Cutting method and computer program

Abstract

To provide a cutting method that can reliably perform cutting at an end, and a computer program.SOLUTION: In a cutting method according to which a nozzle moves between a first position and a second position separated from each other in a first direction, and during movement, water is injected from the nozzle to cut a work-piece, there is a third position between the first position and the second position in the first direction, there is a fourth position between the third position and the second position in the first direction, and a first direct advance movement such that the nozzle moves to the second position from any position between the first position and the third position, and a first reciprocation movement such that the nozzle reciprocates between the second position and the fourth position after the first direct advance movement are executed.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present technology relates to a cutting method and a computer program for cutting a workpiece by using water jetted from a nozzle. [Background technology]

[0002] A high-pressure water jet nozzle device has been proposed that moves a high-pressure water nozzle a predetermined distance, i.e., the working stroke width, to break up, for example, a concrete road surface. The area of ​​the road surface within the working stroke width comprises a construction area and end deceleration zones located at both ends of the construction area. The high-pressure water nozzle moves at second speed in the construction area and at first speed in the end deceleration zones. In the end deceleration zones, where it is necessary to slow down the speed to ensure reliable breaking, reliable breaking is possible, and in the construction zones where it is acceptable to increase the speed to break up, rapid breaking is possible (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-125326 Summary of the Invention [Problem to be solved by the invention]

[0004] Simply slowing down the nozzle may result in insufficient fragmentation.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a cutting method and a computer program that can reliably perform cutting at the end. [Means for solving the problem]

[0006] In one embodiment of the cutting method of the present disclosure, a nozzle moves between a first position and a second position spaced apart in a first direction, and water is sprayed from the nozzle during the movement to cut a workpiece, wherein a third position is located between the first position and the second position in the first direction, and a fourth position is located between the third position and the second position in the first direction, and a first linear movement is performed in which the nozzle moves from any position between the first position and the third position to the second position, and after completion of the first linear movement, a first reciprocating movement is performed in which the nozzle moves back and forth between the second position and the fourth position.

[0007] A computer program according to one embodiment of the present disclosure is a computer program executed by a control device of a cutting machine in which a nozzle moves between a first position and a second position spaced apart in a first direction, and sprays water from the nozzle while moving to cut a workpiece, wherein a third position is located between the first position and the second position in the first direction, and a fourth position is located between the third position and the second position in the first direction, and the computer program causes the control device to execute a process of performing a first linear movement in which the nozzle moves from any position between the first position and the third position to the second position, and a first reciprocating movement in which the nozzle moves back and forth between the second position and the fourth position after completion of the first linear movement. [Effects of the Invention]

[0008] In the cutting method and computer program according to one embodiment of the present disclosure, after the first linear movement is completed, the nozzle moves back and forth between the second position and the fourth position, so that cutting between the second position and the fourth position, i.e., cutting at the end of the area between the first position and the second position (the area of ​​one stroke in which the nozzle moves), can be performed reliably. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic side view of a cutting wheel according to a first embodiment. [Figure 2] FIG. [Figure 3]FIG. 2 is a schematic front view of a nozzle mechanism. [Figure 4] FIG. 10 is an explanatory plan view illustrating the movement locus of the nozzle. [Figure 5] 10 is an explanatory plan view illustrating the cutting range caused by the linear movement, backward movement, and reciprocating movement of the nozzle. FIG. [Figure 6] FIG. 10 is an explanatory plan view illustrating a movement locus of a nozzle according to the second embodiment. [Figure 7] FIG. 10 is an explanatory plan view illustrating a movement locus of a nozzle according to the third embodiment. [Figure 8] FIG. 10 is an explanatory plan view illustrating a conventional cutting method. [Figure 9] FIG. 2 is an explanatory plan view illustrating a cutting method according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] (Embodiment 1) The present invention will be described below with reference to the drawings showing a cutting method according to a first embodiment. In the following description, for ease of understanding, up, down, front, back, left and right as shown in the drawings will be used as examples of directions. Fig. 1 is a schematic side view of the cutting wheel, Fig. 2 is a schematic plan view of the cutting wheel, and Fig. 3 is a schematic front view of the nozzle mechanism. The left and right direction corresponds to the first direction, and the front and back direction corresponds to the second direction.

