOLUTION: In a construction field, marking is performed by a marking robot 14 to an indicated position (a mark point P) indicated by a three-dimensional measurer 12 as an installation position for installation of a material to be provided. The marking robot 14 provided with a marking section 24 supported by a carriage section 20 and a supporting section 22 pushes a stamp 56 of the marking section 24 to the mark point P position. On that occasion, a laser beam is emitted from a tip of the stamp 56, and marking can be accurately performed to the mark point P position by adjusting supporting position of a stamp 14 so that the position (stamp position) irradiated with the laser beam coincides with the mark point P. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a black position recording apparatus, and more particularly, to a black position recording apparatus that performs marking at a presentation position presented as a black position to be marked (marked out) on a wall surface of a construction site.

  For example, in the tunnel construction site 1 as represented by the three-dimensional model shown in FIG. 14, the work of attaching the canned product 2 (installed product) as shown in FIG. 15 to the ceiling wall surface with anchor bolts may be performed. Many. Reference numeral 3 is a hole of the anchor bolt, and it is necessary to perform the marking operation for the number of holes. When installing equipment on the ceiling wall surface, side wall surface, floor surface, etc., not only at the construction site 1 such as a tunnel, but also in the general construction site, marking work is performed in advance at the anchor bolt driving position where the device is installed. Necessary.

  The conventional marking operation on the ceiling wall will be described. First, provisional marking is applied to the floor surface position corresponding to the X and Y coordinate positions of the installation position, and then the floor surface is lowered using a lowering / lowering or a laser vertical device. The ceiling wall surface position directly above the marking position was presented, and the worker who was waiting near the ceiling wall surface at this presentation position was marking (marking out).

By the way, in order to automate the inking process, an autonomously moving inking robot has been proposed (Patent Document 1). The marking robot moves to the floor immediately below the installation position on the ceiling wall surface, and then lifts the marking portion upward to mark the installation position on the ceiling wall surface. According to the ink drawing robot, it is not necessary to present the installation position on the ceiling wall surface using the lowering or laser vertical device as described above, and the correct installation position even if the design shape and actual shape of the ceiling wall surface are different. There is an advantage that can be marked.
Japanese Patent Laid-Open No. 8-1552

  However, the ink marking robot of Patent Document 1 is a method in which the marking portion is moved upward after moving to the floor surface immediately below the installation position of the ceiling wall surface. There is a problem that it cannot be used when there is an arrangement. Further, the ink marking robot of Patent Document 1 is a device that marks a ceiling wall surface, and has a problem that it cannot cope with marking on a side wall surface.

  On the other hand, in the conventional inking work that presents the black ink position using a downward swing or a laser vertical device, the worker standing by in the vicinity of the presented black ink position directly performs marking on the ceiling wall, etc. There was a problem that the inking process was difficult and dangerous. For this reason, the operator does not directly mark, but the worker does not approach the presented black position, and is not affected by the situation of the floor surface near the black position as in Patent Document 1. Although it is desirable to be able to do so, there is a problem that it is difficult to accurately mark the black position presented in that case.

  The present invention has been made in view of such circumstances, and the operator does not approach the presentation position presented as the black position to be marked, and is not affected by the situation of the floor near the presentation position. An object of the present invention is to provide a black position recording apparatus capable of marking a presentation position safely and accurately.

  In order to achieve the above object, the black position recording device according to claim 1, wherein the black mark position recording apparatus performs marking on the present position indicated as the black position to be marked on the wall surface of the construction site. A stamp that marks the position of the corresponding wall surface by abutting on the wall surface, and when the stamp is supported on the wall surface so as to be movable back and forth in a direction orthogonal to the front end surface of the stamp. The stamp advancing / retreating driving means for advancing the front end surface of the stamp from a position separated from the wall surface and contacting the front end surface with the wall surface, and the stamp advancing / retreating driving means supported by the stamp advancing / retreating driving means with respect to the installation position on the floor surface A support unit that supports the position and posture of the stamp so that the position and posture of the stamp can be changed, and a position where the front end surface of the stamp abuts against the wall surface by the stamp advance / retreat driving unit And presenting means for presenting, it is characterized by comprising a.

  According to the present invention, since the stamp supported by the support means can be moved to the presentation position presented as the black position to be marked, the operator does not have to approach the presentation position, and the height of the ceiling wall surface is increased. Even when marking is performed at a place, the safety of the operator is ensured. In addition, since the support position of the stamp can be changed by the support means with respect to the installation position on the floor surface of the apparatus, even if the installation position of the apparatus is limited by the arrangement of the floor surface, etc. Marking can be performed on the position. In addition, since the planned position where the stamp is actually marked is presented by the presenting means, it is presented as the black position by adjusting the position and posture of the stamp so that the presented position matches the presented position to be marked. It is possible to accurately mark the presentation position.

  According to a second aspect of the present invention, there is provided the ink position recording apparatus according to the first aspect of the invention, wherein the stamp advancing / retreating drive means includes a contact frame that abuts a peripheral portion of a position where the leading end surface of the stamp abuts the wall surface. It is characterized by having prepared. According to the present invention, the stamp can be brought into contact with the wall surface while the contact frame is brought into contact with the wall surface, so that it is possible to reliably mark the planned position.

