JP2017197942A - Slope spray method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a slope spray method capable of stably achieving a spray with high quality without depending on the skill of worker by confirming the thickness of spray on an object slope at real time while measuring uneven shape of object slope.SOLUTION: The slope spray method includes: a measuring step to measure an uneven shape of an object slope N using a measurement device M; a display step to display a measurement result M1 by the measurement device M on a display screen D; and a spray step to spray a spray material from a nozzle 8 to an object slope N.SELECTED DRAWING: Figure 1

Description

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

  Conventionally, in order to reinforce the slope and stabilize its strength, a method of spraying spray material such as concrete or mortar from the nozzle onto the slope is used. Moreover, the construction method which constructs a method frame by spraying is also used. As this kind of construction method, there is a proposal to install a gondola where workers get on the tip of the boom of a construction machine, and the workers who get into the gondola operate the spray nozzle to spray the spray material onto the slope. (For example, see Patent Document 1).

JP 2003-073076 A

  However, in the spraying work by the worker, it is common to visually check the spraying thickness, and there is a problem that the spraying thickness and finish quality vary depending on the skill level of the worker. . In other words, depending on the level of skill of the operator, if the spray thickness is small and the slope is not sufficiently strong, or if the spray material is unnecessarily used and the spray material is wasted, There is.

  The main problem to be solved by the present invention is that by measuring the uneven shape of the target slope, the state of the spray thickness of the target slope can be confirmed in real time, which is stable regardless of the skill of the operator. Another object of the present invention is to provide a slope spraying method capable of realizing high-quality spraying.

  This invention which solved this subject is based on the following meanings.

[Purpose 1]
A measuring step of measuring the uneven shape of the target slope by a measuring means;
A display step of displaying a measurement result by the measurement unit on the display unit;
A slope spraying method comprising: a spraying step of spraying a spray material from a nozzle toward the target slope.

[Purpose 2]
The measurement by the measurement unit may be performed by acquiring three-dimensional coordinate values of a plurality of points on the target slope by performing laser scanning on the target slope.

[Purpose 3]
The laser scan is
It is performed by three-dimensional mapping by acquiring coordinate values at a predetermined measurement period while rotating a plurality of laser beams irradiated radially toward the target slope at a predetermined angular pitch in a vertical plane. Also good.

[Purpose 4]
The measuring step is
In order to shift the irradiation direction of the plurality of laser beams in the vertical plane, it may further include a tilting step for tilting the irradiation direction at an angle smaller than the predetermined angular pitch.

[Purpose 5]
An imaging step of imaging the target slope by an imaging unit;
In the display step, an image of the target slope imaged by the imaging unit and the measurement result may be superimposed and displayed on the display unit.

[Purpose 6]
In the display step,
You may display the measurement result of the longitudinal cross-section of the said target slope in the spraying direction of the said nozzle.

[Purpose 7]
In the display step,
You may display the measurement result of the longitudinal cross-section of the said target slope in the vertical cross section which passes along the specific position on the said target slope specified by the user.

[Purpose 8]
A first position detecting step for detecting the position of the measuring means;
A second position detecting step of detecting the position of the nozzle.

[Purpose 9]
An adjustment step of adjusting the spray direction of the spray material from the nozzle according to the measurement result by the measuring means;
The adjustment step may be performed by sending an adjustment command from the adjustment means to the drive means capable of changing the spray direction of the nozzle.

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

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

1 is an overall view of a device configuration that realizes a slope spraying method according to Embodiment 1. FIG. It is a schematic diagram which shows schematic structure of the slope spraying apparatus which concerns on Embodiment 1. FIG. It is a block diagram which shows the connection state of a control part and each operation | movement part. It is an internal structure figure of tilting part R10. It is operation | movement explanatory drawing of a measuring device. It is a block diagram which shows the connection state of a measuring device, a camera, a ranging sensor, a display screen, and an image process part. It is a figure which shows the example 1 of a display on a display screen. It is a figure which shows the example 2 of a display on a display screen. It is a figure which shows the example 3 of a display on a display screen. It is a figure which shows the example 4 of a display on a display screen. It is a figure which shows the example 5 of a display on a display screen. It is a figure which shows the example 6 of a display on a display screen. It is explanatory drawing of the projection surface of an object slope. It is a schematic explanatory drawing which shows an example of the calculation method of spraying thickness. It is a schematic explanatory drawing at the time of changing the installation angle of the measuring apparatus shown in FIG. It is a schematic diagram which shows schematic structure of the slope spraying apparatus which concerns on Embodiment 3. FIG. It is a figure which shows the example 7 of a display on a display screen. It is a figure which shows the display examples 8a-8c on a display screen.

