JP2001289638A - Mobile working equipment - Google Patents
Mobile working equipmentInfo
- Publication number
- JP2001289638A JP2001289638A JP2000109248A JP2000109248A JP2001289638A JP 2001289638 A JP2001289638 A JP 2001289638A JP 2000109248 A JP2000109248 A JP 2000109248A JP 2000109248 A JP2000109248 A JP 2000109248A JP 2001289638 A JP2001289638 A JP 2001289638A
- Authority
- JP
- Japan
- Prior art keywords
- work
- point
- self
- working device
- bogie
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010276 construction Methods 0.000 claims description 12
- 238000012937 correction Methods 0.000 abstract description 8
- 238000006073 displacement reaction Methods 0.000 description 8
- 239000003550 marker Substances 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000005553 drilling Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 101100116283 Arabidopsis thaliana DD11 gene Proteins 0.000 description 1
- 101000607626 Homo sapiens Ubiquilin-1 Proteins 0.000 description 1
- 102100039934 Ubiquilin-1 Human genes 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007641 inkjet printing Methods 0.000 description 1
- 238000010330 laser marking Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、自己の位置座標
を求めて予め入力した移動順序に従って目標地点に向か
って走行し、目標地点近くで停止後、搭載した作業機器
（作業ツールや監視カメラなど）の目標地点からのずれ
を修正して目標地点で作業機器による作業を行う自走式
作業装置（いわゆるロボット）に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle which travels toward a target point in accordance with a movement order inputted in advance after obtaining its own position coordinates, stops near the target point, and then mounts mounted work equipment (work tool, surveillance camera, etc. The present invention relates to a self-propelled working device (a so-called robot) that corrects a deviation from a target point and performs work with work equipment at the target point.
【０００２】なお、この装置は、多数の目標地点で同じ
作業を繰り返すのに適している。そのような作業の代表
例として、躯体工事における墨出し（マーキング）があ
るので、以下の説明はその墨出しを例に挙げて行う。[0002] This apparatus is suitable for repeating the same operation at many target points. As a typical example of such an operation, there is ink marking (marking) in the skeleton work, and the following description will be made using the ink marking as an example.
【０００３】[0003]
【従来の技術】従来の躯体工事における墨出し方法は、
ビルの間仕切り等、全ての寸法の基準になる「通芯」か
ら１ｍ離れた型枠の床面上に基準線（いわゆる寄り墨）
が建築業者によって引かれているので、電気工事及び設
備工事業者は、この基準線を基に各器具類やボックス、
吊りボルト等のアンカー位置を巻き尺等で測定してマー
キングし、インサートスタッドやフィクスチャースタッ
ドを取付けている。また、建築業者も間仕切や扉、窓な
どの墨出しを同様な方法で行っている。2. Description of the Related Art In a conventional skeletal construction method, there is a method of inking out ink.
A reference line (so-called black ink) on the floor of a formwork 1 m away from the "core", which is the standard for all dimensions, such as building partitions
Is contracted by contractors, so electric and facility construction contractors can use the reference line to
Anchor positions such as suspension bolts are measured and marked with a tape measure, and insert studs and fixture studs are attached. Contractors also use the same method to mark partitions, doors, and windows.
【０００４】また、建築躯体工事が完了し、型枠解体、
後片づけ、清掃終了後コンクリート床面に再度引かれた
基準線から各器具類の設置中心部までの寸法を巻き尺等
で測定し、下げ振りを使用して天井等に対する実際の器
具取付点を求めてマーキング（中心部１点又は四隅の４
点）を行っており、この作業に多くの手間と時間がかか
っている。[0004] In addition, the construction of the building frame has been completed,
After cleaning up and cleaning, measure the dimension from the reference line drawn on the concrete floor again to the center of the installation of each equipment with a tape measure, etc., and use the plumb bob to find the actual mounting point of the equipment on the ceiling etc. Marking (1 point at the center or 4 points at the four corners)
Point), and this work takes a lot of trouble and time.
【０００５】最近では、レーザ光線で地墨、鉛直線、水
平点や水平、垂直ラインを表示する自動水平調整機構を
内蔵したレーザ墨出し装置が市販されており、これを使
用することで、天井、床、壁面等、あらゆる位置の墨出
しがある程度楽に行えるようになったが、建築、電気、
設備工事業者は、その装置によるレーザ表示ポイントか
らアンカー位置などを測定してマーキングを行ってお
り、作業の手間と時間を充分に削減できるまでには至っ
ていない。[0005] Recently, a laser marking device with a built-in automatic leveling mechanism for displaying ground, vertical lines, horizontal points, horizontal and vertical lines with a laser beam has been marketed. , Floors, walls, etc., can now be used to some extent easily,
Equipment contractors measure and mark anchor positions and the like from the laser display points of the equipment, and have not yet been able to sufficiently reduce the labor and time required for the work.
【０００６】[0006]
【発明が解決しようとする課題】上述したように、従来
法による墨出し作業は、多くの手間と時間を要する。As described above, the blackout work by the conventional method requires much labor and time.
