JP6806639B2 - Marking device and marking method - Google Patents

Description

The present invention relates to a marking device and a marking method for marking a predetermined surface by scanning a beam light.

In construction work, before finishing work, marking the center line of the pillars of the building and the position of the finished surface of the floor / wall, etc., as the reference line of the work is called sumi-inking. Currently, in order to perform marking, laser light is applied to the floor, wall, and ceiling with a laser marking device, auto level, etc., and the horizontal, vertical, and height are checked, and the floor, wall, and ceiling are checked using a chalk line. A straight line is drawn on the floor, and the position of the building is shown. Specifically, as illustrated in FIG. 9, the work of displaying a straight line on the floor, wall, ceiling, etc. using a laser marking device based on a reference point such as a ground ink point, and actually drawing a line. Will be done manually by the sumi-inker. In the figure, reference numeral L1 indicates floor ink, reference numeral L2 indicates wall ink, reference numeral L3 indicates ceiling ink, reference numeral N indicates a laser marking device placed at a ground ink point, and reference numeral M1. Indicates a vertical point.

However, in that case, there is a problem that the work takes time and the accuracy of marking out depends on the skill level of the marking out. Further, as shown in the usage example of FIG. 9, since the plane in the three-dimensional space created by the radiation of the laser beam is projected on the floor, the wall, the ceiling, etc., the plane and the floor, the wall, the ceiling, etc. There is also a problem that it is only possible to display intersecting lines and it is not possible to create a shape of laser radiation other than a plane.

Further, as the marking device, those having various structures have been proposed (see, for example, Patent Documents 1 and 2). As described above, this type of marking device linearly scans the beam light from the beam light source on the workpiece, and is used in various work sites because of its simple operation.

Japanese Unexamined Patent Publication No. 2010-197122 Japanese Unexamined Patent Publication No. 2008-256531

However, in the case of a marking device using beam light, the beam light must be continuously scanned in order to display the marking line, and many marking devices are used to display many marking lines. There was a problem that I had to do.

Further, as illustrated in FIG. 10A, if the surface A that scans the beam light B has a step D1 or an unevenness D2, even if the beam light B is irradiated at a constant incident angle θ1, the light seen from the front There is also a problem that the trace is not always a straight line as illustrated in FIG.

An object of the present invention is to provide a marking device and a marking method capable of solving the above-mentioned problems.

The first aspect of the present invention is illustrated in FIG. 6, in which the beam light (B) is scanned onto a predetermined surface (see reference numeral A; hereinafter referred to as “inking surface”) to perform marking. In the marking device (1) to be performed
A light source (B) that scans a beam light (B) that develops a color of the photosensitizer or cures the photocurable resin on the marking surface (A) to which a photocurable resin colored by a photosensitizer or a colorant is applied. 2) and
The unevenness detecting means (3) for detecting the unevenness of the marking surface (A), and
The incident angle of the beam light (B) is changed at any time based on the detection result by the unevenness detecting means (3) so that a straight light trail can be drawn when viewed from the front of the marking surface (A) regardless of the unevenness. It is characterized in that it is provided with the incident angle changing means (4).

A second aspect of the present invention is characterized in that the unevenness detecting means (3) is a means for storing CAD data of a structure to be marked and a stereo photograph.

A third aspect of the present invention is that the unevenness detecting means (3) has a camera (not shown) for taking a stereo photograph of the marking surface (A) and the marking surface from the stereo photograph taken by the camera. It is characterized by having an unevenness analysis unit (not shown) for analyzing the unevenness of (A).

A fourth aspect of the present invention is characterized in that the unevenness detecting means (3) is a means for storing CAD data of a structure for marking and a 3D scanner.

A fifth aspect of the present invention is characterized in that the unevenness detecting means (3) has an unevenness analysis unit that analyzes the unevenness of the marking surface from the data acquired by the 3D scanner.

