JP6802721B2 - Automatic marking method on the ceiling surface and unmanned aerial vehicle for automatic marking - Google Patents

Description

The present invention relates to an automatic marking method for the ceiling surface of an existing structure and an unmanned flying object for automatic marking, and more specifically, when performing repair work such as attaching a sheet to the ceiling surface behind the floor slab of a bridge. The marking work that clearly indicates the position on the ceiling surface is performed by measuring the distance from the bridge girder of the bridge using an unmanned flying object, and the automatic marking used in the same method as the automatic marking method on the ceiling surface. It belongs to the technical field of unmanned projectiles.

In recent years, repair work for slabs of aging bridges has been increasing. For example, when repairing the back surface (ceiling surface 30) of the floor slab of the bridge B as shown in FIGS. 8 and 11, when the reinforcing sheet is attached, the ceiling surface 30 is previously provided in order to clearly indicate the attachment position. Positioning is performed and marking is performed. This marking work is a dangerous and difficult work in which the worker is in an upward posture in a narrow space and on the scaffolding. Moreover, the exact dimensions of the plate bridge B required for marking can only be investigated after the scaffolding has been constructed.

Regarding the marking work, for example, in Patent Document 1, a moving trolley having a traveling wheel and a free wheel with a rotation amount detection sensor, and a moving trolley mounted on the moving trolley and moving in an arbitrary direction in two orthogonal axes. The enabled XY moving table, the support column installed at the moving center of this XY moving table and rotatably attached extending toward the ceiling, and the ceiling surface with variable distance from the rotation center of the support column. Disclosed is a ceiling marking work device having a marking portion for marking a mark and a control unit into which predetermined position information is input and capable of operating the marking portion (claim 1 of the same document 1). 1. See FIG. 1).

On the other hand, recently, various technologies for unmanned aerial vehicles (unmanned aerial vehicles), so-called drones (UAVs), have been developed. For example, in Patent Document 2, the battery, a plurality of motors that operate on the electric power supplied from the battery and rotate a plurality of rotors to levitate and fly the unmanned vehicle, and the plurality of motors are controlled. An unmanned vehicle including a control unit that controls the flight of the unmanned vehicle and a position detection unit that detects at least the altitude of the unmanned vehicle is disclosed (see claim 1 of the same document 2).

Japanese Patent No. 2750660 Japanese Patent No. 5887641

The ceiling marking work device described in Patent Document 1 is suitable for the work of marking the position for installation of lighting, air conditioning equipment, etc. on the ceiling surface in a circular shape. However, it is not suitable for marking work that clearly indicates a desired position such as a long straight line or a grid pattern. In addition, marking out by extending the rotatable column portion extended in the ceiling direction from the XY moving table on the moving carriage to the ceiling surface is not stable in proceeding with the work. Moreover, the moving trolley on which the XY moving table of the working device is mounted must be installed and moved on a flat floor surface, resulting in poor work efficiency.

In particular, when marking the floor slab of a bridge (drawing a marking line), the dimensions of the floor slab cannot be accurately measured and investigated until after the scaffolding has been constructed. After completing the accurate dimensional survey, it is very troublesome for multiple workers to perform painful upward work toward the ceiling in a narrow space. In this way, it is extremely difficult to perform marking work such as a grid pattern, so there is a demand for automation to improve work efficiency.

On the other hand, the bridge has a bridge girder, and the distance from this bridge girder can be measured by remote control using a drone (unmanned aerial vehicle), and the drone can automatically and accurately directly mark the desired position on the ceiling. It is clear that work efficiency will increase if possible.

The present invention has been devised in view of the above-mentioned problems of the background technology, and an object of the present invention is to set the work position on the ceiling surface in advance when performing work such as attaching a sheet to the ceiling surface. Using an unmanned flying object, in particular, the distance from the bridge girder of the bridge can be measured automatically, efficiently and accurately, and the automatic marking method on the ceiling surface can save labor. It is to provide an unmanned flying object for automatic marking used in the same method.