  According to a third aspect of the present invention, there is provided the black position recording apparatus according to the first or second aspect of the invention, wherein the presenting means includes a leading end of the stamp with respect to a direction in which the leading end surface of the stamp advances by the stamp advance / retreat driving means. The light output means emits light from the surface. The present invention is a form of means for presenting a planned position where the stamp abuts. For example, a laser beam is preferably used as the presenting means. However, a light beam other than the laser beam may be used.

  According to a fourth aspect of the present invention, there is provided the black position recording apparatus according to the second aspect of the invention, wherein the stamp is moved in a direction parallel to the front end surface of the stamp to support the stamp relative to the contact frame. A stamp support position changing means for changing the position is provided.

  According to the present invention, the abutting frame is abutted against the wall surface to support the stamp in a stable state, and then the position of the stamp is adjusted to be presented as the black position to be marked, and the stamp is actually marked. It is possible to match the presentation position presented as the planned position.

  According to a fifth aspect of the present invention, in the black position recording device according to the first, second, third, or fourth aspect, the presentation position presented as the black position to be marked is presented by light irradiation. It is characterized by that. The present invention shows one form of means for presenting the black position to be marked.

  A black position recording apparatus according to a sixth aspect of the invention is the invention according to any one of the first to fifth aspects, wherein a peripheral portion of a position where a front end surface of the stamp abuts on the wall surface by the stamp advance / retreat driving means. And a display means for displaying an image photographed by the camera. According to the present invention, it is possible to perform operations such as adjusting the position of the stamp while viewing the image of the camera, and even when the marking position is away from the operator's position, the marking is accurately performed at a predetermined black position. It can be carried out.

  According to a seventh aspect of the present invention, in the black position recording apparatus according to any one of the first to sixth aspects, a peripheral portion of a planned position where a front end surface of the stamp contacts the wall surface by the stamp advance / retreat driving means. The stamp support position changing means matches the stamp position presented by the presenting means based on the image photographed by the camera so as to coincide with the presentation position presented as the black position. It is characterized by comprising a control means for automatically changing the support position.

  The present invention shows an aspect in which the support position of the stamp can be automatically adjusted, and according to this, the burden on the operator is reduced.

  According to an eighth aspect of the present invention, there is provided the black position recording apparatus according to any one of the first to seventh aspects, wherein the support means is a horizontal portion between a leg portion standing vertically and a tip end of the leg portion. An arm portion supported in a direction, the stub is supported by the arm portion, the height at which the leg portion supports the arm portion can be changed, and the arm portion supports the stamp. It is characterized in that the horizontal position can be changed. The present invention shows an embodiment of the structure of the support means.

  According to the black position recording apparatus according to the present invention, an operator does not approach the presentation position presented as the black position to be marked, and is safe and independent of the situation of the floor near the presentation position. It is possible to accurately mark the presentation position

  The best mode for carrying out the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 is a conceptual diagram of a construction support system to which the present invention is applied. As shown in the figure, the construction support system 10 is mainly composed of a three-dimensional measuring instrument 12 and a marking robot 14. The three-dimensional measuring instrument 12 collimates the target, irradiates the collimation target with laser light (or near infrared light), and receives and detects the recurring reflected light, thereby determining the distance and direction to the collimation target. It has a function to measure and calculate the three-dimensional coordinates of the collimation destination. Collimation means changing the direction of the three-dimensional measuring instrument 12 in a set direction. When looking into the telescope 12A built in the three-dimensional measuring instrument 12, the collimating tip is ahead of it. That is, there is an installation position (a black position to be drawn). The collimation direction is set by driving means (not shown) built in the three-dimensional measuring instrument 12 based on the three-dimensional coordinate information of the installation position in the design drawing inputted to the three-dimensional measuring instrument 12. The direction of the telescope 12A is automatically changed. Then, the three-dimensional coordinates of the collimation target (presentation position) are obtained by three-dimensional measurement of the collimation target. However, the design shape and actual shape of the installation surface 16 are often different at the construction site, and when the three-dimensional measuring instrument 12 is installed at an arbitrary position as in the present embodiment, the tertiary of the installation position in the design drawing. The original coordinates may be different from the three-dimensional coordinates of the installation position obtained by measurement with the three-dimensional measuring instrument 12, and correction is necessary.

  The three-dimensional coordinate data of the installation position input to the three-dimensional measuring instrument 12 may be manually acquired from a design drawing such as a blue chart and input to the three-dimensional measuring instrument 12, but as shown in FIG. It is preferable to directly acquire from the CAD drawing using the book 18 and automatically input to the three-dimensional measuring instrument 12. Moreover, the electronic field book 18 can also calculate the measurement result in the three-dimensional measuring device 12, and can reflect the result on a CAD drawing.

  The three-dimensional measuring instrument 12 has a built-in laser pointer (not shown). By irradiating the collimation tip with the laser pointer, the marking robot 14 should mark (mark out) ink as shown in FIG. The position is presented as a mark point P on the installation surface 16.

