JP4090963B2 - Multi-dimensional moving positioning device - Google Patents

Description

  The present invention relates to a movement positioning device for moving a lifted object along an outer wall surface of a building or the like.

  For example, there is an apparatus that can move a lifted object to an arbitrary position on a wall surface of a building by suspending the lifted object with two wires and controlling the winding or feeding amount of these wires (for example, Patent Document 1). reference).

  In order to suspend the lifted object along the wall surface of the building, at least two wires, one end of which is attached to the lifted object, and a predetermined position of the building are installed at intervals. A winch device that winds or feeds each end of the wire, a microcomputer that determines at least the direction of rotation of the winch drum according to the input signal, calculates the rotational speed, and detects the feed amount of the wire sent from the winch device The building wall surface moving device comprises a wire feed amount detector for controlling the rotation of the winch drum.

And in this building wall surface moving apparatus, the lifting thing which moves along the wall surface of a building is suspended by each wire from 2 fixed points as mentioned above, and is installed in these 2 fixed points. The winch device is provided with a wire feed amount detector and a wire tension detector, and the control unit is provided with a computer to calculate the necessary wire feed amount and detect when the lifted object moves to the destination point. Is detected and rotation of the winding drum is stopped.
Japanese Patent Laid-Open No. 60-37367

  In the method of determining the movement positioning coordinates based on the wire feed amount as described above, the calculation becomes complicated when the calculation is performed in consideration of the elongation and deflection of the wire, and the coordinate accuracy of the target coordinates of the destination of the lifted object is increased. May not be able to be secured, and there is a possibility that it cannot move to the target coordinate point accurately.

In order to eliminate the inconveniences of the conventional example, the invention according to claim 1 is mounted at 360 degrees on a lifting object that is suspended from at least two sides by a rope and moves on the outer wall surface of the building in a multidimensional direction. An all-round reflective target prism and an automatic tracking coordinate system that measures the coordinates of the lifted object by tracking the reflective target prism installed in a place that is easily controlled and operated separately from the lifted object. It is comprised with the operation control means which has a measuring device, The winding device of the rope which suspends the said lifting thing is installed in the place distant from the lifting thing, It is characterized by the above-mentioned.

  According to the first aspect of the present invention, since the coordinates of the lifted object are measured by tracking the reflective target prism attached to the lifted object with the coordinate measuring instrument, the coordinates of the lifted object are real-time from the outside. It can be grasped by measurement. Therefore, if the positioning is performed by feeding back the measurement result to a control device such as a winch device that feeds and winds the rope, the coordinate accuracy can be ensured.

  The invention according to claim 2 is characterized in that the lifted object is a robot that moves on the outer wall surface of the building, has at least a wall surface state inspection function, and the operation control means determines the feeding amount of the rope. And

  According to the second aspect of the present invention, the robot can be accurately positioned to move to any part on the outer wall surface, and the wall surface state can be accurately grasped.

  Since the multi-dimensional movement positioning apparatus of the present invention measures the position of the lifted object in real time, it can move accurately from the current coordinates to the target coordinates with high accuracy. And since the positioning coordinate which is a target coordinate is an exact coordinate obtained directly from a coordinate measuring device, highly accurate positioning accuracy is securable.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an overall explanatory view showing an embodiment of a multi-dimensional movement positioning apparatus according to the present invention. An example of moving a lifted object 1 such as various robots and construction materials along an outer wall surface 2 of a building will be described as an example. .

  A hoisting device such as a winch device 3 is installed at predetermined two fixed points on the rooftop of the building, and the other end of the rope such as a wire 4 around which one end is wound around the winch device 3 The lift 1 is attached to the other end of the wire 4 and the lift 1 is suspended along the outer wall 2 by the two wires 4.

  On the other hand, an automatic tracking type total station is installed as a coordinate measuring instrument 5 for measuring the two-dimensional coordinates of the lifted object 1 in a place where the control operation is easy, such as the ground. This automatic tracking type total station is a surveying instrument that measures three-dimensional coordinates using laser ranging and horizontal and vertical angles.

