Construction processing equipment and construction processing system

Abstract

The present invention provides a construction processing apparatus that enables optimal construction processing to be carried out within the construction site of a building. [Solution] The marking device 1 comprises a device body 2, a marking unit 20 that performs construction processing, and a switching unit 60 that connects the device body 2 and the marking unit 20 and switches the connection state of the marking unit 20 to the device body 2. The marking unit 20 is positioned horizontally outside the device body 2. The switching unit 60 switches between a "connected state" in which the marking unit 20 is connected to the device body 2 and a "detached state" in which it is detached from the device body 2 by an external force.

Description

Technical Field

[0001] The present invention relates to a construction processing device and a construction processing system, and particularly to a construction processing device and a construction processing system that travel within a building construction site and perform construction processing.

Background Art

[0002] Conventionally, a marking device is known that travels within a building construction site and marks a reference line (layout line) indicating the reference positions of various construction operations on the floor surface, wall surface, etc. within the construction site (see, for example, Patent Document 1).

[0003] The marking device described in Patent Document 1 includes a device main body part, a marking part for performing marking, a movable part for moving the marking part between a "storage position" housed in the device main body part and a "protruding position" protruding outward in the horizontal direction from the device main body part. Then, the marking part can be arranged at the "storage position" when not in use, and at the "protruding position" when in use.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in construction processing devices such as a marking device like Patent Document 1 and a spraying device that sprays a spraying material (fireproof coating material) onto the building structure, when traveling inside a building, the construction processing part may collide with the building structure or obstacles placed inside the building. If the construction processing part comes into contact with an obstacle or the like, it may affect the accuracy of the construction processing or the construction processing part may be damaged. For example, as seen in the inkjet printing apparatus described in Patent Document 2, protective covers are attached to protect the inkjet head, and detection sensors are installed to detect obstacles. However, attaching a protective cover may increase the size of the construction processing apparatus, or the protective cover may prevent the construction process from being carried out properly. Furthermore, if a detection sensor is installed, there is a risk that obstacles outside the detection range of the sensor may not be detected. Therefore, there was a need for a technology that could perform construction work effectively while mitigating the impact on the construction processing unit when it came into contact with obstacles or other objects.

[0006] The object of the present invention is to provide a construction processing apparatus and a construction processing system that can suitably perform construction processing within a building construction site. Another object of the present invention is to provide a construction processing apparatus and a construction processing system that can mitigate the impact on the construction processing apparatus when it comes into contact with an obstacle or the like. [Means for solving the problem]

[0007] The aforementioned problems are solved by the construction processing apparatus of the present invention, which travels within a building construction site and performs construction processing, comprising: a device body that forms the main body of the construction processing apparatus; a construction processing unit attached to the device body and performing construction processing; and a switching unit that connects the device body and the construction processing unit and switches the connection state of the construction processing unit to the device body, wherein the construction processing unit is positioned horizontally outside the device body or above the device body, and the switching unit switches between a connected state in which the construction processing unit is connected to the device body and a detached state in which it is detached from the device body by an external force. With the above configuration, a construction processing apparatus can be realized that can suitably perform construction processing within the building construction site. More specifically, the above-mentioned construction processing apparatus includes a switching unit that switches the connection state of the construction processing unit to the main body of the apparatus. The switching unit can switch between a "connected state" in which the construction processing unit is connected to the main body of the apparatus, and a "detached state" in which it is detached from the main body of the apparatus due to external force. As a result, if the construction processing unit comes into contact with an external obstacle while the construction processing apparatus is in motion, the impact can be mitigated by the construction processing unit detaching from the main body of the apparatus. In this way, by switching the construction processing unit between the "connected state" and the "detached state," damage to the construction processing unit due to external force can be suppressed. Furthermore, compared to the conventional method of attaching a protective cover, the construction processing unit is not covered, allowing for more efficient construction work.

[0008] In this case, the switching unit includes a first switching member provided on the main body side of the device, a second switching member provided on the construction processing unit side and detachably attached to the first switching member, and a connecting member connecting the first switching member and the second switching member. By detaching the second switching member from the first switching member, the construction processing unit is switched from the connected state to the detached state. The connecting member is preferably connected to the first switching member and the second switching member when the second switching member is attached to the first switching member and when the second switching member is detached. With the above configuration, the attachment / detachment mechanism of the first and second switching members allows the construction processing unit to be switched from a "connected state" to a "detached state". Furthermore, as described above, by providing a connecting member, even if the second switching member detaches from the first switching member, the connecting member remains connected to the first and second switching members. In other words, even if the construction processing unit detaches from the main body of the device, the construction processing unit is not completely removed from the main body of the device, but remains connected to it. This makes it easier to return the construction processing unit from the "detached state" back to the "connected state." It also prevents the construction processing unit from falling.

[0009] In this case, the switching unit has a biasing member that biases the second switching member, which has been detached from the first switching member, to a state in which it is attached to the first switching member, and the connecting member and the biasing member are used to restore the construction processing unit, which is in the detached state, from the detached state to the connected state. With the above configuration, even if the construction processing unit becomes detached from the main body of the device, the connecting member and biasing member can restore the construction processing unit to a "connected state". For example, if the construction processing unit comes into contact with an obstacle, it switches to a "detached state", but when it moves away from the obstacle, it can be returned to a "connected state".

[0010] In this case, the first switching member has a fitting portion that detachably fits into a fitting portion provided on the second switching member, and the fitting portion is formed on a surface facing the fitting portion and has a guide surface for guiding the fitting portion into it. As described above, the fitting of the mating part and the mated part allows the construction processing unit, which is in a detached state, to be precisely restored from a "detached state" to a "connected state." In addition, the presence of a guide surface on the mating part allows the construction processing unit to be smoothly returned to its original position.

