JP2018119902A - Method of automatic marking to ceiling surface and unmanned flying object for automatic marking - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method of performing an automatic marking on a ceiling surface and an unmanned flying object for automatic marking capable of automatically and efficiently performing a marking expressly showing a desired position on the ceiling surface in advance and making the number of persons smaller using an unmanned flying object when an operation such as adhering a sheet to the ceiling surface is performed.SOLUTION: An unmanned flying object A comprising: a frame body 10 attached with a distance sensor 12; a rotor 1 capable of pressing an unmanned flying object A against a ceiling surface by generating a lift force by rotation; and a printing device 4 capable of printing to the ceiling surface, and mounting a wheel 2 capable of travelling in contact with the ceiling surface, a power source 3, and a microcomputer base for performing a displacement control of the wheel 2 on a rotational body 20 is raised and pressed against the ceiling surface. The unmanned flying object is displaced to the marking position located at a predetermined distance from a bridge beam 31 of the ceiling surface, and while the rotational body 20 is rotationally controlled, the marking is performed on the ceiling surface by the printing device 4 as the rotational body is horizontally and vertically displaced against a bridge beam 31 using the distance sensor 12.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an automatic marking method and an unmanned flying object for automatic marking on the ceiling surface of an existing structure, and more specifically, when performing repair work such as sheet pasting on the ceiling surface on the back of the bridge floor slab, Ink marking that clearly indicates the position on the ceiling surface is performed automatically by measuring the distance from the bridge girder of the bridge using an unmanned flying object and using the same method as the automatic marking method on the ceiling surface. Belongs to the technical field of unmanned flying vehicles.

  In recent years, repair work for slabs of aging bridges is increasing. For example, in repairing the floor slab back surface (ceiling surface 30) of the bridge B as shown in FIGS. 8 and 11, the ceiling surface 30 is previously set in order to clearly indicate the affixing position at the time of affixing the reinforcing sheet. I measure the position and make ink. This inking operation is a difficult and difficult task in which the worker is in an upward posture in a narrow place and is dangerous on the scaffolding. In addition, the exact dimensions of the floor slab of the bridge B necessary for inking can be examined only after the scaffold is constructed.

  Regarding the marking work, for example, in Patent Document 1, a moving carriage having a traveling wheel and a free wheel attached with a rotation amount detection sensor, and a position movement in an arbitrary direction of two orthogonal axes mounted on the moving carriage. An XY moving table which is made possible, a support column which is installed at the moving center of the XY moving table and is extended in the ceiling direction so as to be rotatable, and a distance from the rotation center of the support column is variable. There is disclosed a ceiling inking operation device that has an inking unit that performs marking and a control unit to which predetermined position information is input, and that can operate the inking unit (claim 1 of the same document 1). 1, see FIG.

  On the other hand, recently, various technologies for unmanned flying vehicles (unmanned flying vehicles) called so-called drones (UAV) have been developed. For example, in Patent Document 2, a battery, a plurality of motors that operate with electric power supplied from the battery and rotate a plurality of rotors to float and fly the unmanned air vehicle, and a plurality of motors that control the plurality of motors An unmanned aerial vehicle including a control unit that performs flight control of the unmanned aerial vehicle and a position detection unit that detects at least the altitude of the unmanned aerial vehicle is disclosed (see claim 1 of the document 2).

Japanese Patent No. 2750660 Japanese Patent No. 5887641

  The ceiling marking device described in Patent Document 1 is suitable for the task of marking the position for installing lighting, air conditioning equipment, etc. in a circular shape on the ceiling surface. However, it is not suitable for marking out a desired position such as a long straight line or a grid. In addition, marking out by extending the rotatable column extending in the ceiling direction from the XY moving table on the moving carriage to the ceiling surface is not stable in proceeding with the work. In addition, the moving carriage on which the XY moving table of the working device is mounted must be installed and moved on a flat floor surface, resulting in poor working efficiency.