【０００７】また、高所でのマーキングは脚立等を利用
して行うが、足場の悪い環境下で実測しながらマーキン
グを行う作業や、風雨に晒される高層ビルのデッキプレ
ート上での作業は効率が悪く、安全面でも問題がある。[0007] In addition, marking at high places is performed using a stepladder or the like. However, the work of performing marking while actually measuring in a poor scaffolding environment and the work on a deck plate of a high-rise building exposed to wind and rain are efficient. Is bad and there is a problem in safety.
【０００８】さらに、工事が輻輳し、他の工事との並行
作業が行えない場合には、手待ちになるか、夜間や休日
など他の工事と輻輳しない時間帯に作業を行わざるを得
ないが、夜間や休日の仕事は特別手当を要し、人件費が
高くつく。Further, when the construction is congested and it is not possible to perform parallel work with other construction, it is necessary to wait for the work or to perform the work at a time when there is no congestion with other construction, such as at night or on holidays. However, night and holiday jobs require special allowances and high labor costs.
【０００９】このほか、手作業による高精度の墨出しを
行える熟練者が少なく、人材確保にも苦労している。In addition, there are few skilled workers who can perform high-precision black ink manually, and it is also difficult to secure human resources.
【００１０】そこで、この発明は、自動墨出しは勿論、
穿孔やアンカー打込み、建築や設備工事に係わる他の作
業、照明の照度測定、機器類などの監視、点検と言った
各種の作業に利用でき、いずれの作業においても、合理
化や作業性、安全性の向上、人件費削減などの効果をも
たらす自動位置出し機能を備えた自走式作業装置を提供
することを課題としている。Therefore, according to the present invention, not only automatic blackout,
It can be used for various tasks such as drilling and anchoring, other work related to construction and equipment construction, measurement of illumination illuminance, monitoring and inspection of equipment, etc., and in any work, rationalization, workability, safety It is an object of the present invention to provide a self-propelled working device having an automatic positioning function which has an effect of improving work efficiency and reducing labor costs.
【００１１】[0011]
【課題を解決するための手段】上記の課題を解決するた
め、この発明においては、予め入力した移動プログラム
に従って作業地点に移動する自走式台車と、その台車の
荷台上に設ける電子式光波測距測角儀と、台車の荷台上
に設ける動力駆動のＸＹテーブルと、台車の荷台を水平
に保つ自動水平機構と、ＸＹテーブル上に設ける作業機
器と、台車の走行制御及びＸＹテーブル、作業機器の駆
動制御を行う制御部と、その制御部の一要素として含ま
せる遠隔操作用のコントローラとを備えさせて自走式作
業装置を構成する。In order to solve the above-mentioned problems, according to the present invention, there is provided a self-propelled trolley moving to a work point in accordance with a previously input moving program, and an electronic light wave measurement device provided on a carrier of the trolley. Rangefinder, a power-driven XY table provided on the carrier of the cart, an automatic horizontal mechanism for keeping the carrier of the cart horizontal, work equipment provided on the XY table, traveling control of the cart, an XY table, and work equipment A self-propelled working device is provided with a control unit for controlling the driving of the vehicle and a controller for remote control included as an element of the control unit.
【００１２】また、この装置は、工事原図（これはＣＡ
Ｄで作成されたものを利用できる）を転写した環境モデ
ルと、その環境モデル内における作業地点の座標と、台
車の移動、作業機器の位置出し及び作業メニューに関す
るプログラムを前記制御部のコンピュータに予め入力
し、出発点での自己位置同定を終えた台車を作業地点に
向かって移動させ、さらに、前記光波測距測角儀で床面
の基準点に配置した反射ターゲットまでの距離を測定し
て作業地点の近くに停止した台車と作業点との間のずれ
量を演算し、そのずれを前記ＸＹテーブルで修正して作
業機器を作業地点に位置決めし、その後、作業機器によ
る作業を実施するようにしておく。[0012] This device is also used as a construction original drawing (this is a CA
D, which can be used in the environment model), the coordinates of the work point in the environment model, the program relating to the movement of the trolley, the positioning of the work equipment, and the work menu are stored in advance in the computer of the control unit. Input, move the bogie whose self-position identification at the starting point has been completed toward the working point, and further measure the distance to the reflection target arranged at the reference point on the floor surface with the lightwave distance measuring square. The shift amount between the trolley stopped near the work point and the work point is calculated, the shift is corrected by the XY table, the work equipment is positioned at the work point, and then the work by the work equipment is performed. Keep it.
【００１３】なお、搭載する作業機器の種類によって
は、台車の荷台を水平にする自動水平調整機構に代えて
台車の傾き角を検出するセンサを設け、作業地点の近く
に移動して停止した台車と作業地点間のずれ量の演算が
前記センサで検出した台車の傾きによる誤差分を補正し
てなされ、その補正後の演算値に基づいてＸＹテーブル
による作業機器の位置決めがなされるようにしておくこ
ともできる。Depending on the type of work equipment to be mounted, a sensor for detecting the inclination angle of the bogie is provided in place of the automatic leveling mechanism for leveling the carrier of the bogie, and the bogie that moves near the work point and stops The calculation of the deviation amount between the work point and the work point is performed by correcting an error due to the inclination of the bogie detected by the sensor, and the working device is positioned by the XY table based on the corrected calculation value. You can also.