[0011] In this case, the first switching member has a first permanent magnet provided on the portion facing the second switching member, and the second switching member has a second permanent magnet provided on the portion facing the first switching member and attached to the first permanent magnet by magnetic force, and the switching unit is preferably used by the first permanent magnet and the second permanent magnet to restore the detached construction processing unit from the detached state to the connected state. As described above, by utilizing the first and second permanent magnets, the detached construction section can be precisely restored from a "detached state" to a "connected state." Furthermore, the magnetic force of the permanent magnets allows the construction section to be smoothly returned to its original position.

[0012] In this case, the construction processing device is a marking device for marking within the construction site, and is equipped with a movable part attached to the main body of the device, which moves the construction processing unit in one horizontal direction relative to the main body of the device, the switching part is attached to the movable part and is positioned horizontally outside the main body of the device, the construction processing unit is mounted so as to protrude downward from the switching part, and the switching part switches the construction processing unit from the connected state to the disconnected state by releasing it in one horizontal direction when an external force is applied to the construction processing unit. With the above configuration, even if the construction processing unit (marking unit) comes into contact with an obstacle during marking work at the construction site, the impact on the construction processing unit can be mitigated. In particular, in a marking device where the construction processing unit is located horizontally outside the main body of the device, the impact on the construction processing unit can be mitigated, and the marking process can be performed effectively.

[0013] Furthermore, the above-mentioned problems are solved by the marking system of the present invention, which comprises a construction processing device and a surveying device installed at a predetermined position within the construction site, wherein the construction processing device is a marking device that performs marking within the construction site, and is equipped with a detection target object attached to the main body of the device and detected by the surveying device, the surveying device detects the detection target object mounted on the construction processing device and measures the position information of the construction processing device based on the detection result, the construction processing system stores the design information of the building, estimates the position of the construction processing device within the construction site based on the design information of the building and the position information of the construction processing device, identifies a marking position based on the design information, and drives the construction processing device to perform marking based on the position information of the construction processing device and the marking position information. With the above configuration, the marking system can estimate the position of the marking device using the building's design information and the position information of the marking device measured by the surveying equipment, and then mark the location using the marking device. [Effects of the Invention]

[0014] According to the ink jetting device and the ink jetting system of the present invention, it is possible to suitably perform construction processing within the construction site of a building. In addition, when the construction processing unit comes into contact with an obstacle or the like, it is possible to mitigate the impact on the construction processing unit.

Brief Description of the Drawings

[0015] [Figure 1] It is a configuration diagram of the ink jetting system of the present embodiment. [Figure 2] It is an exploded perspective view of the ink jetting device. [Figure 3] It is a plan view of the ink jetting device, showing that the marking part is in the "protruding position". [Figure 4] It is a perspective view of the ink jetting device, showing the first movable part. [Figure 5] It is a perspective view of the ink jetting device, showing the second movable part. [Figure 6] It is a perspective view of the third movable part, showing that the marking part is in the "lower position". [Figure 7A] It is a rear view of the ink jetting device, showing that the marking part is in the "connected state". [Figure 7B] It is a rear view of the ink jetting device, showing that the marking part is in the "detached state". [Figure 8] It is a perspective view of the switching part, showing a state where the first switching member and the second switching member are fitted together. [Figure 9] It is an exploded perspective view of the switching part. [Figure 10] It is an exploded perspective view of the switching part, showing a state where the second switching member is detached from the first switching member. [Figure 11] It is an exploded perspective view of the switching part. [Figure 12] It is a diagram for explaining the functions of the ink jetting device, the surveying device, and the operator terminal. [Figure 13]This is a process flow diagram showing the marking method of this embodiment. [Modes for carrying out the invention]

[0016] Hereinafter, embodiments of the present invention will be described with reference to Figures 1 to 13. This embodiment relates to a construction processing device that travels within a building construction site and performs construction processing, and is capable of mitigating the impact on the construction processing device when it comes into contact with an obstacle or the like. Furthermore, this relates to a "construction processing system" that uses construction processing equipment. The following will specifically refer to them as "marking devices" and "marking systems."

[0017] <Overview of the marking system> As shown in Figure 1, the marking system S of this embodiment mainly consists of a marking device 1 that travels along the floor in a predetermined space of building B and performs marking operations for building B, a surveying device 100 that is connected to the marking device 1 in a communication manner, installed at a predetermined location within the building, and measures the position information of the marking device 1, and an operator terminal 200 that causes the marking device 1 to perform marking operations. The surveying device 100 measures the positional information of the marking device 1 within the building, generates "surveying data," and transmits the "surveying data" to the marking device 1. The operator terminal 200 generates "design drawing data" containing the design information of building B and transmits the "design drawing data" to the marking device 1. The surveying device 100 and the operator terminal 200 may be connected in a way that enables communication. In that case, the operator terminal 200 may transmit the "design drawing data" and the "survey data" received from the surveying device 100 to the marking device 1.

[0018] "Marking out work" refers to the process of marking reference lines (marking out lines) and reference marks (marking out marks) on the floor, walls, or ceilings of the construction site of building B to indicate the reference positions for various construction tasks. Specifically, this includes foundation marking, structural marking, and finishing marking. The marking out lines and marks are used to carry out the installation of building components and equipment such as air conditioning and electrical equipment.

[0019] <Hardware configuration of the marking system> As shown in Figures 1 to 6, the marking device 1 is a robot that automatically travels inside a building and performs marking operations. It communicates with the operator terminal 200 and can read and store the latest programs and data stored in the operator terminal 200. Specifically, the marking device 1 is a small unmanned transport vehicle that performs marking work, and comprises a device body 2, a travel unit 10, a marking unit 20, movable parts 30, 40, and 50, a switching unit 60, a prism 70, a battery 80, and a control controller 90 (control unit). The movable part includes a first movable part 30, a second movable part 40, and a third movable part 50.

