JP7215056B2 - Construction work device and construction work method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a construction work apparatus and a construction work method for performing construction finishing work on a work target surface set on the surface of a building member using a robot arm.

For example, when a construction work robot is used to spray the surface of a building member such as a pillar or a beam, the spraying means is adopted as the end effector of the robot arm, and the spraying operation is carried out by the movement of the robot arm. . In general, a job file is used for motion commands of the robot arm, and the job file describes information related to the trajectory of the robot arm based on the positional information of the building members to be constructed, which is obtained from the design information of the building. be done.

For this reason, if there is a construction error in the actual building material, the surface of the building material after the spraying work is likely to be left unsprayed or unevenly sprayed, which greatly affects the construction accuracy of the building finish. can affect

Under these circumstances, for example, in Patent Document 1, in order to detect construction errors in protected objects such as underground buried objects, the toe of a bucket provided in a backhoe is brought into contact with an actual protected object, and the toe when it contacts. A method of calculating a difference based on positional coordinates and positional coordinates of an object to be protected in three-dimensional design data and correcting the three-dimensional design data when there is a difference between the two is disclosed.

In addition, in Patent Document 2, a robot drilling device for drilling a hole at a position specified by BIM data on the ceiling or wall, an electronic measurement device such as a laser total station is mounted on the device, and the actual building and BIM data If there is a difference between , it is disclosed that the dimensions of the actual building are reflected in the BIM data.

JP 2017-155563 A Japanese Patent Application Laid-Open No. 2017-537808

According to the method described in Patent Document 1, if the object whose actual position is to be confirmed is, for example, a linear structure such as an underground pipe or a public utility ditch, the three-dimensional design data can be corrected efficiently. If the object has a large surface area such as a beam or a wall, it takes a lot of time and effort to detect its position and orientation.

Further, Patent Document 2 discloses an idea of reflecting the dimensions of an actual building in BIM data, but it does not describe a specific method. and posture detection are not taken into consideration.

The present invention has been made in view of such problems, and its main purpose is to minimize the effects of construction errors occurring in building members by performing various construction finishing operations on a work surface using a robot arm. To provide a construction work device and a construction work method that can be carried out with high accuracy while limiting the work.

In order to achieve such an object, the construction work apparatus of the present invention comprises a multi-joint robot arm having an end effector used for work related to building finishing, and an arm control device for controlling the motion of the robot arm. In a work device, the arm control device controls the robot according to a job file created based on design information of a building member for which a work target surface is set, and work content to be performed on the work target surface. an arm motion command unit that operates an arm; a construction error detection unit that detects a construction error related to the position and orientation of the building member based on the design information and measurement data related to the actual surface shape; a job file correction unit that corrects the job file based on the construction error of the building member detected by the error detection unit.

The construction work apparatus of the present invention is characterized in that the end effector is provided with spraying means for covering the work surface with a spraying material.

In the construction work method using the construction work apparatus of the present invention, construction errors relating to the position and orientation of the construction member for which the work target surface is set are detected based on the design information and the measurement data. an error detecting step; a job file correcting step of correcting the job file based on the construction error of the building member detected in the construction error detecting step; and a job file corrected in the job file correcting step based on the job file. and a work execution step of operating the robot arm by using the robot arm to perform work related to building finishing on the work target surface.

In the building work method using the building work apparatus of the present invention, in the construction error detection step, based on the design information and the measurement data, a designed three-dimensional shape model and an actual three-dimensional model of the building member are generated. A shape model is created, a bounding box circumscribing each is set, and the construction error of the building member is detected using the two set bounding boxes.

According to the construction work apparatus and the construction work method of the present invention, construction errors occurring between design information and actual construction members such as beams, columns, walls, etc., for which work target surfaces are set are detected, and the construction errors are detected. The error is reflected in the job file used for the motion command of the robot arm. As a result, the movement of the robot arm can correspond to the actual position and posture of the building member on which the work target surface is set, and work can be performed with a high degree of accuracy while minimizing the effects of construction errors on the building member. It becomes possible to carry out work related to architectural finishing on the target surface.