【００１４】台車は、車輪又はクローラで走行するもの
がスムーズな移動が行えて好ましい。中でもクローラで
移動するものは、作業時の安定性が良くて好ましい。It is preferable that the truck be driven by wheels or crawlers, because it can move smoothly. Among them, those that move with a crawler are preferable because they have good stability during work.
【００１５】[0015]
【作用】コンピュータに入力した環境モデル内の目標点
（作業地点）に向けて移動体を、誘導電波等に頼らずに
プログラムに基づいて移動させる場合には、内的要因或
いは外的要因による不可避の位置ずれが起こる。その目
標点からの位置ずれを墨出し等における許容誤差内に収
めるのは現状技術では不可能である。近年普及している
誘導技術にＧＰＳ（汎世界測位システム）を利用したナ
ビゲーションシステムがあるが、これとて数メートルの
誤差があり、許容誤差を小さく抑える要求には応え得な
い。When a moving object is moved to a target point (working point) in an environment model input to a computer based on a program without relying on an induced radio wave or the like, it is inevitable due to an internal factor or an external factor. Misalignment occurs. It is impossible with the current technology to make the positional deviation from the target point within an allowable error in blackout or the like. A navigation system that uses GPS (Global Positioning System) is a navigation technology that has become widespread in recent years. However, the navigation system has an error of several meters, and cannot meet the demand for reducing the allowable error.
【００１６】そこで、この発明では、位置ずれが起こる
ことを前提にして台車を移動させ、その台車が目的地に
停止した後に発生したずれを修正する。それを可能なら
しめるために電子式光波測距測角儀を備えさせている。
この光波測距測角儀で床面の基準点に配置した反射ター
ゲットまでの距離を測定して台車の自己位置を求める。
これにより、環境モデル内に設定した作業地点から台車
までのずれ量を演算することが可能になる。また、こう
してずれ量を求めても、緻密な位置制御が難しい台車を
動かしてずれを修正しようとすると迅速な位置出しが望
めない。Therefore, in the present invention, the truck is moved on the assumption that a displacement occurs, and the displacement generated after the truck stops at the destination is corrected. In order to make it possible, an electronic lightwave ranging angle finder is provided.
The distance to the reflection target arranged at the reference point on the floor surface is measured by the lightwave distance measuring angle finder to determine the position of the truck.
This makes it possible to calculate the amount of deviation from the work point set in the environment model to the bogie. Even if the amount of displacement is obtained in this way, quick positioning cannot be expected if the carriage is moved to correct the displacement, for which precise position control is difficult.
【００１７】そこで、ＸＹテーブルを用いてそのＸＹテ
ーブルでずれを修正し、ＸＹテーブル上に設けた作業機
器を作業地点に位置決めする。これにより、最終的な位
置ずれを悪くても数ｍｍ以内に納めることができる。こ
の値は、墨出し等では許容される範囲内にある。Therefore, the deviation is corrected by using the XY table, and the work equipment provided on the XY table is positioned at the work point. As a result, even if the final displacement is poor, it can be accommodated within several mm. This value is within an allowable range for blackout or the like.
【００１８】台車の作業地点からの位置ずれがＸＹテー
ブルによる修正能力（テーブルの移動範囲）を超えてい
る場合には、当然のことながら、ずれがＸＹテーブルに
よる修正能力の範囲内に収まるところまで台車を動か
し、その後、ＸＹテーブルによる修正を行う。When the displacement of the bogie from the working point exceeds the correcting ability (moving range of the table) by the XY table, it goes without saying that the displacement falls within the range of the correcting ability by the XY table. The trolley is moved, and then correction is performed using the XY table.
【００１９】こうして作業機器を位置決めしたら、その
作業機器による作業を実施する。また、作業終了後、台
車がプログラムに基づいて次の作業地点に移動し、そこ
での位置ずれ演算、ずれ修正、作業実施の動作を繰り返
す。After the work equipment is positioned in this way, work is performed by the work equipment. After the work is completed, the bogie moves to the next work point based on the program, and repeats the operations of calculating the position shift, correcting the shift, and performing the work.
【００２０】なお、荷台の自動水平機構が無く、停止し
た台車の荷台が傾いていると、台車と作業地点間のずれ
量が正確に求まらない。このため、荷台の自動水平機構
を持たない装置については、荷台の傾き角を検出するセ
ンサを備えさせ、荷台の傾きによる誤差を補正してずれ
量の演算がなされるようにしておく。If there is no automatic leveling mechanism for the platform and the platform of the stopped platform is tilted, the deviation between the platform and the work point cannot be determined accurately. For this reason, a device which does not have an automatic platform horizontal mechanism is provided with a sensor for detecting the inclination angle of the platform, and an error due to the inclination of the platform is corrected to calculate the shift amount.
