JP2022188607A - Slope spraying construction method and spraying machine - Google Patents

Abstract

To provide a slope spraying construction method and a spraying machine capable of mechanically carrying out spraying work and accurately spraying a spraying material on the surface of the slope in a uniform thickness, not using a spraying device made to order.SOLUTION: The present invention is implemented in combination with a metrology machine (M). An attachment (1) is attached to a vehicle. The attachment (1) comprises a plate-like member (2) movable in the longitudinal direction and extending in an orthogonal direction, and a spray nozzle (3) movable along the plate-like member (2). The spray nozzle (3) is moved following the surface shape of the slope. When the nozzle is moved, the attachment (1) is extended and contracted, and the attachment (1) is rocked. Either, a movement of the plate-like member (2) in the longitudinal direction of the attachment (1), a movement of the spray nozzle (3) along the plate-like member (2), a rotation of the plate-like member (2) about the rotation center extending in the longitudinal direction of the attachment (1) or in a direction parallel thereto, or a rotation of the spray nozzle (3) is executed.SELECTED DRAWING: Figure 2

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a slope spraying method for spraying a spraying material onto a slope surface and a spraying machine used for the method.

The slope spraying method, in which the spraying material is sprayed onto the uneven surface of the slope, was often carried out by a worker holding a spraying nozzle and spraying the spraying material onto a predetermined location (manual work). .
Manual spraying involves the risk of falling and other dangers, and since the spraying nozzle must be gripped manually, the operator is exposed to danger when the hose is clogged. Furthermore, there is a problem that work efficiency is low (for example, work area per worker is 100 m ² /day).
On the other hand, if the spraying work is carried out using a machine, the work efficiency is greatly improved compared to the manual work. And the danger to workers is reduced.
Therefore, a self-propelled slope spraying device (for example, Patent Document 1) has been proposed.

However, the slope spraying device (Patent Document 1) is sometimes manufactured by so-called "one-piece production", and when it is one-piece production, the price is high, and there is a problem that the introduction cost rises. .
In addition, the outriggers of the vehicle must be extended in order to fix the device during the spraying work, and the fixing work by the outriggers takes time.
In addition, since the position of the spray nozzle and the degree of freedom in the spray direction are low, it has been difficult to spray the spray material with a uniform thickness on the slope surface with large unevenness.

On the other hand, using a commercially available measurement device that irradiates laser light, the uneven shape of the slope surface to be constructed is measured using laser light, and the spraying condition and spray thickness on the target slope are confirmed in real time. A technique for doing so has been proposed (see Patent Document 2).
However, during the spraying work, the sprayed material blocks the laser light for measurement, so it is difficult to check the spraying condition and spray thickness on the target slope in real time from the measurement results of the measuring device. there were.

Japanese Patent No. 6454123 JP 2017-197942 A

The present invention has been proposed in view of the above-mentioned problems of the prior art. It is possible to carry out the spraying work by machine, and it is possible to measure the spraying condition and the spraying thickness of the target slope in real time from the measurement results of the measuring device. To provide a slope spraying construction method and a spraying machine capable of accurately spraying a spraying material on the surface of the slope with a uniform thickness by confirming the above.

The slope spraying method of the present invention is
attaching the attachment (1) to a vehicle (30: including a machine traveling by a track belt);
The attachment (1) is extendable in the longitudinal direction (axial direction) of the attachment (1), and extends in the longitudinal direction of the attachment and in a direction perpendicular to the longitudinal direction (lateral direction); Equipped with a spray nozzle (3) movable along the plate-like member (2),
A step of irradiating a laser beam (L) from a measuring device (M) onto an area (slope F or a partial area LA thereof) to be sprayed;
A nozzle moving step of moving the spray nozzle (3) following the surface shape of the slope (F),
In the nozzle moving process,
A step of extending and contracting the attachment (1) in the longitudinal direction (axial direction);
a step of moving the plate-like member (2) in the longitudinal direction of the attachment (1);
a step of moving the spray nozzle (3) along the plate-like member (2);
swinging the attachment (1);
a step of rotating (including swinging and/or rotating) the plate-like member (2) (with respect to the longitudinal direction of the attachment (1) or a center of rotation extending parallel to the longitudinal direction);
rotating (including swinging and/or rotating) the spray nozzle (3) (including rotating the spray nozzle 3 with respect to the plate member 2); ,
The spray nozzle (3) moves (for example, reciprocates) the same route so that it passes the same spray position multiple times (for example, four times), and sprays (the required amount) to the same position. A step of spraying in multiple times (for example, 4 times);
When the moving spray nozzle (3) is spraying the spray material at a certain point (point δ), the measuring device ( It is characterized by having a step of measuring (or observing) by M).

In the slope spraying method of the present invention,
It is preferable to include a step of creating video data (for example, a 3D map) including position information of individual regions (places: areas) of the slope to be sprayed with the spray material based on the measurement results of the measuring device (M).
Then, the process to be executed in the nozzle moving process is determined based on the image data, and the operator can confirm the condition of the area to be sprayed with the spray material and the spray thickness in the spraying machine (100). is preferred.

In addition, in the slope spraying method of the present invention,
If the location where the spray material is to be sprayed is located below the highest point of the boom (31) provided on the vehicle (30: including machines traveling by track belts, such as backhoes), said attachment Without attaching (1), a spray nozzle (3) is attached to the tip of the boom (31) provided on the vehicle (30) on the opposite side of the vehicle (30), and the boom (31) is moved while moving. Spraying a spraying material from a spraying nozzle (3),
If the location where the spraying material is sprayed is higher than the highest point of the boom (31) provided on the vehicle (30: including machines traveling by track belt), the boom (31) provided on the vehicle (30). It is preferable to attach the attachment (1) to the end of the boom (31) opposite to the vehicle (30).
Furthermore, in the slope spraying method of the present invention,
A spraying material supply system (20) for supplying the spraying material to the spraying nozzle side is provided with a spraying solidifying material pump (21: for example, a concrete pump), and the spraying solidifying material pump (21) is mounted on a movable carriage (22). is placed,
(In order to avoid the construction range being limited to the pumping distance as much as possible) When spraying the spraying material from the spraying nozzle (3), the carriage (22) is placed near the spraying nozzle (3). ).

The spraying machine (100) of the present invention comprises:
Attachment (1) with attachment-side connection means (4) for attachment to and/or detachment from a boom (31) provided on a vehicle (30: including machines traveling by track belt) with
The attachment (1) is
It has a first member (1-1: vehicle side member) and a second member (1-2: spray nozzle side member) having the longest shape, and the second member (1-2) is the first It is configured to be extendable and contractible in the longitudinal direction by sliding on the member (1-1) of
A plate-like member (2) that is movable in the longitudinal direction of the second member (1-2: spraying nozzle side member) and extends in a direction perpendicular to the longitudinal direction (lateral direction); 2) a lateral movement member (5) for moving the spray nozzle (3) along;
a first rotating member (6) for rotating the plate-like member (2) about a rotation center extending in the longitudinal direction of the second member (1-2: spray nozzle side member);
A second rotating member (7) for rotating the spray nozzle (3) (including rotating the spray nozzle 3 with respect to the plate member 2),
The vehicle (30) is provided with a vehicle-side rocking member (8) for rocking the first member (1-1: vehicle-side member),
Used in combination with a measuring device (M),
The spraying nozzle (3) moves (for example, reciprocates) along the same route so as to pass the same spraying position a plurality of times (for example, four times), and sprays (a required amount) to the same location. It has a function to spray multiple times (for example, 4 times),
It is used in combination with a measuring device (M) that irradiates a laser beam (L) on the area (slope F or its partial area LA) where the spraying operation is to be performed, and the measuring device (M) is the spraying nozzle during movement. When (3) is spraying the spray material at a certain point (point δ), it has a function of measuring (or observing) the point (point α) where the spray material was sprayed immediately before that point in time. It is characterized by

The spraying machine (100) of the present invention includes a control device (CU: for example, a control panel on the spraying machine side, a PC, etc.),
The control unit (CU) is
a function of sliding the second member (1-2) on the first member (1-1) to expand and contract the longitudinal dimension of the attachment (1);
A function of moving the plate-like member (2) extending in the orthogonal direction (lateral direction) to a target position in the longitudinal direction of the second member (1-2);
a function of driving the lateral movement member (5) to move the spray nozzle (3) along the plate member (2);
a function of rotating the plate-like member (2) around the center of rotation extending in the longitudinal direction or parallel to the second member (1-2) by the first rotating member (6);
A function of rotating the spray nozzle (3) by the second rotating member (7) (including rotating the spray nozzle 3 with respect to the plate member 2);
It is preferable to have a function of actuating a vehicle-side swinging member (8) provided on the vehicle (30) to swing the first member (1-1).

