KR101202770B1 - Searching method for fixing pad's area of buiding cage - Google Patents

Abstract

The present invention is to eliminate the risk, the surface of the building outer wall is scanned by a shape measuring means such as a laser range finder to search the contour area having the same height and a predetermined surface roughness to which the fixing pad can be mounted, fixing pad It is an object of the present invention to provide a method for retrieving an attachment location of a fixing pad for fixing a building exterior wall work bogie to find an area to be stably attached.

Description

Searching method for fixing pad's area of buiding cage}

The present invention is directed to a method for searching for an optimal location in which a fixing pad for securing a work cart to a building exterior wall can be mounted.

In general, the gondola apparatus 10 shown in FIG. 1 is used to paint or clean the building exterior walls.

The gondola apparatus 10 includes a work cart CG installed on the outer wall W of the building, and a work cart support part SP disposed on the roof of the building as supporting the work cart CG.

At this time, a painting device or a cleaning device is mounted on the work cart CG to paint the building exterior wall W or perform cleaning or the like.

The work cart CG is typically fixed to the building exterior wall W using a vacuum suction pad P (see FIG. 2).

However, since the surface of the building outer wall (W) is not constant, the vacuum suction pad (P) is not suitable, that is, a groove or a protruding portion is present on the surface to form a low vacuum pressure in the vacuum suction pad (P). In this case, there is a risk that the work cart CG is shaken because the fixing is not secured.

Therefore, it is necessary to find an optimal place where the vacuum suction pad P can be attached, but there is a problem that the user takes a lot of time and effort to perform such a task.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems. The surface of a building outer wall is scanned by shape data securing means such as a laser range finder to search for contour areas having the same height and predetermined surface roughness to which the fixing pad can be mounted. It is an object of the present invention to provide a method for retrieving an attachment place of a fixing pad for fixing a building exterior wall work cart to find an area where a fixing pad can be stably attached.

The present invention for achieving the above object is a fixed pad conveying means 120 for moving the fixed pad (P) of the work cart (CG) and one side of the work cart (CG) or the fixed pad transport means 120 Optimal for attaching the fixing pad P to the outer wall W using the fixing pad positioning device 100 including the shape data obtaining means 130 which is arranged to obtain the shape data of the outer wall W. As a method of finding a place (S200), the first step (S210) of obtaining the shape data of the entire outer wall (W) by the shape data obtaining means 130 and the shape data of the entire outer wall (W) are analyzed. A second step S220 of calculating the contour area CON having the same protrusion height, and a third step S230 of determining whether the fixing pad P is included in the contour area CON. The fixing pad P is included in the contour area CON. In the case of comparing the surface roughness of the contour area (CON) with the fourth step (S240) and if the surface roughness of the contour area (CON) is within the already set range, the fixing pad moving means 120 (5) (S250) and attaching the fixing pad (P) after arranging the fixing pad (P) in the contour area (CON) by using a) and the fixing pad (S230) in the third step (S230) When P is not included in all of the contour area CON, the other contour area CON2 is analyzed, and when the fixing pad P is included in all of the other contour area CON2, the fourth step S240. In the seventh step S270 and the seventh step S270, when the fixing pad P is not included in the other contour area CON2, the shape data of the entire outer wall W is determined. If another contour region exists, the third step S230 may be repeated. In the eighth step S280 and in the eighth step S280, when there is no other contour area in the shape data of the entire outer wall W, the work cart CG is moved and then the first step ( There is a feature of the method for searching for an optimal attachment location of the fixing pad P including the ninth step S290 of performing S210 again.

In this case, the shape data obtaining unit 130 may use a laser shape measuring device.

In addition, in the first step S210, the shape data obtaining unit 130 may be attached to one side of the fixing pad P to scan the outer wall W in association with the movement of the fixing pad 130. Do.

