WO2023068799A1 - Automatic construction device and automatic construction method for structural construction marking - Google Patents

Automatic construction device and automatic construction method for structural construction marking Download PDF

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Publication number
WO2023068799A1
WO2023068799A1 PCT/KR2022/015942 KR2022015942W WO2023068799A1 WO 2023068799 A1 WO2023068799 A1 WO 2023068799A1 KR 2022015942 W KR2022015942 W KR 2022015942W WO 2023068799 A1 WO2023068799 A1 WO 2023068799A1
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WIPO (PCT)
Prior art keywords
construction
unit
automatic
marking
frame
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PCT/KR2022/015942
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French (fr)
Korean (ko)
Inventor
김태훈
조규만
오종현
임현수
조창욱
고영훈
Original Assignee
조선대학교산학협력단
주식회사 빌딩포인트코리아
순천향대학교 산학협력단
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Application filed by 조선대학교산학협력단, 주식회사 빌딩포인트코리아, 순천향대학교 산학협력단 filed Critical 조선대학교산학협력단
Publication of WO2023068799A1 publication Critical patent/WO2023068799A1/en

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the present invention relates to an automatic construction device and method for automatic construction of chimney for frame construction, and more particularly, to an automatic construction apparatus and method for automatic construction of chimney for frame construction based on robots and digitization technology.
  • Japanese Registered Patent No. 6399493 suggested an ink-striping device on the installation surface.
  • This automatic feeding device provides convenience to the user compared to the conventional feeding work by manpower.
  • an automatic feeding construction device that can perform automatic feeding construction even in an uneven and barren working environment, such as a frame floor during building frame construction.
  • Patent Document 1 Japanese Patent Registration No. 6399493
  • An object of the present invention is to provide an automatic feeding construction device for frame construction capable of performing a feeding process even in a barren working environment such as a building frame construction stage.
  • the present invention is an object of the present invention to provide an automatic construction method for frame construction, including the performance and digital detection step of the feeding process using the automatic construction device for frame construction.
  • the automatic construction device for framing construction for performing the process of feeding the building frame work in conjunction with the management platform and the on-site control device connected to the network.
  • a driving unit that controls a moving path for performing a process
  • a storage unit for storing work information required for the feeding process
  • a reflection unit that reflects light irradiated from an external measurement unit among the field control devices to track a location on the movement path
  • a communication unit for transmitting and receiving work information necessary for the eating process with the main control unit of the on-site control device; a reinforcing bar coating thickness measuring unit for measuring the coating thickness of the reinforcing bars installed in the work area in order to correct the marking error of the feeding process;
  • a marking unit for displaying an ink line on the bottom surface of the frame in a non-contact manner in order to perform the eating process;
  • it may include a construction control unit for controlling the driving unit for the feeding process, controlling the reinforcing bar coating thickness measuring unit, and controlling the marking unit.
  • the traveling part may include a buffering means capable of responding to the non-flat bottom surface of the frame.
  • the reinforcement coating thickness measuring unit may include performing a role of detecting obstacles and measuring the inclination of the bottom surface of the frame.
  • the marking unit includes a non-contact printer head capable of direct injection into which an ink cartridge is inserted; a head control module accommodating the print head; an actuator operating in connection with the print head and the head controller; and a spraying distance maintaining module for maintaining the printer head at a constant distance from the bottom surface of the frame.
  • the head control module may include one capable of moving and rotating.
  • the construction control unit controls the driving unit to move to the work start position, controls the reinforcing bar coating thickness measuring unit to measure the reinforcing bar coating thickness, and controls the marking unit to perform an eating operation.
  • the automatic construction method for framework construction for performing the building framework construction process a) the main control unit of the site control device instructs to move the automatic construction equipment for framework construction to the initial reference point step; b) recalculating, by the main control unit of the site control device, the position of the automatic construction device for frame construction when the automatic construction device for frame construction moves to the initial reference point and stops; c) measuring the thickness of the reinforcing bar coating by the automatic construction device for framing; d) determining whether the main control unit of the field control device receives the result of measuring the thickness of the reinforcing bar coating and satisfies a pre-determined color correction condition - the color correction condition includes the previously input coating thickness of each structural part and correctable error information determined by -; h) if the eating line correction condition is not satisfied, the automatic meshing construction device for frame construction may include performing a meshing operation and transmitting the operation result to the main control unit of the field control device.
  • step d moving, by the main control unit of the on-site control device, the automatic meshing device for frame construction to the calibrated reference point when the line correction condition is satisfied in step d); f) transmitting information about the location and direction to which the automatic construction device for frame construction has moved to the main control unit of the site control device; g) the main control unit of the on-site control device may further include correcting an error in the position and direction of the automatic construction device for frame construction.
  • the main control unit of the field control device After the step h) is performed, i) the main control unit of the field control device records the work result and determines whether the work is normal; j) determining, by the main control unit of the on-site control device, whether the feeding operation is completed; k) When it is determined that the feeding operation is completed in step j), the main control unit of the field control device terminates the operation and transmits the operation result to the management platform if the operation is completed normally, and if the operation is abnormally completed, the error result and Generating a message and transmitting it to the management platform; And l) the management platform may further include performing the step of generating a detection drawing and a detection report.
  • step j If it is determined that the feeding operation is not completed in step j),
  • the automatic feeding construction device for frame construction of the present invention capable of performing the feeding process even in a barren working environment such as the building frame construction stage is provided, thereby increasing the productivity of the construction method compared to the work by existing manpower. has an enhancing effect.
  • the present invention has the effect of reducing the marking error range and improving the management efficiency compared to the existing inspection process by providing an automatic construction method for framing construction, including the performance of the guiding process using an automatic guiding construction device for framing construction and a digital detection step.
  • Figure 1 shows an embodiment in which the automatic construction device for frame construction according to an embodiment of the present invention is performing a feeding operation.
  • FIG. 2 is a view showing the configuration of an automatic construction apparatus for frame construction according to an embodiment of the present invention.
  • FIG. 3 is a view showing the configuration of a marking unit constituting an automatic construction device for framing construction according to an embodiment of the present invention.
  • FIG. 4 is a view showing that the head control module of the automatic construction device for frame construction according to an embodiment of the present invention moves and rotates.
  • Figure 5 is a view showing the function of the construction control unit constituting the automatic construction apparatus for frame construction according to an embodiment of the present invention.
  • Figure 6 is a view showing the entire system for performing the automatic construction method for frame construction according to an embodiment of the present invention.
  • Figure 7 is a flow chart of the automatic construction method for frame construction use of the present invention.
  • each step described can be performed regardless of the listed order, except for the case where it must be performed in the listed order due to a special causal relationship.
  • Figure 1 shows an embodiment in which the automatic construction apparatus 100 for frame construction of the present invention is performing a feeding operation.
  • the automatic construction method for frame construction according to the present invention is performed by interlocking the automatic construction device 100 for frame construction, the field control device 200 and the management plant 300.
  • the automatic feeding device for frame construction 100 interlocks with the field control device 200 to perform feeding work during the feeding process.
  • the on-site control device 200 is composed of a main control unit 210 and an external measurement unit 220, the main control unit 210 controls the feeding process performed in the field, and the external measurement unit 220 is used for frame construction
  • the real-time location of the automatic construction device 100 may be measured and location information may be transmitted.
  • the management platform 300 is in charge of the process before and after the feeding operation during the feeding process, such as modeling the ink plane, optimizing the robot's movement path, and generating the inspection drawing and report.
  • the external measuring unit 220 of the on-site control device 200 on the frame bottom surface tracks the reflector 130 of the automatic feeding construction device 100 for frame construction to track the automatic feeding construction device 100 for frame construction.
  • Real-time location information can be captured and transmitted.
  • the automatic feeding device for frame construction 100 recognizes the distance between the reinforcement part exposed on the bottom surface of the frame and the marking part 160 through the reinforcement coating thickness measuring unit 150 based on the received real-time location information. and can transmit information about it to the main control unit 210.
  • the main control unit 210 determines whether or not to correct the ink line, and through error correction, etc., the automatic meshing construction device 100 for frame construction performs a non-contact feeding operation through the marking unit 160 on the rough frame bottom surface.
  • FIG. 2 is a view showing the configuration of an automatic construction apparatus 100 for frame construction according to an embodiment of the present invention.
  • the automatic construction device for frame construction 100 includes a communication unit 110, a storage unit 120, a reflection unit 130, a traveling unit 140, a reinforcement coating thickness measurement unit 150, a marking unit 160, and construction A controller 170 may be included.
  • the communication unit 110 may communicate with the main control unit 210 and the external measurement unit 220 of the field control device 200 in a wired/wireless manner.
  • the storage unit 120 may store work information required for an eating process. For example, it is possible to store information related to the result of measuring the thickness of the reinforcing bar, and to store information about a position that changes as the automatic feeding device 100 for frame construction moves, and to perform the work result of feeding work. can be saved.
  • the reflector 130 may serve to track a location on a moving path by reflecting light irradiated from the external measuring unit 220 of the field control device 200.
  • the reflector 130 may be configured as a prism.
  • both components are determined from the wavelength of the light. The distance between them can be measured.
  • the size of the angle between the two points can be measured by turning it left and right and then measuring the value of the other point. By measuring the size of the distance and angle in this way, it is possible to specify the location of the automated construction device 100 for frame construction.
  • the driving unit 140 is a part that controls a moving path for performing an eating operation, and may include wheels, a motor, and a shock absorber.
  • a motor and wheels which are power transmission devices that convert electrical energy into kinetic energy, are required.
  • a shock absorber may be additionally included in order to stably drive on the rough framed bottom surface and reduce an error in the feeding operation.
  • the reinforcing bar coating thickness measuring unit 150 serves to measure the coating thickness of the reinforcing bars installed in the work area in order to correct the marking error of the feeding operation.
  • at least one of a LIDAR sensor, a VISION sensor, and an optical sensor may be included. Using these sensors, it is possible to recognize the distance between the rebar part exposed on the bottom of the frame and the marking part, and if there is an obstacle, it can be recognized, and if the bottom of the frame is not flat, the degree of tilt can also be recognized.
  • the marking unit 160 serves to mark ink lines in a non-contact manner by being spaced apart from the bottom surface of the frame. A specific configuration of the marking unit 160 will be described later in detail with reference to FIG. 3 .
  • the construction control unit 170 may control the driving unit 140 for the feeding process, control the reinforcing bar coating thickness measurement unit 150, and control the marking unit 160. A specific control function of the construction control unit 170 will be described later in detail with reference to FIG. 5 .
  • FIG 3 is a view showing the configuration of the marking unit 160 of the automatic construction apparatus 100 for frame construction according to an embodiment of the present invention.
  • the marking unit 160 shown in FIG. 3 may include a non-contact printer head 161, a head control module 162, an actuator 163, and a spray distance maintenance module 164.
  • the non-contact type printer head 161 is not configured to make marking by contacting the bottom surface of the frame, but is configured to be spaced apart from the bottom surface of the frame by a certain distance and directly eject from an ink cartridge inserted therein.
  • the reason why the printer head 161 is non-contact type is that the bottom surface of the frame is not flat and there are many foreign substances on the bottom surface of the frame in the building frame construction stage. Because failures can happen. Since the non-contact type printer head 161 does not contact the bottom surface of the frame, it is possible to mark ink lines while minimizing negative effects of the bottom surface of the frame.
  • the non-contact type printer head 161 is operated in such a way as to draw ink lines of a certain length while reciprocating inside the head control module 162 having a certain length.
  • the head control module 162 accommodates the non-contact type printer head 161 therein and enables direction control and movement.
  • the non-contact type printer head 161 is accommodated on one side of the head control module 162 and can be reciprocated in the longitudinal direction of the head control module 162 by an actuator 163 therein.
  • the head control module 162 is connected to the main body of the automatic construction device 100 for frame construction through an actuator 163, so that direction control and movement are possible.
  • the actuator 163 enables direction control and movement of the non-contact type printer head 161 and the head control module 162 .
  • the head control module 162 connected therewith can move away from or get closer to the main body of the automatic feeding device 100 for frame construction, and the head control module 162 can be rotated.
  • the non-contact type printer head 161 inside the head control module 162 can also reciprocate through the actuator 163.
  • the spraying distance maintenance module 164 can keep the non-contact type printer head 161 a certain distance from the bottom surface of the frame, thereby minimizing the deviation and smearing of ink lines generated during the inking operation.
  • FIG. 4 is a view showing that the head control module 162 of the automatic construction apparatus 100 for frame construction according to an embodiment of the present invention moves and rotates.
  • the head adjustment module 162 can be extended and shortened through the extension motion of the actuator 163, and can rotate left and right through the rotation motion.
  • Existing automatic feeding construction devices use a fixed marking unit and have limitations in that feeding work cannot be performed when an obstacle exists within a certain range, whereas the automatic feeding work device 100 for frame construction of the present invention adjusts the head This limitation can be overcome by allowing the module 162 to move and rotate. In addition, through this, a more precise eating operation can be performed.