In the spraying machine (100) of the present invention,
The measurement device (M) (or its control device MCU) creates image data (for example, a 3D map) containing positional information of individual regions (areas) of the slope on which the spray material is to be sprayed based on the measurement results. have the function
The control unit (CU) (of the spraying machine 100) expands or contracts the longitudinal dimension of the attachment (1), adjusts the length of the plate-like member (2) based on the image data created by the measuring device (M). movement of the second member (1-2) to the target position in the longitudinal direction, movement of the spray nozzle (3) along the plate-shaped member (2) by the lateral movement member (5), Rotation of the plate member (2) by the rotation member (6), rotation of the spray nozzle (3) by the second rotation member (7), and rotation of the vehicle-side swing member (8) to the first preferably has a function of executing the swinging of the member (1-1).
Then, the control unit (CU) (of the spraying machine 100) confirms the condition of the area where the spraying material should be sprayed (by the operator) and the spraying thickness in the spraying machine (100) based on the video data. It is preferable to have a function that enables
Further, in the spraying machine (100) of the present invention,
A spraying material supply system (20) for supplying the spraying material to the spraying nozzle side,
The spraying material supply system (20) is interposed with a spraying solidifying material pump (21: for example, a concrete pump),
In order to shorten the distance between the spraying nozzle (3) and the spraying solidifying material pump (21) when spraying the spraying material from the spraying nozzle (3), the spraying solidifying material pump (21) is moved. It is preferably mounted on a possible carriage (22).

According to the present invention having the above-described configuration, the spraying work can be performed by machine without relying on human labor.
In addition, by attaching the attachment (1) to the boom (31) of an existing vehicle (30) having a boom (31), the spraying device (100) can be prepared without manufacturing a single item, which reduces construction costs. is saved.
By appropriately selecting the vehicle (30) to which the attachment (1) is to be attached and selecting the vehicle (30) corresponding to the construction height of the spraying work, the construction range is not limited.
Similarly, by selecting an appropriate operation, it is possible to omit the fixing operation by projecting outriggers of the vehicle.
Then, a large amount of spraying material can be sprayed onto the slope (F) to be constructed.

In addition, according to the present invention, the spray nozzle (3) is moved following the surface shape of the slope (F) by the control unit (CU) on the spray machine (100) side, and the spray nozzle ( 3), the attachment (1) is extended and contracted in the longitudinal direction (axial direction), the attachment (1) is swung, and the plate member (2) is moved in the longitudinal direction of the attachment (1). and moving the spray nozzle (3) along the plate-like member (2) to rotate the plate-like member (2) about the rotation center extending in the longitudinal direction of the attachment (1), Alternatively, since the spray nozzle (3) is rotated, the degree of freedom of the position of the spray nozzle (3) and the spray direction of the spray material is increased, and the control is performed with high accuracy. Therefore, the spray nozzle (3) has a large degree of freedom when it moves, and the spray nozzle (3) can be moved following the surface shape of the slope (F) with high accuracy. Therefore, even if the slope has a lot of unevenness (unevenness) and has a complicated shape, the spray material sprayed from the spray nozzle (3) can be accurately applied on the surface of the slope (F) with a uniform thickness. can be blown. As a result, it is possible to accurately form a sprayed layer of uniform thickness on the surface of the slope (F).
In the present invention, the measurement device (M) (control device MCU of) measures video data (for example, 3D image data) including position information of individual areas (areas: spraying locations) of the slope surface where the spraying material is to be sprayed based on the measurement results. map), and the control unit (CU) (of the spraying machine 100) expands and contracts the longitudinal dimension of the attachment (1) based on the image data obtained by the measuring device (M), Movement of the plate-like member (2) to the longitudinal target position of the second member (1-2), movement of the spray nozzle (3) along the plate-like member (2), movement of the plate-like member ( 2), the rotation of the spray nozzle (3), and the swinging of the first member (1-1), the spray machine ( 100), the work is not based on the eyes and "feel" of the operator (operator), but the data measured by the measuring device (M) is also used, so the work accuracy can be improved. In addition, in order for the spray nozzle (3) to follow the surface shape of the slope (F) with high precision and move, it is necessary to perform various kinds of fine manipulations on the spray nozzle (3). However, according to the present invention, since the control unit (CU) of the spraying machine (100) adjusts various devices to move the spraying nozzle (3), the operator of the spraying machine (100) does not have a complicated operation. High-quality spraying work can be performed without forcing work.

In the present invention, the spraying thickness of the spraying material in each region is determined by setting a mark (for example, a plastic mark) on the slope where the spraying method is to be applied, and measuring the height of the mark from the construction slope. is set to a predetermined spray thickness, and if the mark cannot be visually recognized in the image data created based on the measurement by the measuring device (M), it can be confirmed that the predetermined spray thickness has been achieved.
Alternatively, it can be calculated by a conventionally known method by comparing the image immediately before spraying and the image immediately after spraying obtained by the measuring device (M) (see Patent Document 2, for example).
Furthermore, it is also possible to perform the spraying operation while confirming by using both the mark and the calculation by the measuring device (M).

According to the present invention, the spray nozzle (3) moves (for example, reciprocates) along the same route so as to pass the same spray position a plurality of times (for example, four times), and moves to the same position (requires amount) is divided into multiple times (for example, 4 times) and sprayed. Here, the measuring device (M) irradiates the laser beam (L) to the area (the slope F or its partial area LA) where the spraying operation should be performed, but the spraying nozzle (3) during movement is The laser beam (L) is blocked by the jet (J) of the sprayed material or its rebound (JS) at the point where the sprayed material is being sprayed.
However, in the present invention, when the moving spray nozzle (3) is spraying the spray material at a certain point (point β), the point where the spray material was sprayed immediately before that point (point α) is measured (or observed) by the measuring device (M). In addition, as described above, in the present invention, (the required amount) of the spray material is sprayed on the same place a plurality of times (for example, 4 times), so the spraying time at the same place is shorter than before ( The reciprocal of the number of times of spraying: for example, 1/4), the time during which the laser beam (L) is blocked by the sprayed material jet (J) or its rebound (JS) is short. Then, the state of the spraying point at the point (point α) where the spraying material was being sprayed immediately before the point in time is immediately measured (observed) by the measuring device (M) after the short spraying time has elapsed.・The spraying state can be measured (observed) with a measuring device (M) that irradiates a laser beam (L).
According to the present invention, the mark for measuring the spray thickness provided at the spraying location is measured by the measuring machine (M), and the measurement result (for example, video data) is visually observed to adjust the spraying thickness. can do In other words, according to the present invention, it is possible to spray while confirming the spray thickness, which was impossible with the prior art.
Furthermore, since the spraying material (in the necessary amount) is sprayed on the same place in multiple times, the amount of spraying per time is small and the spraying thickness is small, so the error in the spraying thickness is also reduced.

Here, in the present invention, since the first member (1-1) and the second member (1-2) of the attachment (1) slide and expand and contract, the piping for conveying the solidifying material A highly flexible rubber hose (11) is used as the attachment (1), and the difference in longitudinal length between contraction and extension of the attachment (1) needs to be absorbed by loosening the rubber hose (11). However, it is known that the highly flexible rubber hose (11) has higher piping resistance than rigid piping. By loosening the rubber hose (11), the difference in longitudinal length between contraction and extension of the attachment (1) is absorbed. It needs to be longer than the fixed piping. Therefore, the pipe resistance is high in the spray material supply system (20) composed of the rubber hose (11), and the possibility of clogging of the pipe is higher than in the conventional air pressure feed.
On the other hand, in the present invention, if the spraying material supply system (20) is interposed with the spraying solidifying material pump (21) and the spraying solidifying material pump (21) is placed on a movable carriage (22), , the distance from the discharge port of the pump (21) to the nozzle (3) by moving the carriage (22) (the length of the rubber hose 11 from the discharge port of the pump (21) to the nozzle (3) ) can be shortened to reduce piping resistance in the spraying material supply system (20). As a result, clogging of the rubber hose (11) can be suppressed. In addition, since the sprayed hardening material pump (21) is mounted on a movable carriage (22), it is possible to avoid, as far as possible, the limitation of the working range due to the pumping distance.

BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing which shows the outline|summary of embodiment of this invention. FIG. 10 is an explanatory view showing a process of extending and contracting the attachment in the longitudinal direction in the embodiment; It is explanatory drawing which shows the process of rocking|swiveling an attachment. FIG. 5 is an explanatory view showing a process of moving the spray nozzle laterally along the plate-like member; FIG. 4 is an explanatory view showing an example of a mechanism for moving a spray nozzle laterally along a plate-like member; It is explanatory drawing which shows the process which rotates the said plate-shaped member. FIG. 4 is an explanatory diagram showing an example of a mechanism for rotating a plate-shaped member; FIG. 8 is an explanatory diagram showing an example different from FIG. 7 of a mechanism for rotating a plate member; It is explanatory drawing which shows the process which rotates a nozzle. It is explanatory drawing which shows an example of the mechanism which rock|fluctuates a nozzle. FIG. 11 is an explanatory diagram showing rocking in the mechanism of FIG. 10; FIG. 12 is an explanatory diagram showing another example of a mechanism for swinging the nozzle, different from those shown in FIGS. 10 and 11; It is explanatory drawing which shows an example of the mechanism which rotates a nozzle tip. It is a functional block diagram of the control device of the machine for spraying. FIG. 15 is a flow chart showing a spraying procedure in the spraying device shown in FIGS. 1 to 14; FIG. It is explanatory drawing which shows the structure of a nozzle for spraying. It is an explanatory view showing the important section of the spraying material supply system in the embodiment. It is explanatory drawing which shows the modification in the spraying material supply system in embodiment. In an embodiment, it is an explanatory view showing a mode which sprays without using an attachment. It is a modification of the aspect shown in FIG. It is explanatory drawing which shows the problem of the conventional spraying technique. It is explanatory drawing which shows the state at one time in the aspect of spraying in embodiment. FIG. 23 is an explanatory diagram showing a state at a point in time subsequent to the point in time shown in FIG. 22;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
First, referring to FIG. 1, an outline of an embodiment of the present invention will be described.
In FIG. 1, a spraying machine 100 according to an embodiment of the invention has a vehicle 30 (including a machine traveling by track) and an attachment 1 attachable/detachable to a boom 31 of the vehicle 30. . The attachment 1 is connected to the boom 31 by the attachment side connecting means 4 .
As will be described later, the attachment 1 has a first member 1-1 (vehicle side member) and a second member 1-2 (spraying nozzle side member). The attachment 1 can be extended and contracted in the longitudinal direction by sliding the members 1-2. In other words, the second member 1-2 can move (slid) with respect to the first member 1-1.
The attachment 1 is provided with a plate-like member 2 extending in a direction (horizontal direction) orthogonal to the longitudinal direction, and a spray nozzle 3 movable along the plate-like member 2 . The spraying nozzle 3 is configured to move (perform a nozzle moving step) following the surface shape of the slope F (construction slope) on which the spraying operation is to be performed. Reference numeral 11 denotes a rubber hose (supply hose) for supplying the spraying material (solidifying material) to the spraying nozzle 3 .

As will be described in detail below, the spraying machine 100 of FIG.
a step of extending and contracting the attachment 1 in the longitudinal direction (axial direction) (see FIG. 2);
a step of swinging the attachment 1 (see FIG. 3);
a step of moving the plate member 2 in the longitudinal direction of the attachment 1 (see FIG. 2);
a step of moving the spray nozzle 3 along the plate member 2 (see FIG. 4);
a step of rotating (including swinging and/or rotating) the plate-like member 2 about the center of rotation extending in the longitudinal direction of the attachment 1 (see FIGS. 7 and 8);
A step of rotating (including swinging and/or rotating) the spray nozzle 3 (in the attachment mechanism for attaching the spray nozzle to the plate member) (see FIGS. 9 to 13)
is configured to be executable. A nozzle moving step of moving the spray nozzle 3 following the surface shape of the slope F is constituted by the above steps.
In FIG. 1, a vehicle 30 and a truck 22 are connected via a connecting rod 33, and a concrete pump 21 is placed on the truck 22. As shown in FIG. As will be described later with reference to FIG. 17, the risk of clogging in the rubber hose 11 is reduced by shortening the distance over which the spray material discharged from the concrete pump 21 is pressure-fed to the spray nozzle 3 (not shown) by the rubber hose 11. This is because it decreases.

In FIG. 1, the laser beam irradiated from the measuring device M to the slope F is indicated by an arrow L, and the slope F or its partial area (area LA in FIGS. 21 to 23) to be sprayed is indicated by an arrow L. Irradiating. there is As will be described later with reference to FIGS. 14 and 15, image data created by the controller MCU of the measuring device M is transmitted to the controller CU of the spraying machine 100 via a signal line SL1 (wired or wireless). be. Furthermore, a control signal from the control unit CU of the spraying machine 100 is sent to the concrete pump 21 via the signal line SL10.
As will be described later with reference to FIG. 14, the control unit CU sends control signals to the concrete pump 21, control signals to each member (attachment 1, etc.) for adjusting the position of the spraying nozzle 3, spraying material A control signal or the like is sent to a supply device (compressor, etc.) for air mixed in the air and a supply device for a quick-setting agent (see FIG. 14). At the same time, information on the injection position of the spray material jet stream from the spray nozzle 3 is transmitted to the controller MCU of the measuring device M. FIG.
In FIG. 1, the second member 1-2 can slide relative to the first member 1-1 to extend and contract the longitudinal dimension of the attachment 1, and the plate-like member 2 is the second member. It is slidable in the longitudinal direction of 1-2. By this sliding movement, the spray nozzle 3 reciprocates in the longitudinal direction of the attachment 1 and passes through the same spray position four times in the illustrated embodiment. Then, each time the same spraying position is passed, 1/4 of the required spraying amount is sprayed.
As will be described later with reference to FIG. 23, the point (spraying point α) immediately before the point (spraying point β) where the moving spray nozzle 3 is spraying the spray material is the laser of the measuring device (M). Since the laser light (L) is measured by the light (L), the laser light (L) is not obstructed by the jet (J) of the spray material or its rebound (JS). Since the point immediately before the point where the spraying nozzle 3 sprays the spraying material is measured, and the same spraying position is passed four times to spray 1/4 of the required spraying amount each time, There is almost no time lag between the actual sprayed area and the measured area, so it is possible to measure (confirm) the sprayed area in real time and check the spraying condition and spray thickness on the target slope. .

The control device MCU of the measuring device M has a function of irradiating the laser beam L onto the slope F or its partial region LA (see FIGS. 22 and 23) to be subjected to the spraying operation and measuring. It also has a function of creating image data (for example, a 3D map) including position information of individual areas (areas: spraying locations) on the slope where the spraying material is to be sprayed based on the measurement results. This image data provides the operator with an image that follows the movement of the location sprayed from the spray nozzle 3 .
The control device CU of the spraying machine 100 expands and contracts the longitudinal dimension of the attachment 1 to the target position in the longitudinal direction of the second member 1-2 based on the image data created by the measuring device M or its control device MCU. Movement of the plate-like member 2, movement of the spray nozzle 3 along the plate-like member 2, rotation of the plate-like member 2, rotation of the spray nozzle 3, and swinging of the first member 1-1 are executed. . Then, the operator of the spraying machine 100 can visually confirm the condition of the area to be sprayed with the spray material and the spray thickness from the image data obtained by the measurement result of the measuring device M.
As a result, the work is performed using the data (image data) measured by the measuring device M instead of the work based on the eyes and "feel" of the operator of the spraying machine 100, so that the work accuracy can be improved. Then, the spray nozzle 3 can be moved to follow the surface shape of the slope F with high accuracy by utilizing the image data from the measuring device M without increasing the labor of the operator. Therefore, even if the slope surface has many irregularities (unevennesses) and a complicated shape, the spray material sprayed from the spray nozzle 3 can be accurately sprayed onto the surface of the slope F with a uniform thickness. Therefore, a sprayed layer having a uniform thickness can be accurately formed on the surface of the slope F.

Here, when measuring the spray thickness of the sprayed material in each area, a mark (not shown: for example, a black mark made of plastic) is installed on the slope F to which the spraying method is to be applied. Set the height of the mark from the construction slope to a predetermined spray thickness. In the spraying operation, if the mark cannot be visually recognized in the image data created by the measuring device M, it can be confirmed that the spraying thickness is greater than or equal to the predetermined thickness. In the illustrated embodiment, since an image of the sprayed location can be provided to the operator, the operator can perform the spraying operation while confirming the sprayed thickness of the sprayed material by visually checking the presence or absence of the mark at the sprayed location.
Alternatively, the spray thickness can be calculated by a conventionally known method by comparing the image immediately before spraying and the image immediately after spraying obtained by the measuring device M (for example, as described in Patent Document 2). .
Furthermore, it is possible to use both the mark and the calculation by the measuring device M to carry out the spraying operation while confirming.
In the illustrated embodiment, a commercially available product can be used as the measuring device M that irradiates laser light.
In the illustrated embodiment, the control unit CU of the spraying machine 100 is, for example, a control panel on the spraying machine side or a device (information processing device) having an information processing function such as a PC. may be configured. Although the control device of the measuring device M is also an information processing device, it may be configured by the operator of the measuring device M.

FIG. 2 shows the process of extending and contracting the attachment 1 in the longitudinal direction.
In FIG. 2, the attachment 1 has a first member 1-1 (vehicle side member) and a second member 1-2 (spraying nozzle side member) having a shape extending in the longitudinal direction. By sliding (sliding) the member 1-2 to the first member 1-1 (arrow S direction), the attachment 1 (first member 1-1, second member 1-2) is moved in the longitudinal direction can be stretched to
The attachment 1 has attachment-side connecting means 4 near the vehicle-side end of the first member 1-1, and can be attached to and/or removed from a boom 31 of a vehicle 30 via the attachment-side connecting means 4. is configured to
FIG. 2 shows the attachment 1 in the most extended state, with the lower end of the second member 1-2 positioned near the upper end of the first member 1-1. On the other hand, although not shown, when the attachment 1 is contracted to be the shortest, the upper end of the second member 1-2 is positioned near the upper end of the first member 1-1. An arrow S in FIG. 2 indicates the range of movement of the upper end of the second member 1-2.
As a mechanism for sliding the second member 1-2 relative to the first member 1-1, for example, a known mechanism used in forklift trucks can be used.