In addition, since the construction error to be reflected in the job file affects not only the position but also the posture of the building member for which the work surface is set, if the spraying means is installed on the end effector of the robot arm, the work surface will not be affected. The accuracy of the positioning and direction of the spraying start position, the spraying end position, and the movement change position of the spraying means is enhanced. As a result, even when the spraying work is continuously performed on a wide range of the work target surface, it is difficult for the spraying to remain unsprayed and the spraying to be uneven, and it is possible to improve the accuracy of the spraying.

Furthermore, since the construction error is detected only for the building members for which the work surface is set, not for the entire building, the necessary measurement data is only for the surroundings including the actual building members for which the work surface is set. It is possible to greatly improve the workability without requiring a lot of time and effort for the measurement work and the detection work of the construction error, and contribute to the shortening of the construction period and the reduction of the construction cost.

Also, when detecting a construction error for a building member for which a work target surface is set, based on the design information and measurement data, the design 3D shape model and the actual 3D shape model of the building member are compared. Then, a bounding box circumscribing each of the designed and actual three-dimensional shape models can be set. Therefore, it is possible to automatically detect construction errors of building members by a simple method without using a special image processing device.

According to the present invention, the work surface is set in order to detect the construction error related to the position and orientation of the building member for which the work surface is set, and to reflect this in the job file used for the operation command of the robot arm. It is possible to minimize the influence of construction errors occurring in building members, and it is possible to carry out construction finishing work on a work target surface using a robot arm with high accuracy.

It is a figure which shows a mode that the construction work apparatus in this Embodiment is implementing spraying work. FIG. 4 is a diagram showing a construction work device in which a spraying means is employed as an end effector in this embodiment; FIG. 4 is a diagram showing how the construction work device according to the present embodiment moves to the vicinity of the work target surface; FIG. 2 is a flow chart of a construction work method using the construction work device according to the present embodiment; FIG. 4 is a diagram showing a bounding box set in an actual three-dimensional shape model of a ceiling beam based on a point cloud model in the present embodiment; FIG. 4 is a diagram showing a bounding box set in a designed three-dimensional shape model of a ceiling beam based on a BIM model in the present embodiment; FIG. 4 is a diagram showing the XY plane of bounding boxes set for each of the actual and designed three-dimensional shape models of ceiling beams in the present embodiment; FIG. 5 is a diagram showing an image of an attitude error in a three-dimensional shape model of a ceiling beam (extending in the X-axis direction) according to the present embodiment; FIG. 4 is a diagram showing an image diagram of attitude errors in a three-dimensional shape model of a ceiling beam (extending in the Y-axis direction) according to the present embodiment;

INDUSTRIAL APPLICABILITY The present invention provides a construction work apparatus and a construction work apparatus that are particularly suitable for continuous work such as spraying, when a robot arm is used to carry out construction finishing work on a work surface set on a building member. working method.

In this embodiment, a ceiling beam is used as a building member that constitutes a building, and a spraying work is used as a building finishing work performed using a robot arm. Taking the case of covering a surface with a fireproof covering material as an example, the construction work apparatus and construction work method will be described in detail below with reference to FIGS. 1 to 9. FIG.

As shown in FIG. 1, the construction work device 1 is a device that coats a work target surface 102 set on the surface of a ceiling beam 101 constituting a building 100 with a spraying material C, and as shown in FIG. , a robot arm A, a traveling section B for supporting the robot arm A, and an arm control device 6 mounted on the traveling section B.

As shown in FIG. 2, the robot arm A includes a manipulator 3 having a multi-joint structure and a spraying means 2 attached as an end effector to the tip of the manipulator 3. The spraying means 2 is a spray material. A gun head 21 for spraying C onto the work target surface 102 is provided at the front end of the barrel, and a connecting portion 22 to which a supply hose for the spraying material C is connected is provided at the intermediate portion of the barrel.

The manipulator 3 employs a 6-axis articulated robot in this embodiment, and operates based on a job file 641 stored in the arm control device 6, which will be described later. It controls the position and orientation of the gun head 21 .

A traveling portion B that supports the robot arm A includes at least a base portion 4 and a traveling carriage 5 on which the base portion 4 is installed. The base portion 4 rotatably supports the robot arm A within its upper surface, and the traveling carriage 5 includes at least traveling means 51 and outrigger devices 52, and can freely travel on the floor surface of the building 100. , has a structure that allows the construction work device 1 to be installed at a predetermined position.

In addition, the traveling carriage 5 is provided with an arm control device 6, and the arm control device 6 is a so-called notebook computer or tablet computer having an arithmetic processing unit 61, an input unit 62, an output unit 63, a storage unit 64, and the like. It is a terminal device such as a terminal.

The arithmetic processing unit 61 is a computer having a CPU, a GPU, a ROM, a RAM, a hardware interface, and the like. An arm motion command unit 611 is provided that functions as a control panel for controlling the robot arm A based on a job file 641 when performing the attachment work. Further, although the details will be described later, a construction error detection unit 612 and a job file correction unit 613 are provided.

The input unit 62 is an input device such as a switch or keyboard, and the output unit 63 is an output device such as a display for displaying a screen. The storage unit 64 is a storage device made up of a semiconductor memory, a hard disk drive, or the like. , BIM data of the building 100 are stored.

The BIM data is data that stores design information such as blueprints of the building 100 and is used to reproduce a three-dimensional shape model of the building 100 that is the same as the real one on a computer. For details of the traveling portion B of the construction work device 1, see, for example, the traveling portion provided in the spraying device of Japanese Patent Application No. 2018-146172.

The construction work apparatus 1 having the above configuration sets the center of gravity of the traveling portion B in a plan view as the home position P of the robot arm A, and when the robot arm A is positioned at the home position P at the time of retraction, the robot arm A is positioned as shown in FIG. are placed in the robot station S installed indoors of the building 100 as indicated by .

Then, at the start of the spraying work, the construction work device 1 is moved from the robot station S toward the target position G set near the work target surface 102 via the traveling means 51 . In the vicinity of the target position G, the direction is changed so that the direction of travel is directed toward the target, and positioning is performed within the allowable value range centering on the target position G. FIG. As shown in FIG. 2, the construction work device 1 thus positioned at a predetermined position is installed by an outrigger device 52, and the height is adjusted so that the base portion 4 supporting the robot arm A is disposed at a predetermined height position. is adjusted.

After that, the robot arm A actuates the manipulator 3 based on the position of the traveling part B in a plan view, the traveling direction when stopped, the attitude angle, and the height position of the base part 4, and the gun head 21 of the spraying means 2 The ceiling beam 101 is covered with the sprayed material C by spraying the sprayed material.

The above-mentioned spraying operation by the robot arm A is performed by operating the manipulator 3 in response to an operation instruction from the arm operation command unit 611 provided in the arithmetic processing unit 61 of the arm control device 6 described above, so that the gun head 21 of the spraying means 2 , is arranged at a predetermined spraying start position, and is set while maintaining its orientation and distance from the work surface 102 .

Also, from this set position, the manipulator 3 is actuated by an operation instruction from the arm operation command unit 611, and the gun head 21 of the spraying means 2 is moved at least in the horizontal direction and the vertical direction while discharging the spraying material C. , the spraying operation is continuously performed on the work target surface 102 over a wide range.

The operation instruction to the manipulator 3 by such an arm operation instruction unit 611 is performed based on the job file 641 described above. The job file 641 is composed of several position coordinates on the planned trajectory of the robot arm A and a robot program language in which a complementing method for interpolating between the position coordinates is described. Since the spraying work is performed in this embodiment, in addition to the above information, at least the job file 641 describes information regarding the direction of the gun head 21 of the spraying means 2 during the spraying work.

As a result, when the job file 641 stored in the storage unit 64 is read by the arm operation command unit 611 in the arithmetic processing unit 61 of the arm control unit 6, the manipulator 3 determines that the gun head 21 of the spraying means 2 is defined in the job file 641. It moves between the position coordinates defined in the job file 641 while discharging the spraying material in a straight line, arc, or the like in the upward, downward, or horizontal spraying direction.

By the way, the information on the plurality of position coordinates on the planned trajectory of the robot arm A and the orientation of the gun head 21 described in the job file 641 is based on the design information stored in the BIM data of the building 100 described above. set. The plurality of position coordinates on the planned trajectory of the robot arm A are, for example, the spraying start position, the change point of lateral movement (horizontal movement) or vertical movement (vertical movement), and the spraying end position. Point to position coordinates.