In addition, in the first step S210, the shape data obtaining unit 130 may be linked to the moving unit 140 mounted on one side of the work cart CG to scan the outer wall W. FIG.

In addition, the second step (S220) is a twenty-first step (S221) for calculating the projection height for each pixel of the image obtained by the shape data acquisition means 130, and the projection height belonging to the same projection height or a specific range The operation may include a twenty-second step S222 of calculating a contour area CON formed of pixels.

In addition, the third step (S230) is a thirty-first step (S231) of obtaining a city center C of the contour area CON, and a distance from the city center C to all outer portions of the contour area CON. It may include the 32nd step (S232) to prepare whether or not greater than the radius of the fixing pad (P).

According to the present invention as described above, it is possible to quickly find an area in which the fixing pad can be firmly mounted, thereby stably fixing the work cart.

1 is a conceptual diagram illustrating a general gondola apparatus.
2 to 5 are conceptual diagrams of a device used in the search method of the present invention.
6 is a flowchart showing the procedure of the present invention.
7 and 8 are conceptual diagrams for explaining the present invention.

Before describing the various embodiments of the present invention in detail, it will be appreciated that the application thereof is not limited to the details of construction and arrangement of components described in the following detailed description or illustrated in the drawings.

The invention can be implemented and carried out in other embodiments and can be carried out in various ways.

In addition, device or element orientation (e.g., "front", "back", "up", "down", "top", "bottom" The expressions and predicates used herein with respect to terms such as "," left "," right "," lateral ", etc. are used merely to simplify the description of the present invention, It will be appreciated that the element does not simply indicate or mean that it should have a particular direction.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately It should be interpreted in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

Hereinafter, a detailed description will be given with reference to FIGS. 2 to 7.

First, a description will be given of the fixed pad position adjusting device 100 for implementing the method (S200) of the present invention.

The apparatus 100 includes fixing pad conveying means 120 for moving the fixing pad P of the work cart CG and shape data obtaining means 130 for obtaining shape data of the outer wall W. FIG. .

In this case, the “fixing pad” uses the same reference numeral P as the “vacuum adsorption fixing pad” described above, which includes means for attaching the “fixing pad” to a wall surface such as the “vacuum absorption pad”. It can be interpreted as.

As shown in FIG. 2 to FIG. 4, the fixing pad conveying means 120 includes a third cylinder 124 which moves the fixing pad P back and forth in the outer wall W side direction (direction III), and the first cylinder 124. And a second cylinder 123 that raises and lowers the three cylinders 124 in the vertical direction (direction II).

In this case, the second cylinder 123 is fixed to the rotating plate 122 mounted to the drive shaft 121a of the drive motor 121 installed on one side of the work cart CG.

The fixing pad conveying means 120 is attached after transferring the fixing pad P to the optimum place searched by the present invention described later.

That is, when the rotation plate 122 rotates in the direction I by the driving motor 121, the fixing pad P also rotates in the direction I.

At this time, when the second cylinder 123 transfers the third cylinder 124 in the direction II, the fixing pad P is transferred in the direction II.

Therefore, the fixing pad P is moved to the optimal place while being transported in the directions I and II, and then transported in the direction III and attached to the outer wall W. FIG.

Thereafter, the inside of the fixing pad P is vacuumed by the suction unit (not shown) and attached to the outer wall W. FIG.

Meanwhile, reference numeral 125, which is not described, indicates a support plate disposed in the second cylinder 123 to support the third cylinder 124.

Hereinafter, a method (S200) of finding an optimal place for attaching the fixing pad P to the outer wall W using the fixing pad position adjusting device 100 will be described with reference to FIGS. 5 to 7. .

First, a first step (S210) of obtaining the shape data of the entire outer wall W by the shape data obtaining unit 130 is performed.

In this case, the shape data obtaining unit 130 may use a laser shape measuring device, which will be described later.

As a result, a region having the same height among the protruding heights of the protrusions is a contour region described later.