As a means for solving the above-mentioned problems, the automatic marking method on the ceiling surface according to the invention according to claim 1 is a method of marking the ceiling surface with an unmanned flying object to the ceiling surface of an existing structure. There,
A frame body and a rotating body rotatably supported in the center of the frame body form a skeleton. The frame body has a distance sensor and an unmanned flying object that rises by generating a lifting force by rotation and rises on the ceiling surface. A plurality of rotors that can be pressed freely and a printing device that can print toward the ceiling surface are attached, and the rotating body has a plurality of wheels that are in contact with the ceiling surface and can travel on the ceiling surface in any direction. It has an unmanned flying object equipped with a power source for the wheels and a microcomputer board that controls the movement of the wheels to a desired marking position.
Coordinate confirmation software for measuring the distance from a wall member such as a bridge girder or wall serving as a reference surface of the ceiling surface to an unmanned flying object with the distance sensor and indicating the marking position to the microcomputer board is installed and assigned. The process of raising the unmanned projectile and pressing it against the ceiling surface by the computer device in which the coordinates in the figure are input to the marking position located at a predetermined distance from the wall member and pressing the unmanned projectile against the ceiling surface by the rotor. While maintaining the state, the work of marking the unmanned projectile to a desired position on the ceiling surface with the printing device while keeping a certain distance from the wall member on the ceiling surface and moving the unmanned projectile in parallel with the wall member. By repeating the work of vertically moving the wall member to a predetermined position without marking the wall member while controlling the rotation of the rotating body according to the allocation diagram, a plurality of marking lines are provided on the ceiling surface at predetermined intervals. It is characterized by the process of opening and pulling in parallel.

The invention according to claim 2 is the method of automatically marking the ceiling surface according to claim 1, wherein the unmanned flying object is kept at a certain distance from the wall member of the ceiling surface with respect to the wall member. The work of marking out to a desired position on the ceiling surface with the printing device while moving in parallel and the work of vertically moving to a predetermined position without marking out to the wall member are provided in directions orthogonal to the wall member. by performing also the wall members, a plurality of marking lines on the ceiling surface, characterized in that it consists of the steps of pulling the like rated child.

According to the third aspect of the present invention, in the automatic marking method on the ceiling surface according to the first or second aspect, the unmanned projectile has an anchor portion that can move up and down so as to come into contact with the ceiling surface. The rotation control of the rotating body of the unmanned flying object is performed after the anchor portion is raised so as to come into contact with the ceiling surface to release the contact state between the wheels and the ceiling surface. ..

The unmanned aerial vehicle for automatic marking on the ceiling surface according to the invention according to claim 4 is an unmanned aerial vehicle that prints on the ceiling surface while being pressed against the ceiling surface.
The unmanned flying object forms a skeleton by a frame body and a rotating body rotatably supported in the center of the frame body, and the frame body has both ends attached parallel to one side of the frame body. A sensor support wheel equipped with a distance sensor, a plurality of rotors capable of generating a lifting force by rotation to press an unmanned flying object against the ceiling surface, and a printing device capable of printing toward the ceiling surface are attached. Is equipped with a plurality of wheels that are in contact with the ceiling surface and can travel on the same ceiling surface in an arbitrary direction, a power source of the wheels, and a microcomputer board that controls the movement of the wheels to a desired marking position. Ori,
Ink located at a predetermined distance from wall members such as bridge girders and walls, which are the reference planes of the ceiling surface measured by the distance sensor, by a computer device installed with coordinate confirmation software for instructing the marking position to the microcomputer board. With the unmanned flying object pressed against the ceiling surface by the rotor at the ejection position, the unmanned flying object is configured to be freely marked in the direction parallel to the wall member by moving the wheels whose rotation can be controlled by the rotating object. An unmanned flying object for automatic marking on the ceiling surface.

The invention according to claim 5 is the unmanned flying object for automatic marking on the ceiling surface according to claim 4, wherein the frame body has an anchor portion that can be moved up and down by an anchor link mechanism, and the anchor portion is up and down. It is characterized in that a photo sensor that senses the position is installed.

