JP2019143316A - Unmanned spraying system - Google Patents

Abstract

To provide an unmanned spraying system capable of meeting any demand on spraying performance without holding a spray device in front of a surface to be sprayed with a human power of a worker.SOLUTION: An unmanned spraying system spraying spray material on a surface 5 to be sprayed via no worker is provided with; a body rotatably installed on an upper side of the crawler; an arm extending in one direction from the body and capable of rotating and telescopically moving in a vertical surface; and an attachment 11 for spraying work having a spraying nozzle attached at a tip of the arm, being remote-controlled, and a controller 45 to remotely control motion of the unmanned spraying work machine 1; a pumping device 21 arranged below or over the surface to be sprayed and pumping the spraying material; a material hose 22 connecting the pumping device 21 and the attachment 11 for spraying work on the unmanned spraying work machine 1; and a hanging device 3 hanging and holding the work machine 1.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned spraying system that sprays spraying materials such as materials, base materials, chemicals, and paints onto a surface to be sprayed such as a slope, a slope, or a wall surface by unmanned work in construction engineering works.

  The spraying work on the surface to be sprayed is diverse, such as spraying mortar and vegetation base materials on slopes, spraying paints and coatings on wall surfaces, etc., spraying mulching materials and herbicidal materials on slopes. Such spraying construction needs to be performed so as to satisfy the designed predetermined thickness and spraying capacity per unit area in addition to the location condition of high place. Therefore, since long ago, a spraying operation has been performed in which an operator performs construction while holding the spraying device manually on a surface to be sprayed at a high place. The spraying work at a high place by human power is carried out by taking the prescribed measures to prevent a crash, but there is always a risk of a serious accident that a crash occurs.

  Also, in recent years, due to the aging of workers, it has become difficult to pass on special skills such as high-altitude spraying work, and there is a concern that spraying work itself, which must rely on human power, will not be possible in the future. Yes.

  For example, Patent Documents 1 to 6 include an unmanned work machine that performs civil engineering work on a slope, a pair of wires that suspend the work machine, and a pair of winches that are installed on the work machine and adjust the length of the wire. A sloped civil engineering work method provided is disclosed.

JP 2008-106500 A JP 2008-045295 A JP 2007-191932 A JP 2007-191934 A JP 2008-280830 A JP 2008-280836 A

  The unmanned civil engineering work methods described in Patent Documents 1 to 6 are for performing civil engineering work such as thinning and excavation of thinned wood. On the other hand, in the case of spraying work, since it is necessary to carry out while supplying the spraying material produced | generated in the construction plant installed on the ground to a spraying object surface, even if it adapts the method of patent documents 1-6 as it is, it cannot respond.

  An object of the present invention is to provide an unmanned spraying system that does not require an operator to manually hold a spraying device on a spraying target surface and that can freely cope with a desired spraying operation.

  In order to achieve the above object, the present invention provides the following configuration. The numbers in parentheses are reference numerals in the drawings to be described later, are attached for reference, and are not intended to limit the present invention to the embodiments of the drawings.

-An aspect of the present invention is an unmanned spraying system for unmanned spraying of a spray material onto a spray target surface (5),
A crawler (13), a main body (12) installed above the crawler (13) so as to be horizontally rotatable, and an arm (14) extending from the main body (12) in one direction and capable of extending and retracting in a vertical plane; An unmanned spraying work machine (1) which has a spraying work attachment (11) which is attached to the tip of the arm (14) and has a spraying nozzle (11a) and which is remotely controlled;
A control device (45) for remotely controlling the operation of the unmanned spraying machine (1);
A pumping device (21) which is installed below or above the spray target surface and pumps the spray material;
A material hose (22) connected between the pumping device (21) and the spraying work attachment (11) in the unmanned spraying work machine (1);
A suspension device (3) having a pair of suspension wires (32, 32) each connected at one end to the unmanned spraying work machine (1) to suspend and support the unmanned spraying work machine (1) It is characterized by that.
In the above aspect, the suspension device (3)
A pair of winches (31, 31) each of which is fixed at the other end of the pair of suspension wires (32, 32) and can wind up each suspension wire (32, 32);
A pair of wire supports (35, 35) that are respectively installed at at least approximately the top position of the spray target surface (5) and support each intermediate position of the pair of suspension wires (32, 32), Is preferred.
In the above aspect, the suspension device (3)
It is preferable to have a crane (36) in which the main body is arranged below or above the surface to be sprayed and the other ends of the pair of suspension wires (32, 32) are connected to the tip of the boom.
In the above aspect, the suspension device (3)
It is preferable to have a construction machine (37) in which the main body is disposed below or above the surface to be sprayed and the other ends of the pair of suspension wires (32, 32) are connected to the tips of the arms.
In the above aspect, the camera (41, 42) and / or the sensor (43) for detecting the spraying work situation and / or the spraying layer state are provided,
It is preferable that data acquired by the camera (41, 42) and / or the sensor (43) is wirelessly transmitted to the control device (45).

