JP7228462B2 - marking device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a marking device that automatically performs marking work including marking work without manual intervention.

Marking, which is the work of marking reference lines on the frame during construction, largely depends on the skill of the skilled workers. On the other hand, it is becoming very difficult to secure skilled workers at construction sites. Therefore, a proposal has been made to automate the marking work.

For example, in Patent Document 1 (Japanese Patent Application Laid-Open No. 06-258078), an automatic tracking total station is used to collimate a first reference point and a second reference point, and the first reference point is set as the origin, and the direction of the second reference point is uniaxial. Set the floor coordinates to , place the inking device provided on the self-propelled table through the robot manipulator at an arbitrary position on the floor coordinates, and move the prism attached to the robot manipulator in one axis direction of the manipulator coordinates. Sighting with the total station, grasping the position of the manipulator coordinates and the floor coordinates of the marking device, moving the self-propelled table while pointing the prism to the total station, moving the marking point to the marking device, and then moving the marking point When enters the operating range of the robot manipulator, stop the self-propelled table, move the prism in one axis direction of the manipulator coordinates, check the manipulator coordinates again, perform precise positioning of the marking points with the manipulator, and mark the marking device. Then, in the same manner as described above, the self-propelled vehicle is self-propelled and the marking is performed while moving the marking device to the next marking point. there is
JP-A-06-258078

The apparatus used for the conventional automatic marking method described in the literature as described above requires an expensive and complicated configuration such as a robot manipulator. For this reason, it is difficult to prepare a plurality of units at one construction site, and in the end, manual operation may be easier and less costly, and there is a problem that it is not necessarily user-friendly. .

The present invention solves the above problems, and a marking device according to the present invention comprises a rod member having a marker at one end and a target at the other end, and at least the target. A housing containing the rod member in an exposed state, a wheel provided in the lower part of the housing for moving the housing, and a laser beam irradiated to the target, and the target is reflected. a receiving unit that receives measured position coordinates from a measuring device that measures the position coordinates of the target by receiving a laser beam; a storage unit that stores target position coordinates for marking with the marker; A wheel drive mechanism that drives the wheel based on a difference from a target position coordinate, an upper support member that supports the pole member on the upper side, and a lower support member that supports the pole member on the lower side. A support member, an upper support member drive mechanism for moving the upper support member, and a lower support member drive mechanism for moving the lower support member, wherein the upper support member drive mechanism includes a shaft and a shaft. A sliding portion that slides up and down, an upper supporting member, and an arm that connects the sliding portion via a hinge mechanism. a sliding portion that slides vertically; the lower support member; and an arm that connects the sliding portion via a hinge mechanism .

The marking device according to the present invention employs a mechanism for driving a simple structure comprising a rod member having a marker at one end and a target at the other end, and such a marking device. can be mass-produced without incurring costs, can be easily introduced to construction sites, and can promote automation of marking work and the like.

1 is a perspective view showing the appearance of a marking device 1 according to an embodiment of the invention; FIG. It is a figure which shows the state which opened one of the side covers 10 of the marking device 1 which concerns on embodiment of this invention. 1 is a perspective view showing main components of a marking device 1 according to an embodiment of the invention; FIG. It is a mimetic diagram showing various drive mechanisms in marking device 1 concerning an embodiment of the present invention. 4 is a diagram schematically showing the relationship between an upper support member 40 and a first upper sliding portion 70, a second upper sliding portion 80, and a third upper sliding portion 90. FIG. 4 is a diagram for explaining a configuration attached to a pole member 30; FIG. 4 is a perspective view illustrating the relationship between a pole member 30 and an upper support member 40; FIG. 4 is a perspective view illustrating the relationship between a pole member 30 and a lower support member 50; FIG. 4 is a perspective view for explaining the detailed configuration of the lower support member 50. FIG. 1 is a block diagram of a marking device 1 according to an embodiment of the invention; FIG. It is a figure which shows the flowchart of the movement process by the marking device 1 which concerns on embodiment of this invention. FIG. 2 is a diagram illustrating a form of using the marking device 1 together with the measuring device 200; It is a figure which shows the flowchart of the marking process by the marking device 1 which concerns on embodiment of this invention. It is a figure which shows the mode of marking execution by the marking device 1 which concerns on embodiment of this invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 is a perspective view showing the appearance of a marking device 1 according to an embodiment of the present invention; FIG.

