Construction work methods and construction work apparatus

Abstract

The present invention provides a construction work method and construction work apparatus that accurately perform processing on the surface to be constructed of construction materials. [Solution] The spraying device 20 performs construction work on the construction target surface 11a of the beam 10 based on the position of the tip 26 of the robot arm 25. In this case, the spraying device 20 moves the tip 26 of the robot arm 25 in the horizontal and vertical directions, and uses the distance to multiple measurement points placed on the construction target surface 11a, measured by a distance measuring instrument 30 corresponding to the tip 26, to determine the position on the construction target surface 11a. The spraying device 20 performs construction on the construction target surface 11a using the position adjusted according to the position.

Description

Technical Field

[0001] The present disclosure relates to a construction work construction method such as a spraying method for spraying a spraying material onto a construction target surface of a construction member, and a construction work construction device.

Background Art

[0002] When spraying a fireproof coating material onto a beam using a robot arm, a job file created based on the spraying content to be performed on the spraying work target surface may be used (see, for example, Patent Document 1). The construction work device described in this Patent Document 1 includes an arm control device that controls the operation of the robot arm. The arm control device operates the robot arm according to a job file created based on the design information of the construction member for which the work target surface is set and the work content to be performed on the work target surface. Further, the arm control device detects a construction error related to the position and orientation based on the design information and the measurement data related to the actual surface shape, and corrects the job file based on the detected construction error.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technology described in Patent Document 1, in order to acquire a three-dimensional point cloud, a layer irradiated with laser light while rotating around one axis is acquired. When estimating the position from the point cloud acquired by the rotation operation, errors and labor may occur.

Means for Solving the Problems

[0005] A construction work method that solves the above problems is a construction work method in which construction work is performed on a construction target surface of a construction member based on the position of the tip of a robot arm, wherein the tip of the robot arm is moved in the horizontal and vertical directions, and the position on the construction target surface is determined using the distance to a plurality of measurement points placed on the construction target surface, which is measured by a distance measuring instrument corresponding to the tip, and construction is performed on the construction target surface using a position adjusted according to the said position.

[0006] Furthermore, a construction work device that solves the above problems comprises a robot arm equipped with a distance measuring device at its tip, a traverse device that moves the tip of the robot arm in the horizontal direction, a lifting device that moves the tip of the robot arm in the vertical direction, and a control unit that performs construction work on the construction target surface of a construction member based on construction data corresponding to the position of the tip of the robot arm, wherein the control unit moves the tip of the robot arm in the horizontal and vertical directions to determine the placement on the construction target surface using the distance to a plurality of measurement points placed on the construction target surface measured by the distance measuring device, modifies the construction data using the position adjusted according to the placement, and performs construction on the construction target surface using the modified construction data. [Effects of the Invention]

[0007] According to this disclosure, the target surface of a construction component can be efficiently identified. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram illustrating the configuration of the spraying device in the embodiment. [Figure 2] This is an explanatory diagram of the hardware configuration of the embodiment. [Figure 3] This is an explanatory diagram illustrating the measurement points on the surface to be worked on in the embodiment. [Figure 4] This is a flowchart showing the procedure of the spraying process, including movement, in the embodiment. [Figure 5] This is a flowchart showing the processing procedure for the measurement process in the spraying step in the embodiment. [Figure 6] This is a top view illustrating the movement of the spraying device in the embodiment. [Figure 7] This is a front view illustrating a state in which distance measurement is performed along a single vertical line in an embodiment. [Figure 8] This is a top view illustrating a state in which a robot arm is moved along multiple vertical lines in an embodiment. [Figure 9] This is an explanatory diagram illustrating the principle of identifying a line perpendicular to the surface to be constructed in the embodiment. [Figure 10] This is an explanatory diagram illustrating the principle for determining the amount of height displacement and the amount of rotational displacement in the y-axis direction in an embodiment. [Figure 11] This is an explanatory diagram illustrating the state after the spraying process has been performed in the embodiment. [Modes for carrying out the invention]

[0009] The following describes embodiments of the construction work method and construction work apparatus with reference to Figures 1 to 11. In this embodiment, the construction work method and apparatus for finishing work on construction members are described as a spraying method and spraying apparatus for spraying a spraying material onto the surface to be sprayed. Here, one side of the web of a beam made of H-shaped steel is described as the surface to be sprayed. As shown in Figure 1, the spraying device 20 of this embodiment comprises a main body 21 and a terminal device 50. The terminal device 50 is built into the main body 21 of the spraying device 20.