[0020] As shown in Figures 1 to 5, the main body 2 of the device is the main body (housing) of the marking device 1. The main body of the device 2 is formed by cutting out a portion of a rectangular (frame-shaped) frame, and is composed of a frame that is roughly U-shaped. Specifically, the main body 2 of the device has a front frame 2a, a rear frame 2b, and left and right side frames 2c. A relief portion 2d is cut out in the central part of the left side frame 2c in the extending direction.

[0021] As shown in Figures 2 and 3, movable parts 30, 40, and 50 are installed inside the main body 2 of the device, and these movable parts allow the marking part 20 to protrude from the inside to the outside of the main body 2 of the device. At this time, by utilizing the clearance part 2d, interference between the main body 2 of the device and the marking part 20 can be avoided, as shown in Figure 3.

[0022] The marking device 1 is designed so that its center of gravity is located at the center of its width. Specifically, the traveling parts 10 are attached to the four corners of the device body 2 so that the center of gravity is located at the center of the device body 2 in a plan view. In addition, movable parts 30, 40, and 50 are attached at the center of the device body 2, the marking part 20 and prism 70 are attached to the left side of the device body 2, and the battery 80 and control controller 90 are attached to the right side of the device body 2.

[0023] <<Running section>> As shown in Figures 1 to 3, the travel unit 10 is a tire-type travel unit that allows the main body of the device 2 to travel in all directions horizontally. Specifically, the running unit 10 is arranged at the four corners of the main body 2 in a top view and has a plurality of wheels 10a that rotate to move the main body 2, a wheel axle 10b that constitutes the rotation axis of each wheel 10a and extends in the width direction of the marking device 1, and a drive motor 10c (pulse motor) that rotates each wheel 10a and wheel axle 10b. The wheel 10a is positioned horizontally outward from the outer edge of the device body 2 in the width direction.

[0024] The wheel 10a is, for example, a Mecanum wheel, and its surface is covered by multiple rollers (barrels) tilted at approximately 45 degrees with respect to the wheel axle 10b. Note that the wheel 10a may be an omni-wheel or a conventional wheel. The running unit 10 controls the rotation direction and rotation speed of the wheels 10a (wheel axles 10b) using four drive motors 10c, thereby enabling the marking device 1 to move freely in the horizontal direction without rotating.

[0025] <<Marking section>> As shown in Figures 1 to 3 and Figure 6, the marking unit 20 is a marking unit that marks the layout lines using an inkjet method. For example, the marking unit 20 has an ink cartridge and prints the layout lines on the floor surface by spraying ink downwards. Alternatively, the marking unit 20 may print predetermined marks (dot marks, cross marks, circle / cross / square marks, etc.) at the layout positions (layout points) instead of the layout lines. The marking unit 20 (print head 21) is located on the side (left side) of the main body 2 of the device. The marking unit 20 is not limited to an inkjet method; marking may also be performed by bringing the tip of the pen into contact with the floor surface and moving it horizontally. Alternatively, marking may be performed by dripping ink.

[0026] As shown in Figures 4 to 6, the marking section 20 moves in the front-to-back direction relative to the main body 2 by the first movable section 30, and moves in the left-to-right direction relative to the main body 2 by the second movable section 40. In addition, the marking section 20 moves in the up-to-down direction relative to the main body 2 by the third movable section 50. In particular, the marking section 20 can move between a "storage position" and a "protruding position" as shown in Figure 3, as the second movable section 40 moves.

[0027] The "storage position" is the position in which the marking section 20 is stored inside the main body 2 of the device in a plan view. When the marking section 20 is in the "storage position," the marking section 20 and the movable sections 30, 40, and 50 are positioned inward from the outer edges of the wheels 10a located at the four corners of the main body 2 of the device in a plan view.

[0028] The "protruding position" is the position in a plan view where the marking section 20 protrudes horizontally outward from the main body 2 of the device. When the marking section 20 is in the "protruding position," the marking section 20 (print head 21) is positioned outside the outer edges of the wheels 10a located at the four corners of the main body 2 of the device, in a plan view. By doing so, it is possible to prevent the device body 2 or the travel unit 10 from unintentionally coming into contact with, for example, column B1 of building B, and affecting the marking of the layout lines.

[0029] <<Movable parts>> As shown in Figures 2 to 4, the first movable part 30 is a movable unit that moves the marking part 20, the second movable part 40, the third movable part 50, and the prism 70 in the front-rear direction relative to the main body 2 of the device, and is, for example, a belt-driven electric actuator (linear actuator). The first movable part 30 is spanned across the front frame 2a and the rear frame 2b of the main body of the device 2.

[0030] As shown in Figure 4, the first movable part 30 includes a fixed rail 31 that spans the main body 2 of the device and extends in the front-rear direction, a carrier 32 that is slidably supported along the fixed rail 31 and moves back and forth together with the marking part 20, a belt clip 33 fixed to the carrier 32, a drive belt 34 connected to the belt clip 33 and extending in the front-rear direction, and a drive motor 35 that drives the drive belt 34.

[0031] The carrier 32 is positioned at the center of the width direction of the main body of the device 2 and is slidably suspended between a pair of fixed rails 31. The belt clip 33, drive belt 34, and drive motor 35 are positioned between a pair of fixed rails 31 and below the carrier 32. The drive motor 35 is a servo motor using a drive pulley, a driven pulley, and a belt, and is connected to a pair of fixed rails 31 via a connecting shaft 36.

[0032] In the above configuration, by driving the drive motor 35 to move the carrier 32, the marking unit 20, the second movable unit 40, the third movable unit 50, the switching unit 60, and the prism 70 assembled on the carrier 32 move in the front-rear direction.

[0033] As shown in Figures 2, 3, and 5, the second movable part 40 is a movable unit that moves the marking part 20, the third movable part 50, and the prism 70 in the left-right direction relative to the first movable part 30, and is, for example, a belt-driven electric actuator. The second movable part 40 is positioned above the main body 2 and the first movable part 30 of the device, and below the battery 80 and the control controller.

