JP7431587B2 - Slope construction equipment and slope construction method using it - Google Patents

Description

The present invention relates to a slope construction device for performing construction on a slope, and a slope construction method using this slope construction device.

Conventionally, when spraying or other construction work is carried out on a slope, workers have to hang from the slope using a rope. Furthermore, a construction method has been proposed in which a nozzle is attached to the tip of an arm of a construction machine and a spraying material is sprayed from the nozzle onto a slope (for example, see Patent Document 1).

JP2016-79555A

Here, the method in which the worker hangs from the main rope is inefficient because the worker first locates the entire construction area and then performs the work while confirming the construction position. In addition, since workers would be working directly on the slope, it was necessary to give particular consideration to safety. On the other hand, in the method of attaching a nozzle to a construction machine, it is difficult to position the nozzle, which is a contributing factor to deteriorating work efficiency.
The present invention has been made in view of the above problems, and its purpose is to improve the work efficiency and safety of slope construction.

(Aspects of the invention)
The following embodiments of the invention are intended to exemplify the configuration of the present invention, and will be explained separately in order to facilitate understanding of the various configurations of the present invention. Each section does not limit the technical scope of the present invention, and some of the constituent elements of each section may be replaced, deleted, or further modified while taking into consideration the best mode for carrying out the invention. Components to which the above components are added may also be included within the technical scope of the present invention.

(1) A device for performing construction work on a slope, which is attached to a working machine of heavy machinery, has a three-dimensional shape with at least one opening on its outer surface, and is installed at each position moved by the heavy machinery. A work frame that is placed on a slope with the opening surface facing the slope, and a work attachment that is movably held within the work frame and that is removably attached to face the opening surface according to the construction content. a position grasping means for grasping the position of the work frame, a position grasping means for grasping the position of the work execution section within the work frame, and a preset design value and position grasping by the position grasping means; A slope construction device comprising: a control unit that controls movement of the work execution unit within the work frame and operation of the work attachment based on a result.

The slope construction device described in this section includes a work frame, a work execution section, a position grasping means, and a control section, and the work frame has a three-dimensional shape having at least one opening on the outside, and a boom. It can be attached to heavy equipment such as arms and arms. The work frame attached to the working machine of the heavy machine is carried and moved by the heavy machine, and is placed on the slope with the opening surface facing the slope at each position to which it is moved. The work execution section is movably held within the work frame, and work attachments corresponding to the content of construction on the slope are removably attached to the opening surface of the work frame. Therefore, when the work frame is placed on the slope, the work attachment attached to the work execution unit is directed toward the slope. The position grasping means is for grasping the position of the work frame and the position of the work execution unit within the work frame.

Then, based on the position grasping result by the position grasping means and the design values set in advance according to the construction details, the control section moves the work execution section within the work frame and attaches the work execution section to the work execution section. control the operation of the work attachment that is being That is, the control unit moves the work execution unit while checking the position of the work execution unit within the work frame, and controls the operation of the work attachment so that construction is performed according to the design value. Therefore, with the work frame placed on the slope, construction work is carried out on the slope where the opening surface of the work frame faces, using a work attachment whose position and movement are controlled by the control unit. . Therefore, by repeatedly moving the work frame and performing construction using the work attachment within the work frame, construction can be carried out in multiple divided ranges with the range of the slope facing the opening face of the work frame as the division unit. As a result, the entire construction area will be constructed.

This improves work efficiency, and at the same time, it also improves safety because the work can be done remotely without the need for workers to work directly on the slope, such as by hanging over it. Moreover, the position of the work frame can be easily positioned by adjusting the position of the slope on which the work frame is placed by the heavy equipment while confirming the result of grasping the position of the work frame by the position grasping means. Furthermore, since the work frame is placed on the slope using heavy machinery, there is no need for workers to fix it, which also improves safety and contributes to reducing labor and shortening the construction period. Become. In addition, since the work attachments attached to the work execution section are replaceable, the system can be adapted to various construction contents depending on the type of work attachments that can be attached. In addition, when performing two or more types of construction at the same construction site that can be handled by changing work attachments, the construction period is shortened and , transportation costs will be reduced.

(2) In the above item (1), an inclinometer for measuring the inclination of the work frame is attached to the work frame , and when the work frame is placed on a slope, the inclinometer A slope construction device (claim 1) in which the inclination of the work frame is adjusted while confirming that .
The slope construction equipment described in this section has an inclinometer attached to the work frame to measure the inclination of the work frame, so that when the work frame is placed on the slope, the inclinometer is The tilt of the work frame is adjusted while being checked. This allows the work frame to be placed on the slope with a stable inclination. Note that the measurement results obtained by the inclinometer may be used for the purpose of determining the position of the work frame by the position determining means.

(3) In the above item (2), the work frame has a cubic or substantially cubic shape, and the work execution section has three pairs of mutually parallel combinations virtually defined by the shape of the work frame. A slope construction device that is movably held in three directions perpendicular to each of the surfaces (claim 2).
The slope construction device described in this section has a work frame in the form of a cube or a substantially cube, and depending on the shape of the work frame, six faces (outer faces) consisting of three pairs of faces parallel to each other are formed. is defined virtually, and at least one of the surfaces is an open surface. In such a work frame, the work execution section is held movably in three directions orthogonal to each of the three pairs of surfaces described above. Therefore, when a work frame is placed on a slope with a substantially flat surface with the opening surface facing the slope and another surface facing above the slope, the work frame will be parallel to the slope. The work attachment is moved in three directions: a vertical direction, a horizontal direction parallel to the slope, and a front-back direction perpendicular to the slope. This allows the work attachment to be moved to virtually any position within the work frame, so that the opening face of the work frame can be directed towards any position on the opposing slope while maintaining an appropriate distance to the slope. , construction will be carried out using work attachments.

(4) In the above items (2) and (3), the slope construction device (claim 3).
The slope construction equipment described in this section is equipped with multiple jacks at positions where the work frame contacts the slope when it is placed on the slope. The work frame is placed on the slope in such a manner that it is interposed between the work frame and the work frame and comes into contact with the slope. Therefore, even if the slope surface has undulations, the work frame can be placed on the slope in a stable posture by adjusting the extension/contraction length of the jack, and the reaction force can be reduced through the jack. As a result, the position of the work frame can be maintained stably.

