JP5649531B2 - Spraying method and spraying equipment - Google Patents

Description

  The present invention relates to a spraying method and a spraying device.

  Conventionally, a spraying method described in Patent Document 1 below is known as a technique in such a field. The apparatus used for this spraying method has a traveling rail surface formed along the circumferential direction of the tunnel at a substantially constant distance inside the tunnel wall surface, and is movable along the longitudinal direction of the tunnel. A circumferential rail member and a spray nozzle holding device mounted on the circumferential rail member and capable of traveling around the tunnel circumferential direction along the traveling rail surface are configured. With this configuration, Patent Document 1 proposes that spraying is performed continuously while being always perpendicular to the spraying surface and maintaining a constant spraying distance.

Japanese Patent No. 3249978

  In this kind of spraying method, it is considered that the rebound of the spraying material can be reduced by injecting the spraying material at an angle close to perpendicular to the spraying surface. And by reducing rebound, the burden of the recovery process of a rebound material can be reduced, spraying speed can be improved, and cost reduction can be achieved. However, the method of Patent Document 1 requires a large amount of labor for pretreatment, such as installing each rail along the tunnel wall surface, and it is difficult to say that the entire construction is sufficiently efficient and low in cost. . In the spraying method, it is desired to reduce the rebound by a simpler method in order to improve the efficiency and cost of the entire construction.

  An object of this invention is to provide the spraying method and spraying apparatus which aim at reduction of the rebound of a spraying material with a simple method.

The spraying method of the present invention is a spraying method in which a spraying layer is formed on a spraying surface by a spraying device, and the spraying device sprays a spraying material forming the spraying layer onto the spraying surface. A spray nozzle is irradiated with light from a plurality of light sources that are fixed relative to the spray nozzle and arranged on a circumference centered on the spray nozzle. A light irradiation unit that forms a light image in which a plurality of light spots by each of the light sources are arranged in a ring shape, a nozzle driving unit that drives the spray nozzle and the light irradiation unit, and a nozzle driving unit that drives and blows A nozzle control unit that controls the posture of the attachment nozzle and an imaging unit that captures a light image formed on the spraying surface by the light irradiation unit, and the nozzle control unit is acquired by the imaging unit and is elliptical based on the ratio of the major axis to the minor axis of the image of the light image forming and the spray surface Further comprising a nozzle adjustment step of controlling the posture of the spraying nozzles and said.
Further, the plurality of light sources of the light irradiation unit are provided to be inclined with respect to the injection direction so that the optical axis exists on a conical surface whose diameter increases as the spray nozzle is moved in the center with the spray nozzle as a center. In the nozzle adjustment step, the nozzle control unit may control the distance of the spray nozzle with respect to the spray surface based on the size of the elliptical light image acquired by the imaging unit.

  The spraying device used in the spraying method is provided with a light irradiation unit that forms a light image on the spraying surface. Since the light irradiation unit is fixed to the spray nozzle, the state of the light image on the spray surface (for example, the shape and size of the light image) changes according to the posture and position of the spray nozzle. Therefore, the spray nozzle can be adjusted to a desired posture and position based on the state of the optical image. And the rebound of a spraying material is reduced by adjusting the attitude | position and position of a spray nozzle to the suitable attitude | position and position for rebound reduction. In this way, the rebound of the spray material can be reduced by a simple method such as providing a light irradiation unit in the spray device.

  In the spraying method of the present invention, the spraying device includes a nozzle drive unit that drives the spray nozzle and the light irradiation unit, and nozzle control that drives the nozzle drive unit to control the posture and / or position of the spray nozzle. And an imaging unit that captures a light image formed on the spraying surface by the light irradiation unit, and in the nozzle adjustment step, the nozzle control unit captures an image of the optical image acquired by the imaging unit. It is good also as controlling the attitude | position and / or position of the nozzle with respect to a spraying surface based on. According to this configuration, the shape of the optical image is acquired as an image by the imaging unit, and spraying such that the nozzle control unit automatically controls the posture and position of the nozzle based on the image can be performed.