  As shown in FIG. 1, the marking robot 14 mainly includes a carriage unit 20, a support unit 22, and a marking unit 24. The cart unit 20 is, for example, a self-propelled cart that is driven by a motor. The cart unit 20 supports the entire marking robot 14 and can easily move the marking robot 14 to a desired location. Yes. In addition, a control device 26, a monitor 28, and the like are placed on the carriage unit 20. The control device 26 includes an operation unit that is operated by an operator, and in accordance with the operation of the operation unit, the traveling operation of the carriage unit 20 and the operations of the movable unit of the support unit 22 and the marking unit 24 described later are controlled by the control device 26. It has become so. Note that these operations are not limited to being controlled according to the operation of the operation unit, but can be automatically controlled by the control device 26 as described later. The operation unit may be provided not in the operation device 26 but in a remote controller that performs wireless communication with the operation device 26.

  The support unit 22 supports the marking unit 24 so that the position and orientation (orientation) of the marking unit 24 can be changed. The support unit 22 includes an elevating tower 30, and the elevating tower 30 is erected in a vertical direction on the carriage unit 20. The elevator tower 30 is formed in the shape of a rod antenna by a plurality of rods formed in a nested structure, and is vertically expanded and retracted by a built-in drive unit (not shown) and the most advanced rod rotates around the axis. It comes to move. The elevating unit 30 supports the marking unit 24 via the guide rail 34, the slide block 36, and the like. The elongating operation of the elevating unit 30 moves the marking unit 24 up and down to change the height of the marking unit 24. The marking unit 24 pivots around the elevator tower 30 by the rotation of the elevator unit 30 and the rotation position of the marking unit 24 is changed.

  A horizontal support base 32 is fixed to the upper end of the elevator tower 30, and a guide rail 34 is supported on the support base 32 in the horizontal direction. A slide block 36 is slidably supported on the guide rail 34, and the slide block 36 is moved in the horizontal direction along the guide rail 34 by a drive unit (not shown). As the slide block 36 moves, the marking portion 24 arranged on the slide block 36 moves in the horizontal direction, and the horizontal position of the marking portion 24 is changed. Note that the mechanism for changing the position of the marking portion 24 in the horizontal direction is not limited to the horizontal guide rail 34 and the slide block 36 that moves along the guide rail 34 as in the present embodiment. For example, an extendable arm may be supported horizontally at the tip of the elevator tower 30 and the marking unit 24 may be installed at the tip of the arm.

  On the slide block 36, the marking unit 24 is supported via the fine lifting tower 38 and the tilt driving unit 40. The fine movement elevator tower 38 is fixed to the upper surface of the slide block 36, and is formed in a rod antenna shape by a plurality of rods formed in a nested structure like the elevator tower 30, and has a built-in drive unit (not shown). As a result, the state-of-the-art rod is rotated around the axis while being expanded and contracted vertically. By the operation of the fine lifting tower 38, the marking section 24 is moved up and down and swiveled around the fine lifting tower 38, and the height of the marking section 24 and the rotation position of the marking section 24 around the fine movement tower 38 are determined. To change. It should be noted that the height of the marking portion 24 can be adjusted with higher accuracy than the elevator tower 30 by operating the fine movement elevator tower 38.

  The tilt drive unit 40 is fixed to the tip of the fine movement lifting / lowering tower 38, and the marking unit 24 is supported by the tilt drive unit 40 so as to be capable of tilting (swinging) between the vertical direction and the horizontal direction. As a result, the posture (inclination angle) of the marking unit 24 is changed. The tilt drive unit 40 can support the marking unit 24 in the horizontal direction, and can also perform marking on the side wall surface.

  According to the configuration of the support portion 22 described above, the marking portion 24 can be supported at an appropriate position and posture in accordance with the position and inclination angle of the installation surface 16 (ceiling wall surface or side wall surface) to be marked. Further, for example, when the arrangement 80 is present immediately below the mark point P presented by the laser pointer of the three-dimensional measuring instrument 12 as the black position to be marked, the position where the carriage unit 20 is avoided from the arrangement 80. Even if arranged, the marking portion 24 can be arranged in the vicinity of the mark point P.

  A weight balance 42 (weight) is suspended below the base end portion of the guide rail 34, and the weight balance between the tip end and the base end portion of the guide rail 34 is adjusted to be balanced. In addition, two wires 44, 44 supported at two locations at the distal end of the support base 32 are extended to the vicinity of the base end side of the support base 32 via the guide wheels 46, 46. The balance 48 is suspended and supported. This prevents the tower 30 from falling due to the eccentricity of the guide rail 34 and the support base 32 and the cart section 20 from falling over, and prevents the guide rail 34 from bending.

  As shown in the side view of FIGS. 1 and 3 and the plan view of FIG. 4, the marking unit 24 includes a base 50, a fine movement support base 52, a cylinder 54, a stamp 56, a laser pointer 58, a CCD camera 60, and a contact frame. 62. The base 50 is fixed to a movable part 40B that tilts with respect to the main body 40A of the tilt drive part 40 in the support part 22, and a fine movement support base 52 is fixed to the upper surface side of the base 50. Further, four support columns 64, 64, 64, 64 are fixed to the upper surface side of the base 50, and the contact frame 62 is supported by these support columns 64.