[0010] (Example hardware configuration) Figure 2 shows an example of the hardware configuration of the information processing device H10, which functions as a terminal device 50, etc.

[0011] The information processing device H10 includes a communication device H11, an input device H12, a display device H13, a memory device H14, and a processor H15. Note that this hardware configuration is an example, and it may have other hardware.

[0012] The communication device H11 is an interface that establishes a communication path with other devices and performs data transmission and reception, such as a network interface or a wireless interface.

[0013] The input device H12 is a device that receives user input, such as a mouse or a keyboard. The display device H13 is a display or a touch panel that displays various information. <0000​​​​​​​​​​​​​​​ (2) One or more dedicated hardware circuits that perform at least some of the various processes. (3) Circuits that include combinations of those. The H15 processor includes the CPU and memory such as RAM and ROM, where memory stores program code or instructions configured to cause the CPU to execute processes. Memory, or computer-readable media, includes any available media that can be accessed by a general-purpose or dedicated computer.

[0018] (Configuration of the spraying device 20) As shown in Figure 1, the spraying device 20 comprises a main body 21, a traveling device, and a robot arm 25. The main body 21 has a traversing device 21T mounted on its upper surface, similar to the device shown in Figure 2 of the prior art document (Japanese Patent Publication No. 2020-56277), and is equipped with a lifting device 21L. The traversing device 21T is a member that extends in the longitudinal direction (x-axis direction), which is the horizontal direction of the main body 21, and moves the robot arm 25 linearly (parallel to the x-axis direction) in this longitudinal direction. The lifting device 21L has a pantograph mechanism and moves the robot arm 25 linearly (parallel to the z-axis direction) in the vertical direction (z-axis direction). The traveling device, located below the main body 21, has four spaced-apart, rotatable wheels 22. These wheels 22 are equipped with stoppers (not shown) that prevent them from rotating, allowing the spraying device 20 to be installed at any desired location, such as the destination.

[0019] Furthermore, a robot arm 25 is provided on the upper surface of the traverse device 21T of the main body 21. The robot arm 25 has a multi-joint structure with 6 degrees of freedom. Specifically, the robot arm 25 has a rotation mechanism that allows it to rotate around a first axis extending vertically while fixed to the main body 21. Here, the first axis is the z-axis of the local coordinate system, which is the first axis perpendicular to the upper surface of the spraying device 20. These local coordinates (x, y, z) are the coordinates on the spraying device 20, and for example, the fixed part of the robot arm 25 when it is located in the center of the main body 21 is taken as the origin of the local coordinate system (x=0, y=0, z=0).

[0020] Furthermore, the robot arm 25 has a rotation mechanism that allows it to rotate about a second axis extending horizontally, with the central axis of the tip portion 26 extending parallel to the upper surface of the main body portion 21. In this embodiment, the second axis is an axis included in the upper surface (horizontal plane) of the spraying device 20, and is the x-axis of the local coordinate system extending in the longitudinal direction of the spraying device 20. This x-axis is orthogonal to the y-axis and z-axis of the local coordinate system extending in the short-direction direction of the spraying device 20.

