JP2020056277A - Construction work device and construction work method - Google Patents

Abstract

To provide a construction work device and a construction work method that can highly precisely conduct various construction works relative to the work target surface utilizing a robot arm by minimizing the influence of construction error occurred on a construction member.SOLUTION: A construction work device includes a multi-joint structure robot arm provided with an end effector used in construction finishing and an arm control device controlling a robot arm operation. The arm control device comprises: an arm operation command unit that operates the robot arm according to design information for a construction member with a work target surface defined, and the job file formed on the basis of work details executed to the work target surface; a construction error detection unit that detects a construction error relating to a position and an attitude for the construction member on the basis of the design information and the measurement data relating to a real surface shape; and a job file correction unit that corrects the job file on the basis of the construction error for the construction member detected by the construction error detection unit.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a construction work apparatus and a construction work method for performing a construction finishing work using a robot arm on a work target surface set on a surface of a building member.

  For example, when performing a spraying operation on a surface of a building member such as a column or a beam using a construction work robot, a spraying unit is employed for an end effector of the robot arm, and the spraying operation is performed by the operation of the robot arm. . Generally, a job file is used for the operation command of the robot arm, and information related to the trajectory of the robot arm is described in the job file based on the position information of the building member to be constructed obtained from the design information of the building. Is done.

  For this reason, if there is a construction error in the actual building member, the surface of the building member after the spraying operation tends to be left behind or uneven in the finish, which greatly affects the construction accuracy of the building finish. It can affect.

  In such a situation, for example, in Patent Document 1, in order to detect a construction error with respect to a protection target such as an underground buried object, a tip of a bucket provided in a backhoe is brought into contact with an actual protection target, and a tip of the toe at the time of contact is detected. A method is disclosed in which a difference is calculated based on the position coordinates and the position coordinates of the protection target in the three-dimensional design data, and when there is a difference between the two, the three-dimensional design data is corrected.

  Further, Patent Document 2 discloses a robot drilling device that drills a hole at a position specified by BIM data on a ceiling or a wall, and an electronic measuring device such as a laser total station is mounted on the device, and a real building and BIM data are compared with each other. It is disclosed that if there is a difference between the two, the actual building dimensions are reflected in the BIM data.

JP 2017-155563 A JP 2017-537808 A

  According to the method described in Patent Literature 1, when an object whose actual position is to be confirmed is a linear structure such as an underground pipe or a common ditch, the three-dimensional design data can be efficiently corrected. When the object has a large surface area, such as a beam or a wall, it takes a lot of trouble to detect the position and the posture.

  Patent Literature 2 discloses a concept of reflecting the dimensions of an actual building in BIM data, but does not disclose a specific method, but also describes the actual position of each building member of the building. It does not even take into account the detection of postures.

  The present invention has been made in view of the above problems, and a main object of the present invention is to minimize the influence of construction errors caused on building members by performing various works related to building finishing on a work target surface using a robot arm. It is an object of the present invention to provide a building work apparatus and a building work method that can be performed with a high degree of accuracy while keeping a minimum.

  In order to achieve the above object, a construction work apparatus according to the present invention is a construction work comprising: a multi-jointed robot arm having an end effector used for work related to building finishing; and an arm control device for controlling the operation of the robot arm. A work device, wherein the arm control device is configured to execute the robot according to a job file created based on design information of a building member on which a work target surface is set, and work contents to be performed on the work target surface. An arm operation command unit that operates an arm, a construction error detection unit that detects a construction error related to a position and a posture of the building member based on the design information and measurement data related to an actual surface shape; A job file correction unit that corrects the job file based on the construction error of the building member detected by the error detection unit. And wherein the door.

  The construction work device of the present invention is characterized in that the end effector is provided with spraying means for covering the work target surface with a spray material.

  The construction work method using the construction work device of the present invention is a construction work for detecting a construction error related to a position and a posture, based on the design information and the measurement data, for the building member on which the work target surface is set. An error detection step, a job file correction step of correcting the job file based on the construction error of the building member detected in the construction error detection step, and a job file correction step based on the job file corrected in the job file correction step. Operating the robot arm to perform a work related to architectural finishing on the work target surface.

  In the construction work method using the construction work device of the present invention, in the construction error detection step, based on the design information and the measurement data, a design three-dimensional shape model and an actual three-dimensional A shape model is created, a bounding box circumscribing each is set, and a construction error of the building member is detected using the two set bounding boxes.