A sixth aspect of the present invention is in a marking method in which beam light (see reference numeral B in FIG. 6) is scanned onto a predetermined surface (see reference numeral A; hereinafter referred to as “inking surface”) to perform marking. ,
The process of detecting the unevenness of the marking surface (A) and
A step of applying a photocurable resin colored with a photosensitizer or a colorant to the marking surface (A), and
The photosensitizer is colored or the photocurable resin is applied while adjusting the incident angle so that a straight light trail can be drawn when viewed from the front of the blackened surface (A) regardless of the unevenness of the blackened surface (A). It is characterized by comprising a step of scanning a beam light (B) to be cured on the marking surface (A).

The numbers in parentheses and the like are for convenience to indicate the corresponding elements in the drawings, and therefore, this description is not limited to the description on the drawings.

According to the first to sixth viewpoints described above, a photocurable resin colored with a photosensitizer or a colorant is applied to the blackened surface, and the beam light causes the photosensitizer to develop color or is photocured. Since the resin is cured, the photosensitive agent in the portion scanned by the beam light is colored or the photocurable resin is cured. When the photo-curing resin is used, the operator removes the portion that has not been cured by the beam light, so that the cured portion (the linear portion in which the beam light is scanned) remains, and the said. The part can be used as a marking line. Further, when the photosensitizer is used, the colored portion of the photosensitizer can be clearly seen visually and can be used as a marking line. Further, even if the marking surface has irregularities, a straight line can be drawn when viewed from the front without being affected by the irregularities.

FIG. 1 is a flowchart showing an example of a marking method according to the present invention. FIG. 2 is a block diagram showing an example of the structure and the like of the marking device according to the present invention. FIG. 3 is a perspective view showing an example of a state of performing calibration. FIG. 4 is a perspective view showing an example of carrying out a backward meeting. FIG. 5 is a perspective view for explaining a process of inputting CAD data and drawing data. FIG. 6 is a schematic view showing an example of the configuration of the marking device according to the present invention. FIG. 7 is a schematic diagram showing an example of the configuration of the light source. 8 (a) and 8 (b) are schematic views for explaining the effect of the present invention. FIG. 9 is a perspective view showing a conventional example of a usage state of the laser marking device. 10 (a) and 10 (b) are schematic views for explaining an example of a conventional problem.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 8.

First, a preferred embodiment of the marking method according to the present invention will be described.

The marking method according to the present invention is illustrated in FIG.
-A step of measuring the correlation between the rotation angle from the PC (personal computer) to the vertical / horizontal rotation mirror (see reference numeral 53 in FIG. 2) and the swing angle of the laser beam (calibration step, see S1 in FIG. 2).
-The process of calculating the pose of the laser marking device by the backward meeting after aligning the reference point and the laser spot (backward meeting process, see S2 in the figure) and
-The process of inputting the CAD data of the floor, wall, etc. to be marked and the three-dimensional positions of the start point and end point of the line to be marked (the process of inputting CAD data and drawing data, see S3 in the figure).
-A step of applying a photocurable resin colored with a photosensitizer or a colorant around the planned marking position (step of applying a photosensitizer, etc., see S4 in the figure)
-The process of automatic laser marking by controlling from a PC (laser marking process, see S5 in the figure) and
Consists of.

Hereinafter, this marking method will be described in detail.

<Calibration process>
In this step, the correlation between the rotation angle from the PC to the vertical / horizontal rotation mirror 53 and the swing angle of the laser beam is measured in advance by the following method.

In the calibration, the laser spot is applied to a plate installed vertically facing the device at a certain distance from the device as shown in FIG. 2, and the following steps 1 to 4 are performed.

Step 1:
The position where the laser is reflected does not change even if the mirror 53 is rotated up, down, left, and right, and that position is set as the origin. The reference direction from which the laser beam is emitted from the origin is defined as the z-axis, the plane perpendicular to the Z-axis is defined as the XY plane at the position of z = z1, and the plate is installed on that plane.

Step 2:
An arbitrary number of points are determined on the plate of this XY plane. In FIG. 3, points of nx x ny are determined on the XY plane in an array shape. (Θxi, θyi) is calculated based on the coordinates (xi, yi, z1) of each point.

Step 3:
The calibrator controls the control computer while observing the projected laser spot to irradiate each point with a laser beam, and records the value of the command data (MirrorXi, MirrorYi) at that time. Do this for all points.