[0021] The position of the tip 26 of the robot arm 25 is controlled by the terminal device 50. A distance measuring unit 30 and a spraying unit 40 are fixed to the tip 26 of the robot arm 25. Specifically, the distance measuring unit 30 is a laser measuring instrument that measures distance using a laser beam LL1. This distance measuring unit 30 emits a laser beam LL1 that passes through the central axis of the tip 26 of the robot arm 25 from its tip. The distance measuring unit 30 then determines the distance to the surface to be worked on 11a by using the time it takes for the emitted laser beam LL1 to be reflected back from the surface to be worked on 11a. Here, the surface to be worked on 11a is the surface of the web 11 of the beam 10 on the spraying device 20 side. In this embodiment, the distance to the upper end point of the side of the lower flange 14 of the beam 10 (upper end point of the lower flange) is also measured along with the surface to be worked on 11a. In this embodiment, this upper end point of the lower flange corresponds to the flange reference point.

[0022] The spraying unit 40 is attached to the tip 26 of the robot arm 25 via a mounting member 27, above the distance measuring unit 30. The spraying unit 40 comprises a cylindrical main body 41 and a gun head 42 as a discharge unit. The gun head 42 is fixed to the tip of the main body 41 (towards the surface to be treated 11a). A supply hose for supplying the spraying material is connected to the opposite end of the main body 41 from the gun head 42. In this embodiment, the gun head 42 sprays the spraying material toward the surface to be treated 11a in a direction parallel to the irradiation direction of the laser beam LL1 of the distance measuring unit 30. Here, a fire-resistant coating material such as glass wool or mortar is used as the spraying material.

[0023] (Configuration of terminal device 50) The terminal device 50 includes a control unit 51 and a job data storage unit 52. This control unit 51 performs the processing described later (including the movement control stage, measurement stage, correction stage, and spraying control stage, etc.). By executing the spraying processing program for this purpose, the control unit 51 functions as a movement control unit 511, a measurement unit 512, a correction unit 513, and a spraying control unit 514, etc.

[0024] The movement control unit 511 controls the movement and stopping (installation) of the spraying device 20. The measurement unit 512 uses the distance measurement unit 30 to obtain the distance to the construction target surface 11a of the beam 10. In this embodiment, the distance from multiple (five) measurement points on three spaced-apart vertical lines to the upper end point of the lower flange is measured.

[0025] As shown in Figure 3, in this embodiment, three spaced-apart vertical lines are used: a central line Lv2 located in the center of the longitudinal direction of the beam 10, and the left line Lv1 and right line Lv3. The left line Lv1 and right line Lv3 are at both ends within the range of motion of the robot arm 25 when the spraying device 20 is stopped moving (in a fixed position), and are symmetrical with respect to the central line Lv2, so they are the same distance from the central line Lv2. The measuring unit 512 stores the position (local coordinates) of each of these lines (Lv1, Lv2, Lv3). Here, the central line Lv2 is set to x=0.

[0026] Furthermore, the measurement unit 512 stores the heights (local coordinates) of each measurement point P11, P12, P13, P14, P15, P21, P22, P23, P24, P25, P31, P32, P33, P34, and P35 on each vertical line (Lv1, Lv2, Lv3). Here, the corresponding measurement points P11-P15, P21-P25, and P31-P35 on each vertical line (Lv1, Lv2, Lv3) are all at the same height. In addition, the measurement point P23, which is the center of the central line Lv2, is stored as the reference position.

[0027] Furthermore, the measuring unit 512 stores the local coordinates of the upper endpoints Pf1, Pf2, and Pf3 of the lower flange as the coordinates of the upper endpoints of the side surfaces of the lower flange 14 on each vertical line (Lv1, Lv2, Lv3), respectively. In this embodiment, the measurement unit 512 uses the acquired distance to determine the amount of displacement of the surface to be treated 11a. This makes it possible to determine the current relative position and orientation of the spraying device 20 with respect to the surface to be treated 11a.

[0028] The modification unit 513 shown in Figure 1 modifies the job file stored in the job data storage unit 52 using the relative position and orientation of the identified beam 10. The spraying control unit 514 dispenses the spraying material from the gun head 42 of the spraying unit 40 and performs the spraying process based on the job file.

