Work device and installation position correction method

Abstract

The invention provides a work device and an installation position correction method. The work device and the installation position correction method can carry out installation work of an object corresponding to an environment in a hoistway which is information which cannot be acquired in advance. A work device according to the present invention performs mounting work of an object in a hoistway by lifting and lowering in the hoistway by a lifting and lowering mechanism. A work device is provided with: a work mechanism (13) that performs mounting work; a work assistance mechanism (14) that positions an object at a mounting position; an environmental information acquisition tool (139) (detection unit); and an operation control unit (82) that controls the work mechanism (13) and the work assistance mechanism (14). An environment information acquisition tool (139) detects relative position information with respect to an existing object and relative position information with respect to a feature portion of a hoistway. The operation control unit (82) corrects the attachment position of the object on the basis of the relative position information with respect to the already installed object and the relative position information with respect to the feature part.

Description

TECHNICAL FIELD

[0001] The present application relates to a work device that performs work in a hoistway and a mounting position correction method performed by the work device. BACKGROUND

[0002] In the past, in an installation work of an elevator, a worker performs various work operations while riding on a work platform or a basket that is hoisted in a hoistway. In the work operations, for example, there are operations of opening a hole in a wall surface of the hoistway, fixing members such as an anchor or a bracket, connecting a guide rail, and installing an entrance, and the like. In recent years, it is being sought to cause a work device to perform a part of the work operations in the hoistway, thereby reducing the work operations performed by the worker.

[0003] In one of the work operations performed by the work device, there is included the fixing of a guide rail bracket. The guide rail bracket is a member for installing a guide rail that guides the movement of a car in the hoistway on the wall surface of the hoistway. In order to fix the guide rail bracket on the wall surface of the hoistway, a hole is opened at a predetermined position of the wall surface of the hoistway and an anchor bolt is installed. Then, the guide rail bracket is fastened to the anchor bolt for the bracket using a nut. In a hoistway having a height of several tens of meters or more, there are many fixing points of the guide rail bracket. Therefore, the automation of the fixing of the guide rail bracket by the work device contributes greatly to the reduction of the work of the worker. In Patent Literature 1, an elevator installation device that moves up and down in a hoistway and fixes a bracket on a wall surface of the hoistway is described. The elevator installation device described in Patent Literature 1 includes two vertical multi-joint robots. One robot holds a guide rail bracket and positions it at a predetermined position of the wall surface of the hoistway. The other robot performs anchor installation and screw fastening in order to fix the guide rail bracket on the wall. Further, the elevator installation device described in Patent Literature 1 detects the angle at which the wall surface of the hoistway intersects with the axis of a drilling tool, and adjusts the inclination of the drilling tool based on the detected angle.

[0005] Patent Literature 2 describes a work assisting device that corrects the work position of a worker according to the structure inside a passage and notifies the worker. The work assisting device described in Patent Literature 2 calculates the corrected work position by acquiring observation information of the structure inside the passage and reference position information that is a reference inside the passage. Then, the work assisting device irradiates the work position with light and notifies the worker. PRIOR ART DOCUMENTS PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Laid-Open No. 2020-7095 Patent Literature 2: Japanese Patent Laid-Open No. 2021-42073 SUMMARY PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, in the elevator installation device described in Patent Literature 1, since the driving mechanism for adjusting the work position in the height direction and the horizontal direction is installed on the platform surface of the work system, it is not possible to correct the positional deviation and the attitude inclination of the entire work system. In addition, the elevator installation device described in Patent Literature 1 cannot correct the influence of the mechanism displacement from the platform surface of the work system to the work tool and the like. In addition, in the work assisting device described in Patent Literature 2, when it is not possible to set a large number of reference lines in the passage (hoistway), it is not possible to correct the positional deviation or the attitude inclination of the entire work system with high precision. In addition, for example, the reference lines cannot be set at the position of the obstacle of the work device. Therefore, in the case where the passage (hoistway) is narrow, it is not possible to set a large number of reference lines at times.

[0009] In view of the above problems, an object of the present application is to provide a work device and an installation position correction method that can perform installation work of an object in correspondence with the environment in a hoistway as information that cannot be obtained in advance. Technical means for solving the technical problem

[0010] In order to solve the above problems and achieve the above object, a work device reflecting one aspect of the present application is raised and lowered in a hoistway by a lifting mechanism and performs installation work of an object in the hoistway. The work device includes a work mechanism that performs the installation work, a work assisting mechanism that positions the object at an installation position, a detection section, and an action control section that controls the work mechanism and the work assisting mechanism. The detection section detects relative position information with respect to an installed object and relative position information with respect to a feature portion with respect to the hoistway. The action control section corrects the installation position of the object based on the relative position information with respect to the installed object and the relative position information with respect to the feature portion.

[0011] In an installation position correction method reflecting one aspect of the present application, a detection section of a work device that is raised and lowered in a hoistway by a lifting mechanism and performs installation work of an object in the hoistway detects relative position information with respect to an installed object and relative position information with respect to a feature portion with respect to the hoistway. Then, an action control section of the work device corrects the installation position of the object based on the relative position information with respect to the installed object and the relative position information with respect to the feature portion. Effects of the Invention

[0012] According to the work device and the installation position correction method described above, it is possible to perform installation work of an object in correspondence with the environment in a hoistway as information that cannot be obtained in advance. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1is a schematic view showing a state in which the work device is disposed in the hoistway according to Embodiment 1. Figure 2 is a perspective view of the work device according to Embodiment 1. Figure 3 is a perspective view of the position fixing mechanism in the work device according to Embodiment 1. Figure 4 is a perspective view of the horizontal movement mechanism in the work device according to Embodiment 1. Figure 5 is a perspective view of the work mechanism in the work device according to Embodiment 1. Figure 6 is a perspective view of the work assisting mechanism in the work device according to Embodiment 1. Figure 7 is a block diagram showing a configuration of the control device in the work device according to Embodiment 1. Figure 8 is a side view showing positioning of a carriage of the work assisting mechanism of the work device according to Embodiment 1 in the Z-axis direction. Figure 9 is a view showing a measured distance with respect to the set carriage according to Embodiment 1. Figure 10 is a front view showing the work mechanism facing the set carriage when acquiring environmental information according to Embodiment 1. Figure 11 is a side view showing the work mechanism facing the set carriage when acquiring environmental information according to Embodiment 1. Figure 12 is a view showing an image of the set carriage acquired by the environmental information acquisition tool according to Embodiment 1. Figure 13 is a side view showing the work mechanism facing the entrance and exit of the hoistway when acquiring environmental information according to Embodiment 1. Figure 14 is a view showing an image of the entrance and exit of the hoistway acquired by the environmental information acquisition tool according to Embodiment 1. Figure 15 is a flowchart showing one example of the installation position correction processing performed by the action control section according to Embodiment 1. Figure 16 is a view showing an image of the set carriage acquired by the environmental information acquisition tool according to Embodiment 2. Figure 17 is a front view showing the work mechanism facing the floor surface of the entrance and exit of the hoistway when acquiring environmental information according to Embodiment 2. Figure 18is a view showing an image of an entrance of a shaft acquired by the environmental information acquisition tool according to Embodiment 2. Figure 19 is a side view showing a work mechanism facing a set bracket when acquiring environmental information according to Embodiment 3. Figure 20 is a side view showing a work mechanism facing a floor surface of an entrance of a shaft when acquiring environmental information according to Embodiment 3. Figure 21 is a flowchart showing one example of installation position correction processing performed by the action control section according to Embodiment 3. Figure 22 is a front view showing a work mechanism facing an entrance of a shaft when acquiring environmental information according to Embodiment 4. Figure 23 is a schematic view showing a state in which a work device is arranged in a shaft according to Embodiment 5. Figure 24 is a schematic view of a reference measurement device according to Embodiment 5. DETAILED DESCRIPTION

[0014] Hereinafter, the work device according to an example of an embodiment will be described with reference to Figures 1-24 The work device according to an example of an embodiment will be described. In each drawing, the same reference numerals are assigned to common components.

[0015] 1. Embodiment 1 [Structure of Work Device] First, the structure of the work device according to Embodiment 1 will be described with reference to Figure 1 and Figure 2 Figure 1 is a schematic view showing a state in which the work device according to Embodiment 1 is arranged in a shaft. Figure 2 is a perspective view of the work device according to Embodiment 1.

[0016] Figure 1 and Figure 2 The work device 1 shown in FIGS. 1 and 2 is a device for installing an object, which is a structural component of an elevator, into a shaft 100 formed in a building structure. The shaft 100 has a plurality of entrances 106 corresponding to respective floors of the building structure. The shaft 100 communicates with the respective floors of the building structure through the plurality of entrances 106. The lower portion of the entrance 106 is set to the same height as a floor surface 102 of the building structure.

[0017] As shown in FIG. 3, the work device 1 includes a work mechanism 10, a work device body 20, and a work device control section 30. Figure 1 ​As shown, the work device 1 is hoisted by hoisting mechanisms 103A, 103B. The hoisting mechanisms 103A, 103B are provided at the top of the shaft 100. The hoisting mechanisms 103A, 103B have hoisting ropes 104a, 104b attached to the work device 1. The hoisting mechanisms 103A, 103B move the work device 1 in the up-and-down direction within the shaft 100. That is, the hoisting mechanisms 103A, 103B raise and lower the work device 1.

[0018] As shown, the work device 1 includes a base portion 11, a horizontal movement mechanism 12, a work mechanism 13, a work assisting mechanism 14, position fixing mechanisms 15 to 18, a control device 21, a height detecting device 22, and a communication device 23 (see Figure 2 ). Figure 7

[0019] The base portion 11 includes a support 111, an upper housing 112, and a lower housing 113. The support 111 is a member extending in the up-and-down direction and having a substantially rectangular lateral shape. The horizontal movement mechanism 12 is attached to an intermediate portion of the support 111. The horizontal movement mechanism 12 is movable in a direction parallel to a horizontal plane orthogonal to the support 111 in the base portion 11. The work mechanism 13 and the work assisting mechanism 14 are attached to the horizontal movement mechanism 12.

[0020] The upper housing 112 is connected to the upper end of the support 111. The position fixing mechanisms 15, 16 are provided at the upper portion of the upper housing 112. In addition, the hoisting ropes 104a, 104b are attached to the upper portion of the upper housing 112.

[0021] The lower housing 113 is connected to the lower end of the support 111. The control device 21 is provided at the upper portion of the lower housing 113. The position fixing mechanisms 17, 18 and the height detecting device 22 (see Figure 1 ) are provided at the lower portion of the lower housing 113. The height detecting device 22 is, for example, a distance sensor. The height detecting device 22 detects a height H0 as a distance from the bottom surface of the shaft 100 to the height detecting device 22.