  In particular, when inking the bridge floor slab (drawing the inking line), the dimensions of the floor slab cannot be measured accurately until after the scaffolding is constructed. After the accurate dimensional survey is completed, it is very troublesome for a plurality of workers to perform difficult upward work toward the ceiling in a narrow place. As described above, since it is extremely difficult to perform the marking process such as a lattice shape, there is a demand for automation to increase the work efficiency.

  On the other hand, there is a bridge girder on the bridge, and the distance from this bridge girder can be measured by remote control using a drone (unmanned flying object), and the drone can automatically and directly inscribe the desired position on the ceiling. If possible, it is clear that work efficiency will increase.

  The present invention has been devised in view of the problems of the background art described above, and the object of the present invention is to set the work position in advance on the ceiling surface when performing operations such as pasting a sheet on the ceiling surface. Ink marking is clearly performed on the ceiling surface using an unmanned flying object, especially by measuring the distance from the bridge girder of the bridge, automatically and efficiently, and saving labor. It is to provide an unmanned flying object for automatic summing used in the same method.

As a means for solving the above-mentioned problems, the method for automatically marking the ceiling surface according to the invention described in claim 1 is a ceiling surface marking method for marking the ceiling surface of an existing structure by an unmanned flying object. There,
A frame and a rotating body that is rotatably supported at the center of the frame form a skeleton, and the frame has a distance sensor and a lift generated by the rotation to rise and the unmanned flying object on the ceiling surface. A plurality of rotors that can be pressed and a printing device that can be printed toward the ceiling surface are attached, and a plurality of wheels that can contact the ceiling surface and travel on the ceiling surface in an arbitrary direction are attached to the rotating body And a power source of the wheel, and an unmanned flying body on which a microcomputer base for performing control for moving the wheel to a desired marking position is mounted,
Coordinate confirmation software is installed and assigned to measure the distance from a wall member such as a bridge girder and wall, which becomes the reference surface of the ceiling surface, to the unmanned flying object by the distance sensor and to indicate the marking position to the microcomputer board. The step of raising the unmanned flying object to the inking position located at a predetermined distance from the wall member by the computer device that has input the coordinates of the figure, and pressing the unmanned flying object on the ceiling surface by the rotor Maintaining the state and inking the unmanned flying object to a desired position on the ceiling surface with the printing device while moving the unmanned flying object parallel to the wall member while maintaining a certain distance from the wall member on the ceiling surface; By repeatedly performing the operation of vertically moving to a predetermined position without marking the wall member while controlling the rotation of the rotating body according to the allocation diagram, And a step of drawing a plurality of inking lines on the ceiling surface in parallel at a predetermined interval.

  According to a second aspect of the present invention, in the automatic marking method on the ceiling surface according to the first aspect, the unmanned flying object is kept at a certain distance from the wall member of the ceiling surface with respect to the wall member. Work for marking the desired position on the ceiling surface with the printing apparatus while performing parallel movement and work for vertically moving to a predetermined position without marking the wall member are provided in a direction perpendicular to the wall member. It is characterized by comprising the step of drawing a plurality of inking lines on the ceiling surface in a substantially lattice shape by performing also on the wall member.

  According to a third aspect of the present invention, in the method for automatically marking a ceiling surface according to the first or second aspect, the unmanned flying object has a vertically movable anchor portion that can contact the ceiling surface. The rotation control of the rotating body of the unmanned flying body is performed after lifting the anchor portion so as to contact the ceiling surface and releasing the contact state between the wheel and the ceiling surface. .

The unmanned flying object for automatically marking on the ceiling surface according to the invention described in claim 4 is an unmanned flying object that marks the ceiling surface while being pressed against the ceiling surface,
The unmanned flying body forms a skeleton by a frame body and a rotating body that is rotatably supported at the center of the frame body, and the frame body has both ends attached in parallel to one side of the frame body. A sensor support rod provided with a distance sensor, a plurality of rotors capable of generating lift by rotation and pressing an unmanned flying object against a ceiling surface, and a printing device capable of printing toward the ceiling surface are attached, and the rotating body Is equipped with a plurality of wheels that can contact the ceiling surface and travel on the ceiling surface in an arbitrary direction, a power source of the wheels, and a microcomputer base that performs control to move the wheels to a desired marking position. And
The unmanned flying object is placed at the inking position located at a predetermined distance from the wall member of the ceiling surface measured by the distance sensor by a computer device in which coordinate checking software for instructing the inking position to the microcomputer base is installed. To the ceiling surface, which is configured to be able to incline in a direction parallel to the wall member by moving a wheel that can be rotationally controlled by the rotating body while being pressed against the ceiling surface by a rotor. An unmanned flying vehicle for automatic ink printing.