For this reason, as shown in FIG. 3, when the actual ceiling beam 101 having the work target surface 102 has a construction error in the position and orientation between the design information stored in the BIM data, the spraying Inconsistent spraying occurs due to inconsistencies in the distance between the gun head 21 and the work surface 102 and in the spraying direction.

Therefore, the arithmetic processing unit 61 of the arm control device 6 is provided with the construction error detection unit 612 described above, and the construction error (the position error of the center of gravity and the attitude error) of the ceiling beam 101 having the work target surface 102 is detected. to detect The construction error detection unit 612 includes a measurement data processing unit 6121 , a design information processing unit 6122 and an error calculation unit 6123 , details of which will be described later.

In addition, the arithmetic processing unit 61 of the arm control device 6 is provided with a job file correction unit 613, and the job file correction unit 613 corrects the job file 641 according to the numerical value of the construction error detected by the construction error detection unit 612. fix it.

≪Construction work method using construction work device≫
The details of the construction work method, including the procedure for correcting the job file 641, using the construction work apparatus 1 described above will be described below as an example of covering the work target surface 102 set on the ceiling beam 101 with the spraying material C. , and will be described along the flow of FIG.

≪Identification of the building member having the work target surface: STEP 1≫
First, in the building 100, the ceiling beam 101 on which the work target surface 102 is set, which is to be sprayed by the spraying means 2 provided on the robot arm A, is specified.

In the next construction error detection step, measurement data relating to the actual surface shape of the specified ceiling beam 101 is acquired to create an actual three-dimensional shape model of the ceiling beam 101, and a bounding box as shown in FIG. Along with setting Bp, a design three-dimensional shape model of the ceiling beam 101 is created based on the design information of the BIM data, and a bounding box Bb as shown in FIG. 6 is set. Then, using these two bounding boxes Bp and Bb, the construction error related to the position and orientation of the ceiling beam 101 is calculated.

The bounding box Bp set in the actual three-dimensional shape model of the ceiling beam 101 is hereinafter referred to as the actual bounding box Bp. Also, the bounding box Bb set in the designed three-dimensional shape model of the ceiling beam 101 is referred to as a designed bounding box Bb.

The bounding boxes Bp and Bb represent the minimum lengths of the X-, Y-, and Z-axes on the world coordinate system in the three-dimensional model of the ceiling beam 101 with rectangular parallelepipeds. It refers to a box that is sized to circumscribe the shape model.

Therefore, the three-dimensional shape model of the ceiling beam 101 based on the design information of the BIM data shown in FIG. Therefore, the design bounding box Bb is set to a size that follows the outline of the three-dimensional shape model. On the other hand, the three-dimensional shape model of the ceiling beam 101 based on the measurement data shown in FIG. 5 does not have planes parallel to any of the X-, Y-, and Z-axes. For this reason, the actual bounding box Bp only circumscribes the three-dimensional shape model and does not follow the outer shape, and its size and shape differ from the designed bounding box Bb.

<<Installation error detection process: STEP2~11>>
<Processing of building components based on measurement data: STEP2 to 5>
After setting a plurality of measurement points in advance on the surface of the ceiling beam 101 and its surroundings, the position of each measurement point is measured by a point cloud model creating device to obtain point cloud data. Next, a point cloud model relating to the surface shape of the ceiling beam 101 is created from these multiple measurement points. If any member is attached to the ceiling beam 101, measurement points are also set for these attached members to create a point cloud model. 64.

The position of the measurement point is defined as a world that defines the entire three-dimensional space on the arm control device 6 having the origin set at a predetermined position, the horizontal X-axis and Y-axis, and the vertical Z-axis. By expressing on the coordinate system, the point cloud model can be created on the world coordinate system as an actual three-dimensional shape model.

In addition, for a point cloud model creation device and method for outputting the surface shape of the ceiling beam 101 as a point cloud model made up of point cloud data on the world coordinate system, see, for example, Japanese Unexamined Patent Application Publication No. 2017-150977. .