  ADVANTAGE OF THE INVENTION According to the construction work apparatus and the construction work method of the present invention, for a building member such as a beam, a column, or a wall on which a work target surface is set, a construction error generated between design information and reality is detected, and The error is reflected in the job file used for the operation instruction of the robot arm. As a result, the operation of the robot arm can be made to correspond to the actual position and orientation of the building member on which the work target surface is set, and the work can be performed with high accuracy while minimizing the effect of construction errors of the building member. It becomes possible to carry out work related to architectural finishing on the target surface.

  In addition, since the construction error to be reflected in the job file for the building member on which the work surface is set affects not only the position but also the posture, if the spraying means is installed on the end effector of the robot arm, Accuracy concerning the positioning and direction of the spray start position, the end position, and the movement change position of the spray means is increased. Accordingly, even when the spraying operation is continuously performed on a wide range of work target surfaces, the remaining of the spraying and the unevenness of the spraying are less likely to occur, and the construction accuracy can be improved.

  Furthermore, since the construction error is detected only for the building member for which the work target surface is set, not for the entire building, the necessary measurement data is also necessary only for the vicinity including the actual building member where the work target surface is set, The measurement work and the work of detecting the construction error do not require much labor, so that the workability can be greatly improved, and it is possible to contribute to shortening the construction period and reducing the construction cost.

  In addition, when detecting a construction error for a building member on which a work target surface is set, based on the design information and the measurement data, a design three-dimensional shape model of the building member and a real three-dimensional shape model are determined. A bounding box may be created and circumscribed in each of the design and the actual three-dimensional shape model. Therefore, it is possible to automatically detect the construction error of the building member by a simple method without using a special image processing device.

  According to the present invention, a work target surface is set in order to detect a construction error related to a position and a posture of a building member on which a work target surface is set, and to reflect this in a job file used for an operation command of the robot arm. It is possible to minimize the effect of construction errors occurring on building members, and to perform a work related to building finishing on a work target surface using a robot arm with high accuracy.

It is a figure which shows a mode that the spraying operation | work is implemented by the construction work apparatus in this Embodiment. It is a figure which shows the construction work apparatus in the case where the spraying means is employ | adopted as an end effector in this Embodiment. It is a figure showing signs that a construction work device in this embodiment moves to the vicinity of a work object plane. It is a flowchart of the construction work method using the construction work apparatus in this Embodiment. It is a figure which shows the bounding box set to the actual three-dimensional shape model of the ceiling beam based on a point cloud model in this Embodiment. It is a figure which shows the bounding box set to the design three-dimensional shape model of the ceiling beam based on a BIM model in this Embodiment. It is a figure which shows the XY plane of the bounding box set to each of the actual and design three-dimensional shape model of a ceiling beam in this Embodiment. It is a figure which shows the image of the attitude | position error in the three-dimensional shape model (when extending in the X-axis direction) of the ceiling beam in this Embodiment. It is a figure which shows the image figure of the attitude | position error in the three-dimensional shape model (when extending in the Y-axis direction) of the ceiling beam in this Embodiment.

  The present invention relates to a construction work apparatus and a construction, which are particularly suitable for continuous work such as spraying when performing work related to building finishing using a robot arm on a work target surface set on a building member. Work method.

  In this embodiment, a ceiling beam is used as a building member constituting a building, and a spraying work is adopted as a building finishing work performed using a robot arm, and a work object set on the surface of the ceiling beam is adopted. The case where the surface is covered with a fireproof covering material will be described as an example, and the details of the building work apparatus and the building work method will be described below with reference to FIGS.

  As shown in FIG. 1, the construction work device 1 is a device for covering a work target surface 102 set on a surface of a ceiling beam 101 constituting a building 100 with a spray material C, as shown in FIG. 2. , A robot arm A, a traveling section B supporting the robot arm A, and an arm control device 6 mounted on the traveling section B.

  As shown in FIG. 2, the robot arm A includes a manipulator 3 having an articulated structure, and a spraying means 2 mounted as an end effector on a distal end portion of the manipulator 3. A gun head 21 for spraying C onto the work target surface 102 is provided at the tip of the body, and a connecting portion 22 to which a supply hose for the spray material C is connected is provided at the middle of the body.

  The manipulator 3 employs a six-axis articulated robot in the present embodiment, operates based on a job file 641 stored in an arm control device 6 described later, and is provided in the spraying means 2 by the operation. The position and orientation of the gun head 21 are controlled.