  Here, the contact frame 62 is brought into contact with the installation surface 16 to maintain the position and posture of the marking portion 24 in a stable state, and the front end surface and the installation surface of the stamp 56 when the cylinder 54 is contracted. 16 is set to an appropriate distance. Further, since the position where the stamp 56 is pressed against the installation surface 16 when the cylinder 54 is extended is at least within the range of the abutment frame 62, it is presented (irradiated) to the installation surface 16 by the laser pointer of the three-dimensional measuring instrument 12. ) So that the position of the marked point P is surrounded by the contact frame 62 in contact with the installation surface 16 (so that the position of the mark point P is within the range of the contact frame 62 (near the center)). Thus, the position and posture of the marking unit 24 are adjusted.

  The fine movement support base 52 includes a movable portion 52A. Hereinafter, when the upper surface of the base 50 is described as a horizontal plane (XY plane), the movable portion 52A is driven in the X direction and the Y direction by a drive unit (not shown). To move to each of them. A stamp 56 is supported on the movable portion 52A via a cylinder 54. When the movable portion 52A moves in the X direction or the Y direction, the position of the stamp 56 moves in parallel in the X direction or the Y direction. Thus, after the contact frame 62 is brought into contact with the installation surface 16 at a rough position so that the position of the mark point P presented on the installation surface 16 is within the range of the contact frame 62, the marking 56 is used for marking. The position of the stamp 56 in the X direction and the Y direction can be adjusted so that the position of the stamp 56 exactly matches the position of the mark point P.

  The cylinder 54 includes a cylinder main body 54A and a rod 54B, and the bottom surface of the cylinder main body 54A is fixed to the upper surface of the movable portion 52A of the fine movement support base 52. In the cylinder 54, the rod 54B is expanded and contracted with respect to the cylinder main body 54A by a drive unit (not shown). A stamp 56 is fixed to the tip of the rod 54B, and the stamp 56 moves forward and backward as the rod 54B expands and contracts. Before and after the marking on the installation surface 16 is executed, the cylinder 54 is in a contracted state, and the front end surface 56A of the stamp 56 is set in a state of being retracted below the contact frame 62. When the cylinder 54 is extended after the contact frame 62 is brought into contact with the wall surface and the horizontal position of the stamp 56 is adjusted by the support base 52 for fine movement, the front end surface 56A of the stamp 56 is perpendicular to the front end surface 56A. It proceeds in the desired direction and is pressed against the installation surface 16. As a result, a predetermined mark is marked at a position where the front end surface 56A of the stamp 56 is in contact with the installation surface 16.

  The stamp 56 is configured as shown in the perspective view of FIG. As shown in the figure, the front end surface 56A of the stamp 56 is formed with a convex surface composed of three concentric circles and two straight lines intersecting at right angles at the centers of the circles. By pressing against the surface 16, the ink on the front end surface 56 adheres to the installation surface 16, and a mark as shown in FIG. 6 is marked on the installation surface 16.

  Further, the stamp 56 has a built-in pressure sensor, and when the tip surface 56A of the stamp 56 is pressed against the installation surface 16 with a constant pressure, the rod 54B of the cylinder 54 automatically contracts and the tip of the stamp 56 is contracted. The surface 56 </ b> A is retracted to the original position separated from the installation surface 16. The expansion / contraction stroke of the cylinder 54 is preferably about 20 cm.

  On the other hand, a laser pointer 58 is incorporated in the stamp 56 (see FIGS. 3 and 5), and the cylinder 54 extends and contracts from the center of the front end surface 56A of the stamp 56 (the direction in which the stamp 56 advances to the installation surface 16). A laser beam is emitted. The position at which the laser beam emitted from the laser pointer 58 is applied to the installation surface 16 is a position where the stamp 56 is marked by the cylinder 54 extending (the center of the mark to be marked: hereinafter referred to as a stamp point S). Show. Accordingly, the X and Y directions of the stamp 56 are adjusted by the fine movement support base 52 so that the position of the stamp point S presented by the laser pointer 58 matches the position of the mark point P presented by the laser pointer of the three-dimensional measuring instrument 12. When the position of the stamp point S coincides with the position of the mark point P, the cylinder 54 is extended so that the stamp 56 is pressed against the installation surface 16 so that the presentation position presented by the mark point P is accurately set. Can be marked on.

  The color of the laser beam emitted from the laser pointer 58 for presenting the stamp point S is different from the color of the laser beam emitted from the laser pointer of the three-dimensional measuring instrument 12 to present the mark point P. For example, if the laser beam presenting the mark point P is red, the laser beam emitted from the laser pointer 58 to present the stamp point S is green. Therefore, since the color of the mark point P and the stamp point S observed when the position of the stamp point S matches the position of the mark point P is a mixed color of red and green, the position of the stamp point S is easily changed to the mark point P. It is possible to detect that it matches the position of.

  Further, a CCD camera 60 is installed on the upper surface of the fine movement support base 52 of the marking unit 24, and an image of a peripheral portion at a position where the stamp 56 performs marking is taken by the CCD camera 60. The video signal obtained by the CCD camera 60 is sent to the monitor 28 placed on the carriage unit 20 so that the video is displayed on the monitor 28. The operator not only directly recognizes the positional relationship between the mark point P presented (irradiated) on the installation surface 16 and the stamp point S presented (irradiated) on the marking unit 24 or the installation surface 16, but also on the monitor 28. While referring also to the video, by operating the operation part of the control device 26 and operating each movable part of the support part 20, the contact frame is such that the mark point P is within the range of the contact frame 62 of the marking part 24. 62 can be easily brought into contact with the position of the installation surface 16 and the position of the stamp point S can be easily matched with the position of the mark point P by operating the support base 52 for fine movement of the marking portion 24. .