  • FIG. 5 is a view showing the function of the construction control unit 170 constituting the automatic construction apparatus 100 for frame construction according to an embodiment of the present invention.
  • the construction control unit 170 largely performs three control functions, that is, control of the traveling unit 140, control of the reinforcing bar coating thickness measurement unit 150, control of the marking unit 160, and the like.
  • the control of the driving unit 140 is to control a moving path for performing an eating task.
  • the construction control unit 170 may control the driving unit 140 so that the automatic construction apparatus 100 for framing work is moved to the work start position.
  • the construction control unit 170 controls the driving unit 140 to move to the initial reference point, which is the starting position of the predetermined work, to move the automatic construction device 100 for frame construction to the initial reference point.
  • the construction control unit 170 may control the driving unit 140 to move to the correction reference point, which is the start position of the corrected work.
  • the control of the reinforcing bar coating thickness measuring unit 150 is to measure the coating thickness of the reinforcing bars installed in the work area in order to correct the marking error of the feeding process.
  • the construction control unit 170 may control the reinforcing bar coating thickness measurement unit 150 to recognize the joint reinforcing bars protruding above the frame bottom surface and calculate the distance to the spot where the ink line is to be drawn on the drawing surface.
  • the construction control unit 170 may control the reinforcement coating thickness measurement unit 150 to measure whether there are obstacles or irregularities on the bottom surface of the frame, and may also measure the slope.
  • the control of the marking unit 160 controls to display ink lines on the bottom surface of the frame in a non-contact manner in order to perform an eating operation.
  • the construction control unit 170 may control the marking unit 160 to perform a non-contact feeding operation when the feeding operation position and working direction are determined. Since the ink line, which is the result of performing the non-contact eating operation through the control of the marking unit 160, is not necessarily displayed as a solid line, it may also be displayed in other ways such as a dotted line.
  • Figure 6 is a view showing the entire system for performing the automatic construction method for frame construction according to an embodiment of the present invention.
  • the automatic construction method for frame construction using eating may be implemented through a system including an automatic construction device for framework construction using eating and feeding (100), an on-site control device (200), and a management platform (300).
  • the automatic construction apparatus 100 for eating frame construction, the field control apparatus 200 and the management platform 300 may be connected through a network.
  • the network is not limited in communication method, and may include not only a communication method utilizing a communication network (eg, mobile communication network, wired Internet, wireless Internet, broadcasting network) that the network may include, but also short-range wireless communication.
  • a communication network eg, mobile communication network, wired Internet, wireless Internet, broadcasting network
  • the field control device 200 may include a main control unit 210 and an external measurement unit 220.
  • the main control unit 210 may be a fixed terminal implemented as a computer device or a mobile terminal.
  • the main controller 210 may include a smart phone, a mobile phone, a tablet PC, a computer, a laptop computer, and personal digital assistants (PDAs). Such a main controller 210 may be used by a user.
  • PDAs personal digital assistants
  • the external measuring unit 220 refers to a device capable of calculating location information of the automatic construction device 100 for frame construction and transmitting and receiving location information in real time.
  • the management platform 300 may be a fixed terminal or a mobile terminal implemented as a server or a computer device capable of serving as a management platform.
  • the management platform 300 may include a smart phone, a mobile phone, a tablet PC, a computer, a laptop computer, and personal digital assistants (PDAs).
  • PDAs personal digital assistants
  • Such a management platform 300 can be used by a user, and a program for modeling a drawing surface and a program for generating a movement path of the automatic construction apparatus 100 for frame construction can be stored and executed.
  • Programs for surface modeling may include BIM and CAD.
  • the management platform 300 inputs image information, graphic information, and information on the covering thickness of walls or columns as information on the covering thickness and correctable error of each structural part of the building, so that it can be used when performing the eating process. there is.
  • Figure 7 is a flow chart of the automatic construction method for frame construction use of the present invention.
  • Step a) is a step (S700) instructing the main controller 210 of the field control device 200 to move the automatic construction device 100 for frame construction to a first reference point.
  • the management platform 300 generates information about the black surface and the movement path through a black surface modeling program and a movement path optimization program of the automatic automatic construction device 100 for frame construction.
  • the black drawing modeling task extracts the wall and column layers for interlacing from the frame drawing and inputs information on the cover thickness and correctable errors for each structural part (wall, column, etc.) to create a line to be interlaced. It is work.
  • the task of optimizing the movement path of the automatic meshing construction device 100 for frame construction is to determine the size, radius of rotation, spacing of interlocking positions, and obstacles (reinforcing bars, sleeves, etc.) This is a task of converting the movement coordinates of the automatic construction device 100 for structural air conditioning by inputting and generating an optimal movement path.
  • the management platform 300 transmits information on the drawing surface and the movement path to the main control unit 210 of the field control device 200 through a network.
  • these operations do not necessarily have to be performed only in the management platform 300, and in some cases, the main control unit 210 of the field control device 200 may also perform the operations performed by the management platform 300.
  • the main control unit 210 of the field control device 200 sets an initial reference point, which is the position to start the work based on the received information, and maps the drawing site to automatically match the initial reference point, which is the starting position of the work, for frame construction at the site.
  • the path of the construction device 100 is determined. Thereafter, the main control unit 210 of the field control device 200 instructs the automatic construction device 100 for frame construction to be moved to the initial reference point.
  • the automatic construction apparatus 100 for frame construction receiving the movement instruction moves to the initial reference point, which is the work start position.
  • step b) when the automatic construction device 100 for frame construction moves to the initial reference point and stops, the main control unit 210 of the site control device 200 recalculates the position of the automatic construction device 100 for frame construction work. It is a step (S701) of doing. Specifically, the external measurement unit 220 of the field control device 200 utilizes the wavelength and time of light reflected between the reflector 130 of the automatic construction device 100 for frame construction, and the horizontal angle and vertical angle. It is possible to calculate the position of the automatic construction device 100 for frame construction. By continuously repeating this method, the external measuring unit 220 of the field control device 200 can calculate the position of the automatic construction device 100 for frame construction in real time.
  • the external measurement unit 220 of the field control device 200 provides information on the location of the automatic construction device 100 for frame construction to the main control unit 210 of the field control device 200 through the network. .
  • the main controller 210 of the site control device 200 may recalculate whether the automatic construction device 100 for frame construction is accurately positioned at the initial reference point through the information on the received position.
  • Step c) is a step (S702) in which the automatic construction apparatus 100 for framing work measures the coating thickness of the reinforcing bars.
  • the reinforcement coating thickness is measured through the sensor of the reinforcement coating thickness measuring unit 150.
  • the sensor of the reinforcement coating thickness measuring unit 150 includes at least one of a LIDAR sensor, a VISION sensor, and an optical sensor.
  • the reinforcing bar coating thickness measuring unit 150 can recognize the joint reinforcing bars protruding above the bottom surface of the frame, and the construction control unit 170 recognizes the position to draw the interlocking line on the drawing surface and the reinforcing bar coating thickness measuring unit 150 You can calculate the distance from one joint bar to another. Thereafter, the result of measuring the thickness of the reinforcing bar may be transmitted to the main control unit 210 of the field control device 200 through the communication unit.
  • Step d) is a step in which the main control unit 210 of the field control device 200 receives the result of measuring the thickness of the reinforcing bar and determines whether or not a pre-determined food line correction condition is satisfied (S703).
  • the ink line correction condition is determined by information about the coating thickness and correctable error for each structural part input in advance in the step of modeling the ink drawing surface. For example, if the column's covering thickness is 30 mm and the correctionable error is 10 mm, the main control unit 210 of the field control device 200 receives the measurement result of the coating thickness of the reinforcing bars in the range of 20 to 40 mm. It is judged that the correction condition is not satisfied.
  • not satisfying the food line correction condition means that work other than correction can be performed immediately. In this case, the following step h) is performed.
  • Step e) is a step (S704) in which the main control unit 210 of the field control device 200 moves the automatic construction device 100 for frame construction to the corrected correction reference point when the eating line correction condition is satisfied. For example, if the column's covering thickness is 30mm and the correctionable error is 10mm, if the main control unit 210 of the field control device 200 receives the measurement result of the coating thickness of the reinforcing bar is less than 20mm or exceeds 40mm, the black line It is judged that the correction condition is satisfied.
  • the main control unit 210 of the field control device 200 calculates a new work start position within the error range and corrects the reference point. Then, the main control unit 210 of the field control device 200 may instruct the automatic construction device 100 for frame construction to move to the calibrated reference point.
  • Step f) is a step (S705) of transmitting information about the location and direction of the movement of the automatic construction apparatus 100 for frame construction to the main control unit 210 of the field control apparatus 200. Specifically, information on the position and direction of the movement of the automatic construction apparatus 100 for frame construction receiving a movement instruction is transmitted to the main control unit 210 of the field control apparatus 200.
  • the automatic construction device 100 for frame construction and the external measurement unit 220 of the field control device 200 can obtain information on the moved position and direction by using the wavelength and time of light, and the horizontal and vertical angles. Yes, it can be transmitted to the main control unit 210 of the field control device 200.
  • Step g) is a step (S706) in which the main control unit 210 of the field control device 200 corrects an error in the position and direction of the automatic construction device 100 for frame construction.
  • the main control unit 210 of the field control device 200 may correct the error by comparing the corrected correction reference point and the information on the position and direction in which the automatic construction device 100 for frame construction has moved. Since the error generated in the starting position and direction of the feeding process of the automatic meshing construction device 100 for frame construction increases as the work end position approaches, the error generated in the work start position and direction is corrected as much as possible.
  • the construction control unit 170 of the automatic feeding system for frame construction 100 controls the movement of the marking unit 160 so as not to start the feeding operation before error correction. If it is determined that there is no error or has been corrected, the main control unit 210 of the field control device 200 may give instructions to the automatic construction device 100 for feeding the frame construction to perform the feeding operation.
  • Step h) is a step (S707) in which the automatic meshing construction device 100 for frame construction performs a meshing operation and transmits the operation result to the main control unit 210 of the field control device 200.
  • this step is executed immediately when the food line correction condition is not satisfied, and when the food line correction condition is not satisfied, it may be executed after performing the above-described steps e) to g).
  • the construction control unit 170 controls the driving through the driving unit 140.
  • the construction control unit 170 controls the reinforcement coating thickness measurement unit 150 to recognize obstacles or irregularities on the bottom surface of the frame during work.
  • the construction control unit 170 may control the marking unit 160 to display ink lines. At this time, since the ink line is not necessarily displayed as a solid line, it may be displayed in various ways such as a dotted line.
  • Step i) is a step (S708) in which the main controller 210 of the field control device 200 records the work result and determines whether the work is normal. Specifically, the main control unit 210 of the field control device 200 records and stores the work results received from the automatic construction device 100 for frame construction. The main control unit 210 of the field control device 200 determines whether the feeding operation has been normally completed based on the received operation result. The first control unit 210 determines whether the work is normally completed by inspecting whether the work has been properly moved to the work position and whether the ink lines have been properly displayed through the work result data.
  • Step j) is a step (S709) in which the main control unit 210 of the field control device 200 determines whether or not the feeding operation is completed. Specifically, when the main control unit 210 of the field control device 200 determines that the entire feeding operation is completed, step k) is performed. If the main control unit 210 of the field control device 200 determines that the entire feeding operation is not completed, it returns to step b) and repeats steps b) to j) until it is determined that the entire feeding operation is completed. carry out
  • step k when the main controller 210 of the field control device 200 determines that the work has been completed normally, the work is terminated and the work result is transmitted to the management platform 300, and if the work is completed abnormally, an error result and message It is a step (S710) of generating and transmitting to the management platform (300). Specifically, when the main control unit 210 of the field control device 200 determines that the operation is abnormally completed, an error result and an error message can be generated and transmitted to the management platform 300, all steps are performed again from the beginning, The main control unit 210 of the field control device 200 may give instructions to perform the feeding operation to the automatic construction device 100 for the automatic feeding work for frame construction with respect to the abnormally completed part.
  • the main control unit 210 of the field control device 200 determines that the work is normally completed, it gives an instruction to the automatic construction device 100 for frame construction to end the work. After that, the main control unit 210 of the field control device 200 may transmit the work result to the management platform.
  • the main control unit 210 and the management platform 300 of the field control device 200 are separately described, but the main control unit 210 and the management platform 300 of the field control device 200 in one device It does not exclude the case of performing all the roles of
  • Step l) is a step (S711) of the management platform 300 generating a detection drawing and an detection report.
  • the management platform 300 may generate an inspection drawing by mapping the working position of the ink drawing to the ink drawing surface modeled before step a).
  • the management platform 300 may automatically generate a report on the detection result of eating from the detection drawing.