[0034] As shown in Figure 5, the second movable part 40 includes a fixed bracket 41 fixed on the carrier 32 and extending in the left-right direction, a movable rail 42 slidably supported along the fixed bracket 41 and moving left-right together with the marking part 20, a belt clip 43 fixed on the carrier 32, a drive belt 44 connected to the belt clip 43 and extending in the left-right direction, and a second drive motor 45 that drives the drive belt 44.

[0035] The belt clip 43, drive belt 44, and second drive motor 45 are positioned between a pair of movable rails 42. The second drive motor 45 is a servo motor using a drive pulley, a driven pulley, and a belt, and is connected to a pair of movable rails 42 via a connecting shaft 46.

[0036] In the above configuration, by driving the second drive motor 45 to move the movable rail 42, the marking section 20, the third movable section 50, the switching section 60, and the prism 70, which are assembled at the tip of the movable rail 42, move in the left-right direction. In other words, the second movable part 40 can move the marking part 20 between the "storage position" and the "protruding position" shown in Figure 3.

[0037] As shown in Figures 2, 3, and 6, the third movable part 50 is a movable unit that moves the marking part 20 and the prism 70 vertically relative to the second movable part 40, and is, for example, a belt-driven electric actuator. The third movable part 50 is positioned further outward in the left-right direction than the first movable part 30 and the second movable part 40, and is attached to one end (left end) of the second movable part 40 in a cantilevered structure.

[0038] The third movable part 50 includes a bracket 51 fixed to one end of the movable rail 42, a fixed rail 52 fixed to the outer surface of the bracket 51 and extending in the vertical direction, a carrier 53 slidably supported along the fixed rail 52 and moving up and down together with the marking part 20 and the switching part 60, a belt clip 54 provided on the carrier 53, a drive belt 55 connected to the belt clip 54 and extending in the vertical direction, and a third drive motor 56 that drives the drive belt 55.

[0039] The carrier 53 is a plate member with a substantially L-shaped cross-section, and comprises a carrier body 53a that is elongated in the vertical direction, a flange 53b that protrudes outward from the upper end of the carrier body 53a, and an extension member 53c that extends upward from the upper surface of the flange 53b. A belt clip 54 is fixed to the inner surface of the carrier body 53a, and a switching section 60 (marking section 20) is fixed to the outer surface of the carrier body 53a. A prism 70 is fixed to the extended end of the extension member 53c. The third drive motor 56 is a servo motor using a drive pulley, a driven pulley, and a belt, and is connected to the bracket 51 via a connecting shaft 57.

[0040] In the above configuration, the third drive motor 56 is driven to move the carrier 53, causing the marking unit 20, the switching unit 60, and the prism 70, which are fixed to the carrier 53, to move up and down.

[0041] <<Switching section>> As shown in Figures 6 to 11, the switching unit 60 connects the main body of the device 2 (third movable part 50) and the marking unit 20, and is a switching unit that switches the connection state of the marking unit 20 to the main body of the device 2. As shown in Figures 7A and 7B, the switching unit 60 switches between a "connected state" in which the marking unit 20 is connected to the main body of the device 2 and a "detached state" in which it is detached from the main body of the device by an external force. Specifically, when an external force is applied to the marking section 20, the switching section 60 can move the marking section 20, which is in the "connected state," to one side in the horizontal direction and switch it to the "detached state."

[0042] The switching unit 60 is located on the horizontal outer side of the main body 2 of the device and is attached to the carrier 53 of the third movable unit 50. Specifically, the switching unit 60 is mounted in contact with the outer surface of the carrier body 53a and the bottom surface of the flange 53b. The switching unit 60 holds the marking unit 20, and the marking unit 20 is mounted so as to protrude downward from the switching unit 60. The switching section 60 is positioned so as to overlap with the marking section 20 and the prism 70 when viewed from above.

[0043] As shown in Figures 8 to 11, the switching unit 60 includes a first switching member 61 fixed to the third movable unit 50 (carrier 53), a second switching member 63 detachably attached to the first switching member 61 and holding the marking unit 20, and a connecting wire 65 connecting the first switching member 61 and the second switching member 63. In other words, the switching section 60 is a component that can be divided into a first switching member 61 and a second switching member 63, and even after being divided into two, it remains connected by a connecting wire 65. Multiple first permanent magnets 62 are embedded inside the first switching member 61. Multiple second permanent magnets 64 are embedded inside the second switching member 63, and a biasing spring 66 is also attached to it.

[0044] The first switching member 61 has a main body portion 61a having a three-dimensional shape (for example, a rectangular parallelepiped shape), a through hole 61b that penetrates the center of the main body portion 61a in the vertical direction, and a concave fitting portion 61c formed at the lower end of the main body portion 61a. The fitting portion 61c is a fitting recess having a roughly square pyramidal shape, and is detachably fitted to the fitted portion 63c (fitting projection) formed on the second switching member 63. The through hole 61b and the fitting portion 61c are in communication in the vertical direction, and a connecting wire 65 is inserted through them.

[0045] The first permanent magnet 62 is fixed to the portion of the first switching member 61 that faces the second switching member 63. Specifically, the first permanent magnet 62 is embedded in the bottom surface (inclined surface) of the fitting portion 61c so as to be substantially flush with it, and is positioned so as to be exposed from the fitting portion 61c. Multiple first permanent magnets 62 are arranged on the bottom surface of the fitting portion 61c at predetermined intervals, and are positioned to surround the connecting wire 65. Each of the first permanent magnets 62 is positioned on a different surface (a different inclined surface) of the bottom surface of the fitting portion 61c. Specifically, a total of four first permanent magnets 62 are fixed.