  According to the marking robot 14 described above, since the positional relationship between the installation position of the marking robot 14 on the floor surface and the marking unit 24 can be changed by each movable unit of the support unit 22, the position of the presented mark point P can be changed. Since the marking robot 14 does not need to be installed at a specific position, for example, marking can be performed even when the arrangement object 80 is arranged immediately below the mark point P as shown in FIG. it can. Moreover, since the attitude | position (direction) of the marking part 24 can be changed by the tilt drive part 40, it can mark not only on a ceiling wall surface but on a side wall surface. Furthermore, since the planned position where the marking is performed by the stamp 56 is presented as the stamp point S by the laser pointer 58, the position of the stamp point S and the mark point P is matched to accurately mark the position of the mark point P. It can be performed. In addition, since marking is performed in a state where the contact frame 62 of the marking unit 24 is in contact with the wall surface, the position and posture of the marking unit 24 can be stabilized, and accurate marking can be performed at an intended position. it can.

  Next, using the construction support system 10 configured as described above, the work flow of the construction support method from the installation position (black position) presentation to marking will be described. The design drawings will be described using an example in which a CAD drawing is used, and an example in which an installation object is installed on a ceiling wall surface (installation surface).

  FIG. 7 is a work flow diagram showing the overall work flow of the construction support method, and FIG. 8 is a work flow diagram illustrating the main work of FIG. 7 in more detail. As shown in FIG. 7, an existing CAD drawing produced for construction is used as a design drawing (step 1). The installation position is described in the CAD drawing, and installation position information is extracted (step 2). About this step 2, it is preferable to carry out according to the construction support method of Japanese Patent Application No. 2004-235250 which the present applicant has already applied for. That is, first, a CAD drawing showing a construction target is displayed on a predetermined screen, and a pattern composed of a plurality of specific symbols corresponding to a plurality of black positions (installation positions) is arranged in the displayed CAD drawing. Then, based on a CAD drawing in which such a pattern is arranged, a plurality of black position dimension amounts are obtained based on a predetermined coordinate reference, a list of black position dimension amounts is created, and this list is output. In this case, when there are a plurality of coordinate references, a layer (image layer) is allocated for each coordinate reference, and the dimensional amount of the black position is obtained and output for each layer.

  The three-dimensional coordinate information of the installation position obtained in step 2 is input to the three-dimensional measuring instrument 12 (step 3). As this input method, as shown in FIG. 8, three-dimensional coordinate information of the installation position is read from a CAD device (not shown) into the electronic field book 18 (step 3-1). Then, by connecting the electronic field book 18 to the three-dimensional measuring instrument 12, three-dimensional coordinate information is input to the three-dimensional measuring instrument 12 (step 3-2). In FIG. 8, the connection of the electronic field book 18 to the three-dimensional measuring instrument 12 is performed after the coordinate system one step (step 4-1 to step 4-4) described below. You may go before.

  Next, the three-dimensional measuring instrument 12 is installed at an arbitrary position on the construction site where the installation work is performed, and the three-dimensional coordinate system of the design drawing and the three-dimensional coordinate system of the three-dimensional measuring instrument 12 on the construction site are matched (steps). 4). As shown in FIG. 8, the coordinate system is unified by setting the direction of the coordinate system in the three-dimensional measuring instrument 12 (step 4-1). That is, it is confirmed whether or not the coordinate system of the design drawing is parallel to the ground axis (step 4-2). If it is parallel, two reference points on the site are measured, and the three-dimensional coordinates of the installation position in the design drawing and the site The relationship with the three-dimensional coordinates is matched by coordinate transformation (step 4-2). If they are not parallel, three on-site reference points are measured and matched by coordinate transformation (step 4-4).

  Next, the three-dimensional measuring device 12 collimates the installation position based on the input three-dimensional coordinate information of the installation position, presents the collimation destination using a laser pointer, and three-dimensionally measures the presentation position (step 5). . That is, as shown in FIG. 8, the direction of the telescope 12A of the three-dimensional measuring instrument 12 is changed in the direction of the design value of the installation position, and the installation position (collimation destination) is presented by the built-in laser pointer (step 5-). 1). Thereby, a mark point to be marked by the marking robot 14 is presented.

  Next, whether the three-dimensional coordinates of the presentation position obtained by the three-dimensional measuring instrument 12 (hereinafter referred to as presentation coordinates) and the three-dimensional coordinates of the installation position obtained from the design drawing (hereinafter referred to as design coordinates) are the same. Confirm whether or not (step 6). As shown in FIG. 9, there are many architectural deviations between the design shape and the actual shape of the installation surface that is the construction target, and the three-dimensional measuring instrument 12 is installed at an arbitrary position on the construction site. This is because the presentation coordinates and the design coordinates are different when collimating obliquely. In FIG. 9, the corrected installation position indicates a correct installation position according to the actual shape. Therefore, as shown in FIG. 8, the three-dimensional measurement of the collimated point is performed (step 6-1), and it is confirmed whether the difference between the presentation coordinates and the design coordinates is within the allowable range (step 6-2). The allowable value may be set as appropriate depending on the installation accuracy of the installation. As a result of confirmation, if it is within the allowable range, the presenting position presented by the laser pointer is presenting the correct installation position, and the presenting work for one installation position is completed (step 6-3).