  According to the present invention, it is not necessary for the worker to hold the spraying device manually on the surface to be sprayed at a high place, and the spraying operation can be performed safely. Moreover, spray construction can be performed even in dangerous places where people cannot enter, such as disaster sites, and spray construction can be performed even in places where large machines do not enter. Furthermore, since the construction amount per day can be made larger than construction by human power, productivity is improved. In addition, since it is possible to spray at a higher pressure than construction by human power, an improvement in quality can be expected.

FIG. 1 is a front view schematically showing a spray target surface to which the first embodiment of the unmanned spray system of the present invention is applied. FIG. 2 is a schematic side view of the spray target surface of FIG. 1. FIG. 3 is a schematic side view of an example of an unmanned spray work machine used in the unmanned spray system of the present invention. FIG. 4 is a schematic plan view of the unmanned spray work machine of FIG. FIG. 5 is a diagram schematically showing a second embodiment of the unmanned spraying system of the present invention. FIG. 6 is a diagram schematically showing a third embodiment of the unmanned spraying system of the present invention. FIG. 7 is a front view schematically showing a spray target surface to which the fourth embodiment of the unmanned spray system of the present invention is applied. FIG. 8 is a schematic side view of the spray target surface of FIG. 7.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings showing examples. Components common to the embodiments are denoted by the same reference numerals.

  FIG. 1 is a front view schematically showing a spray target surface to which the first embodiment of the unmanned spray system of the present invention is applied. FIG. 2 is a schematic side view of the spray target surface of FIG. 1. Here, as an example, the case where the spray target surface 5 is a steep slope and the spray material is sprayed for slope protection and / or greening will be described. For example, a mortar sprayer, a concrete sprayer, a vegetation base material sprayer, etc. are included. The surface to be sprayed targeted by the present invention is a slope, a slope, a wall surface or the like. As the spray material, a material suitable for the purpose is used.

  In the example shown in the drawing, the construction plant 2 is installed on a flat ground below the spray target surface 5, an appropriate device (not shown) such as a meter or a mixer for preparing the spray material, and the prepared spray material at high pressure. It comprises a pumping device 21 such as a pump or a spraying machine for pumping, an engine generator 23 for driving these devices, a compressor (not shown) necessary for the pumping device 21 and the like. These configurations are basically the same as those in the case of conventional slope spraying by human power.

  A material hose 22 for pumping the spray material is connected to the pumping device 21. The material hose 22 extends upward where the spray target surface 5 located at a high location is located. The tip of the material hose 22 is connected to the spray nozzle attachment 11 mounted on the unmanned spray work machine 1.

  In the unmanned spraying system of the present invention, the unmanned spraying work machine 1 performs an unmanned spraying operation on the spray target surface 5. The spraying operation is usually performed sequentially downward from the top position of the spray target surface 5 to form the spray layer 6. In a preferred example, the unmanned spraying work machine 1 can be used by modifying a small one of backhoes and the like which are one of construction work machines (details will be described in FIGS. 3 and 4). The backhoe or the like includes a crawler (endless track) as a traveling means and an arm that can be swung freely, and a work attachment that is attached to the tip of the arm can be replaced depending on the purpose.