[0011] The cutting vehicle comprises a vehicle 1 and a cutting device 10 attached to the front of the vehicle 1. The cutting vehicle corresponds to a cutting machine. The vehicle 1 comprises a chassis 2 that is rectangular in plan view and extends fore and aft. A shaft 3 that can rotate around an axis is provided at the front of the chassis 2. The shaft 3 extends in the left-right direction, and front wheels 3a, 3a are provided at each end of the shaft 3. A shaft 4 that can rotate around an axis is provided at the rear of the chassis 2. The shaft 4 extends in the left-right direction, and rear wheels 4a, 4a are provided at each end of the shaft 4. The rotation axes of the front wheel 3a and the rear wheel 4a are in the left-right direction.

[0012] A drive unit 8 is provided at the front of the chassis 2. The drive unit 8 supplies power to the shaft 3. The supply of power to the shaft 3 causes the front wheels 3a to rotate forward or backward. No power is supplied to the shaft 4. The forward or backward rotation of the front wheels 3a causes the vehicle 1 to move forward or backward. A drive unit 8 that supplies power to the shaft 4 may also be provided. Furthermore, the worker 40 may move the vehicle 1 forward or backward without providing the drive unit 8, i.e., without supplying power to the shafts 3 and 4.

[0013] A frame 5 is provided in the center of the chassis 2 in the longitudinal direction. The frame 5 has an inverted U-shape when viewed from the front and protrudes upward from the chassis 2. A control panel 5a for operating the cutting device 10 is supported on the frame 5. The control panel 5a includes a reception unit for receiving operations, a control unit, a main memory unit, and an auxiliary memory unit. The reception unit includes, for example, buttons, switches, and a keyboard. The control unit includes, for example, a processor and a logic circuit. The processor includes, for example, a CPU and an MPU. The logic circuit includes, for example, an FPGA. The main memory includes, for example, a RAM. The auxiliary memory includes, for example, an EEPROM, a flash ROM, and a hard disk. The auxiliary memory stores a control program (computer program) for controlling the cutting car. The control program is stored in the auxiliary memory from a portable recording medium 20, such as an optical disc or flash memory. The control panel 5a may be connected to a wired or wireless network, and the control program may be downloaded to the auxiliary memory from an external device via the network. An operator 60 operates the reception unit. For example, the operator 60 performs operations such as inputting parameters and starting or ending operation.

[0014] When the operator 60 starts operation, the control unit reads the control program from the auxiliary storage unit to the main storage unit and controls the operation of the cutting cart based on the control program. The cutting cart may be controlled remotely, or the control program may be stored in a server connected to the cutting cart via a network, and the server may control the operation of the cutting cart based on the control program.

[0015] A handle 2a is provided at the rear end of the chassis 2. The handle 2a is T-shaped when viewed from behind, and includes a support rod 2b extending upward from the rear end of the chassis 2, and a grip rod 2c connected to the upper end of the support rod 2b and extending to the left and right. An operator 60 can hold the grip rod 2c of the handle 2a and control the forward or reverse movement of the vehicle 1, for example, to prevent the vehicle 1 from moving diagonally.

[0016] A cutting device 10 is provided at the front end of the chassis 2. The cutting device 10 includes a frame 11, which has two first frames 11a, 11a arranged left and right and facing each other, two second frames 11b, 11b arranged front and rear and facing each other, and a third frame 11c. The first frame 11a has a rectangular frame shape when viewed from the front. The second frame 11b has a rectangular frame shape when viewed from the side. The first frame 11a and the second frame 11b are connected to each other. The third frame 11c is arranged above the first frame 11a and the second frame 11b and has a rectangular frame shape when viewed from above. The third frame 11c is connected to the first frame 11a and the second frame 11b. The rear second frame 11b is fixed to the chassis 2. The frame 11 is entirely covered with a soundproof sheet 14. The first frame 11a to the third frame 11c are provided with reinforcing members or mounting members for mounting components (none of which are shown) as needed.