  According to a fifth aspect of the present invention, in the unmanned flying vehicle for automatic marking on the ceiling surface according to the fourth aspect, an anchor portion that is movable up and down by an anchor link mechanism and an upper and lower portion of the anchor portion on the frame body. A photosensor for sensing the position is installed.

  According to a sixth aspect of the present invention, in the unmanned flying object for automatic marking on the ceiling surface according to the fourth or fifth aspect, the printing device is an inkjet or roll marker that can automatically control execution and stop of printing. It is characterized by being.

  According to a seventh aspect of the present invention, in the unmanned flying object for automatic ink marking onto the ceiling surface according to any one of the fourth to sixth aspects, the rotating body rotates relative to the wall member of the ceiling surface. A photo sensor for sensing a position where the body rotates 90 degrees is installed.

  According to the method for automatically marking ink on the ceiling surface and the unmanned flying object for automatic marking according to the present invention, a distance sensor, a plurality of rotors, and a printing device capable of printing on the ceiling surface are attached to the frame. In addition, the rotating body supported rotatably at the center of the frame body is equipped with a wheel that can travel on the ceiling surface in any direction, its power source, and a microcomputer base that controls the movement of the wheel. An illustration of marking on the ceiling surface while driving the body, raising it from the ground and pressing it against the ceiling surface of the existing structure while moving it linearly parallel to the wall members such as bridge girder and wall as the reference surface Follow the instructions on the printer. For this reason, it is possible to automatically and efficiently perform the ink marking work that is difficult in the narrow space in advance, which is performed at the time of repair work on the ceiling surface, and contribute to labor saving. Therefore, it is very excellent in workability, economical efficiency, and work efficiency.

It is the whole figure which showed the unmanned flying object for automatic summoning to the ceiling surface of the present invention from the bottom. It is the elevation which showed the unmanned flying object for the automatic ink marking. It is explanatory drawing which showed typically the sensing condition of the predetermined distance from the bridge girder in the unmanned flying object for automatic summing out from the bottom face direction. It is the side view which looked at FIG. 3 from the side surface direction. It is the elevation which showed the state which the unmanned flying object for automatic summing rises to the ceiling surface, and has put the predetermined distance from the bridge girder. It is explanatory drawing which showed the state which the unmanned flying object for automatic summing moves vertically to a predetermined position (see arrow R) without marking the bridge girder. FIG. 7 is an explanatory diagram showing a state in which the unmanned flying object for automatic ink marking performs ink marking while the rotating body (wheel) rotates 90 degrees clockwise from the state of FIG. 6 and moves in a direction parallel to the bridge beam. . It is a top view for demonstrating the example of ink marking to the floor slab of a bridge. It is the display figure of the computer apparatus which showed the input process of the coordinate of an allocation drawing. It is the top view which showed the grid | lattice-like inking state to a ceiling surface. It is the whole figure which showed the carbon fiber sheet affixed along grid | lattice-like marking.

  In the following, an embodiment of the illustrated automatic marking method on a ceiling surface and an unmanned flying object for automatic marking according to the present invention will be described.

  First, the configuration and function of the unmanned flying object A for automatic inking used in the automatic inking method on the ceiling surface will be described. The unmanned flying object A for automatic inking illustrated in FIG. 1 has a compact size and is configured to move horizontally along the ceiling surface 30 while being pressed against the ceiling surface 30 of the existing structure (FIG. 5). reference). The overall skeleton includes a frame body 10 and a rotating body 20 that is rotatably supported at the center of the frame body 10. In the frame 10, two vertical members 10a having a length of 390 mm are arranged in parallel in the vertical direction, and two horizontal members 10b having a length of 390 mm are arranged in parallel in the horizontal direction. Are connected and assembled into a square shape.