【００２１】穿孔等を行う装置は、荷台自体が傾くと作
業機器も傾くので不具合が生じるが、点検、監視等を行
う装置は、荷台が多少傾いても作業を支障無く行えるこ
とがある。そのような装置は、荷台の自動水平機構は必
須ではなく、それに代わる安価なセンサで傾き角を検出
してずれ量の補正演算を行う方が得策である。[0021] In the device for performing drilling or the like, when the carrier itself is inclined, the work equipment also inclines, which causes a problem. However, the device for inspection and monitoring may be able to perform the operation without any trouble even if the carrier is slightly inclined. In such an apparatus, an automatic leveling mechanism for the loading platform is not essential, and it is better to detect the tilt angle with an inexpensive sensor instead and perform a correction calculation of the shift amount.
【００２２】[0022]
【発明の実施の形態】以下、添付図に基づいて、この発
明の自走式作業装置の実施形態について述べる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a self-propelled working device according to the present invention will be described below with reference to the accompanying drawings.
【００２３】図１乃至図３に示す自走式作業装置１は、
床面の墨出しを行うものを例に挙げている。この作業装
置１は、荷台の自動水平機構（図示せず）を内蔵した自
走式台車２と、電子式レーザ測距測角儀３と、動力駆動
のＸＹテーブル４と、そのＸＹテーブル上に設けるマー
キングツール５と、コンピュータで前述の各要素の駆動
制御を行う制御部と、その制御部の一要素として含ませ
る遠隔操作用のコントローラ６と、台車２とコントロー
ラ６との間で通信を行う無線通信器７とを備えて成る。
台車２にはバッテリー（図示せず）を搭載しており、そ
こから供給される電力で装置の運転がなされる。The self-propelled working device 1 shown in FIGS.
An example in which the floor surface is marked out is described as an example. The working device 1 includes a self-propelled trolley 2 having a built-in automatic bed leveling mechanism (not shown), an electronic laser range finder 3, a power-driven XY table 4, and an XY table 4. The marking tool 5 to be provided, a control unit for controlling the driving of each of the above-described elements by a computer, a controller 6 for remote operation included as one element of the control unit, and communication between the carriage 2 and the controller 6 And a wireless communication device 7.
The trolley 2 is equipped with a battery (not shown), and the apparatus is operated by electric power supplied from the battery.
【００２４】台車２は、図２に示すように、車体２ａが
傾いても自動水平機構が働いて荷台２ｂが常に水平に保
たれるようにしてある。自動水平機構は、重力で荷台２
ｂが自然に水平になるものが簡単かつ安価で好ましい
が、荷台の４隅を動力駆動のジャッキで支え、そのジャ
ッキをコンピュータで制御して荷台を水平に保つものな
どであってもよい。As shown in FIG. 2, the carriage 2 has an automatic leveling mechanism that operates even when the vehicle body 2a is inclined, so that the carrier 2b is always kept horizontal. The automatic horizontal mechanism uses the gravity
Although it is preferable that b is naturally horizontal because it is simple and inexpensive, it is preferable to support the four corners of the bed with power-driven jacks and control the jack with a computer to keep the bed horizontal.
【００２５】レーザ測距測角儀３は、市販品を一部改造
して搭載している。このレーザ測距測角儀３は、自動水
平機構によって水平に保たれる測距部３ａを有してお
り、その測距部３ａ内の発光ダイオードを設定周波数で
点滅させて明暗を繰り返す光を基準点に設けた反射ター
ゲットに向けて送光し、その送光信号と反射して戻った
受光信号の位相差を検出し、位相差が発生している間の
クロックパルス数から距離を計算するようになってい
る。測距精度は数十ｍ先（最大２ｋｍ）の対象物に対
し、誤差が１ｍｍ程度であり、不足はない。このレーザ
測距測角儀３は、縦軸を支点に旋回して方位角も測定
し、従って、複数の基準点に置かれた反射ターゲットと
の間の距離を求めて三角測量法で台車２の位置座標を求
め、かつ、そのときの台車の向きも知ることができる。
なお、使用する測距測角儀はレーザ以外の光波を利用す
るものであってもよい。The laser range finder 3 has a commercially available product partially modified and mounted. The laser range finder 3 has a range finder 3a that is kept horizontal by an automatic leveling mechanism, and emits light that repeats light and dark by blinking a light emitting diode in the range finder 3a at a set frequency. Transmits light toward the reflective target provided at the reference point, detects the phase difference between the transmitted signal and the reflected light signal, and calculates the distance from the number of clock pulses during the phase difference. It has become. The distance measurement accuracy is about 1 mm for an object several tens of meters ahead (maximum 2 km), and there is no shortage. The laser range finder 3 turns around the vertical axis as a fulcrum and also measures the azimuth. Therefore, the distance between the target and a reflection target placed at a plurality of reference points is determined, and the bogie 2 is determined by triangulation. And the direction of the truck at that time can be known.
In addition, the distance measuring angle finder used may use a light wave other than a laser.