[0022] Hereinafter, the up-and-down direction of the work device 1 is set as the Z-axis direction. The direction opposite to the hoisting ropes 104a, 104b is set as the Y-axis direction. Further, the direction orthogonal to the Z-axis direction and the Y-axis direction is set as the X-axis direction.

[0023] As shown, the work device 1 includes a base portion 11, a horizontal movement mechanism 12, a work mechanism 13, a work assisting mechanism 14, position fixing mechanisms 15 to 18, a control device 21, a height detecting device 22, and a communication device 23 (see Figure 2 ​As shown, the position fixing mechanism 15 opposes the position fixing mechanism 16 in the Y-axis direction. The position fixing mechanism 17 opposes the position fixing mechanism 18 in the Y-axis direction. The position fixing mechanism 15 opposes the position fixing mechanism 17 in the Z-axis direction. The position fixing mechanism 16 opposes the position fixing mechanism 18 in the Z-axis direction. The position fixing mechanisms 15 to 18 abut against the horizontally opposing wall surfaces 101a, 101b (refer to FIG. 1) in the hoistway 100. Thereby, the work device 1 is fixed to the hoistway 100. Figure 1 [Structure of position fixing mechanism] Next, the structure of the position fixing mechanisms 15 to 18 will be described with reference to Figure 3 Figure 3 is a perspective view of the position fixing mechanism 17.

[0025] The position fixing mechanisms 15 to 18 have the same structure. Therefore, the structure of the position fixing mechanisms 15 to 18 will be described here taking the position fixing mechanism 17 as an example. As shown in Figure 3 , the position fixing mechanism 17 includes a motor-side gear 171, a transmission gear 172, a linear motion shaft portion 173, a guide shaft portion 174, and a wall opposing portion 175.

[0026] The motor-side gear 171 engages with a drive gear mounted on a drive shaft of a not-shown motor. The motor-side gear 171 is rotatably supported on the lower housing 113. The motor-side gear 171 rotates about a rotation axis 70 extending in the Z-axis direction. The transmission gear 172 is rotatably supported on the lower housing 113. The transmission gear 172 engages with the motor-side gear 171 and the linear motion shaft portion 173. The transmission gear 172 transmits the rotation of the motor-side gear 171 to the linear motion shaft portion 173.

[0027] The linear motion shaft portion 173 and the guide shaft portion 174 extend in the Y-axis direction. The lower housing 113 supports the linear motion shaft portion 173 and the guide shaft portion 174 so that the linear motion shaft portion 173 and the guide shaft portion 174 are movable in the Y-axis direction. The linear motion shaft portion 173 is a so-called rack that moves in the Y-axis direction when the transmission gear 172 rotates. The wall opposing portion 175 is fixed to one end of the linear motion shaft portion 173 and the guide shaft portion 174 in the axial direction. Thereby, the guide shaft portion 174 and the wall opposing portion 175 move in the Y-axis direction together with the linear motion shaft portion 173.

[0028] ​​The opposing wall portion 175 is formed on a generally rectangular cuboid that is longer along the X-axis. The opposing wall portion 175 has a plane 175a that is generally perpendicular to the Y-axis. The plane 175a of the opposing wall portion 175 is opposite to the wall surface 101b of the hoistway 100. Buffer members 176a and 176b are mounted on the plane 175a of the opposing wall portion 175.

[0029] When the motor-side gear 171 rotates in one direction, the transmission gear 172 rotates, and the linear motion shaft 173 moves in one direction along the Y-axis (the direction in which the wall-facing portion 175 separates from the lower housing 113). As a result, the guide shaft 174 and the wall-facing portion 175 move together with the linear motion shaft 173 in one direction along the Y-axis. Consequently, the wall-facing portion 175 approaches the wall surface 101b of the hoistway 100, and the buffer members 176a and 176b are pressed against the wall surface 101b.

[0030] The wall-facing portion of the positioning fixing mechanism 15 approaches the wall surface 101b of the hoistway 100, and the buffer member of the positioning fixing mechanism 15 is pressed against the wall surface 101b. Furthermore, the wall-facing portions of the positioning fixing mechanisms 16 and 18 approach the wall surface 101a of the hoistway 100, and the buffer members of the positioning fixing mechanisms 16 and 18 are pressed against the wall surface 101a. Thus, the working device 1 is fixed in a stable state relative to the hoistway 100.

[0031] In this way, the position fixing mechanisms 15-18 fix the working device 1 to the wellbore 100. As a result, the position fixing mechanisms 15-18 reduce the shaking of the working mechanism 13 caused by the reaction force generated during operation. Consequently, the operation of the working mechanism 13 can continue stably, and the deterioration of operating efficiency can be suppressed. Furthermore, in this embodiment, the position fixing mechanisms 15-18 employ a gear and rack mechanism; however, the position fixing mechanism according to the present invention can employ a mechanism that converts other rotary motions such as ball screws into linear motion.

[0032] [Structure of the horizontal movement mechanism] Next, refer to Figure 4 Explain the structure of the horizontal moving mechanism 12. Figure 4 This is a three-dimensional view of the horizontal moving mechanism 12.

[0033] like Figure 4 As shown, the horizontal moving mechanism 12 includes three links 121, 122, and 123. One end of link 121 along its long side is rotatably connected to the support column 111 (see reference). Figure 2 One end of the connecting rod 122 along its long side is rotatably connected to the other end of the connecting rod 121 along its long side. Furthermore, the connecting base 131 of the working mechanism 13, described later, is rotatably connected to the middle portion of the connecting rod 121 along its long side.

[0034] The rotation drive section 125 and the rotation drive section 126 are housed inside the link 121. The rotation drive section 125 is arranged at one end in the longitudinal direction of the link 121. The rotation drive section 125 rotates the link 121 about the rotation axis 51 with respect to the support 111. The rotation drive section 126 is arranged at the other end in the longitudinal direction of the link 121. The rotation drive section 126 rotates the link 122 about the rotation axis 52 with respect to the link 121. One end in the longitudinal direction of the link 123 is rotatably connected to the other end in the longitudinal direction of the link 122. A connection section 141 of the work assisting mechanism 14, which will be described later, is rotatably connected to the other end in the longitudinal direction of the link 123.

[0036] The rotation drive section 127 and the rotation drive section 128 are housed inside the link 123. The rotation drive section 127 is arranged at one end in the longitudinal direction of the link 123. The rotation drive section 127 rotates the link 123 about the rotation axis 53 with respect to the link 122. The rotation drive section 128 is arranged at the other end in the longitudinal direction of the link 123. The rotation drive section 128 rotates the work assisting mechanism 14 about the rotation axis 54 with respect to the link 123. The rotation drive section 128 corresponds to the rotation mechanism according to the present application. In addition, the rotation drive section 128 can be a drive section included in the work assisting mechanism 14.

[0037] The links 121 to 123 and the work assisting mechanism 14 are rotated about the rotation axes 51 to 54 by the rotation drive sections 125 to 128, thereby determining the postures of the links 121 to 123, the position of the center of the work mechanism 13 with respect to the rotation axis 51, and the position of the work assisting mechanism 14. The respective rotatable angles of the rotation drive sections 125 to 128 are set to θH1 to θH4, respectively.

[0038] The rotation axis 55 is the center of rotation of the connection base 131 of the work mechanism 13. The rotation axis 55 is separated from the rotation axis 51 by a distance Lla. Therefore, by rotating the link 121 about the rotation axis 51, it is possible to move the connection base 131 of the work mechanism 13 on the circumference of a circle having a radius Lla. As a result, it is possible to expand the workable range of the work mechanism 13 by the distance Lla.

[0039] [Structure of Work Mechanism] Next, the structure of the work mechanism 13 will be described with reference to Figure 5 The structure of the work mechanism 13 will be described. Figure 5 is a perspective view of the work mechanism 13.

[0040] As Figure 5As shown, the work mechanism 13 includes a connection base 131, a first rotation section 132, a second rotation section 133, a third rotation section 134, a fourth rotation section 135, a fifth rotation section 136, a sixth rotation section 137, a detachment mechanism 138, and a hand tool 139.

[0041] The connection base 131 is connected to the link 121 of the horizontal movement mechanism 12. The first rotation section 132 is rotatably connected to the connection base 131. A first rotation drive section is housed inside the connection base 131. The first rotation drive section rotates the first rotation section 132 about a rotation axis 55. The second rotation section 133 is rotatably connected to the first rotation section 132. A second rotation drive section is housed inside the second rotation section 133. The second rotation drive section rotates the second rotation section 133 about a rotation axis 56. The rotation axis 56 is orthogonal to the rotation axis 55.

[0042] The third rotation section 134 is rotatably connected to the second rotation section 133. A third rotation drive section is housed inside the third rotation section 134. The third rotation drive section rotates the third rotation section 134 about a rotation axis 57. The rotation axis 57 is parallel to the rotation axis 56. The fourth rotation section 135 is rotatably connected to the third rotation section 134. A fourth rotation drive section is housed inside the fourth rotation section 135. The fourth rotation drive section rotates the fourth rotation section 135 about a rotation axis 58. The rotation axis 58 is orthogonal to the rotation axis 57.

[0043] The fifth rotation section 136 is rotatably connected to the fourth rotation section 135. A fifth rotation drive section is housed inside the fifth rotation section 136. The fifth rotation drive section rotates the fifth rotation section 136 about a rotation axis 59. The rotation axis 59 is orthogonal to the rotation axis 58. The sixth rotation section 137 is rotatably connected to the fifth rotation section 136. A sixth rotation drive section is housed inside the sixth rotation section 137. The sixth rotation drive section rotates the sixth rotation section 137 about a rotation axis 60. The rotation axis 60 is orthogonal to the rotation axis 59.

[0044] The detachment mechanism 138 is mounted to the sixth rotation section 137. The detachment mechanism 138 detachably holds the hand tool 139, for example, by using air pressure. Thereby, the hand tool 139 is disposed at the front end of the work mechanism 13. The hand tool 139 is replaced according to the work content performed by the work mechanism 13. As the hand tool 139, there are, for example, a drilling tool, a mounting tool, a fastening tool, and the like.

[0045] Each of the rotatable angles of the first to sixth rotation driving sections is set to θ1 to θ6. The first to sixth rotation driving sections independently control the rotation angles of the rotation sections 132 to 137, respectively. By rotating the rotation sections 132 to 137 around the respective rotation axes 55 to 60, the position of the hand tool 139 and the direction in which the hand tool 139 faces are determined.

[0046] [Structure of work assisting mechanism] Next, the structure of the work assisting mechanism 14 will be described with reference to Figure 6 to Figure 6 is a perspective view of the work assisting mechanism 14.