Next, the measurement data processing unit 6121 of the arithmetic processing unit 61 performs the following processing on the point cloud model of the work peripheral area including the ceiling beam 101 stored in the storage unit 64 .

First, noise processing is performed to remove point cloud data other than the ceiling beam 101 from the point cloud model of the work peripheral area including the ceiling beam 101, and a point cloud model of only the ceiling beam 101 is created. At this time, if an attached member exists on the ceiling beam 101, the point cloud data related to the attached member is also removed by noise processing.

Next, a bounding box Bp as shown in FIGS. 5 and 7 is set for a point cloud model of only the ceiling beam 101 (actual three-dimensional shape model of the ceiling beam 101), and the actual bounding box Bp, The center of gravity (xp, yp, zp) and the distances (Xp, Yp, Zp) in three directions between the vertices, that is, the box size are acquired and stored in the storage unit 64 of the arm control device 6 .

<Processing of building components based on design information: STEP 6-8>
For the ceiling beam 101 specified in STEP 1, the design information processing unit 6122 of the arithmetic processing unit 61 performs the following processing using the BIM data stored in the storage unit 64. FIG.

First, the 3D shape data of the work peripheral area including the ceiling beam 101 is extracted from the design information of the building 100 stored in the BIM data, and a BIM model is created as a design 3D shape model. At this time, as in the case of creating a point cloud model, if any members are attached to the ceiling beam 101, measurement points are also set for these attached members to create a BIM model. The model is stored in the storage unit 64 of the arm control device 6. FIG.

Next, a BIM model of only the ceiling beam 101 is created by performing noise processing to remove design information other than the ceiling beam 101 from the BIM model of the work peripheral area including the ceiling beam 101 . At this time, if an attached member exists on the ceiling beam 101, the design information related to the attached member is also removed by noise processing.

After that, a bounding box Bb as shown in FIGS. 6 and 7 is set for the BIM model of only the ceiling beam 101 (designed three-dimensional shape model of the ceiling beam 101), and the design bounding box Bb , the center of gravity (xb, yb, zb), and the distances (Xb, Yb, Zb) in three directions between the vertices, that is, the box size, are acquired and stored in the storage unit 64 of the arm control device 6 .

Using the positional coordinates of the center of gravity and the box size of the above two bounding boxes Bp and Bb, which are stored in the storage unit 64 of the arm control device 6, the error calculation unit 6123 of the arithmetic processing unit 61 Then, the construction error of the ceiling beam 101 is calculated as follows.

<Calculation of construction error of building members: STEP9>
Positional errors (Δx, Δy, Δz) of the center of gravity among the construction errors of the ceiling beam 101 are calculated as follows, considering the center of gravity of each of the two bounding boxes Bp and Bb in reality and design as the center of gravity of the ceiling beam 101. It is calculated by the following formulas (1) to (3). The calculated position errors (Δx, Δy, Δz) of the center of gravity of the ceiling beam 101 are stored in the storage unit 64 of the arm control device 6 .

<Examination of necessity of calculation of attitude error: STEP 10>
Next, the box sizes of the two bounding boxes Bp and Bb in reality and design are compared, and the necessity of calculating the posture error in the ceiling beam 101 is examined.

Specifically, the storage unit 64 of the arm control device 6 stores in advance an allowable value when there is a difference between the actual and design bounding boxes Bp and Bb in box size. Note that the allowable value for the box size may be appropriately determined according to the size of the ceiling beam 101, the type of work to be performed using the robot arm A, the accuracy required for the finished form, and the like.

Then, the three-direction distances (Xp, Yp, Zp) of the actual bounding box Bp and the three-direction distances (Xb, Yb, Zb) of the designed bounding box Bb are compared, and if there is a difference between the two, If it does not occur, it is determined that there is no posture error, and the process of calculating the posture error is omitted. Even if there is a difference, if the difference is within the above tolerance, it is determined that the calculation of the attitude error is unnecessary, and the process of calculating the attitude error is omitted.

On the other hand, if there is a difference between the two and the difference exceeds the above allowable value, it is determined that calculation of the attitude error is necessary, and calculation is performed according to the following procedure.