(5) The slope construction device according to the above items ( 2 ) to (4), wherein a photographing means for photographing the work performed by the work attachment is attached to the work frame (claim 4 ).
The slope construction device described in this section has a photographing means attached to the work frame to take pictures of the work being performed using the work attachment, so that workers, etc. can understand the work being done within the work frame. It is something that will be done. Therefore, the construction process can be monitored remotely without the need to directly check the slope. By adjusting the position and movement of the work attachment to reflect the monitoring results, construction accuracy can be further improved, and furthermore, if an abnormality occurs within the work frame, it can be immediately identified. This will allow for rapid response to abnormalities.

(6) In items ( 2 ) to (5) above, the work attachment includes a spray nozzle for spraying spray material onto a slope, and a hole drilling machine for drilling a hole in the slope. A slope construction device to which at least one side can be attached (Claim 5 ).
The slope construction equipment described in this section has a spray nozzle for spraying spray material on the slope surface and a hole drilling machine for drilling holes in the slope surface as work attachments attached to the work execution unit. At least one of them is attachable. In other words, when a spray nozzle is attached to the work execution section, the spray material is applied to the range of the slope facing the opening surface of the work frame at each position where the work frame is placed in accordance with the design value. The spraying work is done to achieve the desired thickness. In addition, when a hole drilling machine is attached to the work execution section, for each position where the work frame is placed, the opening surface of the work frame is placed on the slope with respect to the design position that is included in the range of the opposing slope. Hole drilling is performed using the reaction force against the mounted work frame. This improves the safety of spraying work on slopes and drilling holes, and allows the work to be carried out efficiently.

(7) In the above item (6), when the spray nozzle is attached to the work execution unit and the work frame is placed on the slope, the spray is sprayed onto the slope by the spray nozzle. A slope construction device (claim 6 ) comprising a sprayed thickness measuring means for measuring the thickness of sprayed material.
The slope construction apparatus described in this section is provided with a spray nozzle as a work attachment attached to the work execution section and a spray thickness measuring means for measuring the thickness of the spray material. This spray thickness measuring means measures the thickness of the spray material sprayed onto the slope from the spray nozzle while the work frame is placed on the slope. Therefore, by controlling the movement of the work execution unit and the operation of the spray nozzle by the control unit while taking into account the measurement results of this spray thickness measuring means, the spraying can be carried out closer to the designed thickness. This will further improve the accuracy of the spraying operation.

(8) In the above item (7), the spray thickness measuring means is arranged at intervals in the direction of movement of the work execution section along the slope when the work frame is placed on the slope; A slope construction device (claim 7 ) comprising two distance measuring devices attached to the work execution section at positions sandwiching the spray nozzle in a plan view perpendicular to the slope.
In the slope construction device described in this section, the sprayed thickness measuring means for measuring the thickness of the sprayed material includes two distance measuring devices attached to the work execution section, and these two distance measuring devices , is moved integrally with the spray nozzle also attached to the work execution section. In addition, the two distance measuring devices are arranged at intervals in the direction of movement of the work execution unit along the slope when the work frame is placed on the slope, and furthermore, the two distance measuring devices are arranged at intervals in the direction of movement of the work execution unit along the slope. When viewed from above, it is attached to the work execution section at a position sandwiching the spray nozzle. That is, the two distance measuring devices and the spray nozzle are arranged in a straight line with the spray nozzle in the middle.

Therefore, when the work execution part is moved along the direction in which the two distance measuring instruments are separated, one of the distance measuring instruments will pass the position immediately before the spray nozzle passes, and the other distance measuring instrument will pass through the position immediately before the spray nozzle passes. The distance measuring device will pass through the position immediately after the spray nozzle has passed. Therefore, while the work execution part is moved as described above, spraying by the spray nozzle and measurement by the two distance measuring devices are performed, and one distance measuring device measures the spraying material from the spraying nozzle. The distance to the surface of the slope immediately before being sprayed is measured, and the distance from the spray nozzle to the surface of the slope immediately after being sprayed with the spraying material is measured by the other distance measuring device. Thereby, the thickness of the sprayed material can be easily calculated from the difference in the distance before and after the sprayed material is sprayed.

(9) In the above items (1) to (8), the position grasping means determines the positional relationship between a reference point set in advance on a slope and the heavy equipment, and the positional relationship between the heavy equipment and the work frame. A slope construction device that uses the slope construction device to grasp the position of the work frame.
In the slope construction device described in this section, when the position grasping means grasps the position of the work frame, the positional relationship between the reference point set in advance on the slope and the heavy equipment, and the position of the heavy equipment and the work frame are determined. It takes advantage of relationships. The reference point is set on the slope during the advance preparation stage of construction, and the positioning means uses survey data of the construction area including the reference point to determine the position of the reference point as seen from the heavy equipment. By recognizing this, the positional relationship between the heavy equipment and the reference point can be grasped. Further, the position grasping means grasps the positional relationship between the heavy machine and the work frame based on the size of the work machine of the heavy machine to which the work frame is attached, the current posture of the work machine, and the like. This allows the position of the work frame to be accurately grasped, so the position of the work frame placed on the slope is adjusted based on the position of the work frame and survey data, etc. The construction is performed with the frame positioned with high accuracy, and construction accuracy is improved. Furthermore, since the position of the work frame is determined using reference points and survey data, there is no need to locate the entire construction area, and the time required for advance preparation can be reduced.

(10) In the above item (9), the slope construction device is characterized in that the position grasping means includes posture measuring means for measuring the posture of the working machine.
The slope construction device described in this section includes a posture measuring means for measuring the posture of the working machine, so that the position grasping means can accurately grasp the posture of the working machine from the measurement results of the posture measuring means. It is something. Therefore, by combining the posture of the work equipment with the preset size of the work equipment of the heavy equipment, the positional relationship between the heavy equipment and the work frame can be grasped, and as a result, the position of the work frame can be determined with high precision. It will be calculated as follows.