[0029] The job data storage unit 52 stores job files as construction data. In this embodiment, the job files stored are the job file before modification and the job file after modification at the planned location. Each job file includes the fixed position of the spraying device 20, the working position information of the tip 26 of the robot arm 25 associated with this fixed position, and the reference distance. Here, the fixed position of the spraying device 20 is the position where the spraying device 20 is installed for work, and is the planned position where it will move and stop using the travel device. The working position information is the position information where the spraying process will be performed. The reference distance is the planned distance from this fixed position to the construction target surface 11a (measurement point P23).

[0030] The work position information in the job file before modification includes the local coordinates (x,y,z) of the tip of the gun head 42, which performs the spraying process on the target surface 11a at a fixed position. The work position information in the job file after modification includes the local coordinates (x,y,z) of the tip, which have been modified according to the arrangement of the spraying device 20 after it has been moved.

[0031] (Spraying process) Next, the spraying process of the spraying apparatus 20 with the above-described configuration will be explained using Figures 3 to 11. Note that the mounting member 27 and the spraying section 40 are not shown in the figures.

[0032] First, as shown in Figure 4, the control unit 51 of the terminal device 50 performs a movement process (step S11). Specifically, the movement control unit 511 of the control unit 51 drives the wheels 22 of the spraying device 20 to move the spraying device 20 to a fixed position (spraying position) where the spraying work will be performed.

[0033] As shown in Figure 6, for example, consider the case where the spraying device 20, which was installed at position P1 opposite the beam 10, is moved to a planned position P3 in the direction of extension of the beam 10. Here, when the movement control unit 511 of the control unit 51 determines that it has moved to the planned position P3, it fixes the spraying device 20 using the stopper on the wheel 22. In this case, we will explain assuming that it has actually moved to a position P2 that is slightly inclined with respect to the direction of extension of the beam 10 relative to the planned position P3.

[0034] Next, the control unit 51 of the terminal device 50 performs measurement processing (step S12). Specifically, the measurement unit 512 of the control unit 51 measures the distance to the beam 10 at the actual position P2 and orientation of the destination where the spraying device 20 has moved, using the distance measurement unit 30. Here, the distance to the construction target surface 11a of the beam 10 (measurement points P11 to P35) and the distance to the upper ends of the lower flanges of the beam 10 (Pf1, Pf2, Pf3) are measured.

[0035] As shown in Figure 7, the measurement unit 512 moves the tip 26 of the robot arm 25 from above to below by operating the lifting device 21L. During this lifting operation, the distance measurement unit 30 is used to measure the distance at each measurement point (P11~P15, P21~P25, P31~P35) on the vertical line (Lv1, Lv2, Lv3).

[0036] Furthermore, the measuring unit 512 moves the tip 26 of the robot arm 25 further downward. It then identifies a position that is closer to the construction target surface 11a by a distance corresponding to approximately half the thickness of the lower flange 14, as the upper endpoint (Pf1~Pf3) of the lower flange on this vertical line (Lv1~Lv3). The measuring unit 512 then determines the distance to the position identified as the upper endpoint (Pf1~Pf3) of the lower flange, and also determines the local coordinates at that time.

[0037] Then, as shown in Figure 8, the measurement unit 512 positions the robot arms 25 so that they face each of the vertical lines (Lv1, Lv2, Lv3) in order to perform such measurement processing on each vertical line (Lv1, Lv2, Lv3).

[0038] Then, the measurement unit 512 of the control unit 51 uses the measured distance to acquire the amount of displacement around the three axes (ΔRx, ΔRy, ΔRz), the amount of displacement of the approach distance in the y-axis direction (Δy), and the amount of height displacement in the z-axis direction (Δz). The details of this specific process will be described later.

[0039] Next, the control unit 51 of the terminal device 50 performs a correction process (step S13). Here, the correction unit 513 of the control unit 51 corrects the work position information in the job file according to the arrangement after movement. This correction uses the amount of displacement around the three axes (ΔRx, ΔRy, ΔRz), the amount of displacement in the distance in the y-axis direction (Δy), and the amount of height displacement (Δz).