  The traveling section B supporting the robot arm A includes at least a base section 4 and a traveling carriage 5 on which the base section 4 is installed on an upper surface. The base part 4 rotatably supports the robot arm A within the upper surface thereof. The traveling carriage 5 includes at least traveling means 51 and an outrigger device 52, and can travel freely on the floor of the building 100. Has a structure that allows the building work apparatus 1 to be installed at a predetermined position.

  Further, the traveling carriage 5 is provided with an arm control device 6, which is a so-called notebook computer or tablet having an arithmetic processing device 61, an input unit 62, an output unit 63, a storage unit 64, and the like. It is a terminal device such as a terminal.

  The arithmetic processing device 61 is a computer having a CPU, a GPU, a ROM, a RAM, a hardware interface, and the like. After the construction work device 1 is installed at a predetermined position, the construction work device 1 blows onto the work target surface 102 using the robot arm A. An arm operation command unit 611 that functions as a control panel that controls the robot arm A based on the job file 641 when performing the attaching operation is provided. Although details will be described later, the image processing apparatus includes a construction error detection unit 612 and a job file correction unit 613.

  The input unit 62 is an input device such as a switch and a keyboard, and the output unit 63 is an output device such as a display for displaying a screen. The storage unit 64 is a storage device including a semiconductor memory or a hard disk drive or the like. The storage unit 64 stores a program executable by the arithmetic processing unit 61 and stores at least a job file 641 used for an operation instruction of the robot arm A. BIM data of the building 100 is stored.

  The BIM data is data that stores design information such as a design drawing of the building 100 and is used to reproduce a three-dimensional model of the building 100 on a computer. For details of the traveling unit B of the construction work apparatus 1, refer to, for example, the traveling unit provided in the spraying device of Japanese Patent Application No. 2018-146172.

  The construction work apparatus 1 having the above configuration sets the center of gravity of the traveling section B in a plan view as the home position P of the robot arm A, and when the robot arm A is located at the home position P at the time of evacuation, FIG. Is arranged in a robot station S installed indoors of the building 100 as shown by.

  Then, at the start of the spraying operation, the construction work apparatus 1 is caused to travel from the robot station S to the target position G set near the work target surface 102 via the traveling means 51. In addition, the direction is changed so that the traveling direction becomes the target direction in the vicinity of the target position G, and positioning is performed within an allowable value range centering on the target position G. As shown in FIG. 2, the construction work apparatus 1 positioned at the predetermined position is installed by the outrigger device 52 and has a height such that the base portion 4 supporting the robot arm A is disposed at a predetermined height position. Is adjusted.

  Thereafter, the robot arm A activates the manipulator 3 with reference to the position of the traveling section B in plan view, the traveling direction at the time of stopping, the attitude angle, and the height position of the base section 4. The ceiling material 101 is covered with the spray material C by spraying the spray material.

  The spraying operation by the robot arm A is performed by operating the manipulator 3 according to an operation instruction by the arm operation command unit 611 provided in the arithmetic processing unit 61 of the arm control device 6 described above, and the gun head 21 of the spraying unit 2 is operated. Is set at a predetermined spraying start position, while maintaining the orientation and the distance to the work target surface 102.

  Also, from this set position, the manipulator 3 is operated in response to an operation instruction from the arm operation command unit 611, and discharges the spray material C while moving the gun head 21 of the spray means 2 at least in the horizontal and vertical directions. The spraying operation is continuously performed on the work surface 102 over a wide range.

  Such an operation instruction to the manipulator 3 by the arm operation instruction unit 611 is performed based on the job file 641 described above. The job file 641 is composed of some position coordinates of the robot arm A on a planned trajectory, and a robot programming language in which a complementing method for complementing the position coordinates is described. In the present embodiment, since the spraying operation is performed, at least the job file 641 also describes information on the direction of the gun head 21 of the spraying unit 2 at the time of the spraying operation, in addition to the above information.

  Accordingly, in the arithmetic processing unit 61 of the arm control device 6, when the arm operation command unit 611 reads the job file 641 stored in the storage unit 64, the manipulator 3 sets the gun head 21 of the spraying unit 2 to the job file 641. It operates so as to move between the position coordinates specified in the job file 641 while discharging the spraying material in a straight line or an arc in a spraying direction such as upward, downward, or horizontal.