[0047] As shown in Figure 6 , the work assisting mechanism 14 is a mechanism for mounting the bracket 24 to a wall surface of the hoistway 100 (refer to Figure 1 ) on which the bracket 24 is pressed. The bracket 24 corresponds to the object of the present application. Hereinafter, the wall surface on which the bracket 24 is mounted will be referred to as a bracket mounting wall surface.

[0048] The work assisting mechanism 14 includes a connecting section 141, a rotation driving section 142, a lifting driving section 143, and a gripping mechanism 144. The rotation driving section 142 corresponds to the posture changing mechanism among the driving sections to which the present application is directed. The lifting driving section 143 corresponds to the positioning mechanism among the driving sections to which the present application is directed.

[0049] The connecting section 141 of the work assisting mechanism 14 is rotatably connected to the link 123 of the horizontal movement mechanism 12 (refer to Figure 4 ) and rotates around the rotation axis 54. The rotation driving section 142 is mounted to the connecting section 141. The lifting driving section 143 is mounted to the rotation driving section 142. The gripping mechanism 144 is mounted to the lifting driving section 143.

[0050] The gripping mechanism 144 includes an engaging section 1441, a sliding guide 1442, clamps 1443, 1444, and sliding driving sections 1445, 1446. The clamps 1443, 1444 correspond to the gripping sections to which the present application is directed. The sliding driving sections 1445, 1446 correspond to the positioning mechanism among the driving sections to which the present application is directed. The engaging section 1441 of the gripping mechanism 144 engages with the lifting driving section 143. The engaging section 1441 holds the sliding guide 1442. The sliding guide 1442 slidably supports the clamps 1443, 1444.

[0052] The slide driving sections 1445, 1446 are attached to the joint section 1441. The slide driving sections 1445, 1446 each include a rotation mechanism and a conversion mechanism for converting rotation of the rotation mechanism into linear motion. The slide driving sections 1445, 1446 move the jigs 1443, 1444 along the slide guide 1442. The jigs 1443, 1444 hold the carrier 24.

[0053] The rotation axis 54 of the connecting section 141 is parallel to the Z-axis direction. Therefore, the work assisting mechanism 14 is rotated around the Z-axis by the rotation driving section 128 of the horizontal movement mechanism 12 (refer to Figure 4 ). By this, the work assisting mechanism 14 can place the carrier 24 held by the holding mechanism 144 in a state of facing the carrier installation wall surface of the shaft 100.

[0054] The rotation driving section 142 rotates the lift driving section 143 and the holding mechanism 144 around the rotation axis 71. The rotation axis 71 is orthogonal to the rotation axis 54 and the slide directions of the jigs 1443, 1444. By this, when the carrier installation wall surface of the shaft 100 is observed from the X-axis direction, the work assisting mechanism 14 can eliminate inclination of the carrier 24 held by the holding mechanism 144 in the left-right direction, thereby placing the carrier 24 in a horizontal state.

[0055] The lift driving section 143 includes a rotation mechanism and a conversion mechanism for converting rotation of the rotation mechanism into linear motion. The lift driving section 143 lifts the holding mechanism 144 in the lift direction. The lift direction is orthogonal to the rotation axis 71 and the slide directions of the jigs 1443, 1444. By this, when the carrier installation wall surface of the shaft 100 is observed from the X-axis direction, the work assisting mechanism 14 can position the position of the carrier 24 held by the holding mechanism 144 in the up-down direction at a prescribed position.

[0056] The jigs 1443, 1444 of the holding mechanism 144 are movable in the slide directions in a state of holding the carrier 24. By this, when the carrier installation wall surface of the shaft 100 is observed from the X-axis direction, the work assisting mechanism 14 can position the position of the carrier 24 held by the holding mechanism 144 in the up-down direction at a prescribed position. The attitude angle sensor 31 is attached to the joint section 1441 of the holding mechanism 144. The attitude angle sensor 31 corresponds to the third detector in the detection section according to the present application. The attitude angle sensor 31 detects inclination of the carrier 24 in the X-axis direction, the Y-axis direction, and the Z-axis direction. Further, the distance sensors 32a, 32b and the distance sensors 33a, 33b are mounted on the jigs 1443, 1444. The distance sensors 32a, 32b correspond to the second detector in the detection section according to the present application. The distance sensors 33a, 33b correspond to the first detector in the detection section according to the present application.

[0058] The distance sensors 32a, 32b measure the distance from the distance sensors 32a, 32b to the cage mounting wall surface of the shaft 100 in a direction parallel to the rotation axis 71. The distance sensors 33a, 33b measure the distance between the distance sensors 33a, 33b and the object located below the grippers 1443, 1444 in the lifting direction of the gripping mechanism 144.

[0059] [Structure of Control Device] Next, the structure of the control device 21 will be described with reference to Figure 7 The structure of the control device 21 will be described. Figure 7 is a block diagram showing the structure of the control device 21.

[0060] As shown in Figure 7 , the control device 21 includes an information recording section 81, an operation control section 82, a height information acquisition section 83, a hoisting mechanism control section 84, a horizontal movement mechanism control section 85, a work mechanism control section 86, a work assisting mechanism control section 87, a position fixing mechanism control section 88, and an environment information acquisition section 89.

[0061] The information recording section 81 records information related to the work performed by the work device 1 in the shaft 100. In each work performed by the work device 1, the hoisting mechanisms 103A, 103B, the horizontal movement mechanism 12, the work mechanism 13, the work assisting mechanism 14, and the position fixing mechanisms 15 to 18 perform operations in sequence or in cooperation.

[0062] Each work performed by the work device 1 is managed as a sequence of operations of each mechanism. The instructions for each operation of each mechanism are recorded in the information recording section 81. As the instructions for the hoisting mechanisms 103A, 103B, there are, for example, position instructions for the height in the shaft 100. As the instructions for the horizontal movement mechanism 12, there are, for example, angle instructions for specifying the rotation angles θH1 to θH4. As the instructions for the work mechanism 13, there are, for example, angle instructions for specifying the rotation angles θ1 to θ6, a dismounting instruction for the hand tool 139, and the like. As the instructions for the work assisting mechanism 14, there are, for example, rotation angle instructions for rotating the rotation mechanisms of the rotation drive section 142, the lifting drive section 143, the rotation mechanisms of the sliding drive sections 1445, 1446, and the like. As the instructions for the position fixing mechanisms 15 to 18, there are, for example, rotation angle instructions for rotating the not-shown motors provided in each mechanism and the like.

[0063] The operation control section 82 sends instructions to each mechanism 12 to 18, 103A, 103B on the basis of the sequence of operations in each mechanism 12 to 18, 103A, 103B and the instructions corresponding to the sequence of operations, which are managed by the information recording section 81.

[0064] The height information acquisition section 83 receives the height H0, which is the distance from the floor surface of the shaft 100 to the height detection device 22 measured by the height detection device 22 (refer to FIG. 2), and transmits it to the operation control section 82. Here, the height H0 is directly detected using the height detection device 22. However, the height H0 can be calculated by the height information acquisition section 83. In this case, an encoder is mounted on the hoisting mechanism 103A, 103B. The encoder transmits the measured rotation angle to the height information acquisition section 83. The height information acquisition section 83 calculates the height H0 from the rotation angle measured by the encoder. Figure 1 ) measured by the height detection device 22, and transmits it to the operation control section 82. Here, the height H0 is directly detected using the height detection device 22. However, the height H0 can be calculated by the height information acquisition section 83. In this case, an encoder is mounted on the hoisting mechanism 103A, 103B. The encoder transmits the measured rotation angle to the height information acquisition section 83. The height information acquisition section 83 calculates the height H0 from the rotation angle measured by the encoder.

[0065] The position command related to the height H0 measured by the height detection device 22 and the height of the work device 1 transmitted by the operation control section 82 is supplied to the hoisting mechanism control section 84. The hoisting mechanism control section 84 transmits the lift command to the hoisting mechanism 103A, 103B until the height H0 measured by the height detection device 22 coincides with the height corresponding to the position command transmitted from the operation control section 82.

[0066] The rotation angles θH1 to θH4 of the horizontal movement mechanism 12 and the angle command transmitted by the operation control section 82 to the horizontal movement mechanism 12 are supplied to the horizontal movement mechanism control section 85. The horizontal movement mechanism control section 85 transmits the rotation command to the rotation driving sections 125 to 128 of the horizontal movement mechanism 12 until the rotation angles θH1 to θH4 substantially coincide with the angle command.

[0067] The rotation angles θ1 to θ6 of the work mechanism 13 and the angle command transmitted by the operation control section 82 to the work mechanism 13 are supplied to the work mechanism control section 86. The work mechanism control section 86 transmits the rotation command to the rotation driving sections of the work mechanism 13 until the rotation angles θ1 to θ6 substantially coincide with the angle command. In addition, the work mechanism control section 86 transmits the detachment command of the hand tool 139 to the work mechanism 13 based on the command transmitted by the operation control section 82. The detachment command of the hand tool 139 is transmitted until the detachment of the hand tool 139 is completed. The rotation angles of the rotation driving section 142, the rotation mechanisms of the lift driving section 143, and the rotation mechanisms of the slide driving sections 1445, 1446 of the work assisting mechanism 14 and the rotation angle command transmitted by the operation control section 82 to the work assisting mechanism 14 are supplied to the work assisting mechanism control section 87. The work assisting mechanism control section 87 transmits the rotation command to each of the driving sections 142, 143, 1445, 1446 until the rotation angles of the rotation driving section 142, the rotation mechanisms of the lift driving section 143, and the rotation mechanisms of the slide driving sections 1445, 1446 substantially coincide with the rotation angle command.

[0069] The rotation angle of the motor-side gear (for example, the motor-side gear 171 in the position fixing mechanism 15 to 18) and the operation control section 82 transmits the angle command given to the position fixing mechanism 15 to 18 to the position fixing mechanism control section 88. The position fixing mechanism control section 88 transmits a rotation command to the position fixing mechanism 15 to 18 until the rotation angle of the motor-side gear in the position fixing mechanism 15 to 18 substantially coincides with the angle command. Figure 3

[0070] When the manual tool 139 is an environmental information acquisition tool, the environmental information acquisition section 89 receives environmental information acquired by the environmental information acquisition tool and transmits it to the operation control section 82.

[0071] [Operation of the work device] Next, the installation work of the carrier 24 performed by the work device 1 will be described with reference to Figure 2 First, the control device 21 drives the lifting mechanism 103A, 103B to move the work device 1 in the Z-axis direction until the height H0 measured by the height detection device 22 substantially coincides with the height at which the next work is performed. When the work device 1 is moved to the height at which the next work is performed, the control device 21 stops driving the lifting mechanism 103A, 103B. Next, the control device 21 drives the position fixing mechanism 15 to 18 to press the wall facing section (the wall facing section 175 shown in

[0072] Figure 3 on the wall surfaces 101a, 101b of the shaft 100 (refer to Figure 1 ). Thus, the work device 1 is fixed to the shaft 100.