  The unmanned spraying work machine 1 is driven by a hydraulic or electric motor. In the case of the electric motor drive, the unmanned spraying work machine 1 is connected to the generator 23 of the construction plant 2 by the power cable 24. The electric motor drive is preferable because the unmanned spraying work machine 1 can be made smaller than the hydraulic drive.

  The unmanned spraying work machine 1 is remotely controlled for its movement and operation. For this purpose, the unmanned spraying work machine 1 has a communication function, and the construction plant 2 has an appropriate control device 45. Specifically, the control device 45 is a computer having a communication function, and an appropriate program for executing a function necessary for the present invention is introduced. The control device 45 is basically operated by an operator. The operator operates the control device 45 with reference to the data of the spraying work situation and / or the spraying layer state obtained from a monitor device such as a camera or a sensor described later, and transmits a control signal to the unmanned spraying work machine 1. However, elements that can be automated can be automatically operated.

  The control device 45 is preferably wirelessly communicated with the unmanned spraying work machine 1. However, wired communication may be performed by connecting the control device 45 and the unmanned spraying work machine 1 with a communication cable like the power cable 24.

  Since the traveling means of the unmanned spraying work machine 1 is a crawler, it can move relatively stably even on an inclined surface, but is supported stably by being suspended by the suspension device 3 in order to prevent it from falling or falling. .

  The suspension device 3 in the first embodiment has a pair of suspension wires 32 and 32 each connected at one end to the unmanned spraying work machine 1. The other end of each of the pair of suspension wires 32, 32 is connected to a pair of winches 31, 31 installed on a flat ground below the spray target surface 5 as an example. When the unmanned spraying work machine 1 changes its position on the spray target surface 5, that is, moves, the winding wires 32 and 32 are wound or sent out by the winches 31 and 31, respectively. The winches 31, 31 are driven by hydraulic pressure or an electric motor. Preferably, the winding or feeding of the winches 31 and 31 can be controlled by the control device 45 in a wired or wireless manner.

  Each of the pair of suspending wires 32 and 32 is supported at a substantially top position of the spray target surface 5 at least one of the intermediate positions. For this purpose, anchor bodies 34, 34 are installed at at least two locations substantially at the top of the spray target surface 5, and wire supports 35, 35 are attached to the anchor bodies 34, 34, respectively. In this example, local trees are used as the anchor body 34, but an artificial anchor may be installed. The wire support 35 is, for example, a pulley on which the wire 32 is hung or a ring through which the wire 32 is inserted, and the wire 32 can smoothly slide.

  In the example of FIG. 1, the wire supports 35, 35 of the two anchor bodies 34 (1), 34 (2) in the center directly support the unmanned spraying work machine 1 by hanging. In order to stably support the unmanned spraying work machine 1, it is preferable that the angle formed by the pair of wires 32 and 32 extending upward from the unmanned spraying work machine 1 does not become too large. For example, when constructing a region close to the left edge of the surface 5 to be sprayed, the wires 32 and 32 are directly supported by the wire supports 35 and 35 of the left two anchor bodies 34 (3) and 34 (1). It is preferable to work. For example, when constructing a region close to the right edge of the spray target surface 5, the wires 32 and 32 are directly supported by the wire supports 35 and 35 of the two right anchor bodies 34 (2) and 34 (4). It is preferable to work.

  In order to guide the pair of wires 32 and 32 to the winches 31 and 31, respectively, a plurality of anchor bodies 34 and wire supports 35 can be installed as necessary. The anchor body 34 and the wire support 35 are arranged along the side edge of the spray target surface 5 as shown in FIGS. 1 and 2, for example.

  Further, preferably, one or a plurality of cameras 41 for monitoring or detecting the spraying state such as the progress of the spraying work and / or the spraying thickness of the spraying layer 8 is provided around or inside the spraying target surface 5. Installed where appropriate. Preferably, these cameras 41 have a wireless communication function, and can transmit captured data to the control device 45.