[0046] Of the multiple first permanent magnets 62, permanent magnet 62a and permanent magnet 62b adjacent to permanent magnet 62a are arranged so that their polarity becomes north pole and faces the second switching member 63. Then, the permanent magnet 62c adjacent to the permanent magnet 62b, and the permanent magnet 62d adjacent to the permanent magnet 62c, are arranged so that their polarity becomes the south pole and faces the second switching member 63. In other words, the multiple first permanent magnets 62 are arranged so that their polarities face north, north, south, and south in that order.

[0047] The second switching member 63 has a main body portion 63a having a three-dimensional shape (for example, a rectangular parallelepiped shape), a through hole 63b that penetrates the center of the main body portion 63a in the vertical direction, and a convex fitting portion 63c formed at the lower end of the main body portion 63a. The fitted portion 63c is a fitting projection having a shape that protrudes in a substantially square pyramidal shape, and fits into the first switching member 61 (fitting portion 61c). The through hole 63b and the fitted portion 63c are in communication in the vertical direction, and a connecting wire 65 is inserted through them.

[0048] The second permanent magnet 64 is fixed to the portion of the second switching member 63 that faces the first switching member 61. Specifically, the second permanent magnet 64 is embedded in the upper surface (inclined surface) of the mating portion 63c so as to be substantially flush with it, and is positioned so as to be exposed from the mating portion 63c. Multiple second permanent magnets 64 are arranged at intervals on the upper surface of the mating portion 63c, and are positioned to surround the connecting wire 65. Each second permanent magnet 64 is positioned on a different inclined surface of the upper surface of the mating portion 63c. Specifically, a total of four second permanent magnets 64 are fixed.

[0049] Of the multiple second permanent magnets 64, permanent magnet 64a and permanent magnet 64b adjacent to permanent magnet 64a are arranged so that their polarity becomes the south pole and faces the first switching member 61. Then, the permanent magnet 64c adjacent to the permanent magnet 64b, and the permanent magnet 64d adjacent to the permanent magnet 64c, are arranged so that their polarity becomes north pole and faces the first switching member 61. In other words, the multiple second permanent magnets 64 are arranged so that their polarities face south, south, north, and north in that order. As a result, when the first switching member 61 (fitting portion 61c) and the second switching member 63 (received fitting portion 63c) are fitted together, (1) the permanent magnet 62a (N pole) and the permanent magnet 64a (S pole), (2) the permanent magnet 62b (N pole) and the permanent magnet 64b (S pole), (3) the permanent magnet 62c (S pole) and the permanent magnet 64c (N pole), and (4) the permanent magnet 62d (S pole) and the permanent magnet 64d (S pole) are attracted to each other by magnetic force and attracted to one another. In this manner, it is preferable to arrange the permanent magnets 62 and 64 such that there is only one combination of mating combinations using the permanent magnets 62 and 64.

[0050] As shown in Figures 8 to 10, the connecting wire 65 is a flexible connecting member (connecting member) that extends through the first switching member 61 and the second switching member 63. The connecting wire 65 has a wire body 65a that is long in the vertical direction, a base end 65b formed at the upper end of the wire body 65a and hooked onto the upper surface of the first switching member 61, and a free end 65c formed at the lower end of the wire body 65a and positioned inside the second switching member 63. The central part of the second switching member 63 has a first through hole 63ba and a second through hole 63bb that communicates with the first through hole 63ba and is wider than the first through hole 63ba. The wire body 65a passes through the first through hole 63ba. The free end 65c is positioned in the second through hole 63bb and is biased toward the opposite side (downward) from the first switching member 61 by a biasing spring 66 provided in the second through hole 63bb. The free end 65c may be positioned in the second through hole 63bb, but preferably it is positioned so as to be substantially flush with the bottom surface of the second switching member 63, as shown in Figure 8.

[0051] As shown in Figures 8 and 10, the biasing spring 66 is a biasing member that biases the second switching member 63, which has detached from the first switching member 61, to a state where it is attached to the first switching member 61. The biasing spring 66 is, for example, a coil spring, which is attached to the connecting wire 65 and held by the free end 65c. The biasing spring 66 is located inside the second switching member 63 and is held in the vertical direction sandwiched between the connecting wire 65 (free end 65c) and the stepped portion 63bc of the first through hole 63ba and the second through hole 63bb.

[0052] In the above configuration, as shown in Figures 7A to 10, the switching unit 60 can switch the marking unit 20 from the "connected state" to the "disconnected state" by detaching the second switching member 63 from the first switching member 61. Furthermore, the switching unit 60 can restore the marking unit 20, which is in the "detached state," to the "connected state" by re-fitting the first switching member 61 and the second switching member 63 using the connecting wire 65 and the biasing spring 66. At this time, the connecting wire 65 is always connected to the first switching member 61 and the second switching member 63. In other words, even if the marking part 20 detaches from the device body 2, the marking part 20 is not completely removed from the device body 2, but remains connected to it. Therefore, it is easy to return the marking part 20 from the "detached state" back to the "connected state".

[0053] Furthermore, in the above configuration, as shown in Figures 8 to 11, the switching unit 60 can restore the marking unit 20, which is in the "detached state," to the "connected state" by fitting the first switching member 61 and the second switching member 63 back into their original positions using the first permanent magnet 62 and the second permanent magnet 64. This allows the marking unit 20 to be returned to its original position smoothly and accurately.

[0054] Furthermore, in the above configuration, as shown in Figures 8 to 11, the first switching member 61 (fitting portion 61c) is formed on the surface facing the second switching member 63 (received fitting portion 63c) and has a guide surface 61ca for guiding in the received fitting portion 63c. Similarly, the second switching member 63 has a guide surface 63ca into which the first switching member 61 (fitting portion 61c) is inserted. This makes it easier for the first switching member 61 (fitting portion 61c) and the second switching member 63 (received fitting portion 63c) to fit together, allowing the marking portion 20 to be switched smoothly. In other words, it becomes easier to return the marking portion 20 from the "detached state" to the "connected state".