A spraying device of the present invention is a spraying device that forms a spraying layer on a spraying surface in a spraying method, and a spraying nozzle that sprays a spraying material forming the spraying layer onto the spraying surface; A plurality of light sources fixed relative to the spray nozzle and arranged on a circumference centering on the spray nozzle irradiate light onto the spray surface, and each of the light sources is applied to the spray surface. A light irradiation unit that forms a light image in which a plurality of light spots are arranged in a ring shape, a nozzle drive unit that drives the spray nozzle and the light irradiation unit, and a posture of the spray nozzle by driving the nozzle drive unit A nozzle control unit for controlling, and an imaging unit for capturing a light image formed on the spraying surface by the light irradiation unit, and the nozzle control unit obtains an elliptical light image obtained by the imaging unit. Based on the ratio of the major axis to the minor axis of the image, And controlling the attitude of Le.
Further, the plurality of light sources of the light irradiation unit are provided to be inclined with respect to the injection direction so that the optical axis exists on a conical surface whose diameter increases as the spray nozzle is moved in the center with the spray nozzle as a center. The nozzle control unit may control the distance of the spray nozzle with respect to the spray surface based on the size of the elliptical light image acquired by the imaging unit.

  The spraying device is provided with a light irradiation unit that forms a light image on the spraying surface. Since the light irradiation unit is fixed with respect to the spray nozzle, the state of the light image on the spray surface changes according to the attitude and position of the spray nozzle. Therefore, the spray nozzle can be adjusted to a desired posture and position based on the state of the optical image. And the rebound of a spraying material is reduced by adjusting the attitude | position and position of a spray nozzle to the suitable attitude | position and position for rebound reduction. In this way, the rebound of the spray material can be reduced by a simple method such as providing a light irradiation unit in the spray device.

  In addition, the spraying device of the present invention includes a nozzle drive unit that drives the spray nozzle and the light irradiation unit, a nozzle control unit that drives the nozzle drive unit to control the posture and / or position of the spray nozzle, and a light irradiation unit And an imaging unit that captures an optical image formed on the spraying surface, and the nozzle control unit is configured to determine the attitude of the nozzle relative to the spraying surface and / or based on the image of the optical image acquired by the imaging unit. Alternatively, the position may be controlled. According to this configuration, it is possible to construct a system in which the shape of the optical image is acquired as an image by the imaging unit, and the nozzle control unit automatically controls the posture and position of the nozzle based on the image.

  According to the spraying method and the spraying device of the present invention, it is possible to reduce the rebound of the spraying material by a simple method.

It is sectional drawing which shows an example of the structure in which the spraying construction method and spraying apparatus of this invention are used. It is a side view which shows 1st Embodiment of the spraying apparatus of this invention. It is a front view which shows the spraying apparatus of FIG. (A) is a front view of the nozzle unit of the spraying apparatus of FIG. 2, (b) is the IV-IV sectional drawing. (A), (b) is a figure which shows the optical image formed with the nozzle unit of FIG. It is a side view which shows the scheduled filling space where the spraying construction method of this invention is performed. It is a graph which shows the relationship between a spray angle and the loss rate of a spray material. It is a figure which shows the control in 2nd Embodiment of the spraying construction method and spraying apparatus of this invention. It is sectional drawing which shows 3rd Embodiment of the spraying apparatus of this invention. It is sectional drawing which shows 4th Embodiment of the spraying apparatus of this invention.

[First Embodiment]
Hereinafter, a spraying method and a spraying device according to a first embodiment of the present invention will be described with reference to the drawings. First, a low-level radioactive waste margin disposal facility 101 will be described as an example of a structure in which the spraying method and the spraying device of the present embodiment are used for construction with reference to FIG.

  A low-level radioactive waste margin disposal facility 101 shown in FIG. 1 is a facility for performing geological disposal of radioactive waste. The waste body 103 to be treated in the facility 101 is formed by sealing radioactive waste in a steel container and is accommodated in the tunnel 105. A filler 107 is filled in a gap between the waste bodies 103, and a concrete pit 109, a low diffusion layer 111, and a buffer layer 113 are formed in order so as to surround the periphery in multiple layers. A backfill layer 115 is provided in the space between the buffer layer 113 and the wall surface of the tunnel 105.