  By the way, information relating to a plurality of position coordinates on the planned trajectory of the robot arm A and the direction of the gun head 21 described in the job file 641 is based on the design information stored in the BIM data of the building 100 described above. Is set. Note that the plurality of position coordinates on the planned orbit of the robot arm A include, for example, a spraying start position, a movement change point such as a lateral movement (horizontal movement) or a vertical movement (vertical movement), and a spraying end position. Indicates position coordinates.

  For this reason, when the actual ceiling beam 101 having the work target surface 102 has a construction error in the position or posture between the ceiling beam 101 and the design information stored in the BIM data as shown in FIG. Blowing remains due to misalignment of the start position or the blowing end position, and unevenness in spraying due to inconsistency in the distance or spray direction between the gun head 21 and the work surface 102.

  Therefore, the arithmetic processing unit 61 of the arm control device 6 includes the above-described construction error detection unit 612, and performs the construction error (the position error and the posture error of the center of gravity) regarding the position and posture of the center of gravity of the ceiling beam 101 including the work surface 102. Is detected. Although details will be described later, the construction error detection unit 612 includes a measurement data processing unit 6121, a design information processing unit 6122, and an error calculation unit 6123.

  Further, the arithmetic processing device 61 of the arm control device 6 includes a job file correction unit 613, and the job file correction unit 613 converts the job file 641 according to the numerical value of the construction error detected by the construction error detection unit 612. Fix it.

建築 Construction work method using construction work equipment≫
The details of the construction work method including the procedure for modifying the job file 641 using the construction work device 1 described above are described in the case where the work surface 102 set on the ceiling beam 101 is covered with the spray material C. And will be described along the flow of FIG.

{Specification of building member having work target surface: STEP 1}
First, in the building 100, the ceiling beam 101 on which the work target surface 102 is to be set is specified by the spraying means 2 provided in the robot arm A.

  In the next construction error detection step, measurement data relating to the actual surface shape of the specified ceiling beam 101 is acquired to create an actual three-dimensional shape model of the ceiling beam 101, and a bounding box as shown in FIG. In addition to setting Bp, a design three-dimensional shape model of the ceiling beam 101 is created based on the design information of the BIM data, and a bounding box Bb as shown in FIG. 6 is set. Then, using these two bounding boxes Bp and Bb, a construction error relating to the position and orientation of the ceiling beam 101 is calculated.

  Hereinafter, the bounding box Bp set in the actual three-dimensional shape model of the ceiling beam 101 is referred to as the actual bounding box Bp. The bounding box Bb set in the designed three-dimensional shape model of the ceiling beam 101 is referred to as a designed bounding box Bb.

  The bounding boxes Bp and Bb represent the minimum lengths of the three-dimensional shape model of the ceiling beam 101 in the X-axis, Y-axis, and Z-axis directions on the world coordinate system in a rectangular parallelepiped shape. Refers to a box sized to circumscribe the shape model.

  Accordingly, the three-dimensional shape model of the ceiling beam 101 based on the design information of the BIM data shown in FIG. 6 has a beam length parallel to the X axis, a beam width parallel to the Y axis, and a beam configuration parallel to the Z axis. For this reason, the design bounding box Bb is set to a size along the outer shape of the three-dimensional shape model. On the other hand, the three-dimensional shape model of the ceiling beam 101 based on the measurement data shown in FIG. 5 does not have a plane parallel to any of the X axis, the Y axis, and the Z axis. For this reason, the actual bounding box Bp only circumscribes the three-dimensional shape model and does not follow the outer shape, and the size and shape are different from the design bounding box Bb.

{Construction error detection process: STEP2-11}
<Processing of building members based on measurement data: STEPs 2 to 5>
After a plurality of measurement points are set in advance on the surface of the ceiling beam 101 and its periphery, the position of each measurement point is measured by the point cloud model creation device to obtain point cloud data. Next, a point cloud model relating to the surface shape of the ceiling beam 101 is created from the plurality of measurement points. If any members are attached to the ceiling beam 101, measurement points are set together with these attached members to create a point cloud model, and the created point cloud model is stored in the storage unit of the arm control device 6. 64.

  The position of the measurement point is a world that defines the entire three-dimensional space on the arm control device 6 that has an origin set at a predetermined position, has an X axis and a Y axis in the horizontal direction, and has a Z axis in the vertical direction. By expressing on the coordinate system, the point cloud model can be created on the world coordinate system as an actual three-dimensional shape model.