  • the manager directly visits the site to measure and generates a detection drawing and report, but time, cost and manpower can be saved through the same detection automation step.
  • each technical feature is mainly described, but each technical feature may be merged and applied to each other unless incompatible with each other.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Human Computer Interaction (AREA)
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Abstract

An automatic construction device for structural construction marking is disclosed. The present invention relates to an automatic construction device for structural construction marking, the device being linked to a management platform and a site control device connected over a network so as to perform structural construction marking on a building, and comprising: a traveling unit for controlling a movement path for performing the marking; a storage unit for storing work information required for the marking; a reflection part reflecting light emitted from an external measurement unit in the site control device so that a position on the movement path can be tracked; a communication unit for transmitting/receiving the work information required for the marking to/from a main control unit in the site control device; a rebar cover thickness measurement unit for measuring the cover thickness of a rebar, provided within a work area, in order to correct a marking error of the marking; a marking unit for marking a marking line on the bottom surface of a framework in a contactless manner in order to perform the marking; and a construction control unit for controlling the traveling unit, the rebar cover thickness measurement unit, and the marking unit for the marking.

Description

골조공사용 먹매김 자동시공장치 및 자동시공방법Automatic construction device and automatic construction method of eating seaweed for frame construction
본 발명은 골조공사용 먹매김 자동시공장치 및 자동시공방법에 관한 것으로, 더욱 상세하게는 로봇 및 디지털화 기술을 기반으로 한 골조공사용 먹매김 자동시공장치 및 자동시공방법에 관한 것이다.The present invention relates to an automatic construction device and method for automatic construction of chimney for frame construction, and more particularly, to an automatic construction apparatus and method for automatic construction of chimney for frame construction based on robots and digitization technology.
로봇 및 디지털화 기술이 발전함에 따라 먹매김 자동시공장치가 등장하였다. 예를 들어, 일본 등록특허 제6399493호는 설치면 먹줄긋기 장치를 제시하였다.As robot and digitization technology develops, automatic construction equipment for feeding has appeared. For example, Japanese Registered Patent No. 6399493 suggested an ink-striping device on the installation surface.
이러한 먹매김 자동시공장치는 종래 인력에 의한 먹매김 작업에 비해 이용자에게 편의성을 제공하고 있다. 최근에는 이러한 편의성에 더해 건축물 골조공사 중인 골조 바닥면과 같이 평평하지 않고 척박한 작업환경에서도 먹매김 자동화 시공을 할 수 있는 먹매김 자동시공장치에 대한 요구가 커지고 있다. This automatic feeding device provides convenience to the user compared to the conventional feeding work by manpower. In recent years, in addition to these conveniences, there is a growing demand for an automatic feeding construction device that can perform automatic feeding construction even in an uneven and barren working environment, such as a frame floor during building frame construction.
선행기술문헌 (특허문헌 1) 일본 등록특허 제6399493호Prior Art Document (Patent Document 1) Japanese Patent Registration No. 6399493
본 발명은 먹매김 자동시공장치에 있어서, 건축물 골조공사 단계와 같은 척박한 작업환경에서도 먹매김 공정의 수행이 가능한 골조공사용 먹매김 자동시공장치를 제공하는 것에 목적이 있다.An object of the present invention is to provide an automatic feeding construction device for frame construction capable of performing a feeding process even in a barren working environment such as a building frame construction stage.
또한, 본 발명은 골조공사용 먹매김 자동시공장치를 이용한 먹매김 공정의 수행 및 디지털 검측단계를 포함한 골조공사용 먹매김 자동시공방법을 제공하는 것에 목적이 있다.In addition, the present invention is an object of the present invention to provide an automatic construction method for frame construction, including the performance and digital detection step of the feeding process using the automatic construction device for frame construction.
상기와 같은 목적을 달성하기 위하여, 본 발명의 일측면에 의하면, 네트워크 상에 연결된 관리플랫폼 및 현장제어장치와 연동하여 건축물 골조공사 먹매김 공정을 수행하는 골조공사용 먹매김 자동시공장치는 상기 먹매김 공정을 수행하기 위한 이동 경로를 제어하는 주행부; 상기 먹매김 공정에 필요한 작업 정보를 저장하는 저장부; 상기 현장제어장치 중 외부 측정부로부터 조사되는 빛을 반사하여 상기 이동 경로 상의 위치를 추적할 수 있도록 해주는 반사부; 상기 현장제어장치 중 메인 제어부와 상기 먹매김 공정에 필요한 작업 정보를 송수신하는 통신부; 상기 먹매김 공정의 마킹 오차를 보정하기 위해 작업 영역 내에 설치된 철근의 피복 두께를 측정하는 철근 피복 두께 측정부; 상기 먹매김 공정을 수행하기 위해 골조 바닥면 상에 먹선을 비접촉식으로 표시하는 마킹부; 및 상기 먹매김 공정을 위한 상기 주행부 제어, 상기 철근 피복 두께 측정부 제어, 상기 마킹부 제어를 수행하는 시공 제어부를 포함할 수 있다.In order to achieve the above object, according to one aspect of the present invention, the automatic construction device for framing construction for performing the process of feeding the building frame work in conjunction with the management platform and the on-site control device connected to the network. a driving unit that controls a moving path for performing a process; a storage unit for storing work information required for the feeding process; a reflection unit that reflects light irradiated from an external measurement unit among the field control devices to track a location on the movement path; A communication unit for transmitting and receiving work information necessary for the eating process with the main control unit of the on-site control device; a reinforcing bar coating thickness measuring unit for measuring the coating thickness of the reinforcing bars installed in the work area in order to correct the marking error of the feeding process; A marking unit for displaying an ink line on the bottom surface of the frame in a non-contact manner in order to perform the eating process; And it may include a construction control unit for controlling the driving unit for the feeding process, controlling the reinforcing bar coating thickness measuring unit, and controlling the marking unit.
상기 주행부는 평평하지 않은 상기 골조 바닥면에 대응할 수 있는 완충수단을 포함할 수 있다.The traveling part may include a buffering means capable of responding to the non-flat bottom surface of the frame.
상기 철근 피복 두께 측정부는 장애물 감지 및 상기 골조 바닥면의 기울기 측정하는 역할을 수행하는 것을 포함할 수 있다.The reinforcement coating thickness measuring unit may include performing a role of detecting obstacles and measuring the inclination of the bottom surface of the frame.
상기 마킹부는 잉크 카트리지가 삽입되어 직접 분사가 가능한 비접촉식 프린터 헤드; 상기 프린터 헤드를 수용하는 헤드 조절 모듈; 상기 프린터 헤드 및 상기 헤드 조절부와 연결되어 동작하는 엑츄에이터; 및 상기 프린터 헤드가 상기 골조 바닥면으로부터 일정한 이격거리를 유지하도록 하는 분사거리 유지 모듈을 포함할 수 있다.The marking unit includes a non-contact printer head capable of direct injection into which an ink cartridge is inserted; a head control module accommodating the print head; an actuator operating in connection with the print head and the head controller; and a spraying distance maintaining module for maintaining the printer head at a constant distance from the bottom surface of the frame.
상기 헤드 조절 모듈은 이동 및 회전이 가능한 것을 포함할 수 있다.The head control module may include one capable of moving and rotating.
상기 시공 제어부가 작업 시작위치로 이동하기 위해 상기 주행부를 제어하고, 철근 피복 두께를 측정하도록 상기 철근 피복 두께 측정부를 제어하며, 먹매김 작업을 수행하도록 상기 마킹부를 제어하는 역할을 수행하는 것을 포함할 수 있다. The construction control unit controls the driving unit to move to the work start position, controls the reinforcing bar coating thickness measuring unit to measure the reinforcing bar coating thickness, and controls the marking unit to perform an eating operation. can
본 발명의 다른 측면에 의하면, 건축물 골조공사 먹매김 공정을 수행하는 골조공사용 먹매김 자동시공방법은, a) 현장제어장치의 메인 제어부가 초기 기준점으로 골조공사용 먹매김 자동시공장치를 이동하도록 지시하는 단계; b) 상기 골조공사용 먹매김 자동시공장치가 상기 초기 기준점으로 이동하여 정지하면 상기 현장제어장치의 메인 제어부가 상기 골조공사용 먹매김 자동시공장치의 위치를 재계산하는 단계; c) 상기 골조공사용 먹매김 자동시공장치가 철근 피복 두께를 측정하는 단계; d) 상기 현장제어장치의 메인 제어부가 상기 철근 피복 두께 측정결과를 수신하여 미리 정해진 먹선보정조건을 만족하는지 여부를 판단하는 단계 - 상기 먹선보정조건은 미리 입력된 구조부별 피복 두께 및 보정가능한 오차 정보에 의해 결정됨 -; h) 상기 먹선보정조건을 만족하지 않는 경우, 상기 골조공사용 먹매김 자동시공장치가 먹매김 작업을 수행하고 작업결과를 상기 현장제어장치의 메인 제어부에 전송하는 단계를 포함할 수 있다.According to another aspect of the present invention, the automatic construction method for framework construction for performing the building framework construction process, a) the main control unit of the site control device instructs to move the automatic construction equipment for framework construction to the initial reference point step; b) recalculating, by the main control unit of the site control device, the position of the automatic construction device for frame construction when the automatic construction device for frame construction moves to the initial reference point and stops; c) measuring the thickness of the reinforcing bar coating by the automatic construction device for framing; d) determining whether the main control unit of the field control device receives the result of measuring the thickness of the reinforcing bar coating and satisfies a pre-determined color correction condition - the color correction condition includes the previously input coating thickness of each structural part and correctable error information determined by -; h) if the eating line correction condition is not satisfied, the automatic meshing construction device for frame construction may include performing a meshing operation and transmitting the operation result to the main control unit of the field control device.
상기 d) 단계에서 먹선보정조건을 만족하는 경우에는 e) 상기 현장제어장치의 메인 제어부가 상기 골조공사용 먹매김 자동시공장치를 보정된 보정 기준점으로 이동시키는 단계; f) 상기 골조공사용 먹매김 자동시공장치가 이동한 위치 및 방향에 대한 정보를 상기 현장제어장치의 메인 제어부에 전송하는 단계; g) 상기 현장제어장치의 메인 제어부가 상기 골조공사용 먹매김 자동시공장치의 위치 및 방향에 대한 오차를 보정하는 단계를 더 수행하는 것을 포함할 수 있다.e) moving, by the main control unit of the on-site control device, the automatic meshing device for frame construction to the calibrated reference point when the line correction condition is satisfied in step d); f) transmitting information about the location and direction to which the automatic construction device for frame construction has moved to the main control unit of the site control device; g) the main control unit of the on-site control device may further include correcting an error in the position and direction of the automatic construction device for frame construction.
상기 h) 단계를 수행한 후에는, i) 상기 현장제어장치의 메인 제어부가 작업결과를 기록하고 작업정상여부를 판단하는 단계; j) 상기 현장제어장치의 메인 제어부가 먹매김 작업 완료 여부를 판단하는 단계; k) 상기 j) 단계에서 먹매김 작업이 완료된 것으로 판단한 경우에는 상기 현장제어장치의 메인 제어부가 작업이 정상완료되면 작업을 종료하고 관리플랫폼에 작업결과를 전송하고, 작업이 비정상완료이면 오류결과 및 메시지를 생성하여 상기 관리플랫폼에 전송하는 단계; 및 l) 상기 관리플랫폼이 검측도면 및 검측보고서를 생성하는 단계를 더 수행하는 것을 포함할 수 있다.After the step h) is performed, i) the main control unit of the field control device records the work result and determines whether the work is normal; j) determining, by the main control unit of the on-site control device, whether the feeding operation is completed; k) When it is determined that the feeding operation is completed in step j), the main control unit of the field control device terminates the operation and transmits the operation result to the management platform if the operation is completed normally, and if the operation is abnormally completed, the error result and Generating a message and transmitting it to the management platform; And l) the management platform may further include performing the step of generating a detection drawing and a detection report.
상기 j) 단계에서 상기 먹매김 작업이 완료되지 않았다고 판단되는 경우에는If it is determined that the feeding operation is not completed in step j),
상기 b) 내지 j) 단계를 반복하여 수행하는 것을 포함할 수 있다.It may include repeating steps b) to j).
본 발명의 골조공사용 먹매김 자동시공장치에 있어서, 건축물 골조공사 단계와 같은 척박한 작업환경에서도 먹매김 공정의 수행이 가능한 골조공사용 먹매김 자동시공장치를 제공하여 기존 인력에 의한 작업 대비 공법 생산성을 향상시키는 효과가 있다.In the automatic feeding construction device for frame construction of the present invention, the automatic feeding construction device for frame construction capable of performing the feeding process even in a barren working environment such as the building frame construction stage is provided, thereby increasing the productivity of the construction method compared to the work by existing manpower. has an enhancing effect.