The marking device 1 according to the present invention is configured so that the marking work including the marking work can be automatically performed without relying on human labor.

In this specification, the word "marking" is used to mean marking or showing a predetermined figure, symbol, character, etc. do. In addition, in addition to writing figures, symbols, characters, etc. by fixing ink, etc., in "marking", it is also possible to indicate figures, symbols, characters, etc. on the irradiated surface by irradiating pointer light with laser etc. included.

That is, the marking means used for marking in the marking apparatus 1 according to the present invention includes means for fixing ink and irradiating laser light. The former means for fixing ink includes a pen in which ink is impregnated in a fiber or the like, an inkjet mechanism for ejecting ink, and the like. In this embodiment, a marker 33 such as a pen is assumed as such marking means.

It should be noted that the marking target by the marking work with the marker 33 is basically assumed to be the floor surface. However, the marking device 1 according to the present invention is not limited to this, and can also mark a ceiling, for example. Specifically, by providing a laser light source capable of irradiating the ceiling surface above the target 35, it is possible to assist marking work for electrical equipment to be attached to the ceiling.

The marking device 1 according to the present invention has a housing 3, and three omni wheels (a first omni wheel 19, a second omni wheel 20, a 3 omni wheels 21) are provided at the corners of an equilateral triangle in plan view. At substantially equal distances from these three omniwheels, the previous marker 33 is movably provided by a drive mechanism. Such operation of the driving mechanism enables marking with the marker 33 .

Note that the marking device 1 according to the present invention adopts a structure supported by three omni wheels positioned at the corners of an equilateral triangle in plan view. Since the device is supported at three points in this way, the marking device 1 according to the present invention can be stably grounded in the same manner as a general tripod, and the position of the marking, etc. Accuracy can be improved.

Three vertical frames (first vertical frame 11, second vertical frame 12, third vertical frame 13) are provided above each of the three omni wheels in the marking device 1, and these vertical frames Three frame portion covers 7 are provided to protect the . Also, three side covers 10 are provided for protection between the frame section covers 7 .

A top cover 6 is provided on the top surface of the marking device 1 . A through hole is provided in the central portion of the top cover 6, and the target 35 is exposed through the through hole. Note that the various covers described above are not necessarily required when the marking device 1 according to the present invention is used indoors. A part of the top cover 6 is provided with a touch panel section 105 as a user interface of the marking device 1 (see FIG. 2). A user can input position coordinate information and the like to be marked through the touch panel unit 105 .

The marking device 1 according to the present invention is used together with a measuring device 200 such as a total station having a target tracking function in order to acquire the position coordinate information. The target 35 has a reflecting prism, and laser light emitted by a measuring device 200 such as a total station is incident thereon. The light incident on the reflecting prism is converted into reflected light parallel to the incident light within the reflecting prism and emitted from the reflecting prism. The measuring device 200 can receive such reflected light and measure the position coordinates of the target 35 , that is, the marking device 1 .

Although it is preferable to use an omnidirectional prism as the target 35, this is not necessarily an essential requirement.

FIG. 2 shows the marking device 1 according to the present invention in which one of the three side covers 10 is opened. A rod member 30 having a longitudinal direction in the vertical direction is provided in a substantially central portion of the marking device 1 . The rod member 30 is provided with a marker 33 at one end (lower side) and a target 35 at the other end (upper side).

As described above, in the marking device 1 according to the present invention, a marker 33 for marking a desired target position is provided at one end of one rigid metal rod member 30, and a marker 33 is provided at the other end. A target 35 is provided as a coordinate measurement reference. In the present invention, the marking device 1 is made simple by adopting such a structure.

The rod member 30 integrated with the marker 33 and the target 35 is supported inside the marking device 1 by an upper support member 40 and a lower support member 50 . The pole member 30 is moved by the movement of the upper support member 40 and the lower support member 50 by the drive mechanism. As a result, the position of the rod member 30 can be finely adjusted, or marking can be performed with the marker 33 at the tip of the rod member 30. FIG.