  A 360-degree all-round reflection target prism 6 is installed on the lift 1 so that the coordinate measuring instrument 5 can easily track the movement position. Here, the all-round type means a type in which a plurality of prisms are arranged in a spherical shape so that laser light can be reflected from 360 degrees all around.

  Further, the coordinate measuring instrument 5 is incorporated in the operation control panel 7. In addition to the coordinate measuring instrument 5, a control device such as a microcomputer and an operation panel are mounted on the operation control panel 7, 1 has a coordinate measurement function and a movement control function, and outputs a movement control signal to the drive mechanism of the winch device 3.

  Next, a method for moving the lifted object 1 such as a robot to a predetermined position using the operation control panel 7 and the reflection target prism 6 will be described. The operation control panel 7 is installed in a place with good visibility near the outer wall surface 2 and the XYZ rotational coordinates of the coordinate measuring instrument 5 mounted on the operation control panel 7 are set to the origin of 0.0.0.

  A reflection target prism 6 is attached to the lifting object 1 suspended from the roof of the building by two wires 4, and the center point (XYZ) of the reflection target prism 6 is set as a positioning coordinate. In this case, since the relative positional relationship between the reflection target prism 6 and the lifted object 1 is known, the coordinates of the lifted object 1 can be obtained from the coordinates of the reflection target prism 6.

  The reflection target prism 6 is tracked by the coordinate measuring instrument 5, and the three-dimensional coordinates of the reflection target prism 6 are obtained in real time. That is, a laser beam is emitted from the coordinate measuring instrument 5 to the reflection target prism 6, the distance to the reflection target prism 6 is measured by laser distance measurement, and the direction is obtained by two angles of a horizontal angle and a vertical angle. Thus, the three-dimensional coordinates of the reflection target prism 6 are obtained. Then, the three-dimensional coordinates of the lifted object 1 are obtained based on the three-dimensional coordinates of the reflection target prism 6.

  If the three-dimensional coordinates of the current position of the lifted object 1 are found in this way, the target coordinates of the position at which the lifted object 1 is to be moved on the outer wall surface 2 are input to the operation control panel 7, and computer processing is performed. A trajectory from the current coordinates to the target coordinates is calculated.

  Therefore, if a movement control signal is output from the operation control panel 7 to the drive mechanisms of the two winch devices 3 installed on the roof of the building, the wires 4 are prevented from deviating from the track calculated as described above. , The winch device 3 is driven, the wire 4 is fed out, and the lifted object 1 is moved to the target coordinate position set on the outer wall surface 2.

  At this time, the movement of the lifted object 1 and the reflection target prism 6 is directly tracked in real time by the coordinate measuring instrument 5, so that the set trajectory is reliably moved, and the moving positioning coordinates are also directly from the coordinate measuring instrument 5. Therefore, it is possible to ensure high positioning accuracy.

  The trajectory for moving to the target coordinates can be arbitrarily set, and is not limited to the shortest distance. For example, the trajectory moves from the upper left end of the wall surface to the lower left end and then 1 m to the right. Fully automatic movement positioning such as moving to the upper end after moving is possible.

  Further, it is possible to freely move the lifted object 1 to an arbitrary position on the outer wall surface 2 by manually operating the target coordinates from the operation control panel 7. According to this system, a conventional crane, A new horizontal / vertical transfer system can be used instead of the lift.

  The moving direction is not limited to the two-dimensional direction as described above. If the number of hanging points is three or more, the moving direction can also be implemented in the three-dimensional direction.

  FIG. 2 shows a case where the pre-diagnostic robot 8 for renewing the outer wall as the lifted object 1 is implemented, and the pre-diagnostic robot 8 performs a pre-diagnosis of the outer wall only with a small and simple robot before the outer wall is repaired. Some are employed in the system, and some are employed in the external wall diagnosis and automatic repair system, in which the pre-repair diagnosis and the repair work are selectively used by changing the module in the common mobile device.