In FIG. 2, the second member 1-2 of the attachment 1 is slidable (movable) in the longitudinal direction of the second member 1-2 and perpendicular to the longitudinal direction (lateral direction). A plate member 2 extending (see FIGS. 4 and 5) is attached. FIG. 2 shows a state in which the plate-like member 2 has moved to the top of the second member 1-2, a state to have moved to the bottom, and a state to have moved to an intermediate position between the top and the bottom. there is Here, there is only one plate-like member 2, and it is not the case that three plate-like members 2 are provided.
Including a state (not shown) in which the attachment 1 is contracted to its shortest length, the range in which the plate member 2 can move in the longitudinal direction of the attachment 1 is approximately twice the range of the three positions shown in FIG. range. A conventionally known mechanism can be used as a mechanism for moving the plate member 2 in the longitudinal direction of the second member 1-2.
A spray nozzle 3 is attached to the plate-like member 2 , and the spray nozzle 3 is movable along the plate-like member 2 in the lateral direction (the direction perpendicular to the paper surface in FIG. 2 ). In FIG. 2, reference numeral 11 designates a supply hose for supplying the solidifying material (spraying material) to the spraying nozzle 3. As shown in FIG.

The process of swinging the attachment 1 is shown in FIG.
In FIG. 3, a boom 31 of a vehicle 30 is provided with a vehicle-side swinging member 8 for swinging (the first member 1-1 of) the attachment 1. As shown in FIG. The vehicle-side swinging member 8 shown in FIG. 3 is set to swing the attachment 1 within a maximum range of 15° (see arrow A3). The swinging range can be set to a range of other angles.
The vehicle-side swinging member 8 for swinging the attachment 1 can be configured by a conventionally known mechanism.

FIG. 4 shows the process of sliding (sliding: moving) the spray nozzle 3 along the plate member 2 .
In FIG. 4, the spray nozzle 3 slides (moves) along the plate member 2 in a direction perpendicular to the longitudinal direction of the attachment 1 (arrow A4 direction). FIG. 4 shows a state in which a single spray nozzle 3 is positioned at both ends and a central position in the longitudinal direction (arrow A4 direction) of the plate member 2, but only one spray nozzle is provided. However, it does not mean that three spray nozzles 3 are provided.
A supply hose 11 is connected to the spray nozzle 3 .
The spray nozzle 3 is moved along the plate member 2 by a laterally moving member 5 (not shown in FIG. 4). The lateral movement member 5 will be described with reference to FIG.

In FIG. 5, the lateral movement member 5 arranged on the plate member 2 has a pair of sprockets 5A, 5A, a chain 5B driven by the sprocket 5A, and a nozzle mounting member 5C fixed to the chain 5B. there is The nozzle mounting member 5C is fixed to the chain 5B and is mounted to a square pipe (not shown) attached to the plate member 2 via a rotating roller (not shown). A spray nozzle 3 is attached to the nozzle attachment member 5C.
When the spray nozzle 3 is moved along the plate-like member 2, one of the pair of sprockets 5A is rotated forward or reverse by a drive source (for example, a hydraulic motor (not shown)), thereby causing the chain 5B to travel left and right. do. Then, the spray nozzle 3 moves in the horizontal direction (arrow A5) in FIG. 5 together with the nozzle mounting member 5C fixed to the chain 5B. Here, the arrow A4 in FIG. 4 and the arrow A5 in FIG. 5 both indicate the longitudinal direction of the plate-like member 2 (horizontal direction in FIGS. 4 and 5), which is the direction in which the spray nozzle 3 moves.
When the operator of the spraying machine 100 stops the hydraulic motor (not shown), the spraying nozzle 3 attached to the nozzle mounting member 5C is stopped and fixed at an arbitrary position.
In FIG. 5, the spray nozzle 3 is arranged in a direction perpendicular to the longitudinal direction of the plate member 2 (the direction perpendicular to the paper surface in FIG. 5). As will be described later, the spray nozzle 3 can be rotated (including swinging and/or rotating).

FIG. 6 shows the rotation (arrow R1) of the plate-like member 2 about the rotation center axis C6. The rotation center axis C6 extends in the longitudinal direction of the second member 1-2 of the attachment 1. As shown in FIG. Detailed illustration of the nozzle 3 is omitted in FIG. 6 to avoid complication of the illustration. The rotation center axis C6 can also extend in a direction parallel to the longitudinal direction of the second member 1-2 of the attachment 1. FIG.
Here, even when the plate-like member 2 rotates (FIGS. 6 to 13), the nozzle 3 can be moved at the same speed to move the point irradiated with the laser beam L from the measuring device M to be measured. I can. Even in this case, there is almost no time lag between the actually sprayed location and the measured location, and the sprayed location can be measured substantially in real time.
The plate member 2 is rotated by first rotating members 6 and 6-1, which will be described later with reference to FIGS. 7 and 8. FIG.

The first rotating member 6 schematically shown in FIG. 7 includes a first and second cylinders 6A and 6B which are extendable. The movable pivot point 2a is connected, and the second cylinder 6B connects the cylinder mounting portion 6C and the rotatable pivot point 2b of the plate member 2. As shown in FIG.
When the expansion and contraction amounts of the first and second cylinders 6A and 6B are equal, the plate-like member 2 is at the rotation position P1 indicated by the solid line, and when the first cylinder 6A is extended and the second cylinder 6B is contracted, The plate-like member 2 rotates in the direction of the arrow R2 to reach the rotation position P2 indicated by the dashed line. By adjusting the amount of expansion and contraction of the first cylinder 6A and the second cylinder 6B, the plate member 2 can be rotated and fixed at various positions. The rotation indicated by arrow R2 is a kind of rotation indicated by arrow R1 in FIG.

In FIG. 8 showing a modified example 6-1 of the first turning member, the first turning member 6-1 attached to the second member 1-2 (not shown in FIG. 8) has a plate-like shape. The plate member 2 is rotatably supported by the member support portion 6-1A and the attachment portion 2c. The plate-like member supporting portion 6-1A is provided near the tip of the body portion of the first rotating member 6-1, and the mounting portion 2c is provided on the mounting bracket 2A on the plate-like member 2 side.
The first rotating member 6-1 is provided with a telescopic cylinder 6-1B. The cylinder 6-1B connects the cylinder mounting portion 6-1C and the cylinder mounting portion 2d of the main body of the first rotating member 6-1. The cylinder mounting portion 2d is provided on the mounting bracket 2A on the plate member 2 side.

As shown in FIG. 8, the cylinder mounting portion 2d of the plate-like member 2 is different from the mounting portion 2c provided on the mounting bracket 2A (the plate-like member supporting portion 6-1A of the main body portion) and the cylinder mounting portion 6-1C. is offset with respect to the direction of cylinder expansion and contraction. Therefore, when the cylinder 6-1B is extended and contracted, the plate-like member 2 can be rotated in the arrow R3 direction. The rotation indicated by arrow R2 is also a kind of rotation indicated by arrow R1 in FIG.
For example, when the cylinder 6-1B is compressed as indicated by the solid line, the plate member 2 is brought to the rotational position P3 indicated by the solid line in FIG. On the other hand, when the cylinder 6-1B is extended as indicated by the dotted line, the plate member 2 is brought to the rotational position P4 indicated by the broken line in FIG. By adjusting the amount of expansion and contraction of the cylinder 6-1B, the plate member 2 can be fixed at various rotational positions.

FIG. 9 shows the rotation (or rocking) of the spray nozzle 3 .
In FIG. 9, the spray nozzle 3 is movably attached to a plate member 2 (not shown) by an attachment mechanism 9, and rotates as indicated by an arrow R4 (in the case of rocking and/or rotating, including). In FIG. 9, reference numeral 11 denotes a supply hose for supplying the solidifying material to the spray nozzle 3. As shown in FIG.
The spray nozzle 3 is rotated by a second rotating member 7 (not shown in FIG. 9), and the second rotating member 7 will be described with reference to FIGS. 10 to 13. FIG.