  In the following, as shown in the figure, an XYZ coordinate system is set in which the X axis is taken in the width direction of the tunnel 105, the Y axis is taken in the longitudinal direction of the tunnel 105 (direction perpendicular to the paper surface in FIG. 1), and the Z axis is taken in the vertical direction. In addition, X, Y, and Z are used to describe the positional relationship of each component. In addition, in the case of using a phrase having the concept of “front and back” such as “front” and “back”, the + Y direction is “front” and the −Y direction is “back”.

  The buffer layer 113 of the facility 101 is formed of bentonite and functions as a water shielding layer. Of the buffer layer 113, the side buffer layer 113a that is a side wall portion parallel to the YZ plane is constructed by the spraying method and spraying device of the present embodiment. For example, the size of the side buffer layer 113a is 1 m in the X direction, 130 m in the Y direction, and 8 m in the Z direction. At the time of construction of the side buffer layer 113a, the low diffusion layer 111 and the backfill layer 115 are already completed. Therefore, in the construction of the side buffer layer 113a, the gap between the low diffusion layer 111 and the backfill layer 115 is completed. You are forced to work in confined spaces and cannot use heavy machinery. Further, since the side buffer layer 113a needs to be compacted with a high density of bentonite, a bentonite spraying method is preferably employed. Hereinafter, the above-mentioned space (a space of 1 m in width, 130 m in length, and 8 m in height) that is planned to be filled with bentonite as the side buffer layer 113a is referred to as “planned filling space” and is denoted by a symbol “R”. Shall.

  With reference to FIG.2 and FIG.3, the spraying apparatus 1 of this embodiment is demonstrated. As shown in the figure, the spraying device 1 includes a hoist 5, a spraying main body 3, and a spraying material supply unit 17. The spray body 3 is suspended in the planned filling space R by the hoist 5 via the wire 7. Above the planned filling space R, a rail 9 extending in the Y direction and supporting the hoist 5 is provided. The hoist 5 is guided by the rail 9 and is movable in the Y direction. Furthermore, when the hoist 5 winds up / unwinds the wire 7, the spraying main-body part 3 moves up and down. With the above configuration, the spray body 3 is movable in the Y and Z directions within the planned filling space R.

  The spray material supply unit 17 is a part that supplies bentonite (spray material) to the spray body 3 through the tube 15. The spraying material supply unit 17 includes a known spraying machine 17a, a compressor 17b, and a material supply machine 17c used in a normal spraying method.

  The spray body 3 is a portion that injects bentonite (spraying material) onto the front end face (spray surface) 11. The end face 11 is a wall surface of the buffer layer 113 that is parallel to the XZ plane provided in front of the side buffer layer 113a. As will be described in detail later, by repeatedly spraying bentonite on the end face 11 and stacking it to a thickness of 130 m, the side buffer layer 113a having a length of 130 m in the Y direction is finally completed. .

  The spray body 3 includes a hanging jig 21 on which the wire 7 is hung, a robot arm 23 attached to the lower surface of the hanging jig 21, a nozzle unit 25 attached to the arm tip of the robot arm 23, It has. The base side of the robot arm 23 is fixed to the lower surface of the hanging jig 21, and an arm having a multi-joint extends downward. The nozzle unit 25 includes a nozzle 31 (see FIG. 5) that injects bentonite. A control computer (nozzle control unit) 27 for controlling the robot arm 23 is mounted on the upper surface of the hanging jig 21. The robot arm 23 operates based on a control signal from the control computer 27, and can freely change the posture and position of the nozzle unit 25. That is, the robot arm 23 functions as an actuator (nozzle drive unit) that drives the nozzle unit 25 and determines the posture and position of the nozzle unit 25. The vertical width of the movable range of the nozzle unit 25 by the robot arm 23 is, for example, 0.9 m.

  The robot arm 23 can be manually operated by an operator by operating a manual controller connected to the control computer 27. A series of operations by the above-described manual operation can be stored in the control computer 27 as a program, and the same operation according to the program can be repeatedly reproduced.