  In this manner, the unmanned spraying work machine 1 performs the spraying work while moving on the spraying target surface 5 in the vertical direction or the left-right direction and changing its position. In the illustrated example, the crawler of the unmanned spraying work machine 1 is directed in the vertical direction, but when moving in the left-right direction, the crawler moves in the left-right direction. Since the crawler and the main body of the unmanned spraying work machine 1 can turn horizontally, the spray nozzle attachment 11 can also face upward while the crawler faces in the left-right direction.

  FIG. 3 is a schematic side view of an example of an unmanned spray work machine used in the unmanned spray system of the present invention. FIG. 4 is a schematic plan view of the unmanned spray work machine of FIG. In a suitable example, it can be used as the unmanned spraying work machine 1 by remodeling a small backhoe with a weight of about 550 to 1000 kg, for example. A backhoe is a construction machine similar to a power shovel. As a modification, at least a function enabling remote control is added. For example, there are a communication function for receiving a control signal from the control device 45, a control function for controlling the drive system in conjunction with the communication function, and the like.

  The unmanned spraying work machine 1 illustrated in FIG. 3 is a modification of a small backhoe. Left and right crawlers 13 and 13 are provided as traveling means, and a main body 12 is provided above them. Between the crawlers 13 and 13 and the main body 12, a pedestal capable of 360 ° horizontal turning is interposed. The main body 12 is provided with a suspension ring 15 for connecting suspension wires to appropriate portions on both the left and right sides one by one.

  An arm 14 extends from the main body 12 in one direction. The arm 14 includes a plurality of link members connected by a plurality of shafts, a plurality of hydraulic cylinders, and the like. The arm 14 can turn around each axis in a vertical plane and can expand and contract as a whole. A work attachment can be detachably attached to the tip of the arm 14. The work attachment can also be turned around its mounting location. In the present invention, the spray nozzle attachment 11 is mounted as a work attachment.

  The spray nozzle attachment 11 has a spray nozzle 11a that extends downward and has an opening at the lower end, and a mounting portion 11b that is attached to the tip of the arm 14, and the tip of the material hose 22 can be connected to the upper surface thereof. It is. The material M supplied by the material hose 22 is injected from the opening of the spray nozzle 11a. The position, height, inclination, and the like of the spray nozzle 11a with respect to the spray target surface are determined by the orientation and posture of the main body 12 and the arm 14, and can be adjusted by driving them.

  The illustrated example is a case where one material hose 22 is connected, but for example, a construction in which a solid material and a liquid material are sprayed using separate material hoses is also possible. The spray nozzle attachment 11 in that case has two spray nozzles 11a and is configured to be able to connect two material hoses.

  Further, the unmanned spraying work machine 1 can be provided with a camera 42 for monitoring the spraying work status. In the illustrated example, the camera 42 is attached to the upper surface of the main body 12. The camera 42 also has a wireless communication function, and transmits data to the control device 45 in FIG.

  Furthermore, the unmanned spraying work machine 1 can be provided with a sensor 43 for detecting the state of the spray layer. In the illustrated example, the sensor 43 is attached to the spray nozzle attachment 11. The sensor 43 also has a wireless communication function, and transmits data to the control device 45 in FIG.

  Further, when the power cable 24 shown in FIG. 1 is connected, a power connection 16 for that purpose is provided at an appropriate location of the unmanned spraying work machine 1.

FIG. 5 is a diagram schematically showing a second embodiment of the unmanned spraying system of the present invention.
The suspension device 3 includes a pair of suspension wires 32 and 32 each connected at one end to the unmanned spraying work machine 1 and a pair of suspension wires 32 and 32 at the tip of the boom with the main body disposed on a flat ground below the spray target surface 5. The other end of which is connected to the crane 36. Examples of the crane 36 include a self-propelled crane, a fixed crane, a cable crane, and the like.

FIG. 6 is a diagram schematically showing a third embodiment of the unmanned spraying system of the present invention.
The suspension device 3 includes a pair of suspension wires 32 and 32 each having one end connected to the unmanned spraying work machine 1, and a main body disposed on a flat ground below the spray target surface 5 and a pair of suspension wires 32 and 32 at the tip of the arm. The construction work machine 37 is connected to the other end of the machine. Here, the construction work machine 37 is, for example, a backhoe. Similar construction work machines other than backhoes can also be used.