<Calculation of Posture Error: STEP11>
Before explaining the method of calculating the attitude error of the ceiling beam 101, an image of the attitude error will be described below using the three-dimensional shape model of the ceiling beam 101 on the world coordinate system shown in FIG.

Looking at FIG. 8A, the three-dimensional shape model of the ceiling beam 101 has a posture in which the beam length is parallel to the X-axis, the beam width is parallel to the Y-axis, and the beam length is parallel to the Z-axis. 101 is in a state in which no attitude error has occurred. On the other hand, when the ceiling beam 101 is misaligned in the vertical direction, the internal angle between the axis O of the three-dimensional model of the ceiling beam 101 and the X axis is Δφ (Y axis rotation).

Further, if there is a horizontal positional deviation, on the XY plane, as shown in FIG. rotation). Furthermore, if there is a posture deviation due to rotation (upward or downward), as shown in FIG. The interior angle between the line and the Z axis is Δθ (rotation around the X axis).

As described above, each of the bounding boxes Bp and Bb represents the minimum length of each of the X, Y, and Z axes of the three-dimensional shape model in the world coordinate system as a rectangular parallelepiped. Therefore, for example, the internal angle between the diagonal line of the actual bounding box Bp and the X axis on the XY plane as shown in FIG. The internal angle ΔΨ between the axis O and the X axis is assumed to be the horizontal error.

Similarly, the interior angle between the diagonal line of the actual bounding box Bp and the X axis on the XZ plane is defined by the axis line O and the X axis of the three-dimensional shape model of the ceiling beam 101 when there is a vertical orientation deviation. The interior angle is assumed to be Δφ, and this is taken as the vertical error. In addition, the inner angle between the diagonal line of the actual bounding box Bp and the Z axis on the ZY plane is the direction of beam formation that passes through the axis O of the three-dimensional shape model of the ceiling beam 101 when there is a rotational posture deviation. The internal angle Δθ between the center line and the Z-axis is assumed to be the rotational error.

Then, the posture errors (Δθ, Δφ, ΔΨ) among the construction errors of the ceiling beam 101 extending in the X-axis direction can be calculated by the following equations (4) to (6). The calculated attitude error is stored in the storage section 64 of the arm control device 6 .

Moreover, as shown in FIG. 9, when the axis O of the three-dimensional shape model of the ceiling beam 101 extends in the Y-axis direction on the world coordinate system, the following is the case. That is, as shown in FIG. 9A, the three-dimensional shape model of the ceiling beam 101 has a posture in which the beam width is parallel to the X axis, the beam length is parallel to the Y axis, and the beam length is parallel to the Z axis. , the ceiling beam 101 is in a state in which there is no posture error.

On the other hand, if there is a posture deviation due to rotation (upward or downward), the center of the beam formation direction passing through the axis O of the three-dimensional shape model of the ceiling beam 101 on the XZ plane as shown in FIG. The interior angle between the line and the Z axis is Δφ (rotation about the Y axis). Further, if there is a horizontal positional deviation, on the XY plane, as shown in FIG. rotation). Furthermore, if there is a vertical positional deviation, on the YZ plane, as shown in FIG. rotation).

Therefore, the inner angle between the diagonal line of the actual bounding box Bp and the Z axis on the XZ plane is the direction of beam formation that passes through the axis O of the three-dimensional shape model of the ceiling beam 101 in the case where the rotational posture deviation occurs. The internal angle Δφ between the center line and the Z axis is regarded as the rotational error.

Similarly, the interior angle between the diagonal line of the actual bounding box Bp and the Y axis on the XY plane is defined by the axis O and the Y axis of the three-dimensional shape model of the ceiling beam 101 when there is a horizontal orientation deviation. The internal angle is assumed to be ΔΨ, and this is taken as the vertical error. Also, the interior angle between the diagonal line of the actual bounding box Bp and the Y axis on the YZ plane is the interior angle between the axis O and the Y axis of the three-dimensional shape model of the ceiling beam 101 when there is a vertical orientation deviation. Let Δθ be the horizontal error.

Then, the posture errors (Δθ, Δφ, ΔΨ) among the construction errors of the ceiling beam 101 extending in the Y-axis direction can be calculated by the following equations (7) to (9).