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

  First, the schematic configuration of the slope spray device S will be described, and then the configuration of the measurement device (measurement means) M, the display screen (display means) D, the camera (imaging means) P and the procedure of the slope spray method will be described. . Note that the slope spraying device S is not necessarily required to realize the slope spray construction method according to the present invention. For example, as will be described later, this slope spraying method can also be applied when an operator who gets on a gondola base installed at the tip of a boom performs a spraying operation with a nozzle.

<Structure of slope spray device>
Hereinafter, the slope spray apparatus S will be described with reference to the drawings. FIG. 2 is a schematic diagram showing a schematic structure of the slope spray apparatus S. As shown in FIG. Fig.2 (a) is a top view of the slope spray apparatus S, FIG.2 (b) is a side view. The slope spraying device S includes an intermediate arm 4, a tip arm 6, and a nozzle 8 and is generally configured. Note that the slope spray device S may be connected to the tip of the boom 2 of the construction machine 3 having the machine body 1 and the boom 2.

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

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

  A nozzle 8 is disposed at the tip of the tip arm 6 (near the end). The nozzle 8 can spray (spray) a spray material such as concrete or mortar from its spray port toward the target slope. Spray material is supplied to the nozzle 8 through a hose 12 from a material tank (not shown) that stores the spray material by a pressure feed pump (not shown). On the distal end side of the distal arm 6, a tilting axis (third axis, hereinafter abbreviated as an axis) X3 orthogonal to the extending direction of the distal arm 6, and a rotation axis (fourth axis, hereinafter referred to as axis) orthogonal to the axis X 3. X4 and a tilt axis (fifth axis, hereinafter abbreviated as an axis) X5 parallel to the axis X3 are arranged. The nozzle 8 is connected to the tip arm 6 via axes X3, X4, and X5.

  In the first embodiment, the axes X1, X2, and X4 are parallel to a surface (vertical surface) H whose extension direction is perpendicular to the ground G, and the axes X3 and X5 are parallel to the ground G. is there.

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

  In FIG. 2, the specific configurations of the rotation means, the tilting means, and the expansion / contraction means are not shown, but the operations of the rotation parts, the tilting part, and the expansion / contraction part are realized by the hydraulic cylinder 5. That is, one end of a hydraulic cylinder 5 is connected to a protruding portion 7 projecting sideways from the intermediate arm 4, the relay arm 10, the tip arm 6, etc., and the hydraulic cylinder 5 is a driving means for each rotating portion, tilting portion, and telescopic portion described later. By being driven by (a part of the hydraulic cylinder), rotation, tilting and expansion / contraction operations are realized. In FIG. 2, the operation directions (rotation direction, tilt direction, and expansion / contraction direction) of each rotation unit, tilting unit, and expansion / contraction unit are illustrated by arrows. FIG. 3 shows a connection state between the control unit C and each tilting unit, rotating unit, and expansion / contraction unit.

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

  The tilting portion R2 enables the boom 2 to tilt within a plane (vertical plane) H perpendicular to the ground. In other words, the tilting portion R2 can adjust the tilt of the boom 2 with respect to the ground G. The tilting portion R2 includes a driving unit that tilts the boom 2 in the vertical plane H, and a sensor that detects the tilt angle of the boom 2 with respect to the ground G.

  The tilting portion R <b> 3 enables the intermediate arm 4 to tilt within the vertical plane H with respect to the boom 2. The tilting portion R3 includes a driving unit that tilts the intermediate arm 4 with respect to the boom 2 and a sensor that detects a rotation angle of the intermediate arm 4 with respect to the boom 2.

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

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

  The expansion / contraction part R6 enables the tip arm 6 to expand and contract along its extending direction. The tip arm 6 may have a double tube structure used for an antenna, a hydraulic cylinder, or the like, for example, in order to realize a telescopic operation. The expansion / contraction part R6 has a drive means for extending / contracting the tip arm 6 and a sensor for detecting the expansion / contraction length.

  The tilting portion R7 allows the tip arm 6 to tilt within the vertical plane H with respect to the intermediate arm 4. In the first embodiment, since the intermediate arm 4 and the tip arm 6 are connected via the relay arm 10, the tilting portion R 7 tilts the tip arm 6 substantially in the vertical plane H with respect to the relay arm 10. Make it possible. The tilting part R7 has a drive means for tilting the tip arm 6 with respect to the intermediate arm 4, and a sensor for detecting the tilt angle of the tip arm 6 with respect to the intermediate arm 4.

  The tilting portion R8 can tilt the spraying direction of the nozzle 8 around the axis X3 orthogonal to the extending direction of the tip arm 6. In the first embodiment, the axis X3 is parallel to the ground G. Therefore, the tilting portion R8 can tilt the nozzle 8 perpendicularly to the ground (within the vertical plane H). In the first embodiment, a connecting member is connected to the distal end side of the distal arm 6 via an axis X3. Therefore, the tilting part R8 tilts the nozzle 8 in the blowing direction substantially by tilting the connecting member around the axis X3. The tilting portion R8 has a driving means for tilting the spraying direction of the nozzle 8 around the axis X3 with respect to the tip arm 6, and a sensor for detecting the tilt angle of the nozzle 8 with respect to the tip arm 6.