또한, 본 발명은 골조공사용 먹매김 자동시공장치를 이용한 먹매김 공정의 수행 및 디지털 검측단계를 포함한 골조공사용 먹매김 자동시공방법을 제공하여 마킹 오차범위를 줄이고 기존 검측 프로세스 대비 관리효율성을 향상시키는 효과가 있다.In addition, the present invention has the effect of reducing the marking error range and improving the management efficiency compared to the existing inspection process by providing an automatic construction method for framing construction, including the performance of the guiding process using an automatic guiding construction device for framing construction and a digital detection step. there is
도 1은 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공장치가 먹매김 작업을 수행하고 있는 일 실시예를 도시한 것이다.Figure 1 shows an embodiment in which the automatic construction device for frame construction according to an embodiment of the present invention is performing a feeding operation.
도 2는 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공장치의 구성을 나타내는 도면이다.2 is a view showing the configuration of an automatic construction apparatus for frame construction according to an embodiment of the present invention.
도 3은 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공장치를 구성하는 마킹부의 구성을 나타내는 도면이다.3 is a view showing the configuration of a marking unit constituting an automatic construction device for framing construction according to an embodiment of the present invention.
도 4는 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공장치의 헤드조절 모듈이 이동 및 회전하는 것을 나타내는 도면이다.4 is a view showing that the head control module of the automatic construction device for frame construction according to an embodiment of the present invention moves and rotates.
도 5는 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공장치를 구성하는 시공 제어부의 기능을 나타내는 도면이다.Figure 5 is a view showing the function of the construction control unit constituting the automatic construction apparatus for frame construction according to an embodiment of the present invention.
도 6은 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공방법을 수행하는 전체 시스템을 나타내는 도면이다.Figure 6 is a view showing the entire system for performing the automatic construction method for frame construction according to an embodiment of the present invention.
도 7은 본 발명의 골조공사용 먹매김 자동시공방법의 순서도이다. Figure 7 is a flow chart of the automatic construction method for frame construction use of the present invention.
이하, 첨부된 도면을 참조하여 본 명세서에 개시된 실시 예를 상세히 설명하되, 도면 부호에 관계없이 동일하거나 유사한 구성요소는 동일한 참조 번호를 부여하고 이에 대한 중복되는 설명은 생략하기로 한다. 또한, 본 명세서에 개시된 실시 예를 설명함에 있어서 관련된 공지 기술에 대한 구체적인 설명이 본 명세서에 개시된 실시 예의 요지를 흐릴 수 있다고 판단되는 경우 그 상세한 설명을 생략한다.Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same or similar elements are given the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted. In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted.
제1, 제2 등과 같이 서수를 포함하는 용어는 다양한 구성요소들을 설명하는데 사용될 수 있지만, 상기 구성요소들은 상기 용어들에 의해 한정되지는 않는다. 상기 용어들은 하나의 구성요소를 다른 구성요소로부터 구별하는 목적으로만 사용된다.Terms including ordinal numbers, such as first and second, may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another.
단수의 표현은 문맥상 명백하게 다르게 뜻하지 않는 한, 복수의 표현을 포함한다. Singular expressions include plural expressions unless the context clearly dictates otherwise.
본 출원에서, 설명되는 각 단계들은 특별한 인과관계에 의해 나열된 순서에 따라 수행되어야 하는 경우를 제외하고, 나열된 순서와 상관없이 수행될 수 있다.In this application, each step described can be performed regardless of the listed order, except for the case where it must be performed in the listed order due to a special causal relationship.
본 출원에서, "포함한다" 또는 "가지다" 등의 용어는 명세서상에 기재된 특징, 숫자, 단계, 동작, 구성요소, 부품 또는 이들을 조합한 것이 존재함을 지정하려는 것이지, 하나 또는 그 이상의 다른 특징들이나 숫자, 단계, 동작, 구성요소, 부품 또는 이들을 조합한 것들의 존재 또는 부가 가능성을 미리 배제하지 않는 것으로 이해되어야 한다.In this application, terms such as "comprise" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.
이하, 첨부된 도면들을 참조하여 본 발명의 일실시예를 상세히 설명한다.Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명의 골조공사용 먹매김 자동시공장치(100)가 먹매김 작업을 수행하고 있는 일 실시예를 도시한 것이다.Figure 1 shows an embodiment in which the automatic construction apparatus 100 for frame construction of the present invention is performing a feeding operation.
본 발명에 따른 골조공사용 먹매김 자동시공방법은 골조공사용 자동시공장치(100), 현장제어장치(200) 및 관리플랜트(300)가 연동하여 수행한다.The automatic construction method for frame construction according to the present invention is performed by interlocking the automatic construction device 100 for frame construction, the field control device 200 and the management plant 300.
상기 골조공사용 먹매김 자동시공장치(100)는 현장제어장치(200)와 연동하여 먹매김 공정 중 먹매김 작업을 수행한다.The automatic feeding device for frame construction 100 interlocks with the field control device 200 to perform feeding work during the feeding process.
상기 현장제어장치(200)는 메인 제어부(210)와 외부 측정부(220)로 구성되고, 메인 제어부(210)는 현장에서 수행되는 먹매김 공정을 제어하며, 외부 측정부(220)는 골조공사용 먹매김 자동시공장치(100)의 실시간 위치를 측정하고 위치 정보를 전송할 수 있다. The on-site control device 200 is composed of a main control unit 210 and an external measurement unit 220, the main control unit 210 controls the feeding process performed in the field, and the external measurement unit 220 is used for frame construction The real-time location of the automatic construction device 100 may be measured and location information may be transmitted.
상기 관리플랫폼(300)은 먹도면 모델링, 로봇 이동경로 최적화 및 검측도면 과 보고서 생성 등 먹매김 공정 중 먹매김 작업 전후의 공정을 담당한다.The management platform 300 is in charge of the process before and after the feeding operation during the feeding process, such as modeling the ink plane, optimizing the robot's movement path, and generating the inspection drawing and report.
구체적으로 골조 바닥면 상에서 현장제어장치(200) 중 외부 측정부(220)는 골조공사용 먹매김 자동시공장치(100)의 반사부(130)를 추적하여 골조공사용 먹매김 자동시공장치(100)의 실시간 위치에 대한 정보를 파악하고 전송할 수 있다. 골조공사용 먹매김 자동시공장치(100)는 수신한 실시간 위치에 대한 정보를 기초로 철근 피복 두께 측정부(150)를 통해 골조 바닥면 위로 노출된 철근부와 마킹부(160)와의 거리를 인식할 수 있고, 그에 대한 정보를 메인 제어부(210)에 전송할 수 있다. 메인 제어부(210)가 먹선보정여부를 판단하고 오차보정 등을 거쳐 골조공사용 먹매김 자동시공장치(100)가 거친 골조 바닥면에 마킹부(160)를 통해 비접촉식으로 먹매김 작업을 수행한다.Specifically, the external measuring unit 220 of the on-site control device 200 on the frame bottom surface tracks the reflector 130 of the automatic feeding construction device 100 for frame construction to track the automatic feeding construction device 100 for frame construction. Real-time location information can be captured and transmitted. The automatic feeding device for frame construction 100 recognizes the distance between the reinforcement part exposed on the bottom surface of the frame and the marking part 160 through the reinforcement coating thickness measuring unit 150 based on the received real-time location information. and can transmit information about it to the main control unit 210. The main control unit 210 determines whether or not to correct the ink line, and through error correction, etc., the automatic meshing construction device 100 for frame construction performs a non-contact feeding operation through the marking unit 160 on the rough frame bottom surface.
도 2는 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공장치(100)의 구성을 나타내는 도면이다.2 is a view showing the configuration of an automatic construction apparatus 100 for frame construction according to an embodiment of the present invention.
골조공사용 먹매김 자동시공장치(100)는 통신부(110), 저장부(120), 반사부(130), 주행부(140), 철근 피복 두께 측정부(150), 마킹부(160) 및 시공 제어부(170)를 포함할 수 있다.The automatic construction device for frame construction 100 includes a communication unit 110, a storage unit 120, a reflection unit 130, a traveling unit 140, a reinforcement coating thickness measurement unit 150, a marking unit 160, and construction A controller 170 may be included.
통신부(110)는 현장제어장치(200)의 메인 제어부(210) 및 외부 측정부(220)와 유/무선 방식으로 통신할 수 있다.The communication unit 110 may communicate with the main control unit 210 and the external measurement unit 220 of the field control device 200 in a wired/wireless manner.
저장부(120)는 먹매김 공정에 필요한 작업 정보를 저장할 수 있다. 예를 들어, 철근 피복 두께 측정결과와 관련된 정보를 저장할 수 있고, 골조공사용 먹매김 자동시공장치(100)가 이동함에 따라 변화하는 위치에 대한 정보를 저장할 수 있으며, 먹매김 작업을 수행한 작업결과를 저장할 수 있다.The storage unit 120 may store work information required for an eating process. For example, it is possible to store information related to the result of measuring the thickness of the reinforcing bar, and to store information about a position that changes as the automatic feeding device 100 for frame construction moves, and to perform the work result of feeding work. can be saved.
반사부(130)는 현장제어장치(200) 중 외부 측정부(220)로부터 조사되는 빛을 반사하여 이동 경로상의 위치를 추적하는 역할을 할 수 있다. 일 실시예로 반사부(130)는 프리즘으로 구성될 수 있다. 현장제어장치(200) 중 외부 측정부(220)로부터 조사되는 빛을 반사부(130)가 반사하여 현장제어장치(200) 중 외부 측정부(220)에 도달하게 되면 그 빛의 파장으로부터 양 구성 간의 거리를 측정할 수 있다. 또한, 현장제어장치(200) 중 외부 측정부(220)에 한 점의 거리와 위치를 저장한 뒤 좌우로 돌린 후 다른 점의 값을 측정하여 두 점 사이의 각의 크기를 측정할 수 있다. 이러한 방식으로 거리와 각의 크기를 측정함으로써 골조공사용 먹매김 자동화 시공장치(100)의 위치를 특정할 수 있다. The reflector 130 may serve to track a location on a moving path by reflecting light irradiated from the external measuring unit 220 of the field control device 200. In one embodiment, the reflector 130 may be configured as a prism. When the reflector 130 reflects the light irradiated from the external measurement unit 220 of the field control device 200 and reaches the external measurement unit 220 of the field control device 200, both components are determined from the wavelength of the light. The distance between them can be measured. In addition, after storing the distance and position of one point in the external measuring unit 220 of the field control device 200, the size of the angle between the two points can be measured by turning it left and right and then measuring the value of the other point. By measuring the size of the distance and angle in this way, it is possible to specify the location of the automated construction device 100 for frame construction.
주행부(140)는 먹매김 작업을 수행하기 위한 이동 경로를 제어하는 부분으로 바퀴, 모터 및 완충장치를 포함할 수 있다. 골조공사용 먹매김 자동시공장치(100)가 골조 바닥면을 주행하기 위해서는 전기에너지를 운동에너지로 변환하는 동력전달장치인 모터와 바퀴가 필요하다. 또한, 건축물 골조공사는 건축물의 기둥이나 벽 및 지붕이 형성되기 전이고 마감이 되어 있지 않은 상태이기 때문에 골조 바닥면의 표면이 평평하지 않고 이물질 등 장애물이 존재할 수 있다. 따라서, 거친 골조 바닥면을 안정적으로 주행하고, 먹매김 작업의 오차를 줄이기 위해 완충장치가 추가적으로 포함될 수 있다. The driving unit 140 is a part that controls a moving path for performing an eating operation, and may include wheels, a motor, and a shock absorber. In order for the automatic construction device 100 for frame construction to run on the bottom surface of the frame, a motor and wheels, which are power transmission devices that convert electrical energy into kinetic energy, are required. In addition, since the building frame work is before the pillars, walls, and roofs of the building are formed and are not finished, the surface of the frame floor is not flat and obstacles such as foreign substances may exist. Therefore, a shock absorber may be additionally included in order to stably drive on the rough framed bottom surface and reduce an error in the feeding operation.
철근 피복 두께 측정부(150)는 먹매김 작업의 마킹 오차를 보정하기 위해 작업 영역 내에 설치된 철근의 피복 두께를 측정하는 역할을 수행한다. 이를 위해 라이다(LIDAR) 센서, 비전(VISION) 센서 및 광센서 중 적어도 하나를 포함할 수 있다. 이러한 센서를 이용하여 골조 바닥면 위로 노출된 철근부와 마킹부와의 거리를 인식할 수 있고, 장애물이 존재하는 경우에는 장애물을 인식할 수 있으며, 골조 바닥면이 평평하지 않은 경우에는 기울어진 정도도 인식할 수 있다. The reinforcing bar coating thickness measuring unit 150 serves to measure the coating thickness of the reinforcing bars installed in the work area in order to correct the marking error of the feeding operation. To this end, at least one of a LIDAR sensor, a VISION sensor, and an optical sensor may be included. Using these sensors, it is possible to recognize the distance between the rebar part exposed on the bottom of the frame and the marking part, and if there is an obstacle, it can be recognized, and if the bottom of the frame is not flat, the degree of tilt can also be recognized.