<<Job file correction process: STEP12~13>>
Next, the job file correction unit 613 of the arithmetic processing unit 61 performs the following processing based on the construction error of the ceiling beam 101 stored in the storage unit 64 .

First, regarding the positional error of the center of gravity, the allowable value for the positional error (Δx, Δy, Δz) of the center of gravity of the ceiling beam 101 is stored in advance in the storage unit 64 of the arm control device 6. Compare the result calculated in step with the allowable value. Note that the allowable value for the center of gravity may be appropriately determined according to the size of the ceiling beam 101, the type of work to be performed using the robot arm A, the accuracy required for the finished form, and the like.

If the positional error of the center of gravity is within the permissible value, correction of the job file 641 relating to the positional coordinates of the center of gravity is omitted. On the other hand, if the positional error of the center of gravity exceeds the allowable value, the job file 641 is corrected based on the positional error of the center of gravity of the ceiling beam 101 calculated by the above procedure.

Next, with respect to the posture error, it is checked whether or not the calculated value of the posture error calculated in the above-described construction error detection step exists in the storage unit 64 of the arm control device 6. If it does not exist, the posture error is omitted.

On the other hand, if there is a calculated value of the attitude error, the job file 641 is corrected based on the attitude error of the ceiling beam 101 calculated by the above procedure. The job file 641 is corrected, for example, by correcting information such as a plurality of position coordinates on the planned trajectory of the robot arm A and the orientation of the gun head 21 of the spraying means 2 during the spraying operation.

<<Work execution process by robot arm: STEP14>>
After that, the construction work device 1 starts spraying the ceiling beams 101 . That is, the construction work apparatus 1 is installed at the target position G set in the vicinity of the work target surface 102 according to the procedure described above, and the manipulator 3 is operated by the arm operation command section 611 provided in the arithmetic processing unit 61 of the arm control apparatus 6. , based on the corrected job file 641 stored in the storage unit 64 .

The work of installing the construction work apparatus 1 at the target position G set near the work target surface 102 is performed, for example, after the construction error detection process (STEP 2 to 11) and the job file correction process (STEP 12 to 13) are completed. Alternatively, it may be performed either before or after the task (STEP 1) of specifying the ceiling beam 101 on which the work target surface 102 is set from the building 100. FIG.

Alternatively, the function of creating a point cloud model installed in the above-described point cloud model creation device is installed in the construction work device 1, and while moving the construction work device 1 toward the vicinity of the work target surface 102, the ceiling While measuring the surface shape of the beam 101 (STEP 2), the subsequent construction error detection steps (STEPs 3 to 11) and job file correction steps (STEPs 12 to 13) may be performed. By doing so, the construction work method can be substantially automated, and it is possible to achieve significant labor saving in construction finishing work.

Furthermore, when there are a plurality of ceiling beams 101 for which the work target surface 102 is set, the spraying work by the robot arm A may be started after correcting the job file 641 for all of the plurality of ceiling beams 101, A series of operations from detection of installation errors to execution of spraying work may be performed for each of the plurality of ceiling beams 101, and this may be performed repeatedly.

According to the construction work apparatus 1 and the construction work method of the present invention, the construction error related to the position and attitude occurring between the reality and the design information is detected for the ceiling beam 101 on which the work target surface 102 is set. The construction error is reflected in the job file 641 used for the operation command of the robot arm A. As a result, the operation of the robot arm A can be made to correspond to the actual position and orientation of the ceiling beam 101 on which the work target surface 102 is set. It becomes possible to carry out the spraying work on the work target surface 102 with high accuracy.

In addition, regarding the ceiling beam 101, since the job file 641 reflects not only the positional error of the center of gravity but also the installation error related to the attitude error, when the spraying means 2 is installed on the robot arm A, the spraying means to the work target surface 102 2, the accuracy of positioning and orientation of the spray start position, end position, and movement change position is increased. As a result, even when the spraying work is continuously performed on the work target surface 102 over a wide range, it is difficult to cause unsprayed or uneven spraying, and it is possible to improve the accuracy of the work.