(11) A construction method for a slope, which includes a step of attaching a work frame having a three-dimensional shape having at least one opening on the outer surface to a working machine of heavy machinery, and holding the work frame movably within the work frame. a work attachment attaching step in which a work attachment according to the construction content is attached to the work executing unit facing the opening surface; and a work attachment step in which the work frame is moved by the heavy machinery while confirming the position of the work frame, and a work frame moving step in which the work frame is placed on the slope with the surface facing the slope; a work process of controlling the movement of the work execution part within the work frame and the operation of the work attachment based on the position of the work execution part, and the work in the entire construction range of the slope is performed. A slope construction method in which the work frame moving step and the work step are repeatedly executed until the work step is completed.

(12) In the above item (11), when placing the work frame on a slope in the work frame moving step, adjust the inclination of the work frame while checking an inclinometer attached to the work frame. Slope construction method (Claim 8).
( 13 ) In the above item ( 12 ), the work frame forming a cube or a substantially cube is used, and in the work process, the work execution parts are combined in parallel to each other virtually defined by the shape of the work frame. A slope construction method (claim 9 ) in which the slope is moved in three directions orthogonal to each of the three pairs of surfaces.

(14) In the step of moving the work frame in items (12) and (13) above, the work frame is placed on a slope in such a manner that a plurality of jacks attached to the work frame are brought into contact with the slope. Construction method (Claim 10).
(15) In the work process in the above items ( 12 ) to (14), moving the work execution unit while checking the state of the work by the work attachment, which is photographed by a photographing means attached to the work frame. and a slope construction method that controls the operation of the work attachment (claim 11 ).

(16) In the work attachment installation step in the above items ( 12 ) to (15), the work attachment includes a spray nozzle for spraying spray material onto the slope, and a spray nozzle for drilling a hole in the slope. A slope construction method (Claim 12 ) in which either one of the hole drilling machine and the hole drilling machine is attached.
(17) In the work attachment installation step in the above item (16), the spray nozzle is attached as the work attachment, and in the work step, the thickness of the spray material sprayed onto the slope by the spray nozzle. A slope construction method (Claim 13 ), which controls movement of the work execution unit and operation of the spray nozzle while measuring the .

(18) In the above item (17), when measuring the thickness of the sprayed material in the work process, movement of the work execution unit along the slope while the work frame is placed on the slope. A slope construction method (claim 14 ) that utilizes two distance measuring devices installed on the work execution unit at positions that sandwich the spray nozzle in a plan view perpendicular to the slope with an interval in the direction.
(19) In the above items (11) to (18), when confirming the position of the work frame in the work frame moving step, the positional relationship between the reference point set in advance on the slope and the heavy equipment, and the A slope construction method that utilizes the positional relationship between heavy machinery and the work frame.

(20) In the above item (19), the slope construction method uses an attitude measuring means for measuring the attitude of the working machine in order to grasp the positional relationship between the heavy machine and the work frame.
The slope construction methods in sections (11) to (20) are executed using the slope construction devices described in sections (1) to (10) above, respectively. This device has the same effect as the slope construction device in item 10).

Since the present invention has the above configuration, it is possible to improve the working efficiency and safety of slope construction.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view which shows an example of the structure of the slope construction apparatus based on embodiment of this invention. FIG. 2 is a simplified three-view diagram of the work frame of FIG. 1; It is a flow chart showing an example of a slope construction method concerning an embodiment of the present invention. It is an image diagram showing a state in which the construction range is divided into a plurality of divided ranges for construction. FIG. 3 is a side view showing a work frame placed on an uneven slope. It is a construction image diagram when a spray nozzle is used as a work attachment. They are an installation image diagram and a construction image diagram when a hole drilling machine is used as a work attachment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described based on the accompanying drawings. Here, detailed explanations of the same or corresponding parts as in the prior art will be omitted, and the same or corresponding parts are indicated by the same reference numerals throughout the drawings.
FIG. 1 schematically shows an example of the configuration of a slope construction device 10 according to an embodiment of the present invention for performing construction on a slope 92. As illustrated, the slope construction device 10 utilizes a heavy machine 76 having a working machine 78, and includes a work frame 12, a work execution section 34, a position grasping means 40, and a control section 50. Note that in this embodiment, a backhoe having a first boom 80, a second boom 82, and an arm 84 is used as the work equipment 78 as the heavy equipment 76, but as will be described later, the backhoe is not capable of moving the work frame 12. If available, other heavy machinery such as a crane may be used.

The work frame 12 is attached to a work machine 78 of a heavy machine 76, and more specifically, it is attached to an arm 84 via an attitude adjustment section 86. As can be seen in FIG. 2, the work frame 12 of this embodiment has a substantially cubic shape, and one of the six surfaces (six outer surfaces of the cube) virtually defined by the shape of the work frame 12. is the opening surface 14. Further, the surface of the work frame 12 that faces the opening surface 14 is a mounting surface 16 for attaching to the attitude adjustment section 86, but in the plan view of FIG. Illustrations of members connected to the adjustment section 86 are omitted. In addition, although not limited to this, as an example, the work frame 12 has a size of about 3000 mm in length, 6000 mm in width, and 3000 mm in height.

As shown in FIG. 1, the work frame 12 is moved by a heavy machine 76 and placed on a slope 92. At this time, a plurality of jacks 60 are mounted with the opening surface 14 facing the slope 92. It is placed on the slope 92 through the cable. That is, the work frame 12 has four jacks 60 (see also FIG. 2) at positions that contact the slope 92 when placed on the slope 92, in this embodiment, at the four corners on the opening surface 14 side. It is provided. It is preferable that the lengths of extension and contraction of these four jacks 60 can be adjusted individually by operation from the operator's cab 88 of the heavy equipment 76 or the like. Note that the jack 60 can be of any type, such as a hydraulic type, a pneumatic type, or a combination thereof.