[0040] Specifically, the modification unit 513 extracts the job file for the planned position P3 from the job data storage unit 52. The modification unit 513 then identifies the corrected translation coordinates by shifting the local coordinates (x,y,z) of the target point for the spraying process in each acquired job file by (-Δy) in the y-axis direction and by (-Δz) in the z-axis direction. The modification unit 513 then rotates these corrected translation coordinates in the opposite direction around the x, y, and z axes by ΔRx, ΔRy, and ΔRz, respectively, to correct the rotational deviation around the three axes and identify the corrected local coordinates (x,y,z). The modification unit 513 then records the corrected local coordinates (x,y,z) in the job data storage unit 52 as the corrected job file data.

[0041] Then, the control unit 51 of the terminal device 50 executes the spraying process (step S14). Specifically, the spraying control unit 514 of the control unit 51 executes the spraying process by discharging the spraying material from the gun head 42 using the modified job file stored in the job data storage unit 52. In this case, as shown in Figure 11, the spraying process is performed with the gun head 42 facing the surface 11a of the beam 10 that is to be treated.

[0042] (Measurement processing) Next, we will explain the details of the measurement process (step S12) using Figures 5 to 10. Here, we will explain the case where the device moves to position P2 in Figure 6.

[0043] First, as shown in Figure 5, the measurement unit 512 of the control unit 51 measures the distance from the measurement point on the surface to be constructed and the upper end point of the lower flange on a single vertical line (step S21). Specifically, the measurement unit 512 identifies the object to be processed among the measurement points P11 to P35 and the upper end points Pf1 to Pf3 of the lower flange, and measures the distance to the measurement point of the object to be processed.

[0044] Next, the measurement unit 512 of the control unit 51 determines whether measurement has been completed for all measurement points (step S22). Specifically, the measurement unit 512 determines that measurement is complete when it has acquired the distance to all measurement points, including the measurement points (P11 to P35) and the upper end points of the lower flange (Pf1 to Pf3).

[0045] If measurement has not been completed for all measurement points (if the answer is "NO" in step S22), the processing targets are identified at the remaining measurement points and step S21 is executed. On the other hand, if the measurement is completed for all measurement points (if the answer is "YES" in step S22), the measurement unit 512 of the control unit 51 calculates the rotational displacement amount ΔRx around the x-axis and the rotational displacement amount ΔRz around the z-axis (step S23). Specifically, the measurement unit 512 uses the cross product and the position of the upper end of the lower flange 14 to calculate the deviation of the inclination of the surface to be constructed 11a.

[0046] As shown in Figure 9, the measurement unit 512 acquires the distance and coordinates of the three measurement points. Here, the measurement unit 512 acquires the distance from the predetermined measurement points P11, P25, and P31 to the construction target surface 11a. Furthermore, the measurement unit 512 identifies the local coordinates of each of the stored measurement points P11, P25, and P31. The measurement unit 512 then identifies a vector v1 pointing from measurement point P25 to measurement point P11 and a vector v2 pointing from measurement point P25 to measurement point P31. Next, the measurement unit 512 calculates a vector VP1 that points in the normal direction (perpendicular direction) perpendicular to the construction target surface 11a by calculating the cross product of the two identified vectors v1 and v2. Then, based on the direction of vector VP1 from the original vector VP0, the amount of deviation (ΔRx, ΔRz) of the plane of the actual construction target surface 11a from the planned construction target surface 110 is identified. The original vector VP0 is a vector that points in the normal direction on the planned construction target surface 110.

[0047] Next, the measurement unit 512 of the control unit 51 performs a process to identify the amount of deviation in proximity distance at the reference position (step S24). Specifically, it obtains the distance to the reference position (measurement point P23) where x=0. Then, the measurement unit 512 extracts the reference distance stored in the job data storage unit 52 and calculates the difference between this reference distance and the obtained distance to identify the amount of deviation Δy in proximity distance at the reference position.