  In the second and third embodiments of FIGS. 5 and 6, the length of the crane boom or the arm of the construction machine, the turning angle in the vertical plane and / or the horizontal plane is changed, and the object to be sprayed is changed. It can be applied to various places on the surface 5.

  FIG. 7 is a front view schematically showing a spray target surface to which the fourth embodiment of the unmanned spray system of the present invention is applied. FIG. 8 is a schematic side view of the spray target surface of FIG. 7.

  In 4th Example, the construction plant 2 similar to 1st Example shown in FIG.1 and FIG.2 is installed in the flat ground above the spraying object surface 5. FIG. Further, the suspension device 3 in the fourth embodiment is a pair of suspension wires 32, 32 each having one end connected to the unmanned spraying work machine 1 and the other end of which is installed on a flat ground above the spray target surface 5. The winches 31 are connected to the 31 respectively.

  In order to support the intermediate position of the wires 32 and 32 between the unmanned spraying work machine 1 and the pair of winches 31 and 31, an appropriate anchor body 34 and a wire support 35 are provided at a substantially top position of the spray target surface 5. is set up.

  As yet another embodiment, a construction work machine as shown in FIGS. 5 and 6 is installed as a suspension device on a flat ground above the surface to be sprayed, and the unmanned spraying work machine on the surface to be sprayed is suspended and supported. You can also.

DESCRIPTION OF SYMBOLS 1 Unmanned spraying work machine 11 Spray nozzle attachment 11a Spray nozzle 11b Attachment part 12 Main body 13 Crawler 14 Arm 15 Suspension ring 16 Power supply connection part 2 Construction plant 21 Pressure feeder 22 Material hose 23 Generator 24 Power cable 3 Suspension apparatus 31 Winch 32 Suspension Wire 34 Anchor body 35 Wire support 36 Crane 37 Construction work machine 41, 42 Camera 43 Sensor 45 Controller 5 Spray target surface 6 Spray layer

Claims (5)

An unmanned spraying system for unmanned spraying of spray material onto a spray target surface (5),
A crawler (13), a main body (12) installed above the crawler (13) so as to be horizontally rotatable, and an arm (14) extending from the main body (12) in one direction and capable of extending and retracting in a vertical plane; An unmanned spraying work machine (1) which has a spraying work attachment (11) which is attached to the tip of the arm (14) and has a spraying nozzle (11a) and which is remotely controlled;
A control device (45) for remotely controlling the operation of the unmanned spraying machine (1);
A pumping device (21) installed below or above the surface to be sprayed to pump the spray material;
A material hose (22) connected between the pumping device (21) and the spraying work attachment (11) in the unmanned spraying work machine (1);
A suspension device (3) having a pair of suspension wires (32, 32) each connected at one end to the unmanned spraying work machine (1) to suspend and support the unmanned spraying work machine (1) An unmanned spraying system characterized by that. The suspension device (3)
A pair of winches (31, 31) each of which is fixed at the other end of the pair of suspension wires (32, 32) and can wind up each suspension wire (32, 32);
A pair of wire supports (35, 35) that are respectively installed at at least approximately the top position of the spray target surface (5) and support intermediate positions of the pair of suspension wires (32, 32). The unmanned spraying system according to claim 1. The suspension device (3)
The crane (36) according to claim 1, further comprising a crane (36) having a main body disposed below or above the surface to be sprayed and having the other ends of the pair of suspension wires (32, 32) connected to the tip of the boom. Unmanned spray system. The suspension device (3)
The construction work machine (37) according to claim 1, further comprising: a construction work machine (37) having a main body disposed below or above the surface to be sprayed and having the other ends of the pair of suspension wires (32, 32) connected to the ends of the arms. The unmanned spraying system described. A camera (41, 42) and / or a sensor (43) for detecting the spraying work situation and / or the spraying layer state;
The unmanned spraying system according to any one of claims 1 to 4, wherein the data acquired by the camera (41, 42) and / or the sensor (43) is wirelessly transmitted to the control device (45). .

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