Spray device and spray system

Abstract

To provide a spray device that can improve work efficiency of spray operation.SOLUTION: A spray device 1 includes a device body 10, a spray head 40 which is connected to a hose 130 and sprays a spray material, a rotation unit 50 which rotates the spray head around an axis along an intersection direction intersecting the vertical direction, and a movement unit 60 which moves the spray head and the rotation unit in one direction of the horizontal direction. The spray head 40 is attached to the rotation unit 50 via a head attachment member 45. The head attachment member 45 extends to an outer side of the device body 10 from the rotation unit 50 in the top view. The spray head 40 is attached to the extended end of the head attachment member 45 and, when moved in the one direction of the horizontal direction by the movement unit 60, is arranged on the outer side relative to device body 10 in the top view.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a spraying device and a spraying system, and more particularly to a spraying device and a spraying system for spraying a spray material onto the framework of a building. [Background technology]

[0002] Conventionally, when spraying a spray material (e.g., fire-resistant coating material) onto the structure of a building (e.g., columns and beams), a worker typically holds a spray head for spraying the material and moves around the structure while spraying. However, since the above-mentioned spraying work is hard work and the working environment is poor, it has been proposed to use a spraying device (spraying robot) (see, for example, Patent Document 1).

[0003] The spraying device described in Patent Document 1 mainly comprises a robot arm that holds the spraying head and changes the position and angle of the spraying head, a traverse device that moves the robot arm in the longitudinal direction of the spraying device, a lifting device that raises and lowers the robot arm and the traverse device, and a traveling device that supports the robot arm, the traverse device, and the lifting device and allows them to travel horizontally. The spraying device also includes a control unit (arithmetic processing device) that controls the robot arm, traverse device, lifting device, and traveling device in order to spray the spray material onto the building framework. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-20206 A Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, in a spraying device such as that in Patent Document 1, a hose (connection hose) for sending the spray material is attached to the spray head, and the worker needs to assist in handling the hose so that it does not get tangled (to prevent excessive deformation) during the spraying work. For example, if the spray head and hose are forcibly changed in direction during the spraying work, there is a risk that the hose will be damaged (there is a risk that the hose will collide with the device body). Furthermore, when the worker assists in handling the hose, the operation of the spray device must be temporarily stopped, which may result in poor work efficiency.

[0006] The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a spraying device and a spraying system that can improve the work efficiency of spraying work compared to conventional methods. Another object of the present invention is to provide a spraying device and a spraying system that enable a hose (connection hose) connected to a spray head to be suitably positioned when performing spraying work. [Means for solving the problem]

[0007] The above problem is solved by the spraying device of the present invention, which provides a spraying device for spraying a spray material onto the structural body of a building, comprising: an apparatus main body that serves as the main body of the spraying device; a spray head connected to a hose that sends the spray material and sprays the spray material; a hose connected to the spray head and sending the spray material to the spray head; a rotation unit that rotates the spray head and the hose relative to the apparatus main body about an axis along an intersecting direction that intersects with the up-down direction; and a moving unit that moves the spray head, the hose and the rotating unit in one horizontal direction relative to the apparatus main body, wherein the spray head is attached to the rotating unit via a head mounting member, the head mounting member extending from the rotating unit toward the outside of the apparatus main body in a top view, and the spray head is attached to an extending end of the head mounting member, and when moved in the one horizontal direction by the moving unit, is positioned outside the apparatus main body in a top view.

[0008] With the above-mentioned configuration, it is possible to realize a spraying device that can perform spraying work more efficiently than before. More specifically, in the above-mentioned spray device, the spray head is attached to the extending end of the head mounting member, and is positioned outside the device body in a top view when moved in one horizontal direction by the moving unit. In other words, by providing the head mounting member, the spray head and the hose can be positioned outside the device body. Therefore, the spray head and the hose can be conveniently handled during the spraying operation (they can be positioned as far away from the device body as possible). Also, the hose can be prevented from interfering with the device body.

[0009] In this case, the rotation unit is a first rotation unit that rotates the spray head and the hose around an axis along a perpendicular direction perpendicular to the vertical direction, and further includes a second rotation unit that rotates the spray head, the hose, the first rotation unit and the moving unit around an axis along the vertical direction relative to the device main body, the moving unit being attached to the second rotation unit, and the spray device sprays the spray material onto the structure while driving the second rotation unit, the moving unit and the first rotation unit to change the position and angle of the spray head. With the above-described configuration, the second rotation unit, the moving unit and the first rotation unit can be driven to change the position and angle of the spray head, thereby allowing the spray material to be sprayed appropriately.

[0010] In this case, the spray head preferably has a head body extending in a direction intersecting the extension direction of the head mounting member, a hose connection portion provided at one end side of the head body in the extension direction and connected to the hose, and a head nozzle provided at the other end side of the head body in the extension direction for spraying the spray material. The above-mentioned configuration makes it easy to handle the hose during the spraying operation (spraying control), which prevents the operation of the spraying device from being temporarily stopped due to the hose becoming tangled, and allows the spraying operation to be performed efficiently.