  Guide rollers 29 are attached to the hanging jig 21 so as to project on both sides in the X direction. By swinging the pair of guide rollers 29 against the walls on both sides, the swinging of the spray body 3 due to the spray pressure or the like is suppressed. A camera (imaging unit) 30 that captures a front image is attached to the front end surface of the hanging jig 21. The camera 30 transmits the captured image to the control computer 27 as an image signal.

  Next, the nozzle unit 25 will be described with reference to FIGS. 4 (a) and 4 (b). FIG. 4A is a view of the nozzle unit 25 viewed from the front in the injection direction with a line of sight parallel to the injection direction A of the spray material, and FIG. 4B is a nozzle unit 25 in a cross section parallel to the injection direction. It is sectional drawing (IV-IV sectional drawing) of this. The jetting direction of bentonite from the nozzle (spray nozzle) 31 is represented by “A”. As shown in the figure, the nozzle unit 25 includes a nozzle 31 for injecting bentonite supplied from the tube 15 (see FIG. 2), and a frame 33 that holds and fixes the nozzle 31 and is fixed to the arm tip of the robot arm 23. And.

  Furthermore, the nozzle unit 25 includes a plurality of laser devices (light irradiation units) 35 arranged so as to surround the periphery of the nozzle 31. In the following description, the number of laser devices 35 is 10 as illustrated in the figure, but the present invention is not limited to this. Each laser device 35 is held and fixed to the frame 33 and is arranged at equal intervals on the circumference centering on the nozzle 31. Each laser device 35 irradiates laser light in the ejection direction A. Since the nozzle 31 and the frame 33 are both held by the frame 33 and their posture and position are fixed, the posture and position of each laser device 35 are fixed relative to the nozzle 31.

  According to the configuration of the nozzle unit 25 described above, as shown in FIGS. 5A and 5B, a two-dimensional optical image L in which the light spots of 10 laser beams are arrayed is the wife surface 11. Depicted above. When the ejection direction A is perpendicular to the wife surface 11, the light image L is a light image L1 having a regular circle shape as illustrated in FIG. On the other hand, when the ejection direction A is not perpendicular to the wife surface 11, the light image L is an elliptical light image L2 as illustrated in FIG. 5B. Therefore, the control computer 27 can determine the posture of the nozzle 31 by recognizing the shape of the optical image L formed on the wife surface 11 from the camera 30, and the ejection direction A is perpendicular to the wife surface 11. It can be determined whether or not there is. Further, the control computer 27 can calculate the angle (hereinafter referred to as “spray angle”) formed by the ejection direction A and the end face 11 based on the ratio between the major axis and the minor axis of the ellipse forming the optical image L2. . Further, whether or not the light image L is circular can be visually determined by an operator, and whether or not the spray angle is 90 ° can also be confirmed. Although details will be described later, the most suitable spray angle for reducing the rebound of the spray material is 90 °.

  In addition, when a spray angle is 90 degrees, the adhesion area | region on the end face 11 to which the bentonite from the nozzle 31 adheres makes a substantially circular shape. It is preferable to determine the arrangement of the laser device 35 so that a perfect circle of the optical image L1 is formed along the outline of the attached region. According to this configuration, it is possible to perform the installation of the spray body 3 and the programming of the robot arm 23 while easily confirming the range where the bentonite will adhere.

  Then, the spraying method using the above-mentioned spraying apparatus 1 and the construction method of the side part buffer layer 113a are demonstrated, referring FIG.

(Programming process)
First, the spraying main body 3 is installed so that the nozzle unit 25 is located 1 m away from the end face 11. Next, the operator manually operates the robot arm 23 while moving the nozzle unit 25 while visually confirming the light image L on the wife surface 11, and the nozzle unit 25 is moved when the bentonite is sprayed. Make it. At this time, the operator moves the nozzle unit 25 while adjusting the posture of the nozzle 31 so as to maintain the shape of the light image L in a circular shape based on the shape of the light image L visually observed. For example, the operation of reciprocating the nozzle unit 25 in the X direction and further moving in the Y direction is repeated. The operation of the robot arm 23 by the above manual operation is stored in the control computer 27 as a program. As described above, the process in which the operator adjusts the posture of the nozzle 31 based on the shape of the light image L corresponds to the “nozzle adjustment process”.