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

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

  FIG. 4 is an internal structure diagram of the tilting portion R10. FIG. 4 is viewed in the same direction as FIG. The tilting portion R10 has two drive means, that is, a cam structure 20 that functions as a swing means and a slide structure 22 that functions as a vertical movement means. The cam structure 20 has a structure in which the cam member 20b and the nozzle 8 are connected by a link member 20a, and the nozzle 8 can repeatedly tilt in a reciprocating manner around the axis X5 by rotating the cam member 20b. It is said. The swing range is, for example, an angle of ± 15 ° (refer to the alternate long and short dash line in FIG. 4).

  The slide structure 22 has a structure in which the cam structure 20 itself can be moved up and down in the vertical plane H by a hydraulic cylinder or a motor. The nozzle 8 tilts around the axis X5 by moving the cam structure 20 up and down. It is possible. The tilting range by the slide structure 22 is, for example, ± 45 ° larger than the swinging range (see the broken line in FIG. 4). Therefore, after determining the spraying direction of the nozzle 8 by the operation of the slide structure 22, the nozzle 8 is reciprocally swung by the operation of the cam structure 20, so that it is possible to spray the entire target slope in a wide range. And In addition to the cam structure, a crank structure and other known reciprocally swingable structures can be applied as the swinging means.

  In addition to the above-described hydraulic cylinder, a motor, an actuator, or the like can be applied as a driving unit included in each rotating unit, tilting unit, and expansion / contraction units R1 to R10. As the sensors included in R1 to R10, known optical sensors, magnetic sensors, mechanical switches, and the like can be applied.

  FIG. 3 shows the rotation parts R1, R4, R5, R9, the tilting parts R2, R3, R7, R8, R10, the expansion / contraction part R6 (hereinafter, these may be collectively referred to as the operation part) and the control part C. It is a block diagram which shows a connection state. The control unit C is connected to driving means and sensors of the operation units R1 to R10. A drive command can be output to the drive means of the operation units R1 to R10, and detection values from the sensors of the operation units R1 to R10 can be input.

  The control unit C is for controlling the operations of the operation units R1 to R10. The control unit C includes an arithmetic processing unit (CPU) C1 and a memory (storage unit) C2. Based on the program and operation mode stored in the memory C2, or based on the operation content operated by the operation unit, the arithmetic processing unit C1 mainly controls the operation of each of the operation units R1 to R10. In the first embodiment, a control unit C is provided inside the machine main body 1, a display screen D is arranged near the driver's seat, and a control state by the control unit C can be displayed on the display screen D. For example, the display screen D displays position information and rotation angle information based on the sensor input values of the operation units R1 to R10, and displays information such as operation directions and operation speeds of the operation units R1 to R10. It has become. Of course, an operation unit for outputting a drive command to operate each of the operation units R1 to R10 is also disposed in the vicinity of the driver seat.

<Measuring means>
FIG. 5 is an explanatory diagram of the operation of the measuring apparatus M shown in FIG. 5A is a plan view of the work site as viewed from above, and FIG. 5B is a side view of the work site as viewed in parallel with the work plane. The measuring device M has a function of acquiring surrounding three-dimensional mapping data by scanning using a laser. In other words, the measuring apparatus M acquires coordinate values at a predetermined measurement period while rotating a plurality of laser beams irradiated toward the target slope N radially at a predetermined angular pitch in the vertical plane. Laser scanning can be performed by three-dimensional mapping. The measuring device M is disposed in the vicinity of the slope spraying device S or attached to the slope spraying device S or the construction machine 3 for use. As the measuring device M, for example, an omnidirectional laser lidar imaging unit LiDAR manufactured by Velodyne can be used. That is, the measuring device M is configured to emit a plurality of laser beams L (32 laser beams L1 to L32 in the first embodiment) radially along the circumferential direction along the vertical plane (that is, in the first embodiment). In a horizontal scan (in a horizontal plane), three-dimensional coordinate values (XYZ coordinate values) of a plurality of points whose surroundings are divided into a matrix are obtained.

  At the time of rotational scanning, coordinate values are acquired at a predetermined time interval (measurement cycle). For example, it is conceivable that 360 ° omnidirectional rotation frequency is 5 to 15 Hz and measurement points are measured at 500,000 points / second (= measurement cycle 2 μs). The measurement points by the laser beam L1 at this time are indicated by L (1,1), L (1,2), L (1,3)... In FIG. The number of laser beams, the scan rotation frequency, and the measurement cycle are numerical values that can be appropriately set according to the measurement target. In the case where the unevenness of the target slope N as a measurement target is measured with high resolution, the number of laser beams may be increased, and / or the scan rotation frequency may be reduced, and / or the measurement cycle may be shortened. In the first embodiment, the surrounding three-dimensional mapping data is obtained by rotating the 32 laser beams L1 to L32 oscillated radially at a predetermined angular pitch along the vertical plane 360 degrees in the horizontal direction. .