[0011] In this case, the moving unit has a fixed rail extending in the one horizontal direction, and a movable part that is supported movably along the fixed rail and moves in the one direction together with the spray head and the head mounting member, and it is preferable that the fixed rail and the head mounting member extend in the same horizontal direction in a long length. As described above, the fixed rail and the head mounting member extend horizontally in the same direction, so that the spray head and the hose can be operated away from the device body. In other words, the hose can be conveniently routed.

[0012] In this case, the device further includes a control device that controls the moving unit and the rotating unit, and the control device moves the spray head in one horizontal direction using the moving unit and rotates the spray head using the rotating unit to change the angle of the head nozzle of the spray head, and when the spray head is positioned at a position outer than the device main body when viewed from above, flips the head nozzle of the spray head left and right, and when the spray head is positioned at a position overlapping with the device main body when viewed from above, does not flip the head nozzle of the spray head left and right. Furthermore, when the spray head is moved horizontally in one direction by the moving unit, the spray head and the hose are positioned outer than the device main body when viewed from above, and the control device preferably inverts the head nozzle and hose connection portion of the spray head left and right when the spray head and the hose are positioned outer than the device main body when viewed from above. With the above configuration, the spray head can be operated so that the hose does not come into contact with the device body. In particular, when spraying a spray material onto the framework of a building (e.g., pillars and beams), the spray head needs to be turned left and right, but even during the turning operation, the hose can be prevented from becoming entangled in the device body.

[0013] Furthermore, according to the spraying system of the present invention, the above problem is also solved by a spraying system comprising the above-mentioned spraying device, a spraying device connected to the spraying device and spraying the spraying material, and a surveying device installed at a predetermined position within the construction site, wherein the spraying device is provided on the device main body and has a detection object that is detected by the surveying device, the surveying device detects the detection object mounted on the spraying device and measures the position information of the spraying device based on the detection results, the spraying system stores three-dimensional design information of the building, estimates the current position of the spraying device within the construction site based on the three-dimensional design information of the building and the position information of the spraying device, controls the position and angle of the spray head based on the current position of the spraying device and the three-dimensional design information, and controls the spraying of the spraying material by the spraying device. Effect of the Invention

[0014] According to the spraying device and spraying system of the present invention, it is possible to improve the work efficiency of the spraying work compared to the conventional art. Furthermore, when performing a spraying operation, it becomes possible to suitably position the hose (connection hose) connected to the spray head. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a configuration diagram of a spraying system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view of the spray device in the "normal position". [Diagram 3] FIG. 2 is a perspective view of the spray device in the "raised position". [Figure 4] FIG. 2 is a perspective view of a spray head, a head mounting member, a first rotating unit, a moving unit, and a second rotating unit. [Diagram 5] FIG. 5 is a perspective view of FIG. 4, showing a hose and a support bracket. [Figure 6]FIG. 5 is a diagram showing a state in which the spray head and the hose are reversed from the left to right position in the state shown in FIG. 4. [Figure 7] FIG. 2 is a diagram showing the functions of a spraying device, a surveying device, and an operator terminal. [Figure 8A] This is a diagram showing how spray material is sprayed onto columns and column-beam joints. [Figure 8B] A diagram showing the state of spraying spray material onto one end of a beam. [Figure 8C] FIG. 13 is a diagram showing how the spray head and hose are reversed left and right. [Figure 8D] 13 is a diagram showing how the spray head is inverted left and right to spray the spray material onto the middle part of the beam. FIG. [Figure 8E] A diagram showing the state of spraying spray material onto the other end of the beam. [Figure 8F] This is a diagram showing how spray material is being sprayed onto the rear columns and column-beam joints. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 8F. This embodiment relates to a spraying device that sprays spray material onto the structure of a building, and that enables a hose (connection hose) connected to the spray head to be positioned appropriately when performing spraying work. It also relates to a "spraying system" equipped with a spraying device.

[0017] As shown in FIG. 1, the spraying system S comprises a spraying device 1 that sprays spray material onto the structure (columns B1 and beams B3) of a building B, a spraying device 100 that is connected to the spraying device 1 and sprays the spraying material, a surveying device 200 that is installed at a specified surveying position within the building and surveys the relative position information of the spraying device 1, and an operator terminal 300 that is communicatively connected to the spraying device 1 and the surveying device 200 and causes the spraying device 1 to transmit position information and perform specified spraying work.

[0018] <Hardware configuration of spray system> As shown in Figures 1 to 6, the spraying device 1 is an automated guided vehicle (AGV) equipped with a spraying head, and comprises an apparatus main body 10, a running unit 20 attached below the apparatus main body 10, a lifting unit 30 attached on the apparatus main body 10, a spraying head 40 attached on the lifting unit 30, a first rotating unit 50, a moving unit 60 and a second rotating unit 70. The spraying device 1 also includes an air compressor 80 attached inside the device body 10 and adjusting the spray of the spray material, a prism 85 attached to the four corners of the outer surface of the device body 10 and serving as the detection object of the surveying instrument 200, a battery 88 attached inside the device body 10 and supplying power to each drive unit, and a control device 90 attached inside the device body 10 and controlling various operations of the running unit 20, the lifting unit 30, the first rotation unit 50, the mobile unit 60, the second rotation unit 70 and the air compressor 80.