[0017] A horizontal rail 12 extending laterally is provided between the two first frames 11a. The horizontal rail 12 is attached to the first frame 11a, the second frame 11b, or the third frame 11c, for example, via a mounting member. A rectangular parallelepiped trolley box 13a is attached to the horizontal rail 12 so that it can move laterally. The left and right portions of the trolley box 13a are open, and the horizontal rail 12 passes through the openings and penetrates the trolley box 13a from left to right.

[0018] Two upper rollers 13b, 13b that sandwich the front and rear of the upper part of the horizontal rail 12 and two lower rollers 13c, 13c that sandwich the front and rear of the lower part of the horizontal rail 12 are provided inside the trolley box 13a. The axes of the upper rollers 13b and the lower rollers 13c extend in the vertical direction. The upper rollers 13b and the lower rollers 13c are rotatable around their axes.

[0019] A motor (not shown) is mounted on the outer underside of the trolley box 13a. A slot (not shown) is formed in the underside of the trolley box 13a, penetrating vertically and extending horizontally. A sprocket (not shown) is inserted into the slot with its axial direction aligned with the front-to-rear direction and is rotatably mounted. The sprocket is connected to the rotating shaft of the motor.

[0020] A chain (not shown) is provided inside the trolley box 13a below the cross rail 12. Both ends of the chain are supported and tensioned by the first frames 11a, 11a via, for example, mounting members or reinforcing members. The chain engages with the teeth of a sprocket, and the sprocket is rotated by a motor, which in turn rotates the upper roller 13b and the lower roller 13c, causing the trolley box 13a to move left and right.

[0021] The left and right movement of the trolley box 13a is controlled by operating the control panel 5a. The mechanism for driving the trolley box 13a is not limited to the chain, sprocket and motor described above, and a ball screw mechanism, for example, may also be used.

[0022] A sprayer 16 is attached to the front of the trolley box 13a via a mounting plate 17. The sprayer 16 comprises a support part 16a fixed to the mounting plate 17, a cylindrical swivel 16b that can rotate around an axis located in a hole that penetrates the support part 16a vertically, a pipe 16c that protrudes downward from the swivel 16b, and a bifurcated nozzle 16d that is connected to the lower end of the pipe 16c and has two jet nozzles facing diagonally downward. The jet nozzles are oriented so that the water jets from each of the two jet nozzles collide. The pipe 16c and nozzle 16d rotate around the vertical axis as the swivel 16b rotates.

[0023] A steel cover 15 covering the nozzle 16d is detachably mounted between the two first frames 11a and the two second frames 11b. The material of the cover 15 is not limited to steel, and any material that can withstand collisions with debris may be used. The cover 15 is attached to the first frame 11a or the second frame 11b, for example, via mounting members. The cover 15 covers the top, left and right sides, and front and rear of the nozzle 16d. A slit 15a extending left and right is formed in the top surface of the cover 15. The cover 15 is attached by inserting a pipe 16c into the slit 15a. When the trolley box 13a moves left and right, the injector 16 also moves left and right. At this time, the pipe 16c moves left and right inside the slit 15a.

[0024] High-pressure water is supplied to the swivel 16b from a high-pressure pump (not shown). The supplied high-pressure water flows through a pipe 16c and is sprayed from a nozzle 16d. The sprayed water hits an object, for example, the surface of a road 50, and cuts the road 50. As the trolley box 13a moves left and right, the nozzle 16d also moves left and right, cutting the road 50. If the road 50 is made of, for example, reinforced concrete, the concrete portion is cut away and the reinforcing bars 51 remain uncut. Therefore, the reinforcing bars 51 can be reused and concrete can be poured.