The invention according to claim 6 is the unmanned aerial vehicle for automatic marking on the ceiling surface according to claim 4, wherein the printing device is an inkjet or roll marker capable of automatically controlling the execution and stop of printing. It is characterized by being.

The invention according to claim 7 is the unmanned flying object for automatic marking on the ceiling surface according to any one of claims 4 to 6, wherein the rotating body is rotated with respect to the wall member of the ceiling surface. It is characterized in that a photo sensor that senses a position where the body rotates 90 degrees is installed.

According to the automatic marking method on the ceiling surface and the unmanned flying object for automatic marking according to the present invention, a distance sensor, a plurality of rotors, and a printing device capable of printing on the ceiling surface are attached to the frame body. At the same time, the rotating body rotatably supported in the center of the frame is equipped with wheels that can travel on the ceiling surface in any direction, their power sources, and a microcomputer board that controls the movement of the wheels. The allocation diagram shows the marking on the ceiling surface while driving the body, raising it from the ground and pressing it against the ceiling surface of the existing structure, and moving it linearly in parallel with the wall members such as bridge girders and walls that serve as the reference surface. Follow the instructions on the printing device. Therefore, it is possible to automatically, efficiently and accurately perform the difficult upward marking work in a narrow space in advance when repairing the ceiling surface, which contributes to labor saving. Therefore, it is very excellent in workability, economy, and work efficiency.

It is an overall view which showed the unmanned aerial vehicle for automatic marking on the ceiling surface of this invention from the bottom surface direction. It is an elevation view which showed the unmanned aerial vehicle for automatic marking. It is explanatory drawing which shows typically the sensing state of the predetermined distance from the bridge girder in the unmanned aerial vehicle for automatic marking from the bottom direction. FIG. 3 is a side view of FIG. 3 as viewed from the side direction. It is an elevation view showing a state in which an unmanned aerial vehicle for automatic marking rises to the ceiling surface and keeps a predetermined distance from the bridge girder. It is explanatory drawing which showed the state which the unmanned aerial vehicle for automatic marking moves vertically to a predetermined position (see arrow R) without marking with respect to a bridge girder. It is explanatory drawing which showed the state which the rotating body (wheel) rotates 90 degrees clockwise from the state of FIG. 6 and performs marking while moving in a direction parallel to a bridge girder, in an unmanned flying object for automatic marking. .. It is an elevation view for demonstrating an example of marking on the floor slab of a bridge. It is a display figure of the computer apparatus which showed the input process of the coordinates of the allocation figure. It is the top view which showed the grid-like marking state on the ceiling surface. It is an overall view which showed the carbon fiber sheet attached along the grid-like marking.

Hereinafter, an embodiment of the illustrated automatic marking method on the ceiling surface and an unmanned flying object for automatic marking will be described.

First, the configuration and function of the unmanned aerial vehicle A for automatic marking used in the automatic marking method on the ceiling surface will be described. The unmanned aerial vehicle A for automatic marking illustrated in FIG. 1 has a compact size and has a configuration in which it moves horizontally along the ceiling surface 30 while being pressed against the ceiling surface 30 of the existing structure to perform marking (FIG. 5). reference). The overall skeleton is composed of a frame body 10 and a rotating body 20 rotatably supported at the center of the frame body 10. In the frame body 10, two vertical members 10a having a length of 390 mm are arranged in parallel in the vertical direction, and two horizontal members 10b having a length of 390 mm are arranged in parallel in the horizontal direction. Are connected and assembled in a square shape.