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

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

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

  The video imaged by the camera P is subjected to image processing by an image processing unit F, which will be described later, and is superimposed (superimposed) on the measurement result by the measuring device M and displayed on the display screen D. When the video and the measurement result are superimposed, the two images are aligned on the image. In order to facilitate the alignment of the two, it is desirable that the measuring device M and the camera P are arranged at a close position or substantially the same position, but this is not necessarily the case.

  If not only the target slope N but also the nozzle 8 is accommodated in the field of view of the camera P, the accuracy of the alignment between the measurement result and the image is further improved. Further, for example, if one or a plurality of alignment indices are arranged in a part of the target slope N, and the indices are included in the field of view of the camera P and the measurement region of the measurement apparatus M, the position Contributes to the improvement of alignment accuracy.

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

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

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

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

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

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

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

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

  The difference between the solid line Lb and the broken line La indicates the spray thickness of the target slope N by the spray from the nozzle 8. In this way, the unevenness (topography) of the target slope N is measured by the measuring device M, and the measurement results at different times (measurement results M1 before the start of the spraying work and current measurement results M1 after the start of the spraying work, etc.) Is superimposed on the display screen D so that the spraying thickness of each part on the target slope N can be accurately grasped. It is possible to correctly grasp the location where the spraying work is sufficiently progressing and the location where the progress is insufficient, or grasp the insufficient amount of spraying. The finishing quality can be improved by adjusting the spraying direction of the nozzle 8 toward the insufficiently sprayed portion.

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

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

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

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

  Further, for example, when the measuring device M is fixed at the work site, the camera P is attached to the slope spraying device S, and the relative positional relationship between the two fluctuates, a reference is made in advance before the spraying operation is started. Both fields of view are calibrated (aligned) using an index or the like. Then, based on the sensor output of each operation | movement part R1-R10 of the slope spray apparatus S, by detecting how much the visual field of the camera P moved to which direction, the relative positional relationship of measurement result M1 and image | video P1 Maintenance can be realized. By using the sensor outputs of the operating units R1 to R10, even when the same object does not exist in the field of view of the measuring device M and the field of view of the camera P, the relative positional relationship between the fields of view is maintained. can do.

  The above-described measurement of the relative positional relationship can also be realized by continuously measuring the position of the measuring device M by the position measuring device O. The position measuring device O can measure the position of the measuring device M using, for example, a global positioning system (GPS), infrared rays, a laser distance meter, or the like. The position measurement result O1 by the position measuring device O is transmitted toward the image processing unit F as shown in FIG. The position measuring device O may continuously measure not only the position of the measuring device M but also the positions of the camera P, the distance measuring sensor Q, the nozzle 8, and the like. Further, the relative position relationship with respect to the position measuring device O can be measured by acquiring the absolute position of the position measuring device O itself by GPS or the like. By using such a position measuring device O, even if the target slope N is in a wide range and the movement of the measuring device M, the slope spraying device S, and the camera P is required, positioning is easy. Can be done.

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

  In the display example 5, the shape of the vertical cross section of the target slope N passing through the spray position is shown. By displaying the cross-sectional shape along the vertical direction in the spraying direction, it is possible to grasp in real time the location where the spraying amount is insufficient and the finishing state of the slope. Further, by displaying the target slope shape T in this spraying direction together, the working efficiency can be further improved. In FIG. 11, the target slope shape T is indicated by a linear two-dot chain line, but the target slope shape T is not necessarily displayed as a straight line, and is displayed as a curve that changes irregularly according to the actual shape. May be.

  For example, as shown in FIG. 2B, if the distance measuring sensor Q is attached in the vicinity of the nozzle holding portion 14, the longitudinal sectional shape of the target slope N in the spraying direction can be measured more easily and reliably. Can do. If this distance measuring sensor Q can measure the distance between itself and the target slope N along the vertical direction in the spraying direction of the nozzle 8, the longitudinal section of the target slope N in the spraying direction. The surface shape can be easily measured. In this case, the distance measuring sensor Q is connected to the image processing unit F and transmits the measurement result Q1 to the image processing unit F.

  FIG. 12 is a display example 6 on the display screen D. In display example 6, the display screen is divided into a plurality of screen areas, and display images E1, E4, and E5 in display examples 1, 4, and 5 are displayed in the respective display areas. Thereby, it is possible to grasp various information such as the overall terrain of the work site, the spraying direction of the nozzle 8, the spraying thickness of each position of the target slope N, the shortage amount from the target spraying thickness, It can contribute to improvement of spraying work efficiency and finishing quality. The display image E6 displays instruction buttons for moving the viewpoint, enlarging, and reducing the viewpoint of the display image E1, and by selecting these instruction buttons, the viewpoint of the display image E1 can be moved, enlarged, and reduced. It is.