  For a point cloud model creating apparatus and method for outputting the surface shape of the ceiling beam 101 as a point cloud model composed of point cloud data on the world coordinate system, see, for example, JP-A-2017-150977. .

  Next, the measurement data processing unit 6121 of the arithmetic processing unit 61 performs the following processing on the point cloud model of the work peripheral region including the ceiling beam 101 stored in the storage unit 64.

  First, noise processing for removing point cloud data other than the ceiling beam 101 from the point cloud model of the work peripheral area including the ceiling beam 101 is performed, and a point cloud model of only the ceiling beam 101 is created. At this time, if an additional member is present on the ceiling beam 101, the point cloud data relating to the additional member is also removed by noise processing.

  Next, a bounding box Bp as shown in FIGS. 5 and 7 is set for the point group model of only the ceiling beam 101 (the actual three-dimensional shape model of the ceiling beam 101), and The center of gravity (xp, yp, zp) and the distance (Xp, Yp, Zp) in three directions between the vertices, that is, the box size, are acquired and stored in the storage unit 64 of the arm control device 6.

<Processing of building members based on design information: STEPs 6 to 8>
For the ceiling beam 101 specified in STEP 1, the following processing is performed by the design information processing unit 6122 of the arithmetic processing unit 61 using the BIM data stored in the storage unit 64.

  First, three-dimensional shape data of the work peripheral area including the ceiling beam 101 is extracted from the design information of the building 100 stored in the BIM data, and a BIM model is created as a three-dimensional shape model in design. At this time, similarly to the case where the point cloud model is created, if any members are attached to the ceiling beam 101, these attached members are set together with measurement points to create a BIM model, and the created BIM model is created. The model is stored in the storage unit 64 of the arm control device 6.

  Next, noise processing is performed to remove design information other than the ceiling beam 101 from the BIM model in the work peripheral area including the ceiling beam 101, and a BIM model of only the ceiling beam 101 is created. At this time, if the additional member is present on the ceiling beam 101, the design information on the additional member is also removed by noise processing.

  Thereafter, a bounding box Bb as shown in FIGS. 6 and 7 is set for the BIM model of only the ceiling beam 101 (designed three-dimensional shape model of the ceiling beam 101), and the design of the bounding box Bb is performed. , The center of gravity (xb, yb, zb), and the distance (Xb, Yb, Zb) in three directions between the vertices, that is, the box size, and store them in the storage unit 64 of the arm control device 6.

  Using the position coordinates and box size of the center of gravity of the two bounding boxes Bp and Bb in reality and design stored in the storage unit 64 of the arm control device 6, the error calculation unit 6123 of the arithmetic processing device 61 The construction error of the ceiling beam 101 is calculated as follows.

<Calculation of construction error of building member: STEP9>
The position error (Δx, Δy, Δz) of the center of gravity among the construction errors of the ceiling beam 101 is as follows, considering the center of gravity of each of the two bounding boxes Bp and Bb in reality and design as the center of gravity of the ceiling beam 101. It is calculated by the following equations (1) to (3). The calculated position error (Δx, Δy, Δz) of the center of gravity of the ceiling beam 101 is stored in the storage unit 64 of the arm control device 6.

<Examination of Necessity of Calculation of Posture Error: STEP10>
Next, the box size of the two bounding boxes Bp and Bb in actuality and design is compared, and the necessity of calculating the posture error in the ceiling beam 101 is examined.

  Specifically, the storage unit 64 of the arm control device 6 previously stores an allowable value when there is a difference between the box sizes of the actual and the design bounding boxes Bp and Bb. Note that the allowable value for the box size may be appropriately determined according to the size of the ceiling beam 101, the work to be performed using the robot arm A, the accuracy required for the finished product, and the like.

  Then, the actual distance (Xp, Yp, Zp) of the bounding box Bp in three directions is compared with the actual distance (Xb, Yb, Zb) of the designed bounding box Bb. If not, it is determined that there is no posture error, and the step of calculating the posture error is omitted. Further, even when there is a difference, if the difference falls within the above-described allowable value, it is determined that the calculation of the posture error is unnecessary, and the step of calculating the posture error is omitted.

  On the other hand, if there is a difference between the two and the difference exceeds the above-mentioned allowable value, it is determined that the calculation of the posture error is necessary, and the calculation is performed according to the following procedure.