A second rotating member 7 shown in FIG. 10 is an example of a mechanism for rotating the spray nozzle 3 .
In FIG. 10, the second rotating member 7 has a disk portion 7C rotated by a rotating shaft 7B provided in a body portion 7A, and one end portion 7DA of a rod 7D is rotatably supported on the disk portion 7C. ing. The other end portion 7DB of the rod 7D is connected to the connection member 3D through the connection member 7E in the vicinity of the base portion of the spray nozzle 3. As shown in FIG. The connection member 3D connects the spray nozzle 3 and the supply hose 11 .
Although not clearly shown, the other end portion 7DB of the rod 7D is pivotally supported so as to be movable in the vertical direction in FIG. It is When the other end portion 7DB is pivotally supported in such a manner, when the disk portion 7C of the second rotating member 7 is rotated (arrow R5 in FIG. 11), the rotation of the disk portion 7C causes the rod 7D and the connecting member to rotate. 7E, it is transmitted to the spray nozzle 3 via the connection member 3D, and the spray nozzle 3 swings, for example, as indicated by an arrow R6 in FIG. The swing angle is, for example, 45° on one side.
The position of one end portion 7DA of the rod 7D on the disk portion 7C (the positional relationship with the center of rotation 7C1) and the like are adjusted, and the other end portion 7DB of the rod 7D is rotatably supported with respect to the connecting member 7E. As a result, the tip of the spray nozzle 3 can be rotated as indicated by an arrow R7 in FIG.

The mechanism for rotating the spray nozzle 3 is not limited to the mechanism shown in FIGS. 10 and 11, and may be the mechanism shown in FIG. 12, for example. FIG. 12 shows a modified example 7-1 of the second rotating member 7 shown in FIGS.
In FIG. 12, the second rotating member 7-1 is provided with a telescopic first cylinder 7-1A and a second cylinder 7-1B. The second cylinder 7-1B is connected to the second cylinder mounting portion 7-1D and the bracket 3A on the spray nozzle 3 side. It connects with the mounting portion 3b.

Depending on the amount of expansion and contraction of the first and second cylinders 7-1A and 7-1B, the spray nozzle 3 rotates (swings) about the rotation center 3B (arrow R8), and reaches a predetermined swing angle. is held to When the expansion and contraction amounts of the first and second cylinders 7-1A and 7-1B are made equal, the spray nozzle 3 is held at the solid line position (position P5) in FIG.
When the first cylinder 7-1A is contracted and the second cylinder 7-1B is extended, the spray nozzle 3 is moved to the left (in FIG. 12) with respect to the swing center 3A, and is in the swing position indicated by the dashed line. (position indicated by central axis P6). On the other hand, when the first cylinder 7-1A is extended and the second cylinder 7-1B is retracted, the spray nozzle 3 moves to the right (in FIG. 12) with respect to the swing center 3A, and the swing indicated by the dashed line. It becomes the moving position (the position indicated by the central axis P7). By adjusting the expansion/contraction amounts of the first cylinder 7-1A and the second cylinder 7-1B, the spray nozzle 3 can be set to various swing positions.
In FIG. 12, the swinging angle of the spray nozzle 3 is, for example, 30° from side to side.

The rotation of the spray nozzle 3 includes not only swinging as shown in FIGS. 10 to 12, but also rotation so that the tip of the spray nozzle 3 draws a small circle locus. FIG. 13 shows a rotating member 7-2 according to a second modified example of the second rotating member that rotates so that the tip of the spray nozzle 3 draws a small circle locus.
In FIG. 13, the second rotating member 7-2 has a first disk portion 7-2C rotatably supported on a rotating shaft 7-2B provided in a body portion 7-2A. A second disk portion 7-2D is rotatably supported on the portion 7-2C by a shaft portion 7-2DA. The center of rotation 7-2CA of the first disc portion 7-2C is offset with respect to the center of the first disc portion 7-2C (the center point of the circle).
The end portion 7-2DB (upper end in FIG. 13) of the second disk portion 7-2D is connected to the connection member 7-2E, and the support member 3E of the spray nozzle 3 is fixed to the connection member 7-2E. ing.

In FIG. 13, when the first disk portion 7-2C rotates about the rotation shaft 7-2CA (arrow R9), the second disk portion 7-2D rotates eccentrically, and the eccentric rotation 7-2E, the power is transmitted to the spray nozzle 3 via the support member 3E, and the tip of the spray nozzle 3 rotates so as to draw a small circular trajectory as indicated by an arrow R12.
By adjusting the offset amount of the rotation center 7-2CA of the first disk portion 7-2C, the pivot position 7-2DA of the second disk portion 7-2D, etc., the rotation R12 of the tip of the spray nozzle 3 can be adjusted. You can adjust the radius of rotation.
In order to simplify the illustration and the explanation, FIG. 13 is shown upside down from the actual machine. FIG. 10 is also the same.

The control unit CU of the spraying machine 100 will be described with reference to FIG. 14, which is a functional block diagram. As described above, based on the image data created by the measuring device M (or its control device MCU), the control device CU expands and contracts the attachment 1 in the longitudinal direction, and adjusts the second member 1- of the plate member 2. 2 to a target location in the longitudinal direction, movement of the spray nozzle 3 in the longitudinal direction of the plate-like member 2, rotation of the plate-like member 2, rotation of the spray nozzle 3, swinging of the first member 1-1. , that is, a function of transmitting a control signal to a supply means such as a member such as the attachment 1 or a spraying material.
14, the control unit CU of the spraying machine 100 includes a spraying area specifying block B1, a nozzle position adjusting block B2, a spraying amount check block B3, a spraying amount determination block B4, an air increase/decrease determination block B5, and a control signal generation block B6. have.
The nozzle position adjustment block B2 includes an attachment longitudinal position adjustment block B21, an attachment swing angle adjustment block B22, a plate member position adjustment block B23, a nozzle lateral direction position adjustment block B24, a plate member rotation adjustment block B25, and a nozzle rotation adjustment block B25. It has a motion adjustment block B26 and a vehicle movement block B27.

The spraying area specifying block B1 has a function of acquiring image data (for example, a 3D map) of individual areas (spraying locations: areas) of the slope surface to which the spraying material is to be sprayed from the measuring device M via the signal line SL1. . The video data includes positional information of the spraying location (region: area).
The spraying area specifying block B1 has a function of specifying a spraying location based on the acquired image data. A conventionally known technique can be adopted for specifying the sprayed location (for example, Patent Document 2).
Information on the spraying location specified by the spraying area specifying block B1 is transmitted to the nozzle position adjusting block B2 via the signal line SL2.

The nozzle position adjustment block B2 has a function of adjusting the optimum nozzle position for executing spraying on the spraying location based on the information on the spraying location specified by the spraying area specifying block B1. Specifically, in order to adjust the optimum nozzle position, it has a function of determining the operation and position of each target member such as the attachment 1 (members shown in FIGS. 1 to 13) and transmitting a control signal to the target member. doing.
The motion and position of each target member are determined for each target member (and motion) by each component block (attachment longitudinal position adjustment block B21 to vehicle movement block B27) of the nozzle position adjustment block B2.

In FIG. 14, the attachment longitudinal position adjustment block B21 slides the second member 1-2 of the attachment 1 to the first member 1-1 (direction of arrow S in FIG. It has a function of adjusting the longitudinal position of the attachment 1 by extending and contracting (the first member 1-1 and the second member 1-2) in the longitudinal direction. By adjusting the longitudinal position of the attachment 1 (second member 1-2), the longitudinal position of the attachment of the spray nozzle 3 is adjusted via the plate member 2 attached to the second member 1-2. ing. The range in which the longitudinal position of the attachment of the spray nozzle 3 is adjusted is the range indicated by the arrow S in FIG.
As shown in FIG. 3, the attachment rocking angle adjustment block B22 operates the vehicle side rocking member 8 provided on the vehicle 30 to move the first member 1-1 (and the first member 1-2). It has the function of swinging the connected second member 1-2) (arrow A3 in FIG. 3) and adjusting the swinging angle. The angular range for swinging the first member 1-1 is, for example, a range of 15° at maximum as shown in FIG. However, the swing angle range can be set to other angles instead of "maximum 15 degrees". By adjusting the swinging angle of the first member 1-1, the swinging position of the spray nozzle 3, that is, the attachment 1 can be adjusted to the vehicle 30 via the plate member 2 attached to the second member 1-2. It is possible to adjust the degree of inclination with respect to the boom 31 of .

As described above with reference to FIG. 4, the second member 1-2 of the attachment 1 is slidable (movable) in the longitudinal direction and extends in a direction (lateral direction) perpendicular to the longitudinal direction (see FIG. 4). 4) is attached. The plate-like member position adjustment block B23 moves the plate-like member 2 in the longitudinal direction of the second member 1-2 (direction of arrow S in FIG. 2) to the target position of the plate-like member 2 in the longitudinal direction of the attachment 1. It has the ability to adjust. Thereby, the longitudinal position of the attachment 1 of the spray nozzle 3 attached to the plate member 2 is adjusted. The range in which the position of the plate member 2 in the longitudinal direction of the attachment 1 is adjusted is the range in the longitudinal direction of the second member 1-2, from near the upper end portion to near the lower end portion of the second member 1-2. Range.
As described above, the spray nozzle 3 is attached to the plate-like member 2, and by operating the laterally moving member 5, the spray nozzle 3 is moved along the longitudinal direction of the plate-like member 2 (indicated by the arrow in FIG. 4). direction of A4). As shown in FIGS. 4 and 5, the nozzle lateral position adjustment block B24 moves the spray nozzle 3 along the longitudinal direction of the plate-like member 2 and adjusts the position of the spray nozzle 3 in the longitudinal direction of the plate-like member 2. It has the function of adjusting the position.