Further, although not shown in FIG. 2, an inclinometer 62 and a photographing means 64 are attached to the work frame 12. The inclinometer 62 is for measuring the inclination of the work frame 12 moved by the heavy equipment 76, and any inclinometer capable of measuring inclination can be used. Note that a gyro sensor may be attached together with the inclinometer 62 to measure the angular velocity of the work frame 12. The photographing means 64 is installed to photograph the inside of the work frame 12, and in particular, is installed so as to photograph the work performed by the work attachment 36, which will be described later. The photographing means 64 may be any camera capable of photographing moving images or continuous still images, and a plurality of cameras may be installed so as to photograph from different angles.

The work execution unit 34 is removably attached with a work attachment 36 depending on the construction content, in this embodiment a spray nozzle 36A, and is movably held within the work frame 12. The spray nozzle 36A is for spraying a spray material 70 such as mortar or concrete onto the slope 92, and is an opening that faces the slope 92 when the work frame 12 is placed on the slope 92. It is attached to the work execution unit 34 so as to face the surface 14. Note that, in FIGS. 1 and 2, illustrations of piping, plants, etc. for supplying the spray material 70 to the spray nozzle 36A are omitted.

The work execution unit 34 also includes a spray thickness measuring means 54 for measuring the thickness 70b (see FIG. 6(b)) of the spray material 70 sprayed from the spray nozzle 36A onto the slope 92. Two distance measuring devices 56, 58 are attached. As can be seen in FIGS. 2(b) and 2(c), the two distance measuring devices 56 and 58 are attached via the connecting portion 26 with a space between them in the left-right direction as shown in the figure, sandwiching the spray nozzle 36A. It is arranged in a straight line together with the spray nozzle 36A. Although it is preferable to use a sonic sensor as the two distance measuring devices 56 and 58 because it can measure even if there is an obstacle and has high measurement accuracy, other distance sensors may be used. Note that in FIG. 2(a), illustration of the connecting portion 26 and distance measuring devices 56 and 58 is omitted.

As shown in FIG. 2, the work frame 12 is provided with vertical rails 20 extending in the vertical direction in FIGS. 2(a) and 2(b) on both left and right sides in FIGS. 2(b) and (c). A horizontal rail 22 extending in the left-right direction in FIGS. 2(b) and 2(c) is provided between the vertical rails 20 so as to be movable along the vertical rail 20. Further, a distance adjustment section 24 is provided so as to be movable along the horizontal rail 22, and this distance adjustment section 24 allows the operation including the spray nozzle 36A, the two distance measuring instruments 56 and 58, and the connection section 26 to be performed. The execution unit 34 is held movably in the left-right direction in FIG. 2(a). For this reason, the work execution unit 34 is configured to be moved in three directions perpendicular to the paper plane in each of FIGS. 2(a) to 2(c).

Any conventionally known moving mechanism such as a linear guide can be used as the moving mechanism for moving the work execution unit 34 as described above, and the motive power for the movement may include electricity, hydraulic pressure, etc. Any power can be used. Note that by manually adjusting the position of the vertical rail 20 in the left-right direction in FIG. 2(a), the default position of the work execution unit 34 in the same direction may be adjustable. . Further, the work frame 12 is provided with reinforcing bars 28A extending in the vertical direction in FIGS. 2(a) and 2(b) on both left and right sides in FIGS. 2(b) and (c). Although reinforcing bars 28B extending in the left-right direction are provided on both upper and lower sides in FIGS. 2(a) and 2(b), illustration of the reinforcing bars 28A is omitted in FIG. 1.

Returning to FIG. 1, the position grasping means 40 is for grasping the position of the work frame 12 moved by the heavy machine 76 and the position of the work execution unit 34 within the work frame 12, It may include any computer located in room 88 or the like. Further, the position grasping means 40 of this embodiment includes an attitude measuring means 42 for measuring the attitude of the working machine 78, and this attitude measuring means 42 includes an inclinometer 44 for measuring the attitude of the first boom 80. , an inclinometer 46 that measures the attitude of the second boom 82, and an inclinometer 48 that measures the attitude of the arm 84. The position grasping means 40 uses, for example, survey data including a reference point 74 set in advance on the slope 92 and a construction range 72 (see FIG. 4), which has been measured using a drone or the like in advance. By recognizing the position of the reference point 74 as seen from the heavy equipment 76, the positional relationship between the heavy equipment 76 and the reference point 74 is calculated.

Further, the position grasping means 40 uses the measurement results by the attitude measurement means 42 (inclinometers 44, 46, 48), the measurement results by the inclinometer 62, and the preset work equipment 78 (first boom 80, second boom 82). , the size of the arm 84), etc., to calculate the positional relationship between the heavy machinery 76 and the work frame 12. Then, the position of the work frame 12 is grasped using the positional relationship between the reference point 74 and the heavy machine 76 calculated as described above, and the positional relationship between the heavy machine 76 and the work frame 12. The determined position of the work frame 12 may be presented to a worker or the like via a display installed in the operator's cab 88 or the like. On the other hand, the position grasping means 40 uses the amount of movement of the work execution unit 34 obtained from the movement mechanism that moves the work execution unit 34, an arbitrary sensor installed in the work frame 12, etc. The location of the work execution unit 34 is grasped. Note that if the working machine 78 is provided with sensors for measuring the inclinations of the first boom 80, the second boom 82, and the arm 84 in advance, these sensors may be used as the posture measuring means 42. good.

The control unit 50 controls the entire slope construction device 10, and its control includes the movement of the work execution unit 34 within the work frame 12 and the operation of the work attachment 36 (spray nozzle 36A). Contains control. Such a control unit 50 is installed, for example, in the operator's cab 88 of the heavy equipment 76, and is constituted by any computer capable of controlling the control mechanism for moving the work execution unit 34 and the work attachment 36. For example, while checking the position of the work execution unit 34 within the work frame 12 that is grasped by the position grasping means 40, the control unit 50 controls the work attachment 36 so that construction is performed according to preset design values. control the position and movement of At this time, the control unit 50 may perform automatic control based on a program or the like, or may perform manual control in response to operations by a worker in the operator's cab 88, or may include both of these depending on the situation. Control may also be performed.