[0019] As shown in FIG. 1, the spraying device 100 is a device that sprays a fireproof coating material (spraying material) that is a mixture of rock wool (first material) and mortar (second material). The spraying device 100 includes a cotton opener 110 that loosens the rock wool, a blower 120 that carries the loosened rock wool to the spraying head 40, and a first hose 130 (hose) that connects the cotton opener 110, the blower 120, and the spraying head 40. The spraying device 100 further includes a mixer 140 that mixes mortar, a pump 150 that carries the mixed mortar to the spraying head 40, and a second hose 160 that connects the mixer 140, the pump 150, and the spraying head 40. More specifically, the distal end portions of the hoses 130, 160 extend to the position of the spray head 40 via the air compressor 80, as shown in Figs. With the above-described configuration, the spraying device 100 sprays the fireproof coating material, which is a mixture of rock wool and mortar, from the spray head 40 while being adjusted by the air compressor 80.

[0020] As shown in FIG. 1, the surveying device 200 is an automatic tracking total station that detects a prism 85 mounted on the spraying device 1 at a surveying position and measures the position information (relative position information) of the spraying device 1 based on the detection results. The surveying device 200 communicates information and data with the operator terminal 300 and transmits position information of the spraying device 1 to the operator terminal 300.

[0021] The surveying device 200 comprises a device main body 201 that measures the distance and direction to the detection object by emitting laser light with a continuously changing irradiation direction and receiving reflected light from the detection object, and a control controller 202 that is installed inside the device main body 201. The controller 202 is a computer equipped with a CPU (processor), a storage device, and a communication interface.

[0022] As shown in FIG. 1, the operator terminal 300 is a computer operated by an operator. The operator terminal 300 receives position information from the surveying device 200, calculates the current position (position and orientation) of the spraying device 1, and transmits the position information to the spraying device 1 and a program for executing a predetermined spraying operation. The operator terminal 300 may be operated inside the building or outside the building.

[0023] <<Details of the spraying device>> The hardware configuration of the spray device 1 will now be described in detail.

[0024] As shown in FIG. 2, the propulsion units 20 are tire-type propulsion parts that propel the device body 10 in all directions in the horizontal direction (two-dimensional direction), and are attached to the four corners of the device body 10, respectively. Specifically, the running unit 20 is arranged at each of the four corners of the device main body 10 when viewed from above, and has a plurality of wheels 21 that rotate to move the device main body 10, a wheel axle 22 that forms the rotation axis of each wheel 21 and extends in the longitudinal direction of the spraying device 1, and a drive motor 23 that rotates each wheel 21 and the wheel axle 22.

[0025] The wheel 21 is, for example, a Mecanum wheel, and the surface of the wheel 21 is covered with a plurality of rollers (barrels) inclined at approximately 45 degrees with respect to the wheel axis 22. Note that the wheel 21 may be an omni wheel in addition to the Mecanum wheel. The traveling unit 20 controls the rotation direction and rotation speed of the wheels 21 (wheel axles 22) by means of the four drive motors 23, thereby allowing the spraying device 1 to travel freely in the horizontal direction without turning.

[0026] As shown in Figures 2 and 3, the lifting unit 30 is a drive unit that raises and lowers the spray head 40, first rotation unit 50, moving unit 60, and second rotation unit 70 relative to the device main body 10, and is, for example, a rail-type drive unit using a linear motor. The lifting unit 30 is attached to one end of the device body 10 in the longitudinal direction.

[0027] The lifting unit 30 is a multi-stage drive unit having multiple cubic frames. Specifically, the lifting unit 30 comprises a fixed frame 31 fixed on the device main body 10, a first movable frame 32 housed within the fixed frame 31 and movable relative to the fixed frame 31, and a first drive motor 33 attached to the fixed frame 31 and raising and lowering the first movable frame 32. The lifting unit 30 also includes a second movable frame 34 that is housed within the first movable frame 32 and is movable relative to the first movable frame 32, and a second drive motor 35 that is attached to the first movable frame 32 and raises and lowers the second movable frame 34. Similarly, the lifting unit 30 includes a third movable frame 36 and a third drive motor 37 . The spray head 40 , the first rotating unit 50 , the moving unit 60 and the second rotating unit 70 are mounted on a third movable frame 36 .

[0028] As shown in Figs. 4 to 6, the spray head 40 is connected to the hose 130 of the spray device 100, and is a hollow head member that sprays the spray material. The spray head 40 is attached to a first rotating unit 50 via a head mounting member 45, and is rotated by the first rotating unit 50 about an axis along a direction perpendicular to the up-down direction. More specifically, the head mounting member 45 extends laterally from the first rotating unit 50 toward the outside of the device body 10, and the spray head 40 is attached to the extending end of the head mounting member 45. In other words, the spray head 40 is disposed at a distance (eccentrically) from the first rotating unit 50.