【００２６】ＸＹテーブル４は、第１、第２摺動テーブ
ル４ａ、４ｂをそれぞれサーボモータ等（図示せず）で
駆動して第２摺動テーブル４ｂ上のマーキングツール５
を目標地点に高精度に位置決めする。The XY table 4 drives the first and second sliding tables 4a and 4b by means of a servomotor or the like (not shown), and drives the marking tool 5 on the second sliding table 4b.
Is positioned with high accuracy at the target point.
【００２７】マーキングツール５は、図３に示すマーカ
５ａとそのマーカの駆動装置５ｂとから成る。マーカ５
ａはカラーマーカ、色鉛筆、インクジェット式印字機な
ど適当なものを利用できる。駆動装置５ｂは、マーカ５
ａを上げ下げする。この機能のほかに、十字や円を画け
る機能を持つものや表示色の切替えができるものが好ま
しい。The marking tool 5 comprises a marker 5a shown in FIG. 3 and a driving device 5b for the marker. Marker 5
For a, a suitable one such as a color marker, a colored pencil, an ink jet printing machine, etc. can be used. The driving device 5b includes a marker 5
Raise or lower a. In addition to this function, those having a function of drawing a cross or a circle and those capable of switching display colors are preferable.
【００２８】マーカ５ａは、ＸＹテーブル４による位置
制御でＸ軸及びＹ軸方向に動く。その際の干渉を避ける
ために、ここでは、図３に示すように、台車の車体２
ａ、荷台２ｂ、第１摺動テーブル４ａに孔をあけてい
る。第１摺動テーブル４ａの孔は台車の前後方向に延び
る長孔である。The marker 5a moves in the X-axis and Y-axis directions under the position control by the XY table 4. In order to avoid interference at that time, here, as shown in FIG.
a, the loading platform 2b, and the first sliding table 4a. The hole of the first sliding table 4a is an elongated hole extending in the front-rear direction of the cart.
【００２９】上述した台車２、レーザ測距測角儀３、Ｘ
Ｙテーブル４、マーキングツール５は、レーザ測距測角
儀３からの測距情報を制御部に取込み、予め設定したプ
ログラムに基づいて制御する。The above-mentioned cart 2, laser distance measuring angle measuring instrument 3, X
The Y table 4 and the marking tool 5 take in distance measurement information from the laser distance measurement angle finder 3 into the control unit, and perform control based on a preset program.
【００３０】制御部の一要素として含ませるコントロー
ラ６は、携帯型のパーソナルコンピュータ（いわゆるノ
ートパソコン）などを利用できる。As the controller 6 included as an element of the control unit, a portable personal computer (so-called notebook computer) or the like can be used.
【００３１】以上の如く構成した自走式作業装置の運転
操作の一例を以下に記す。An example of a driving operation of the self-propelled working device configured as described above will be described below.
【００３２】先ず、コントローラ６を操作して必要なデ
ータを入力する。データとして必要なものは第１に環境
モデルである。工事原図の写しや作業現場に引かれてい
る基準線などを入力して環境モデルを作成し、その環境
モデル中に各墨出し点の座標を入力する。また、実環境
の床面に引かれている基準線の各交点部に反射ターゲッ
トを設置する。環境モデルはＣＡＤで作成された図面の
データを入力して作ると手間が省けて好ましい。First, the controller 6 is operated to input necessary data. First, what is required as data is an environment model. An environment model is created by inputting a copy of the original construction drawing, a reference line drawn at the work site, and the like, and inputting the coordinates of each blackout point into the environment model. In addition, a reflection target is installed at each intersection of a reference line drawn on the floor in the real environment. It is preferable to create the environment model by inputting the data of the drawing created by the CAD because it saves time and effort.
【００３３】さらに、台車２の運転モード、移動手順、
マーキングツールの位置決め、マーキングツールによる
作業手順などに関するプログラムも予め入力する。Further, the operation mode of the carriage 2, the moving procedure,
A program relating to the positioning of the marking tool, the operation procedure using the marking tool, and the like is also input in advance.
【００３４】以上の下準備を整えたら台車２をホームポ
ジションから出発点に移動させ、レーザ測距測角儀３で
各反射ターゲットまでの距離を測定して出発点での自己
位置同定（ゼロ点調整）を行う。また、台車２の姿勢
（向き）修正が必要ならそれも行う。その姿勢修正を行
ったときには再度自己位置同定を行い、その後、移動順
序を決定してオペレータがコントローラ６経由で台車２
に移動指令を出す。その指令を受けた台車２は、出発時
の自己位置と到達目標点から算出される指令値に基づい
て自動走行する。When the above preparations are completed, the carriage 2 is moved from the home position to the starting point, and the distance to each reflection target is measured by the laser range finder 3 to identify the self-position at the starting point (zero point). Adjustment). If the posture (orientation) of the carriage 2 needs to be corrected, the correction is also performed. When the posture correction is performed, the self-position identification is performed again.
Issue a move command. The trolley 2 receiving the command automatically travels based on the command value calculated from the self-position at the time of departure and the target point of arrival.
【００３５】走行中の軌道修正は行わない。原理的には
可能であるが、走行中の位置のモニタリングは高度な技
術を要し、好ましくない。The trajectory correction during running is not performed. Although it is possible in principle, monitoring of the running position requires a high level of technology and is not preferred.