Step 4:
By this measurement, the relationship between the measured angle (θxi, θyi) in the two-dimensional space of (θx, θy) and the measured command data (MirrorXi, MirrorYi) in the two-dimensional space of the command data (MirrorX, MirrorY) is obtained. Can be done. Based on this, when an arbitrary (MirrorX, MirrorY) is given, the optimum function is estimated by the least squares method based on the measured (θxi, θyi) ← → (MirrorXi, MirrorYi) relationship. Therefore, (θx, θy) can be obtained. An nth-order polynomial can be used as a typical example of the function. On the contrary, when an arbitrary (θx, θy) is given, the optimum function is estimated by the least squares method based on the measured (θxi, θyi) ← → (MirrorXi, MirrorYi) relationship. , (MirrorX, MirrorY) can also be obtained.

<Backward meeting process>
In this step, as illustrated in FIG. 4, an automatic laser marking device is installed at an arbitrary position of the structure (for example, a room) to be marked, and the position and posture of the device are adjusted by the following method by rearward meeting. measure.

That is, at the site, the laser spot is aligned with a plurality of points (points indicated by reference numerals P in FIG. 4) whose three-dimensional positions are measured by a total station or the like and the positions are known, and the command data (MirrorX, MirrorY) read at that time. Find (θx, θy) based on the value of. These known points do not have to be on the line to be marked later, and may be at any position. After obtaining the three-dimensional positions and (θx, θy) of the known points for each, the position and orientation of the automatic laser marking device are obtained by solving the PnP (Perceptive n Points) problem. At least four are required to solve the PnP problem, but the more the number, the more accurate the position and orientation of the marking device.

<Process of inputting CAD data and drawing data>
In this step, the CAD data including the position information of the floor, wall, and ceiling surface to be marked and the start point and end point (point indicated by the symbol Q in FIG. 5) of the line to be marked are three-dimensional. Enter the position into the automatic laser marking device. In addition to the method of obtaining the position information of the floor, wall, and ceiling surface from the CAD data, it is also possible to use the data measured in the field using a stereo photograph or a 3D scanner.

<Applying process of photosensitizer, etc.>
After the above preparation, a photo-curing resin colored with a photosensitizer or a colorant is applied around the planned marking position (for example, the region indicated by reference numeral R in FIGS. 5 and 6 and the surface of concrete or the like). Apply. Among these, examples of the photosensitizer include a liquid obtained by mixing ammonium iron (III) citrate, potassium hexacyanoferrate (III) (also known as red blood salt) and water, which are used in blueprints. As a typical example of the mixing ratio of the components of this photosensitizer, 10 grams of ammonium iron (III) citrate and 50 cc of water are mixed, and 5 grams of red blood salt (red blood potash) and 50 cc of water are mixed, and finally two liquids are added. Mix. In the experiment, when UV laser light with a power of 50 mW and a wavelength of 375 nm was focused on a spot with a diameter of about 0.5 mm and scanned, a line with a length of 18 cm could be drawn in about 8 seconds.

<Laser marking process>
In this step, laser marking is automatically performed by control from a PC, and the position of the spot to be marked by the laser beam is obtained by the following method. The angle (θx, θy) seen from the automatic laser marking device is calculated from the three-dimensional position where the spot should hit on the CAD data such as the wall or floor, and based on the function determined by calibration, (MirrorX, MirrorY) is obtained, and command data (MirrorX, MirrorY) is sent from the control computer to the up / down / left / right rotation mirror.

According to the present invention, it is possible to automate the horizontal, vertical, height confirmation work, and the marking work in the marking work. As a result, the work time can be shortened, and thanks to the automation, it is possible to obtain the marking accuracy that does not depend on the skill level of the marking technician. In addition, since it is possible to create an arbitrary shape other than a flat surface by laser radiation, laser marking can be performed from an arbitrary position not limited to the ground marking point.

The marking device according to the present invention is a device that scans beam light on a predetermined surface (hereinafter referred to as “inking surface”) that is a surface of a work or a building and is to be marked. Is.