  A plurality of arm portions 18... Extending inward from the vertical members 10 a and the horizontal members 10 b are provided toward the internal space of the frame body 10, and a ring-shaped support ring body 16 disposed in the center. Are connected to and supported by the plurality of arms 18. The support ring body 16 has an outer diameter of 310 mm, and its internal structure is formed in a U-shaped groove portion 16a that opens inward and is recessed (details are omitted). Therefore, the rotating body 20 described later is rotatably supported by the support ring body 16 of the frame body 10. Specifically, the outer periphery of the disk-shaped rotating body 20 having an outer diameter slightly smaller than the outer diameter 310 mm of the support ring body 16 is fitted into and supported by the groove 16a of the support ring body 16, and the rotating body 20 is Apart from 10, it is configured to rotate independently.

Anchor portions 14 are respectively attached to the four corners of the frame 10 in an upward vertical direction. Each anchor portion 14 is configured to be movable up and down by an anchor link mechanism 13 as shown in FIG. ing. The anchor link mechanism 13 serves to release the contact state between the wheel 2 and the ceiling surface 30 when the upper end portion of the anchor portion 14 is raised so as to sufficiently contact the ceiling surface 30. A photo sensor 15 that senses the vertical position of the anchor portion 14 is installed in the vicinity of the anchor link mechanism 13. The anchor portion 14 fixes the frame body 10 to the ceiling surface 30 so that the position of the wheels 2... It is for sensing the vertical position of. Reference numeral 17 in FIG. 1 indicates a DC motor that expands and contracts the anchor portion 14 in the vertical direction.
In the present embodiment, four anchor portions 14 are arranged in a balanced manner, but the number of the anchor portions 14 can be appropriately increased or decreased. Further, the four anchor portions 14 are implemented in a configuration capable of synchronous control in the present embodiment.

The laser distance sensor 12 is attached to the frame 10. Specifically, the sensor support rod 11 having distance sensors 12 and 12 respectively installed at both ends of a sensor support rod 11 having a length of 600 mm is parallel to the vertical member 10 a that forms one side of the frame body 10, and by extension, the bridge girder 31. It is attached to the lower part of the cross member 10b at a position (for example, 270 mm from the left vertical member 1a in FIG. 1) (see FIG. 2). This laser distance sensor 12 is a sensor that outputs an analog voltage of 0 to 10 V, and measures the distance from the unmanned flying vehicle A on which it is mounted to the bridge girder 31 illustrated in FIG. Therefore, the position coordinates S (see FIG. 9) of the unmanned flying object A can be recognized, and the unmanned flying object A equipped with the distance sensor 12 can maintain the constant distance from the bridge girder 31 of the bridge B serving as the reference plane K. It is the structure which is linearly moved in the parallel direction with respect to (refer FIG. 7).
Reinforcing members 10c that connect the central portions of the vertical members 10a, 10a, the transverse members 10b, 10b and the tip end portions of the anchor portions 14 are attached to the frame body 10 (see FIG. 2).
In the present embodiment, the bridge girder 31 (see FIG. 8) is adopted as the reference plane K, but is not limited to the bridge girder 31, and a wall member such as a wall or a hanging wall is used as the reference plane K depending on the implementation site. Of course.
Further, as shown in the explanatory view of FIG. 3, it is preferable that the collision detection sensors 19 and 19 are provided in the frame 10 in the vicinity of the distance sensors 12 and 12, respectively.

  Four rotors 1 are arranged on the outside of the frame body 10 with good balance. Specifically, the rotors 1 are respectively attached to the tips of the support members 7 that extend outward from the four corners of the frame body 10. A leg portion 1 a is attached below each rotor 1. The rotor 1 composed of the four blades is implemented by a configuration in which the rotation directions of the adjacent rotors 1 and 1 (blades) are opposite to each other. The rotation is generated by the rotation and rises to the ceiling surface 30. The flying object A is implemented with a configuration that allows the flying object A to be pressed freely.