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

  The measurement device M starts measuring the surrounding terrain, and transmits the measurement result M1 to the tablet terminal (S4). The target slope N is photographed by the camera P, and the video P1 is transmitted to the tablet terminal (S5). Further, the longitudinal sectional shape of the target slope N in the spraying direction is measured by the distance measuring sensor Q, and the measurement result Q1 is transmitted to the tablet terminal (S6). The tablet terminal executes alignment between the measurement result M1 and the video P1 (S7). The alignment is performed, for example, based on the position of the nozzle 8 in the field of view, or by measuring a reference index installed in the vicinity of the target slope N with the measuring device M and photographing with the camera P.

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

  The tablet terminal transmits the measurement result M1 to the control unit C as an adjustment unit (S9). Based on the measurement result M1, the control unit C determines which portion of the target slope N is short of the amount of spraying (S10), and based on the determination, controls the operation units R1 to R10 to adjust. And the driving means of each operating unit is operated to adjust the spraying direction of the nozzle 8 (S11).

<Description of spray thickness calculation method>
Spraying thickness between a measurement result M1 ₀ through M of the measuring device before spraying work start in the projection direction, the distance between a measurement result M1 _t by the measuring device M at a specific time t after the start spraying work (M1 _t -M1 ₀ ). Here, the projection direction is a projection plane N1 that is a vertical plane whose normal is the arrow direction when the target slope N is viewed horizontally from the front (the projection plane N1 is therefore the target slope N and the ground). Is assumed to extend substantially along the tangent line to the projection plane N1. FIG. 13 is an explanatory diagram of the projection plane N1 of the target slope N. FIG. In FIG. 13, the target slope N before the start of the spraying operation is indicated by a solid line Lb, and the slope at a specific time t after the start of the spraying operation is indicated by a broken line La. Before spraying work start measurement result M1 ₀ to a ■, it shows the measurement result M1 _t at the time t after the start of the spraying work in ●. The projection plane N1 is on the ZX plane, the projection direction is parallel to the Y-axis direction, and the spray thickness can be calculated as a distance (M1 _t −M1 ₀ ) parallel to the Y-axis direction.

In addition, when the projection surface N1 is divided into a plurality of quadrangular small sections, the measurement results of the measurement points are displayed on the small sections on the projection plane N1 positioned in the projection direction of the measurement points irradiated with the laser light L. Can be associated as representative values of the small sections. Specifically, the Y coordinate value of the measurement result can be associated with the small section on the projection plane N1 corresponding to the X coordinate and the Z coordinate of the measurement point as a representative value of the small section. In that case, the coordinate values representative of the cubicle, for X and Z coordinates, the coordinates of the center point of the cubicle, Y coordinates may be a Y-coordinate value of the measurement results M1 ₀ or M1 _t . For a small section in which no measurement point exists in the projection direction, a representative value can be determined by linear interpolation (linear interpolation) using representative values of two or more small sections having neighboring representative values.

  Furthermore, in order to improve the accuracy of the spray thickness, the spray thickness can be calculated by the following procedures (i) to (v). The following calculation method will be described with reference to FIG. FIG. 14 is a schematic explanatory diagram illustrating an example of a method for calculating the spray thickness.

(I) For the small section on the projection plane N1 positioned in the projection direction of the measurement point irradiated with the laser light, the X coordinate is the X coordinate of the center of the small section, and the Y coordinate is the measurement point as the representative coordinate value. The Z coordinate of the center of the small section is set to the Y coordinate and Z coordinate. The representative coordinate value is set for both the measurement point on the target slope N before the start of the spraying operation and the current measurement point after the start of the spraying operation. As a result, the representative coordinate value mi ₀ corresponding to the measurement point before the start of the spraying operation and the spraying operation start for the small section on the projection plane N1 positioned in the projection direction of the measurement point irradiated with the laser light. the representative coordinates mi _t corresponding to the measurement point at the time t after are set. Here, i is a number assigned to each small section, and is an arbitrary natural number.

  (Ii) For the small section where the measurement point does not exist in the projection direction, the representative coordinate value is determined by linear interpolation using the representative coordinate values of two or more small sections having neighboring representative values.

(Iii) For the four sub-compartments sharing one point, there are 8 representative coordinate value points (m1 ₀ , m2 ₀ , m3 ₀ , m4 ₀ , m1) before the start of the spraying operation and after the start of the spraying operation. The volume of a hexahedron formed from _{t 1} , m 2 _t , m 3 _t , m 4 _t ) is calculated.

(Iv) The volume of this hexahedron is divided by the area of a quadrangle formed by points m1 ₀ , m2 ₀ , m3 ₀ , m4 ₀ to obtain the height of the hexahedron.