[0048] Next, the measurement unit 512 of the control unit 51 performs a process to determine the height deviation and the rotational deviation around the y-axis using the heights of multiple upper endpoints of the lower flanges (step S25). Specifically, as shown in Figure 10, the measurement unit 512 acquires the local coordinates of the upper ends Pf1 and Pf3 of the lower flanges of the separated left line Lv1 and right line Lv3. The measurement unit 512 then calculates the difference in coordinates in the z-axis direction (2 × Δz) from these local coordinates of the upper ends Pf1 and Pf3 of the lower flanges. Here, since the origin of the y-axis (y=0) is at the upper end Pf2 of the lower flange on the central line Lv2, the difference between the upper ends Pf1 and Pf3 of the lower flanges is twice the height deviation Δz from the upper end Pf2 of the lower flange. Therefore, the measurement unit 512 determines the height deviation Δz in the z-axis direction (height direction) by dividing the calculated error (2 × Δz) by "2". Furthermore, the measurement unit 512 calculates the x-axis distance between the upper endpoints Pf1 and Pf3 of the lower flange (the x-axis distance between the left line Lv1 and the right line Lv3). Then, from the calculated x-axis distance between the upper endpoints Pf1 and Pf3 of the lower flange and the error in the z-axis direction (2 × Δz), it calculates the rotational displacement amount ΔRy in the y-axis direction. This rotational displacement amount ΔRy in the y-axis direction corresponds to the rotational displacement amount around the axis toward the surface to be constructed 11a.

[0049] (action) The control unit 51 of the spraying device 20 uses multiple measurement points in the z-axis direction obtained by raising and lowering three vertical lines (Lv1 to Lv3) in the x-axis direction that are arranged horizontally with respect to the surface to be treated 11a, thereby determining the amount of spatial displacement of the surface to be treated 11a.

[0050] (Effects of the embodiment) (1) In this embodiment, the control unit 51 of the spraying device 20 identifies two vectors v1 and v2 using multiple measurement points P11, P25, and P31 on three vertical lines (Lv1 to Lv3) with respect to the surface to be treated 11a. The control unit 51 uses the cross product of the two identified vectors v1 and v2 to identify the rotational displacement amounts ΔRx and ΔRz of the surface to be treated 11a around the x and z axes. This makes it possible to identify the displacement amount of the surface on which the actual surface to be treated 11a exists relative to the spraying device 20.

[0051] (2) In this embodiment, the rotational displacement amounts ΔRx and ΔRz around the x and z axes are calculated using measurement points P11, P25, and P31 located on three spaced-apart vertical lines (Lv1 to Lv3), respectively. As a result, large vectors v1 and v2 can be generated by using measurement points that are far apart. Therefore, the rotational displacement amounts ΔRx and ΔRz can be determined with high accuracy.

[0052] (3) In this embodiment, the control unit 51 of the spraying device 20 determines the height displacement amount Δz from the heights of the upper endpoints of the multiple lower flanges 14 identified using the measured distance. This makes it possible to determine the height displacement amount within the plane of the surface to be treated 11a. Furthermore, the rotational displacement amount ΔRy around the y axis can also be determined using this height displacement amount Δz.

[0053] (4) In this embodiment, the control unit 51 of the spraying device 20 identifies the distance at the measurement point P23 of the reference position and calculates the deviation amount Δy of the approach distance in the y-axis direction by comparing it with the reference distance. This allows the spraying process to be executed using this deviation amount Δy of the approach distance.

[0054] (5) In this embodiment, the distance measuring unit 30 is provided aligned with the center of the tip 26 of the robot arm 25 of the spraying device 20. This makes it possible to measure the distance from the tip 26 to the surface to be treated 11a.

[0055] This embodiment can be implemented with the following modifications. This embodiment and the following modifications can be combined with each other to the extent that they do not contradict each other technically. In the above embodiment, the control unit 51 of the terminal device 50 executed the spraying process using the modified job file. Instead of modifying the job file, the modification may be made using the calculated deviation amount (ΔRx, ΔRy, ΔRz, Δy, Δz) and the job file when performing the spraying process.