[0073] Next, the control device 21 transmits respective commands to the horizontal movement mechanism 12, the work mechanism 13, and the work assisting mechanism 14 to perform the work on the object (for example, the installation work of the carrier 24). When the work on the object at the height position is completed, the control device 21 drives the position fixing mechanism 15 to 18 and separates the wall facing section of the position fixing mechanism 15 to 18 from the wall surfaces 101a, 101b of the shaft 100. Thus, the fixation of the work device 1 to the shaft 100 is released.

[0074] After that, the control device 21 drives the lifting mechanism 103A, 103B to move the work device 1 in the Z-axis direction until the height H0 measured by the height detection device 22 substantially coincides with the height at which the next work is performed. The work device 1 repeats the above-described operation until the work on the object at all the height positions is completed.

[0075] [Installation work of the carrier of the work device] ​​Next, one example of the installation work of the bracket 24 performed by the work device 1 will be described.

[0076] When the work device 1 is disposed at the height at which the installation work of the bracket 24 is performed, the horizontal movement mechanism 12 rotates the links 121 to 123, thereby moving the position of the connection base 131 in the work mechanism 13 and the position of the work assisting mechanism 14.

[0077] Next, the work mechanism 13 mounts the holding hand tool disposed in the lower housing 113 to the detachment mechanism 138. Then, the holding hand tool of the work mechanism 13 holds the bracket 24 disposed on the lower housing 113. Next, the work mechanism 13 changes the posture by rotating the rotating sections 132 to 137, and brings the held bracket 24 from the lower side of the work assisting mechanism 14 to the work assisting mechanism 14.

[0078] The work assisting mechanism 14 moves the jigs 1443, 1444 in sliding, and makes the interval between the jigs 1443, 1444 larger than the lateral width of the bracket 24. That is, the work assisting mechanism 14 is in a state in which the bracket 24 can be held by the jigs 1443, 1444.

[0079] When the bracket 24 is disposed between the jigs 1443, 1444, the work assisting mechanism 14 moves the jigs 1443, 1444 in sliding, and holds the bracket 24 by the jigs 1443, 1444. Thereafter, the work mechanism 13 releases the holding of the bracket 24 by the holding hand tool, and hands over the bracket 24 to the work assisting mechanism 14.

[0080] Next, the work mechanism 13 detaches the holding hand tool from the detachment mechanism 138, and mounts the drilling hand tool to the detachment mechanism 138. The horizontal movement mechanism 12 rotates the links 121 to 123, and moves the work mechanism 13 and the work assisting mechanism 14 to the position at which the installation work of the bracket 24 is performed.

[0081] Next, the work assisting mechanism 14 adjusts the position of the held bracket 24 in accordance with the environment of the shaft 100, and presses the bracket 24 on the mounting position on the bracket mounting wall surface of the shaft 100. Then, the work mechanism 13 makes the drilling hand tool penetrate the mounting hole of the bracket 24, and drills a hole for an anchor bolt on the bracket mounting wall surface of the shaft 100.

[0082] Thereafter, the work mechanism 13 changes the hand tool every time in accordance with the work content of the installation work of the bracket 24, and performs the anchor member installation and the nut fastening. Thereby, the bracket 24 is mounted on the mounting position on the bracket mounting wall surface of the shaft 100.

[0083] Thus, the work device 1 includes the work assisting mechanism 14 for assisting the work performed by the work mechanism 13. Thus, more complicated work that cannot be performed by the work mechanism 13 alone can be realized. Further, the horizontal movement mechanism 12 moves the position of the connection base 131 in the work mechanism 13 and the position of the work assisting mechanism 14. Thus, work can be performed in a wide range in which the work mechanism 13 alone cannot perform work.

[0084] [Positioning of the carrier by the work assisting mechanism] Next, the positioning of the carrier 24 by the work assisting mechanism 14 will be described with reference to Figure 8 and Figure 9

[0085] In order to bring the carrier 24 to a prescribed position recorded in the information recording portion 81 of the control device 21, the control device 21 calculates angle commands of the rotation angles θH1 to θH4 in the horizontal movement mechanism 12. Then, according to the calculated angle commands, each link 121 to 123 of the horizontal movement mechanism 12 is rotated, and the work assisting mechanism 14 is moved. As a result, the carrier 24 held by the work assisting mechanism 14 is positioned.

[0086] However, if information that cannot be acquired in advance is not taken into consideration, it is difficult to position the carrier 24 at a predetermined installation position with high precision. As the information that cannot be acquired in advance, for example, information on the inclination and unevenness of the carrier installation wall surface of the shaft 100, the deviation of the position and posture of the work device 1 fixed to the shaft 100, the deformation (flexion, twist, etc.) of the base portion 11 of the work device 1, and the horizontal movement mechanism 12 can be exemplified.

[0087] Therefore, the work assisting mechanism 14 of the present embodiment relatively positions the carrier 24 according to the environment around the installation position of the carrier 24. Thus, the installation precision of the carrier 24 can be improved. In the present embodiment, as one example of the environment around the installation position, the carrier 24 is relatively positioned by referring to the carrier installation wall surface of the shaft 100 and the already installed carrier located on the lower side.

[0088] [Adjustment of the directly facing position of the carrier] First, a method of making the carrier 24 directly face the carrier installation wall surface 101c will be described. The carrier 24 held by the work assisting mechanism 14 is sometimes inclined with respect to the carrier installation wall surface 101c. The distance sensors 32a, 32b mounted on the jigs 1443, 1444 respectively measure the distance to the carrier installation wall surface 101c opposite to the carrier 24.

[0089] ​Next, the horizontal movement mechanism uses the control unit 85 to control the rotation mechanism 128 of the horizontal movement mechanism 12, so that the two distances measured by the distance sensors 32a and 32b are approximately the same. As a result, the bracket 24 held by the work assistance mechanism 14 is aligned with the bracket mounting wall 101c.

[0090] (Adjusting the horizontal position of the bracket) Next, the method for positioning the bracket 24 in a horizontal position will be explained. The bracket 24, held by the work assistance mechanism 14, may sometimes tilt about the X-axis. The attitude angle sensor 31, mounted on the gripping mechanism 144 of the work assistance mechanism 14, detects the tilt angle of the gripping mechanism 144 about the X-axis.

[0091] The control unit 87 of the work assistance mechanism causes the work assistance mechanism 14 to rotate around the rotation axis 71, thereby adjusting the tilt angle. It is approximately 0 rad. As a result, when the bracket mounting wall 101c is viewed from the X-axis direction, the tilt of the bracket 24 in the left and right directions is eliminated, and the bracket 24 is positioned in an attitude parallel to the horizontal direction.

[0092] (Adjustment of the bracket's position in the Z-axis direction) Next, refer to Figure 8 This describes the positioning of bracket 24 in the Z-axis direction. Figure 8 This is a side view illustrating the positioning of bracket 24 in the Z-axis direction.

[0093] like Figure 8 As shown, the pre-installed bracket 25 is located below the bracket 24 held by the work assistance mechanism 14. In the previous bracket installation operation, the pre-installed bracket 25 was installed on the bracket mounting wall 101c.

[0094] The bracket 24, held by the work assistance mechanism 14, faces the bracket mounting wall 101c and is positioned parallel to the horizontal direction. Distance sensors 32b and 33b, mounted on the grips 1443 and 1444 of the work assistance mechanism 14, respectively measure the distances Ha1 and Ha2 between themselves and the objects below them. Figure 8 In the shown configuration, distance sensors 32b and 33b are opposite to the installed bracket 25. Therefore, distances Ha1 and Ha2 are the distances from distance sensors 32b and 33b to the installed bracket 25.

[0095] However, when the carriage 24 held by the work assisting mechanism 14 is shifted in the Y-axis direction, the distance sensors 32b, 33b sometimes do not face the set carriage 25. In this case, the distance sensors 32b, 33b measure the distance to an object located further below the set carriage 25. Further, when the object located further below the set carriage 25 is far, the measurement result of the distance sensors 32b, 33b exceeds the range.

[0096] On the other hand, the control device 21 calculates the interval Ha0 between the carriages. The lower end of the shaft 100 can be set to the height 0, and the interval Ha0 is calculated from the positions of the carriages in the Z-axis direction. Next, the control device 21 calculates the lifting distance of the holding mechanism 144 for making the distances Ha1, Ha2 substantially coincide with the interval Ha0. Then, the control device 21 sends a rotation command corresponding to the calculation result to the rotation mechanism of the lifting drive section 143. Thereby, the holding mechanism 144 of the work assisting mechanism 14 is lifted and lowered until the distances Ha1, Ha2 substantially coincide with the interval Ha0. As a result, the carriage 24 is positioned at the mounting position in the Z-axis direction.

[0097] (Position adjustment of the carriage in the Y-axis direction) Next, the positioning of the carriage 24 in the Y-axis direction will be described with reference to Figure 9 to FIG. 9. Figure 9 is a view showing the measured distance with respect to the set carriage.

[0098] As described with respect to the positioning of the carriage 24 in the Z-axis direction, the distance sensors 32b, 33b measure the distances Ha1, Ha2 from the objects opposite below, respectively. As shown in Figure 9 The control device 21 controls the drives of the sliding drive sections 1445, 1446 so that the jigs 1443, 1444 move in the same direction by the same distance along the sliding guides 1442. Then, the control device 21 detects the change in the distances Ha1, Ha2 measured by the distance sensors 32b, 33b.

[0099] When the distance sensors 32b, 33b face the set carriage 25 in the Z-axis direction, the distances Ha1, Ha2 become values within a prescribed range. However, when the distance sensors 32b, 33b do not face the set carriage 25, the distances Ha1, Ha2 are longer than the prescribed range. Therefore, the control device 21 can detect the both ends (left and right ends) of the set carriage 25 in the width direction from the position of the work assisting mechanism 14 where the distances Ha1, Ha2 change.

[0100] The distance between the both ends of the bracket 24 held by the auxiliary mechanism 14 in the width direction and the measurement positions of the distance sensors 32b, 33b is set to Ds. In this case, the jigs 1443, 1444 are moved in the same direction from the position at which the distance sensor 32b, 33b detects the set end of the bracket 25 in the width direction by Ds. Thus, in the Z-axis direction, the both ends of the bracket 24 in the width direction coincide with the both ends of the set bracket 25 in the width direction. As a result, the bracket 24 is positioned at the mounting position in the Y-axis direction. As described above, the bracket 24 is relatively positioned with respect to the set bracket 25 located below.

[0101] [Correction of bracket mounting position] Next, the correction of the mounting position of the bracket 24 is described. The work implement 1 is moved to a height at which the environment information is acquired by the preset by the lifting mechanisms 103A, 103B and stopped. Then, the work implement 1 is fixed to the wall surfaces 101a, 101b of the shaft 100 using the position fixing mechanisms 15 to 18 (refer to Figure 1 ).