[0029] Specifically, the spray head 40 has a head body 41 extending in a direction intersecting the longitudinal direction of the head mounting member 45, a hose connection portion 42 provided at one end of the extension direction of the head body and connected to the first hose 130, a second hose connection portion 43 connected to the second hose 160, and a head nozzle 44 provided at the other end of the head body for spraying the spray material. The head mounting member 45 has a hollow main body portion 45a that is axially supported by the first rotating unit 50, and a holding portion 45b that is provided at one end of the main body portion 45a in the extension direction and that removably holds the spray head 40. The head mounting member 45 extends longitudinally along the axis of the first rotating unit 50. The spray head 40 extends in a direction intersecting (orthogonal to) the extension direction of the head mounting member 45. In other words, the spray head 40 and the head mounting member 45 form a T-shape.

[0030] 5, in the above configuration, when the spray head 40 and the first hose 130 are moved in one horizontal direction (for example, forward) by the moving unit 60, they are disposed outside the device body 10 in a top view. In other words, the spray head 40 and the first hose 130 are disposed outside the frame of the device body 10. This allows the spray head 40 and the first hose 130 to be easily moved around during the spraying operation. Also, interference of the first hose 130 with the device main body 10 can be prevented. In order to prevent the size of the spray device 1 from increasing, when the first rotating unit 50 is in the center position of the moving unit 60 (fixed rail 61), that is, when the spray head 40 is not being moved by the moving unit 60, it is preferable that the spray head 40 is disposed inside the device body 10 in a top view. When the first rotating unit 50 is in the end position (position on the end side) of the moving unit 60 (fixed rail 61), that is, when the spray head 40 is moved by the moving unit 60, it is preferable that the spray head 40 is disposed outside the device body 10 in a top view.

[0031] As shown in Figures 4 and 5, the first rotation unit 50 is a drive unit that rotates the spray head 40 relative to the device body 10 around an axis along a direction perpendicular to the up-down direction, and is, for example, a pulley-type drive unit using a screw motor. The first rotating unit 50 is attached to a moving unit 60 (a movable portion 62), and is moved (sliding) in one horizontal direction by the moving unit 60.

[0032] Specifically, the first rotating unit 50 comprises a housing 51 fixed on the moving unit 60, a drive pulley 52, a driven pulley 53 and a belt 54 each assembled inside the housing 51, and a drive motor 55 assembled outside the housing 51 and connected to the drive pulley 52. The driving pulley 52 and the driven pulley 53 are connected by a belt 54 , and the driven pulley 53 is disposed at a position higher than the driving pulley 52 . The drive pulley 52 rotates as the drive motor 55 is driven, and the belt 54 transmits the rotational power of the drive pulley 52 to the driven pulley 53, causing the driven pulley 53 to rotate. The driven pulley 53 is connected to the head mounting member 45, and as the driven pulley 53 rotates, the head mounting member 45 and the spray head 40 rotate.

[0033] By driving the first rotation unit 50, the spray head 40 can be swung around an axis along a direction perpendicular to the up-down direction. The first rotation unit 50 may be driven to rotate the spray head 40 180 degrees, preferably 360 degrees. This allows the position and orientation of the spray head 40 to be suitably controlled.

[0034] As shown in Figures 4 and 5, the moving unit 60 is a drive unit that moves the spray head 40 and the first rotation unit 50 in one horizontal direction relative to the device main body 10, and is, for example, a rail-type drive unit using a screw motor. The moving unit 60 is attached to a second rotating unit 70 (support bracket 71), and is rotated by the second rotating unit 70 about an axis along the vertical direction.

[0035] Specifically, the moving unit 60 is fixed on the second rotating unit 70 and comprises a fixed rail 61 extending a long length in one horizontal direction, a movable part 62 (movable slider) slidably supported along the fixed rail 61 and slidingly moving together with the spray head 40 in the one direction, and a drive motor 63 mounted inside the fixed rail 61 and moving the movable part 62. In addition, on the outer side surface in the width direction of the fixed rail 61, a movement restriction portion 64 (movement restriction groove) that guides the movement of the movable portion 62 and restricts the movement range of the movable portion 62 is formed.

[0036] In the above configuration, the moving unit 60 is provided so that the moving direction of the movable portion 62 and the axial direction of the first rotation unit 50 are the same in the horizontal direction. By doing so, the moving unit 60 and the first rotation unit 50 can be operated with simple control during the spraying work.

[0037] As shown in Figs. 4 and 5, the second rotation unit 70 is a drive unit that rotates the spray head 40, the first rotation unit 50 and the moving unit 60 relative to the device body 10 about an axis along the up-down direction. The second rotation unit 70 is attached on the lifting unit 30 (the third movable frame 36).