The marking device according to the present invention is illustrated by reference numeral 5 in FIG.
-A light source 50 that emits laser light (ultraviolet laser) and
An optical fiber 51 that guides the laser beam and
A lens 52 that narrows the laser beam emitted from the optical fiber 51 and
A mirror 53 that reflects the laser beam made into the narrow beam and irradiates a structure (for example, the floor, wall, or ceiling of a building).
An actuator 54 that rotates the mirror 53 up, down, left, and right,
It is composed of. Since the mirror 53 is configured to be rotationally driven vertically and horizontally by the actuator 54, the laser beam can be directed in an arbitrary direction by a control signal to the actuator 54. Further, since the light from the light source 50 is input from one end of the thin optical fiber 51 and emitted from the other end, a smaller light source can be created as compared with the case where the optical fiber is not used. As a result, the light diameter of the projected laser spot can be reduced. Further, since the focusing of the laser spot differs depending on the distance between the floor, wall, ceiling and the device 5 on which the laser spot is projected, the projected laser spot is adjusted and controlled by the focusing control device 55 to adjust the position of the lens 52. Can be minimized. Reference numeral 56 indicates a control computer, which transmits an actuator control signal to the actuator 54, a focusing control signal to the focusing control device 55, and a laser light control signal to the light source 50. It is configured to send.

Further, the marking device according to the present invention may be provided with a light source 2 that scans the beam light B on the marking surface A, as illustrated by reference numeral 1 in FIG. A photocurable resin (not shown) colored with a photosensitizer or a colorant is applied to the blackened surface A, and the beam light B develops the photosensitizer or cures the photocurable resin. Is. Here, examples of the photosensitizer used in the present invention include a sianotype photosensitizer used in a blueprint, and when such a photosensitizer is used, the light scanned from the light source 2 is ultraviolet light. It is good to set it to.

In addition, the marking device 1 according to the present invention is
The unevenness detecting means 3 for detecting the unevenness of the marking surface A and
The incident angle changing means 4 for changing the incident angle of the beam light B on the marking surface A at any time based on the detection result by the unevenness detecting means 3.
Is equipped with. The incident angle changing means 4 irradiates the marking surface A from the light source 2 so that a straight light trail can be drawn when viewed from the front of the marking surface A regardless of the unevenness of the marking surface A. It is configured so that the incident angle of the beam light B can be changed at any time (during scanning of the beam light B). That is, as a result of changing the incident angle of the beam light B from time to time as θ1 → θ2 → θ3 as illustrated in FIG. 8 (a), the light trail of the beam light seen from the front is coded in FIG. It becomes a straight line as illustrated in C.

According to the present invention, the marking surface A is coated with a photocurable resin colored with a photosensitizer or a colorant, and the beam light B causes the photosensitizer to develop color or cure the photocurable resin. Therefore, the photosensitizer in the portion scanned by the beam light B is colored or the photocurable resin is cured. When the photo-curing resin is used, the operator removes the portion that has not been cured by the beam light B, so that the cured portion (the linear portion in which the beam light B is scanned) remains. , The portion can be used as a marking line. Further, when the photosensitizer is used, the colored portion of the photosensitizer can be clearly seen and can be used as a marking line. Further, even if the marking surface A has a step D1 or an unevenness D2, a straight line can be drawn when viewed from the front without being affected by the step D1 or the unevenness D2.

By the way, examples of the above-mentioned unevenness detecting means 3 include a means for storing CAD data of a structure for marking and a stereo photograph (or a camera for taking the stereo photograph), and the unevenness detecting means. 3 is
-A camera (not shown) that takes a stereo picture of the marking surface A and
An unevenness analysis unit (not shown) that analyzes the unevenness of the marking surface A from a stereo photograph taken by the camera, and
May have. Further, examples of the above-mentioned unevenness detecting means 3 include a means for storing CAD data of a structure for marking and a 3D scanner, and the unevenness detecting means 3 is
An unevenness analysis unit that analyzes the unevenness of the marking surface from the data acquired by the 3D scanner.
May have.

On the other hand, the marking method according to the present invention is a marking method in which the beam light B is scanned onto the marking surface A to perform marking.
-The process of detecting the unevenness of the marking surface A and
-A step of applying a photocurable resin colored with a photosensitizer or a colorant to the marking surface A, and
A beam that develops the color of the photosensitizer or cures the photocurable resin while adjusting the incident angle so that a straight light trail can be drawn when viewed from the front of the marking surface A regardless of the unevenness of the marking surface A. A step of scanning the light B onto the marking surface A and
Is equipped with.