On the other hand, the shape data acquisition means 130 is attached to one side of the fixing pad (P) may be linked to the movement of the fixing pad 130 to scan the outer wall (W).

That is, as shown in FIG. 3, when the shape data obtaining means 130 is attached to one side of the fixing pad P, for example, the side adjusting device 100 described above, the position adjusting device 100 is attached. The shape data acquiring means 130 is also conveyed in the directions I and II while being conveyed in the directions I and II.

In this case, the shape data obtaining unit 130 may calculate the above-described protruding height while scanning the outer wall (W).

In this configuration, since only the surface on which the fixing pad P is actually mounted is searched, the search time can be reduced.

Of course, the shape data acquisition means 130 may be linked to the moving means 140 mounted on one side of the work cart CG, as shown in FIG. 3, to scan the outer wall W. Referring to FIG.

On the other hand, although the moving means 140 is conceptually illustrated, for example, a ball screw installed in the vertical and horizontal directions in the work cart CG, a nut installed in the ball screw, and a motor for driving the ball screw. The description and illustration are omitted since they are well known in the art.

In this case, the shape data obtaining means 130 may be mounted on the nut to scan the conveying shape data obtaining means 130.

After performing the first step S210 as described above, the second step S220 of calculating the contour area CON having the same protruding height by analyzing the shape data of the entire outer wall W is performed.

In this case, the second step (S220) is a twenty-first step (S221) of calculating the protrusion height of the image acquired by the shape data obtaining means 130 for each pixel PX, and the same protrusion height or protrusion belonging to a specific range. A twenty-second step S222 of calculating a contour area CON formed of pixels having a height may be included.

As described in FIG. 5, the twenty-first step S221 may be performed by the shape data obtaining unit 130 using a laser.

That is, when the distance between the shape data obtaining means 130 and the outer wall W is measured by scanning the outer wall W while the shape data obtaining means 130 is transferred, the protrusion height of the protrusion of the outer wall W is measured. (d1, d2, d3) can be measured.

The protrusion height calculated as described above is analyzed to collect pixels having the same protrusion height or protrusion heights belonging to a specific range (for example, a range within 1% of the average height) and determine the contour area CON.

However, the contour area CON may have various shapes and widths.

If the fixing pad P uses the vacuum adsorption method as described above, if only a part of the fixing pad P is attached because the area of the contour area CON is small, the vacuum pressure in the fixing pad P is low. Since it may be formed, a third step S230 of determining whether the fixing pad P is included in the contour area CON is performed.

The third step (S230) is a thirty-first step (S231) of obtaining a city center C of the contour area CON, and a distance from the city center C to a specific portion of the contour area CON is fixed. It may include the 32nd step (S232) to prepare whether the greater than the radius of the pad (P) (see Fig. 8).

Since the 31 st step S231 of obtaining the city center C is a well known technique, detailed description thereof will be omitted.

However, it is determined in step 32 whether the distance from the center C to all the outer portions of the contour area CON is greater than the radius R of the fixing pad P.

After performing the third step S230, when the fixing pad P is included in the contour area CON, the fourth step of comparing whether the surface roughness of the contour area CON is within a preset range (S240). ).

In the fourth step (S240), the surface roughness may be based on an optical non-contact surface roughness calculation method, which is a well-known technique, and thus a detailed description thereof will be omitted.

On the other hand, since the vacuum is not formed if the surface roughness calculated by the fourth step (S240) is greater than or equal to a certain range, it is not an optimal place to which the fixing pad P can be attached. S230 and the fourth step (S240) to find the best place.

When the surface roughness of the contour area CON is within a predetermined range by the fourth step S240 described above, the fixing pad P is moved to the contour area CON by using the fixing pad moving unit 120. After the arrangement is performed, the fifth step S250 of attaching the fixing pad P to the outer wall W is performed.

The apparatus 100 capable of implementing the fifth step S250 is as described above, and the sixth step S260 may be performed after the fifth step S250 is performed.