(V) The height of the hexahedron thus obtained is set as the spray thickness in the region formed by the quadrangle formed by the points m1 ₀ , m2 ₀ , m3 ₀ , m4 ₀ .

[Embodiment 2]
Next, Embodiment 2 of the present invention will be exemplarily described. As a second embodiment, a case where the installation angle of the measuring device M in the first embodiment can be tilted will be described. By inclining the installation angle of the measuring device M, it is possible to increase the measurement resolution by shifting the irradiation direction of the plurality of laser beams in the vertical plane. In addition, about the structure of Embodiment 2 other than the structure which can change the installation angle of the measuring device M, it can be set to be the same as that of the structure of Embodiment 1. FIG.

  FIG. 15 is a schematic explanatory diagram when the installation angle of the measuring device M shown in FIG. 1 is changed. As shown in FIG. 15, the measuring apparatus M can be installed so that the inclination angle with respect to the horizontal direction can be adjusted.

  The inclination angle γ is preferably adjustable at an angle smaller than the predetermined angle pitch β. That is, it is preferable that the elevation angle of the measuring device M itself can be adjusted by a smaller angle than the predetermined angle pitch β in the design of the laser beam in the measuring device M. The inclination angle γ can be set to about 0.5 °, for example. The upper limit value of the inclination angle γ is an angle smaller than the predetermined angle pitch β, and is about 3 °, for example. Thereby, at the time of scanning, the number of measurement points in the vertical plane on the target slope N can be increased, and higher-resolution three-dimensional mapping data can be acquired. In particular, since the distance from the measuring device M is long and the inclination is gentle, even when the distance between the measurement points is long, the measurement points can be supplemented between the measurement points. For example, in FIG. 15, the unevenness on the target slope between the measurement points of the laser beams Lq and Lr can be irradiated with the laser beam Lq1 that can be irradiated by tilting the measuring device M by the tilt angle γ, Measurement can be performed with Lq2 that can be irradiated by inclining the measuring device M by the inclination angle γ.

  FIG. 15 illustrates a case where the inclination angle γ of the measuring device M divides the predetermined angle pitch β into three equal parts. In FIG. 15, laser beams Lp, Lq, Lr, and Ls oscillated at a predetermined angle pitch β are indicated by solid arrows, and the laser beams Lp1 and Lq1 when the elevation angle of the measuring device M is tilted upward by the tilt angle γ. , Lr1 is indicated by a dashed arrow, and laser beams Lp2, Lq2, and Lr2 when the elevation angle is inclined upward by an inclination angle γ are indicated by two-dot chain arrows. The laser beams Lp, Lq, and Lr when the tilt angle γ is γ = 1 / 3β are Lp1, Lq1, and Lr1, respectively, and the laser beams Lp, Lq, and Lr when γ = 2 / 3β are respectively Lp2, Lq2, and Lr2. Note that p, q, r, and s are consecutive integers in this order.

  The configuration for tilting the installation angle of the measuring device M is preferably a configuration capable of accurate positioning so that only the tilt angle γ can be adjusted. Further, it is preferable that the tilt angle γ can be changed at a specific point in time in accordance with the scanning rotation period and measurement period of the laser beam. For example, the tilt angle can be controlled by tilting a stepping motor or the like.

  Specifically, each time the laser beam rotates 360 °, the installation angle of the measuring device M can be tilted upward within the vertical plane of the laser beam by operating the stepping motor or the like. When the rotation of the laser beam 360 ° and the inclination of the inclination angle γ of the measuring device M are repeated, and the total inclination angle γ exceeds the predetermined angle β, the installation angle of the measuring device M is set to the angle before the inclination (the inclination angle γ is 0). The laser beam may be configured to scan 360 ° with the installation angle before the inclination. Thus, by controlling the inclination angle γ of the measuring device M, the target slope N can be scanned with higher resolution.

[Embodiment 3]
Next, a third embodiment of the present invention will be described. FIG. 16 is a schematic diagram illustrating a schematic structure of the slope spraying apparatus S ′ according to the third embodiment. In the third embodiment, the slope spraying device S ′ in which the gondola 33 for the worker W is installed at the tip of the boom 32 is used, and the worker W gets into the gondola 33 and holds the nozzle 8 with respect to the target slope N. Spray. Hereinafter, the slope spraying method and the slope spraying device S ′ according to the third embodiment will be described with a focus on differences from the slope spraying method and the slope spraying device S according to the first embodiment. Of these, portions not described below can be basically the same as the configuration of the first embodiment. Of course, it is also possible to apply the slope spraying apparatus S ′ according to the third embodiment to the second embodiment.