【００３６】出発時に算出した指令値に基づき、途中で
の軌道修正を行わずに台車２を自動走行させると、台車
精度などの内的要因、及び床面の傾き、凹凸などの外的
要因により停止点が到達目標点からずれる。Based on the command value calculated at the time of departure, when the bogie 2 is automatically driven without correcting the trajectory on the way, internal factors such as bogie accuracy and external factors such as floor inclination, unevenness, etc. The stop point deviates from the target point.
【００３７】そこで、レーザ測距測角儀３による測距を
実施して目標点近くに停止した台車の自己位置を求め
る。Therefore, the distance measurement by the laser distance measuring angle finder 3 is performed to determine the self-position of the truck stopped near the target point.
【００３８】台車の自己位置が求まれば、環境モデル内
に設定した到達目標点までのずれ量も求まる。そのずれ
量を演算し、ＸＹテーブル４でマーキングツール５を正
しく位置決めする。例えば、今、図３において環境モデ
ル内に設定した墨出し点がＡ、演算して求めたずれ量が
ΔＳとすると、ΔＳのずれをＸＹテーブル４で迅速かつ
高精度に修正することができる。停止点のずれがＸＹテ
ーブル４の修正能力を超える可能性は小さいが、仮にそ
のような状況が起こったら台車２を先に動かしてその後
にＸＹテーブル４による位置決めを行う。Once the self-position of the truck is determined, the deviation to the target point set in the environment model is also determined. The deviation amount is calculated, and the marking tool 5 is correctly positioned on the XY table 4. For example, assuming now that the blackout point set in the environment model in FIG. 3 is A and the calculated shift amount is ΔS, the XY table 4 can quickly and accurately correct the shift of ΔS. It is unlikely that the deviation of the stop point exceeds the correction capability of the XY table 4, but if such a situation occurs, the carriage 2 is moved first, and then the positioning by the XY table 4 is performed.
【００３９】マーキングツール５を墨出し点に位置決め
したら作業プログラムに基づいて墨出しを実施する。ま
た、その作業を終了したら、そこで再度の姿勢修正、自
己位置同定を行い、オペレータからの指令で次の墨出し
点に移動して上記の動作を繰り返す。オペレータは事故
防止のために装置の挙動も監視し、必要ならば、自動制
御を止めて手動操作による制御を行う。作業現場の状況
によっては、オペレータによる移動制御が必要になるこ
ともあり、従って自動制御とセミオート制御を切替えて
実施できるようにしておくと好ましい。When the marking tool 5 is positioned at the blackout point, blackout is performed based on the work program. When the work is completed, the posture correction and self-position identification are performed again, and the operation is moved to the next ink mark point by an instruction from the operator, and the above operation is repeated. The operator also monitors the behavior of the device to prevent accidents, and if necessary, stops automatic control and performs manual control. Depending on the situation at the work site, movement control by the operator may be required. Therefore, it is preferable that automatic control and semi-automatic control can be switched and executed.
【００４０】図４に、前述の墨出し作業に関するフロー
チャートの一例を示す。FIG. 4 shows an example of a flowchart relating to the above-described blackout operation.
【００４１】図５は、コントローラ（パソコン）６での
画面表示の一例である。画面（Ｉ）は、工事原図を転写
して作成された装置内の環境モデルを表示している。図
中Ｒ 0 は作業装置を、Ｔｒ１は床面の基準点に配置した
反射ターゲットを、Ｐｉｊは墨出し点を各々表してい
る。FIG. 5 shows the operation of the controller (personal computer) 6.
It is an example of a screen display. Screen (I) transcribes the original construction drawing
Displays the environment model in the device created as a result. Figure
Middle R 0Indicates the working device, and Tr1 indicates the reference point on the floor.
Pij represents a reflection target, and Pij represents an ink mark point.
You.
【００４２】画面（Ｉ）の内、作業実施領域を指定する
とその部分（点線枠内）を拡大表示した（II）の画面に
変わり、同時に右肩窓に環境モデルの全体が縮小表示さ
れる。When a work execution area is designated on the screen (I), the screen (in a dotted frame) is enlarged and displayed on the screen (II), and at the same time, the entire environment model is reduced and displayed in the right shoulder window.
【００４３】この画面（II）上で、作業装置の移動順序
を指示する。指定箇所をクリックすると画面（III ）に
示すように出発点（ここでは画面（Ｉ）内の左下の反射
ターゲット設置点）からの最適移動ルートが自動的に設
定されて矢印で表示されるようにしておくと好ましい。
同時に左窓にルート中の各ポイントの座標が表示される
ようにしておいてもよい。On this screen (II), the order of moving the working devices is specified. By clicking on the designated part, the optimal movement route from the starting point (here, the lower left reflection target installation point in screen (I)) is automatically set and displayed as an arrow as shown in screen (III). It is preferable to keep it.
At the same time, the coordinates of each point in the route may be displayed in the left window.