[0055] In this way, by providing the switching unit 60, when an external force is applied to the marking unit 20, the marking unit 20, which is in the "connected state," can be moved to one side horizontally and switched to the "detached state." Then, when the external force is removed, the marking unit 20 can be returned to its original position by the biasing force of the connecting wire 65 and the biasing spring 66, and the magnetic force of the permanent magnets 62 and 64. Furthermore, by devising the fitting shape of the first switching member 61 and the second switching member 63, and by devising the arrangement of the polarities of the permanent magnets 62 and 64, the second switching member 63 can be returned to its original position relative to the first switching member 61 with high precision.

[0056] Furthermore, the fitting shape of the switching members 61 and 63 is not limited to a square pyramidal fitting shape, but may also be a triangular pyramidal or other polygonal pyramidal fitting shape. Alternatively, by appropriately utilizing permanent magnets 62 and 64 or biasing springs 66, the opposing surfaces of the switching members 61 and 63 may be flat. Preferably, the switching members 61 and 63 fit together with an uneven shape. This prevents misalignment of the switching members 61 and 63. The arrangement and number of permanent magnets 62 and 64 can also be changed as appropriate. Preferably, the configuration should result in only one combination of mating.

[0057] <<Prism, battery, control controller>> As shown in Figures 2, 3, and 6, the prism 70 is a reflective prism that is the object to be detected by the surveying device 100, and is located on the left side of the main body 2 of the device. Specifically, as shown in Figure 6, the prism 70 is positioned at the left end of the second movable part 40 and attached to the upper end of the carrier 53. Alternatively, the prism 70 may be attached to the marking part 20. The prism 70 is positioned above the main unit 2, the travel unit 10, the marking unit 20, the movable parts 30, 40, and 50, the switching unit 60, the battery 80, and the control controller 90.

[0058] In the above configuration, as shown in Figure 3, the prism 70 is mounted around the marking section 20 and moves together with the marking section 20 between a "storage position" and a "protruding position". Furthermore, the prism 70 is positioned to overlap with the marking section 20 in a planar view, and moves together with the marking section 20 in the front-to-back, left-to-right, and up-and-down directions while maintaining its position overlapping with the marking section 20.

[0059] As shown in Figures 1 and 2, the battery 80 is a plate-shaped storage battery that is electrically connected to the driving unit 10, the marking unit 20, the movable parts 30, 40, and 50, and the control controller 90, and supplies power to these components, and is mounted on the upper surface of the main body 2 of the device. The battery 80 is positioned so as to overlap with a portion of the second movable part 40 in a plan view, and is positioned above the second movable part 40 so as not to interfere with the second movable part 40.

[0060] As shown in Figures 1 and 2, the control controller 90 is a computer having a CPU (processor) for data calculation and control processing, ROM, RAM, and HDD (SSD) as storage devices, and a communication interface for sending and receiving information data via a network, and is mounted on the top surface of the main body 2 of the device. More specifically, the control controller 90 is housed in a three-dimensional control module (control box).

[0061] The control controller 90 controls the operation of the traveling unit 10, the marking unit 20, and the movable units 30, 40, and 50 by transmitting (wirelessly transmitting) control signals generated by the CPU to the traveling unit 10, the marking unit 20, and the movable units 30, 40, and 50 via a communication interface. In other words, as shown in Figure 12, the ROM, RAM, and HDD of the control controller 90 store a marking program in addition to the main program that performs the necessary functions as a computer, and the marking device 1 functions when these programs are executed by the CPU.

[0062] In the above configuration, the marking device 1 travels in all horizontal directions by the traveling unit 10, and marks the marking lines with the marking unit 20, thereby marking the marking lines at predetermined marking positions.

[0063] <<Surveying equipment, operator terminal>> As shown in Figure 1, the surveying device 100 is an automatic tracking type total station that detects the prism 70 mounted on the marking device 1 at the surveying position and measures the position information of the marking device 1 based on the detection result. The surveying device 100 measures the positional information of the marking device 1 within building B and generates "survey data". Then, it transmits the "survey data" to the marking device 1.

[0064] The surveying device 100 comprises a main unit 101 that measures the distance and direction to the prism 70 by emitting laser light with a continuously changing irradiation direction and receiving reflected light from the prism 70, and a control controller 102 that is installed inside the main unit 101.

[0065] The operator terminal 200 is a computer operated by the worker. The operator terminal 200 may be operated inside the building or outside the building. The operator terminal 200 generates "design drawing data" that includes "design information" for building B, and stores the "design drawing data" in the storage unit 210.

[0066] <Functions of the marking system> As shown in Figure 12, the marking device 1 (control controller 90) is functionally described and mainly comprises a storage unit 91 that reads and temporarily stores various programs and data, including "design data" and "travel route data," from the operator terminal 200; a communication unit 92 that sends and receives data between the surveying device 100 and the operator terminal 200; a position estimation unit 93 that estimates the current position information within the building; and a marking control unit 94 that executes marking processing within the building. These consist of a CPU, ROM, RAM, HDD, communication interface, and various programs.

[0067] The "design data" stored in the memory unit 91 is design information of the building's three-dimensional shape, and specifically, it is the building's BIM data. "Design data" is data containing information about the three-dimensional shape of the design drawings, and is created for each room of the building and for each stage of construction. The information regarding the design drawings shows the drawings for a specific room in the building at a specific stage of construction, and these design drawings also include information on the location of marking lines. In this embodiment, we assume design data showing the three-dimensional shape of a building, but two-dimensional design data may also be used.

[0068] "Travel route data" refers to data that indicates the travel routes used for marking out work within the rooms of a building. This "travel route data" is created, for example, for each room in the building and for each stage of construction.

[0069] The surveying device 100 mainly comprises a storage unit 110, a communication unit 111 that sends and receives data between the marking device 1 and the operator terminal 200, and a surveying execution unit 112 that performs the survey. These consist of a CPU, ROM, RAM, HDD, communication interface, and various programs.