Next, a drive mechanism for the upper support member 40 and the lower support member 50 will be described with reference to FIGS. 3 to 5. FIG. FIG. 3 is a perspective view showing main components of the marking device 1 according to the embodiment of the invention. Moreover, FIG. 4 is a schematic diagram showing various driving mechanisms in the marking device 1 according to the embodiment of the present invention. FIG. 5 is a diagram schematically showing the relationship between the upper support member 40 and the first upper sliding portion 70, the second upper sliding portion 80, and the third upper sliding portion 90. As shown in FIG.

A first shaft 15 is provided in the vicinity of the first vertical frame 11 such that its longitudinal direction is vertical. Similarly, a second shaft 16 is provided near the second vertical frame 12 and a third shaft 17 is provided near the third vertical frame 13 . Although the first shaft 15 is shown in the drawing as having two shafts, the number of shafts may be one as long as there is accuracy. Therefore, for the sake of simplification, the number of each shaft is assumed to be one. . A configuration related to the first shaft 15 will be described below as a representative example.

The first upper sliding portion 70 has a through hole through which the first shaft 15 is inserted. Above the first shaft 15 , the first upper sliding portion 70 is slidable relative to the first shaft 15 . For example, a stepping motor (not shown) can be used as a drive source for sliding the first upper sliding portion 70 and the like. A driving force can be transmitted from such a stepping motor to the first upper sliding portion 70 via a belt (not shown).

The first upper sliding portion 70 is connected to a first upper arm 73 having a predetermined length via a first upper sliding portion-side hinge mechanism 71 . Although there are actually two arms constituting the first upper arm 73, the first upper arm 73 is also simplified as one in the schematic diagram. Also, the first upper arm 73 is connected to the upper support member 40 via a first upper support member side hinge mechanism 74 .

The lower side of the first shaft 15 also has a similar configuration. That is, the first lower sliding portion 75 has a through hole through which the first shaft 15 is inserted. Below the first shaft 15 , the first lower sliding portion 75 is slidable relative to the first shaft 15 . A stepping motor (not shown), for example, can be used as a driving source for sliding the first lower sliding portion 75 and the like. A driving force can be transmitted from such a stepping motor to the first lower sliding portion 75 via a belt (not shown).

The first lower sliding portion 75 is connected via a first lower sliding portion-side hinge mechanism 76 to a first lower arm 78 having a predetermined length. Although there are actually two arms constituting the first lower arm 78, the first lower arm 78 is also simplified as one in the schematic diagram. Also, the first lower arm 78 is connected to the lower support member 50 via a first lower support member side hinge mechanism 79 .

The configuration related to the first shaft 15 as described above is the same for the second shaft 16 and the third shaft 17 as well.

As shown in FIG. 5, the upper support member 40 includes a first upper sliding portion 70 for vertically sliding the first shaft 15 and a second upper sliding portion for vertically sliding the second shaft 16 via a hinge mechanism. It is connected to the moving part 80 and the third upper sliding part 90 that vertically slides the third shaft 17 . The upper support member 40 can take any position within the movable range by independently moving up and down the first upper sliding portion 70, the second upper sliding portion 80, and the third upper sliding portion 90. It's like Similarly, the lower support member 50 can be positioned at any position within the range of motion. Such a mechanism is similar to that of a Rostock type 3D printer, and when configuring the marking device 1 according to the present invention, such 3D printer parts can be diverted.

Next, a more detailed configuration of the rod member 30 supported by the upper support member 40 and the lower support member 50 which are moved by the mechanism as described above will be described with reference to FIG. As described above, the rod member 30 is provided with a marker 33 for marking at one end and a target 35 as a measurement reference for position coordinates at the other end. In addition, the pole member 30 is provided with a lower acceleration sensor 141 on one end side and an upper acceleration sensor 142 on the other end side.

These lower acceleration sensor 141 and upper acceleration sensor 142 can precisely detect the direction of gravity on both end sides of the rod member 30 . This makes it possible to grasp the relationship between the individual differences (rigidity, degree of bending, etc.) of the rod member 30 and the coordinate values of the upper support member 40 and the coordinate values of the lower support member 50 . Grasping of individual differences in the rod member 30 by the lower acceleration sensor 141 and the upper acceleration sensor 142 is performed when the marking device 1 is shipped from the factory or during calibration, and is not performed during normal use. .