<Calculation of posture error: STEP 11>
Prior to describing the method of calculating the attitude error of the ceiling beam 101, an image of the attitude error will be described below using a three-dimensional shape model of the ceiling beam 101 on the world coordinate system shown in FIG.

  8A, the three-dimensional shape model of the ceiling beam 101 has a posture in which the beam length is parallel to the X axis, the beam width is parallel to the Y axis, and the beam structure is parallel to the Z axis. Reference numeral 101 denotes a state in which no posture error has occurred. On the other hand, when the posture of the ceiling beam 101 is displaced in the vertical direction, the inner angle between the axis O and the X axis of the three-dimensional model of the ceiling beam 101 on the XZ plane as shown in FIG. Rotation around).

  Further, if the posture shift occurs in the horizontal direction, the inner angle between the axis O and the X axis of the three-dimensional shape model of the ceiling beam 101 on the XY plane as shown in FIG. Rotation). Further, if a posture shift due to rotation (upward or downward) occurs, the center of the beam forming direction passing through the axis O of the three-dimensional shape model of the ceiling beam 101 on the YZ plane as shown in FIG. The internal angle between the line and the Z axis is Δθ (rotation around the X axis).

  As described above, each of the bounding boxes Bp and Bb is a rectangular parallelepiped representing the minimum length in the X-axis, Y-axis, and Z-axis directions of the three-dimensional shape model on the world coordinate system. Therefore, for example, the interior angle between the diagonal line of the actual bounding box Bp and the X axis on the XY plane as shown in FIG. It is regarded as an internal angle ΔΨ between the axis O and the X axis, and this is regarded as a horizontal error.

  Similarly, the interior angle between the diagonal line of the actual bounding box Bp and the X-axis on the XZ plane is defined as the angle between the axis O and the X-axis of the three-dimensional model of the ceiling beam 101 in the case where the posture shift occurs in the vertical direction. It is regarded as the inner angle Δφ, and this is regarded as a vertical error. Further, the inner angle between the diagonal line of the actual bounding box Bp and the Z axis on the ZY plane is set to the beam forming direction passing through the axis O of the three-dimensional shape model of the ceiling beam 101 in the case where the rotation posture shift occurs. It is regarded as an internal angle Δθ between the center line and the Z axis, and this is regarded as a rotation error.

  Then, the posture errors (Δθ, Δφ, ΔΨ) among the construction errors of the ceiling beam 101 extending in the X-axis direction can be calculated by the following equations (4) to (6). The calculated attitude error is stored in the storage unit 64 of the arm control device 6.

  Also, as shown in FIG. 9, the case where the axis O of the three-dimensional shape model of the ceiling beam 101 extends in the Y-axis direction on the world coordinate system is as follows. That is, as shown in FIG. 9A, the three-dimensional shape model of the ceiling beam 101 has a posture in which the beam width is parallel to the X axis, the beam length is parallel to the Y axis, and the beam structure is parallel to the Z axis. The ceiling beam 101 is in a state where no posture error occurs.

  On the other hand, if a posture shift due to rotation (upward or downward) occurs, the center of the beam forming direction passing through the axis O of the three-dimensional shape model of the ceiling beam 101 on the XZ plane as shown in FIG. The internal angle between the line and the Z axis is Δφ (rotation around the Y axis). Also, if the posture shift occurs in the horizontal direction, the inner angle between the axis O and the Y axis of the three-dimensional shape model of the ceiling beam 101 on the XY plane as shown in FIG. Rotation). Further, if the posture shift occurs in the vertical direction, the inner angle between the axis O and the Y axis of the three-dimensional shape model of the ceiling beam 101 on the YZ plane as shown in FIG. Rotation).

  Therefore, the inner angle between the diagonal line of the actual bounding box Bp and the Z axis on the XZ plane is set to the beam forming direction passing through the axis O of the three-dimensional shape model of the ceiling beam 101 in the case where the rotational posture shift occurs. It is regarded as an inner angle Δφ between the center line and the Z axis, and this is regarded as a rotation error.

  Similarly, the interior angle between the diagonal line of the actual bounding box Bp and the Y axis on the XY plane is determined by using the axis O and the Y axis of the three-dimensional shape model of the ceiling beam 101 in the case where the attitude shift occurs in the horizontal direction. It is regarded as an internal angle ΔΨ, and this is regarded as a vertical error. Also, the interior angle between the diagonal line of the actual bounding box Bp and the Y axis on the YZ plane is defined as the interior angle between the axis O and the Y axis of the three-dimensional shape model of the ceiling beam 101 when the attitude shift occurs in the vertical direction. Δθ, which is regarded as a horizontal error.