  If it is out of the allowable range, the installation position is corrected according to the architectural displacement as shown in FIG. 7 (step 7). That is, as shown in FIG. 8, the correction amount of the presentation position is calculated based on the measurement value measured by the three-dimensional measuring instrument 12, and the presentation position is corrected. In this case, the correction amount calculation method is changed according to the number of corrections and the shape of the installation surface that is the presentation destination (step 7-1). The principle of this correction method is to confirm whether the installation surface is a ceiling wall surface or a side wall surface (step 7-2), and in the case of the ceiling wall surface, the plane wall surface (X and Y coordinate values in the design coordinates) is the same. The presentation position is corrected to the position (step 7-3), and in the case of the side wall surface, the presentation position is corrected to the position of the side wall surface where the wall surface coordinates (Y, Z coordinate values or X, Z coordinate values in the design coordinates) match. (Step 7-4).

  The correction step 7-1 will be described in detail with reference to FIG.

  As shown in FIG. 10 (A), the Z coordinate value of the presentation coordinate and the X of the design coordinate presented in step S-5-1 assuming that the shape of the installation surface of the construction target for installing the installation object is a flat surface. , A new coordinate position combined with the Y coordinate value is set as a corrected installation position. Based on the three-dimensional coordinates of the corrected installation position (hereinafter referred to as the first corrected coordinates), the target is collimated by the three-dimensional measuring instrument 12, the collimation destination is presented with a laser pointer, and three-dimensional measurement is performed (first correction). Step). Then, it is confirmed whether the first-time corrected coordinates and the design coordinates measured three-dimensionally agree within an allowable range (first confirmation step).

  If it is within the allowable range in the first confirmation step, the first correction coordinate is set as the correct correction installation position.

  As shown in FIG. 10 (B), when it is outside the allowable range, it is assumed that the shape of the installation surface is an inclined plane, and the virtual shape of the inclined plane is determined using the above-described presentation coordinates and the first corrected coordinates. A new coordinate position obtained by combining the X and Y coordinate values of the design coordinates and the Z coordinate value of the coordinates at which the perpendicular and the inclined plane from the X and Y coordinate planes intersect is set as a further corrected installation position. . Based on the three-dimensional coordinates of the corrected installation position (hereinafter referred to as the second corrected coordinates), the target is collimated by the three-dimensional measuring instrument 12 to present the collimation destination with a laser pointer and to perform three-dimensional measurement (second correction step) ). Then, it is confirmed whether the second-time corrected coordinates and the design coordinates measured three-dimensionally match within an allowable range (second confirmation step).

  If it is within the allowable range in the second confirmation step, the first correction coordinate is set as the correct correction installation position.

  As shown in FIG. 10C, if it is outside the allowable range, it is assumed that the shape of the installation surface is a curved surface, and the above-described presentation coordinates, first correction coordinates, and second correction coordinates are used. Create a virtual shape of the curved surface, and further modify and install new coordinate positions that combine the X and Y coordinate values of the design coordinates and the Z coordinate values of the coordinates where the perpendicular from the X and Y coordinate plane and the curved surface intersect Position. Based on the three-dimensional coordinates of the corrected installation position (hereinafter referred to as the third corrected coordinates), the target is collimated by the three-dimensional measuring instrument 12, and the target of collimation is presented with a laser pointer and measured three-dimensionally (third correction) Step). Then, it is confirmed whether the third-time corrected coordinates and the design coordinates measured in three dimensions coincide with each other within an allowable range (third confirmation step).

  If it is within the allowable range in the third confirmation step, the third corrected coordinate is set as the correct corrected installation position. If it is out of the allowable range, it is within the allowable range using the collimated past coordinates. The third correction step and the confirmation step are repeated until it becomes.

  As described above, in the present invention, the shape of the installation surface to be installed on which the installation object is installed is virtually assumed to be a plane, an inclined plane, and a curved surface, and the X, Y coordinate values of the design coordinates and the X, Y coordinates Since a new coordinate position obtained by combining the Z-coordinate value at which the perpendicular from the plane and the surface of the virtual shape intersect is used as the correction installation position, it is possible to perform efficient correction in a short time. In this case, the result of collimation in the first correction step can be used in the second correction step, and the result of collimation in the first and second correction steps can be used in the third correction step. Can be reduced.

  When the corrected installation position is determined by the above-described correction step (step 7) and the mark point of the installation position by the laser pointer is presented on the installation surface (step 8), the operator is installed on the carriage 20 of the marking robot 14. The marking robot 14 is operated by operating the operation unit of the control device 26. First, the carriage unit 20 is moved so that the marking unit 24 is in a range that reaches the position of the mark point presented on the installation surface (step S9). At this time, even if the object 80 is present on the lower floor surface of the mark point, the carriage unit 20 can be installed at a position avoiding the arrangement unit 80.