According to the present invention, the marking surface A is coated with a photocurable resin colored with a photosensitizer or a colorant, and the beam light B causes the photosensitizer to develop color or cure the photocurable resin. Therefore, the photosensitizer in the portion scanned by the beam light B is colored or the photocurable resin is cured. When the operator removes the portion that has not been cured by the beam light B, the cured portion (the linear portion in which the beam light B is scanned) remains, and the portion is used as an marking line. Can be done. Further, when the photosensitizer is used, the colored portion of the photosensitizer can be clearly seen and can be used as a marking line. Further, even if the marking surface A has irregularities, a straight line can be drawn when viewed from the front without being affected by the irregularities.

It is preferable that the light source 2 described above not only scans ultraviolet rays but also scans visible laser light in the same path as the ultraviolet rays. FIG. 7 is a schematic view showing an example of the configuration of such a light source, in which reference numeral 20 indicates a laser light emitting portion for emitting visible light laser light B0, and reference numeral 21 indicates an ultraviolet laser. Reference numerals 22 and 23 indicate laser light emitting units that emit light B1, reference numerals 22 and 23 indicate mirrors that reflect those laser light B0 and B1, and reference numerals 24 and 25 indicate motors that rotate those mirrors 22 and 23. Reference numeral 26 indicates a control device that controls the drive of the motors 24 and 25, and reference numeral 27 indicates a personal computer. When using such a device, the following procedure may be carried out. That is, the visible light laser beam B0 is manually applied to a plurality of reference points whose three-dimensional positions are known in advance, and the directions of the respective laser beams are recorded. Then, based on the data, the position and orientation of the light source 2 are calculated (backward meeting). A photocurable resin colored with a photosensitizer or a colorant is applied to the area where the marking line is to be drawn. The light source 2 irradiates the ultraviolet laser beam B1. At that time, based on the detection result of the unevenness detecting means 3, the incident angle changing means 4 changes the irradiation direction of the laser beam B1 at any time. In the device shown in FIG. 7, the control device 26 may also serve as the incident angle changing means.

1 Marking device 2 Light source 3 Concavo-convexity detecting means 4 Incident angle changing means A Marking surface B Beam light

Claims (6)

In an marking device that scans a predetermined surface (hereinafter referred to as "inking surface") with beam light to perform marking.
A light source for scanning a beam light for developing a color of the photosensitizer or curing the photocurable resin on the blackened surface to which a photocurable resin colored with a photosensitizer or a colorant is applied.
An unevenness detecting means for detecting the unevenness of the marking surface and
An incident angle changing means for changing the incident angle of the beam light at any time based on the detection result by the unevenness detecting means so that a straight light trail can be drawn when viewed from the front of the marking surface regardless of the unevenness.
A sumi-inking device characterized by being equipped with. The unevenness detecting means is a means for storing CAD data of a structure to be marked out and a stereo photograph.
The marking device according to claim 1, wherein the marking device is characterized in that. The unevenness detecting means includes a camera that takes a stereo photograph of the marking surface, and an unevenness analysis unit that analyzes the unevenness of the marking surface from the stereo photograph taken by the camera.
The marking device according to claim 2, wherein the marking device is characterized. The unevenness detecting means is a means for storing CAD data of a structure for marking and a 3D scanner.
The marking device according to claim 1, wherein the marking device is characterized in that. The unevenness detecting means includes an unevenness analysis unit that analyzes the unevenness of the marking surface from the data acquired by the 3D scanner.
The marking device according to claim 4, wherein the marking device is characterized. In the marking method in which the beam light is scanned onto a predetermined surface (hereinafter referred to as "inking surface") to perform marking.
The process of detecting the unevenness of the marking surface and
A step of applying a photocurable resin colored with a photosensitizer or a colorant to the marking surface, and
The beam light that causes the photosensitizer to develop color or cures the photocurable resin while adjusting the incident angle so that a straight light trail can be drawn when viewed from the front of the marking surface regardless of the unevenness of the marking surface. The process of scanning on the marking surface and
A method of marking out that is characterized by being equipped with.

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