The pole member 30 is integrated with the pole member 30 such that a spherical upper ball 38 is secured thereto. The upper ball 38 and the upper support member 40 are in a free ball bearing relationship. That is, the ball 38 and the upper support member 40 are rotatable relative to each other with the center of the upper ball 38 as a fulcrum within a restricted range based on the physical shape. Since the upper ball 38 and the upper support member 40 are in a free ball bearing relationship, the upper support member 40 cannot be removed from the rod member 30 shown in FIG.

On the other hand, on the lower side of the rod member 30 than the upper ball 38, a spherical lower ball 48 is fixed and integrated with the rod member 30. As shown in FIG. It is assumed that such a lower ball 48 is placed on a lower support member 50 as shown in FIG.

Here, a detailed configuration of the lower support member 50 will be described with reference to FIG. A through hole 52 is provided in a substantially central portion of the lower support member 50 . Six ball holding portions 54 are evenly provided along the periphery of the through hole 52 on one side of the lower support member 50 . These ball holding portions 54 are recesses having a shape along the sphere, and can hold small balls 55 made of stainless steel or the like. These small balls 55 are rotatable within the ball holding portion 54 and are dimensioned so as not to fall off the ball holding portion 54 .

The lower ball 48 of the rod member 30 is placed on the lower support member 50 such that the lower ball 48 is in contact with all the small balls 55 while the rod member 30 is inserted into the through hole 52 . It is With such a configuration, the lower ball 48 and the lower support member 50 can be separated from each other, and when they are in contact with each other, they can move relative to each other with little friction.

It is preferable to use a mechanically strong synthetic resin such as ABS resin as a material for forming the upper support member 40, the lower support member 50, the upper ball 38, and the lower ball 48. FIG.

Next, the electrical configuration of the marking device 1 according to the present invention configured as described above will be described. FIG. 10 is a block diagram of a marking device 1 according to an embodiment of the invention.

The control unit 100 can use, for example, an information processing device such as a general-purpose microcomputer including a CPU, a ROM that holds a program that runs on the CPU, and a RAM that is a work area for the CPU. Such control unit 100 performs data communication with each component connected in FIG. can be controlled.

The communication unit 101 performs data communication with an external device by wire or wireless. The communication unit 101 can transfer data received from an external device to the control unit 100 and transmit data from the control unit 100 to the external device. In this embodiment, it is assumed that such a communication unit 101 performs data communication with a measuring device 200 such as a total station, which is an external device.

The storage unit 103 stores data received from the control unit 100 and transmits the stored data to the control unit 100 . A nonvolatile memory element is preferably used for such a memory portion 103 .

The touch panel unit 105 displays data received from the control unit 100 and transmits user contact information to the control unit 100 . Such a touch panel section 105 can be provided, for example, on the top cover 6 of the marking device 1 and used as a user interface of the marking device 1 . For example, the user can input positional coordinate information and the like to be marked through the touch panel unit 105 .

The external device connection unit 106 is configured to perform data communication connection with an SD memory card, a USB memory, or the like. Through such an external device connection unit 106, the control unit 100 can receive position coordinate information for marking from an SD memory card or USB memory, or write predetermined information to an SD memory card or USB memory. can be done. A physical terminal port of the external device connection section 106 can be provided in the top cover 6, for example.

The lower acceleration sensor 141 and the upper acceleration sensor 142 are acceleration sensors provided on both end sides of the rod member 30 , and detection data from these acceleration sensors are transmitted to the control unit 100 and further transferred to the storage unit 103 . and stored in the storage unit 103 . A lower acceleration sensor 141 and an upper acceleration sensor 142 are used to detect the direction of gravity at each position.

Data in the direction of gravity obtained from the lower acceleration sensor 141 and the upper acceleration sensor 142 are used to determine the individual differences (rigidity, degree of bending, etc.) of the rod member 30, the coordinate values of the upper support member 40 and the coordinate values of the lower support member 50. relationship can be grasped. Grasping of individual differences in the rod member 30 by the lower acceleration sensor 141 and the upper acceleration sensor 142 is performed when the marking device 1 is shipped from the factory or during calibration, and is not used during normal use. .