[0102] The work mechanism 13 mounts the environment information acquisition tool 139 among the hand tools mounted on the work implement 1 and moves the environment information acquisition tool 139 to a position preset. Next, the environment information acquisition tool 139 acquires relative position information with respect to the set bracket 25 and relative position information with respect to a reference located around the entrance and exit 106, respectively.

[0103] Ideally, the positions of the work implement 1 calculated from the respective relative position information are the same. However, for example, when the set bracket 25 deviates from the original mounting position, the positions of the work implement 1 calculated from the respective relative position information differ. The action control section 82 (refer to Figure 7 ) calculates a correction value for correcting the mounting position of the bracket 24 mounted above the set bracket 25 next based on the difference in the relative position of the work implement 1.

[0104] (Relative position information with respect to set bracket) Next, the acquisition of the relative position information with respect to the set bracket 25 is described with reference to Figure 10 and Figure 11 . Figure 10 is a front view showing the work mechanism 13 facing the set bracket 25 at the time of acquisition of the environment information. Figure 11 is a side view showing the work mechanism 13 facing the set bracket 25 at the time of acquisition of the environment information. In Embodiment 1, as one example of the environmental information acquisition tool, a depth camera capable of distance measurement is employed. The work mechanism control section 86 rotates each axis of the work mechanism 13 so that the direction of the environmental information acquisition tool 139 is vertically downward (Z-axis direction downward) at a predetermined position. The environmental information acquisition tool 139 is located above the set-up rack 25, and acquires distance information of the top surface of the set-up rack 25.

[0106] Figure 12 is a diagram showing an image 91 of the set-up rack 25 including depth information acquired by the environmental information acquisition tool 139. In Figure 12 , the position of the environmental information acquisition tool 139 is the image center 92. In Figure 12 , the wall surface 101c of the shaft 100 is located on the upper side of the image 91, and the top surface of the set-up rack 25 overlaps the image center 92.

[0107] The environmental information acquisition tool 139 measures the distance Hbl (see Figure 10 and Figure 11 ) from the image center 92 to the top surface of the set-up rack 25 based on the distance information. The environmental information acquisition tool 139 acquires distance information of one or more positions within the image 91 corresponding to the top surface of the set-up rack 25. When the environmental information acquisition tool 139 acquires distance information of two or more positions, the action control section 82 calculates the distance Hbl by averaging the distance information of the two or more positions.

[0108] As described with reference to Figure 9 , the portion corresponding to the top surface of the set-up rack 25 can be detected from the position where the distance Hbl changes. In addition, the portion corresponding to the top surface of the set-up rack 25 can be detected by analyzing the image 91 (image recognition) and extracting the edge of the set-up rack 25.

[0109] The image center 92 within the image 91 is taken as a reference point, and the pixel position of the end portion of the set-up rack 25 in the Y-axis direction is set as WP. Also, the angle of view of the depth camera in the Y-axis direction is set as a, the number of pixels in the Y-axis direction is set as WA, and the distance to the set-up rack 25 is set as Hbl. In this case, the distance Db1 from the image center 92 to the end portion of the set-up rack 25 in the Y-axis direction is calculated according to the following formula (1). Db1 = 2Hbl x tan (a / 2) x WP / WA · · · (1) (Relative position information with respect to a reference around the entrance / exit) Next, the acquisition of relative position information with respect to a reference located around the entrance / exit 106 is described with reference to Figure 13 ​Figure 13 is a side view showing the work mechanism 13 facing the entrance 106 when acquiring environmental information. In Embodiment 1, a reference located around the entrance 106 is set to the opening portion of the entrance 106. As shown in Figure 13 , the work mechanism control section 86 rotates each axis of the work mechanism 13 so that the direction of the environmental information acquisition tool 139 becomes a direction (Y-axis direction) directly opposite the opening portion of the entrance 106. The environmental information acquisition tool 139 acquires distance information up to the opening portion of the entrance 106.

[0112] Figure 14 is a diagram showing an image 93 of the opening portion of the entrance 106 including depth information acquired by the environmental information acquisition tool 139. In Figure 14 , the position of the environmental information acquisition tool 139 is the image center 94. As shown in Figure 14 , in the image 93, the corner portion on the lower left at the opening portion of the entrance 106 is photographed.

[0113] The environmental information acquisition tool 139 measures a distance Db2 up to the wall surface 101b near the opening portion of the entrance 106 (refer to Figure 13 ). The environmental information acquisition tool 139 acquires distance information of one or more positions corresponding to the wall surface 101b near the opening portion of the entrance 106 located within the image 93. When the environmental information acquisition tool 139 acquires distance information of two or more positions, the action control section 82 calculates the distance Db2 by averaging the distance information of the two or more positions.

[0114] As explained with reference to Figure 9 , the end portion at the opening portion of the entrance 106 can be detected from the position at which the distance Db2 changes. In addition, the end portion at the opening portion of the entrance 106 can be detected by analyzing the image 93 (image recognition) and extracting the edge of the opening portion of the entrance 106.

[0115] The image center 94 within the image 93 is set as a reference point, and the pixel position of the end portion of the opening portion of the entrance 106 in the Z-axis direction is set as HQ. Then, the angle of view of the depth camera in the Z-axis direction is set as β, the number of pixels in the Z-axis direction is set as HA, and the distance to the wall surface 101b near the opening portion is set as Db2. In this case, the distance Hb2 up to the end portion of the opening portion of the entrance 106 in the Z-axis direction from the image center 94 is calculated according to the following formula (2). Hb2 = 2Db2 x tan (β / 2) x HQ / HA · · · (2)

[0116] Further, the image center 94 in the image 93 is taken as a reference point, and a pixel position of an end portion of the opening portion of the entrance 106 in the X-axis direction is set as WQ. Then, an angle of view of the depth camera in the X-axis direction is set as γ, the number of pixels in the X-axis direction is set as WA, and a distance to the wall surface 101b near the opening portion is set as Db2. In this case, a distance Db2a from the image center 94 to the end portion of the opening portion of the entrance 106 in the X-axis direction is calculated according to the following formula (3). Db2a = 2Db2 x tan(γ / 2) x WQ / WA · · · (3)

[0117] (Correction amount of installation position of bracket) Next, the calculation of the correction amount for correcting the installation position of the bracket 24 will be described. First, the action control section 82 calculates the reference position (XO, YO, ZO) of the work device 1 in the shaft 100 using the relative position information with respect to the installed bracket 25. The reference position of the work device 1 is a position that does not change even when the horizontal movement mechanism 12, the work mechanism 13, and the work assisting mechanism 14 act in the process of acquiring the environmental information, such as the central portion of the support 111 of the work device 1 and the position of the rotation shaft 51 of the horizontal movement mechanism 12.

[0118] The design position of the measurement target portion of the installed bracket 25 is (XB1, YB1, ZB1). In this case, as shown in the following formulas (4) and (5), the reference position of the work device 1 can be expressed as a function of the distances Hb1 and Db1. YO = YB1 + FD1(Db1) · · · (4) ZO = ZB1 + FH1(Hb1) · · · (5) In the embodiment 1, the bracket 24 is installed on the wall surface 101c that is substantially perpendicular to the X-axis direction. Therefore, the X coordinate at the reference position of the work device 1 does not need to be calculated. The functions FD1 and FH1 are determined from the position of the environmental information acquisition tool 139 with respect to the reference position of the work device 1 and the design position of the measurement target portion of the installed bracket 25 with respect to the environmental information acquisition tool 139. For example, when the moving position of the environmental information acquisition tool 139 is directly above the measurement target (the installed bracket 25), ZO = ZB1 + Hb1, YO = YB1 - Db1, and the reference position is calculated only by measuring the distances.

[0120] Further, the operation control section 82 calculates the reference position (XO, YO, ZO) of the work machine 1 using the relative position information with respect to the opening of the doorway 106. The design position of the lower left corner at the opening of the doorway 106 is set as (XD1, YD1, ZD1). In this case, as shown in the following equations (6) and (7), the reference position of the work machine 1 can be expressed as a function of the distances Hb2, Db2. YO = YD1 + FD2(Db2) · · · (6) ZO = ZD1 + FH2(Hb2) · · · (7) The functions FD2 and FH2 are determined from the position of the environmental information acquisition tool 139 with respect to the reference position of the work machine 1, and the design position of the measurement target portion at the opening of the doorway 106 with respect to the environmental information acquisition tool 139. For example, in a case where the installed bracket 25 is installed on the wall surface 101b that is substantially perpendicular to the Y-axis direction, Db2 = Db2a is set. Thus, as in the case of the installed bracket 25 that is fixed to the wall surface 101c that is substantially perpendicular to the X-axis direction, the reference position of the work machine 1 is calculated.

[0122] When the installed bracket 25 is fixed as designed, the relative position information with respect to the installed bracket 25 and the relative position information with respect to the opening of the doorway 106 are the same. Therefore, the following equations (8) and (9) hold. YO = YB1 + FD1(Db1) = YD1 + FD2(Db2) · · · (8) ZO = ZB1 + FH1(Hb1) = ZD1 + FH2(Hb2) · · · (9) However, when the bracket 24 is installed above the installed bracket 25 with reference to the installed bracket 25, the effects of the installation error of the previous installed bracket 25 and the measurement error at the time of installation are accumulated. Therefore, a difference is generated between the installation position of the bracket 24 determined from the position of the installed bracket 25 and the design position. The position deviation information (YDIFF, ZDIFF) at this time is calculated using equations (10) and (11), respectively. YDIFF = YB1 + FD1(Db1) - (YD1 + FD2(Db2)) · · · (10) ZDIFF = ZB1 + FH1(Hb1) - (ZD1 + FH2(Hb2)) · · · (11) The action control section 82 corrects the designed positions (XB2, YB2, ZB2) of the carriages installed right above the set-up carriage 25, taking YDIFF and ZDIFF as measurement targets. For example, when ZDIFF is positive, the set-up carriage 25 is fixed at a position higher than the designed position. Therefore, the position of the carriage 24 installed right above the set-up carriage 25 is corrected to ZB2 = ZB2 - ZDIFF. Thereby, the carriage interval Ha0 controlled in the Z-axis direction is corrected to Ha0 = Ha0 - ZDIFF. Further, when YDIFF is positive, the set-up carriage 25 is installed at a position deviated from the designed position in the Y-axis direction. Therefore, the position of the carriage 24 installed right above the set-up carriage 25 is corrected to YB2 = YB2 - YDIFF. Thereby, the carriage distance controlled in the Y-axis direction is corrected to Ds = Ds - YDIFF (when Ds > 0).