Next, according to the flowchart shown in FIG. 3, spraying is performed on the slope 92 using the slope construction method according to the embodiment of the present invention, which utilizes the slope construction device 10 described above. This will be explained using a case as an example. For the configuration of the slope construction device 10, please refer to FIGS. 1 and 2 as appropriate. In addition, the flowchart shown in FIG. 3 shows an example of the flow of steps for explaining the slope construction method according to the embodiment of the present invention. Therefore, the slope construction method according to the embodiment of the present invention is not limited to the flow diagram shown in FIG. The flow may be such that some of the steps are deleted, changed, or added as appropriate.

S10 (Advance preparation): As shown in FIG. 4, a reference point 74 is set near or within the construction range 72 of the slope 92. Furthermore, the area including the construction range 72 and the reference point 74 is measured using a drone or the like to obtain survey data. At this time, the entire construction range 72 is virtually divided into a plurality of divided ranges 12a (indicated by thick lines in FIG. 4) on which the work frame 12 is placed and the work is performed, and position data for each divided range 12a is set. It's okay. The size and shape of the divided range 12a are determined based on the size and shape of the work frame 12, the movement range of the work execution unit 34 within the work frame 12, and the like. Further, preparations are made according to the construction details for the slope 92, and in this embodiment, preparations are made for spraying. In other words, this includes lathing, plant preparation, etc.

S20 (attachment of work frame): Attach the work frame 12 to the work machine 78 of the heavy machine 76, in this embodiment the arm 84, via the posture adjustment section 86. At this time, the mounting surface 16 of the work frame 12 and the posture adjustment section 86 are connected, and the mounting surface 14 is mounted so that the opening surface 14 located at a position facing the mounting surface 16 is easily directed toward the slope surface 92.
S30 (attachment of work attachment): Attach the work attachment 36, in this embodiment the spray nozzle 36A, to the work execution unit 34 held within the work frame 12, facing the opening surface 14. At the same time, two distance measuring devices 56 and 58 are attached to the work execution unit 34 as spray thickness measuring means 54 . Note that the order of this step S30 and the above step S20 may be reversed.

S40 (work frame movement): The work frame 12 is moved by the heavy machinery 76, and placed in a position where no work has been performed yet in the construction range 72 as shown in FIG. For example, when the work frame 12 is divided into a plurality of divided ranges 12a as shown in FIG. While confirming the position of the work frame 12, the worker operates the heavy machinery 76 to adjust the position of the work frame 12, and places the work frame 12 with the opening surface 14 facing the slope 92. At this time, as shown in FIG. 5, while checking the measurement results of the inclinometer 62, gyro sensor, etc. attached to the work frame 12 and adjusting the inclination of the work frame 12, The extension and contraction lengths of the four jacks 60 are adjusted so that they are placed on the slope 92 in a stable state. Note that among the plurality of divided ranges 12a as shown in FIG. 4, the order of the divided ranges 12a in which the work frames 12 are placed is arbitrary, but the order should be set so that construction can be carried out as efficiently as possible. is preferred.

S50 (work): The control unit 50 controls the operation of the spray nozzle 36A attached to the work execution unit 34 while moving the work execution unit 34, and controls the slope 92 facing the opening surface 14 of the work frame 12. Spray the spraying material 70 over the entire area. More specifically, the work execution section 34 is moved while confirming the position of the work execution section 34 within the work frame 12, which is grasped by the position grasping means 40, and the spraying thickness is adjusted to a preset design value. Spraying material 70 is sprayed on the area. At this time, the two distance measuring instruments 56 and 58 attached to the work execution unit 34 are used to measure the thickness of the spray material 70 sprayed onto the slope 92 by the spray nozzle 36A. Here, in FIG. 6, with the work frame 12 placed on the slope 92, spraying is applied to the range (divided range 12a) of the slope 92 that the opening surface 14 of the work frame 12 faces. An example of how to do this is shown.

Specifically, in the example of FIG. 6, while moving the work execution unit 34 along the movement route R shown by the thick line from the upper left to the lower right in FIG. Spraying is performed as in range 70a. At this time, when the work execution unit 34 is moving from left to right in FIG. 6(a), as shown in FIG. 6(b) when viewed from below in FIG. 6(a), one distance is The measuring device 56 measures the distance to the surface of the slope 92 before the spraying material 70 is sprayed (see arrow 56a), and the other distance measuring device 58 measures the distance to the surface of the slope 92 before the spraying material 70 is sprayed. The distance to the surface of the slope 92 is measured (see arrow 58a). Then, from the difference between these two measured values, the control unit 50 calculates the thickness 70b of the spray material 70 sprayed from the currently moved spray nozzle 36A. On the other hand, when the work execution unit 34 is moving from right to left in FIG. 6A, the distance measuring device 58 measures the distance to the surface of the slope 92 before the spraying material 70 is sprayed At the same time, the distance to the surface of the slope 92 after the sprayed material 70 is sprayed is measured by the distance measuring device 56, and the thickness 70b of the sprayed material 70 is calculated from the difference therebetween. .

Then, based on the thickness 70b of the spray material 70 calculated as described above, adjustment of the moving speed of the spray nozzle 36A (work execution unit 34), second or more spraying at the once sprayed position, etc. I do. Furthermore, after placing the work frame 12 on the slope 92 and before starting spraying, the work execution unit 34 is moved without spraying from the spray nozzle 36A, and the entire area where the opening surface 14 faces is covered. The distance to the surface of the slope 92 may be measured by the distance measuring device 56 or 58, and the moving speed and moving route R of the work execution unit 34 may be set based on the measurement results. That is, the method of setting the moving speed and moving route R of the work execution unit 34 is arbitrary, and software for averaging the spraying thickness according to the undulations of the surface of the slope 92 may be used. The supply amount of the spray material 70 may also be taken into consideration. Further, depending on the situation, the work execution unit 34 may be moved not only in the left and right and up and down directions in FIG. You may move it. In addition, while checking the inside of the work frame 12 using the photographing means 64 attached to the work frame 12, the worker can control the movement of the work execution unit 34 and the operation of the spray nozzle 36A via the control unit 50. may be controlled.