Furthermore, since the construction error is detected only for the ceiling beams 101 on which the work surface 102 is set, not on the entire building 100, the necessary measurement data is only. As a result, the measurement work and the work for detecting the construction error do not require a lot of time and effort, and workability can be greatly improved, and it is possible to contribute to shortening the construction period and reducing the construction cost.

Further, when detecting a construction error for the ceiling beam 101 on which the work target surface 102 is set, based on the design information and the measurement data, the designed three-dimensional shape model and the actual three-dimensional model of the ceiling beam 101 are used. A shape model is created, and bounding boxes Bb and Bp circumscribing each of the designed and actual three-dimensional shape models are set. Therefore, it is possible to calculate the installation error of the ceiling beam 101 by a simple method without using a special image processing device.

The construction work apparatus 1 and the construction work method using the construction work apparatus 1 of the present invention are not limited to the above-described embodiments, and various modifications are possible without departing from the scope of the present invention.

For example, in the present embodiment, the ceiling beam 101 is taken as an example of the building member on which the work target surface 102 is set, but any building member such as a wall or a pillar floor may be used. Also, although the spraying means 2 was adopted as the end effector and the spraying work was performed by the robot arm A, it is not necessarily limited to this, and the construction finishing work with the surface of the building member as the work target surface 102 is performed. Any means may be adopted for the end effector as long as it is a means related to the above.

In addition, in the present embodiment, the surface shape of the actual ceiling beam 101 is measured by the point cloud model creation device, but the present invention is not necessarily limited to this. Any means such as a measurement sensor may be employed. Similarly, BIM data was used as the design information of the building 100 having the work surface 102, but any digital data such as 3D CAD data may be used.

Furthermore, in the present embodiment, only one robot arm A is mounted on the traveling section B, but a configuration may be adopted in which a plurality of robot arms A are mounted and the job file 641 used for each operation command is modified.

In addition, the control function of the traveling unit B for moving and installing the construction work apparatus 1 near the work target surface 102 and the function of adjusting the height of the base unit 4 supporting the robot arm A are performed by the arm control device 6. It may be provided together as a control unit, or may be provided separately in the construction work device 1, and when the construction work device 1 is manually moved, the control function does not necessarily have to be provided.

1 construction work device 2 spraying means (end effector)
3 Manipulator 4 Base 5 Traveling Cart 51 Traveling Means 52 Outrigger Device 6 Arm Control Device 61 Arithmetic Processing Device 611 Arm Operation Commanding Section 612 Construction Error Detection Section 6121 Measurement Data Processing Section 6122 Design Information Processing Section 6123 Error Calculation Section 613 Job File Correction Unit 62 Input unit 63 Output unit 64 Storage unit 641 Job file A Robot arm B Traveling unit C Fireproof coating material (spraying material)
P home position S robot station Bb designed bounding box Bp actual bounding box O axis of 3D shape model

Claims (4)

A building work device comprising a multi-joint robot arm having an end effector used for work related to building finishing, and an arm control device for controlling the motion of the robot arm,
The arm control device
an arm motion command unit for operating the robot arm according to a job file created based on design information of a building member for which a work target surface is set and details of work to be performed on the work target surface;
a construction error detection unit that detects a construction error related to the position and orientation of the building member based on the design information and measurement data related to the actual surface shape;
a job file correction unit that corrects the job file based on the construction error of the building member detected by the construction error detection unit;
A construction work device comprising: In the construction work device according to claim 1,
A construction work apparatus, wherein the end effector is provided with spraying means for covering the work surface with a spraying material. A construction work method using the construction work apparatus according to claim 1 or 2,
a construction error detection step of detecting a construction error related to the position and orientation of the building member for which the work target surface has been set, based on the design information and the measurement data;
a job file correction step of correcting the job file based on the construction error of the building member detected in the construction error detection step;
a work execution step of operating the robot arm based on the job file modified in the job file modification step to perform construction finishing work on the work target surface;
A construction work method comprising: In the construction work method according to claim 3,
In the construction error detection step, based on the design information and the measurement data, a designed three-dimensional shape model and an actual three-dimensional shape model of the building member are created, and a bounding box circumscribing each of them is created. and set
A construction work method, comprising detecting a construction error of the construction member using two set bounding boxes.

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