[0056] In the above embodiment, the robot arm 25 is provided with a distance measuring unit 30 and a spraying unit 40 at its tip 26. Alternatively, instead of providing both, the tip 26 may be configured to attach them one at a time, interchangeably. Furthermore, a covering member may be provided to cover the distance measuring unit 30 during the spraying process to prevent the sprayed material from the spraying unit 40 from adhering to the distance measuring unit 30.

[0057] The spraying device 20 of the above embodiment identifies vector VP1 by calculating the cross product of vectors v1 and v2 using measurement points P11, P25, and P31. The measurement points for calculating vector VP1 are not limited to these, but can be any three points on the surface to be worked on 11a that can generate a vector that identifies vector VP1 which is orthogonal to the surface to be worked on 11a. In this case, it is preferable to use measurement points that are far apart from each other.

[0058] In the above embodiment, the rotational displacement amounts ΔRx and ΔRz of the surface to be constructed 11a were determined using measurement points P11, P25, and P31 on three vertical lines (Lv1 to Lv3). Since it is sufficient to obtain any three points on the surface to be constructed 11a from which two vectors v1 and v2 can be generated, measurement points on two vertical lines may be measured, and the actual inclination of the surface to be constructed 11a may be determined using these measured points.

[0059] In the above embodiment, the upper end points (Pf1, Pf2, Pf3) of the lower flange of the beam 10 were used as the flange reference points. The flange reference points are not limited to the upper end points of the lower flange; the lower end point of the lower flange or the lower end point of the upper flange may be used, or a point on the side of the lower flange at a predetermined distance from the upper end point of the lower flange may be used. In this case, it is preferable to use a point that can be identified as a flange reference point using the distance measured by the distance measuring unit 30.

[0060] In the above embodiment, the measurement unit 512 of the control unit 51 determined the height displacement amount Δz using the difference between the upper end point Pf1 of the lower flange located at height Lz and another upper end point Pf3 of the lower flange. The height displacement amount Δz may be determined by other methods. For example, the difference between each height Lz at the multiple upper end points of the lower flange (Pf1 to Pf3) may be calculated, and the average value of the differences calculated at each upper end point of the lower flange (Pf1 to Pf3) may be determined as the height displacement amount Δz. Furthermore, the difference between the height at the central upper end point Pf2 of the lower flange and the height actually measured at this upper end point Pf2 may be determined as the height displacement amount Δz.

[0061] The spraying device 20 in the above embodiment includes a traverse device 21T and a lifting device 21L. The tip 26 of the robot arm 25 is moved parallel to the longitudinal direction (x-axis direction) and vertical direction of the spraying device 20 by the traverse device 21T and the lifting device 21L. The mechanism for moving the tip 26 of the robot arm 25 in the longitudinal direction (x-axis direction) and vertical direction of the spraying device 20 is not limited to the traverse device 21T and the lifting device 21L. For example, the spraying device 20 may be moved (parallel to) in the longitudinal direction (x-axis direction) and vertical direction by the movement of the robot arm 25 without providing the traverse device 21T and the lifting device 21L. In this case, the robot arm 25 itself functions as a traverse device and a lifting device that moves its tip horizontally and vertically, respectively.

[0062] The above embodiment describes the case where the spraying device 20, which is to be moved parallel to the beam 10, shifts or tilts from the planned position P3 after movement. The same can be applied not only when the spraying device 20 shifts or tilts, but also when the beam 10 is positioned shifted or tilted from the planned position.

[0063] In the above embodiment, a spraying method was used as the construction work method. However, the construction method is not limited to this; any construction work method that involves applying the material to the construction material while positioning it, such as adhering it to the surface of the construction material, creating holes, or leveling the surface, is acceptable.