  Here, since the operator can operate while visually confirming the light image L on the wife surface 11, the shape of the light image L is maintained in a circular shape, and the ejection direction A is perpendicular to the wife surface 11. The nozzle unit 25 can be moved so as to be maintained.

(Program operation playback process)
Next, while reproducing the operation of the robot arm 23 according to the above program, bentonite is sprayed from the nozzle 31 to the end face 11. Then, for example, a bentonite layer 114 of 1 m in the X direction, 0.2 m in the Y direction, and 0.9 m in the Z direction is formed. Here, since the operation of the robot arm 23 according to the above program is reproduced, the spray angle during spraying is maintained at 90 °, and the rebound of bentonite is reduced.

(Blowing body part raising process)
Next, the hoist 5 (refer FIG. 2) is driven, and the spraying main-body part 3 is moved 0.9 m upwards (Z direction).

  And the said program operation reproduction | regeneration process is performed in the position after the spraying main-body part raises. Then, a new bentonite layer 114 is formed on the end face 11 above the bentonite layer 114 that has already been formed. Again, since the operation of the robot arm 23 by the above program is reproduced, the spray angle during spraying is maintained at 90 °, and the rebound of bentonite is reduced.

  After that, by repeating the spraying body ascending step and the program operation reproduction step alternately, the bentonite layer grown upward finally reaches a height of 8 m, and on the end face 11 is 1 m in the X direction. A bentonite layer of 0.2 m in the Y direction and 8 m in the Z direction is formed.

(Blowing main body retreat process)
Next, the spray main body 3 is moved 0.2 m backward (−Y direction) by the movement of the hoist 5 (see FIG. 2). And the wire 7 of the hoist 5 is extended below and the spraying main-body part 3 is dropped.

  From this state, if the program operation reproduction process and the spraying body ascending process are repeated in the same manner as described above, a bentonite layer of 1 m in the X direction, 0.2 m in the Y direction, and 8 m in the Z direction is further added in the −Y direction. Laminated. If the same operation is repeated, the bentonite layer is sequentially stacked and grown in the −Y direction, and finally the filling planned space R is filled with bentonite to complete the side buffer layer 113a.

  Then, the effect by the above-mentioned spraying method and the spraying apparatus 1 is demonstrated.

  Here, the result of the spray test by the present inventors is shown in FIG. 7, and the relationship between the spray angle and the loss rate of the spray material due to rebound is examined. As shown in FIG. 7, when the spray angle is 90 °, the loss rate of the spray material due to rebound is about 40%, and the loss rate increases as the spray angle becomes shallower. It can be seen that the loss rate reaches about 80% in the case of 45 °. In addition, in the graph of FIG. 7, the loss rate A is a value calculated by (rebound mass) / (total spray amount), and the loss rate B is (rebound mass) / (rebound mass + attachment mass). ). Therefore, in the spraying method using this type of spraying device, it is desired to set the spraying angle to 90 ° from the viewpoint of reducing rebound.

  On the other hand, in the above-described spraying method and spraying device 1, the nozzle unit is maintained while maintaining the spraying angle at 90 ° by a simple method of confirming the shape of the light image L on the wife surface 11 in the programming process. The robot arm 23 can be moved to move the robot 25. The operation of the robot arm 23 at this time is stored as a program and is accurately repeated in the program operation reproduction step. Therefore, in the entire construction of the side buffer layer 113a, bentonite can be sprayed at a spray angle of 90 °. As a result, the rebound of bentonite is reduced, and the burden on the recovery process of the rebound material is reduced. Moreover, spraying speed can be improved and cost reduction can be achieved.

  Further, since the construction of the side buffer layer 113a is performed in the vicinity of the radioactive waste body 103, the radiation exposure of the operator is likely to be a problem. On the other hand, in the spraying method and spraying device 1 of the present embodiment, the program operation reproduction process can be automatically performed unattended by the robot arm 23. Therefore, it is possible to reduce the radiation exposure of the worker, and consequently to reduce the labor cost.

[Second Embodiment]
Then, 2nd Embodiment of the spraying construction method and spraying apparatus of this invention is described. Since the spraying device of this embodiment is physically the same as the spraying device 1 described in the first embodiment, illustration and detailed description thereof are omitted. In the present embodiment, the same reference numerals are used for the same components as those in the first embodiment.