Then, a plurality of arm portions 18 ... Extending inward from each vertical member 10a and horizontal member 10b are provided toward the internal space of the frame body 10, and a ring-shaped support ring body 16 arranged in the center. Is connected to and supported by the plurality of arms 18 ... The support ring body 16 has an outer diameter of 310 mm, and its internal structure is formed in a U-shaped groove portion 16a that opens inward and is recessed (detailed drawing is omitted). Therefore, the rotating body 20 described later is rotatably supported by the support ring body 16 of the frame body 10. Specifically, the outer circumference of the disk-shaped rotating body 20 having an outer diameter slightly smaller than the outer diameter of 310 mm of the support ring body 16 is fitted into the groove portion 16a of the support ring body 16 to be supported, and the rotating body 20 is supported by the frame body. It is configured to rotate independently of 10.

Anchor portions 14 are attached to the four corners of the frame body 10 in vertical directions upward, and each anchor portion 14 ... Is configured to be vertically movable by an anchor link mechanism 13 as shown in FIG. ing. The anchor link mechanism 13 plays a role of releasing the contact state between the wheel 2 and the ceiling surface 30 when the upper end portion of the anchor portion 14 is raised so as to sufficiently contact the ceiling surface 30. Further, in the vicinity of the anchor link mechanism 13, a photo sensor 15 that senses the vertical position of the anchor portion 14 is installed. The anchor portion 14 fixes the frame body 10 to the ceiling surface 30 so that the wheels 2 ... Described later of the rotating body 20 do not shift in position when rotated by 90 degrees, and the photo sensor 15 is the anchor portion 14. It is for sensing the vertical position of. Reference numeral 17 in FIG. 1 indicates a DC motor that expands and contracts the anchor portion 14 in the vertical direction.
In this embodiment, four anchor portions 14 are arranged in a well-balanced manner, but the number of anchor portions 14 can be increased or decreased as appropriate. Further, the four anchor portions 14 are implemented in a configuration capable of synchronous control in this embodiment.

The laser distance sensor 12 is attached to the frame body 10. Specifically, the sensor support rods 11 on which the distance sensors 12 and 12 are installed at both ends of the sensor support rod 11 having a length of 600 mm are parallel to the vertical member 10a forming one side of the frame body 10, and eventually the bridge girder 31. It is attached to the lower part of the horizontal member 10b at a position (for example, 270 mm from the vertical member 1a on the left side of FIG. 1) (see FIG. 2). The laser distance sensor 12 is a sensor that outputs as an analog voltage of 0 to 10 V, and measures the distance from the mounted unmanned projectile A to the bridge girder 31 illustrated in FIG. 6 or the like. Therefore, the position coordinates S (see FIG. 9) of the unmanned projectile A can be recognized, and the unmanned projectile A equipped with the distance sensor 12 keeps a constant distance from the bridge girder 31 of the bridge B serving as the reference plane K. It is configured to be linearly moved in a direction parallel to the above (see FIG. 7).
A reinforcing member 10c that connects the central portion of each of the vertical members 10a, 10a, the horizontal members 10b, and 10b and the tip end portion of the anchor portion 14 is attached to the frame body 10 described above (see FIG. 2).
In this embodiment, the bridge girder 31 (see FIG. 8) is used as the reference surface K, but the reference surface K is not limited to the bridge girder 31, and wall members such as walls and hanging walls are used as the reference surface K depending on the implementation site. Of course, it can also be.
Further, as shown in the explanatory view of FIG. 3, it is preferable to provide the collision detection sensors 19 and 19 on the frame 10 in the vicinity of the distance sensors 12 and 12, respectively.

Four rotors 1 are arranged on the outer side of the frame body 10 in a well-balanced manner. Specifically, the rotor 1 is attached to the tip of the support member 7 extending outward from each of the four corners of the frame body 10. A leg portion 1a is attached below each rotor 1. The rotor 1 composed of the four blades is implemented in a configuration in which the rotation directions of the adjacent rotors 1, 1 (blades) are opposite to each other, and lift is generated by the rotation to ascend to the ceiling surface 30. It is implemented in a configuration that allows the projectile A to be pressed freely.