  Then, the posture errors (Δθ, Δφ, ΔΨ) among the construction errors of the ceiling beam 101 extending in the Y-axis direction can be calculated by the following equations (7) to (9).

{Job file modification process: STEP12-13}
Next, the job file correction unit 613 of the arithmetic processing unit 61 performs the following processing based on the construction error of the ceiling beam 101 stored in the storage unit 64.

  First, regarding the position error of the center of gravity, an allowable value relating to the position error (Δx, Δy, Δz) of the center of gravity of the ceiling beam 101 is stored in the storage unit 64 of the arm control device 6 in advance, and the above-described construction error detection step is performed. Compare the result calculated with the allowable value. Note that the allowable value relating to the center of gravity may be appropriately determined according to the size of the ceiling beam 101, the content of the work to be performed using the robot arm A, the accuracy required for the finished shape, and the like.

  When the position error of the center of gravity falls within the allowable value, the correction of the job file 641 relating to the position coordinates of the center of gravity is omitted. On the other hand, if the position error of the center of gravity exceeds the allowable value, the job file 641 is corrected based on the position error of the center of gravity of the ceiling beam 101 calculated in the above procedure.

  Next, regarding the posture error, it is confirmed whether or not the calculated value of the posture error calculated in the above-described construction error detection step exists in the storage unit 64 of the arm control device 6. The modification of the job file 641 according to the above is omitted.

  On the other hand, if there is a calculated value of the posture error, the job file 641 is corrected based on the posture error in the ceiling beam 101 calculated in the above procedure. The correction of the job file 641 is, for example, a correction of a plurality of position coordinates on the planned trajectory of the robot arm A and information relating to the direction of the gun head 21 of the spraying means 2 at the time of spraying work.

<< Work execution process by robot arm: STEP14 >>
Thereafter, the work of spraying the ceiling beam 101 by the construction work device 1 is started. That is, the construction work device 1 is installed at the target position G set near the work target surface 102 in the above-described procedure, and the manipulator 3 is operated by the arm operation command unit 611 provided in the arithmetic processing device 61 of the arm control device 6. The operation is performed based on the corrected job file 641 stored in the storage unit 64.

  The work of installing the construction work apparatus 1 at the target position G set near the work target surface 102 is performed, for example, after completing the construction error detection process (STEPs 2 to 11) and the job file correction process (STEPs 12 to 13). It may be performed, or may be performed at any time before or after the work (STEP 1) for specifying the ceiling beam 101 on which the work target surface 102 is set from the building 100.

  Alternatively, the function of creating the point cloud model mounted on the above-described point cloud model creating apparatus is mounted on the construction work apparatus 1, and the building work apparatus 1 is moved toward the vicinity of the work target surface 102, and the ceiling work is performed. While measuring the surface shape of the beam 101 (STEP 2), a subsequent construction error detection step (STEP 3 to 11) and a job file correction step (STEP 12 to 13) may be performed. In this way, the construction work method can be substantially automated, and it is possible to greatly reduce the labor required for the work related to the construction finishing.

  Further, when there are a plurality of ceiling beams 101 on which the work target surface 102 is set, the spraying operation by the robot arm A may be started after correcting the job file 641 for all the plurality of ceiling beams 101, A series of operations from detection of a construction error to execution of a spraying operation may be performed for each of the plurality of ceiling beams 101, and this may be repeatedly performed.

  According to the construction work apparatus 1 and the construction work method of the present invention, for the ceiling beam 101 on which the work target surface 102 is set, the construction error related to the position and orientation generated between the real and the design information is detected. The construction error is reflected in the job file 641 used for the operation command of the robot arm A. Thereby, the operation of the robot arm A can be made to correspond to the actual position and posture of the ceiling beam 101 on which the work target surface 102 is set, and the effect of the construction error of the ceiling beam 101 is minimized. It is possible to perform the spraying operation on the work target surface 102 with high accuracy.

  In addition, since the construction error relating to the posture error as well as the position error of the center of gravity of the ceiling beam 101 is reflected in the job file 641, when the spraying means 2 is installed in the robot arm A, the spraying means for the work target surface 102 The accuracy related to the position setting and direction of the spray start position, the end position, and the movement change position of No. 2 is improved. Accordingly, even when the spraying operation is continuously performed on a wide range of the work target surface 102, the remaining of the spraying and the unevenness of the spraying are less likely to occur, and the construction accuracy can be improved.