  Next, the operator expands and contracts (or rotates) the elevating tower 30 in the support portion 22 and horizontally moves the slide block 36 to roughly adjust the height and the horizontal position of the marking portion 24, so that the marking portion 24 is moved. Move to the vicinity of the mark point (step S10). Next, the fine lift tower 38 of the support unit 22 is expanded and contracted (or rotated), and the tilt drive unit 40 is tilted so that the mark point position is within the range of the contact frame 62 of the marking unit 24 (near the center). The contact frame 62 is brought into contact with the installation surface so that the marking portion 24 is inclined at an inclination angle corresponding to the inclination of the installation surface, and the entire contact frame 62 is brought into contact with the installation surface (step S11).

  Next, the operator operates the fine movement support base 34 of the marking unit 24 to match the stamp point presented (irradiated) by the laser pointer 58 of the stamp 56 with the position of the mark point (step 12). This operation can be performed while viewing the video imaged by the CCD camera 60 on the monitor 28. When it is confirmed that the stamp point coincides with the mark point, the operator subsequently extends the cylinder 54 of the marking unit 24 and presses the front end surface 56A of the stamp 56 against the installation surface (step S13). When the front end surface 56A of the stamp 56 is pressed against the installation surface with a constant pressure, the cylinder 54 automatically contracts and the stamp 56 is retracted to the original position separated from the installation surface 16. Thereby, the marking to the presented mark point is executed.

  As described above, the work procedure shown in FIG. 7 shows a case where the operator manually operates the marking robot 14 from step S9. However, some or all operations relating to the driving of the marking robot 14 may be automated. Is possible.

  FIG. 11 is a flowchart showing a work procedure when the operation of the marking robot 14 from step S9 of FIG. 7 is automated. When the mark point of the installation position by the laser pointer is presented on the installation surface in step S8 of FIG. 7, the three-dimensional coordinate information regarding the corrected installation position and the position information of the marking robot 14 (for example, position information based on the carriage) are three-dimensionally displayed. The data is transferred from the measuring instrument 12 to the control device 26 of the marking robot 14 (step 20). The position information of the marking robot 14 can be obtained, for example, by installing a target on the marking unit 24 and measuring the position of the target three-dimensionally with the three-dimensional measuring instrument 12. Thereby, the control device 26 of the marking robot 14 can control each part of the marking robot 14 by the same coordinate system as the three-dimensional measuring instrument 12. The marking robot 14 moves the cart unit 20 to a floor surface position below the installation position by itself based on the transferred three-dimensional coordinates regarding the corrected installation position and its own position information (step 21). In this case, if there is no equipment such as equipment on the floor immediately below the corrected installation position presented on the installation surface, the carriage can be moved to the floor directly below for marking. However, as shown in FIG. If there is 80, the carriage unit 20 is moved close to the object 80.

  Next, the target of the marking unit 24 is again three-dimensionally measured by the three-dimensional measuring instrument 12, and this time, the stamp reference position information is transferred to the control device 26 of the marking robot 14 (step 22). The control device 26 of the marking robot 14 grasps the correct positional relationship between the corrected installation position and the stamp 56, and then performs the same procedure as in the manual operation of FIG. Then, the fine moving tower 38 and the tilt driving unit 40 are operated to bring the contact frame 62 into contact with the installation surface so that the position of the mark point is within the range of the contact frame 62 of the marking unit 24 (near the center). (Step S23).

  Next, the control device 26 takes in the video signal from the CCD camera 60. Then, while detecting the position of the mark point and the stamp point in the image by the image analysis process, the fine movement support base 52 of the marking unit 24 is driven to match the positions (step S24). When it is confirmed that the positions of the mark point and the stamp point coincide with each other, the cylinder 54 is expanded and contracted to press the front end surface 56A of the stamp 56 against the installation surface. Then, when it is detected by a signal from the pressure sensor that the front end surface 56A of the stamp 56 is pressed against the installation surface with a constant pressure, the cylinder 54 is contracted and the stamp 56 is separated from the installation surface. Retreat to the position. Thereby, marking to the mark point is executed (step 25).

  The operation of the marking robot 14 is not limited to being performed automatically. Some operations, for example, the operation until the marking unit 24 is moved to the vicinity of the mark point, or the contact frame 62 of the marking unit 24 are performed. It is also possible to automate the operation after contacting the installation surface and to perform other operations of the marking robot 14 manually by the operator.

  As described above, in the above embodiment, the planned position (stamp point) to be marked by the stamp 56 of the marking unit 24 is presented by the laser beam, but the means for presenting the stamp point is not limited to this. For example, as shown in FIG. 12, a contact bar 100 is provided at the center of the front end surface 56A of the stamp 56 in a direction orthogonal to the front end surface 56A (advancing direction of the front end surface 56A). It is also possible to make it extendable and retractable so that it can be completely accommodated in the interior of 56 and to be biased forward by a spring or the like. According to this, the stamp point where the position where the contact bar 100 contacts the installation surface is presented.