[0038] Specifically, the second rotating unit 70 comprises a support bracket 71 fixed on the lifting unit 30, a fixed base 72 (fixed plate) assembled to the support bracket 71, a rotating plate 73 (rotating table) that rotates around an axis along the vertical direction relative to the fixed base 72, and a drive motor 74 assembled to the fixed base 72 and rotates the rotating plate 73. By rotating the rotary plate 73 in accordance with the driving of the drive motor 74, the spray head 40, the first rotation unit 50 and the moving unit 60 rotate about axes along the vertical direction.

[0039] The second rotation unit 70 drives the moving unit 60 to rotate 360 ​​degrees around an axis along the up-down direction relative to the apparatus main body 10. In this way, the second rotation unit 70 rotates the moving unit 60 at least 180 degrees, so that the spray head 40 can be operated to perform the spraying work without employing an articulated robot arm. For example, the second rotation unit 70 can operate the moving unit 60 and the spray head 40 symmetrically.

[0040] In the above configuration, as shown in Fig. 5, when the spray head 40 and the first hose 130 (second hose 160) are moved in one horizontal direction (for example, forward) by the moving unit 60, they are positioned outside the device body 10 in a top view. When the head ejection port 44 and the hose connection part 42 of the spray head 40 are reversed left and right by the first rotating unit 50 from the state shown in Fig. 5, they are in the state shown in Fig. 6. By doing so, the spray head 40 can be operated so as not to come into contact with the device body 10. For example, when spraying a spray material onto the pillars B1 and beams B3 of building B, it is necessary to turn the spray head 40 left and right, but this can prevent the first hose 130 from getting tangled or colliding with the device body 10 during the turning operation.

[0041] In the above configuration, as shown in FIG. 5, the head mounting member 45, the shaft of the first rotating unit 50, and the fixed rail 61 of the moving unit 60 extend in the same horizontal direction. This allows the spray head 40 and the first hose 130 to be simply operated while being kept away from the device body 10. In other words, the first hose 130 can be suitably routed, and damage to the first hose 130 can be avoided.

[0042] As shown in FIG. 2, the air compressor 80 is a device that adjusts the spraying of the spray material, and is mounted inside the device main body 10. In addition, the air compressor 80 may have a separate outlet located close to the traveling unit 20 and the prism 85 in order to use air pressure to remove foreign matter such as spray material adhering to the surfaces of the traveling unit 20 (wheels 21), prism 85, etc.

[0043] As shown in FIG. 2, the prisms 85 are reflecting prisms to be detected by the surveying instrument 200, and are attached to the four corners of the outer surface of the instrument body 10, and are disposed at different height positions. Therefore, it becomes easier for the surveying device 200 to detect at least two of the four prisms 85 in the building. Then, by the surveying device 200 detecting the two prisms 85, the operator terminal 300 can estimate the current position of the spraying device 1.

[0044] As shown in FIG. 2, the control device 90 is a computer having a CPU (processor) for data calculation and control processing, a ROM, RAM, and HDD (SSD) as memory devices, and a communication interface for sending and receiving data via communication, and is installed inside the device main body 10. The control device 90 is housed in a three-dimensional control module.

[0045] The control device 90 controls the operation of each of these drive units by transmitting control signals generated by the CPU to the traveling unit 20, the lifting unit 30, the first rotation unit 50, the moving unit 60, the second rotation unit 70 and the air compressor 80 via a communication interface. In other words, the ROM, RAM, and HDD of the control device 90 store a spraying program in addition to a main program that performs the functions necessary for a computer, as shown in FIG. 7, and the functions of the spraying device 1 are performed by executing these programs by the CPU.

[0046] <Functions of the spraying system> As shown in Figure 7, from a functional perspective, the spraying device 1 (control device 90) is mainly comprised of a memory unit 91 that reads and temporarily stores various programs and data from the operator terminal 300 in addition to "design data" and "driving route data", a communication unit 92 that transmits and receives various data between the surveying device 200 and the operator terminal 300, a position information acquisition unit 93 that acquires information on the current position within the building, and a spraying control unit 94 that drives the device along a predetermined driving route within the building and executes the spraying process. These are composed of a CPU, ROM, RAM, HDD, communication interface, and various programs. In other words, the control device 90 executes the functions of a storage unit 91, a communication unit 92, a position information acquisition unit 93, and a spray control unit 94.

[0047] The "design data" stored in the storage unit 91 is design information of the three-dimensional shape of a building, and specifically, is BIM (Building Information Modeling) data of the building. "Design data" is data that includes information related to a three-dimensional design drawing, and is created for each room in a building and for each construction stage. The information on the design drawing shows a drawing of a specific room in a building at a specific construction stage, and the design drawing also includes information on the spraying positions of the spraying material. For example, information about a building, information about a room in the building, and information about the construction stage of the room are associated with each other. In this embodiment, the design data is assumed to show a three-dimensional shape of a building, but depending on the contents of the construction processing, the design data may be a two-dimensional shape.

[0048] The "travel route data" is data that indicates a travel route for performing a spraying work within a room of a building. The "travel route data" is created, for example, for each room of a building and for each construction stage.