In FIG. 14, the plate member rotation adjustment block B25 operates the first rotation member 6 or the first rotation member 6-1 as shown in FIGS. 6 to 8 (arrows R1 to R3). Then, the plate-like member 2 is rotated (including swinging and/or rotating) about the rotation center extending in the longitudinal direction of the attachment 1, and the position of the plate-like member 2 in the rotating direction is changed. It has the ability to adjust.
By adjusting the rotational position of the plate-like member 2, it is possible to adjust the rotational direction position of the spray nozzle 3 attached to the plate-like member 2 (relative to the center of rotation extending in the longitudinal direction of the attachment 1). .
The rotating nozzle rotation adjusting block B26 operates the second rotating member 7, 7-1 or 7-2 to attach the spray nozzle 3 (mounting mechanism 9 for attaching the spray nozzle 3 to the plate member 2). ), and has a function of adjusting the position of the spray nozzle 3 in the rotating direction.
As described above, the spray nozzle 3 is movably attached to the plate member 2 by the attachment mechanism 9 (see FIG. 9), and the second rotating member 7, the second rotating member 7-1 or By operating the second rotating member 7-2, it rotates (including swinging and/or rotating), thereby adjusting the position of the spray nozzle 3 in the rotating direction. 10 to 13. For example, the swing indicated by arrow R6 in FIG. 10 (the swing angle is, for example, 45° on one side), the rotation indicated by arrow R7 in FIG. 12 (the swing angle is, for example, 15° on one side) indicated by arrow R8, and rotation indicated by arrow R12 in FIG.

The vehicle movement block B27 has a function of moving the spraying machine 100 by the vehicle 30. FIG. The operator of the spraying machine 100 (and the vehicle 30) may drive the functions, or the vehicle 30 may be configured to operate automatically.
Adjusted by each functional block (attachment longitudinal position adjustment block B21 to vehicle movement block B27) constituting the nozzle position adjustment block B2, the determined nozzle position (the spray area specified in the spray area specification block B1 is optimal for spraying A control signal for adjustment to the nozzle position) is transmitted to each target member such as the attachment 1 (each member shown in FIGS. 1 to 13) via the signal line SL3.
The nozzle position adjustment block B2 sends a "nozzle position adjustment completion signal" to the control signal generation block B6 via the signal line SL4 when the optimum nozzle position adjustment for executing the spraying of the spraying area is completed. It has the function to

In FIG. 14, the spraying amount check block B3 provides image data (for example, a 3D map, including positional information of the area) of each region (area) of the slope to which the spraying material is to be sprayed via the signal line SL5. from the measuring device M.
The spraying amount check block B3 has a function of checking the spraying condition of the spraying area based on the obtained image data and checking whether or not it is necessary to further spray the spraying area.
When checking whether further spraying is necessary, as described above with reference to FIG. If the mark (black mark made of plastic) installed accordingly is not visible, it is determined that the spray thickness is at a predetermined thickness, and no further spraying is necessary. Alternatively, when checking whether further spraying is necessary, it can be determined based on the image data obtained by the measuring device M by other conventionally known methods.
The result of the check by the spray amount check block B3 (determination result as to whether or not further spraying is necessary) is sent to the spray amount determination block B4 via the signal line SL6.

The spray amount determination block B4 acquires the check result as to whether or not it is necessary to further spray the spray area from the spray amount check block B3. It has the function of acquiring data and determining the spray amount.
When determining the amount of spraying, it can be calculated by a conventionally known method by comparing an image immediately before spraying and an image immediately after spraying (see, for example, Patent Document 2). Furthermore, it is also possible to determine the amount of spraying by using both the visual recognition state of the mark and the above calculation. As a result of the spray rate determination, the spray rate is maintained, increased or decreased, or the spray rate is set to zero (that is, the spray is stopped).
Information on the spraying amount determined by the spraying amount determination block B4 (including spraying stoppage) is transmitted to the control signal generating block B6 via the signal line SL7.

As will be described later with reference to FIG. 16, the spraying material (solidifying material, concrete, etc.) pressure-fed by the supply hose 11 (FIGS. 16, 1, etc.) and sprayed from the spraying nozzle 3 increases the slump value. As it is, it does not adhere to the slope. Therefore, just before the spraying nozzle 3 in the spraying material supply system 20 injects, the air and the quick-setting agent are mixed with the spraying material and then sprayed. By mixing the quick setting agent, the material sprayed from the spray nozzle 3 solidifies on the slope even if the slump value of the spray material is large.
The air increase/decrease determination block B5 acquires image data (including position information of the sprayed portion) of the sprayed portion (region: area) from the measuring device M (the control device MCU thereof) via the signal line SL8, and obtains the image data of the sprayed portion. Check the spraying condition of the sprayed location based on the image data. Then, it has a function to determine whether or not it is necessary to mix air and quick setting agent in the spray material, and if it is necessary to mix air and quick setting agent, increase or decrease the amount of air and quick setting agent mixed, and determine the amount of mixture. have.
When determining whether or not it is necessary to mix air and a quick-setting agent in the spray material, the amount of mixing when it is necessary to mix air and a quick-setting agent, and the amount of mixing, the image data (for example, This is done by confirming the state of adhesion of the sprayed material at the sprayed location using a 3D map).
The results determined by the air increase/decrease determination block B5 (whether or not to mix air and quick-setting agent, increase/decrease in the amount of mixture when it is necessary to mix air and quick-setting agent, and the amount of mixture) are sent via signal line SL9. It is sent to the control signal generation block B6.

As described above, the control signal generation block B6 receives the "nozzle position adjustment completion signal" from the nozzle position adjustment block B2 when the optimum nozzle position adjustment for spraying the spray area is completed.
The control signal generating block B6 also receives information on the determined spraying amount (including information on stopping spraying) from the spraying amount determination block B4.
Further, the control signal generation block B6 receives the determination result from the air increase/decrease determination block B5 (whether or not to mix air and quick-setting agent, increase/decrease in the amount of mixture when it is necessary to mix air and quick-setting agent, amount of mixture). ).

In FIG. 14, after receiving the "nozzle position adjustment completion signal" from the nozzle position adjustment block B2, the control signal generation block B6 transmits a control signal to the concrete pump 21 of the spraying material supply system 20 via the signal line SL10. It has the function to Upon receiving the control signal, the concrete pump 21 supplies a predetermined amount (the amount determined in the spray amount determination block B4) of the spraying material (solidifying material) to the spraying nozzle 3 through the solidifying material pipe 11 (rubber hose). .
Further, after receiving the "nozzle position adjustment completion signal" from the nozzle position adjustment block B2, the control signal generation block B6 transmits a control signal to the concrete pump 21, and sends a control signal to the air supply device 24 to the signal line SL11. and to transmit a control signal for operating the quick-setting agent supply device 25 to the quick-setting agent supply device 25 through the signal line SL12. In addition, the air supply device 24 is configured by, for example, a compressor.

Based on the control signal from the control signal generation block B6, the air supply device 24 supplies a predetermined amount of air (determined in the air increase/decrease determination block B5) through the air pipe 13 (rubber hose, see FIG. 16). Then, the quick-setting agent supply device 25 supplies a predetermined amount of quick-setting agent (determined in the air increase/decrease determination block B5) through the quick-setting agent pipe 14 (rubber hose, see FIG. 16).
The air supplied from the air supply device 24 and the quick-setting agent supplied from the quick-setting agent supply device 25 are, as will be described later with reference to FIG. downstream), it is mixed into the spray via the quick-setting ring 12 .

Here, the nozzle position adjustment block B2 transmits the position information of the spray nozzle 3 to the controller MCU of the measuring device M via the signal line SL14. However, as for the signal line SL14 in FIG. 14, only the signal line SL1 is shown in FIG. 1, and the symbol "SL14" is not shown in FIG. Based on the position information of the spray nozzle 3, the measuring device M determines the injection position of the spray material jet. Based on the information on the ejection position of the spray material jet, the measuring device M determines the area LA (FIGS. 22 and 23) to which the laser light L is to be irradiated from the measuring device M. FIG.

With reference to FIGS. 21 to 23, a mode of measuring (or observing) the sprayed portion while spraying the spraying material in the area LA irradiated with the laser beam L from the measuring device M will be described.
In FIG. 21, the area irradiated with laser light is indicated by symbol LA. In the area LA, the spray material is sprayed from the spray nozzle 3 to the predetermined location α (jet stream J), but the spraying state of the predetermined location α cannot be observed or measured. This is because the laser light that irradiates the predetermined location α (a part of the laser light that irradiates the region LA) is blocked by the jet flow J of the sprayed material and the rebound JS of the sprayed material colliding with the location α.
Here, when the spraying nozzle 3 is at the position shown in FIG. 22 (when the spraying material is sprayed on the spraying location α), even if measurement cannot be performed for the reason explained with reference to FIG. As indicated by 23, when the spraying nozzle 3 moves from the position of the spraying point α indicated by the dotted line to the position indicated by the solid line (the position where the spraying material is sprayed onto the spraying point β) as indicated by the arrow A1, the spraying point α is reached. Since there is no jet J of the sprayed material and no rebound of the sprayed material, the area LA irradiated with the laser beam can be measured or observed by the measuring machine M.