(Breaking angle control process)
In the spraying method of the present embodiment, the following feedback control is performed using the optical image L in order to maintain the spray angle during spraying at 90 °. That is, during the spraying of bentonite, as shown in FIG. 8, laser light is irradiated in front of the nozzle unit 25, and an optical image L is formed on the end face 11. The camera 30 receives the laser reflected light from the wife surface 11, captures a light image L on the wife surface 11, and transmits an image signal to the control computer 27. The control computer 27 processes the image of the light image L and calculates the spray angle based on the ratio of the major axis to the minor axis of the ellipse forming the optical image L2. Then, the control computer 27 calculates a control value for bringing the spray angle close to 90 °, generates a drive signal, and transmits it to the robot arm 23. The robot arm 23 changes the posture of the nozzle unit 25 according to the drive signal. With the above control, bentonite can be sprayed onto the end face 11 while maintaining the spray angle at approximately 90 °. As described above, the process in which the control computer 27 adjusts the posture of the nozzle 31 based on the shape of the light image L captured by the camera 30 corresponds to the “nozzle adjustment process”.

[Third Embodiment]
Then, 3rd Embodiment of the spraying construction method and spraying apparatus of this invention is described. The spraying device of the present embodiment includes a nozzle unit 325 shown in FIG. 9 instead of the nozzle unit 25 (see FIG. 4) of the spraying device 1 according to the first embodiment. Each laser device 335 included in the nozzle unit 325 is held by the frame 33 while being inclined with respect to the ejection direction A of the nozzle 31. And the optical axis B of each laser apparatus 335 exists on the conical surface centering on the nozzle 31, and the space | interval of each laser beam spreads so that it goes ahead. Therefore, as the distance between the nozzle 31 and the wife surface 11 increases, the entire optical image L increases in a similar manner. For example, when the distance between the nozzle 31 and the wife surface 11 is 1 m, the diameter of the optical image L1 is adjusted to be 30 cm.

  According to this configuration, the control computer 27 calculates the distance between the nozzle 31 and the wife surface 11 by recognizing the size of the optical image L formed on the wife surface 11 from the image signal of the camera 30. Can do. Therefore, the control computer 27 can control the distance (spraying distance) between the nozzle 31 and the end face 11 to an appropriate distance for reducing rebound. Further, the size of the light image L can be visually determined by an operator, and it can be confirmed whether or not the spray distance is appropriate.

  In the spraying method using the spraying device of this embodiment, in the above-described programming step (see the first embodiment), the operation of the robot arm 23 that maintains an appropriate spraying distance instead of an appropriate spraying angle is performed. It can be memorized. Alternatively, in the above-described programming step, the operation of the robot arm 23 that maintains an appropriate spray angle and an appropriate spray distance can be stored. Moreover, in the above-mentioned spray angle control process (refer 2nd Embodiment), the robot arm 23 which maintains an appropriate spray distance instead of an appropriate spray angle can be controlled. Alternatively, in the above-described spray angle control step, it is possible to control the robot arm 23 that maintains an appropriate spray angle and an appropriate spray distance.

[Fourth Embodiment]
Then, 4th Embodiment of the spraying construction method and spraying apparatus of this invention is described. As shown in FIG. 10, the spraying device of this embodiment irradiates light M spreading in a conical shape as a light irradiation means for forming a light image L, instead of the laser devices 35 arranged on the circumference. A light 435 that forms a light image having a circular or elliptical diameter is used. The light 435 is attached to the nozzle 31 via the connecting jig 433, so that the posture and position are fixed relative to the nozzle 31. Also by such a structure, the same effect as 1st-3rd embodiment is acquired.

  As mentioned above, although embodiment of this invention was described, this invention is not restricted to the said embodiment, You may change in the range which does not change the summary described in each claim. For example, the numerical values such as the specific dimensions and distances of the components exemplified in the embodiments are examples for facilitating understanding of the description, and do not limit the present invention.