A printing device 4 for inking is attached to the outside of the frame 10. That is, as shown in FIG. 1, the printing device 4 is attached to the tip of a support member 8 that extends outward from the center of one vertical member 10 a forming the frame 10.
As the printing device 4 for inking, an ink jet or roll marker capable of automatically controlling the execution and stop of inking (printing) is suitable. When the inkjet 4 is employed as an example, the nozzle of the inkjet 4 is installed upward and is configured to be able to print toward the ceiling surface 30. The head dimension of the nozzle is, for example, about 30 × 30 × 70 mm, and the dot size is about 1.5 mm. The distance (distance) from the ceiling surface 30 is preferably about 10 mm. In this embodiment, a maximum printing speed of 700 dots / second is adopted, and the printing speed can be printed on the concrete surface.

  An ink supply device 45 for supplying and replenishing ink to the inkjet 4 is installed on the lower work floor 32 (see FIG. 5), and an ink supply tube 46 connected to the ink supply device 45 is connected to the unmanned flying object A. It is connected to the ink jet 4 so that the inking operation can be performed without interruption. The ink supply device 45 also serves as a controller for printing operation.

The configuration and function of the rotating body 20 described above are as follows. The rotating body 20 is made of a transparent acrylic plate, and a PLC 22 is installed in the center of the rotating body 20 in a penetrating state. This PLC 22 makes input commands follow numerical values via the touch panel (display 44) of the computer device 40 as shown in FIGS. 5 and 9, and controls the distance sensor 12 and the power source motors 3 and 17 described later. It is a programmable controller that controls in cooperation.
An analog unit 23 and an EtherNet / IP 24 are installed at the center of the rotating body 20. The analog unit 23 is an extension unit that digitally converts the analog voltage of the distance sensor 12. The EtherNet / IP 24 is an extension unit for connecting the touch panel as the display 44 of the computer apparatus 40 and the PLC 22 with a LAN cable.

Wheels (fixed wheels in this embodiment) 2 are attached to the upper surface of the rotating body 20. The wheels 2 are made of lightweight aluminum, and two wheels 2 are provided in the vicinity of the outer periphery of the rotating body 20 in a symmetrical arrangement and at a position opposite to the distance sensor 12. Therefore, the wheel 2 is configured to be able to travel on the ceiling surface 30 in contact with the ceiling surface 30. Specifically, the wheels 2 and 2 are movable in a parallel direction or a vertical direction with respect to the bridge girder 31 in accordance with the rotation control of the rotating body 20 described later. Further, as the power source 3 of the wheel 2, the left and right tires 2, 2 can be rotated separately, and a stepping motor 3 that runs while keeping parallel to the bridge girder 31 is provided in the vicinity of the wheels 2, 2. . Each of the stepping motors 3 and 3 is independently controlled by motor drivers 5 and 5 installed in the vicinity.
Reference numeral 21 in FIG. 1 denotes a photosensor. The photo sensor 21 is for sensing a position where the rotating body 20 reliably rotates 90 degrees with respect to a predetermined reference surface K (for example, the inner wall surface 31 a of the bridge girder 31) of the ceiling surface 30.

  In addition, the wheel 2 and the power source 3 of the wheel 2 (see FIG. 1) and a plurality of microcomputer boards (not shown for the sake of illustration) are mounted on the rotating body 20. One of the microcomputer boards performs control to move the wheel 2 to a desired marking position P based on the coordinate recognition of the current position from the reference plane K (bridge girder 31) by the distance sensor 12. This microcomputer board receives a control command by remote control from the computer device 40 described below, and outputs a signal for driving the wheel 2. A different microcomputer board for controlling the rotational speed for maintaining the altitude and lift of the rotor 1 and the control for horizontally moving the unmanned flying vehicle A in the air is also mounted.