22 and 23, if the required amount of spraying material is sprayed onto the spraying location α at one time (conventional mode), the spraying nozzle 3 will reach a thickness of, for example, 10 mm. stays at the spraying point α and sprays the spraying material on the same point. Therefore, in FIG. 22, it takes a long time to complete the spraying at the spraying location α, and during this time, the spraying work at the spraying location α is performed without any image, and the spraying operation is performed while checking the image in real time. Hard to say. In addition, when the required spraying thickness is large, the spraying material is sprayed for a long time without checking the image of the spraying location, resulting in a large error.
On the other hand, in the illustrated embodiment, the spraying nozzle 3 during movement sprays the spraying material to the same location (for example, the spraying location α) four times. The time is shorter than in the conventional mode, for example 1/4. Therefore, the time during which the laser beam L is blocked by the jet flow J of the spray material or its rebound JS is also shortened to about 1/4. Then, when the sprayed portion moves to β as indicated by the arrow A1, the state of the sprayed portion α is immediately measured (observed) by the measuring device M. In other words, the time lag between the spraying operation and the confirmation of the image is reduced to about 1/4 of the conventional time, and the spraying state can be measured (observed) approximately in "real time."
In FIG. 23, the spraying points α and β are in an intermittent positional relationship, but this is for facilitating understanding, and the spraying points α and β in the actual machine are continuous without a break.

Although not shown in FIG. 23, in the illustrated embodiment, the spray nozzle 3 reciprocates along the same path so as to pass through the same spray location four times. That is, in FIG. 23, after moving in the direction of arrow A1, it moves in the direction opposite to arrow A1. Therefore, the same spraying locations α and β are sprayed four times. Since the required amount of spraying is the same for each spraying location, in the illustrated embodiment, the required amount of the spraying material is sprayed on the same spraying location in 1/4 portions, four times. Therefore, the amount of sprayed once is small and the size of the sprayed thickness by one spraying is also small (for example, 2.5 mm=10 mm/4), so the error of the sprayed thickness is also small. Further, by performing the spraying in four steps, even if there is a possibility that the required spraying thickness may not be obtained due to unevenness or other reasons, it is possible to adjust the spraying in one of the four steps.
Then, as shown in FIG. 23, the measuring device M measures the point α immediately before the point β where the spraying material is being sprayed by the spraying nozzle 3 during movement. The measurement (observation) is never hindered by the material jet J or its rebound JS.

Therefore, according to the illustrated embodiment, it is possible to perform the spraying operation while observing (measuring) the situation of the spraying location in substantially real time. Therefore, it is possible to adjust the spray thickness by visually checking the mark for measuring the spray thickness provided at the spraying position, and confirming whether or not the layer of the spray material is present. In the prior art, it was considered impossible to carry out the spraying work while confirming such conditions.
In order to irradiate the laser beam L from the measuring device M to the area LA where the spray material is sprayed from the spray nozzle 3, the position information of the spray nozzle 3 transmitted from the nozzle position adjustment block B2 of the spray machine 100 is used. The control unit MCU of the measuring device M may be provided with a function of determining the injection position of the spraying material jet and a function of irradiating the determined irradiation position of the spraying material jet with the laser light L.

15, the spraying procedure using the spraying machine 100 described with reference to FIGS. 1-13 and 14 will now be described.
In FIG. 15, in step S1, the controller CU of the spraying machine 100 generates "image data (for example, a 3D map) containing positional information on the spraying location (region or area)" created by the controller MCU of the measuring device M. is received from the measuring device M (control device MCU) (input to the control device CU). The image data is received by the spraying area specifying block B1. Then, the process proceeds to step S2.
In step S2, the control unit CU specifies the spraying location (area to be sprayed with the spraying material) based on the received image data of the spraying area. Then, the process proceeds to step S3.

In step S3, it is determined whether or not the vehicle 30 (FIGS. 1 and 2) of the spraying machine 100 is self-propelled during the spraying operation. The vehicle 30 is equipped with an attachment 1, a plate member 2, a nozzle 3, and others that constitute the spraying machine 100. Considering the positional relationship between the spraying area identified in step S1 and the current spraying machine 100, , as determined by the operator. In other words, in step S3, it is determined whether the spraying location can be sprayed by adjusting the position of the spraying nozzle 3, or whether the spraying location cannot be sprayed unless the vehicle 30 is moved. .
As a result of the determination in step S3, if the spraying machine 100 is to be self-propelled ("Yes" in step S3), the process proceeds to step S4. Go to step S5.
In step S4 (when the spraying machine 100 is self-propelled), the spraying machine 100 is self-propelled and moved to an appropriate position for spraying. Then, the process returns to step S3.

In step S5 of FIG. 15 (when the spraying machine 100 is not self-propelled), the position of the spraying nozzle 3 is adjusted to the optimum position for spraying the spraying location identified in step S2.
When adjusting the position of the spray nozzle 3, as described above with reference to FIG. determines the operation and position of the members to be controlled (members shown in FIGS. 1 to 13). Each functional block of the nozzle position adjustment block B2 transmits a control signal to each member to be controlled such as the attachment 1 (members shown in FIGS. 1 to 13).
By executing step S5, the position of the spray nozzle 3 is adjusted to the optimum position for spraying the specified spray area. Then, the process proceeds to step S6.

In step S6, after the position of the spraying nozzle 3 is adjusted to the optimum position (for spraying at the specified spraying location) in step S5, the specified spraying area is sprayed. During the spraying, the spraying material is sprayed onto the same spraying location, for example, four times. Then, the process proceeds to step S7.
When the control signal generation block B6 receives the "nozzle position adjustment completion signal" from the nozzle position adjustment block B2, as described above with reference to FIG. A control signal is transmitted to each of the quick-setting agent supply devices 25 .
The concrete pump 21, the air supply device 24, and the quick-setting agent supply device 25 that have received the control signal are supplied to the solidifying material pipe 11, the air pipe 13, and the quick-setting agent pipe 14 (in the spray amount determination block B4 and the air increase/decrease determination block B5, respectively). A predetermined amount of spraying material (solidifying material), air, and quick-setting agent are supplied, and the supplied air and quick-setting agent are mixed with the spraying material immediately before the spray nozzle 3 injects. The mixture of the air and quick-setting agent into the spray material will be described in detail with reference to FIG. 16 .

In step S7 of FIG. 15, the spray thickness in the spray area is determined. Here, the judgment is the spray thickness at the sprayed location where the spraying was performed four times. Further, control of the concrete pump 21 for supplying the spraying material is executed based on the determination result.
The spray thickness determination in the spray area is performed by the spray amount check block B3 and the spray amount determination block B4 based on image data (for example, 3D map: data including position information) of the spray location.
Based on the determination result of spraying thickness in the spraying area, etc., the spraying amount determination block B4 determines the spraying amount (including increase/decrease of the spraying amount and stopping of spraying), and the control signal generation block B6 transmits a control signal to the concrete pump 21. do. The concrete pump 21 supplies the determined solidifying material to the spraying machine 100 based on the control signal. Then, the process proceeds to step S8.

In step S8, the amount of air and quick-setting agent mixed in the spray material is controlled (increase/decrease of the amount of mixture, including cases where mixing is not required).
When controlling the amount of air and the amount of quick-setting agent, as described above with reference to FIG. (including determination to increase/decrease or maintain the mixing amount, and determination to stop mixing), and the control signal generation block B6 transmits a control signal to the air supply device 24 and the quick-setting agent supply device 25 .
The air supply device 24 and the quick-setting agent supply device 25 supply determined amounts of air and quick-setting agent based on the control signal. Immediately before, it is mixed with the spray material. Then, the process proceeds to step S9.

In step S9, it is determined whether or not the spraying work is finished. The determination is made by the control unit CU in consideration of the degree of achievement of the spraying target, the scheduled work time, and others. In this case, the degree of achievement of the spraying target, the scheduled work time, and other indicators are input in advance to the control unit CU of the spraying machine 100, and can be automatically determined by the control unit CU. However, it is also possible for the operator of the spraying machine 100 to decide.
In step S9, if the spraying work is finished (“Yes” in step S9), the spraying job is finished (“end”); returns to step S1.
In FIG. 15, step S5 is shown to be executed prior to steps S6, S7, and S8, but step S5 can be executed after steps S6, S7, and S8. be. It is also possible to execute any one of step S5, step S6, step S7, and step S8 at the same time.