마킹부(160)는 골조 바닥면으로부터 이격하여 먹선을 비접촉식으로 표시하는 역할을 수행한다. 마킹부(160)의 구체적인 구성에 대해서는 도 3을 참조로 상세히 후술한다.The marking unit 160 serves to mark ink lines in a non-contact manner by being spaced apart from the bottom surface of the frame. A specific configuration of the marking unit 160 will be described later in detail with reference to FIG. 3 .
시공 제어부(170)는 먹매김 공정을 위한 주행부(140) 제어, 철근 피복 두께 측정부(150) 제어, 마킹부(160) 제어를 수행할 수 있다. 시공 제어부(170)의 구체적인 제어 기능에 대해서는 도 5를 참조로 상세히 후술한다. The construction control unit 170 may control the driving unit 140 for the feeding process, control the reinforcing bar coating thickness measurement unit 150, and control the marking unit 160. A specific control function of the construction control unit 170 will be described later in detail with reference to FIG. 5 .
도 3은 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공장치(100) 마킹부(160)의 구성을 나타내는 도면이다.3 is a view showing the configuration of the marking unit 160 of the automatic construction apparatus 100 for frame construction according to an embodiment of the present invention.
도 3에 도시된 마킹부(160)는 비접촉식 프린터 헤드(161), 헤드 조절 모듈(162), 엑츄에이터(163) 및 분사거리 유지 모듈(164)을 포함할 수 있다.The marking unit 160 shown in FIG. 3 may include a non-contact printer head 161, a head control module 162, an actuator 163, and a spray distance maintenance module 164.
상기 비접촉식 프린터 헤드(161)는 골조 바닥면에 접촉하여 마킹을 하는 구성이 아닌 골조 바닥면과 일정거리 이격하여 내부에 삽입된 잉크 카트리지로부터 직접 분사할 수 있는 구성이다. 이와 같이 프린터 헤드(161)를 비접촉식으로 하는 이유는, 건축물 골조공사 단계에서는 골조 바닥면이 평평하지 않고 골조 바닥면 상에 이물질이 많기 때문에 프린터 헤드를 접촉식으로 하면 헤드가 막히거나 충돌로 인해 잦은 고장이 일어날 수 있기 때문이다. 비접촉식 프린터 헤드(161)는 골조 바닥면과 접촉하지 않기 때문에 골조 바닥면이 가지는 부정적인 영향을 최소화하면서 먹선을 마킹할 수 있다. 이 비접촉식 프린터 헤드(161)는 일정 길이를 갖는 헤드 조절 모듈(162) 내부를 왕복운동하면서 일정길이만큼 먹선을 긋는 방식으로 작동된다.The non-contact type printer head 161 is not configured to make marking by contacting the bottom surface of the frame, but is configured to be spaced apart from the bottom surface of the frame by a certain distance and directly eject from an ink cartridge inserted therein. The reason why the printer head 161 is non-contact type is that the bottom surface of the frame is not flat and there are many foreign substances on the bottom surface of the frame in the building frame construction stage. Because failures can happen. Since the non-contact type printer head 161 does not contact the bottom surface of the frame, it is possible to mark ink lines while minimizing negative effects of the bottom surface of the frame. The non-contact type printer head 161 is operated in such a way as to draw ink lines of a certain length while reciprocating inside the head control module 162 having a certain length.
상기 헤드 조절 모듈(162)은 내부에 비접촉식 프린터 헤드(161)를 수용하고 방향 조절 및 이동이 가능하도록 해준다. 비접촉식 프린터 헤드(161)는 헤드 조절모듈(162)의 일측에 수용되고 내부에서 엑츄에이터(163)에 의해 헤드 조절 모듈(162)의 장방향으로 왕복운동이 가능하다. 또한, 헤드 조절 모듈(162)은 골조공사용 먹매김 자동시공장치(100)의 본체와 엑츄에이터(163)를 통해 연결되어 방향 조절 및 이동이 가능하다.The head control module 162 accommodates the non-contact type printer head 161 therein and enables direction control and movement. The non-contact type printer head 161 is accommodated on one side of the head control module 162 and can be reciprocated in the longitudinal direction of the head control module 162 by an actuator 163 therein. In addition, the head control module 162 is connected to the main body of the automatic construction device 100 for frame construction through an actuator 163, so that direction control and movement are possible.
상기 엑츄에이터(163)는 비접촉식 프린터 헤드(161) 및 헤드 조절 모듈(162)의 방향 조절 및 이동이 가능하도록 해준다. 엑츄에이터(163)가 동작함에 따라 그와 연결된 헤드 조절 모듈(162)이 골조공사용 먹매김 자동시공장치(100)의 본체와 멀어지거나 가까워질 수 있고, 헤드 조절 모듈(162)이 회전하도록 할 수 있다. 헤드 조절 모듈(162) 내부의 비접촉식 프린터 헤드(161)도 엑츄에이터(163)를 통해 왕복운동을 할 수 있다.The actuator 163 enables direction control and movement of the non-contact type printer head 161 and the head control module 162 . As the actuator 163 operates, the head control module 162 connected therewith can move away from or get closer to the main body of the automatic feeding device 100 for frame construction, and the head control module 162 can be rotated. . The non-contact type printer head 161 inside the head control module 162 can also reciprocate through the actuator 163.
상기 분사거리 유지 모듈(164)은 비접촉식 프린터 헤드(161)가 골조 바닥면으로부터 일정한 이격거리를 유지하도록 할 수 있는데, 그로부터 먹매김 작업시 생성되는 먹선의 편차 및 번짐을 최소화할 수 있다. The spraying distance maintenance module 164 can keep the non-contact type printer head 161 a certain distance from the bottom surface of the frame, thereby minimizing the deviation and smearing of ink lines generated during the inking operation.
도 4는 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공장치(100)의 헤드 조절 모듈(162)이 이동 및 회전하는 것을 나타내는 도면이다.4 is a view showing that the head control module 162 of the automatic construction apparatus 100 for frame construction according to an embodiment of the present invention moves and rotates.
헤드 조절 모듈(162)은 엑츄에이터(163)의 신장운동을 통해 연장 및 단축될 수 있고, 회전 운동을 통해 좌우로 회전할 수 있다. 기존의 먹매김 자동시공장치들이 고정식 마킹부를 사용함에 따라 일정범위 내에 장애물이 존재하는 경우 먹매김 작업이 불가한 한계를 가지고 있는 반면, 본 발명의 골조공사용 먹매김 자동시공장치(100)는 헤드 조절 모듈(162)이 이동 및 회전할 수 있게 함으로써 이와 같은 한계를 극복할 수 있다. 또한, 이를 통해 더 정밀한 먹매김 작업을 수행할 수 있다. The head adjustment module 162 can be extended and shortened through the extension motion of the actuator 163, and can rotate left and right through the rotation motion. Existing automatic feeding construction devices use a fixed marking unit and have limitations in that feeding work cannot be performed when an obstacle exists within a certain range, whereas the automatic feeding work device 100 for frame construction of the present invention adjusts the head This limitation can be overcome by allowing the module 162 to move and rotate. In addition, through this, a more precise eating operation can be performed.
도 5는 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공장치(100)를 구성하는 시공 제어부(170)의 기능을 나타내는 도면이다.5 is a view showing the function of the construction control unit 170 constituting the automatic construction apparatus 100 for frame construction according to an embodiment of the present invention.
시공 제어부(170)는 크게 3가지 제어 기능, 다시 말해 주행부(140) 제어, 철근 피복 두께 측정부(150) 제어, 마킹부(160) 제어 등을 수행한다.The construction control unit 170 largely performs three control functions, that is, control of the traveling unit 140, control of the reinforcing bar coating thickness measurement unit 150, control of the marking unit 160, and the like.
상기 주행부(140) 제어는 먹매김 작업을 수행하기 위한 이동 경로를 제어하는 것이다. 일 실시예로 시공 제어부(170)는 골조공사 먹매김 자동시공장치(100)가 작업 시작위치로 이동하기 위해 주행부(140)를 제어할 수 있다. 시공 제어부(170)는 미리 결정된 작업의 시작위치인 초기 기준점으로 이동하기 위해 주행부(140)를 제어하여 초기 기준점으로 골조공사용 먹매김 자동시공장치(100)를 이동시킨다. 또한, 작업 위치에 보정이 필요한 경우, 시공 제어부(170)는 보정된 작업의 시작위치인 보정 기준점으로 이동하기 위해 주행부(140)를 제어할 수도 있다.The control of the driving unit 140 is to control a moving path for performing an eating task. In one embodiment, the construction control unit 170 may control the driving unit 140 so that the automatic construction apparatus 100 for framing work is moved to the work start position. The construction control unit 170 controls the driving unit 140 to move to the initial reference point, which is the starting position of the predetermined work, to move the automatic construction device 100 for frame construction to the initial reference point. In addition, when the work position needs correction, the construction control unit 170 may control the driving unit 140 to move to the correction reference point, which is the start position of the corrected work.
상기 철근 피복 두께 측정부(150) 제어는 먹매김 공정의 마킹 오차를 보정하기 위해 작업 영역 내에 설치된 철근의 피복 두께를 측정하도록 제어하는 것이다. 시공 제어부(170)는 철근 피복 두께 측정부(150)를 제어하여 골조 바닥면 위로 돌출되어 있는 이음 철근을 인식하고 먹도면 상의 먹선을 그을 자리와의 거리를 계산할 수 있다. 또한, 시공 제어부(170)는 철근 피복 두께 측정부(150)를 제어하여 골조 바닥면 상에 장애물이나 요철이 있는지를 측정할 수 있고, 기울기도 측정할 수 있다.The control of the reinforcing bar coating thickness measuring unit 150 is to measure the coating thickness of the reinforcing bars installed in the work area in order to correct the marking error of the feeding process. The construction control unit 170 may control the reinforcing bar coating thickness measurement unit 150 to recognize the joint reinforcing bars protruding above the frame bottom surface and calculate the distance to the spot where the ink line is to be drawn on the drawing surface. In addition, the construction control unit 170 may control the reinforcement coating thickness measurement unit 150 to measure whether there are obstacles or irregularities on the bottom surface of the frame, and may also measure the slope.
상기 마킹부(160) 제어는 먹매김 작업을 수행하기 위해 골조 바닥면 상에 먹선을 비접촉식으로 표시하도록 제어하는 것이다. 시공 제어부(170)는 먹매김 작업위치와 작업방향이 확정되면 마킹부(160)를 제어하여 비접촉식으로 먹매김 작업을 수행할 수 있다. 마킹부(160) 제어를 통한 비접촉식 먹매김 작업의 수행 결과물인 먹선은 반드시 실선으로 표시되어야 하는 것은 아니므로 점선 등 다른 방식으로 표시되는 것도 포함될 수 있다. The control of the marking unit 160 controls to display ink lines on the bottom surface of the frame in a non-contact manner in order to perform an eating operation. The construction control unit 170 may control the marking unit 160 to perform a non-contact feeding operation when the feeding operation position and working direction are determined. Since the ink line, which is the result of performing the non-contact eating operation through the control of the marking unit 160, is not necessarily displayed as a solid line, it may also be displayed in other ways such as a dotted line.
도 6은 본 발명의 일 실시예에 따른 골조공사용 먹매김 자동시공방법을 수행하는 전체 시스템을 나타내는 도면이다.Figure 6 is a view showing the entire system for performing the automatic construction method for frame construction according to an embodiment of the present invention.
골조공사용 먹매김 자동시공방법은 골조공사용 먹매김 자동시공장치(100), 현장제어장치(200), 관리플랫폼(300)을 포함한 시스템을 통해 구현될 수 있다.The automatic construction method for frame construction using eating may be implemented through a system including an automatic construction device for framework construction using eating and feeding (100), an on-site control device (200), and a management platform (300).
골조공사용 먹매김 자동시공장치(100), 현장제어장치(200) 및 관리플랫폼(300)은 네트워크를 통해 연결될 수 있다. 여기서 네트워크는 통신 방식이 제한되지 않으며, 네트워크가 포함할 수 있는 통신망(일례로, 이동통신망, 유선 인터넷, 무선 인터넷, 방송망)을 활용하는 통신 방식뿐만 아니라 근거리 무선 통신 역시 포함될 수 있다.The automatic construction apparatus 100 for eating frame construction, the field control apparatus 200 and the management platform 300 may be connected through a network. Here, the network is not limited in communication method, and may include not only a communication method utilizing a communication network (eg, mobile communication network, wired Internet, wireless Internet, broadcasting network) that the network may include, but also short-range wireless communication.
현장제어장치(200)는 메인 제어부(210) 및 외부 측정부(220)를 포함할 수 있다.The field control device 200 may include a main control unit 210 and an external measurement unit 220.