S60 (work range determination): The worker or the control unit 50 determines whether work has been performed in the entire construction range 72 as shown in FIG. As a result, if it is determined that the work in the entire construction range 72 has not been completed and there remains an unworked range (divided range 12a) (NO), the process returns to S40. That is, the above S40 and the above S50 are repeatedly executed until the work on the entire construction range 72 of the slope 92 is completed. On the other hand, if it is determined that the work in the entire construction range 72 has been completed (YES), the slope construction method of this embodiment ends.

Next, with reference to FIG. 7, a case will be described in which a hole drilling machine 36B is attached to the work execution unit 34 as the work attachment 36. The hole drilling machine 36B is for drilling holes in the slope 92, and executes the work so that when the work frame 12 is placed on the slope 92, it faces the opening surface 14 facing the slope 92. It is attached to the section 34. For this reason, the hole drilling machine 36B is configured to be moved in three directions, that is, the vertical direction, the horizontal direction, and the direction perpendicular to the plane of the drawing in FIG. 7(a). With the work frame 12 placed on the slope 92, the hole drilling machine 36B adjusts its position within the work frame 12 under the control of the control unit 50, for example, as shown in FIG. 7(b). As shown, holes 94 are drilled at a plurality of locations within the range (divided range 12a) of the slope 92 that the opening surface 14 of the work frame 12 faces. The position and depth of the hole 94 are based on preset design values. Then, while the position of the work frame 12 is moved by the heavy machinery 76, the work is performed in all of the plurality of divided ranges 12a as shown in FIG. 4, for example, thereby drilling a plurality of holes 94 in the entire construction range 72. .

Here, the slope construction device 10 according to the embodiment of the present invention is not limited to the above-described configuration, and some of the plurality of structural parts shown in FIGS. 1, 2, 7, etc. It may be deleted or replaced, or a new component may be added. For example, the shape of the work frame 12 is arbitrary as long as it has a three-dimensional shape having at least one opening surface 14 on the outer surface. Further, as the work attachment 36, equipment other than the spray nozzle 36A and the hole drilling machine 36B may be attached. Further, the position grasping means 40 may grasp the position of the work frame 12 and the position of the work execution unit 34 by any method, and the configurations of various sensors used for grasping these positions may also be arbitrary.

Now, according to the embodiment of the present invention having the above configuration, it is possible to obtain the following effects. That is, as shown in FIGS. 1 and 2, the slope construction device 10 according to the embodiment of the present invention includes a work frame 12, a work execution section 34, a position grasping means 40, and a control section 50. 12 has a three-dimensional shape having at least one opening surface 14 on the outer surface, and is attached to the working machine 78 of the heavy machinery 76 such as the arm 84 (see S20 in FIG. 3). The work frame 12 attached to the working machine 78 of the heavy machinery 76 is carried and moved by the heavy machinery 76, and at each moved position, the work frame 12 is attached to the slope 92 with the opening surface 14 facing the slope 92. (See S40 in FIG. 3). The work execution unit 34 is movably held within the work frame 12, and a work attachment 36 according to the content of construction on the slope 92 is removably attached toward the opening surface 14 of the work frame 12 (see FIG. (See S30 of 3). Therefore, when the work frame 12 is placed on the slope 92, the work attachment 36 attached to the work execution unit 34 is directed toward the slope 92. The position grasping means 40 is for grasping the position of the work frame 12 and the position of the work execution unit 34 within the work frame 12.

Then, based on the position grasping result by the position grasping means 40 and the design values set in advance according to the construction details, the control unit 50 controls the movement of the work execution unit 34 within the work frame 12 and the work The operation of the work attachment 36 attached to the execution unit 34 is controlled. That is, the control unit 50 moves the work execution unit 34 while checking the position of the work execution unit 34 within the work frame 12, and controls the operation of the work attachment 36 so that construction is performed according to the design value. It is. Therefore, when the work frame 12 is placed on the slope 92, the work attachment 36, whose position and operation are controlled by the control unit 50, Construction can be performed (see S50 in FIG. 3). Therefore, by repeatedly moving the work frame 12 and performing construction using the work attachment 36 within the work frame 12, the range of the slope 92 facing the opening surface 14 of the work frame 12 is divided, as shown in FIG. Construction is performed for each of the plurality of divided ranges 12a, which are made into units, and as a result, the entire construction range 72 can be constructed.

As a result, work efficiency can be improved, and at the same time, safety can also be improved because construction can be performed remotely without the need for workers to directly work on the slope 92, such as by hanging over it. It becomes possible. Further, the work frame 12 can be easily positioned by adjusting the position of the slope 92 on which the work frame 12 is placed using the heavy equipment 76 while checking the result of grasping the position of the work frame 12 by the position grasping means 40. be able to. Furthermore, the work frame 12 is placed on the slope 92 via the heavy machinery 76, eliminating the need for fixing work by workers, which also improves safety, reduces labor and shortens the construction period. can also contribute. In addition, since the work attachment 36 attached to the work execution unit 34 is replaceable, it is possible to correspond to various construction contents depending on the type of work attachment 36 that can be attached.

Further, as can be seen in FIG. 2, the slope construction device 10 according to the embodiment of the present invention has the work frame 12 in the form of a cube or a substantially cube, and the shape of the work frame 12 makes it possible to Six surfaces (outer surfaces) consisting of three pairs of parallel surfaces are virtually defined, one of which is the opening surface 14. Then, in such a work frame 12, the work execution unit 34 moves in three directions perpendicular to each of the three pairs of surfaces described above (three directions perpendicular to the paper plane in each of FIGS. 2(a) to 2(c)). It is held movably. Therefore, as shown in FIG. 1, with respect to a slope 92 having a substantially flat surface, the work frame 12 is placed with the opening surface 14 facing the slope 92 and one other surface facing above the slope 92. In the state where the work attachment 36 is placed, the work attachment 36 can be moved in three directions: up and down parallel to the slope 92, left and right directions parallel to the slope 92, and front and rear directions perpendicular to the slope 92. Can be done. As a result, the work attachment 36 can be moved to virtually any position within the work frame 12, so that the opening surface 14 of the work frame 12 can be moved toward any position on the slope surface 92 facing the slope surface 92. It becomes possible to perform construction using the work attachment 36 while maintaining a safe distance.