[0025] Driven by the drive unit 8, the vehicle 1 moves forward or backward a predetermined distance d, for example, 10 to 30 mm. After cutting of a predetermined area is completed by moving left and right, the vehicle 1 can move forward or backward the predetermined distance d to cut the uncut area. In this embodiment, the vehicle 1 moves backward, but it may also move forward. The left and right movement of the nozzle 16d and the forward and backward movement of the vehicle 1 are controlled based on a control program.

[0026] For example, the worker 60 operates the operation unit of the control panel 5a to input a predetermined distance d for reversing and input an instruction to start operation. The control unit moves the nozzle 16d straight in the left and right direction while spraying high-pressure water from the nozzle 16d, and the control unit moves the vehicle 1 backward the input predetermined distance d. The control unit also executes the reciprocating movement of the nozzle 16d, which will be described later. The control unit repeats the straight movement, reverse movement, and reciprocating movement. The worker 60 operates the operation unit of the control panel 5a to input an instruction to stop operation. The control unit stops the movement of the nozzle 16d and stops spraying the high-pressure water.

[0027] The frame 11 is entirely covered with soundproofing sheet 14, which reduces noise during cutting. Furthermore, debris, such as concrete fragments, hits the cover 15 during cutting, which helps prevent debris from flying off. The debris remains near the cut area. A worker 60 can use a vacuum cleaner, for example, to suck up the debris and remove it from the road 50. If there are multiple workers 60, cutting work and vacuum work may be performed simultaneously.

[0028] The movement of the nozzle 16d will now be described. FIG. 4 is an explanatory plan view illustrating the movement trajectory of the nozzle 16d, and FIG. 5 is an explanatory plan view illustrating the cutting range caused by the linear, backward, and reciprocating movement of the nozzle 16d. In FIG. 4, P1 indicates the first position, P2 indicates the second position, P3 indicates the third position, and P4 indicates the fourth position. The first position P1 to the fourth position P4 all indicate the position of the nozzle 16d in the left-right direction. The position of the nozzle 16d is, for example, the rotation center position of the nozzle 16d. The first position P1 is located to the left of the second position P2. The third position P3 is located between the first position P1 and the second position P2, a distance k to the right of the first position P1. The fourth position P4 is located between the third position P3 and the second position P2, a distance k to the left of the second position P2.

[0029] The symbol c indicates the central position between the first position P1 and the second position P2. The distance between the first position P1 or the second position P2 and the central position c is h. The distance h is longer than the distance k. That is, the range of the distance k corresponds to the end region near the first position P1 or the second position P2. The distance k is the distance (reciprocating distance) that the nozzle 16d moves back and forth.

[0030] The distance h is, for example, approximately 550 mm. That is, the distance between the first position P1 and the second position P2 in the left-right direction (the distance of one stroke of the nozzle 16d) is approximately 1100 mm. Approximately 1100 mm is an example of the distance of one stroke, and the distance of one stroke may be smaller or larger than 1100 mm. The distance k is the reciprocating distance, and is, for example, approximately 300 mm. Approximately 300 mm is an example of the reciprocating distance k, and the reciprocating distance k may be smaller or larger than 300 mm. Note that in FIG. 4, the predetermined distance d is depicted as being longer than in FIG. 5 for ease of understanding.

[0031] When the nozzle 16d does not move left and right, or forward and backward, and the swivel 16b rotates, the nozzle 16d cuts a circular area in a plan view. Each circle shown in Figure 5 represents the circular area. Figure 5 shows how the circular area moves as the nozzle 16d moves forward, backward, and back and forth. In other words, the collection of circular areas in Figure 5 represents the cutting area by the nozzle 16d.