【００４４】また、必要に応じ、画面（IV）に示すよう
に、作業装置の予想姿勢（図はポイントＰ３４到達時の
予想姿勢）や次の墨出し点の予想位置を表示する機能な
どを付加しておくこともできる。If necessary, as shown in the screen (IV), a function for displaying the expected attitude of the working device (the expected attitude when the point P34 is reached in the figure) and the expected position of the next blackout point are added. You can also keep.
【００４５】画面（Ｖ）は、作業装置の実際の移動状況
を示している。作業装置が通過すると各ポイントの表示
色が変わり、それによって作業装置がどこまで進んだか
が判る。作業装置がＰ３４に到達し、そこでの作業が実
施されると画面（Ｖ）の右肩窓に作業状況が表示され
る。図の表示はＸＹテーブルによる位置決めが完了し、
現在墨出し作業中であることを示している。この状況で
は、作業装置に移動指令が出されてもインターロックが
働いて指令に従わない。The screen (V) shows the actual moving state of the working device. When the work device passes, the display color of each point changes, and it is possible to know how far the work device has advanced. When the work device arrives at P34 and the work is performed, the work status is displayed on the right shoulder window of the screen (V). In the display of the figure, the positioning by the XY table is completed,
This indicates that the work is in progress. In this situation, even if a movement command is issued to the working device, the interlock operates and does not follow the command.
【００４６】Ｐ３４での墨出し作業が完了すると、左窓
に合否が表示される。この後、Ｐ３６に向かうために装
置の向きを修正し、そこでの自己位置同定を終えたらオ
ペレータから移動指示を出して次の作業を進める。以上
の動作を繰り返すと各墨出し点での墨出しが全て完了す
る。Upon completion of the blackout operation in P34, a pass / fail message is displayed in the left window. After that, the direction of the device is corrected in order to head to P36, and when the self-position identification there is completed, a movement instruction is issued from the operator and the next operation is performed. When the above operation is repeated, all the ink marks at each ink mark point are completed.
【００４７】なお、ここで述べた画面表示はあくまでも
一例であって、装置の使用法を制限するものではない。The screen display described here is merely an example, and does not limit the usage of the apparatus.
【００４８】また、搭載する作業機器もマーキングツー
ルに限定されない。穿孔用のドリル、アンカー打込み
機、照明灯の照度測定用センサ、配電盤などの点検、監
視用のカメラなどを搭載して墨出し以外の作業を実施さ
せるようにしてもよい。Also, the working equipment to be mounted is not limited to the marking tool. A work other than ink marking may be performed by installing a drill for drilling, an anchor driving machine, a sensor for measuring the illuminance of an illumination lamp, a switchboard, and the like, and a camera for monitoring.
【００４９】[0049]
【発明の効果】以上述べたように、この発明の作業装置
は、台車の目標地点からの位置ずれを台車に搭載したＸ
Ｙテーブルで修正して台車上に搭載した作業機器を目標
地点に迅速かつ高精度に位置決めできるようにしたの
で、これまで人手に頼らざるを得なかった墨出し等の作
業もこの装置を用いて自動化することができ、作業の合
理化による作業能率の向上、労力、人件費の削減、安全
性の向上などが図れる。As described above, the working apparatus according to the present invention is capable of detecting the displacement of the truck from the target point by using the X mounted on the truck.
The work equipment mounted on the trolley can be quickly and accurately positioned at the target point by correcting it with the Y table. It can be automated, improving work efficiency by streamlining work, reducing labor and labor costs, and improving safety.
【図１】この発明の作業装置の実施形態を示す斜視図FIG. 1 is a perspective view showing an embodiment of a working device of the present invention.
【図２】同上の装置の車体傾斜状態の正面図FIG. 2 is a front view of the above device in a state where the vehicle body is tilted.
【図３】マーキングツール設置部の断面図FIG. 3 is a sectional view of a marking tool installation portion.
【図４】図１の装置による墨出し作業の一例を示すフロ
ーチャートFIG. 4 is a flowchart showing an example of a blackout operation by the apparatus of FIG. 1;
【図５】コントローラの画面表示例を示す図FIG. 5 is a diagram showing a screen display example of a controller.