  In addition, the structure of the support portion 22 that supports the marking portion 24 so that the position and posture of the marking portion 24 can be changed in the marking robot 14 of the above embodiment is not limited to that shown in FIG. 1, and the marking robot 14 is installed on the floor surface. Any structure may be used as long as the position and posture of the marking unit 24 can be changed with respect to the position. For example, the structure shown in FIG. 13 may be used, and according to this, the elevator tower 30 fixed to the carriage unit 20 is provided as in FIG. 1, and the horizontal arm 110 is provided at the tip of the elevator tower 30. It is supported so that it can swing in the vertical direction (can move up and down). For example, the arm 110 can be expanded and contracted, and a marking portion 24 similar to that in FIG. 1 is attached to a tip portion of the arm 110 via a tilt drive portion 112 capable of tilting. In FIG. 1 or FIG. 13, the traveling function like the cart unit 30 is not always necessary, and the marking robot 14 as a whole may be supported by a tripod that does not have a traveling function.

  In the above-described embodiment, it is assumed that the movable unit 20 and the support unit 22 of the marking robot 14 are operated by the electric power under the control of the control device 26. The part may be operated by manual force.

  In the above embodiment, marking is performed by applying ink to the installation surface with the stamp 56, but the present invention is not limited to this. For example, the thermal liquid used as a raw material for thermal paper, etc., is sprayed onto the wall surface near the marking area and dried, and the black spot is obtained by irradiating the marking position with a laser beam to heat the thermal liquid on the wall surface with the heat of the laser beam. It may be possible to mark a mark such as.

Conceptual diagram of a construction support system to which the present invention is applied Explanatory drawing explaining the relationship between 3D measuring instrument and electronic field book Side view of marking part in marking robot Plan view of marking part in marking robot Perspective view showing the structure of the stamp A diagram exemplifying a mark marked by a stamp Work flow diagram showing the overall work flow of the enforcement support method Flow chart explaining the main work of the enforcement support method in more detail Explanatory drawing explaining the shift of the presentation position by the design shape and actual shape of the installation surface Explanatory drawing explaining correction steps Flow chart showing the work procedure when the operation of the marking robot is automated The perspective view which showed other embodiment of the stamp The conceptual diagram which showed other embodiment of the support part of the marking robot 3D CAD drawing showing examples of construction objects 3D CAD drawing showing examples of installed objects

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Construction support system, 12 ... Three-dimensional measuring device, 14 ... Marking robot, 16 ... Installation surface (ceiling wall surface and side wall surface), 18 ... Electronic field book, 20 ... Dolly part, 22 ... Support part, 24 ... Marking part , 26 ... control device, 28 ... monitor, 30 ... elevating tower, 32 ... support base, 34 ... guide rail, 36 ... slide block, 38 ... fine movement elevating tower, 40 ... tilt drive, 50 ... base, 52 ... fine movement Support stand 54 ... cylinder 56 ... stamp 58 ... laser pointer 60 ... CCD camera 62 ... contact frame

Claims (8)

In the black position recording device that performs marking on the presentation position presented as the black position to be marked on the wall surface of the construction site,
A stamp for marking the position of the wall surface in contact with the wall surface by contacting the tip surface with the wall surface;
The stamp is supported so as to be movable back and forth in a direction orthogonal to the front end surface of the stamp, and the front end surface of the stamp is advanced from a position separated from the wall surface when the wall surface is marked. A stamp advancing / retreating drive means for contacting the wall surface;
Support means for supporting the position and posture of the stamp supported by the stamp advance / retreat driving means with respect to the installation position on the floor so as to be changeable;
Presenting means for presenting a planned position at which the front end surface of the stamp contacts the wall surface by the stamp advance / retreat driving means;
A black position recording apparatus comprising:   2. The black position recording apparatus according to claim 1, further comprising a contact frame that contacts a peripheral portion of a position where a front end surface of the stamp contacts the wall surface by the stamp advance / retreat driving means.   The said presenting means is a light output means for emitting a light beam from the front end face of the stamp in the direction in which the front end face of the stamp advances by the stamp advance / retreat driving means. Ink position recording device.   The stamp support position changing means for changing the relative support position of the stamp with respect to the contact frame by moving the stamp in a direction parallel to the front end surface of the stamp. The black position recording device described.   The black position recording apparatus according to claim 1, 2, 3, or 4, wherein the presentation position presented as the black position to be marked is presented by light irradiation.   The camera includes: a camera that captures a peripheral portion of a position where a front end surface of the stamp contacts the wall surface by the stamp advance / retreat driving unit; and a display unit that displays an image captured by the camera. The black position recording apparatus according to any one of 1 to 5.   The stamp advancing / retreating drive means includes a camera for photographing a peripheral portion of a planned position where the leading end surface of the stamp contacts the wall surface, and the planned position presented by the presenting means based on an image photographed by the camera is 7. A control means for automatically changing the stamp support position by the stamp support position changing means so as to coincide with a presentation position presented as a black ink position. The black position recording device described in 1.   The support means includes a leg portion erected in a vertical direction and an arm portion supported in a horizontal direction at a tip end of the leg portion, and supports the stamp with the arm portion, and the leg portion is the arm portion. 8. The height of supporting the stamp can be changed, and the horizontal position of the arm portion supporting the stamp can be changed. 8. Black position recording device.

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