[0070] The operator terminal 200 mainly comprises a storage unit 210 and a communication unit 211 that sends and receives data between the marking device 1 and the surveying device 100. The memory unit 210 stores "design data" and "driving route data". These consist of a CPU, ROM, RAM, HDD, communication interface, and various programs.

[0071] <<Estimation of the current position of the marking device>> The marking system S estimates the current position of the marking device 1 as follows: First, the operator terminal 200 generates "design drawing data" and transmits the "design drawing data" to the marking device 1. The surveying device 100 (surveying execution unit 112) detects the prism 70 mounted on the marking device 1 at the surveying position shown in Figure 1, and measures the position information (relative position information) of the marking device 1. The communication unit 111 then communicates data with the marking device 1 and transmits the position information of the marking device 1.

[0072] When the marking device 1 (communication unit 92) receives the above-mentioned "design drawing data" and "survey data," the position estimation unit 93 estimates the current position of the marking device 1 within the building. The "position information" of the marking device 1 is two-dimensional position information, which is identified by the position coordinates (X,Y) when the center position of a predetermined column B1 is set as the origin position (X0,Y0). The "position information" may also be three-dimensional position information identified by position coordinates (X,Y,Z).

[0073] <<Execution of marking out work>> The marking system S performs the marking work as follows: The marking device 1 (marking control unit 94) identifies the marking positions of the marking lines based on the "design data". Then, based on the information of the current position of the marking device 1 and the information of the identified marking positions, it determines the travel path of the marking device 1 and acquires the "travel path data". The marking control unit 94 then determines the "marking start position" and "marking start direction" of the marking device 1 based on the "travel path data," and moves the marking device 1 to the determined "marking start position."

[0074] When the marking device 1 reaches the "marking start position," the marking control unit 94 moves the marking device 1 along the determined travel path, controls the position and angle of the marking unit 20, and marks the marking line on the floor at the marking position. Based on the above, the marking system S can perform marking work.

[0075] In this embodiment, the marking device 1 estimates its own position information, but the operator terminal 200 may estimate the position information of the marking device 1 instead. In that case, the operator terminal 200 should communicate with the surveying device 100 and transmit the "design drawing data," "survey data," and "travel route data" to the marking device 1.

[0076] In this embodiment, the marking device 1 automatically travels from a predetermined point to the marking start position, but an operator may carry the marking device 1 to the marking start position and set it up there.

[0077] <Method of marking out lines> Next, the processing of the marking method (marking program) executed by the marking system S will be explained based on Figure 13. The above program is executed upon receiving operational instructions from the operator.

[0078] In the processing flow of the "marking method" shown in Figure 13, the process begins with step 1 (S1), in which the marking device 1 (position estimation unit 93) estimates the current position information. Specifically, the position estimation unit 93 estimates the current position of the marking device 1 within the building based on the building's design information and the position information of the marking device 1 measured by the surveying device 100.

[0079] In step 2, the marking device 1 (marking control unit 94) identifies the marking position of the marking line. Specifically, the marking control unit 94 acquires "design data" from the operator terminal 200 and identifies the marking position by referring to the marking position information of the marking lines included in the "design data".

[0080] In step 3, the marking control unit 94 determines the travel path. Specifically, the marking control unit 94 determines the travel path of the marking device 1 based on the information of the marking device 1's current position and the information of the identified marking location. Then, it acquires "travel path data". More specifically, the marking control unit 94 determines the "marking start position" and "marking start direction" of the marking device 1 based on the "travel path data". Then, the marking control unit 94 moves the marking device 1 to the determined "marking start position".

[0081] In step 4, the marking device 1 (marking control unit 94) performs the marking operation. Specifically, the marking control unit 94 moves the marking device 1 from the determined "marking start position" along the determined "travel path" and marks marking lines on the building's floor surface at the marking positions.

[0082] After completing the steps described above, the process shown in Figure 13 is finished. The above-described processing flow of the marking program allows the marking device 1 to mark lines along the travel path.

[0083] <Other> In the above embodiment, as shown in Figure 1, the marking device 1 performed marking work, but it may also be applied to construction processes other than marking work. In other words, the construction processing device may travel within the building construction site and perform the prescribed construction processing. "Construction work" includes, for example, "spraying work" which involves spraying fire-resistant coating material onto the building's structural elements (columns and beams), and "floor level measurement work" which involves measuring the floor level. When the construction processing device performs "spraying work," it is preferable that the construction processing unit (spraying processing unit) be positioned above the main unit 2 of the device. Furthermore, it is preferable that the construction processing unit be structured to be able to detach from the main unit 2 of the device if it collides with the structure or obstacles of building B. Furthermore, the phrase "the construction processing unit is located at a position outside the horizontal direction of the main body 2 of the device, or at a position above the main body 2 of the device" means that (1) the construction processing unit is located at a position outside the horizontal direction of the main body 2 of the device, but not at a position above the main body 2 of the device (see Figure 7A), (2) the construction processing unit is not located at a position outside the horizontal direction of the main body 2 of the device, but is located at a position above the main body 2 of the device, and (3) the construction processing unit is located at a position outside the horizontal direction of the main body 2 of the device, and is also located above the main body 2 of the device.

[0084] In the above embodiment, as shown in Figure 1, the marking device 1 was automatically driven (autonomously driven), but it is not limited to this. For example, the operator may remotely control the marking device 1 so that it travels in all directions and continuously marks marking lines at predetermined marking positions.

[0085] In the above embodiment, as shown in Figure 2, the marking device 1 is configured to move the marking section 20 in the front-to-back direction (first direction), left-to-right direction (second direction), and up-to-down direction (third direction) relative to the device body 2, but the configuration is not particularly limited. For example, the marking device 1 may be such that the marking section 20 is movable only in the left-right direction relative to the main body 2 of the device. Alternatively, the marking device 1 may be such that the marking section 20 is movable only in the front-back direction. The marking device 1 does not even need to have any movable parts.