[0049] The surveying device 200 has as its main components a memory unit 210 that stores various programs and various data, a communication unit 211 that transmits and receives various data between the spraying device 1 and the operator terminal 300, and a survey execution unit 212 that executes surveying while installed at the surveying location. These are composed of a CPU, ROM, RAM, HDD, communication interface, and various programs.

[0050] The operator terminal 300 has as its main components a memory unit 310 that holds and stores various programs and various information data, a communication unit 311 that transmits and receives various data between the spraying device 1 and the surveying device 200, and a position estimation unit 312 that estimates information on the current position of the spraying device 1 within the building. The storage unit 310 stores "design data" and "travel route data." These are composed of a CPU, ROM, RAM, HDD, communication interface, and various programs.

[0051] <<Estimation of the current location of the spraying device>> The spraying system S estimates the current position of the spraying device 1 as follows. First, the survey execution unit 212 of the surveying device 200 detects the prism 85 mounted on the spraying device 1 at the surveying position shown in FIG. 1, and measures the relative position information of the spraying device 1 based on the detection result. Then, the communication unit 211 performs data communication with the operator terminal 300 and transmits the relative position information of the spray device 1.

[0052] The communication unit 311 of the operator terminal 300 receives the relative position information of the spraying device 1 from the surveying device 200 . Then, the position estimation unit 312 estimates the current position of the spraying device 1 within the room of the building based on the design information of the room of the building contained in the “design data” and the relative position information of the spraying device 1 surveyed by the surveying device 200. Then, the communication unit 311 transmits the position information of the spraying device 1 to the spraying device 1. The "position information" is two-dimensional position information, and is specified by the position coordinates (X, Y) when the center position of a certain pillar B1 is set as the origin position (X0, Y0), for example. Note that the "position information" may be three-dimensional position information specified by the position coordinates (X, Y, Z).

[0053] The communication unit 92 of the spray device 1 receives the position information of the spray device 1 from the operator terminal 300 . Then, the position information acquisition section 93 acquires information on the current position of the spray device 1.

[0054] <<Performing spraying work>> The spraying system S performs the spraying operation as follows. The spray control unit 94 of the spray device 1 identifies the spray position based on "design data (design information)". Then, the travel route of the spraying device 1 is determined based on information on the current position of the spraying device 1 and information on the identified spraying position, and "travel route data" is acquired. Then, the spray control unit 94 determines the "spray start position" and "spray start direction" of the spray device 1 based on the "travel route data", and moves the spray device 1 to the determined "spray start position".

[0055] When the spraying device 1 reaches the "spraying start position", the spraying control unit 94 controls the position and angle of the spraying head 40 based on the position information of the spraying device 1 and the design information, and controls the spraying of the spray material by the spraying device 100. In detail, the head movement control unit 94a drives the traveling unit 20, the lifting unit 30, the second rotation unit 70, the moving unit 60, and the first rotation unit 50 to control the position and angle of the spray head 40. Then, the injection control unit 94b drives the air compressor 80 to control the injection amount of the spray material.

[0056] In this embodiment, the operator terminal 300 estimates the location information of the spraying device 1 and transmits the location information as data to the spraying device 1, but the spraying device 1 may estimate its own location information instead of the operator terminal 300. That is, the spraying device 1 may be an autonomous mobile robot having a "position estimation unit" as a component, and may execute the spraying program by itself. In that case, it is preferable that the spraying device 1 directly communicates data with the surveying device 200 to obtain relative position information. In that case, the operator terminal 300 may issue to the spraying device 1 a movement command (such as movement during loading and unloading) other than the autonomous movement of the spraying device 1. Also, the operator terminal 300 may instruct the surveying device 200 on the position of the prism 85 recognized by the surveying device 200.

[0057] Further, in this embodiment, the spraying device 1 (control device 90) controls the spraying work, but instead of the spraying device 1, the operator terminal 300 may control the spraying work of the spraying device 1. In this case, it is preferable that the operator terminal 300 performs data communication with the spraying device 1 in real time and remotely controls the operation of the spraying device 1.

[0058] <<Spraying pattern of spraying device>> Next, as an example of a spraying pattern by the spraying device 1, a pattern in which a spray material is sprayed onto pillars and beams will be described with reference to Figs. 8A to 8F. FIG. 8A is a diagram showing a state in which the spraying material is sprayed onto a column B1 and a column-beam joint B2. The spray control unit 94 sprays the spray material by moving the spray head 40 in the vertical and horizontal directions while facing the side surface of the column B1 and the column-beam joint B2. Specifically, the spray control unit 94 controls the lifting unit 30 to raise and lower the spray head 40, or controls the first rotating unit 50 to swing the spray head 40 up and down. In addition, the spray control unit 94 controls the moving unit 60 to slide the spray head 40 in the left-right direction. The second rotating unit 70 may be controlled to swing the spray head 40 left and right.