[0032] The first position P1 is the position of the nozzle 16d located at the left end during linear movement in the left-right direction. The second position P2 is the position of the nozzle 16d located at the right end during linear movement in the left-right direction. The area between the first position P1 and the second position P2 is the area of ​​one stroke of the nozzle 16d moving left-right.

[0033] P1' in Fig. 5 indicates the left end position of the circular area cut by the nozzle 16d located at the first position P1. P2' in Fig. 5 indicates the right end position of the circular area cut by the nozzle 16d located at the second position P2. P3' in Fig. 5 indicates the right end position of the circular area cut by the nozzle 16d located at the third position P3. P4' in Fig. 5 indicates the left end position of the circular area cut by the nozzle 16d located at the fourth position P4.

[0034] As described above, when the position of the nozzle 16d is the rotation center position of the nozzle 16d, the first position P1 to the fourth position P4 (see FIG. 4) of the nozzle 16d do not coincide with the positions P1' to P4' (see FIG. 5). In this case, the first position P1 to the fourth position P4 and the predetermined distance d are determined in advance based on the positions P1' to P4' and the diameter of the circular area, etc.

[0035] When the driving start command is input, the nozzle 16d is positioned at the left end. After the driving start command is input, the nozzle 16d moves straight from the first position P1 to the second position P2, as shown in FIG. 4. At this time, as shown in FIG. 5A, the circular area moves from P1' to P2'. As shown in FIG. 4, after reaching the second position P2, the vehicle 1 moves backward a predetermined distance d (see FIG. 5B). At this time, as shown in FIG. 5B, the circular area moves backward a predetermined distance d.

[0036] Moving backward a predetermined distance d from the second position P2 corresponds to a first step movement. The predetermined distance d is, for example, 10 to 30 mm. Note that the predetermined distance d is smaller than the diameter D of the circular area. The diameter D of the circular area is, for example, 100 to 300 mm. Note that the diameter D is not limited to 100 to 300 mm, and may be smaller than 100 mm or larger than 300 mm.

[0037] Next, as shown in Figure 4, nozzle 16d moves a distance k from second position P2 to fourth position P4. At this time, as shown in Figure 5C, the circular area moves from P2' to P4'. Next, as shown in Figure 4, nozzle 16d moves a distance k from fourth position P4 to second position P2. At this time, as shown in Figure 5D, the circular area moves from P4' to P2'.

[0038] That is, the nozzle 16d moves back and forth in the region between the second position P2 and the fourth position P4, in other words, the right end region. The nozzle 16d moves back and forth one more time between the second position P2 and the fourth position P4. In this embodiment, the nozzle 16d moves back and forth between the second position P2 and the fourth position P4 twice, but the number of times may be one, or three or more. The number of times the nozzle 16d moves back and forth is determined depending on the pressure and amount of pressurized water sprayed from the nozzle 16d and the strength of the road 50 (object to be cut).

[0039] When the reciprocating movement between the second position P2 and the fourth position P4 is completed and the nozzle 16d is located at the second position P2, the nozzle 16d moves linearly from the second position P2 to the first position P1, as shown in Fig. 4. At this time, the circular area moves from P2' to P1', as shown in Fig. 5E.

[0040] Next, as shown in Fig. 4, after reaching the first position P1, the vehicle 1 moves backward a predetermined distance d. The backward movement of the predetermined distance d from the first position P1 corresponds to the second step movement. At this time, as shown in Fig. 5F, the circular area moves backward a predetermined distance d.

[0041] As shown in FIG. 4, the nozzle 16d moves back and forth twice through the area between the first position P1 and the third position P3, in other words, the left end area. In this embodiment, the nozzle 16d moves back and forth between the first position P1 and the third position P3 twice, but the number of times it moves back and forth between the first position P1 and the third position P3 may be one time, or three or more times. The number of times it moves back and forth is determined depending on the pressure and amount of pressurized water sprayed from the nozzle 16d and the strength of the road 50 (object to be cut). When the nozzle 16d moves back and forth between the first position P1 and the third position P3, the circular area moves back and forth between P1′ and P3′ (see FIG. 5F).