The moving mechanism 110 is configured to move the marking device 1 itself. The first omniwheel driving mechanism 111 in the moving mechanism 110 can be composed of a motor for rotating the first omniwheel 19 and a motor driver IC. Also, the second omniwheel driving mechanism 112 in the moving mechanism 110 can be composed of a motor that drives the second omniwheel 20 to rotate and a motor driver IC. Also, the third omniwheel driving mechanism 113 in the moving mechanism 110 can be composed of a motor for rotationally driving the third omniwheel 21 and a motor driver IC.

A control command is input from the control unit 100 to each of the first omni-wheel drive mechanism 111, the second omni-wheel drive mechanism 112, and the third omni-wheel drive mechanism 113 that constitute the movement mechanism 110. The marking device 1 itself can be moved to the coordinates.

A first upper sliding portion driving mechanism 121 in the upper support member driving mechanism 120 is a mechanism for sliding the first upper sliding portion 70 by the first shaft 15, and a second upper sliding portion driving mechanism 122 is a second upper sliding portion driving mechanism. The third upper sliding portion drive mechanism 123 is a mechanism for sliding the third upper sliding portion 90 with the third shaft 17 .

Each sliding portion driving mechanism can be composed of, for example, a stepping motor and an active element such as a driver IC for driving the stepping motor.

Each sliding portion driving mechanism receives a control command from the control portion 100 and slides each sliding portion vertically, thereby moving the upper supporting member 40 to a desired position as the entire upper supporting member driving mechanism 120. can be made

The first lower sliding portion driving mechanism 131 in the lower support member driving mechanism 130 is a mechanism for sliding the first lower sliding portion 75 on the first shaft 15, and the second lower sliding portion driving mechanism 132 is a second sliding portion driving mechanism 132. It is a mechanism for sliding the lower sliding portion 85 with the second shaft 16 , and the third lower sliding portion drive mechanism 133 is a mechanism for sliding the third lower sliding portion 95 with the third shaft 17 .

Each sliding portion driving mechanism can be composed of, for example, a stepping motor and an active element such as a driver IC for driving the stepping motor.

Each sliding portion driving mechanism receives a control command from the control portion 100 and slides each sliding portion vertically, thereby moving the lower supporting member 50 to a desired position as the entire lower supporting member driving mechanism 130. can be made

Next, each processing for marking by the marking apparatus 1 according to the present invention configured as described above will be described. When the coordinates of the target position to be marked are input, the marking device 1 runs by itself so as to approach the target coordinates. First, such movement processing will be described.

FIG. 11 is a diagram showing a flow chart of movement processing by the marking device 1 according to the embodiment of the present invention. 12A and 12B are diagrams for explaining a form in which the marking device 1 is used together with the measuring device 200. FIG. FIG. 12 is an image diagram of self-running to the target coordinates by the marking device 1 based on the measurement of the position coordinates by the measuring device 200 .

At step S100, the movement process by the marking device 1 is started. Subsequently, in step S101, target coordinate values for marking are obtained from the touch panel unit 105, the external device connection unit 106, or the like. In the present embodiment, data related to such target coordinates is acquired from the touch panel unit 105 and the external device connection unit 106, but may be acquired from the communication unit 101 or the like.

In step S<b>102 , the acquired target coordinate values are stored in the storage unit 103 . Subsequently, in step S<b>103 , the communication unit 101 transmits a command to the measuring device 200 to measure the position of its own target 35 .

In step S201, the measuring device 200, which has received such a measurement start command, tracks the target 35 and measures its coordinates in step S202, and transmits the measured coordinate values to the marking device 1 in step S203. repeat.

In the marking device 1, the measured coordinate values of the target 35 based on the processing by the measuring device 200 as described above are received via the communication section 101 in step S104.

In step S105, based on the target coordinate value stored in the storage unit 103 and the measured coordinate value received in step S104, the distance D is calculated by D=|(target coordinate value)−(measured coordinate value)|. Here, since the distance D is the distance used for determining the movement processing by the first omniwheel 19 to the third omniwheel 21 of the marking device 1, the vertical component (z component) is not considered.