  A power supply device 6 for operating the power source 3 of the rotor 1 and the wheels 2 and the ink jet 4 is installed on the work floor 32 (see FIG. 5), and power is supplied through a power transmission cable 60. In addition to the external fixed power source as described above, a configuration in which a battery (not shown) is attached to each device mounted on the unmanned flying object A and power can be supplied can be implemented.

Coordinate confirmation software 41 such as CAD for instructing the inking position P to the microcomputer base is installed in the computer device 40. In addition, the coordinates S in the allocation diagram 43 are input to the computer device 40 (see FIG. 9).
The computer device 40 and the two types of microcomputer boards are connected by a cable or a communication device so as to be able to transmit data from the computer device 40, and are remotely operated. The computer device 40 here refers to a wide concept including a desktop (see FIG. 9), a tablet PC (see FIG. 5), a notebook, and the like.

Next, an automatic marking method on the back of the floor slab of the bridge B (ceiling surface 30) using the unmanned flying object A having the above configuration will be described below.
Incidentally, in the present embodiment, as an example, among the bridge girders 31 arranged in the vertical and horizontal directions according to FIG. 8, the inner wall surface 31a of the bridge girder 31 arranged in the extending direction of the bridge is used as a reference plane K in the parallel direction. Next, ink is drawn out in a parallel direction using the inner wall surface 31b of the bridge girder 31 arranged in a direction orthogonal to the bridge girder 31 as a reference plane K, and as shown in FIG. Line P is drawn.
Note that the control of the wheel 2, the anchor link mechanism 13, the printing device 4 and the like as well as the unmanned flying object A is remotely operated by a remote controller not shown for convenience.

  First, when performing marking on the ceiling surface 30 of the bridge B illustrated in FIG. 8, an allocation diagram 43 is created (see FIG. 9). The height from the work floor 32 to the ceiling surface 30 is, for example, about 5 to 10 m.

  Next, the unmanned flying object A on the work floor 32 is raised toward the ceiling surface 30 by remote operation with a remote controller and pressed against the ceiling surface 30 (see FIG. 5). Then, as shown in FIGS. 6, 7, etc., the unmanned flying object A (inkjet 4) from the inner wall surface 31 a of the bridge girder 31 by the distance sensors 12, 12 of the unmanned flying object A pressed against the ceiling surface 30. Until the position coordinate S of the unmanned flying object A is recognized.

  After recognizing the position coordinate S, the coordinate S shown in FIG. 43 is input to the touch panel display 44 of the computer device 40 in order to instruct the inking position P to the microcomputer base of the unmanned flying object A. Then, the unmanned flying object A moves from the bridge girder 31 as the reference plane K of the ceiling surface 30 measured by the distance sensor 12 to the inking position P located at a predetermined distance while being pressed against the ceiling surface 30 (FIG. 6). (See the direction indicated by arrow R).

As shown in FIG. 6, when the unmanned flying object A moves vertically from the inner wall surface 31 a of the bridge girder 31 to the desired marking position P, the anchor portion 14... After extending the frame 10 firmly to the ceiling surface 30 and releasing the contact state between the wheels 2 and the ceiling surface 30, only the rotating body 20 of the unmanned flying object A is attached as shown in FIG. Rotate 90 degrees clockwise. After confirming that the wheels 2 and 2 of the rotating body 20 have been rotated 90 degrees, the anchor link mechanism 13 returns the anchor portion 14 downward.
Then, the unmanned flying object A is moved in the direction indicated by the arrow T in FIGS. 3 and 7 while maintaining the pressing state of the unmanned flying object A against the ceiling surface 30 by the rotor 1. At that time, the unmanned flying object A moves from the upward nozzle of the inkjet 4 mounted on the unmanned flying object A to the ceiling surface 30 while linearly moving parallel to the bridge beam 31 while maintaining a certain distance from the bridge girder 31 of the ceiling surface 30. Then, a large amount of a small amount of ink is ejected with dots, and the ink is put out at a desired position P on the ceiling surface 30.