Further, in the slope construction device 10 according to the embodiment of the present invention, a plurality of jacks 60 are provided at positions of the work frame 12 that come into contact with the slope 92 when placed on the slope 92. As a result, the work frame 12 is placed on the slope 92 in such a manner that the plurality of jacks 60 are interposed between the slope 92 and the work frame 12 and come into contact with the slope 92. Therefore, even if the surface of the slope 92 has ups and downs as shown in FIG. 5, for example, the work frame 12 can be placed on the slope 92 in a stable posture by adjusting the extension/contraction length of the jack 60. Moreover, the position of the work frame 12 can be stably maintained by receiving a reaction force through the jack 60.

Furthermore, as shown in FIG. 1, the slope construction device 10 according to the embodiment of the present invention has an inclinometer 62 attached to the work frame 12 for measuring the inclination of the work frame 12, so that the slope construction device 10 can easily perform the work. When placing the frame 12 on the slope 92, the inclination of the work frame 12 can be adjusted while checking the inclinometer 62. Thereby, the work frame 12 can be placed on the slope 92 with a stable inclination. Further, since the photographing means 64 for photographing the state of work performed by the work attachment 36 is attached to the work frame 12, the work state within the work frame 12 can be grasped by the worker or the like. Therefore, the construction process can be monitored remotely without the need to directly check the slope 92. Then, if the position and operation of the work attachment 36 are adjusted based on the monitoring results, construction accuracy can be further improved, and furthermore, if an abnormality occurs within the work frame 12, it can be corrected. This makes it possible to immediately understand the situation and quickly respond to abnormalities.

In addition, the slope construction device 10 according to the embodiment of the present invention includes a work attachment 36 attached to the work execution unit 34, which is a work attachment 36 for spraying a spray material 70 onto a slope 92 as shown in FIG. A nozzle 36A and a hole drilling machine 36B for drilling a hole in a slope 92 as shown in FIG. 7 can be attached. In other words, when the spray nozzle 36A is attached to the work execution unit 34, the opening surface 14 of the work frame 12 faces the range of the slope 92 for each position where the work frame 12 is placed. As shown in FIG. 2, the spraying work can be performed so that the spray material 70 has the thickness as designed. In addition, when the hole drilling machine 36B is attached to the work execution unit 34, the opening surfaces 14 of the work frame 12 face each other at each position where the work frame 12 is placed, as shown in FIG. 7(b). A hole can be drilled at a design position included in the range of the surface 92 by using the reaction force against the work frame 12 placed on the slope 92. Thereby, it is possible to improve the safety of spraying work and drilling on the slope 92, and to perform the work efficiently. In addition, when both spraying with the spray nozzle 36A and drilling with the hole drilling machine 36B are performed at the same construction site, such as when drilling holes for inserting rock bolts after spraying, for example, Compared to the case where these are carried out using separate construction machines, the construction period can be shortened and transportation costs can also be reduced.

Furthermore, as shown in FIG. 2, the slope construction device 10 according to the embodiment of the present invention reduces the thickness of the spray material 70 when the spray nozzle 36A is attached to the work execution unit 34 as the work attachment 36. It is provided with a spray thickness measuring means 54 for measuring. This spray thickness measuring means 54 measures the thickness of the spray material 70 sprayed onto the slope surface 92 from the spray nozzle 36A with the work frame 12 placed on the slope surface 92. Therefore, by controlling the movement of the work execution unit 34 and the operation of the spray nozzle 36A by the control unit 50 while taking into account the measurement results of the spray thickness measuring means 54, the thickness can be brought closer to the designed value. It is possible to perform spraying, and the accuracy of the spraying work can be further improved.

The slope construction apparatus 10 according to the embodiment of the present invention includes two distance measuring devices 56 and 58 attached to the work execution unit 34 as a sprayed thickness measuring means 54 for measuring the thickness of the sprayed material 70. These two distance measuring instruments 56 and 58 are moved integrally with the spray nozzle 36A, which is also attached to the work execution section 34. Further, the two distance measuring instruments 56 and 58 measure the movement direction of the work execution unit 34 along the slope 92 when the work frame 12 is placed on the slope 92 (see FIGS. 2(a) and 2b). They are arranged at intervals in the left-right direction), and are further attached to the work execution unit 34 at positions sandwiching the spray nozzle 36A when viewed from above perpendicular to the slope 92. That is, the two distance measuring instruments 56 and 58 and the spray nozzle 36A are arranged in a straight line with the spray nozzle 36A in the middle.

Therefore, when the work execution unit 34 is moved along the direction in which the two distance measuring instruments 56 and 58 are separated, as shown in the moving route R in FIG. 6(a), one of the distance measuring instruments 56 ( 58) will pass the position immediately before the spray nozzle 36A passes, and the other distance measuring device 58 (56) will pass the position immediately after the spray nozzle 36A passes. Therefore, by spraying with the spray nozzle 36A and measuring with the two distance measuring devices 56 and 58 while moving the work execution unit 34 in this way, as shown in FIG. The distance measuring device 56 (58) measures the distance from the spray nozzle 36A to the surface of the slope 92 immediately before the spray material 70 is sprayed, and the other distance measuring device 58 (56) measures the distance from the spray nozzle 36A to the surface of the slope 92 immediately before the spray material 70 is sprayed. The distance from 36A to the surface of slope 92 immediately after spraying material 70 can be measured. Thereby, the thickness 70b of the sprayed material 70 can be easily calculated from the difference in the distance before and after the sprayed material 70 is sprayed.

In addition, as shown in FIGS. 1 and 4, the slope construction device 10 according to the embodiment of the present invention has a preset position on the slope 92 when the position grasping means 40 grasps the position of the work frame 12. The positional relationship between the reference point 74 and the heavy machine 76 and the positional relationship between the heavy machine 76 and the work frame 12 are used. The reference point 74 is set on the slope 92 at the preliminary construction stage (see S10 in FIG. 3), and the position grasping means 40 uses survey data of the construction range 72 including the reference point 74. By recognizing the position of the reference point 74 as seen from the heavy machine 76, the positional relationship between the heavy machine 76 and the reference point 74 is grasped. Further, the position grasping means 40 grasps the positional relationship between the heavy machine 76 and the work frame 12 based on the size of the work machine 78 of the heavy machine 76 to which the work frame 12 is attached, the current posture of the work machine 78, etc. . As a result, the position of the work frame 12 can be accurately grasped, so the position of the work frame 12 to be placed on the slope 92 can be adjusted based on the position of the work frame 12 and survey data. Construction can be carried out with the work frame 12 accurately positioned, making it possible to improve construction accuracy. Furthermore, since the position of the work frame 12 is determined using the reference point 74 and survey data, there is no need to locate the entire construction range 72, and the time required for advance preparation can be reduced.