현장제어장치(200) 중 메인 제어부(210)는 컴퓨터 장치로 구현되는 고정형 단말이거나 이동형 단말일 수 있다. 일례로, 메인 제어부(210)는 스마트폰(smart phone), 휴대폰, 태블릿 PC, 컴퓨터, 노트북, PDA(Personal Digital Assistants) 등을 포함할 수 있다. 이와 같은 메인 제어부(210)는 사용자에 의해 사용될 수 있다. Among the field control devices 200, the main control unit 210 may be a fixed terminal implemented as a computer device or a mobile terminal. As an example, the main controller 210 may include a smart phone, a mobile phone, a tablet PC, a computer, a laptop computer, and personal digital assistants (PDAs). Such a main controller 210 may be used by a user.
현장제어장치(200) 중 외부 측정부(220)는 골조공사용 먹매김 자동시공장치(100)의 위치정보를 계산할 수 있고 실시간으로 위치정보를 송수신할 수 있는 장치를 말한다.Of the site control device 200, the external measuring unit 220 refers to a device capable of calculating location information of the automatic construction device 100 for frame construction and transmitting and receiving location information in real time.
관리플랫폼(300)은 관리플랫폼으로의 역할을 할 수 있는 서버 또는 컴퓨터 장치로 구현되는 고정형 단말이거나 이동형 단말일 수 있다. 일례로, 관리플랫폼(300)은 스마트폰(smart phone), 휴대폰, 태블릿 PC, 컴퓨터, 노트북, PDA(Personal Digital Assistants) 등을 포함할 수 있다. 이와 같은 관리플랫폼(300)은 사용자에 의해 사용될 수 있으며 먹도면 모델링을 위한 프로그램 및 골조공사용 먹매김 자동시공장치(100)의 이동경로를 생성하기 위한 프로그램이 저장 및 실행될 수 있다. 먹도면 모델링을 위한 프로그램으로는 BIM 및 CAD 등이 있을 수 있다. 또한, 관리플랫폼(300)에는 건물의 구조부별 피복두께 및 보정가능 오차에 대한 정보로서 건물 구조부의 이미지 정보, 그래픽 정보 및 벽이나 기둥의 피복 두께에 관한 정보가 입력되어 먹매김 공정 수행시 사용할 수 있다. The management platform 300 may be a fixed terminal or a mobile terminal implemented as a server or a computer device capable of serving as a management platform. As an example, the management platform 300 may include a smart phone, a mobile phone, a tablet PC, a computer, a laptop computer, and personal digital assistants (PDAs). Such a management platform 300 can be used by a user, and a program for modeling a drawing surface and a program for generating a movement path of the automatic construction apparatus 100 for frame construction can be stored and executed. Programs for surface modeling may include BIM and CAD. In addition, the management platform 300 inputs image information, graphic information, and information on the covering thickness of walls or columns as information on the covering thickness and correctable error of each structural part of the building, so that it can be used when performing the eating process. there is.
도 7은 본 발명의 골조공사용 먹매김 자동시공방법의 순서도이다.Figure 7 is a flow chart of the automatic construction method for frame construction use of the present invention.
이하, 본 발명의 골조공사용 먹매김 자동시공방법을 구성하는 단계에 대해 설명한다.Hereinafter, the steps of configuring the automatic construction method for frame construction of the present invention will be described.
a) 단계는 현장제어장치(200)의 메인 제어부(210)가 제1 기준점으로 골조공사용 먹매김 자동시공장치(100)를 이동하도록 지시하는 단계(S700)이다. 구체적으로 상기 단계 이전에 관리플랫폼(300)에서 먹도면 모델링 프로그램 및 골조공사용 먹매김 자동시공장치(100) 이동경로 최적화 프로그램을 통해 먹도면 및 이동경로에 대한 정보를 생성한다. 예를 들어, 먹도면 모델링 작업은 골조도면에서 먹매김을 위한 벽체 및 기둥 레이어를 추출하고 구조부(벽, 기둥 등)별 피복두께 및 보정가능한 오차에 대한 정보를 입력하여 먹매김할 선을 생성하는 작업이다. 골조공사용 먹매김 자동시공장치(100)의 이동경로를 최적화하는 작업은 골조공사용 먹매김 자동시공장치(100)의 크기, 회전반경, 먹매김 위치간격, 장애물(철근, 슬리브 등) 등의 수치를 입력하여 골조공조용 먹매김 자동시공장치(100)의 이동 좌표를 변환하고 최적의 이동경로를 생성하는 작업이다. Step a) is a step (S700) instructing the main controller 210 of the field control device 200 to move the automatic construction device 100 for frame construction to a first reference point. Specifically, before the above step, the management platform 300 generates information about the black surface and the movement path through a black surface modeling program and a movement path optimization program of the automatic automatic construction device 100 for frame construction. For example, the black drawing modeling task extracts the wall and column layers for interlacing from the frame drawing and inputs information on the cover thickness and correctable errors for each structural part (wall, column, etc.) to create a line to be interlaced. It is work. The task of optimizing the movement path of the automatic meshing construction device 100 for frame construction is to determine the size, radius of rotation, spacing of interlocking positions, and obstacles (reinforcing bars, sleeves, etc.) This is a task of converting the movement coordinates of the automatic construction device 100 for structural air conditioning by inputting and generating an optimal movement path.
그 후 관리플랫폼(300)이 현장제어장치(200)의 메인 제어부(210)에게 네트워크를 통해 먹도면 및 이동경로에 대한 정보를 전송한다. 다만, 이러한 작업은 반드시 관리플랫폼(300)에서만 수행되어야 하는 것은 아니고 경우에 따라 현장제어장치(200)의 메인 제어부(210)가 관리플랫폼(300)이 수행하는 작업도 수행할 수 있다.After that, the management platform 300 transmits information on the drawing surface and the movement path to the main control unit 210 of the field control device 200 through a network. However, these operations do not necessarily have to be performed only in the management platform 300, and in some cases, the main control unit 210 of the field control device 200 may also perform the operations performed by the management platform 300.
현장제어장치(200)의 메인 제어부(210)는 수신한 정보를 바탕으로 작업을 시작할 위치인 초기 기준점을 설정하고 도면 현장을 매핑하여 작업의 시작위치인 초기 기준점과 현장에서의 골조공사용 먹매김 자동시공장치(100)의 경로를 결정한다. 이후에 현장제어장치(200)의 메인 제어부(210)가 초기 기준점으로 골조공사용 먹매김 자동시공장치(100)를 이동하도록 지시하게 된다. 이동지시를 받은 골조공사용 먹매김 자동시공장치(100)는 작업 시작위치인 초기 기준점으로 이동한다.The main control unit 210 of the field control device 200 sets an initial reference point, which is the position to start the work based on the received information, and maps the drawing site to automatically match the initial reference point, which is the starting position of the work, for frame construction at the site. The path of the construction device 100 is determined. Thereafter, the main control unit 210 of the field control device 200 instructs the automatic construction device 100 for frame construction to be moved to the initial reference point. The automatic construction apparatus 100 for frame construction receiving the movement instruction moves to the initial reference point, which is the work start position.
b) 단계는 골조공사용 먹매김 자동시공장치(100)가 초기 기준점으로 이동하여 정지하면 현장제어장치(200)의 메인 제어부(210)가 골조공사 먹매김 자동시공장치(100)의 위치를 재계산하는 단계(S701)이다. 구체적으로 현장제어장치(200)의 외부 측정부(220)는 골조공사용 먹매김 자동시공장치(100)의 반사부(130)와의 사이에서 반사되는 빛의 파장과 시간, 그리고 수평각, 수직각을 활용하여 골조공사용 먹매김 자동시공장치(100)의 위치를 계산할 수 있다. 이와 같은 방식을 지속적으로 반복하여 현장제어장치(200)의 외부 측정부(220)는 골조공사용 먹매김 자동시공장치(100)의 위치를 실시간으로 계산할 수 있다. 이후, 현장제어장치(200)의 외부 측정부(220)는 네트워크를 통해 현장제어장치(200)의 메인 제어부(210)에 골조공사용 먹매김 자동시공장치(100)의 위치에 대한 정보를 제공한다. 현장제어장치(200)의 메인 제어부(210)는 제공받은 위치에 대한 정보를 통해 골조공사용 먹매김 자동시공장치(100)가 초기 기준점에 정확히 위치했는지를 재계산할 수 있다. In step b), when the automatic construction device 100 for frame construction moves to the initial reference point and stops, the main control unit 210 of the site control device 200 recalculates the position of the automatic construction device 100 for frame construction work. It is a step (S701) of doing. Specifically, the external measurement unit 220 of the field control device 200 utilizes the wavelength and time of light reflected between the reflector 130 of the automatic construction device 100 for frame construction, and the horizontal angle and vertical angle. It is possible to calculate the position of the automatic construction device 100 for frame construction. By continuously repeating this method, the external measuring unit 220 of the field control device 200 can calculate the position of the automatic construction device 100 for frame construction in real time. Thereafter, the external measurement unit 220 of the field control device 200 provides information on the location of the automatic construction device 100 for frame construction to the main control unit 210 of the field control device 200 through the network. . The main controller 210 of the site control device 200 may recalculate whether the automatic construction device 100 for frame construction is accurately positioned at the initial reference point through the information on the received position.
c) 단계는 골조공사 먹매김 자동시공장치(100)가 철근의 피복 두께를 측정하는 단계(S702)이다. 구체적으로 골조공사용 먹매김 자동시공장치(100)가 작업 시작위치에 도착한 후, 철근 피복 두께 측정부(150)의 센서를 통해 철근 피복 두께를 측정한다. 철근 피복 두께 측정부(150)의 센서는 라이다(LIDAR) 센서, 비전(VISION) 센서 및 광센서 중 적어도 하나를 포함한다. 철근 피복 두께 측정부(150)는 골조 바닥면 위로 돌출되어 있는 이음 철근을 인식할 수 있고, 시공 제어부(170)는 먹도면 상의 먹매김 선을 그을 자리와 철근 피복 두께 측정부(150)가 인식한 이음 철근과의 거리를 계산할 수 있다. 이후, 철근 피복 두께 측정결과는 통신부를 통해 현장제어장치(200)의 메인 제어부(210)에게 전송될 수 있다. Step c) is a step (S702) in which the automatic construction apparatus 100 for framing work measures the coating thickness of the reinforcing bars. Specifically, after the automatic construction apparatus 100 for frame construction arrives at the work start position, the reinforcement coating thickness is measured through the sensor of the reinforcement coating thickness measuring unit 150. The sensor of the reinforcement coating thickness measuring unit 150 includes at least one of a LIDAR sensor, a VISION sensor, and an optical sensor. The reinforcing bar coating thickness measuring unit 150 can recognize the joint reinforcing bars protruding above the bottom surface of the frame, and the construction control unit 170 recognizes the position to draw the interlocking line on the drawing surface and the reinforcing bar coating thickness measuring unit 150 You can calculate the distance from one joint bar to another. Thereafter, the result of measuring the thickness of the reinforcing bar may be transmitted to the main control unit 210 of the field control device 200 through the communication unit.
d) 단계는 현장제어장치(200)의 메인 제어부(210)가 철근 피복 두께 측정결과를 수신하여 미리 정해진 먹선보정조건을 만족하는지 여부를 판단하는 단계(S703)이다. 구체적으로 먹선보정조건은 먹도면을 모델링하는 단계에서 미리 입력된 구조부별 피복 두께 및 보정가능한 오차에 대한 정보에 의해 결정된다. 예를 들어, 기둥의 피복 두께가 30mm이고 보정가능한 오차가 10mm라고 입력했다면, 현장제어장치(200)의 메인 제어부(210)가 수신한 철근의 피복 두께 측정결과가 20~40mm 범위내인 경우 먹선보정조건을 만족하지 않는 것으로 판단한다. 여기서, 먹선보정조건을 만족하지 않는다는 것은 보정 외의 작업을 곧바로 수행할 수 있다는 것을 의미한다. 이 경우에 하기 h) 단계부터 수행한다.Step d) is a step in which the main control unit 210 of the field control device 200 receives the result of measuring the thickness of the reinforcing bar and determines whether or not a pre-determined food line correction condition is satisfied (S703). Specifically, the ink line correction condition is determined by information about the coating thickness and correctable error for each structural part input in advance in the step of modeling the ink drawing surface. For example, if the column's covering thickness is 30 mm and the correctionable error is 10 mm, the main control unit 210 of the field control device 200 receives the measurement result of the coating thickness of the reinforcing bars in the range of 20 to 40 mm. It is judged that the correction condition is not satisfied. Here, not satisfying the food line correction condition means that work other than correction can be performed immediately. In this case, the following step h) is performed.