Subsequently, in step S106, it is determined whether or not D<D _th is satisfied. Here, D _th is set to an approximate minimum value that can be expected as accuracy based on the movement of the first omni-wheel 19 to the third omni-wheel 21 . Also, it is assumed that the D _th error is recovered by moving the rod member 30 with the marker 33 . Therefore, for example, a distance of about 5 mm is set as such a distance _Dth .

If the determination result in step S107 is NO, in step S107, the omniwheel movement mechanism 110 (first omniwheel drive mechanism 111, second omniwheel drive mechanism 112, third omniwheel drive mechanism 113) A drive command is issued so that D→ _Dth , and the process returns to step S104 to loop.

On the other hand, when the determination result in step S107 is YES, a command is issued to the omniwheel moving mechanism 110 to stop driving, and then the process proceeds to step S109 to shift to the marking process routine.

Next, the marking process by the marking device 1 according to the embodiment of the present invention will be described with reference to FIG. 13 .

When the marking process is started in step S300, subsequently, in step S301, the measured coordinate values transmitted from the measuring device 200 are received.

In step S302, the distance d is calculated by d=|(target coordinate value)-(measurement coordinate value)| based on the target coordinate value stored in the storage unit 103 and the measured coordinate value received in step S301. Since (target coordinate values) are usually based on the (x, y) coordinates on the plane (on the floor), it is not necessary to consider the vertical component (z component) in calculating the distance d as well.

Subsequently, in step S303, it is determined whether or not d<d _th is satisfied. Here, d _th is set to the minimum value that can be expected as the accuracy of displacement of the rod member 30 based on the movement of the upper support member 40 and the lower support member 50 . Here, d _th <D _th , and in this flowchart of the marking process, the error during movement by the first omni wheel 19 to the third omni wheel 21 is eliminated as much as possible by displacing the rod member 30. I'm trying

When the determination in step S303 is NO, the process proceeds to step S304. In step S304, when moving the upper supporting member 40 and the lower supporting member 50 so that d→ _dth , it is determined whether or not the movement includes upward movement. Although the vertical component (z component) is not taken into consideration in determining the distance d, when the support member 40 and the lower support member 50 are moved, they are slightly moved in the vertical direction.

When the determination in step S304 is YES, that is, when the upward movement is involved, the process advances to step S305 to drive the upper support member drive mechanism 120 for moving the upper support member 40, and then the lower support member 50 is moved. The lower support member driving mechanism 130 to be moved is driven. Specifically, the command to execute driving is issued to the lower supporting member driving mechanism 130 at the timing after the command to execute driving is issued to the upper supporting member driving mechanism 120 .

When moving the upper support member 40 and the lower support member 50 upward, the upper support member 40 is first moved, and then the lower support member 50 is moved. This is to prevent unnecessary stress from being applied.

The lower support member 50 employs a ball bearing-like mechanism that allows the lower ball 48 and the small ball 55 of the rod member 30 to be separated from each other. The application of unnecessary stress is avoided.

After the process of step S305 is executed, the process returns to step S301.

On the other hand, when the determination in step S304 is NO, that is, when downward movement is involved, the process proceeds to step S306, and after driving the lower support member drive mechanism 130 for moving the lower support member 50, the upper support member The upper supporting member driving mechanism 120 for moving the 40 is driven. Specifically, the command to execute driving is issued to the upper supporting member driving mechanism 120 at the timing after the command to execute driving is issued to the lower supporting member driving mechanism 130 .

When moving the upper support member 40 and the lower support member 50 downward, the lower support member 50 is first moved, and then the upper support member 40 is moved. It prevents unnecessary stress from being applied.

The lower support member 50 employs a ball bearing-like mechanism that allows the lower ball 48 and the small ball 55 of the rod member 30 to be separated from each other. The application of unnecessary stress is avoided.

After the process of step S306 is executed, the process returns to step S301.