[0064] Next, the technical concepts that can be understood from the above embodiments and alternative examples are described below. (a) The construction work method according to claim 1 or 2, characterized in that the normal direction of the construction target surface is determined using the distances to multiple measurement target points on multiple spaced vertical lines on the construction target surface, measured using the distance measuring instrument at the tip, and the arrangement of the construction work device is determined using the inclination with respect to the construction target surface corresponding to this normal direction.

[0065] (b) Two vectors are identified from a reference point among the multiple measurement target points, pointing from one reference point to the other measurement target points. The construction work method according to (a) above, characterized in that the normal direction is determined by calculating the cross product using the two vectors identified above.

[0066] (c) The construction work method according to (a) or (b), characterized in that the plurality of vertical lines are three vertical lines, one in the center and one at both ends, within the range in which the robot arm can move in the longitudinal direction of the surface to be constructed.

[0067] (d) Using the distance measuring device, measure the reference distance from the reference point in the reference posture of the robot arm to the surface to be worked on, The difference between the measured distance to the reference point and the planned distance to the reference point is calculated. The construction work method according to any one of items 1, 2, (a) to (c), characterized in that the position of the tip is also adjusted according to the difference in proximity distance.

[0068] (e) The tip portion is equipped with a discharge portion for discharging a spray material to cover the surface to be treated, The construction work method according to any one of items 1, 2, (a) to (d), characterized in that the work of spraying the spray material from the discharge part is performed as the construction work. [Explanation of Symbols]

[0069] Δy…Amount of displacement, Δz…Amount of height displacement, P1, P2…Position, P3…Planned position, v1, v2, VP0, VP1…Vectors, ΔRx, ΔRy, ΔRz…Amount of rotational displacement, LL1…Laser beam, Lv1…Left line, Lv2…Center line, Lv3…Right line, P11, P12, P13, P14, P15, P21, P22, P23, P24, P25, P31, P32, P33, P34, P35…Measurement points, Pf1, Pf2, Pf3…Upper end point of lower flange, 1 0...Beam, 11...Web, 11a, 110...Construction target surface, 14...Lower flange, 20...Spraying device, 21, 41...Main body, 21T...Traversing device, 21L...Lifting device, 22...Wheels, 25...Robot arm, 26...Tip, 27...Mounting member, 30...Distance measurement unit, 40...Spraying unit, 42...Gun head, 50...Terminal device, 51...Control unit, 52...Job data storage unit, 511...Movement control unit, 512...Measurement unit, 513...Correction unit, 514...Spraying control unit.

Claims

1. A construction work method for performing construction work on a construction target surface of a construction member based on the position of the tip of a robot arm, By moving the tip of the robot arm in the horizontal and vertical directions, the position relative to the construction target surface is determined using the distances to multiple measurement points placed on the construction target surface, which are measured by a distance measuring instrument corresponding to the tip. A construction work method characterized by performing construction on the surface to be constructed using a position adjusted according to the aforementioned arrangement.

2. The aforementioned construction member is an H-shaped steel beam. The surface to be worked on is the side of the web of the beam, Using the distance measured with the distance measuring instrument, the heights of multiple flange reference points on the side surface of the beam flange are obtained. Using the heights of the aforementioned multiple flange reference points, the difference in height on the surface to be constructed and the inclination around the axis toward the surface to be constructed are identified. The construction work method according to claim 1, characterized in that the arrangement with respect to the surface to be constructed is determined using the difference in height specified and the inclination around the axis toward the surface to be constructed.

3. A robotic arm equipped with a distance measuring device at its tip, A traversing device for moving the tip of the robot arm in the horizontal direction, A lifting device for moving the tip of the robot arm in the vertical direction, A construction work device comprising: a control unit that performs construction work on a construction target surface of a construction member based on construction data corresponding to the position of the tip of the robot arm, The control unit, By moving the tip of the robot arm in the horizontal and vertical directions, the position relative to the construction target surface is determined using the distances to multiple measurement points placed on the construction target surface, which are measured by the distance measuring instrument. Using the position adjusted according to the above arrangement, the construction data is modified. A construction work device characterized by performing construction on the target surface using the modified construction data.

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