Further, a printing device 4 for marking is attached to the outside of the frame body 10. That is, as shown in FIG. 1, the printing device 4 is attached to the tip of the support member 8 extending outward from the center of one vertical member 10a forming the frame body 10.
As the printing device 4 for marking, an inkjet or roll marker capable of automatically controlling the execution and stopping of marking (printing) is suitable. When an inkjet 4 is adopted as an example, the nozzle of the inkjet 4 is installed facing upward, and is configured to be freely printable toward the ceiling surface 30. As an example, the head size of the nozzle is about 30 × 30 × 70 mm, and the dot size is about 1.5 mm. The distance (distance) from the ceiling surface 30 is preferably about 10 mm. In this embodiment, a maximum printing speed of 700 dots / sec is adopted, which is considered to be a performance capable of printing on a concrete surface.

An ink supply device 45 that supplies and replenishes ink to the inkjet 4 is installed on the lower work floor 32 (see FIG. 5), and an ink supply tube 46 connected to the ink supply device 45 is the unmanned projectile A. It is connected to the inkjet 4 so that the marking work can be performed without interruption. The ink supply device 45 also serves as a controller for printing operations.

The configuration and function of the rotating body 20 described above are as follows. The rotating body 20 is made of a transparent acrylic plate, and the PLC 22 is installed in a penetrating state in the center of the rotating body 20. The PLC 22 causes an input command to follow a numerical value via a touch panel (display 44) of a computer device 40 as shown in FIGS. 5 and 9, and causes the distance sensor 12 and the like and motors 3 and 17 of a power source to be described later. It is a programmable controller that controls in cooperation.
Further, an analog unit 23 and an Ethernet / IP 24 are installed at the center of the rotating body 20. The analog unit 23 is an expansion unit that digitally converts the analog voltage of the distance sensor 12. The Ethernet / IP24 is an expansion unit for connecting the touch panel, which is the display 44 of the computer device 40, and the PLC 22 with a LAN cable.

Wheels (fixed wheels in this embodiment) 2 are attached to the upper surface of the rotating body 20. The wheels 2 are made of lightweight aluminum, and are arranged symmetrically near the outer circumference of the rotating body 20 and are installed at positions opposite to the distance sensor 12. Therefore, the wheels 2 are in contact with the ceiling surface 30 and can travel on the ceiling surface 30. Specifically, the wheels 2 and 2 are movable in the direction parallel to or perpendicular to the bridge girder 31 in accordance with the rotation control of the rotating body 20 described later. Further, as the power source 3 for the wheels 2, the left and right tires 2 and 2 can be rotated separately, and a stepping motor 3 for traveling while maintaining parallelism with the bridge girder 31 is provided in the vicinity of the wheels 2 and 2. .. Each stepping motor 3 and 3 is independently controlled by motor drivers 5 and 5 installed in the vicinity, respectively.
Reference numeral 21 in FIG. 1 indicates a photosensor. The photosensor 21 is for sensing the position where the rotating body 20 surely rotates 90 degrees with respect to a predetermined reference surface K (for example, the inner wall surface 31a of the bridge girder 31) of the ceiling surface 30.

Further, a power source 3 (see FIG. 1) of the wheel 2 and the wheel 2 described above, and a plurality of microcomputer boards (omitted for convenience of illustration) are mounted on the upper portion of the rotating body 20. One of the microcomputer boards controls to move the wheel 2 to a desired marking position P based on the coordinate recognition of the current position from the reference plane K (bridge girder 31) by the distance sensor 12. This microcomputer board receives a control command by remote control from the following computer device 40 and outputs a signal for driving the wheel 2. A different microcomputer board that controls the number of revolutions that maintain the altitude and lift of the rotor 1 and the horizontal movement of the unmanned projectile A in the air is also mounted.

The power source 3 for the rotor 1, the wheel 2, and the power source 6 for operating the inkjet 4 are installed on the work floor 32 (see FIG. 5), and power is supplied through the power transmission cable 60. In addition to the external fixed power supply as described above, a battery (not shown) may be attached to each device mounted on the unmanned projectile A to supply power.