In the third step S230, the fixing pad P may not be included in the contour area CON.

In this case, when the fixing pad P is included in the other contour area CON2 by analyzing the other contour area CON2, the seventh step S270 is performed to perform the fourth step S240. do.

However, in the seventh step S270, the fixing pad P may not be included in all of the other contour regions CON2.

In this case, when another contour region exists in the shape data of the entire outer wall W, an eighth step S280 of performing the third step S230 again and the eighth step S280 of the outer wall W W) If another contour region does not exist in the overall shape data, the ninth step S290 may be performed by moving the work cart CG and performing the first step S210 again.

In this case, the work balance CG may be based on the work balance support part SP (see FIG. 1).

On the other hand, it is natural that a controller (not shown) capable of automatically performing all the processes described above may be included.

Meanwhile, before performing the first step S210, the method may further include transferring the work cart CG to a predetermined work place and performing an actual work after all steps are finished.

100: fixed pad positioning device S200: search method
120: fixed pad transfer means 130: shape data acquisition means

Claims (5)

Fixing pad conveying means 120 for moving the fixed pad P of the work cart CG and one side of the work cart CG or the fixed pad conveying means 120 is provided to the shape data of the outer wall (W) As a method (S200) of finding an optimal place for attaching the fixing pad (P) to the outer wall (W) by using the fixing pad position adjusting device (100) including shape data obtaining means (130) for acquiring?
A first step (S210) of acquiring the shape data of the entire outer wall W by the shape data obtaining means 130;
A second step S220 of analyzing contour data of the entire outer wall W to calculate a contour area CON having the same protruding height;
A third step S230 of determining whether the fixing pad P is included in the contour area CON;
A fourth step S240 of comparing the surface roughness of the contour area CON with a predetermined pad when the fixing pad P is included in the contour area CON;
When the surface roughness of the contour area CON is within a predetermined range, the fixing pad P is disposed in the contour area CON by using the fixing pad moving unit 120, and then the fixing pad P is disposed. Attaching the fifth step (S250),
If the fixing pad P is not included in the contour region CON in the third step S230, the other contour region CON2 is analyzed and the fixing pad P is configured to check the other contour region CON2. ) Is the seventh step (S270) for performing the fourth step (S240),
When the fixing pad P is not included in the other contour area CON2 in the seventh step S270, when another contour area exists in the shape data of the entire outer wall W, the third step ( An eighth step S280 of performing S230 again;
In the eighth step S280, when another contour region does not exist in the shape data of the entire outer wall W, the ninth step of moving the work cart CG and performing the first step S210 again. (S290) characterized in that the attachment site search method for fixing the pad for fixing the building outer wall work cart. The method of claim 1,
The first step (S210) is characterized in that the shape data acquisition means 130 is attached to one side of the fixing pad (P) in conjunction with the movement of the fixing pad 130 to scan the outer wall (W) Method of searching the attachment pad for fixing the bogie to the outer wall of a building. The method of claim 1,
The first step (S210) is the outer wall of the building characterized in that the shape data acquisition means 130 is linked to the moving means 140 mounted on one side of the work cart (CG) to scan the outer wall (W) How to search for attachment pads for fixing work carts. The method of claim 1,
The second step (S220) is a twenty-first step (S221) of calculating the projection height for each pixel of the image obtained by the shape data acquisition means 130,
And a twenty-second step (S222) of calculating a contour area CON formed of pixels having the same protrusion height or a protrusion height belonging to a specific range. Search method. The method of claim 1,
The third step S230 may include a thirty-first step S231 of obtaining a city center C of the contour area CON;
Building exterior wall work comprising the 32 step (S232) to prepare whether the distance from the center (C) to all the outer portion of the contour area (CON) is greater than the radius of the fixing pad (P) How to search the attachment place of the fixing pad for fixing the truck.

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