[0126] In addition, in the above description, the difference between the installation position and the designed position of the carriage 24 is corrected at the installation position of one carriage 24. However, the difference between the installation position and the designed position of the carriage 24 can be corrected at the installation positions of a plurality of carriages 24 to be installed subsequently. For example, in the case where the difference between the installation position and the designed position of the carriage 24 is corrected in two times, the control amount of each time is Ha0 / 2, Ds / 2.

[0127] [Installation position correction processing] Next, the installation position correction processing of the carriage 24 performed by the action control section 82 will be described with reference to the flowchart of Fig. 6. Figure 15 The installation position correction processing of the carriage 24 performed by the action control section 82 will be described. Figure 15 is a flowchart showing one example of the installation position correction processing performed by the action control section 82.

[0128] First, the action control section 82 controls the drive of the work mechanism 13, and installs the environmental information acquisition tool 139 mounted on the work device 1 to the front end of the work mechanism 13 (S1). Next, the action control section 82 controls the drive of the horizontal movement mechanism 12 and the work mechanism 13, and moves the work mechanism 13 to a position near (above) the set-up carriage 25 set in advance (S2). In the processing of step S2, the environmental information acquisition tool 139 faces the set-up carriage 25 downward.

[0129] Next, the action control section 82 measures the distances Hbl, Db l based on the relative position information of the set-up shelf 25 acquired by the environment information acquisition tool 139, and stores the distances Hbl, Db l in the information recording section 81 (S3). Next, the action control section 82 controls the driving of the horizontal movement mechanism 12 and the work mechanism 13, and moves the work mechanism 13 to a position near the opening of the doorway 106 set in advance (S4). In the processing of step S4, the environment information acquisition tool 139 is directed at the opening of the doorway 106. Next, the action control section 82 measures the distances Hb2, Db2 based on the relative position information of the opening of the doorway 106 acquired by the environment information acquisition tool 139, and stores the distances Hb2, Db2 in the information recording section 81 (S5). Next, the action control section 82 calculates the position deviation information YDIFF, ZDIFF based on the distances Hbl, Db l, Hb2, Db2 stored in the information recording section 81 (S6).

[0131] Next, the action control section 82 acquires the design position of the shelf 24 disposed directly above the set-up shelf 25 from the information recording section 81. Next, the action control section 82 corrects the shelf interval Ha0 and the shelf distance Ds, which are control amounts, based on the design position of the shelf 24 and the position deviation information YDIFF, ZDIFF. Then, the action control section 82 stores the corrected shelf interval Ha0 and the shelf distance Ds in the information recording section 81 (S7).

[0132] Next, the action control section 82 controls the driving of the work mechanism 13, and removes the environment information acquisition tool 139 from the work mechanism 13 (S8). Thereafter, the action control section 82 ends the installation position correction processing of the shelf 24.

[0133] As described above, in the present embodiment, the installation position of the shelf 24 to be installed next is corrected in correspondence with the deviation of the installation position of the set-up shelf 25. As a result, it is possible to perform the installation work of the shelf 24 in correspondence with the environment in the shaft, which is information that cannot be acquired in advance.

[0134] In the present embodiment, a case where the cradle 24 is installed to the wall surface 101c which is substantially perpendicular to the X-axis direction is described as an example. However, even in a case where the cradle is installed to the wall surfaces 101a, 101b which are substantially perpendicular to the Y-axis direction, the installation position of the cradle can be corrected as in the present embodiment. That is, the operation control section 82 corrects the installation position of the cradle disposed directly above the installed cradle 25 using the relative position information with respect to the installed cradle and the relative position information to the reference located around the entrance and exit. In this case, the installation position of the cradle is corrected in the X-axis direction, not in the Y-axis direction. Therefore, the distance Db2 with respect to the opening of the entrance and exit 106 becomes a distance corresponding to Figure 14 WQ in the above-described formula.

[0135] Further, the relative position information with respect to the opening of the entrance and exit 106 can be acquired by disposing the environment information acquisition tool 139 on the indoor (building) side of the opening of the entrance and exit 106. In this case, the environment information acquisition tool 139 is directed toward the floor surface 102 at the opening of the entrance and exit 106 to acquire the distance Hb2 to the floor surface 102. Further, the environment information acquisition tool 139 is directed toward the side surface (side wall) of the opening of the entrance and exit 106 to acquire the distance Db2 to the side surface.

[0136] 2. Embodiment 2 Next, the work device related to Embodiment 2 is described. The work device related to Embodiment 2 differs from the work device related to Embodiment 1 in the method of acquiring the relative position information. Therefore, the method of acquiring the relative position information related to Embodiment 2 is described here, and the description of the structure repeated from Embodiment 1 is omitted.

[0137] (Relative position information with respect to installed cradle) The environment information acquisition tool 139 is a depth camera capable of distance measurement. The horizontal movement mechanism control section 85 controls the driving of the horizontal movement mechanism 12 to move the work mechanism 13 to a position set in advance above the installed cradle 25.

[0138] The work mechanism control section 86 rotates each axis of the work mechanism 13 so that the direction of the environment information acquisition tool 139 is vertically downward (Z-axis direction downward) at the position set in advance. The environment information acquisition tool 139 is located above the installed cradle 25 and acquires distance information to the top surface of the installed cradle 25 (refer to Figure 10 and Figure 11 ).

[0139] Figure 16 is a drawing showing an image 95 of the installed cradle 25 including the depth information acquired by the environment information acquisition tool 139. In Figure 16In this case, the position of the environmental information acquisition tool 139 is the image center 96. In Figure 16 In this case, the wall surface 101c of the shaft 100 is positioned on the upper side of the image 95, and the top surface of the provided rack 25 overlaps the image center 92.

[0140] A mark 25a is formed on the top surface of the provided rack 25 involved in Embodiment 2. The mark 25a can take a shape recognizable by an image, a two-dimensional code, a concave-convex recognizable by a distance, or the like. Furthermore, the mark 25a can be formed by printing on the top surface, or can be formed by machining a groove or the like on the top surface.

[0141] The image center 96 within the image 95 is taken as a reference point, and the pixel position of the mark 25a in the Y-axis direction is set as WP. Then, the distance in the Y-axis direction from the image center 96 to the mark 25a is Db1. The operation control section 82 sets the designed position of the mark 25a as (XB1, YB1, ZB1), and calculates the reference position of the work device 1.

[0142] (Relative position information with respect to a reference around the entrance and exit) Next, the relative position information with respect to a reference around the entrance and exit 106 will be described with reference to Figure 17 The acquisition of the relative position information with respect to a reference around the entrance and exit 106 will be described. Figure 17 is a side view showing the work mechanism 13 facing the floor surface 102 of the entrance and exit 106 at the time of acquisition of environmental information.

[0143] As shown in Figure 17 , a mark 102a is formed on the floor surface 102 of the entrance and exit 106. The mark 102a has the same shape as the mark 25a described above. The mark 102a can be set to an arbitrary shape.

[0144] The horizontal movement mechanism control section 85 controls the driving of the horizontal movement mechanism 12, thereby moving the work mechanism 13 to a position set in advance on the upper side of the opening of the entrance and exit 106. The work mechanism control section 86 rotates each axis of the work mechanism 13 so that the direction of the environmental information acquisition tool 139 becomes a direction (Z-axis direction) directly opposite the floor surface 102 of the entrance and exit 106. The environmental information acquisition tool 139 acquires distance information until the floor surface 102 of the entrance and exit 106.

[0145] Figure 18 is a view showing an image 97 of the opening of the entrance and exit 106 including the depth information acquired by the environmental information acquisition tool 139. In Figure 18 , the position of the environmental information acquisition tool 139 is the image center 98. As shown in Figure 18 , in the image 97, the floor surface 102 at the opening of the entrance and exit 106 is photographed.

[0146] The environmental information acquisition tool 139 measures the distance Hb2 (refer to FIG. 9B) to the floor surface 102 near the opening of the doorway 106. The environmental information acquisition tool 139 acquires distance information of one or more positions corresponding to the floor surface 102 at the opening of the doorway 106 located within the image 97. When the environmental information acquisition tool 139 acquires distance information of two or more positions, the action control section 82 calculates the distance Hb2 by averaging the distance information of the two or more positions. Figure 17 ) The environmental information acquisition tool 139 acquires distance information of one or more positions corresponding to the floor surface 102 at the opening of the doorway 106 located within the image 97. When the environmental information acquisition tool 139 acquires distance information of two or more positions, the action control section 82 calculates the distance Hb2 by averaging the distance information of the two or more positions.

[0147] The pixel position of the mark 102a in the Y-axis direction is set to WQ with the image center 98 within the image 97 as a reference point. Then, the distance in the Y-axis direction from the image center 98 to the mark 102a is Db2. The action control section 82 sets the design position of the mark 102a to (XD1, YD1, ZD1) and calculates the reference position of the work machine 1.

[0148] The action control section 82 calculates the control amount Ha0, Ds for the installation position of the carriage 24 based on the distances Hb2, Db2 acquired by using the environmental information acquisition tool 139. The method of calculating the control amount Ha0, Ds is the same as that of the above-described embodiment 1.

[0149] In the embodiment 2, the installation position of the carriage 24 to be installed next is also corrected in correspondence with the deviation of the installation position of the carriage 25 that has been set. As a result, the installation work of the carriage 24 corresponding to the environment within the shaft that is information that cannot be acquired in advance can be performed.

[0150] In the embodiment 2, the mark 102a is formed on the floor surface 102 at the opening of the doorway 106. However, the mark 102a can be formed on a wall surface (wall surface 101b) on the lower side of the floor surface 102 of the opening of the doorway 106 within the shaft 100. In this case, the position and posture of the work mechanism 13 at the time of measuring the distance and the position of the environmental information acquisition tool 139 are the same as those of the above-described embodiment 1. Figure 13

[0151] 3. Embodiment 3 Next, the work machine according to the embodiment 3 will be described. The work machine according to the embodiment 3 differs from the work machine according to the embodiment 1 in the method of acquiring the environmental information acquisition tool 139 and the relative position information. Therefore, the method of acquiring the environmental information acquisition tool 139 and the relative position information according to the embodiment 3 will be described here, and the description of the structure common to the embodiment 1 will be omitted.

[0152] (Relative position information with respect to the carriage that has been set) First, the description will be made with reference to​Figure 19 The acquisition of the relative position information with respect to the set-up bracket 25 will be described. Figure 19 is a side view showing the working mechanism 13 facing the set-up bracket 25 at the time of acquisition of the environmental information. Figure 19 The environmental information acquisition tool 139 shown in FIG. 13 is a laser range finder using infrared rays. The horizontal movement mechanism control section 85 controls the driving of the horizontal movement mechanism 12, thereby moving the working mechanism 13 to a predetermined position above the set-up bracket 25. The working mechanism control section 86 rotates each axis of the working mechanism 13 so that the direction of the environmental information acquisition tool 139 is vertically downward (Z-axis direction downward) at the predetermined position.