  For example, the spraying body part raising process and the spraying body part retreating process performed during the program operation reproduction process may be programmed in advance and automatically performed unattended. By increasing the number of unmanned processes, it is possible to further reduce the radiation exposure of the worker, and thus to reduce the labor cost.

  In the embodiment, a light irradiation unit that forms a light image L having a two-dimensional shape (a regular circle or an ellipse) is employed. However, a light image having a one-dimensional shape (for example, a line segment) is used. You may employ | adopt the light irradiation part to form. In this case, the inclination of the component in the predetermined direction of the nozzle can be calculated based on the length of the line segment of the optical image.

  In the embodiment, the spraying of bentonite has been described as an example. However, the spraying method and spraying apparatus of the present invention are spraying cement, concrete, mortar, etc., spraying paint (painting), refractory material. It can also be applied to spray coating and coating of seeds on soil. In particular, when cement, concrete, and mortar are sprayed, the rebound material cannot be reused because the hydration reaction proceeds in the rebound material. Therefore, in such spraying, the importance of reducing rebound is high from the viewpoint of cost reduction and the like, and the spraying method and the spraying device of the present invention are more suitable.

DESCRIPTION OF SYMBOLS 1 ... Spraying device, 11 ... Wife surface (spraying surface), 23 ... Robot arm (nozzle drive part), 27 ... Control computer (nozzle control part), 30 ... Camera (imaging part), 31 ... Nozzle (spraying) Nozzle), 35, 335... Laser device (light irradiation part), 114... Bentonite layer (spraying layer), 435. Light (light irradiation part), L, L1, L2.

Claims (4)

A spraying method in which a spraying layer is formed on a spraying surface by a spraying device,
The spraying device
A spray nozzle that sprays the spray material forming the spray layer onto the spray surface;
The fixed relative to the spray nozzles, by irradiating light from a plurality of light sources in the spray surface disposed on a circumference around the spray nozzle, respectively on those該吹with surface A light irradiation unit that forms a light image in which a plurality of light spots by the light source are depicted in a ring shape ; and
A nozzle driving unit for driving the spray nozzle and the light irradiation unit;
A nozzle control unit that drives the nozzle driving unit to control the attitude of the spray nozzle;
An imaging unit that captures the optical image formed on the spray surface by the light irradiation unit, and
A nozzle adjustment step in which the nozzle control unit controls an attitude of the spray nozzle with respect to the spray surface based on a ratio between a major axis and a minor axis of the image of the optical image obtained by the imaging unit and having an elliptical shape. A spraying method characterized by comprising The plurality of light sources of the light irradiation unit are:
Centered on the spray nozzle, provided so as to be inclined with respect to the spray direction so that an optical axis exists on a conical surface whose diameter increases as it proceeds in the spray direction of the spray material,
In the nozzle adjustment step, the nozzle controller is
2. The spraying method according to claim 1, wherein a distance of the spray nozzle to the spray surface is controlled based on a size of the elliptical image of the optical image acquired by the imaging unit. . A spraying device for forming a spraying layer on a spraying surface in a spraying method,
A spray nozzle that sprays the spray material forming the spray layer onto the spray surface;
Light is applied to the spraying surface from a plurality of light sources that are fixed relative to the spraying nozzle and arranged on a circumference centered on the spraying nozzle . A light irradiation unit that forms a light image in which a plurality of light spots by the light source are arranged in a ring shape ; and
A nozzle driving unit for driving the spray nozzle and the light irradiation unit;
A nozzle control unit that drives the nozzle driving unit to control the attitude of the spray nozzle;
An imaging unit that captures the optical image formed on the spray surface by the light irradiation unit, and
The nozzle control unit
A spraying device that controls an attitude of the spray nozzle with respect to the spraying surface based on a ratio between a major axis and a minor axis of an image of the optical image obtained by the imaging unit and having an elliptical shape . The plurality of light sources of the light irradiation unit are:
Centered on the spray nozzle, provided so as to be inclined with respect to the spray direction so that an optical axis exists on a conical surface whose diameter increases as it proceeds in the spray direction of the spray material,
The nozzle controller is
The spraying device according to claim 3, wherein a distance of the spray nozzle with respect to the spray surface is controlled based on a size of the elliptical optical image acquired by the imaging unit. .

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