  A gondola 33 is installed at the tip of the boom 32 of the construction machine 30 instead of the various arms of the slope spray device S in the first embodiment. An operator W can enter the gondola 33. The worker W can hold the nozzle 8 in his / her hand while in the gondola 33 and perform a spraying operation on the target slope N. The machine body 31 and the boom 32 of the construction machine 30 can have the same configuration as the machine body 1 and the boom 2 in the first embodiment. Of course, the gondola 33 may not be directly attached to the boom 32, and may be attached to the boom 32 via an arm connected to the boom 32.

  Also in the third embodiment, by attaching the distance measuring sensor Q, the longitudinal sectional shape of the target slope N in the blowing direction can be measured more easily and reliably. The distance measuring sensor Q may be attached to the tip of the boom 32, the nozzle 8, the gondola 33, or the like, or may be attached by the worker W, for example. When the worker W is worn, for example, the distance measuring sensor Q can be attached to a helmet worn by the worker W.

[Embodiment 4]
Next, the fourth embodiment of the present invention will be exemplarily described. As a fourth embodiment, a case where the display means in the first embodiment is changed will be described. The configuration of the fourth embodiment other than the display unit can be the same as the configuration of the first embodiment. Of course, the display means according to the fourth embodiment can be applied to the second and third embodiments.

  FIG. 17 is a diagram illustrating a display example 7 on the display screen D. In the display example 7, the display screen is divided into a plurality of screen areas. In each display area, the display image E7 of the on-site video P1 captured by the camera P, and the display image of the vertical cross-sectional shape in the blowing direction of the target slope N E8, a spray thickness graph display image E9 in which the spray thickness is color-coded on the projection plane N1, and a spray thickness of the longitudinal section of the target slope N corresponding to an arbitrary left-right direction position in the display image E9 A display image E10 of the graph can be displayed. Further, the position and range of the target slope N displayed as the display image E7 can be adjusted by the instruction button of the display image E7a. The display range of the display image E7 and the display range of the display image E9 are linked to match the display range of the display image E9 with the display range of the video P1 displayed as the display image E7 after adjustment by the instruction button of the display image E7a. be able to.

  On the display image E9, a vertical cursor E9b extending from the upper end to the lower end of the display image E9 is displayed so as to be movable in the left-right direction on the display screen D, and is moved by moving the vertical cursor E9b to the left and right. A spray thickness graph in the longitudinal section of the target slope N corresponding to the position is displayed as a display image E10. For example, when the display screen D is displayed on the display of the tablet terminal, the user can tap an arbitrary location on the display image E9 or drag it in the horizontal direction while the vertical cursor E9b is selected. The spray thickness graph in the longitudinal section of the target slope N corresponding to the position E9b can be displayed on the display image E10. That is, the measurement result M1 of the longitudinal section of the target slope N in the vertical section passing through the specific position on the target slope N specified by the user can be displayed on the display image E10.

  In the display image E10, both the spray thickness graphs before and after the start of the spray work in the vertical cross section at the position corresponding to the vertical cursor E9b on the display image E9 are displayed in an overlapping manner. be able to. In the display image E10, a solid line E10a is a spray thickness graph before the start of the spraying work, and a broken line E10b is a spray thickness graph at the present time after the start of the spraying work. Thereby, it is possible to intuitively grasp the spraying situation in the longitudinal section of the target slope N at an arbitrary position (position of the vertical cursor E9b) of the spraying thickness graph displayed in different colors in the display image E9. In the display example 7, the horizontal direction and the vertical direction in the display image E9 correspond to the X axis direction and the Z axis direction in FIG. 14, respectively, and the horizontal direction and the vertical direction in the display image E10 respectively correspond to the Y axis in FIG. This corresponds to the direction and the Z-axis direction.

  Further, in the display example 7, an instruction button for moving the viewpoint of the video P1 in the display image E7, and enlarging / reducing it is displayed as the display image E7a. In addition, an instruction button for enlarging or reducing the spray thickness graph in the display image E9 or moving the selection range is displayed as the display image E9a.

  In the display example 7, since the video P1 and the measurement result M1 by the measuring device M are not superimposed and displayed, the camera P does not necessarily have to be fixed at a fixed position. For example, the camera P may be installed in the nozzle holding part 14 etc. of the arm tip part of the slope spray apparatus S.

[Embodiment 5]
Next, Embodiment 5 of the present invention will be exemplarily described. As a fifth embodiment, a case where the display means in the first embodiment is changed will be described. The configuration of the fifth embodiment other than the display unit can be the same as the configuration of the first embodiment. Of course, the display means according to the fifth embodiment can be applied to the second, third, and fourth embodiments.