１ 自走式作業装置 ２ 台車 ２ａ 車体 ２ｂ 荷台 ３ レーザ測距測角儀 ３ａ 測距部 ４ ＸＹテーブル ４ａ 第１摺動テーブル ４ｂ 第２摺動テーブル ５ マーキングツール ５ａ マーカ ５ｂ 駆動装置 ６ コントローラ ７ 無線通信器 Ｒ0 画面上の作業装置 Ｔｒ１ 反射ターゲット Ｐｉｊ 墨出し点DESCRIPTION OF SYMBOLS 1 Self-propelled work apparatus 2 Cart 2a Car body 2b Carrying bed 3 Laser distance measuring square 3a Distance measuring unit 4 XY table 4a First sliding table 4b Second sliding table 5 Marking tool 5a Marker 5b Driving device 6 Controller 7 Wireless Communication device R0 Working device on screen Tr1 Reflection target Pij Marking point
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｂ２５Ｊ 13/08 Ｂ２５Ｊ 13/08 Ａ Ｅ０４Ｇ 21/18 Ｅ０４Ｇ 21/18 Ｂ Ｇ０１Ｃ 15/00 Ｇ０１Ｃ 15/00 Ａ Ｇ０５Ｄ 1/02 Ｇ０５Ｄ 1/02 Ｙ Ｆターム(参考） 2E174 DA37 DA41 3F059 AA08 AA11 BB07 BC07 CA06 DA02 DA05 DA09 DB04 DB08 DC08 DD01 DD08 DD11 DE06 FA03 FA05 FA10 FB01 FB12 FB16 FB26 FC02 FC13 FC14 3F060 AA00 CA13 CA23 CA26 GA05 GD14 HA02 HA16 HA35 5H301 AA01 BB03 CC03 CC06 CC09 DD01 DD06 FF06 GG08 JJ06 JJ10 KK02 ──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) B25J 13/08 B25J 13/08 A E04G 21/18 E04G 21/18 B G01C 15/00 G01C 15/00 A G05D 1/02 G05D 1/02 Y F term (reference) 2E174 DA37 DA41 3F059 AA08 AA11 BB07 BC07 CA06 DA02 DA05 DA09 DB04 DB08 DC08 DD01 DD08 DD11 DE06 FA03 FA05 FA10 FB01 FB12 FB16 FB26 FC02 FC13 CA05 3F060 AA00 HA02 HA16 HA35 5H301 AA01 BB03 CC03 CC06 CC09 DD01 DD06 FF06 GG08 JJ06 JJ10 KK02
Claims (3)
業地点に移動する自走式台車と、その台車の荷台上に設
ける電子式光波測距測角儀と、台車の荷台上に設ける動
力駆動のＸＹテーブルと、台車の荷台を水平に保つ自動
水平機構と、ＸＹテーブル上に設ける作業機器と、台車
の走行制御及びＸＹテーブル、作業機器の駆動制御を行
う制御部と、その制御部の一要素として含ませる遠隔操
作用のコントローラとを有し、 工事原図を転写した環境モデルと、その環境モデル内に
おける作業地点の座標と、台車の移動、作業機器の位置
出し及び作業メニューに関するプログラムを前記制御部
のコンピュータに予め入力し、出発点での自己位置同定
を終えた台車を作業地点に向かって移動させ、さらに、
前記光波測距測角儀で床面の基準点に配置した反射ター
ゲットまでの距離を測定して作業地点の近くに停止した
台車と作業地点との間のずれ量を演算し、そのずれを前
記ＸＹテーブルで修正して作業機器を作業地点に位置決
めし、その後、作業機器による作業を実施するように構
成された自走式作業装置。1. A self-propelled bogie that moves to a work point in accordance with a pre-input moving program, an electronic lightwave distance measuring angle gauge provided on a carrier of the carrier, and a power-driven XY table provided on a carrier of the carrier. And an automatic leveling mechanism for keeping the bed of the cart horizontal, a working device provided on the XY table, a control unit for controlling the traveling of the truck and driving the XY table and the working device, and as an element of the control unit An environment model to which a construction original drawing is transcribed, coordinates of work points in the environment model, movement of a bogie, positioning of work equipment, and a program relating to a work menu. The bogie that has been input to the computer in advance and whose self-position identification at the starting point has been completed is moved toward the work point,
The distance between the bogie stopped near the work point and the work point is calculated by measuring the distance to the reflection target placed at the reference point on the floor with the lightwave distance measuring angle squaring instrument, and the shift is calculated as A self-propelled working device configured to correct the XY table and position the work equipment at a work point, and thereafter perform work using the work equipment.
測距測角儀、ＸＹテーブル、作業機器、制御部及びコン
トローラと、台車の傾き角を検出するセンサとを有し、
作業地点の近くに移動して停止した台車と作業地点間の
ずれ量の演算が前記センサで検出した台車の傾きによる
誤差分を補正してなされ、その補正後の演算値に基づい
てＸＹテーブルによる作業機器の位置決めがなされるよ
うにした自走式作業装置。2. The self-propelled trolley according to claim 1, comprising an electronic light-wave distance measuring goniometer, an XY table, a working device, a control unit and a controller, and a sensor for detecting an inclination angle of the trolley,
The calculation of the amount of deviation between the trolley that has moved near the work point and stopped and the work point is performed by correcting an error due to the inclination of the trolley detected by the sensor, and based on the corrected calculation value, an XY table is used. A self-propelled working device that enables positioning of work equipment.
た請求項１又は２記載の自走式作業装置。3. The self-propelled working device according to claim 1, wherein the carriage is moved by a crawler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000109248A JP2001289638A (en) | 2000-04-11 | 2000-04-11 | Mobile working equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000109248A JP2001289638A (en) | 2000-04-11 | 2000-04-11 | Mobile working equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2001289638A true JP2001289638A (en) | 2001-10-19 |
Family
ID=18621961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000109248A Pending JP2001289638A (en) | 2000-04-11 | 2000-04-11 | Mobile working equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2001289638A (en) |
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