  Such marking work on the ceiling surface 30 while linearly moving parallel to the bridge girder 31 (inner side surface 31a), and linear movement to a predetermined position without marking the bridge girder 31 vertically. Of the bridge girders 31 arranged in the vertical and horizontal directions according to FIG. 8, the positioning operation for marking out the ceiling surface 30 is repeatedly performed as necessary while controlling the rotation of the rotating body 20 according to the allocation FIG. 43. The marking operation in the parallel direction with the inner wall surface 31a of the bridge girder 31 arranged in the extending direction of the bridge as the reference plane K is completed.

  Subsequently, the entire direction of the unmanned flying object A is changed by 90 degrees by remote control using a remote controller so that the unmanned flying object A faces the inner wall surface 31 b of the bridge girder 31 arranged in a direction orthogonal to the bridge girder 31. To the ceiling surface (see FIGS. 6 and 7). And the process similar to the process described in the said paragraph [0034]-[0036] is performed according to the allocation FIG. That is, the marking operation on the ceiling surface 30 while linearly moving parallel to the bridge girder 31 (inner side surface 31b), and the ceiling surface moving linearly to a predetermined position without marking the bridge girder 31 vertically. Ink marking positioning to 30 is repeated as necessary while controlling the rotation of the rotating body 20 in accordance with the allocation diagram 43, and the ink marking in the parallel direction with the inner wall surface 31b of the bridge girder 31 as the reference plane K is performed. The dispensing operation is finished.

  FIG. 10 shows an example in which inking is performed at a grid-like inking position P where long straight lines intersect with each other through the above process. In FIG. 10, a square portion painted black is secured as an inspection window portion 35. A reinforcing carbon fiber sheet 33 is regularly affixed to the other ceiling surface 30 along the marking position P (see FIG. 11).

  Therefore, according to the above-described automatic marking method of the ceiling surface, the unmanned flying body A having the above configuration is raised and pressed against the ceiling surface 30, and the marking on the ceiling surface 30 is accurately performed at a desired position by the printing device 4. It can be done lightly. Therefore, it is possible to automatically mechanize the ink marking work that is difficult in the narrow space in advance and difficult to be performed at the time of repair work of the ceiling surface 30 to be performed efficiently and accurately.

The embodiments of the present invention have been described with reference to the drawings. However, the present invention is not limited to the illustrated examples, and variations of design changes and application that a person skilled in the art normally performs without departing from the technical idea thereof. Note that it includes the range.
For example, as illustrated with a broken line in FIG. 1, when the distance sensors 12 and 12 are further provided on the left and right in an arrangement orthogonal to the sensor support rod 11 (the upper and lower sensors 12 and 12), the paragraph [ [0038] In addition to making it unnecessary to change the overall direction of the unmanned vehicle A as described at the beginning of [0038], the ceiling surface 30 is detected while sensing the distance between wall members such as the bridge girders 31 and 31 provided in the orthogonal direction. On the other hand, it is possible to perform inking work with great flexibility, such as flexible inking work in the vertical and horizontal directions.

1 Rotor 2 Wheel 3 Power source (Stepping motor)
4 Printing device (inkjet)
DESCRIPTION OF SYMBOLS 5 Motor driver 6 Power supply device 7 Support member 8 Support member 10 Frame 10a Vertical member (one side)
10b Slab (one side)
DESCRIPTION OF SYMBOLS 11 Sensor support rod 12 Distance sensor 13 Anchor link mechanism 14 Anchor part 15 Photo sensor 16 Support ring body 16a Groove part 17 DC motor 18 Arm part 19 Collision detection sensor 20 Rotating body 21 Photo sensor 22 PLC
23 Analog input unit 24 EtherNet / IP
27 DC motor 30 Ceiling surface (back of floor slab)
31 Bridge Girder 31a Inner Wall 31b Inner Side 32 Work Floor 33 Carbon Fiber Sheet 35 Window 40 Computer Device 41 Coordinate Confirmation Software 43 Allocation Diagram 44 Display 45 Ink Supply Device A Unmanned Flying Object B Bridge P Inking Position (Inking Line)
S coordinate K Reference plane

Claims (7)