[0086] In the above embodiment, the marking program is stored on a recording medium readable by the operator terminal 200 (marking device 1), and processing is performed when the operator terminal 200 (marking device 1) reads and executes the program. Here, the recording medium readable by the operator terminal 200 refers to a magnetic disk, magneto-optical disk, CD-ROM, DVD-ROM, semiconductor memory, etc.

[0087] The above embodiments mainly described the marking device and marking system according to the present invention. However, the embodiments described above are merely examples to facilitate understanding of the present invention and do not limit it. The present invention can be modified and improved without departing from its spirit, and of course, equivalents thereof are included. [Explanation of Symbols]

[0088] S Marking System (Construction Processing System) 1. Marking device (construction processing device) 2. Main body of the device 2a Front frame 2nd and rear frame 2c Side frame 2d Escape Club 10. Running section (running unit) 10a wheels (front wheels, side wheels) 10b Wheel axle 10c drive motor 20 Marking section (marking unit, construction processing section) 21 Print head 30. First movable unit (movable part) 31 Fixed rail 32 carriers 33 Belt clips 34 Drive belt 35 Drive motor 36 Connecting shaft 40. Second movable unit (movable part) 41 Fixing bracket 42 Movable Rails 43 Belt clip 44 Drive belt 45. Second drive motor 46 Connecting shaft 50 Third movable unit (movable part) 51 Bracket 52 Fixed Rails 53 Careers 53a Carrier body 53b Flange 53c Extension member 54 Belt Clips 55 Drive belt 56 Third drive motor 57 Connecting shaft 60 Switching section (switching unit) 61 First switching member 61a Main body 61b Through hole 61c Fitting part 61ca guide surface 62. First Permanent Magnet 62a~62d Permanent Magnets 63 Second switching member 63a Main body 63b Through hole 63ba First through hole 63bb Second through hole 63bc Step section 63c Fitting part 63ca guide surface 64. Second Permanent Magnet 64a~64d Permanent Magnets 65 Connecting wire (connecting component) 65a Wire Body 65b Proximal end 65c free end 66. Biasing spring (biasing member) 70 Prism (Object to be detected) 80 batteries 90 Control Controller (Control Unit) 91 Memory section 92 Communications Department 93 Position estimation part 94 Marking Control Unit 100 Surveying equipment 101 Main unit of the device 102 Control Controller 110 Storage section 111 Communications Department 112 Surveying Execution Department 200 Operator Terminals 210 Storage section 211 Communications Department 212 Position estimation part Building B B1 pillar

Claims

1. A construction processing device that travels within a building construction site and performs construction work, The device body, which is the main body of the construction processing apparatus, A construction processing unit is attached to the main body of the aforementioned device and performs construction processing, The device comprises a main unit and a construction processing unit, and a switching unit that connects the main unit and the construction processing unit, and switches the connection state of the construction processing unit to the main unit. The construction processing unit is positioned horizontally outside the main body of the device, or above the main body of the device. The construction processing apparatus is characterized in that the switching unit switches between a connected state in which the construction processing unit is connected to the main body of the apparatus and a disconnected state in which the construction processing unit is disconnected from the main body of the apparatus by an external force.

2. The aforementioned switching unit is The first switching member provided on the main body side of the device, A second switching member is provided on the construction processing unit side and is detachably attached to the first switching member, The device includes a connecting member that connects the first switching member and the second switching member, By detaching the second switching member from the first switching member, the construction processing unit is switched from the connected state to the detached state. The construction apparatus according to claim 1, characterized in that the connecting member connects the first switching member and the second switching member when the second switching member is attached to the first switching member and when the second switching member is detached.

3. The aforementioned switching unit is The second switching member, which has been detached from the first switching member, has a biasing member that biases it to be attached to the first switching member, The construction processing apparatus according to claim 2, characterized in that the connecting member and the biasing member restore the construction processing unit, which is in the detached state, from the detached state to the connected state.

4. The first switching member has a fitting portion that detachably fits into a fitting portion provided on the second switching member, The construction apparatus according to claim 2 or 3, characterized in that the fitting portion is formed on a surface facing the fitted portion and has a guide surface for guiding the fitted portion into it.

5. The first switching member has a first permanent magnet provided on the portion facing the second switching member, The second switching member is provided in a portion facing the first switching member and has a second permanent magnet that is attached to the first permanent magnet by magnetic force. The construction processing apparatus according to claim 2 or 3, characterized in that the switching unit restores the construction processing unit, which is in the detached state, from the detached state to the connected state using the first permanent magnet and the second permanent magnet.

6. The aforementioned construction apparatus is A marking device for performing marking within the aforementioned construction site, The device body is equipped with a movable part that moves the construction processing unit in one horizontal direction relative to the device body, The switching unit is attached to the movable part and positioned horizontally outward from the main body of the device. The construction processing unit is mounted so as to protrude downward from the switching section. The construction processing apparatus according to any one of claims 1 to 3, characterized in that when an external force is applied to the construction processing unit, the switching unit moves the construction processing unit, which is in the connected state, to one side in the horizontal direction to switch it to the disconnected state.

7. A construction processing system comprising a construction processing device according to claim 1 and a surveying device installed at a predetermined location within the construction site, The aforementioned construction apparatus is A marking device for performing marking within the aforementioned construction site, Attached to the main body of the device, and equipped with an object to be detected by the surveying device, The surveying device detects the object to be detected mounted on the construction processing device, and measures the position information of the construction processing device based on the detection result. The aforementioned construction processing system is The design information of the aforementioned building is stored, Based on the building design information and the location information of the construction apparatus, the location of the construction apparatus within the construction site is estimated. Based on the aforementioned design information, the marking location is identified. A construction processing system characterized by moving the construction processing device to perform marking based on the location information of the construction processing device and the marking location information.

Images