  FIG. 18 is a diagram illustrating display examples 8a to 8c on the display screen D. A display example 8a illustrated in FIG. 18A is a display of a part of the measurement result M1 obtained by measuring the target slope N by the measuring device M as a point cloud. In the display example 8b shown in FIG. 18B, a part of the measurement result M1 obtained by measuring the target slope N by the measuring device M is displayed as a point cloud. This is performed at a higher resolution than in the case of 8a. As a method for increasing the measurement resolution, for example, as described in the second embodiment, a method of inclining the measurement device M or a method of shortening the measurement cycle in the measurement can be considered. FIG. 18C is based on a polygon expression expressed by using a plurality of triangles connecting the measurement results M1 instead of displaying the measurement results M1 in the display example 8b as a point cloud. As is clear from the comparison of these display examples, the surface shape of the target slope N can be more easily grasped by displaying more measurement points. Further, by adopting the polygon expression, it is possible to make it easier to grasp the unevenness of the surface of the target slope N. These display examples 8a to 8c can be displayed instead of the display image E4 in the display example 6 in order to grasp the surface shape of the target slope N as a substitute for the image P1 obtained by the camera P.

  As mentioned above, although embodiment was described, this invention is not limited to these, A various deformation | transformation and change are possible within the range of the summary. Moreover, although Embodiment 1-Embodiment 5 were demonstrated exemplarily, in implementing this invention, you may implement this invention combining some parts of embodiment suitably.

C: Control unit C1: Arithmetic processing unit (CPU)
C2: Memory (storage means) D: Display screen (display means)
D1: Image data E1, E4, E5, E6, E7, E7a, E8, E9, E9a, E10: Display image E7a, E9a: Instruction button E9b: Vertical cursor E10a: Solid line E10b: Dashed line F: Image processing unit F1: Superposition Display means G: Ground H: Vertical plane L (L1 to L32), Lp, Lq, Lr, Ls: Laser light La: Broken line Lb: Solid line M: Measuring device (measuring means) M1: Measurement result N: Target slope N1 : Projection plane O: Position measuring device O1: Position measurement result P: Camera (imaging means) P1: Video Q: Distance sensor Q1: Measurement result R1: Rotating part (fourth rotating means) R2: Tilt part (fifth tilting) means)
R3: tilting part (first tilting means) R4: rotating part (first rotating means)
R5: rotating part (second rotating means) R6: extendable part (first extending means)
R7: Tilt part (second tilting means) R8: Tilt part (third tilting means)
R9: Rotating part (third rotating means) R10: Tilt part (fourth tilting means)
S, S ': Slope spraying device T: Target slope shape U1, U2: Position W: Worker X1: Rotating axis (first axis) X2: Rotating axis (second axis)
X3: Tilt axis (third axis) X4: Rotation axis (fourth axis)
X5: Tilt axis (fifth axis) α: Predetermined angle of (arm) β: Predetermined angle of (laser beam) γ: Inclination angle 1, 31: Machine body 2, 32: Boom 3, 30: Construction machine 4: Intermediate Arm 5: Hydraulic cylinder 6: Tip arm 7: Protruding part 8: Nozzle 10: Relay arm 12: Hose 14: Nozzle holding part 16: Spraying locus 20: Cam structure (swinging means) 20a: Link member 20b: Cam member 22: Slide structure (vertical movement structure)
33: Gondola

Claims (9)

A measuring step of measuring the uneven shape of the target slope by a measuring means;
A display step of displaying a measurement result by the measurement unit on the display unit;
A slope spraying method comprising: a spraying step of spraying a spray material from a nozzle toward the target slope.   The slope spraying method according to claim 1, wherein the measurement by the measurement unit is performed by obtaining a three-dimensional coordinate value of a plurality of points on the target slope by laser scanning the target slope. . The laser scan is
It is performed by three-dimensional mapping by acquiring coordinate values at a predetermined measurement period while rotating a plurality of laser beams irradiated radially toward the target slope at a predetermined angular pitch in a vertical plane, The slope spraying method according to claim 2. The measuring step is
The slope spraying method according to claim 3, further comprising a tilting step of tilting the irradiation direction at an angle smaller than the predetermined angular pitch in order to shift the irradiation direction of the plurality of laser beams in the vertical plane. . An imaging step of imaging the target slope by an imaging unit;
5. The method according to claim 1, wherein, in the display step, the display unit displays the image of the target slope imaged by the imaging unit and the measurement result in a superimposed manner. Surface spraying method. In the display step,
The slope spraying method according to any one of claims 1 to 5, wherein a measurement result of a longitudinal section of the target slope in the spraying direction of the nozzle is displayed. In the display step,
The method according to any one of claims 1 to 5, wherein a measurement result of a longitudinal section of the target slope in a vertical section passing through a specific position on the target slope specified by a user is displayed. Surface spraying method. A first position detecting step for detecting the position of the measuring means;
The slope spraying method according to any one of claims 1 to 7, further comprising a second position detection step of detecting a position of the nozzle. An adjustment step of adjusting the spray direction of the spray material from the nozzle according to the measurement result by the measuring means;
The slope according to any one of claims 1 to 8, wherein the adjustment step is performed by sending an adjustment command from the adjustment means to a drive means capable of changing a spraying direction of the nozzle. Spraying method.

Images