  2 shows the wall pre-diagnosis system, the basic configuration is the same as that of the mobile system shown in FIG. 1, but the pre-diagnosis robot 8 can easily cope with the outer wall surface 2 as shown in FIG. In this way, it is configured to be small and lightweight, and is equipped with a wall surface diagnostic device and a photographing device such as a CCD camera, and diagnostic data and diagnostic control signals are output from the operation control panel 7 to the preliminary diagnostic robot 8. .

  FIGS. 3 and 4 show an example of the pre-diagnostic robot 8. The inspection module 11 has a function of inspecting the wall surface state (tile peeling detection, crack detection, image photographing, abnormal location marking, etc.), and a step when moving. Further, it is composed of a wall support leg 9 for avoiding obstacles and maintaining an optimum distance from the wall surface, and a mobile module 12 having a function of wirelessly transmitting the inspection result to the operation control panel 7 on the ground. In the figure, reference numeral 10 denotes a transmission / reception antenna for transmitting / receiving diagnostic data and image / coordinate signals to / from the operation control panel 7.

  In order to diagnose the outer wall surface 2 using such a pre-diagnostic robot 8, an operator operates the operation control panel 7 on the ground to wirelessly control a drive device such as a winch device installed on the roof of the building to perform a pre-diagnosis. The robot 8 is moved to a target coordinate position for diagnosis.

  The pre-diagnostic robot 8 automatically moves and diagnoses the diagnosis range on the outer wall surface 2, collates and records the diagnosis result with the coordinates, and performs image photographing and position marking for the abnormality determination portion. Diagnosis results and captured images are transmitted from the transmission / reception antenna 10 to the operation control panel 7 on the ground. As a diagnostic method, various determination devices such as a percussion method, a vibration method, and an infrared method are incorporated as an inspection module, and any method can be adopted.

  The operation control panel 7 creates a diagnostic map of the outer wall 2 based on the diagnostic result data as necessary. The position marking functions effectively as a part for clearly indicating a repair location when repair is performed according to a diagnostic map. In this case, the marking can be visualized for the first time by, for example, ultraviolet irradiation, so that the outer wall surface 2 can be prevented from becoming dirty.

  Further, remote control of the pre-diagnostic robot 8 from the operation control panel 7 and real-time video confirmation of an arbitrary portion on the outer wall surface 2 enables manual wall surface inspection from both the percussion and visual inspection.

1 is an overall explanatory view showing an embodiment of a multidimensional movement positioning device of the present invention. It is a whole explanatory view at the time of implementing in the outer wall prior diagnostic system which shows an embodiment of a multidimensional movement positioning device of this invention. It is a front view of the outer wall prior diagnosis robot which shows embodiment of the multidimensional movement positioning device of this invention. It is a side view of the outer wall prior diagnosis robot which shows embodiment of the multidimensional movement positioning device of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Lifting object 2 Outer wall surface 3 Winch device 4 Wire 5 Coordinate measuring device 6 Reflection target prism 7 Operation control panel 8 Pre-diagnosis robot 9 Wall support leg 10 Transmission / reception antenna 11 Inspection module 12 Movement module

Claims (2)

A 360-degree all-round reflective target prism that is suspended from at least two sides by a rope and attached to a lifting object that moves the outer wall surface of the building in a multidimensional direction, and a control operation at a location different from the lifting object. And an operation control means having an automatic tracking type coordinate measuring instrument for measuring the coordinates of the lifted object that is installed in a place where the reflected target prism is tracked and suspends the lifted object. The multi-dimensional moving positioning device is characterized in that the hoisting device is installed at a location apart from the lifting object .   2. The lift according to claim 1, wherein the lifting object is a robot that moves on an outer wall surface of a building, has at least a wall surface state inspection function, and determines the amount of feeding of the rope by the operation control means. Dimensional moving positioning device.

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