e) 단계는 먹선보정조건이 만족하면, 현장제어장치(200)의 메인 제어부(210)가 골조공사용 먹매김 자동시공장치(100)를 보정된 보정 기준점으로 이동시키는 단계(S704)이다. 예를 들어, 기둥의 피복 두께가 30mm이고 보정가능한 오차가 10mm라고 입력했다면, 현장제어장치(200)의 메인 제어부(210)가 수신한 철근의 피복 두께 측정결과가 20mm 미만이거나 40mm를 초과한다면 먹선보정조건을 만족하는 것으로 판단한다. 이와 같이 철근의 피복 두께 측정결과가 오차범위를 벗어나 먹선보정조건을 만족하는 경우, 현장제어장치(200)의 메인 제어부(210)가 오차범위 내의 새로운 작업 시작위치를 계산하여 기준점을 보정한다. 이후 현장제어장치(200)의 메인 제어부(210)가 골조공사용 먹매김 자동시공장치(100)에게 보정된 보정 기준점으로 이동하라는 지시를 내릴 수 있다.Step e) is a step (S704) in which the main control unit 210 of the field control device 200 moves the automatic construction device 100 for frame construction to the corrected correction reference point when the eating line correction condition is satisfied. For example, if the column's covering thickness is 30mm and the correctionable error is 10mm, if the main control unit 210 of the field control device 200 receives the measurement result of the coating thickness of the reinforcing bar is less than 20mm or exceeds 40mm, the black line It is judged that the correction condition is satisfied. In this way, when the result of measuring the coating thickness of the reinforcing bar is out of the error range and satisfies the line correction condition, the main control unit 210 of the field control device 200 calculates a new work start position within the error range and corrects the reference point. Then, the main control unit 210 of the field control device 200 may instruct the automatic construction device 100 for frame construction to move to the calibrated reference point.
f) 단계는 골조공사용 먹매김 자동시공장치(100)가 이동한 위치 및 방향에 대한 정보를 현장제어장치(200)의 메인 제어부(210)에 전송하는 단계(S705)이다. 구체적으로 이동 지시를 받은 골조공사용 먹매김 자동시공장치(100)가 이동한 위치 및 방향에 대한 정보를 현장제어장치(200)의 메인 제어부(210)에 전송하는 것이다. 골조공사용 먹매김 자동시공장치(100)와 현장제어장치(200)의 외부 측정부(220)는 빛의 파장과 시간, 그리고 수평각, 수직각을 활용하여 이동한 위치 및 방향에 대한 정보를 얻을 수 있고, 현장제어장치(200)의 메인 제어부(210)에 전송할 수 있다. Step f) is a step (S705) of transmitting information about the location and direction of the movement of the automatic construction apparatus 100 for frame construction to the main control unit 210 of the field control apparatus 200. Specifically, information on the position and direction of the movement of the automatic construction apparatus 100 for frame construction receiving a movement instruction is transmitted to the main control unit 210 of the field control apparatus 200. The automatic construction device 100 for frame construction and the external measurement unit 220 of the field control device 200 can obtain information on the moved position and direction by using the wavelength and time of light, and the horizontal and vertical angles. Yes, it can be transmitted to the main control unit 210 of the field control device 200.
g) 단계는 현장제어장치(200)의 메인 제어부(210)가 골조공사용 먹매김 자동시공장치(100)의 위치 및 방향에 대한 오차를 보정하는 단계(S706)이다. 구체적으로 현장제어장치(200)의 메인 제어부(210)는 보정된 보정 기준점과 골조공사용 먹매김 자동시공장치(100)가 이동한 위치 및 방향에 대한 정보를 비교하여 오차를 보정할 수 있다. 골조공사용 먹매김 자동시공장치(100)의 먹매김 공정의 시작위치 및 방향에 발생한 오차는 작업 종료위치에 가까워질수록 커지기 때문에 작업 시작위치 및 방향에 발생한 오차를 최대한 보정하는 것이다. 이때 골조공사용 먹매김 자동시공장치(100)의 시공 제어부(170)는 마킹부(160)의 이동을 제어하여 오차보정 전에 먹매김 작업을 시작하지 않도록 한다. 오차가 없거나 보정되었다고 판단되면, 현장제어장치(200)의 메인 제어부(210)는 골조공사용 먹매김 자동시공장치(100)에게 먹매김 작업을 수행하라는 지시를 내릴 수 있다.Step g) is a step (S706) in which the main control unit 210 of the field control device 200 corrects an error in the position and direction of the automatic construction device 100 for frame construction. Specifically, the main control unit 210 of the field control device 200 may correct the error by comparing the corrected correction reference point and the information on the position and direction in which the automatic construction device 100 for frame construction has moved. Since the error generated in the starting position and direction of the feeding process of the automatic meshing construction device 100 for frame construction increases as the work end position approaches, the error generated in the work start position and direction is corrected as much as possible. At this time, the construction control unit 170 of the automatic feeding system for frame construction 100 controls the movement of the marking unit 160 so as not to start the feeding operation before error correction. If it is determined that there is no error or has been corrected, the main control unit 210 of the field control device 200 may give instructions to the automatic construction device 100 for feeding the frame construction to perform the feeding operation.
h) 단계는 골조공사용 먹매김 자동시공장치(100)가 먹매김 작업을 수행하고 작업결과를 현장제어장치(200)의 메인 제어부(210)에 전송하는 단계(S707)이다. 이 단계는 상기 d) 단계의 판단결과, 먹선보정조건을 만족하지 않는 경우에 곧바로 실행되고, 먹선보정조건을 만족하지 않는 경우 상술한 e) 내지 g) 단계를 수행 후 실행될 수 있다.Step h) is a step (S707) in which the automatic meshing construction device 100 for frame construction performs a meshing operation and transmits the operation result to the main control unit 210 of the field control device 200. As a result of the determination in step d), this step is executed immediately when the food line correction condition is not satisfied, and when the food line correction condition is not satisfied, it may be executed after performing the above-described steps e) to g).
구체적으로 골조공사용 먹매김 자동시공장치(100)가 먹매김 작업을 수행할 때에는 시공 제어부(170)가 주행부(140)를 통해 주행을 제어한다. 시공 제어부(170)는 철근 피복 두께 측정부(150)를 제어하여 작업 중 골조 바닥면 상의 장애물이나 요철 등을 인식할 수 있다. 또한, 시공 제어부(170)는 마킹부(160)를 제어하여 먹선을 표시할 수 있다. 이때, 먹선이 반드시 실선으로 표시되어야 하는 것은 아니므로 점선 등 여러가지 방식으로 표시될 수 있다. 먹매김 작업이 완료된 경우에는 골조공사용 먹매김 자동시공장치(100)가 수행한 작업결과를 현장제어장치(200)의 메인 제어부(210)에 전송한다.Specifically, when the automatic construction apparatus 100 for frame construction performs an interlocking operation, the construction control unit 170 controls the driving through the driving unit 140. The construction control unit 170 controls the reinforcement coating thickness measurement unit 150 to recognize obstacles or irregularities on the bottom surface of the frame during work. Also, the construction control unit 170 may control the marking unit 160 to display ink lines. At this time, since the ink line is not necessarily displayed as a solid line, it may be displayed in various ways such as a dotted line. When the feeding work is completed, the work result performed by the automatic feeding work device 100 for frame construction is transmitted to the main control unit 210 of the site control device 200.
i) 단계는 현장제어장치(200)의 메인 제어부(210)가 작업결과를 기록하고 작업정상여부를 판단하는 단계(S708)이다. 구체적으로 현장제어장치(200)의 메인 제어부(210)는 골조공사용 먹매김 자동시공장치(100)로부터 전송받은 작업결과를 기록하여 저장한다. 현장제어장치(200)의 메인 제어부(210)는 전송받은 작업결과로부터 먹매김 작업이 정상완료되었는지 판단한다. 제1 제어부(210)는 작업결과데이터를 통해 작업위치로 제대로 이동했는지와 먹선을 제대로 표시하였는지를 검사하여 작업정상완료여부를 판단한다.Step i) is a step (S708) in which the main controller 210 of the field control device 200 records the work result and determines whether the work is normal. Specifically, the main control unit 210 of the field control device 200 records and stores the work results received from the automatic construction device 100 for frame construction. The main control unit 210 of the field control device 200 determines whether the feeding operation has been normally completed based on the received operation result. The first control unit 210 determines whether the work is normally completed by inspecting whether the work has been properly moved to the work position and whether the ink lines have been properly displayed through the work result data.
j) 단계는 현장제어장치(200)의 메인 제어부(210)가 먹매김 작업이 완료되었는지 여부를 판단하는 단계(S709)이다. 구체적으로 현장제어장치(200)의 메인 제어부(210)가 전체 먹매김 작업이 완료되었다고 판단하면 k) 단계를 수행한다. 현장제어장치(200)의 메인 제어부(210)가 전체 먹매김 작업이 완료되지 않았다고 판단하면, 상기 b) 단계로 되돌아가 전체 먹매김 작업이 완료되었다고 판단할 때까지 b) 내지 j) 단계를 반복 수행한다.Step j) is a step (S709) in which the main control unit 210 of the field control device 200 determines whether or not the feeding operation is completed. Specifically, when the main control unit 210 of the field control device 200 determines that the entire feeding operation is completed, step k) is performed. If the main control unit 210 of the field control device 200 determines that the entire feeding operation is not completed, it returns to step b) and repeats steps b) to j) until it is determined that the entire feeding operation is completed. carry out
k) 단계는 현장제어장치(200)의 메인 제어부(210)가 작업이 정상완료 되었다고 판단한 경우, 작업을 종료하고 관리플랫폼(300)에 작업결과를 전송하고, 작업이 비정상완료이면 오류결과 및 메시지를 생성하여 관리플랫폼(300)에 전송하는 단계(S710)이다. 구체적으로 현장제어장치(200)의 메인 제어부(210)가 작업이 비정상완료라고 판단한 경우에는 오류결과 및 오류메시지를 생성하여 관리플랫폼(300)에 전송할 수 있으며, 모든 단계가 처음부터 다시 진행되거나, 현장제어장치(200)의 메인 제어부(210)가 비정상완료된 부분에 대해서 골조공사용 먹매김 자동시공장치(100)에게 먹매김 작업을 수행하라는 지시를 내릴 수 있다.In step k), when the main controller 210 of the field control device 200 determines that the work has been completed normally, the work is terminated and the work result is transmitted to the management platform 300, and if the work is completed abnormally, an error result and message It is a step (S710) of generating and transmitting to the management platform (300). Specifically, when the main control unit 210 of the field control device 200 determines that the operation is abnormally completed, an error result and an error message can be generated and transmitted to the management platform 300, all steps are performed again from the beginning, The main control unit 210 of the field control device 200 may give instructions to perform the feeding operation to the automatic construction device 100 for the automatic feeding work for frame construction with respect to the abnormally completed part.
반면에 현장제어장치(200)의 메인 제어부(210)가 작업이 정상완료되었다고 판단한 경우에는 골조공사용 먹매김 자동시공장치(100)에게 작업을 종료하라는 지시를 내리게 된다. 그후 현장제어장치(200)의 메인 제어부(210)는 작업결과를 관리플랫폼에 전송할 수 있다. 상기 실시예에서는 현장제어장치(200)의 메인 제어부(210)와 관리플랫폼(300)을 구별하여 설명하였으나, 하나의 기기에서 현장제어장치(200)의 메인 제어부(210)와 관리플랫폼(300)의 역할을 모두 수행하는 경우를 배제하는 것은 아니다.On the other hand, when the main control unit 210 of the field control device 200 determines that the work is normally completed, it gives an instruction to the automatic construction device 100 for frame construction to end the work. After that, the main control unit 210 of the field control device 200 may transmit the work result to the management platform. In the above embodiment, the main control unit 210 and the management platform 300 of the field control device 200 are separately described, but the main control unit 210 and the management platform 300 of the field control device 200 in one device It does not exclude the case of performing all the roles of
l) 단계는 관리플랫폼(300)이 검측도면 및 검측보고서를 생성하는 단계(S711)이다. 상기 단계까지 완료되면 골조공사용 먹매김 공정이 완료된다. 구체적으로 관리플랫폼(300)은 a) 단계 이전에 모델링한 먹도면에 작업한 먹매김 위치를 매핑하여 검측도면을 생성할 수 있다. 또한, 관리플랫폼(300)은 상기 검측도면으로부터 자동으로 먹매김 검측결과에 대한 보고서를 생성할 수 있다. 기존의 먹매김 검측 단계는 관리자가 직접 현장을 방문하여 측정하고 검측도면 및 보고서를 생성하였으나 상기 단계와 같은 검측 자동화 단계를 통해 시간과 비용 및 인력을 절약할 수 있다. Step l) is a step (S711) of the management platform 300 generating a detection drawing and an detection report. When the above steps are completed, the process of eating frame construction is completed. In detail, the management platform 300 may generate an inspection drawing by mapping the working position of the ink drawing to the ink drawing surface modeled before step a). In addition, the management platform 300 may automatically generate a report on the detection result of eating from the detection drawing. In the existing detection step of eating, the manager directly visits the site to measure and generates a detection drawing and report, but time, cost and manpower can be saved through the same detection automation step.