A method of inking the ceiling surface of the existing structure with an unmanned flying object.
A frame and a rotating body that is rotatably supported at the center of the frame form a skeleton, and the frame has a distance sensor and a lift generated by the rotation to rise and the unmanned flying object on the ceiling surface. A plurality of rotors that can be pressed and a printing device that can be printed toward the ceiling surface are attached, and a plurality of wheels that can contact the ceiling surface and travel on the ceiling surface in an arbitrary direction are attached to the rotating body And a power source of the wheel, and an unmanned flying body on which a microcomputer base for performing control for moving the wheel to a desired marking position is mounted,
Coordinate confirmation software is installed and assigned to measure the distance from a wall member such as a bridge girder and wall, which becomes the reference surface of the ceiling surface, to the unmanned flying object by the distance sensor and to indicate the marking position to the microcomputer board. The step of raising the unmanned flying object to the inking position located at a predetermined distance from the wall member by the computer device that has input the coordinates of the figure, and pressing the unmanned flying object on the ceiling surface by the rotor Maintaining the state and inking the unmanned flying object to a desired position on the ceiling surface with the printing device while moving the unmanned flying object parallel to the wall member while maintaining a certain distance from the wall member on the ceiling surface; By repeatedly performing the operation of vertically moving to a predetermined position without marking the wall member while controlling the rotation of the rotating body according to the allocation diagram, A method for automatically marking a ceiling surface, comprising: drawing a plurality of marking lines on the ceiling surface in parallel with a predetermined interval.   An operation of marking the unmanned flying object to a desired position on the ceiling surface with the printing device while moving the unmanned flying object parallel to the wall member while maintaining a certain distance from the wall member on the ceiling surface; The step of vertically moving to a predetermined position without marking the mark is also performed on the wall member provided in a direction orthogonal to the wall member, thereby drawing a plurality of marking lines on the ceiling surface in a substantially lattice shape, The method for automatically marking a ceiling surface according to claim 1, comprising:   The unmanned flying body has an anchor part that can move up and down and can be brought into contact with the ceiling surface. The rotation control of the rotating body of the unmanned flying body is performed so that the anchor part comes into contact with the ceiling surface. The method for automatically marking out the ceiling surface according to claim 1 or 2, wherein the method is performed after lifting and releasing the contact state between the wheel and the ceiling surface. It is an unmanned flying object that puts ink on the ceiling surface while being pressed against the ceiling surface,
The unmanned flying body forms a skeleton by a frame body and a rotating body that is rotatably supported at the center of the frame body, and the frame body has both ends attached in parallel to one side of the frame body. A sensor support rod provided with a distance sensor, a plurality of rotors capable of generating lift by rotation and pressing an unmanned flying object against a ceiling surface, and a printing device capable of printing toward the ceiling surface are attached, and the rotating body Is equipped with a plurality of wheels that can contact the ceiling surface and travel on the ceiling surface in an arbitrary direction, a power source of the wheels, and a microcomputer base that performs control to move the wheels to a desired marking position. And
The unmanned flying object is placed at the inking position located at a predetermined distance from the wall member of the ceiling surface measured by the distance sensor by a computer device in which coordinate checking software for instructing the inking position to the microcomputer base is installed. To the ceiling surface, which is configured to be able to incline in a direction parallel to the wall member by moving a wheel that can be rotationally controlled by the rotating body while being pressed against the ceiling surface by a rotor. An unmanned flying vehicle for automatic ink printing.   The automatic mounting to the ceiling surface according to claim 4, wherein an anchor portion that is movable up and down by an anchor link mechanism and a photosensor that senses the vertical position of the anchor portion are installed on the frame body. Unmanned flying object for ink drawing.   6. The unmanned flying object for automatically marking on a ceiling according to claim 4 or 5, wherein the printing device is an inkjet or roll marker capable of automatically controlling execution and stop of printing.   The photo sensor which senses the position which the said rotary body rotates 90 degree | times with respect to the said wall member of a ceiling surface is installed in the said rotary body, The any one of Claims 4-6 characterized by the above-mentioned. Unmanned flying object for automatic ink marking on the ceiling.

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