[0154] The environmental information acquisition tool 139 is located above the set-up bracket 25 and irradiates laser light to the top surface of the set-up bracket 25. Then, the environmental information acquisition tool 139 receives the laser light reflected by the top surface of the set-up bracket 25 and measures the distance Hbl to the set-up bracket 25.

[0155] Thereafter, the working mechanism control section 86 rotates each axis of the working mechanism 13 so that the environmental information acquisition tool 139 moves slidingly to the wall surface 101b side in the Y-axis direction. By this, the laser light emitted from the environmental information acquisition tool 139 moves to the wall surface 101b side in the Y-axis direction while being irradiated to the top surface of the set-up bracket 25.

[0156] When the laser light reaches the end portion of the set-up bracket 25, the working mechanism control section 86 stops each axis of the working mechanism 13 and stops the movement of the environmental information acquisition tool 139. Then, the action control section 82 calculates the distance Db1 of the movement of the environmental information acquisition tool 139.

[0157] Next, the detection of the end portion of the set-up bracket 25 by laser light will be described. When the laser light is irradiated to the top surface of the set-up bracket 25, the change in the distance Hbl accompanying the movement of the environmental information acquisition tool 139 is small. On the other hand, when the laser light deviates from the top surface of the set-up bracket 25, the change in the distance Hbl accompanying the movement of the environmental information acquisition tool 139 is large. The action control section 82 detects the position where the distance Hbl exceeds a threshold value Hb10 and changes as the end portion of the set-up bracket 25.

[0158] (Relative position information with respect to a reference around the entrance and exit) Next, the relative position information with respect to a reference around the entrance and exit 106 will be described with reference to Figure 20 The acquisition of the relative position information with respect to the reference around the entrance and exit 106 will be described. Figure 20is a side view showing the work mechanism 13 facing the floor surface 102 of the doorway 106 at the time of acquisition of the environmental information.

[0159] The horizontal movement mechanism control section 85 controls the driving of the horizontal movement mechanism 12, thereby moving the work mechanism 13 to a position set in advance on the upper side of the opening of the doorway 106. The work mechanism control section 86 rotates each axis of the work mechanism 13 so that the direction of the environmental information acquisition tool 139 becomes a direction (Z-axis direction) that is directly opposite to the floor surface 102 of the doorway 106.

[0160] The environmental information acquisition tool 139 is located above the floor surface 102 of the doorway 106 and irradiates laser light to the floor surface 102. Then, the environmental information acquisition tool 139 receives the laser light reflected by the floor surface 102 and measures the distance Hb3 to the floor surface 102.

[0161] Thereafter, the work mechanism control section 86 rotates each axis of the work mechanism 13 so that the environmental information acquisition tool 139 moves to the shaft 100 side in the Y-axis direction by sliding. By this, the laser light emitted from the environmental information acquisition tool 139 moves to the shaft 100 side in the Y-axis direction while being irradiated to the floor surface 102.

[0162] When the laser light reaches the end portion of the floor surface 102, the work mechanism control section 86 stops each axis of the work mechanism 13 and stops the movement of the environmental information acquisition tool 139. Then, the action control section 82 calculates the distance Db3 moved by the environmental information acquisition tool 139.

[0163] Next, the detection of the end portion of the floor surface 102 by laser light is described. When the laser light is irradiated to the floor surface 102, the change in the distance Hb3 accompanying the movement of the environmental information acquisition tool 139 is small. On the other hand, when the laser light is away from the floor surface 102, the change in the distance Hb3 accompanying the movement of the environmental information acquisition tool 139 is large. The action control section 82 detects the position at which the distance Hb3 changes over a threshold value Hb30 as the end portion of the floor surface 102.

[0164] When the design position of the end portion center on the floor surface 102 of the doorway 106 is set as (XD3, YD3, ZD3), as shown in the following equations (12) and (13), the reference position (XO, YO, ZO) of the work device 1 in the shaft 100 can be expressed as a function of the distances Hb3, Db3. YO = YD3 + FD3(Db3) · · · (12) ZO = ZD3 + FH3(Hb3) · · · (13) The functions FD3 and FH3 are determined based on the position of the environmental information acquisition tool 139 with respect to the reference position of the work machine 1, and the end center of the floor surface 102 of the doorway 106 with respect to the design position of the environmental information acquisition tool 139. In addition, in Embodiment 3, the end center of the floor surface 102 of the doorway 106 is set as the measurement target. However, the measurement target can be any position of the end of the floor surface 102, or any position of the end of the ceiling surface of the doorway 106. The method of calculating the carriage interval Ha0 and the carriage distance Ds as the control amounts is the same as in Embodiment 1.

[0166] [Mounting position correction processing] Next, the mounting position correction processing of the carriage 24 according to Embodiment 3 will be described with reference to Figure 21 Figure 21 is a flowchart showing one example of the mounting position correction processing performed by the action control section 82 according to Embodiment 3.

[0167] First, the action control section 82 controls the driving of the work mechanism 13, and mounts the environmental information acquisition tool 139 (laser range finder) mounted on the work machine 1 to the front end of the work mechanism 13 (S11). Next, the action control section 82 controls the driving of the horizontal movement mechanism 12 and the work mechanism 13, and moves the work mechanism 13 to a position near (above) the installed carriage 25 set in advance (S12). In the processing of step S12, the environmental information acquisition tool 139 faces the installed carriage 25 downward.

[0168] Next, the action control section 82 measures the distance Hb1 based on the relative position information of the installed carriage 25 acquired by the environmental information acquisition tool 139, and saves the distance Hb1 in the information recording section 81 (S13). Next, the action control section 82 controls the driving of the horizontal movement mechanism 12 and the work mechanism 13, and causes the environmental information acquisition tool 139 to slide in the Y-axis direction toward the wall surface 101b (S14).

[0169] Next, the action control section 82 detects the end of the installed carriage 25 based on the change in the relative position information of the installed carriage 25 acquired by the environmental information acquisition tool 139. Then, the action control section 82 calculates the distance Db1 of the slide movement of the environmental information acquisition tool 139, and saves the distance Db1 in the information recording section 81 (S15).

[0170] ​Next, the operation control section 82 controls the driving of the horizontal movement mechanism 12 and the work mechanism 13, and moves the work mechanism 13 to a position near the opening portion of the doorway 106 that is set in advance (S16). In the processing of step S16, the environmental information acquisition tool 139 is directed to the floor surface 102 of the doorway 106.

[0171] Next, the operation control section 82 measures the distance Hb3 based on the relative position information of the floor surface 102 of the doorway 106 acquired by the environmental information acquisition tool 139, and saves the distance Hb3 in the information recording section 81 (S17). Next, the operation control section 82 controls the driving of the horizontal movement mechanism 12 and the work mechanism 13, and causes the environmental information acquisition tool 139 to slide in the shaft 100 direction of the Y axis (S18).

[0172] Next, the operation control section 82 detects the end portion of the floor surface 102 based on the change in the relative position information of the floor surface 102 acquired by the environmental information acquisition tool 139. Then, the operation control section 82 calculates the distance Db3 of the slide movement of the environmental information acquisition tool 139, and saves the distance Db3 in the information recording section 81 (S19). Next, the operation control section 82 calculates the position deviation information YDIFF, ZDIFF based on the distances Hb1, Db1, Hb3, Db3 saved in the information recording section 81 (S6).

[0173] Next, the operation control section 82 acquires the design position of the cradle 24 disposed directly above the installed cradle 25 from the information recording section 81. Then, the operation control section 82 corrects the cradle interval Ha0 and the cradle distance Ds, which are control amounts, based on the design position of the cradle 24 and the position deviation information YDIFF, ZDIFF. Then, the operation control section 82 saves the corrected cradle interval Ha0 and the cradle distance Ds in the information recording section 81 (21).

[0174] Next, the operation control section 82 controls the driving of the work mechanism 13, and removes the environmental information acquisition tool 139 from the work mechanism 13 (S22). Thereafter, the operation control section 82 ends the installation position correction processing of the cradle 24.

[0175] Thus, in Embodiment 3, the installation position of the cradle 24 to be installed next is also corrected in correspondence with the deviation of the installation position of the installed cradle 25. As a result, the installation work of the cradle 24 in correspondence with the environment in the shaft, which is information that cannot be acquired in advance, can be performed.

[0176] 4. Embodiment 4 Next, the work implement according to Embodiment 4 will be described. The work implement according to Embodiment 4 differs from the work implement according to Embodiment 1 in the environmental information acquisition tool 139 and the method of acquiring the relative position information. Therefore, the environmental information acquisition tool 139 and the method of acquiring the relative position information according to Embodiment 4 will be described here, and the description of the structure common to Embodiment 1 will be omitted. (relative position information with respect to the set bracket) The acquisition of the relative position information with respect to the set bracket 25 employs any one of Embodiments 1 to 3.

[0178] (relative position information with respect to the reference around the entrance and exit) Next, the relative position information with respect to the reference around the entrance and exit will be described with reference to Figure 22 The acquisition of the relative position information with respect to the reference around the entrance and exit will be described. Figure 22 is a front view of the work implement 13 showing the floor surface 102 facing the entrance and exit 106 at the time of acquiring the environmental information.

[0179] Figure 22 The environmental information acquisition tool 139 shown is an array of light receiving elements. As the array of light receiving elements, for example, a PSD (Position Sensitive Device) can be employed. As shown in Figure 22 A light projector 41 for projecting a point light is provided on the floor surface 102 of the entrance and exit 106. The light projector 41 projects a point light from one end portion of the floor surface 102 in the X-axis direction toward the other end portion (negative direction of the X-axis in the figure). Figure 22

[0180] The horizontal movement mechanism control section 85 controls the driving of the horizontal movement mechanism 12, thereby moving the work implement 13 to a predetermined position on the lower side of the opening portion of the entrance and exit 106. The work implement control section 86 rotates each axis of the work implement 13 so that the direction of the environmental information acquisition tool 139 faces one end portion in the X-axis direction.

[0181] The environmental information acquisition tool 139 faces the light projector 41 and receives the point light emitted from the light projector 41. The environmental information acquisition tool 139 measures the light receiving position of the point light (Db4, Hb4) in the Y-Z plane.