[0042] When the reciprocating movement between the first position P1 and the third position P3 is completed and the nozzle 16d is located at the first position P1, as described above, the nozzle 16d moves straight from the first position P1 toward the second position P2, and after reaching the second position P2, the vehicle 1 moves backward a predetermined distance d, the nozzle 16d moves back and forth in the right end region described above, moves straight from the second position P2 toward the first position P1, and after reaching the first position P1, the vehicle 1 moves backward a predetermined distance d. The nozzle 16d and the vehicle 1 repeat these operations until an operation stop command is input to the control panel 5a or control by the control program ends.

[0043] The injection pressure P of the nozzle 16d required to cut or break up the concrete portion of the road 50 is expressed by, for example, the following formula. Injection pressure P (MPa) ≥ uniaxial compressive strength of concrete σ c (N / mm 2 ) × coefficient α The coefficient α is, for example, 2 to 4. Note that 1 MPa = 1 N / mm 2 is.

[0044] Unconfined compressive strength σ of concrete for road 50 c For example, 18 to 45 (N / mm 2 ) is about. In order to reliably cut or break up the concrete portion, if the coefficient α is set to 4, the injection pressure P of the nozzle 16d required to cut or break up the concrete portion of the road 50 is 72 to 180 (N / mm 2 ) or more. 2) is the uniaxial compressive strength of concrete σ c This is an example of the uniaxial compressive strength of concrete, σ c is not limited to this. The uniaxial compressive strength of concrete σ c is 45(N / mm 2 ), for example, 45 to 100 (N / mm 2 ) is also acceptable. The uniaxial compressive strength of concrete σ c is 18(N / mm 2 ), for example, 10 to 15 (N / mm 2 ) is also acceptable.

[0045] For example, the uniaxial compressive strength σ of concrete for road 50 c 18~45(N / mm 2 ) at least 72 to 180 (N / mm 2 When cutting the road 50 by jetting pressurized water from the nozzle 16d at a jet pressure P of 1000 mm, cutting of the edge area can be performed reliably by setting the reciprocating distance k to 300 mm.

[0046] In the above-described embodiment, after the reciprocating movement of the left end region is completed, the nozzle 16d is located at the first position P1, but it may be located at a position other than the first position P1. For example, when the number of reciprocating movements is 1.5, the nozzle 16d is located at the third position P3 and moves linearly from the third position P3 to the second position P2. For example, when the number of reciprocating movements is 1.25, the nozzle 16d is located between the first position P1 and the third position P3 and moves linearly from a position between the first position P1 and the third position P3 to the second position P2. That is, the control unit executes the first linear movement in which the nozzle 16d moves from a position between the first position P1 and the third position P3 to the second position P2.

[0047] In the above-described embodiment, after the reciprocating movement of the right end region is completed, i.e., after the first reciprocating movement is completed, the nozzle 16d is located at the second position P2. However, the nozzle 16d may be located at a position other than the second position P2. For example, when the number of reciprocating movements is 1.5, the nozzle 16d is located at the fourth position P4 and moves linearly from the fourth position P4 to the first position P1. For example, when the number of reciprocating movements is 1.25, the nozzle 16d is located between the second position P2 and the fourth position P4 and moves linearly from a position between the second position P2 and the fourth position P4 to the first position P1. That is, the control unit executes the second linear movement in which the nozzle 16d moves from a position between the second position P2 and the fourth position P4 to the first position P1.

[0048] In the above embodiment, the control unit of the control panel 5a controls the reverse movement of the vehicle 1, but the worker 60 may execute the reverse movement after the first straight movement or the second straight movement.