Coordinate confirmation software 41 such as CAD for instructing the microcomputer board of the marking position P is installed in the computer device 40. Further, the coordinates S of the allocation diagram 43 are input to the computer device 40 (see FIG. 9).
The computer device 40 and the two types of microcomputer boards are connected to each other so that data can be transmitted from the computer device 40 by a cable or a communication device, and are remotely controlled. The computer device 40 referred to here refers to a broad concept including a desktop (see FIG. 9), a tablet PC (see FIG. 5), a notebook, and the like.

Next, a method of automatically marking the back surface of the floor slab (ceiling surface 30) of the bridge B using the unmanned flying object A having the above configuration will be described below.
By the way, in this embodiment, as an example, among the bridge girders 31 arranged in the vertical and horizontal directions according to FIG. 8, the inner wall surface 31a of the bridge girders 31 arranged in the extension direction of the bridge is used as the reference plane K and the ink is printed in the parallel direction. out, and then put ink in the direction parallel to the inner wall surface 31b as a reference plane K of the bridge deck 31 disposed in a direction orthogonal with the bridge girder 31, with as illustrated in FIG. 10, out black to form rated child The line P is drawn.
In addition to the unmanned flying object A, the wheels 2, the anchor link mechanism 13, the printing device 4, and the like are controlled remotely by a remote controller (not shown for convenience).

First, when marking out the ceiling surface 30 of the bridge B as illustrated in FIG. 8, an allocation diagram 43 is created (see FIG. 9). The height from the work floor 32 to the ceiling surface 30 is, for example, about 5 to 10 m.

Next, the unmanned projectile A on the work floor 32 is raised toward the ceiling surface 30 by remote control by a remote controller and pressed against the ceiling surface 30 (see FIG. 5). Then, as shown in FIGS. 6 and 7, the distance sensors 12 and 12 of the unmanned projectile A pressed against the ceiling surface 30 allow the unmanned projectile A (inkjet 4) from the inner wall surface 31a of the bridge girder 31. The position coordinate S of the unmanned projectile A is recognized by measuring the distance to.

After recognizing the position coordinates S, the coordinates S of the allocation diagram 43 are input to the touch panel display 44 of the computer device 40 in order to indicate the marking position P to the microcomputer board of the unmanned flying object A. Then, the unmanned projectile A moves while being pressed against the ceiling surface 30 from the bridge girder 31 which is the reference surface K of the ceiling surface 30 measured by the distance sensor 12 to the marking position P located at a predetermined distance (FIG. 6). Refer to the direction indicated by the arrow R).

As shown in FIG. 6, when the unmanned flying object A vertically moves from the inner wall surface 31a of the bridge girder 31 to the desired marking position P, the anchor link mechanism 13 of the frame body 10 moves the anchor portion 14 ... Upward. After extending and firmly fixing the frame body 10 to the ceiling surface 30 and releasing the contact state between the wheels 2 and the ceiling surface 30, as shown in FIG. 7, only the rotating body 20 of the unmanned projectile A is removed. Rotate 90 degrees clockwise. After confirming that the wheels 2 and 2 of the rotating body 20 have been rotated 90 degrees, the anchor link mechanism 13 returns the anchor portion 14 downward.
Then, while maintaining the state of pressing the unmanned projectile A against the ceiling surface 30 by the rotor 1, the unmanned projectile A is moved in the direction indicated by the arrow T in FIGS. 3 and 7. At that time, the unmanned projectile A moves linearly in parallel with the bridge girder 31 while maintaining a certain distance from the bridge girder 31 on the ceiling surface 30, and moves from the upward nozzle of the inkjet 4 mounted on the unmanned projectile A to the ceiling surface 30. A large amount of a small amount of ink is ejected with dots to mark the desired position P on the ceiling surface 30.