[0059] FIG. 8B is a diagram showing a state in which the spray material is sprayed onto one end of the beam B3. The spray control unit 94 sprays the spray material by moving the spray head 40 in the vertical and horizontal directions with the spray head 40 facing the side surface of the beam B3. Specifically, the spray control unit 94 first controls the second rotation unit 70 to rotate the moving units 60 by 90 degrees and extends the moving units 60 in a direction along the beam B3 (the left-right direction of the spray device 1). Then, the spray control unit 94 controls the first rotation unit 50 to swing the spray head 40 up and down. Also, the spray control unit 94 controls the moving unit 60 to slide the spray head 40 left-right, or controls the traveling unit 20 to move the spray head 40 left-right.

[0060] FIG. 8C is a diagram showing how the spray head 40 and the hose 130 are reversed left and right. After the spray material is sprayed from one end to the middle portion of the beam B3, the spray control unit 94 controls the second rotation unit 70 to rotate the moving unit 60 by 90 degrees and extends the moving unit 60 in a direction perpendicular to the beam B3 (the front-rear direction of the spray device 1). Then, the spray control unit 94 controls the moving unit 60 to move the spray head 40 forward. At this time, the spray head 40 and the first hose 130 are disposed outside the device body 10 in a top view. Then, the spray control section 94 controls the first rotation unit 50 to reverse the spray head 40 (head nozzle 44) and the first hose 130 left and right. When the spray head 40 is disposed at a position where it overlaps with the device main body 10 in a top view, the spray control unit 94 controls the spray head 40 so as not to reverse left and right.

[0061] FIG. 8D is a diagram showing how the spray head 40 is turned over laterally to spray the spray material onto the middle portion of the beam B3. The spray control unit 94 sprays the spray material by moving the spray head 40 in the vertical and horizontal directions with the spray head 40 facing the side surface of the beam B3. Specifically, the spray control unit 94 controls the second rotation unit 70 to rotate the moving units 60 by 90 degrees, and extends the moving units 60 in a direction along the beam B3. The spray control section 94 then controls the first rotating unit 50 to swing the spray head 40 up and down, and controls the moving unit 60 to slide the spray head 40 left and right.

[0062] FIG. 8E is a diagram showing how the spray material is sprayed onto the other end of the beam B3. The spray control unit 94 controls the second rotation unit 70 to rotate the moving units 60 by 45 degrees, and extends the moving units 60 in a direction inclined relative to the beam B3. The spray control unit 94 then controls the first rotation unit 50 to swing the spray head 40 up and down. The spray control unit 94 also controls the movement unit 60 to slide the spray head 40 left and right.

[0063] FIG. 8F is a diagram showing the state in which the spraying material is sprayed onto the rear column B1 and column-beam joint B2. The spray control unit 94 sprays the spray material by moving the spray head 40 in the vertical and horizontal directions while facing the side of the rear column B1 and column-beam joint B2. Specifically, the spray control unit 94 controls the second rotation unit 70 to rotate the moving units 60 by an additional 45 degrees, and extends the moving units 60 in a direction perpendicular to the beam B3. The spray control section 94 then controls the first rotating unit 50 to swing the spray head 40 up and down, and controls the moving unit 60 to slide the spray head 40 left and right. The second rotating unit 70 may be controlled to swing the spray head 40 left and right.

[0064] By the above-mentioned spray control, the spray material can be sprayed to the pillars B1, beams B3 and the pillars B1 at the rear side with a simple operation without tangling the hoses 130, 160 and minimizing contact between the hoses 130, 160 and the device body 10. Specifically, the spray head 40 and the hoses 130, 160 can be reversed left and right without contacting the device body 10. When the spray control unit 94 detects a deviation from the above-mentioned spray pattern or determines that the above-mentioned spray pattern cannot be performed due to an unintended reason, it may stop the operation of the drive units 50, 60, 70 and emit a warning sound. Specifically, it is preferable that a detection sensor (e.g., a contact sensor) (not shown) is attached to the device main body 10, the spray head 40, the hose 130, etc.

[0065] The above configuration makes it possible to realize a spraying device 1 (spraying system S) that improves the efficiency of the spraying work compared to the conventional art. In particular, when performing the spraying work, the hoses 130, 160 connected to the spray head 40 can be conveniently handled.

[0066] <Other embodiments> In the above embodiment, as shown in FIG. 1, the spraying device 1 is an automatic (autonomous) device, but this is not limited thereto. For example, an operator may remotely operate the spray device 1 to operate each drive unit of the spray device 1 and spray the spray material at a predetermined spray position.

[0067] In the above embodiment, as shown in FIG. 4, the spray head 40 is attached to the first rotating unit 50 via a head mounting member 45, resulting in a simple configuration that does not require a robot arm, but this is not limited to this. For example, a robot arm may be adopted instead of the first rotation unit 50 (the first rotation unit 50 may be a robot arm).

[0068] In the above embodiment, a spraying program is stored in a recording medium readable by the operator terminal 300 (spraying device 1), and the operator terminal 300 (spraying device 1) reads out and executes the program to execute processing. Here, the recording medium readable by the operator terminal 300 refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc. Alternatively, dedicated software may be started using the operator terminal 300, and the spraying program may be executed on a web browser.