[0182] ​When the design position of the light projector provided on the floor surface 102 of the entrance 106 is set to (XD4, YD4, ZD4), the reference position (XO, YO, ZO) of the work machine 1 in the shaft 100 can be expressed as a function of the distances Hb4, Db4 as shown in the following equations (14) and (15). Each function FD4 and FH4 is determined by the position of the environmental information acquisition tool 139 with respect to the reference position of the work machine 1 and the set position of the light projector 41 with respect to the environmental information acquisition tool 139. YO = YD4 + FD4(Db4) · · · (14) ZO = ZD4 + FH4(Hb4) · · · (15) In addition, in the present embodiment, the light projector 41 is provided at a position where the traveling direction of light is the negative direction of the X axis. However, when the installed bracket 25 is mounted on the wall surface 101a that is substantially perpendicular to the Y axis direction, the light projector 41 is provided at a position where the traveling direction of light is the Y axis direction (for example, the negative direction of the Y axis). The measurement plane in this case is the X-Z plane.

[0184] The method of calculating the control amounts Ha0, DS of the bracket 24 mounted directly above the installed bracket 25 that is the object using the distances Hb4, Db4 acquired by the environmental information acquisition tool 139 is the same as that of Embodiment 1.

[0185] In Embodiment 3, the installation position of the bracket 24 to be installed next is also corrected in correspondence with the deviation of the installation position of the installed bracket 25. As a result, the installation work of the bracket 24 corresponding to the environment in the shaft that is information that cannot be acquired in advance can be performed.

[0186] 5. Embodiment 5 Next, the work machine related to Embodiment 5 will be described. The work machine related to Embodiment 5 differs from the work machine related to Embodiment 1 in the environmental information acquisition tool 139, the reference lines 105a, 105b, and the method of acquiring relative position information. Therefore, the environmental information acquisition tool 139 and the method of acquiring relative position information related to Embodiment 5 will be described here, and the description of the structure repeated in Embodiment 1 will be omitted.

[0187] (Relative position information with respect to installed bracket) The acquisition of the relative position information with respect to the installed bracket 25 employs any one of Embodiments 1 to 3.

[0188] (Relative position information with respect to reference around entrance) Next, the reference Figure 23 and Figure 24The acquisition of relative position information with respect to a reference located around the entrance and exit 106 will be described. Figure 23 is a schematic view showing a state in which the work device 1 is arranged in the shaft 100. Figure 24 is a schematic view of a reference measuring device. As shown in Figure 23 , reference lines 105a, 105b extending in the Z-axis direction are provided inside the shaft 100. The reference lines 105a, 105b are metal wires, and are provided side by side in the X-axis direction near the entrance and exit 106. The reference lines involved in the present application can be changed in material and number of arrangements as needed.

[0190] The work device 1 includes a reference measuring device 26. The reference measuring device 26 is, for example, a laser displacement meter. The reference measuring device 26 detects the reference line 105a or the reference line 105b, and acquires relative position information in the X-axis direction and the Y-axis direction with respect to the reference line 105a or the reference line 105b.

[0191] As shown in Figure 24 , the reference measuring device 26 includes a base 26e, light projectors 26a, 26c, and light receivers 26b, 26d. The base 26e is constituted by a substantially rectangular parallelepiped-shaped case. An opening portion 26f is formed in the center of the bottom of the base 26e. The reference line 105a penetrates the opening portion 26f.

[0192] The light projectors 26a, 26c and the light receivers 26b, 26d are arranged inside the base 26e. The light projector 26a sandwiches the opening portion 26f opposite the light receiver 26b. The measurement axis of a first laser displacement meter constituted by the light projector 26a and the light receiver 26b is parallel to the Y-axis direction. The first laser displacement meter measures the distance Db5x to the reference line 105a in the X-axis direction.

[0193] The light projector 26c sandwiches the opening portion 26f opposite the light receiver 26d. The measurement axis of a second laser displacement meter constituted by the light projector 26c and the light receiver 26d is parallel to the X-axis direction. The second laser displacement meter measures the distance Db5y to the reference line 105a in the Y-axis direction.

[0194] For the installed bracket on the wall surface 101c which is substantially perpendicular to the X-axis direction, the distance Db5y is set as the relative position information in the lateral direction with respect to the reference located around the entrance and exit 106. For the installed bracket on the wall surface 101a which is substantially perpendicular to the Y-axis direction, the distance Db5x is set as the relative position information in the lateral direction with respect to the reference located around the entrance and exit 106. The distance Hb5 which is the relative position information in the height direction with respect to the reference located around the entrance and exit 106 is measured by the method of any one of Embodiments 1 to 4.

[0195] When the setting position of the reference line 105a is set as (XD5, YD5), the reference line position (XO, YO, ZO) of the work machine 1 in the shaft 100 can be expressed as a function of the distances Hb5, Db5y as shown in the following equations (16) and (17). Each function FD5 and FH5 is determined by the position of the reference measuring device 26 with respect to the reference position of the work machine 1, and the setting position of the reference line 105a with respect to the reference measuring device 26. YO = YD5 + FD5(Db5y) · · · (16) ZO = ZD5 + FH5(Hb5) · · · (17) The method of calculating the control amounts Ha0, DS for the setting position of the bracket 24 installed directly above the installed bracket 25 which is the object using the distances Hb5, Db5y acquired by the environmental information acquisition tool 139 and the reference measuring device 26 is the same as in Embodiment 1. In addition, the control amounts Ha0, DS for the installed bracket on the wall surface 101a which is substantially perpendicular to the Y-axis direction are calculated using the distances Hb5, Db5x.

[0197] In Embodiment 5, the installation position of the bracket 24 to be installed next is also corrected in correspondence with the deviation of the installation position of the installed bracket 25. As a result, the installation work of the bracket 24 in correspondence with the environment in the shaft which is information that cannot be acquired in advance can be performed.

[0198] The work machine and the installation position correction method of the present application have been described above, including the effects thereof. However, the work machine and the installation position correction method of the present application are not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the application described in the claims.

[0199] For example, in Embodiments 1 to 4 described above, the environment information acquisition tool 139 is detachably attached to the work mechanism 13. Thus, the number of components of the work device 1 can be reduced. However, the detection unit to which the present application is applied can be configured as a component different from the work mechanism 13. In this case, the work device has a driving unit for moving the detection unit in addition to the work mechanism.

[0200] In Embodiments 1 to 5 described above, the provided bracket 25 is positioned below the mounting position of the bracket 24 as the mounting target. However, the provided bracket of the present application can be positioned above the mounting position of the bracket 24.

[0201] In addition, in the work device and the mounting position correction method of the present application, a part of the structure of one embodiment can be replaced with the structure of another embodiment, and a structure of another embodiment can be added to the structure of one embodiment. In addition, in the work device of the present application, a part of the structure of each embodiment can be subjected to addition, deletion, or substitution of another structure.

[0202] Further, in the present specification, the words such as "parallel" and "orthogonal" are not meant to be only "parallel" and "orthogonal" in a strict sense, but also include "substantially parallel" and "substantially orthogonal" within a range in which the functions thereof are exerted. Explanation of Reference Signs

[0203] 1 work device, 11 base portion, 12 horizontal movement mechanism, 13 work mechanism, 14 work assisting mechanism, 15, 16, 17, 18 position fixing mechanism, 21 control device, 22 height detecting device, 23 communication device, 24 carriage, 25 provided carriage, 25a marker, 26 reference measuring device, 26a, 26c light projector, 26b, 26d light receiver, 26e base, 26f opening portion, 31 posture angle sensor, 32a, 32b, 33a, 33b distance sensor, 41 light projector, 51 to 60, 70, 71 rotating shaft, 81 information recording portion, 82 operation control portion, 83 height information acquisition portion, 84 lifting mechanism control portion, 85 horizontal movement mechanism control portion, 86 work assisting mechanism control portion, 87 work assisting mechanism control portion, 88 position fixing mechanism control portion, 89 environment information acquisition portion, 91, 93, 95, 97 image, 92, 94, 96, 98 image center, 100 shaft, 101a, 101b wall surface, 101c carriage mounting wall surface, 102 floor surface, 102a marker, 103A, 103B lifting mechanism, 104a, 104b lifting rope, 105a, 105b reference line, 106 entrance and exit, 111 support, 112 upper housing, 113 lower housing, 121, 122, 123 link, 125, 126, 127, 128 rotation driving portion, 131 connection base, 132 first rotation portion, 133 second rotation portion, 134 third rotation portion, 135 fourth rotation portion, 136 fifth rotation portion, 137 sixth rotation portion, 138 detaching mechanism, 139 hand tool (environment information acquisition tool), 141 connection portion, 142 rotation driving portion, 143 lifting driving portion, 144 gripping mechanism, 171 motor side gear, 172 transmission gear, 173 linear motion shaft portion, 174 guide shaft portion, 175 wall facing portion, 175a flat surface, 176a buffer member.

Claims

1. A working device, which moves up and down within a shaft via a lifting mechanism to perform installation work on an object within the shaft, characterized in that, comprises: a work mechanism that performs the installation work; a work assisting mechanism that positions the object at an installation position; a detection unit that detects relative position information with respect to the installed object and relative position information with respect to a feature of the shaft; and an action control unit that controls the work mechanism and the work assisting mechanism, the action control unit corrects the installation position of the object based on the relative position information with respect to the installed object and the relative position information with respect to the feature.

2. The work device according to claim 1, wherein the work assisting mechanism simultaneously transports the object in the height direction, the left-right direction, or both directions, and positions it at the installation position corrected by the action control unit.

3. The work device according to claim 1, wherein the detection unit is a camera that acquires distance information, detects a reference of the installed object and a reference of the feature, and measures each of the relative position information.

4. The work device according to claim 1, wherein the detection unit is a distance measuring device that acquires distance information, positions a position directly opposite the installed object or the feature by using the work mechanism or the work assisting mechanism, and detects a reference of the installed object or a reference of the feature by sliding from the positioned position, and measures each of the relative position information.

5. The work device according to claim 3 or 4, wherein a position of the reference of the installed object is detected based on a change in distance with respect to the installed object, a position of the reference of the feature is detected based on a change in distance with respect to the feature.

6. The work device according to claim 3, wherein at least one of the reference of the installed object and the reference of the feature is a marker.

7. The work device according to claim 1, wherein the detection unit is a light receiving device that receives light emitted from a light projector arranged on the reference of the feature, detects the reference of the feature, and measures the relative position information with respect to the feature.

8. The work device according to any one of claims 3, 4, and 7, wherein the detection unit is detachably attached to the work mechanism.

9. The work device according to claim 1, wherein the detection unit includes two sets of light receiving devices and light projecting devices whose distance measuring axes are orthogonal to each other, and acquires relative position information in a horizontal plane with respect to a reference line extending in the vertical direction within the shaft.

10. An installation position correction method for an object performed by a work device that raises and lowers an object within a shaft by a raising and lowering mechanism and performs installation work of the object within the shaft, characterized by: a detection unit that detects relative position information with respect to an installed object and relative position information with respect to a feature of the shaft, an action control unit that corrects an installation position of the object based on the relative position information with respect to the installed object and the relative position information with respect to the feature.

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