본 발명의 각 실시예에 개시된 기술적 특징들은 해당 실시예에만 한정되는 것은 아니고, 서로 양립 불가능하지 않은 이상, 각 실시예에 개시된 기술적 특징들은 서로 다른 실시예에 병합되어 적용될 수 있다.The technical features disclosed in each embodiment of the present invention are not limited to the corresponding embodiment, and unless incompatible with each other, the technical features disclosed in each embodiment may be merged and applied to other embodiments.
따라서, 각 실시예에서는 각각의 기술적 특징을 위주로 설명하지만, 각 기술적 특징이 서로 양립 불가능하지 않은 이상, 서로 병합되어 적용될 수 있다.Therefore, in each embodiment, each technical feature is mainly described, but each technical feature may be merged and applied to each other unless incompatible with each other.
본 발명은 상술한 실시예 및 첨부한 도면에 한정되는 것은 아니며, 본 발명이 속하는 분야에서 통상의 지식을 가진 자의 관점에서 다양한 수정 및 변형이 가능할 것이다. 따라서 본 발명의 범위는 본 명세서의 청구범위뿐만 아니라 이 청구범위와 균등한 것들에 의해 정해져야 한다. The present invention is not limited to the above-described embodiments and accompanying drawings, and various modifications and variations will be possible from the viewpoint of those skilled in the art to which the present invention belongs. Therefore, the scope of the present invention should be defined by not only the claims of this specification but also those equivalent to these claims.
100 : 골조공사용 먹매김 자동시공장치100: automatic construction device for frame construction
200 : 현장제어장치200: field control device
300 : 관리플랫폼 300: management platform

Claims (10)

  1. 네트워크 상에 연결된 관리플랫폼 및 현장제어장치와 연동하여 건축물 골조공사 먹매김 공정을 수행하는 골조공사용 먹매김 자동시공장치에 있어서,In the automatic construction device for framing construction for performing the process of framing for building framing in conjunction with a management platform and on-site control device connected on a network,
    상기 먹매김 공정을 수행하기 위한 이동 경로를 제어하는 주행부;a traveling unit controlling a movement path for performing the eating process;
    상기 먹매김 공정에 필요한 작업 정보를 저장하는 저장부;a storage unit for storing work information required for the feeding process;
    상기 현장제어장치 중 외부 측정부로부터 조사되는 빛을 반사하여 상기 이동 경로 상의 위치를 추적할 수 있도록 해주는 반사부;a reflection unit that reflects light irradiated from an external measurement unit among the field control devices to track a location on the movement path;
    상기 현장제어장치 중 메인 제어부와 상기 먹매김 공정에 필요한 작업 정보를 송수신하는 통신부;A communication unit for transmitting and receiving work information necessary for the eating process with the main control unit of the on-site control device;
    상기 먹매김 공정의 마킹 오차를 보정하기 위해 작업 영역 내에 설치된 철근의 피복 두께를 측정하는 철근 피복 두께 측정부;a reinforcing bar coating thickness measuring unit for measuring the coating thickness of the reinforcing bars installed in the work area in order to correct the marking error of the feeding process;
    상기 먹매김 공정을 수행하기 위해 골조 바닥면 상에 먹선을 비접촉식으로 표시하는 마킹부; 및A marking unit for displaying an ink line on the bottom surface of the frame in a non-contact manner in order to perform the eating process; and
    상기 먹매김 공정을 위한 상기 주행부 제어, 상기 철근 피복 두께 측정부 제어, 상기 마킹부 제어를 수행하는 시공 제어부Construction control unit for controlling the driving unit for the feeding process, controlling the reinforcing bar coating thickness measuring unit, and controlling the marking unit
    를 포함하는 골조공사용 먹매김 자동시공장치.Eating automatic construction device for frame construction comprising a.
  2. 제1 항에 있어서,According to claim 1,
    상기 주행부는 평평하지 않은 상기 골조 바닥면에 대응할 수 있는 완충수단The driving part is a buffering means capable of responding to the non-flat bottom surface of the frame.
    을 포함하는 골조공사용 먹매김 자동시공장치.Eating automatic construction device for frame construction comprising a.
  3. 제1 항에 있어서,According to claim 1,
    상기 철근 피복 두께 측정부는 장애물 감지 및 상기 골조 바닥면의 기울기 측정하는 역할을 수행하는 것The reinforcement coating thickness measurement unit serves to detect obstacles and measure the slope of the bottom surface of the frame
    을 포함하는 골조공사용 먹매김 자동시공장치. Eating automatic construction device for frame construction comprising a.
  4. 제1 항에 있어서,According to claim 1,
    상기 마킹부는 The marking part
    잉크 카트리지가 삽입되어 직접 분사가 가능한 비접촉식 프린터 헤드;A non-contact printer head capable of direct injection into which an ink cartridge is inserted;
    상기 프린터 헤드를 수용하는 헤드 조절 모듈;a head control module accommodating the print head;
    상기 프린터 헤드 및 상기 헤드 조절부와 연결되어 동작하는 엑츄에이터; 및an actuator operating in connection with the print head and the head controller; and
    상기 프린터 헤드가 상기 골조 바닥면으로부터 일정한 이격거리를 유지하도록 하는 분사거리 유지 모듈A spraying distance maintenance module for maintaining the printer head at a constant distance from the bottom surface of the frame
    을 포함하는 골조공사용 먹매김 자동시공장치.Eating automatic construction device for frame construction comprising a.
  5. 제4 항에 있어서,According to claim 4,
    상기 헤드 조절 모듈은 이동 및 회전이 가능한 것The head control module is capable of moving and rotating
    을 포함하는 골조공사용 먹매김 자동시공장치.Eating automatic construction device for frame construction comprising a.
  6. 제1 항에 있어서,According to claim 1,
    상기 시공 제어부가The construction control unit
    작업 시작위치로 이동하기 위해 상기 주행부를 제어하고,Control the driving unit to move to the work start position,
    철근 피복 두께를 측정하도록 상기 철근 피복 두께 측정부를 제어하며,Control the reinforcing bar coating thickness measuring unit to measure the reinforcing bar coating thickness;
    먹매김 작업을 수행하도록 상기 마킹부를 제어하는 역할을 수행하는 것To perform a role of controlling the marking unit to perform an eating operation
    을 포함하는 골조공사용 먹매김 자동시공장치.Eating automatic construction device for frame construction comprising a.
  7. a) 현장제어장치의 메인 제어부가 초기 기준점으로 골조공사용 먹매김 자동시공장치를 이동하도록 지시하는 단계; a) instructing the main control unit of the field control device to move the automatic construction device for frame construction to an initial reference point;
    b) 상기 골조공사용 먹매김 자동시공장치가 상기 초기 기준점으로 이동하여 정지하면 상기 현장제어장치의 메인 제어부가 상기 골조공사용 먹매김 자동시공장치의 위치를 재계산하는 단계; b) recalculating, by the main control unit of the site control device, the position of the automatic construction device for frame construction when the automatic construction device for frame construction moves to the initial reference point and stops;
    c) 상기 골조공사용 먹매김 자동시공장치가 철근 피복 두께를 측정하는 단계; c) measuring the thickness of the reinforcing bar covering by the automatic construction device for framing;
    d) 상기 현장제어장치의 메인 제어부가 상기 철근 피복 두께 측정결과를 수신하여 미리 정해진 먹선보정조건을 만족하는지 여부를 판단하는 단계 - 상기 먹선보정조건은 미리 입력된 구조부별 피복 두께 및 보정가능한 오차 정보에 의해 결정됨 -; d) determining whether the main control unit of the field control device receives the result of measuring the thickness of the reinforcing bar coating and satisfies a pre-determined color correction condition - the color correction condition includes the previously input coating thickness of each structural part and correctable error information determined by -;
    h) 상기 먹선보정조건을 만족하지 않는 경우, 상기 골조공사용 먹매김 자동시공장치가 먹매김 작업을 수행하고 작업결과를 상기 현장제어장치의 메인 제어부에 전송하는 단계 h) if the eating line correction condition is not satisfied, the step of performing the feeding work by the automatic feeding device for frame construction and transmitting the work result to the main control unit of the site control device
    를 포함하는 골조공사용 먹매김 자동시공방법.Eating automatic construction method for framework construction comprising a.
  8. 제7 항에 있어서,According to claim 7,
    상기 d) 단계에서 먹선보정조건을 만족하는 경우에는 In the case of satisfying the food line correction condition in step d),
    e) 상기 현장제어장치의 메인 제어부가 상기 골조공사용 먹매김 자동시공장치를 보정된 보정 기준점으로 이동시키는 단계; e) the main control unit of the field control device moving the automatic construction device for frame construction to a calibrated reference point;
    f) 상기 골조공사용 먹매김 자동시공장치가 이동한 위치 및 방향에 대한 정보를 상기 현장제어장치의 메인 제어부에 전송하는 단계; f) transmitting information about the location and direction to which the automatic construction device for frame construction has moved to the main control unit of the site control device;
    g) 상기 현장제어장치의 메인 제어부가 상기 골조공사용 먹매김 자동시공장치의 위치 및 방향에 대한 오차를 보정하는 단계 g) the main control unit of the field control device correcting errors in the position and direction of the automatic construction device for frame construction
    를 더 수행하는 것을 포함하는 골조공사용 먹매김 자동시공방법.Eating automatic construction method for framework construction comprising further performing.
  9. 제7 항 또는 제8 항에 있어서,According to claim 7 or 8,
    i) 상기 현장제어장치의 메인 제어부가 작업결과를 기록하고 작업정상여부를 판단하는 단계; i) the main controller of the field control device recording the work result and determining whether the work is normal;
    j) 상기 현장제어장치의 메인 제어부가 먹매김 작업 완료 여부를 판단하는 단계; j) determining, by the main control unit of the on-site control device, whether the feeding operation is completed;
    k) 상기 j) 단계에서 먹매김 작업이 완료된 것으로 판단한 경우에는, 상기 현장제어장치의 메인 제어부가 작업이 정상완료되면 작업을 종료하고 관리플랫폼에 작업결과를 전송하고, 작업이 비정상완료이면 오류결과 및 메시지를 생성하여 상기 관리플랫폼에 전송하는 단계; 및 k) When it is determined that the feeding operation is completed in step j), the main control unit of the field control device terminates the operation and transmits the operation result to the management platform when the operation is completed normally, and an error result when the operation is abnormally completed. And generating a message and transmitting it to the management platform; and
    l) 상기 관리플랫폼이 검측도면 및 검측보고서를 생성하는 단계 l) the management platform generating an inspection drawing and an inspection report
    를 더 수행하는 것을 포함하는 골조공사용 먹매김 자동시공방법.Eating automatic construction method for framework construction comprising further performing.
  10. 제9 항에 있어서,According to claim 9,
    상기 j) 단계에서 상기 먹매김 작업이 완료되지 않았다고 판단되는 경우에는If it is determined that the feeding operation is not completed in step j),
    상기 b) 내지 j) 단계를 반복하여 수행하는 것Repeating steps b) to j)
    을 포함하는 골조공사용 먹매김 자동시공방법.Eating automatic construction method for frame construction comprising a.
PCT/KR2022/015942 2021-10-20 2022-10-19 Automatic construction device and automatic construction method for structural construction marking WO2023068799A1 (en)

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Citations (5)

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Publication number Priority date Publication date Assignee Title
JPH0611347A (en) * 1992-06-25 1994-01-21 Ohbayashi Corp Inking equipment
JP2002054925A (en) * 2000-08-09 2002-02-20 Nagano Takashi Marking device for ceiling or the like
JP2005098750A (en) * 2003-09-22 2005-04-14 Shimizu Corp Marking method and marking device
JP2017107563A (en) * 2015-12-01 2017-06-15 株式会社リコー Autonomous traveling device and distance measuring device
KR20200111951A (en) * 2019-03-20 2020-10-05 경 곤 김 Lane paint removal of road marking

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6399493B2 (en) 2015-06-30 2018-10-03 株式会社日立プラントコンストラクション Installation masking device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0611347A (en) * 1992-06-25 1994-01-21 Ohbayashi Corp Inking equipment
JP2002054925A (en) * 2000-08-09 2002-02-20 Nagano Takashi Marking device for ceiling or the like
JP2005098750A (en) * 2003-09-22 2005-04-14 Shimizu Corp Marking method and marking device
JP2017107563A (en) * 2015-12-01 2017-06-15 株式会社リコー Autonomous traveling device and distance measuring device
KR20200111951A (en) * 2019-03-20 2020-10-05 경 곤 김 Lane paint removal of road marking

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