[0049] In the cutting method according to the first embodiment, after the first linear movement is completed, the nozzle 16d moves back and forth between the second position P2 and the fourth position P4, so that cutting can be reliably performed between the second position P2 and the fourth position P4, i.e., at the right end of one stroke of the movement of the nozzle 16d. Furthermore, after the second linear movement is completed, the nozzle 16d moves back and forth between the first position P1 and the third position P3, so that cutting can be reliably performed between the first position P1 and the third position P3, i.e., at the left end of one stroke of the movement of the nozzle 16d.

[0050] Furthermore, after the first linear movement is completed, the cutting area can be expanded in the front-to-rear direction by performing a first step movement, and after the second linear movement is completed, the cutting area can be expanded in the front-to-rear direction by performing a second step movement.

[0051] In the first embodiment, the bifurcated nozzle 16d cuts the workpiece while rotating, but the nozzle does not have to rotate. For example, one or more nozzles fixed to the support portion 16a may move left and right and forward and backward. As described above, when the position of the nozzle 16d is the rotation center position of the nozzle 16d, the first position P1 to the fourth position P4 (see FIG. 4) of the nozzle 16d do not coincide with the positions P1′ to P4′. On the other hand, when there is only one nozzle fixed to the support portion 16a, or when multiple nozzles are fixed to the support portion 16a and the multiple nozzles are lined up in the forward and backward direction, the first position P1 to the fourth position P4 can coincide with the positions P1′ to P4′.

[0052] (Embodiment 2) The present invention will be described below with reference to the drawings showing a cutting method according to a second embodiment. Among the components of the second embodiment, the same components as those of the first embodiment are given the same reference numerals, and detailed description thereof will be omitted. Fig. 6 is an explanatory plan view illustrating the movement trajectory of the nozzle 16d.

[0053] As shown in FIG. 6, in the second embodiment, after a driving start command is input, the nozzle 16d moves straight from the first position P1 toward the second position P2, and after reaching the second position P2, moves back and forth between the second position P2 and the fourth position P4 a predetermined number of times (first reciprocating movement). After completing the reciprocating movement, the vehicle 1 moves backward (first step movement). The nozzle 16d moves straight from the second position P2 toward the first position P1, and after reaching the first position P1, moves back and forth between the first position P1 and the third position P3 a predetermined number of times (second reciprocating movement). After completing the reciprocating movement, the vehicle 1 moves backward (second step movement).

[0054] In the second embodiment, after the first reciprocating movement is completed, a first step movement is performed, and after the second reciprocating movement is completed, a second step movement is performed. The first reciprocating movement ensures that cutting can be performed at the right end of one stroke of the nozzle 16d. The second reciprocating movement ensures that cutting can be performed between the first position P1 and the third position P3, i.e., at the left end of one stroke of the nozzle 16d. Furthermore, by performing the first step movement and the second step movement, the cutting area can be expanded in the front-to-rear direction.

[0055] (Embodiment 3) The present invention will be described below with reference to the drawings showing a cutting method according to a third embodiment. Among the components of the third embodiment, the same components as those of the first or second embodiment are given the same reference numerals, and detailed description thereof will be omitted. FIG. 7 is an explanatory plan view illustrating the movement trajectory of the nozzle 16d. In the third embodiment, after inputting an instruction to start driving, the nozzle 16d moves back and forth. Other than this back and forth movement, the nozzle 16d and the vehicle 1 move in the same manner as in the second embodiment.

[0056] In the third embodiment, as in the second embodiment, the first reciprocating movement ensures cutting at the right end of one stroke of the nozzle 16d. The second reciprocating movement ensures cutting between the first position P1 and the third position P3, i.e., at the left end of one stroke of the nozzle 16d. Furthermore, by performing the first step movement and the second step movement, the cutting area can be expanded in the front-to-rear direction.