Further, the slope construction device 10 according to the embodiment of the present invention includes the posture measuring means 42 (inclinometers 44, 46, 48) for measuring the posture of the working machine 78, so that the position grasping means 40 can be From the measurement result of the attitude measuring means 42, the attitude of the working machine 78 can be grasped with high accuracy. Therefore, by combining the posture of the work machine 78 with the preset size of the work machine 78 of the heavy machine 76, it is possible to grasp the positional relationship between the heavy machine 76 and the work frame 12, and as a result, the work The position of the frame 12 can be calculated with high precision.
Note that the slope construction method according to the embodiment of the present invention as shown in FIG. It can be effective.

10: slope construction device, 12: work frame, 14: opening surface, 34: work execution unit, 36: work attachment, 36A: spray nozzle, 36B: hole drilling machine, 40: position grasping means, 50: control unit , 54: Spraying thickness measuring means, 56, 58: Distance measuring device, 60: Jack, 62: Inclinometer, 64: Photographing means, 70: Spraying material, 70b: Thickness of spraying material, 72: Construction range, 76: Heavy equipment, 78: Work equipment, 92: Slope

Claims (14)

A device for performing construction on a slope,
Work that is attached to a work machine of heavy machinery, has a three-dimensional shape with at least one opening on the outer surface, and is placed on a slope with the opening surface facing the slope for each position moved by the heavy machinery. frame and
a work execution unit that is movably held within the work frame and has a work attachment that is removably attached to the opening surface in accordance with the construction content;
a position grasping means for grasping the position of the work frame and the position of the work execution unit within the work frame;
a control unit that controls movement of the work execution unit within the work frame and operation of the work attachment based on a preset design value and a position grasp result by the position grasp means;
An inclinometer for measuring the inclination of the work frame is attached to the work frame, and when the work frame is placed on a slope, the inclinometer is checked and the inclination of the work frame is measured. A slope construction device characterized by being adjustable . the work frame has a cubic or substantially cubic shape;
The work execution unit is held movably in three directions perpendicular to each of three pairs of mutually parallel surfaces virtually defined by the shape of the work frame. The slope construction device according to item 1. 3. The slope construction device according to claim 1, wherein a plurality of jacks are provided at positions of the work frame that come into contact with the slope when the work frame is placed on the slope. 4. The slope construction apparatus according to claim 1, wherein the work frame is provided with a photographing means for photographing the work performed by the work attachment. Claim characterized in that at least one of a spray nozzle for spraying spray material onto a slope surface and a hole drilling machine for drilling holes in the slope surface can be attached as the work attachment. 4. The slope construction device according to any one of 1 to 4 . The spray nozzle is attached to the work execution unit,
A claim characterized by comprising a spray thickness measuring means for measuring the thickness of the spray material sprayed onto the slope surface by the spray nozzle while the work frame is placed on the slope surface. The slope construction device according to item 5 . The spray thickness measuring means measures the spray thickness in a plan view perpendicular to the slope at intervals in the movement direction of the work execution unit along the slope when the work frame is placed on the slope. 7. The slope construction apparatus according to claim 6 , further comprising two distance measuring devices attached to the work execution section at positions sandwiching the attachment nozzle. A construction method for slopes,
a work frame attaching step of attaching a work frame having a three-dimensional shape having at least one opening surface on the outer surface to a working machine of heavy machinery;
a work attachment attaching step of attaching a work attachment according to the construction content to the work execution unit movably held within the work frame, facing the opening surface;
a work frame moving step of moving the work frame with the heavy equipment while checking the position of the work frame, and placing the work frame on a slope with the opening surface facing the slope;
With the work frame placed on a slope, the work execution section is moved within the work frame based on preset design values and the position of the work execution section within the work frame; and a work process for controlling the operation of the work attachment,
Repeating the work frame moving process and the work process until the work on the entire construction area of the slope is completed,
A slope construction method characterized in that, when placing the work frame on a slope in the work frame moving step, the inclination of the work frame is adjusted while checking an inclinometer attached to the work frame . Using the work frame forming a cube or a substantially cube,
Claim characterized in that, in the work step, the work execution unit is moved in three directions orthogonal to each of three pairs of mutually parallel pairs of surfaces that are virtually defined by the shape of the work frame. The slope construction method described in 8 . Slope construction according to claim 8 or 9 , characterized in that in the work frame moving step, the work frame is placed on the slope in such a manner that a plurality of jacks attached to the work frame are brought into contact with the slope. Method. In the work process, the movement of the work execution unit and the operation of the work attachment are controlled while checking the state of the work performed by the work attachment, which is photographed by a photographing means attached to the work frame. The slope construction method according to any one of claims 8 to 10 . In the work attachment installation step, as the work attachment, one of a spray nozzle for spraying spray material on the slope surface and a hole drilling machine for drilling a hole in the slope surface is attached. The slope construction method according to any one of claims 8 to 11 . In the work attachment attaching step, attaching the spray nozzle as the work attachment,
Claim characterized in that, in the work step, the movement of the work execution unit and the operation of the spray nozzle are controlled while measuring the thickness of the spray material sprayed onto the slope by the spray nozzle. 12. The slope construction method described in 12 . When measuring the thickness of the sprayed material in the work process, when the work frame is placed on the slope, the work frame is placed on the slope at an interval in the direction of movement of the work execution unit along the slope. 14. The slope construction method according to claim 13 , characterized in that two distance measuring instruments are used, which are attached to the work execution section at positions sandwiching the spray nozzle in a perpendicular plan view.

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