[0069] In the above embodiment, the spraying device and the spraying system according to the present invention have been mainly described. However, the above embodiment is merely an example for facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention can be modified or improved without departing from the spirit of the present invention, and the present invention naturally includes equivalents thereof. [Explanation of symbols]

[0070] S Spraying System 1 Spraying device 10. Device body 20 Traveling Unit 21 wheels 22 Wheel axle 23 Drive motor 30 Lifting unit 31 Fixed Frame 32 First movable frame 33 First drive motor 34 Second movable frame 35 Second drive motor 36 Third movable frame 37 Third drive motor 40 Spray Head 41 Head body 42 Hose connection 43 Second hose connection 44 Head nozzle 45 Head mounting material 45a Main body 45b Holding part 50 1st Rotating Unit (Rotating Unit) 51 Case 52 Drive pulley 53 Driven pulley 54 Belt 55 Drive motor 60 Mobile Units 61 Fixed Rail 62 Moving parts 63 Drive motor 64 Movement Control Section 70 2nd Rotation Unit 71 Support bracket 72 Fixed base (fixed platen) 73 Rotating plate (rotating table) 74 Drive motor 80 Air Compressor 85 Prism (detection target) 88 Battery 90 Control device 91 Storage section 92 Communications Department 93 Location information acquisition unit 94 Spray control section 94a Head movement control section 94b Injection control unit 100 Injector 110 Cotton opening machine 120 Blower 130 First Hose (Hose) 140 Mixer 150 Pump 160 2nd Hose 200 Surveying equipment (total station) 201 Device body 202 Controller 210 Storage section 211 Communications Department 212 Survey Execution Department 300 Operator terminal 310 Storage section 311 Communications Department 312 Position estimation part B Building B1 pillar B2 Column-beam joint B3 Beam

Claims

1. A spraying device that sprays spraying material onto the framework of a building, A device main body that is the main body of the spray device; A spray head connected to a hose for supplying the spray material and spraying the spray material; a rotation unit that rotates the spray head and the hose relative to the device body around an axis along a cross direction that crosses the up-down direction; a moving unit that moves the spray head, the hose, and the rotating unit in one horizontal direction relative to the device body, The spray head is attached to the rotating unit via a head attachment member, the head attachment member extends from the rotation unit toward an outside of the device body in a top view, The spray head is attached to the extended end of the head mounting member, A spraying device characterized in that, when moved in the one horizontal direction by the moving unit, the spraying device is positioned outside the device body in a top view.

2. The rotation unit is a first rotation unit that rotates the spray head and the hose around an axis along a direction perpendicular to a vertical direction, a second rotation unit that rotates the spray head, the hose, the first rotation unit, and the moving unit relative to the device body about an axis along a vertical direction, the moving unit is mounted on the second rotating unit; The spraying device according to claim 1, characterized in that the spraying device sprays the spray material onto the structure while driving the second rotation unit, the moving unit and the first rotation unit to change the position and angle of the spray head.

3. The spray head is a head main body extending in a direction intersecting with an extending direction of the head mounting member; a hose connection portion provided at one end side of the head body in an extending direction and connected to the hose; 2. The spray device according to claim 1, further comprising a head injection port provided on the other end side of the head body in the extending direction thereof for injecting the spray material.

4. The mobile unit includes: a fixed rail extending in the one horizontal direction; a movable part that is supported movably along the fixed rail and moves together with the spray head and the head mounting member in the one direction, 2. The spraying device according to claim 1, wherein the fixed rail and the head mounting member extend horizontally in the same elongated direction.

5. A control device for controlling the moving unit and the rotating unit is further provided. The control device includes: The moving unit moves the spray head in the one horizontal direction; Rotating the spray head by the rotating unit to change the angle of the head nozzle of the spray head; When the spray head is disposed at a position outside the device body in a top view, a head injection port of the spray head is inverted left and right; 5. The spray device according to claim 1, wherein when the spray head is disposed at a position overlapping the device body in a top view, the head nozzle of the spray head is not inverted left and right.

6. When the spray head is moved in the one horizontal direction by the moving unit, the spray head and the hose are disposed on the outer side of the device body in a top view, The spray device according to claim 5, characterized in that the control device reverses the head nozzle and hose connection portion of the spray head left and right when the spray head and the hose are positioned outside the device main body in a top view.

7. A spraying system comprising the spraying device according to claim 1, a spraying device connected to the spraying device and configured to spray the spraying material, and a surveying device installed at a predetermined position within the construction site, the spraying device is provided in the device body and includes a detection object to be detected by the surveying device; The surveying device detects the detection object mounted on the spraying device, and measures position information of the spraying device based on the detection result; The spraying system comprises: storing three-dimensional design information of the building; A current position of the spraying device within the construction site is estimated based on three-dimensional design information of the building and position information of the spraying device; A spraying system characterized by controlling the position and angle of the spray head based on the current position of the spraying device and the three-dimensional design information, and controlling the spraying of the spray material by the spraying device.

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