  Furthermore, since the construction error is detected only for the ceiling beam 101 on which the work surface 102 is set, not on the entire building 100, the necessary measurement data is also included in the surrounding area including the actual ceiling beam 101 on which the work surface 102 is set. Only need. For this reason, there is no need for a great deal of labor in the measurement work and the work of detecting the construction error, and the workability can be greatly improved, and it is possible to contribute to shortening the construction period and the construction cost.

  In addition, when a construction error is detected for the ceiling beam 101 on which the work target surface 102 is set, a design three-dimensional shape model of the ceiling beam 101 and an actual three-dimensional model are determined based on the design information and the measurement data. A shape model may be created, and bounding boxes Bb and Bp circumscribing the design and the actual three-dimensional shape model may be set. Therefore, the construction error of the ceiling beam 101 can be calculated by a simple method without using a special image processing device.

  The construction work device 1 and the construction work method using the construction work device 1 of the present invention are not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

  For example, in the present embodiment, the ceiling beam 101 has been described as an example of the building member on which the work target surface 102 is set, but any building member such as a wall or a pillar floor may be used. Further, the spraying means 2 is employed for the end effector, and the spraying operation is performed by the robot arm A. However, the spraying operation is not necessarily limited to this. Any means can be adopted for the end effector.

  Further, in the present embodiment, the actual surface shape of the ceiling beam 101 is measured by the point cloud model creating apparatus. However, the present invention is not limited to this, and any measuring method that can obtain three-dimensional shape data may be used. Any means such as a measurement sensor may be employed. Similarly, the BIM data is used as the design information of the building 100 having the work surface 102, but any digital data such as 3D CAD data may be used.

  Further, in the present embodiment, only one robot arm A is mounted on the traveling unit B, but a configuration may be employed in which a plurality of robot arms A are mounted and the job file 641 used for each operation command is modified.

  Further, the control function of the traveling section B for moving and installing the construction work apparatus 1 near the work target surface 102 and the function of adjusting the height of the base section 4 supporting the robot arm A are provided by the arm control apparatus 6. It may be provided together as a control unit, or may be separately provided in the construction work apparatus 1, and when the construction work apparatus 1 is manually moved, it is not always necessary to provide the control function.

1 construction work equipment 2 spraying means (end effector)
3 Manipulator 4 Base Unit 5 Traveling Cart 51 Running Means 52 Outrigger Device 6 Arm Control Device 61 Arithmetic Processing Device 611 Arm Operation Command Unit 612 Execution Error Detection Unit 6121 Measurement Data Processing Unit 6122 Design Information Processing Unit 6123 Error Calculation Unit 613 Job File Correction Unit 62 Input unit 63 Output unit 64 Storage unit 641 Job file A Robot arm B Running unit C Fireproof coating (spraying material)
P Home position S Robot station Bb Designed bounding box Bp Actual bounding box O Axis of 3D model

Claims (4)

An architectural work device including an articulated robot arm having an end effector used for work related to architectural finishing, and an arm control device for controlling the operation of the robot arm,
The arm control device,
An arm operation command unit that operates the robot arm according to a job file created based on the design information of the building member in which the work target surface is set and the work content to be performed on the work target surface,
For the building member, a construction error detection unit that detects a construction error related to the position and orientation based on the design information and measurement data related to the actual surface shape,
A job file correction unit that corrects the job file based on the construction error of the building member detected by the construction error detection unit;
A construction work device comprising: The construction work device according to claim 1,
A construction work device, wherein the end effector is provided with spray means for covering the work surface with a spray material. A construction work method using the construction work device according to claim 1 or 2,
For the building member on which the work target surface is set, based on the design information and the measurement data, a construction error detection step of detecting a construction error related to a position and a posture,
A job file modification step of modifying the job file based on the construction error of the building member detected in the construction error detection step,
An operation performing step of operating the robot arm based on the job file corrected in the job file correcting step, and performing a work related to building finishing on the work target surface;
A construction work method comprising: The construction work method according to claim 3,
In the construction error detection step, based on the design information and the measurement data, a designed three-dimensional shape model and an actual three-dimensional shape model of the building member are created, and bounding boxes circumscribing each other. And set
A construction work method comprising: detecting a construction error of the building member using two set bounding boxes.