Such marking work on the ceiling surface 30 while linearly moving in parallel with the bridge girder 31 (inner side surface 31a) and linear movement to a predetermined position without marking perpendicular to the bridge girder 31. The positioning work of marking on the ceiling surface 30 is repeatedly performed as necessary while controlling the rotation of the rotating body 20 according to the allocation FIG. 43, and among the bridge girders 31 arranged in the vertical and horizontal directions according to FIG. The marking work in the parallel direction with the inner wall surface 31a of the bridge girder 31 arranged in the extension direction of the bridge as the reference plane K is completed.

Subsequently, the entire orientation of the unmanned projectile A is changed by 90 degrees by remote control by the remote controller, and the unmanned projectile A faces the inner wall surface 31b of the bridge girder 31 arranged in the direction orthogonal to the bridge girder 31. Press against the ceiling surface (see FIGS. 6 and 7). Then, the same steps as those described in the paragraphs [0034] to [0036] are performed according to the allocation FIG. 43. That is, the marking work on the ceiling surface 30 while linearly moving in parallel with the bridge girder 31 (inner side surface 31b) and the ceiling surface while linearly moving to a predetermined position without marking perpendicular to the bridge girder 31. The positioning work of marking out to 30 is repeatedly performed as necessary while controlling the rotation of the rotating body 20 according to the allocation diagram 43, and marking in the parallel direction with the inner wall surface 31b of the bridge girder 31 as the reference plane K. Finish the delivery work.

FIG. 10 shows an example in which marking is performed at a grid-like marking position P where long straight lines intersect in length and width through the above steps. In FIG. 10, the square portion painted in black is secured as the window portion 35 for inspection. A reinforcing carbon fiber sheet 33 is regularly attached to the other ceiling surface 30 along the marking position P (see FIG. 11).

Therefore, according to the above-mentioned automatic marking method for the ceiling surface, the unmanned flying object A having the above configuration is raised and pressed against the ceiling surface 30, and the printing device 4 accurately marks the ceiling surface 30 at a desired position. It can be done lightly. Therefore, it is possible to automatically mechanize and efficiently and accurately perform the difficult marking work in a narrow space in advance and upward when the ceiling surface 30 is repaired.

Although the examples of the present invention have been described above with reference to the drawings, the present invention is not limited to the illustrated examples, and within the range not deviating from the technical idea thereof, design changes and variations of applications usually performed by those skilled in the art It is mentioned just in case that it includes a range.
For example, as illustrated by the broken line in FIG. 1, when the distance sensors 12 and 12 are further provided on the left and right in an arrangement orthogonal to the sensor support rod 11 (the sensors 12 and 12 above and below), the paragraph [ In addition to eliminating the work of changing the overall orientation of the unmanned projectile A as described at the beginning of 0038], the ceiling surface 30 is exposed to the distance of wall members such as bridge girders 31 and 31 provided in the orthogonal direction. On the other hand, it is possible to perform the marking work with abundant flexibility, such as being able to perform the marking work flexibly in the vertical and horizontal directions.

1 rotor 2 wheels 3 power source (stepping motor)
4 Printing device (invertical)
5 Motor driver 6 Power supply 7 Support member 8 Support member 10 Frame body 10a Vertical member (one side)
10b Horizontal material (one side)
11 Sensor support rod 12 Distance sensor 13 Anchor link mechanism 14 Anchor part 15 Photosensor 16 Support ring body 16a Groove part 17 DC motor 18 Arm part 19 Collision detection sensor 20 Rotating body 21 Photosensor 22 PLC
23 Analog input unit 24 EtherNet / IP
27 DC motor 30 Ceiling surface (back of floor slab)
31 Bridge girder 31a Inner wall surface 31b Inner side surface 32 Work floor 33 Carbon fiber sheet 35 Window part 40 Computer device 41 Coordinate confirmation software 43 Allocation diagram 44 Display 45 Ink supply device A Unmanned projectile B Bridge P Marking position (marking line)
S coordinate K reference plane

Claims (7)