[0057] The cutting method according to the embodiment will be compared with a conventional cutting method. FIG. 8 is an explanatory plan view illustrating the conventional cutting method. As described above, the nozzle 16d repeatedly moves left and right in one stroke and then moves backward, cutting an area of ​​the road 50 defined by the longitudinal distance and the lateral distance corresponding to one stroke (hereinafter referred to as a unit area) as shown in FIG. 8. Cutting is performed, for example, so that the unit areas are lined up horizontally. In the past, cutting at the edges of the unit areas was insufficient, so cutting was performed so that the right and left ends of two adjacent unit areas overlapped, as shown in FIG. 8. This often led to a decrease in cutting efficiency. The unit area can be predetermined based on the diameter of the circular area cut by the nozzle 16d, the distance of one stroke, the predetermined distance d traveled when moving backward, the number of backward movements, and the like.

[0058] Fig. 9 is an explanatory plan view illustrating a cutting method according to an embodiment. In the embodiment, cutting of the ends of the unit areas can be performed reliably, so that it is not necessary to overlap the right and left ends of two adjacent unit areas as shown in Fig. 9, and cutting can be performed so that the right edges (right side) and left edges (left side) of the two adjacent unit areas coincide with each other, thereby improving cutting efficiency.

[0059] The control program (computer program) can be deployed to run on a single computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communications network.

[0060] The embodiments disclosed herein are illustrative in all respects and should not be considered limiting. The scope of the present invention is intended to include all modifications within the scope of the claims and the scope equivalent to the claims. The features described in each embodiment can be mutually combined. Furthermore, independent claims and dependent claims described in the claims can be mutually combined in any and all combinations, regardless of the reference format. Furthermore, although the claims use a format in which a claim references two or more other claims (multiple claim format), this is not limiting. A multiple claim (multi-multi claim) that references at least one other multiple claim may also be used. [Explanation of symbols]

[0061] 1 vehicle 5a Control panel 12 Horizontal rail 13a Trolley Box 13b Upper roller 13c Lower roller 16 Injector 16b Swivel 16a Support part 16c pipe 16d nozzle

Claims

1. A cutting method in which a nozzle moves between a first position and a second position spaced apart in a first direction, and water is sprayed from the nozzle during the movement to cut a workpiece, a third position is located between the first position and the second position in the first direction; a fourth position is located between the third position and the second position in the first direction; a first linear movement in which the nozzle moves from a position between the first position and the third position to the second position; a first reciprocating movement in which the nozzle reciprocates between the second position and the fourth position after the first linear movement is completed; Cutting method to perform.

2. After the first linear movement is completed, a first step movement is performed in which the nozzle moves a predetermined distance in a second direction intersecting the first direction; After the first step movement is completed, the first reciprocating movement is performed. The cutting method according to claim 1 .

3. After the first reciprocating movement is completed, a first step movement is performed in which the nozzle moves a predetermined distance in a second direction intersecting the first direction. The cutting method according to claim 1.

4. a second linear movement in which the nozzle moves from a position between the second position and the fourth position to the first position after the first reciprocating movement is completed; after the second linear movement is completed, a second reciprocating movement in which the nozzle reciprocates between the first position and the third position; 4. The cutting method according to claim 1, wherein the following is carried out:

5. After the second linear movement is completed, a second step movement is performed in which the nozzle moves a predetermined distance in a second direction intersecting the first direction; After the second step movement is completed, the second reciprocating movement is performed. The cutting method according to claim 4.

6. After the second reciprocating movement is completed, a second step movement is performed in which the nozzle moves a predetermined distance in a second direction intersecting the first direction. The cutting method according to claim 4.

7. A computer program executed by a control device of a cutting machine in which a nozzle moves between a first position and a second position spaced apart in a first direction, and a workpiece is cut by spraying water from the nozzle during the movement, a third position is located between the first position and the second position in the first direction; a fourth position is located between the third position and the second position in the first direction; The control device a first linear movement in which the nozzle moves from a position between the first position and the third position to the second position; After the first linear movement is completed, a first reciprocating movement is performed in which the nozzle reciprocates between the second position and the fourth position. A computer program that executes a process.

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