If the result of determination as to whether or not d<d _th is satisfied in step S303 is YES, the drive of the upper support member drive mechanism 120 that moves the upper support member 40 is stopped, and the lower support member that moves the lower support member 50 is stopped. The driving of the support member driving mechanism 130 is stopped. When d<d _th is satisfied, it is considered that the position of the rod member 30 with the marker 33 has reached the target coordinate value.

In step S308, the neck member 30 is moved by the upper support member drive mechanism 120 that moves the upper support member 40 and the lower support member drive mechanism 130 that moves the lower support member 50, and the marker 33 included in the neck member 30 is moved. , a process of marking a cross mark on the floor surface. Here, the intersection point of the cross mark is the previous target coordinate value. FIG. 14 is a diagram showing how marking is executed by the marking device 1 according to the embodiment of the present invention.

As described above, the marking device 1 according to the present invention employs a mechanism for driving a simple configuration consisting of the rod member 30 having the marker 33 provided at one end and the target 35 provided at the other end. Thus, such a marking device 1 can be mass-produced without incurring costs, can be easily introduced to construction sites, and can promote automation of marking work and the like.

Reference Signs List 1 Marking device 3 Housing 6 Top cover 7 Frame cover 10 Side cover 11 First vertical frame 12 Second vertical frame 13 Third vertical frame 15 First shaft 16 Second shaft 17 Third shaft 19 First omni wheel 20 Second omni wheel 21 Third omni Wheel 30 ... Rod member 33 ... Marker 35 ... Target 38 ... Upper ball (part of free ball bearing)
40 Upper support member (part of free ball bearing)
48 Lower ball 50 Lower support member 52 Through hole 54 Ball holding portion 55 Small ball 70 First upper slide portion 71 First upper slide Moving part side hinge mechanism 73 First upper arm 74 First upper support member side hinge mechanism 75 First lower sliding part 76 First lower sliding part side hinge mechanism 78 First lower arm 79 First lower support member side hinge mechanism 80 Second upper sliding portion 81 Second upper sliding portion side hinge mechanism 83 Second upper arm 84 Second upper support member side hinge mechanism 85 Second lower sliding portion 86 Second lower sliding portion side hinge mechanism 88 Second lower arm 89 Second lower support Member-side hinge mechanism 90 Third upper sliding portion 91 Third upper sliding portion-side hinge mechanism 93 Third upper arm 94 Third upper supporting member-side hinge mechanism 95 Third lower sliding portion 96 Third lower sliding portion side hinge mechanism 98 Third lower arm 99 Third lower support member side hinge mechanism 100 Control portion 101 Communication unit 103 Storage unit 105 Touch panel unit 106 External device connection unit 110 Moving mechanism 111 First omni-wheel drive mechanism 112 Second omni-wheel drive mechanism 113 Third omni-wheel drive mechanism 120 Upper support member drive mechanism 121 First upper slide drive mechanism 122 Second upper slide drive mechanism 123 Third upper slide Part drive mechanism 130 Lower support member drive mechanism 131 First lower slide drive mechanism 132 Second lower slide drive mechanism 133 Third lower slide drive mechanism 141 .. Lower side acceleration sensor 142 .. Upper side acceleration sensor 200 .. Measuring equipment

Claims (1)

a pole member having a marker at one end and a target at the other end;
a housing containing the rod member with at least the target exposed;
a wheel provided at the lower part of the housing for moving the housing;
a receiving unit that receives measured position coordinates from a measuring device that measures the position coordinates of the target by irradiating the target with laser light and receiving the laser light reflected by the target;
a storage unit that stores target position coordinates for marking with the marker;
a wheel drive mechanism that drives the wheel based on the difference between the measured position coordinates and the target position coordinates;
An upper support member that supports the pole member on the upper side, a lower support member that supports the pole member on the lower side, and
an upper supporting member driving mechanism for moving the upper supporting member and a lower supporting member driving mechanism for moving the lower supporting member;
The upper support member driving mechanism includes:
a shaft;
a sliding portion that slides up and down on the shaft;
an arm that connects the upper support member and the sliding portion via a hinge mechanism,
The lower support member driving mechanism includes:
a shaft;
a sliding portion that slides up and down on the shaft;
A marking device comprising : the lower support member; and an arm that connects the sliding portion via a hinge mechanism .

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