It is a method of marking the ceiling surface of an existing structure with an unmanned flying object.
A frame body and a rotating body rotatably supported in the center of the frame body form a skeleton. The frame body has a distance sensor and an unmanned flying object that rises by generating a lifting force by rotation and rises on the ceiling surface. A plurality of rotors that can be pressed freely and a printing device that can print toward the ceiling surface are attached, and the rotating body has a plurality of wheels that are in contact with the ceiling surface and can travel on the ceiling surface in any direction. It has an unmanned flying object equipped with a power source for the wheels and a microcomputer board that controls the movement of the wheels to a desired marking position.
The distance sensor measures the distance from wall members such as bridge girders and walls, which are the reference planes of the ceiling surface, to the unmanned flying object, and the coordinate confirmation software for instructing the marking position to the microcomputer board is installed and assigned. The process of raising the unmanned projectile and pressing it against the ceiling surface by the computer device in which the coordinates in the figure are input to the marking position located at a predetermined distance from the wall member and pressing the unmanned projectile against the ceiling surface by the rotor. While maintaining the state, the work of marking the unmanned projectile to a desired position on the ceiling surface with the printing device while keeping a certain distance from the wall member on the ceiling surface and moving the unmanned projectile in parallel with the wall member. By repeating the work of vertically moving the wall member to a predetermined position without marking the wall member while controlling the rotation of the rotating body according to the allocation diagram, a plurality of marking lines are provided on the ceiling surface at predetermined intervals. An automatic marking method on the ceiling surface, which is characterized by the process of opening and pulling in parallel. The work of marking out the unmanned flying object to a desired position on the ceiling surface with the printing device while keeping a certain distance from the wall member on the ceiling surface and moving the unmanned flying object in parallel with the wall member, and the wall member. the work to be vertically moved to a predetermined position not out black Te, by also performing the wall member provided in a direction orthogonal to the wall member, the steps of pulling a plurality of marking lines like rank child ceiling surface The automatic marking method on the ceiling surface according to claim 1, wherein the method comprises. The unmanned flying object has a vertically movable anchor portion that can abut on the ceiling surface, and the rotation control of the rotating body of the unmanned flying body is such that the anchor portion abuts on the ceiling surface. The automatic marking method on the ceiling surface according to claim 1 or 2, wherein the method is performed after the wheel is raised to release the contact state between the wheel and the ceiling surface. It is an unmanned flying object that is pressed against the ceiling surface and inks out to the same ceiling surface.
The unmanned flying object forms a skeleton by a frame body and a rotating body rotatably supported in the center of the frame body, and the frame body has both ends attached parallel to one side of the frame body. A sensor support wheel equipped with a distance sensor, a plurality of rotors capable of generating a lifting force by rotation to press an unmanned flying object against the ceiling surface, and a printing device capable of printing toward the ceiling surface are attached. Is equipped with a plurality of wheels that are in contact with the ceiling surface and can travel on the same ceiling surface in an arbitrary direction, a power source of the wheels, and a microcomputer board that controls the movement of the wheels to a desired marking position. Ori,
Ink located at a predetermined distance from wall members such as bridge girders and walls, which are the reference planes of the ceiling surface measured by the distance sensor, by a computer device installed with coordinate confirmation software for instructing the marking position to the microcomputer board. With the unmanned flying object pressed against the ceiling surface by the rotor at the ejection position, the unmanned flying object is configured to be freely marked in the direction parallel to the wall member by moving the wheels whose rotation can be controlled by the rotating object. An unmanned flying object for automatic marking on the ceiling surface. The automatic on the ceiling surface according to claim 4, wherein an anchor portion that can be moved up and down by an anchor link mechanism and a photo sensor that senses the vertical position of the anchor portion are installed in the frame body. Unmanned flying object for sumi-inking. The unmanned flying object for automatic marking on a ceiling surface according to claim 4 or 5, wherein the printing device is an inkjet or roll marker capable of automatically controlling the execution and stop of printing. The invention according to any one of claims 4 to 6, wherein a photo sensor that senses a position where the rotating body rotates 90 degrees with respect to the wall member on the ceiling surface is installed on the rotating body. An unmanned projectile for automatic marking on the ceiling surface.

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