Next, mainly with reference to FIGS. 16 to 18, the spray material supply system 20 in the illustrated embodiment will be described.
In the illustrated embodiment, the solidifying material (concrete or the like) pressure-fed by the supply hose 11 from the concrete pump 21 (see FIGS. 17 and 18) and sprayed from the spraying nozzle 3 blocks the spraying material supply system due to hardening. In order to prevent this, the slump value is large, and it does not adhere to the slope as it is.
Therefore, a quick-setting agent ring 12 is provided in the spraying material supply system 20 just before the injection of the spray nozzle 3, and the quick-setting agent ring 12 mixes the air, the quick-setting agent, and the solidifying agent and injects them. By mixing the quick-setting agent, the material sprayed from the spray nozzle 3 is solidified on the slope even if the slump value of the solidifying material is large.

In FIG. 16, a spraying material supply system 20 includes a solidifying material pipe 11 (rubber hose) that supplies the solidifying material from a concrete pump 21 to the spraying nozzle 3, The quick-setting agent ring 12 arranged to connect (merge), the air pipe 13 (for example, a rubber hose) for supplying air from the air supply device 24 to the upstream side of the quick-setting agent ring 12, and the quick-setting agent supply device 25 A quick-setting agent pipe 14 (for example, a rubber hose) is provided upstream of the quick-setting agent ring 12 to supply the quick-setting agent.
The quick-setting agent ring 12 has a confluence portion 12A that merges with the solidifying material pipe 11, a connection portion 12B with the air pipe 13, and a confluence portion 12C with the quick-setting agent pipe .
The solidifying material pumped from the concrete pump 21 through the solidifying material pipe 11 is mixed with air and the quick setting agent at the junction 12A of the quick setting agent ring 12, and the solidifying material mixed with the air and the quick setting agent (spraying material) is sprayed from the spray nozzle 3 onto the construction slope.

In the illustrated embodiment, as shown in FIG. 2, the attachment 1 (first member 1-1, second member 1-2) contracts. A highly flexible rubber hose 11 (hardening material pipe) is used to absorb the difference in longitudinal dimension when the attachment is extended and contracted, and the rubber hose 11 is loosened when the attachment is contracted. However, if the total length of the rubber hose 11, which has a large piping resistance, is lengthened in response to extension of the attachment, the possibility of clogging inside the rubber hose 11 increases.
Therefore, in the illustrated embodiment, as shown in FIG. 17, a concrete pump 21 (pump for spray hardening material) is used to pressure-feed the spray material manufactured by the mixer truck 23 to the spray nozzle 3 (not shown) through the rubber hose 11. are placed on the carriage 22 . By moving the truck 22 to the vicinity of the construction site of the spraying method and moving the truck 22 to a position close to the spraying nozzle 3, the distance from the concrete pump 21 to the spraying nozzle 3 (full length of the rubber hose 11) is shortened. , thereby reducing the risk of clogging in the rubber hose 11 . In this case, for example, as shown in FIG.
In the spraying material supply system 20 in the illustrated embodiment, as shown in FIG. 18, the concrete pump 21 can not be placed on the truck 22. In that case, it is preferable that a plant for the solidifying material (including the concrete mixer truck 23 and the concrete pump 21) be provided near the construction site of the spraying method.

In the embodiment described with reference to FIGS. 1 to 18, when the place where the spray material is sprayed (for example, the slope F) is at a position lower than the highest point of the boom 31 provided on the vehicle 30, the attachment If 1 is attached, the spray nozzle 3 will be positioned higher than the spraying location, making spraying difficult.
If the location where the spraying material is to be sprayed is at a position lower than the highest point of the boom 31, as shown in FIG. The spray nozzle 3 is attached to the tip on the opposite side (tip on the highest point side) via a boom side connection member 32 that can be attached/removed, and the spray nozzle 3 is attached while moving the boom 31 Spray the spray material from
If the location to be sprayed with the spray material is higher than the highest point of the boom 31, attach the attachment 1 to the boom 31 and carry out the spraying operation as described with reference to FIGS. 1 to 18. .

In the mode shown in FIG. 19, the nozzle 3 is fixed to the boom side connecting member 32, but as shown in FIG. It can be configured to be movable in the longitudinal direction (right and left direction in FIG. 20: arrow A4 direction).
In order to make the nozzle 3 movable in the longitudinal direction of the plate-like member 2, for example, a configuration for executing the steps described with reference to FIG. 4 may be used.
In the embodiment shown in FIG. 20 (modification of the embodiment shown in FIG. 19), when the location where the spray material is sprayed is located at a position lower than the highest point of the boom 31, not only the area near the boom side connecting member 32, The spray material can also be sprayed to a location separated from the boom-side connecting member 32 in the longitudinal direction of the plate-like member 2 (horizontal direction in FIG. 20: arrow A4 direction).

It should be noted that the illustrated embodiment is merely an example and is not intended to limit the technical scope of the present invention.

1 Attachment 1-1 First member (vehicle side member)
1-2 ... second member (spraying nozzle side member)
2 Plate-like member 3 Blowing nozzle 4 Attachment-side connecting means 5 Lateral movement member 6 First rotating member 7 Second rotating member Member 8: Vehicle-side swinging member 11: Rubber hose (pipe for solidifying material)
20... Spray material supply system 21... Concrete pump (pump for spray hardening material)
22 Carriage 30 Vehicle 31 Boom 32 Boom-side connection member 100 Spraying machine F Slope CU Control device for spraying machine M Measuring device MCU: Control device for measuring device

Claims (7)

Having a step of attaching the attachment to the vehicle,
The attachment includes a plate-like member movable in its longitudinal direction and extending in a direction perpendicular to the longitudinal direction (lateral direction), and a spray nozzle movable along the plate-like member,
A step of irradiating a laser beam from a measuring device onto an area to be sprayed;
a nozzle moving step of moving the spray nozzle following the surface shape of the slope based on the measurement result of the measuring device;
In the nozzle moving process,
a step of longitudinally expanding and contracting the attachment;
swinging the attachment;
a step of moving the plate member in the longitudinal direction of the attachment;
a step of moving the spray nozzle along the plate-like member;
rotating the plate member;
rotating the spray nozzle,
a step of moving the spraying nozzle along the same route so as to pass through the same spraying position a plurality of times, and spraying the spraying material to the same location in a plurality of times;
When the moving spraying nozzle is spraying the spraying material at a certain point in time, there is a step of measuring the location where the spraying material was being sprayed just before that point in time using a measuring device (M). A slope spraying method characterized by: 2. A slope spraying method according to claim 1, further comprising the step of creating image data including position information of each region of the slope to which the spray material is to be sprayed based on the measurement result of the measuring device. 3. The method according to claim 1, wherein the process to be executed in the nozzle moving process is determined based on the image data, and the condition of the area to be sprayed with the spray material and the spray thickness can be confirmed in the spraying machine. Surface spray method. An attachment having attachment-side connecting means for attaching to and/or removing from a boom provided on a vehicle,
The attachment is
It has a first member and a second member having the longest shape, and is configured to be stretchable in the longitudinal direction by sliding the second member on the first member,
a plate-like member movable in the longitudinal direction of the second member and extending in a direction orthogonal to the longitudinal direction; a laterally moving member for moving the spray nozzle along the plate-like member;
a first rotating member for rotating the plate member about a center of rotation extending in the longitudinal direction of the second member;
including a second rotating member for rotating the spray nozzle;
The vehicle is provided with a vehicle-side swinging member that swings the first member,
Used in combination with measuring equipment,
The spraying nozzle has a function of moving along the same route so as to pass through the same spraying position multiple times, and spraying the spraying material to the same position in multiple batches,
It is used in combination with a measuring device that irradiates a laser beam onto an area to be sprayed. A spraying machine characterized by having a function of measuring the location where the spraying material was sprayed. The spraying machine of the present invention includes a controller,
The controller is
a function of sliding the second member onto the first member to expand and contract the longitudinal dimension of the attachment;
a function of moving a plate-shaped member extending in an orthogonal direction to a target location in the longitudinal direction of the second member;
a function of driving a laterally moving member to move the spray nozzle along the plate-like member;
a function of rotating the plate-like member around a center of rotation extending in the longitudinal direction or parallel to the second member by the first rotating member;
a function of rotating the spray nozzle by the second rotating member;
5. The spraying machine according to claim 4, having a function of actuating a vehicle-side rocking member provided on said vehicle to rock the first member. The measuring device has a function of creating video data containing positional information of individual areas of the slope on which the spray material is to be sprayed based on the measurement results,
Based on the image data created by the measuring device, the control device expands and contracts the attachment in the longitudinal direction, moves the plate-like member to a target position in the longitudinal direction of the second member, and moves the plate-like member. 6. The spraying machine according to claim 4 or 5, having a function of moving the spraying nozzle along, rotating the plate member, rotating the spraying nozzle, and swinging the first member. . It is preferable that the control device has a function of confirming the condition of the area to be sprayed with the spray material and the spray thickness in the spraying machine based on the image data.

Images