JP2696259B2 - Road curb block installation method and apparatus by laser tracking control system - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for installing a road curb block by a laser tracking control system.

[Prior Art] Conventionally, as a conventional installation work of a road curbstone, a water thread is stretched along a curbstone installation position, and a curb is manually installed along the waterline.

[Problems to be Solved by the Invention] However, the above-mentioned conventional installation work by manpower not only has a low work efficiency and a long construction period, but also requires skill, so that it is difficult to secure a masonry and the construction cost is high. There was a problem.

The present invention has been made in order to solve the above-mentioned conventional problems, and aims to improve the efficiency by mechanizing the installation work of the curb and improve the accuracy by using a laser tracking control system. It is an object of the present invention to provide a method and an apparatus for installing a road curb block which can be constructed on a road.

[Means for Solving the Problems] A method of installing a road curb block by the laser following control system of the present invention is to hold a curb block by a gripping portion of an actuator mounted on a moving base machine and to place the curb block near a predetermined mounting position. Then, the reference laser beam is received within the light receiving range of the sensor attached to the actuator portion at a fixed distance from the grip portion, and the actuator is operated so that the received reference laser beam matches the center of the sensor. The curb block is set at a predetermined installation position.

In addition, the apparatus for installing a road curb block by the laser tracking control system of the present invention includes a moving base machine, an actuator mounted on the moving base machine, and a sensor mounted at a fixed distance from a grip portion of the actuator. Means for following the central portion of the sensor so that the reference laser beam coincides with the sensor, and means for emitting the reference laser beam.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

In the figure, reference numeral 1 denotes a moving base machine, and wheels 1a
To move or be towed. The movable base machine 1 has an actuator 2 mounted thereon.

The actuator 2 mainly includes a horizontal guide rod 2a, a horizontal moving part 2b, a vertical moving rod 2c, and a grip part 2d. The lateral guide rod 2a is attached to the movable base machine 1 so as to be able to rotate substantially horizontally. The lateral moving portion 2b slides along the lateral guide rod 2a. The vertical moving rod 2c slides in the horizontal moving portion 2b in the axial direction, that is, in the vertical direction, to move the grip portion 2d attached to the lower end thereof in the vertical and vertical directions. The grip 2d is a so-called robot hand that grips and separates the curb block B.

Reference numeral 3 denotes a pallet, which is installed on the moving base machine 1 and on which a number of curb blocks B are arranged and mounted.

Reference numeral 4 denotes a sensor for receiving a reference laser beam, which will be described later. The sensor 4 includes, for example, a PSD (Position Sensitive Detector) and a photodiode, and is fixed to the upper end of the vertical moving rod 2c of the actuator 2.
Therefore, the sensor 4 keeps a fixed distance from the grip portion 2d.

Reference numeral 5 denotes a laser transit, which emits a reference laser beam R.

Next, a method of installing a curb block by the apparatus of the above embodiment will be described.

First, a number of curb blocks B are arranged on a pallet 3 provided on the moving base machine 1. Also, from the laser transit 5 in parallel with the installation position of the curb block B,
The reference laser beam R is emitted.

When the above-mentioned standard is completed, the moving base machine 1 is set along the edge of the construction road,
By rotating 2a, the gripper 2d is moved onto the pallet 3. One curb block B is gripped. continue,
The actuator 2 is operated according to a preset program to move the gripped curb block B to a position near a predetermined installation position.

In this state, the reference laser beam R is applied to the sensor 4.
Within the light receiving range. Here, the actuator 2 is slightly operated so that the reference laser beam R coincides with the center point of the sensor 4. When the reference laser beam R coincides with the center point of the sensor 4, it stops and the curb B is installed at the correct position.

The tracking system of the reference laser beam R by the sensor 4 uses a known technique, for example, as disclosed in Japanese Patent Application Laid-Open No. 1-222878.

Note that the actuator is not limited to the above-described configuration, but the curb block on the pallet is grasped by the grasping unit by the command signal of the computer, moved to the vicinity of the predetermined installation position, and finely adjusted based on information from the sensor. Any method can be used as long as it can be obtained. Further, the light emitting means of the reference laser beam R is not limited to the above laser transit.

[Effect of the Invention] The curb installation work can be mechanized by a moving base machine, an actuator, a sensor, a reference laser beam, and the like to improve the work efficiency, and the work can be performed with high accuracy using a laser tracking control system. it can.

[Brief description of the drawings]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a curb block installation method and apparatus showing one embodiment of the present invention. 1 ... Moving base machine, 2 ... Actuator, 2a ...
… Horizontal guide rod, 2b …… Horizontal moving part, 2c …… Vertical moving rod, 2d…
... Grip part, 3 ... Pallet, 4 ... Sensor, 5 ... Laser transit.

Claims (2)

(57) [Claims] A curb block is gripped by a grip portion of an actuator mounted on a moving base machine, moved to a position near a predetermined installation position, and a light receiving range of a sensor attached to an actuator portion at a fixed distance from the grip portion. A laser follow-up control system for receiving a reference laser beam inside the sensor, operating the actuator so that the received reference laser beam coincides with the center of the sensor, and setting the curb block to a predetermined installation position. Installation method for road curb blocks. 2. A moving base machine, an actuator mounted on the moving base machine, a sensor mounted at a fixed distance from a grip portion of the actuator, and a reference laser beam coincides with the center of the sensor. And a means for emitting a reference laser beam. The apparatus for installing a road curb block by a laser tracking control system, characterized in that: