Slope spraying method and spraying machine

Abstract

To provide a slope spraying construction method and a spraying machine capable of mechanically carrying out spraying work and accurately spraying a spraying material on the surface of the slope in a uniform thickness, not using a spraying device made to order.SOLUTION: The present invention is implemented in combination with a metrology machine (M). An attachment (1) is attached to a vehicle. The attachment (1) comprises a plate-like member (2) movable in the longitudinal direction and extending in an orthogonal direction, and a spray nozzle (3) movable along the plate-like member (2). The spray nozzle (3) is moved following the surface shape of the slope. When the nozzle is moved, the attachment (1) is extended and contracted, and the attachment (1) is rocked. Either, a movement of the plate-like member (2) in the longitudinal direction of the attachment (1), a movement of the spray nozzle (3) along the plate-like member (2), a rotation of the plate-like member (2) about the rotation center extending in the longitudinal direction of the attachment (1) or in a direction parallel thereto, or a rotation of the spray nozzle (3) is executed.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a slope spraying method for spraying a spraying material onto a slope surface, and a spraying machine used therein. [Background technology]

[0002] The slope spraying method, in which spraying material onto the uneven surface of a slope, was often performed manually by a worker holding a spray nozzle and spraying the material at designated locations. Manual spraying involves the risk of falling and other hazards, and because the spray nozzle must be held by hand, the worker is exposed to danger when the hose becomes blocked. Furthermore, work efficiency is low (for example, when the working area per worker is 100 m2, 2 / day) was a problem. On the other hand, spraying using a machine can improve work efficiency by a lot compared to manual work, and reduce the danger to workers. For this reason, a self-propelled slope spraying device (for example, Patent Document 1) has been proposed.

[0003] However, such a slope spraying device (Patent Document 1) may be manufactured as a so-called "one-off product," and when manufactured as a one-off product, the price is high, resulting in a problem of high introduction costs. Furthermore, in order to secure the device during spraying work, the vehicle's outriggers must be extended, and this requires time-consuming work to secure the device using the outriggers. In addition, since there is little freedom in the position and spray direction of the spray nozzle, it is difficult to spray the spray material with a uniform thickness onto the surface of a slope with large unevenness.

[0004] In response to this, a technology has been proposed in which a commercially available measuring device that emits laser light is used to measure the uneven shape of the slope of the target work surface using laser light, while checking the spraying condition and spraying thickness of the target slope in real time (see Patent Document 2). However, during spraying work, the laser light used for measurement is blocked by the sprayed material, making it difficult to check the spraying condition and spray thickness of the target slope in real time from the measurement results of the measuring device. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6454123 [Patent Document 2] JP 2017-197942 A Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been proposed in consideration of the problems with the prior art described above, and aims to provide a slope spraying method and spraying machine that can carry out spraying work using a machine, check the spraying condition and spraying thickness of the target slope in real time from the measurement results of a measuring device, and accurately spray the spraying material at a uniform thickness onto the surface of the slope. [Means for solving the problem]

[0007] The spraying machine (100) of the present invention comprises: The attachment (1) has an attachment side connecting means (4) for attaching to and / or detaching from a boom (31) provided on a vehicle (30: including a machine that travels by caterpillar tracks), The attachment (1) is The device has a first member (1-1: vehicle side member) and a second member (1-2: spray nozzle side member) having the longest shape, and is configured to be extendable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), A plate-like member (2) that is movable in the longitudinal direction of the second member (1-2: spray nozzle side member) and extends in a direction perpendicular to the longitudinal direction (lateral direction), the horizontal movement member (5) moves a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or backward; the first rotation member (6) rotates the plate-like member (2) about a rotation center extending in the longitudinal direction of the second member (1-2: spray nozzle side member), the first rotation member (6) having a telescopic first cylinder (6A) and a telescopic second cylinder (6B), the first cylinder (6A) connects a cylinder attachment portion (6C) to a rotatable first pivot point (2a) of the plate-like member (2), and the second cylinder (6B) connects the cylinder attachment portion (6C) to a rotatable second pivot point (2b) of the plate-like member (2); The second rotating member (7) rotates the spray nozzle (3) (including rotating the spray nozzle 3 relative to the plate-like member 2), and the second rotating member (7) has a main body portion (7A), a rotating shaft (7B) provided on the main body portion (7A), a disk portion (7C) rotated by the rotating shaft (7B), and a rod (7D) having one end portion (7DA) rotatably supported by the disk portion (7C), and the circular portion of the rod (7D) is board the other end (7DB) opposite to the portion (7C) is connected via a connecting member (7E) to a connecting member (3D) that connects the spray nozzle (3) and the supply hose (11), and the rotation of the disk portion (7C) is transmitted to the spray nozzle (3) via the rod (7D), the connecting member (7E), and the connecting member (3D). The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks a first member (1-1: vehicle-side member), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed. The measuring device (M) has the following functions: when the moving spray nozzle (3) sprays a spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spray nozzle (3) is characterized by having the function of moving along the same path so as to pass the same spray position multiple times, and the function of reducing the amount of rebound (JS) of the spray material jet (J) by spraying the spray material onto the same spray position in divided portions depending on the number of times it passes through the same spray position.

[0008] The spraying machine (100) of the present invention further comprises: The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30), The attachment (1) is The device has a first member (1-1) having the longest shape and a second member (1-2: spray nozzle side member), and is configured to be extendable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), a plate-like member (2) that is movable in the longitudinal direction of the second member (1-2) and extends in a direction perpendicular to the longitudinal direction (lateral direction); the horizontal movement member (5) moves a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or backward; The plate-shaped member (2) includes a first rotation member (6) that rotates the plate-shaped member (2) about a rotation center extending in the longitudinal direction of the second member (1-2: spray nozzle side member), and the first rotation member (6) has a first rotation member (6-1) that is attached to the second member (1-2) and rotatably supports the plate-shaped member (2) by a plate-shaped member support portion (6-1A) and an attachment portion (2c), and the plate-shaped member support portion (6-1A) is provided near a tip of the first rotation member (6-1), and the attachment portion (2c) supports the plate-shaped member (2) so that the plate-shaped member (2) can rotate freely. ) is provided on the mounting bracket (2A) of the plate-like member (2), and the first rotation member (6-1) is provided with an expandable cylinder (6-1B), and the cylinder (6-1B) connects a cylinder mounting portion (6-1C) of the first rotation member (6-1) with a cylinder mounting portion (2d) provided on the mounting bracket (2A) of the plate-like member (2). The cylinder (6-1B) is combined so that the plate-like member (2) can be fixed at a predetermined rotation position by adjusting the amount of expansion and contraction of the cylinder (6-1B). The second rotating member (7) rotates the spray nozzle (3), and the second rotating member (7) has a main body portion (7A), a rotating shaft (7B) provided on the main body portion (7A), a disk portion (7C) rotated by the rotating shaft (7B), and a rod (7D) having one end portion (7DA) rotatably supported by the disk portion (7C). board the other end (7DB) opposite to the portion (7C) is connected via a connecting member (7E) to a connecting member (3D) that connects the spray nozzle (3) and the supply hose (11), and the rotation of the disk portion (7C) is transmitted to the spray nozzle (3) via the rod (7D), the connecting member (7E), and the connecting member (3D). The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks a first member (1-1: vehicle-side member), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed. The measuring device (M) has the following functions: when the moving spray nozzle (3) sprays a spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spray nozzle (3) is characterized by having the function of moving along the same path so as to pass the same spray position multiple times, and the function of reducing the amount of rebound (JS) of the spray material jet (J) by spraying the spray material onto the same spray position in divided portions depending on the number of times it passes through the same spray position.

[0009] The spraying machine (100) of the present invention comprises: The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30: including a machine that travels by caterpillar tracks), The attachment (1) is The device has a first member (1-1: vehicle side member) and a second member (1-2: spray nozzle side member) having the longest shape, and is configured to be extendable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), A plate-like member (2) that is movable in the longitudinal direction of the second member (1-2: spray nozzle side member) and extends in a direction perpendicular to the longitudinal direction (lateral direction), the horizontal movement member (5) moves a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or backward; the first rotation member (6) rotates the plate-like member (2) about a rotation center extending in the longitudinal direction of the second member (1-2: spray nozzle side member), the first rotation member (6) having a telescopic first cylinder (6A) and a telescopic second cylinder (6B), the first cylinder (6A) connects a cylinder attachment portion (6C) to a rotatable first pivot point (2a) of the plate-like member (2), and the second cylinder (6B) connects the cylinder attachment portion (6C) to a rotatable second pivot point (2b) of the plate-like member (2); The spray nozzle (3) includes a second rotating member (7-1) that rotates the spray nozzle (3), the second rotating member (7-1) having a first cylinder (7-1A) and a second cylinder (7-1B) that are extendable and retractable, the first cylinder (7-1A) connects a first cylinder mounting portion (7-1C) to a mounting portion (3a) in a bracket (3A) of the spray nozzle (3), and the second cylinder (7-1B) connects a second cylinder mounting portion (7-1D) to a mounting portion 3b in the bracket (3A), and the spray nozzle (3) rotates about a rotation center (3B) by the extension and retraction of the first and second cylinders (7-1A, 7-1B), The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks a first member (1-1: vehicle-side member), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed. The measuring device (M) has the following functions: when the moving spray nozzle (3) sprays a spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spray nozzle (3) is characterized by having the function of moving along the same path so as to pass the same spray position multiple times, and the function of reducing the amount of rebound (JS) of the spray material jet (J) by spraying the spray material onto the same spray position in divided portions depending on the number of times it passes through the same spray position.

[0010] The spraying machine (100) of the present invention further comprises: The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30), The attachment (1) is The device has a first member (1-1) having the longest shape and a second member (1-2: spray nozzle side member), and is configured to be extendable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), a plate-like member (2) that is movable in the longitudinal direction of the second member (1-2) and extends in a direction perpendicular to the longitudinal direction (lateral direction); the horizontal movement member (5) moves a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or backward; The plate-shaped member (2) includes a first rotation member (6) that rotates the plate-shaped member (2) about a rotation center extending in the longitudinal direction of the second member (1-2: spray nozzle side member), and the first rotation member (6) has a first rotation member (6-1) that is attached to the second member (1-2) and rotatably supports the plate-shaped member (2) by a plate-shaped member support portion (6-1A) and an attachment portion (2c), and the plate-shaped member support portion (6-1A) is provided near a tip of the first rotation member (6-1), and the attachment portion (2c) supports the plate-shaped member (2) so that the plate-shaped member (2) can rotate freely. ) is provided on the mounting bracket (2A) of the plate-like member (2), and the first rotation member (6-1) is provided with an expandable cylinder (6-1B), and the cylinder (6-1B) connects a cylinder mounting portion (6-1C) of the first rotation member (6-1) with a cylinder mounting portion (2d) provided on the mounting bracket (2A) of the plate-like member (2). The cylinder (6-1B) is combined so that the plate-like member (2) can be fixed at a predetermined rotation position by adjusting the amount of expansion and contraction of the cylinder (6-1B). The spray nozzle (3) includes a second rotating member (7-1) that rotates the spray nozzle (3), the second rotating member (7-1) having a first cylinder (7-1A) and a second cylinder (7-1B) that are extendable and retractable, the first cylinder (7-1A) connects a first cylinder mounting portion (7-1C) to a mounting portion (3a) in a bracket (3A) of the spray nozzle (3), and the second cylinder (7-1B) connects a second cylinder mounting portion (7-1D) to a mounting portion 3b in the bracket (3A), and the spray nozzle (3) rotates about a rotation center (3B) by the extension and retraction of the first and second cylinders (7-1A, 7-1B), The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks a first member (1-1: vehicle-side member), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed. The measuring device (M) has the following functions: when the moving spray nozzle (3) sprays a spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spray nozzle (3) is characterized by having the function of moving along the same path so as to pass the same spray position multiple times, and the function of reducing the amount of rebound (JS) of the spray material jet (J) by spraying the spray material onto the same spray position in divided portions depending on the number of times it passes through the same spray position.

[0011] The spraying machine (100) of the present invention comprises: The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30: including a machine that travels by caterpillar tracks), The attachment (1) is The device has a first member (1-1: vehicle side member) and a second member (1-2: spray nozzle side member) having the longest shape, and is configured to be extendable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), A plate-like member (2) that is movable in the longitudinal direction of the second member (1-2: spray nozzle side member) and extends in a direction perpendicular to the longitudinal direction (lateral direction), the horizontal movement member (5) moves a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or backward; the first rotation member (6) rotates the plate-like member (2) about a rotation center extending in the longitudinal direction of the second member (1-2: spray nozzle side member), the first rotation member (6) having a telescopic first cylinder (6A) and a telescopic second cylinder (6B), the first cylinder (6A) connects a cylinder attachment portion (6C) to a rotatable first pivot point (2a) of the plate-like member (2), and the second cylinder (6B) connects the cylinder attachment portion (6C) to a rotatable second pivot point (2b) of the plate-like member (2); A second rotating member (7-2) for rotating the spray nozzle (3) is included, and the second rotating member (7-2) , Books A first disk portion (7-2C) is rotatably supported by a rotating shaft (7-2B) provided on a body portion (7-2A), a second disk portion (7-2D) is rotatably supported by a shaft portion (7-2DA) on the first disk portion (7-2C), a rotation center (7-2CA) of the first disk portion (7-2C) is offset from the center (center point of the circle) of the first disk portion (7-2C), and an end portion (7-2D) of the second disk portion (7-2D) is offset from the center (center point of the circle) of the first disk portion (7-2C). B) is connected to a connecting member (7-2E), and a support member (3E) of the spray nozzle (3) is fixed to the connecting member (7-2E), so that when the first disk portion (7-2C) rotates around the rotation center (7-2CA), the second disk portion (7-2D) rotates eccentrically, and the tip of the spray nozzle (3) to which the eccentric rotation is transmitted via the connecting member (7-2E) and the support member (3E) rotates in a circular trajectory, The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks a first member (1-1: vehicle-side member), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed. The measuring device (M) has the following functions: when the moving spray nozzle (3) sprays a spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spray nozzle (3) is characterized by having the function of moving along the same path so as to pass the same spray position multiple times, and the function of reducing the amount of rebound (JS) of the spray material jet (J) by spraying the spray material onto the same spray position in divided portions depending on the number of times it passes through the same spray position.

[0012] The spraying machine (100) of the present invention further comprises: The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30), The attachment (1) is The device has a first member (1-1) having the longest shape and a second member (1-2: spray nozzle side member), and is configured to be extendable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), a plate-like member (2) that is movable in the longitudinal direction of the second member (1-2) and extends in a direction perpendicular to the longitudinal direction (lateral direction); the horizontal movement member (5) moves a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or backward; The plate-shaped member (2) includes a first rotation member (6) that rotates the plate-shaped member (2) about a rotation center extending in the longitudinal direction of the second member (1-2: spray nozzle side member), and the first rotation member (6) has a first rotation member (6-1) that is attached to the second member (1-2) and rotatably supports the plate-shaped member (2) by a plate-shaped member support portion (6-1A) and an attachment portion (2c), and the plate-shaped member support portion (6-1A) is provided near a tip of the first rotation member (6-1), and the attachment portion (2c) supports the plate-shaped member (2) so that the plate-shaped member (2) can rotate freely. ) is provided on the mounting bracket (2A) of the plate-like member (2), and the first rotation member (6-1) is provided with an expandable cylinder (6-1B), and the cylinder (6-1B) connects a cylinder mounting portion (6-1C) of the first rotation member (6-1) with a cylinder mounting portion (2d) provided on the mounting bracket (2A) of the plate-like member (2). The cylinder (6-1B) is combined so that the plate-like member (2) can be fixed at a predetermined rotation position by adjusting the amount of expansion and contraction of the cylinder (6-1B). A second rotating member (7-2) for rotating the spray nozzle (3) is included, and the second rotating member (7-2) , Books A first disk portion (7-2C) is rotatably supported by a rotating shaft (7-2B) provided on a body portion (7-2A), a second disk portion (7-2D) is rotatably supported by a shaft portion (7-2DA) on the first disk portion (7-2C), a rotation center (7-2CA) of the first disk portion (7-2C) is offset from the center (center point of the circle) of the first disk portion (7-2C), and an end portion (7-2D) of the second disk portion (7-2D) is offset from the center (center point of the circle) of the first disk portion (7-2C). B) is connected to a connecting member (7-2E), and a support member (3E) of the spray nozzle (3) is fixed to the connecting member (7-2E), so that when the first disk portion (7-2C) rotates around the rotation center (7-2CA), the second disk portion (7-2D) rotates eccentrically, and the tip of the spray nozzle (3) to which the eccentric rotation is transmitted via the connecting member (7-2E) and the support member (3E) rotates in a circular trajectory, The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks a first member (1-1: vehicle-side member), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed. The measuring device (M) has the following functions: when the moving spray nozzle (3) sprays a spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spray nozzle (3) is characterized by having the function of moving along the same path so as to pass the same spray position multiple times, and the function of reducing the amount of rebound (JS) of the spray material jet (J) by spraying the spray material onto the same spray position in divided portions depending on the number of times it passes through the same spray position. The slope spraying method of the present invention using the above-mentioned spraying machine (100) (the spraying machine according to any one of claims 1 to 6) is as follows: The method includes a step of attaching an attachment (1) to a vehicle (30: including a machine that travels by caterpillar tracks), The attachment (1) includes a plate-like member (2) that is movable in its longitudinal direction and extends in a direction perpendicular to the longitudinal direction (lateral direction), and a spray nozzle (3) that is movable along the plate-like member (2); A nozzle moving step of moving the spray nozzle (3) in accordance with the surface shape of the slope (F), In the nozzle moving step, A step of extending and contracting the attachment (1) in a longitudinal direction (axial direction); A step of swinging the attachment (1); moving the plate-like member (2) in the longitudinal direction of the attachment (1); a step of moving a spray nozzle (3) along the plate-like member (2); A step of rotating (including swinging and / or rotating) the plate-like member (2) about a rotation center extending in the longitudinal direction of the attachment (1); The method includes a step of rotating (including swinging and / or rotating) the spray nozzle (3) (including rotating the spray nozzle 3 relative to the plate-like member 2), The spray nozzle (3) is used in combination with a measuring device (M) that irradiates a laser beam (L) onto an area to be sprayed; The measuring device (M) measures the location (β) where the spray material was sprayed immediately before the moving spray nozzle (3) sprays the spray material at a certain location (α) at ​​a certain time, and prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L), and reducing the time lag between the time the spray material is sprayed and the time it is measured by the measuring device (M) and confirmed as an image. The spray nozzle (3) is characterized in that it moves along the same path so as to pass the same spray position multiple times, and sprays the spray material onto the same spray location in divided portions depending on the number of times it passes the same spray location, thereby reducing the amount of rebound (JS) of the spray material jet (J). Effect of the Invention

[0013] According to the present invention having the above-mentioned configuration, the spraying work can be carried out by machine rather than by human hands, so that the danger to the worker is reduced compared to the conventional manual work. In addition, by attaching the attachment (1) to the boom (31) of an existing vehicle (30) having the boom (31), the spraying device (100) can be prepared without manufacturing a single item, thereby reducing construction costs. Furthermore, by appropriately selecting the vehicle (30) to which the attachment (1) is to be attached and selecting the vehicle (30) that corresponds to the working height of the spraying work, the working range is not limited. Similarly, by selecting an appropriate operation, it is possible to omit the fixing operation by extending the vehicle's outriggers. Then, a large amount of spray material can be sprayed onto the slope (F) where work is to be carried out.

[0014] In addition, according to the present invention, the control device (CU) on the spraying machine (100) moves the spray nozzle (3) to follow the surface shape of the slope (F), and when moving the spray nozzle (3), the attachment (1) is extended and retracted in the longitudinal direction (axial direction), the attachment (1) is swung, the plate-shaped member (2) is moved in the longitudinal direction of the attachment (1), the spray nozzle (3) is moved along the plate-shaped member (2), the plate-shaped member (2) is rotated about the rotation center extending in the longitudinal direction of the attachment (1), or the spray nozzle (3) is rotated, so that the degree of freedom of the position of the spray nozzle (3) and the spray direction of the spray material is increased, and the control is performed with high precision. Therefore, the degree of freedom of the movement of the spray nozzle (3) is increased, and the spray nozzle (3) can be moved to follow the surface shape of the slope (F) with high precision. Therefore, even if the slope has many unevenness (convex and concave parts) and a complex shape, the spray material ejected from the spray nozzle (3) can be sprayed accurately with a uniform thickness onto the surface of the slope (F). As a result, a sprayed layer with a uniform thickness can be accurately formed on the surface of the slope (F). In the present invention, the measuring device (M) (its control device MCU) has a function of creating image data (e.g., a 3D map) including position information of each area (area: spraying location) of the slope to which the spray material is to be sprayed based on the measurement results, and the control device (CU) (of the spraying machine 100) is configured to execute, based on the image data from the measuring device (M), extension and contraction of the longitudinal dimension of the attachment (1), movement of the plate-shaped member (2) to the target longitudinal location of the second member (1-2), movement of the spray nozzle (3) along the plate-shaped member (2), rotation of the plate-shaped member (2), rotation of the spray nozzle (3), and swinging of the first member (1-1). In this way, the spraying work by the spraying machine 100 is not done by the eyes and "intuition" of the worker (operator) of the spraying machine (100), but is done by utilizing the data measured by the measuring device (M), thereby improving the work accuracy. Furthermore, in order for the spray nozzle (3) to move in a manner that follows the surface shape of the slope (F) with high precision, various types of fine operations on the spray nozzle (3) are required. However, according to the present invention, the control device (CU) of the spray machine (100) adjusts various devices to move the spray nozzle (3), so that high-quality spraying work can be performed without forcing the operator of the spray machine (100) to perform complicated tasks.

[0015] In the present invention, the spray thickness of the spray material in each area is determined by placing a marker (e.g., a plastic marker) on the slope where the spraying method is to be performed, setting the height of the marker from the work slope to the specified spray thickness, and if the marker cannot be seen in the image data created based on measurements by the measuring device (M), it can be confirmed that the specified spray thickness has been achieved. Alternatively, calculation can be performed by a conventionally known method by comparing an image obtained by a measuring device (M) immediately before spraying with an image obtained immediately after spraying (see, for example, Patent Document 2). Furthermore, by using the markers and the above-mentioned calculations by the measuring device (M) in combination, it is possible to carry out the spraying work while checking.

[0016] According to the present invention, the spray nozzle (3) moves (e.g., reciprocates) along the same path so as to pass the same spray position multiple times (e.g., four times), and sprays the (required amount of) spray material to the same location multiple times (e.g., four times). Here, the measuring device (M) irradiates the area where the spraying work is to be performed (slope F or its partial area LA), but at the point where the moving spray nozzle (3) is spraying the spray material at a certain point, the laser light (L) is blocked by the jet (J) of the spray material or its rebound (JS). However, in the present invention, when the moving spray nozzle (3) is spraying the spray material at a certain point (point β), the measuring device (M) measures (or observes) the point (point α) where the spray material was sprayed just before that point. As described above, in the present invention, the (required amount of) spray material is sprayed to the same point multiple times (for example, four times), so the spraying time at the same point is shorter than in the past (the reciprocal of the number of sprays: for example, 1 / 4), and the time during which the laser light (L) is blocked by the spray material jet (J) or its rebound (JS) is short. The state of the sprayed point at the point (point α) where the spray material was sprayed just before that point is immediately measured (observed) by the measuring device (M) after a short spraying time has elapsed, so the spraying situation can be measured (observed) in so-called "real time" by the measuring device (M) that irradiates the laser light (L). According to the present invention, the mark for measuring the spray thickness provided at the spray location is measured by a measuring device (M), and the spray thickness can be adjusted by visually checking the measurement result (e.g., video data). In other words, according to the present invention, it is possible to spray while checking the spray thickness, which was not possible with the conventional technology. Furthermore, since the (required amount of) spray material is sprayed to the same location in multiple batches, the amount sprayed each time is small and the spray thickness dimension is also small, so the error in the spray thickness is also small.

[0017] Here, in the present invention, the first member (1-1) and the second member (1-2) of the attachment (1) slide against each other to expand and contract, so a highly flexible rubber hose (11) is used as the piping for transporting the solidification material, and the difference in the longitudinal length of the attachment (1) when it is contracted and when it is extended must be absorbed by loosening the rubber hose (11). However, it is known that the highly flexible rubber hose (11) has a high piping resistance compared to rigid piping. And, since the difference in the longitudinal length of the attachment (1) when it is contracted and when it is extended is absorbed by loosening the rubber hose (11), the total length of the rubber hose (11) must be longer than that of a fixed piping by the amount of loosening. Therefore, the piping resistance is high in the spraying material supply system (20) formed by the rubber hose (11), and there is a high possibility that the piping will be clogged compared to conventional air pressure feeding. In contrast, in the present invention, if a pump (21) for the spray solidification material is installed in the spray solidification material supply system (20) and the pump (21) for the spray solidification material is placed on a movable dolly (22), the distance from the discharge port of the pump (21) for the spray solidification material to the spray nozzle (3) can be shortened by moving the dolly (22) (the length of the rubber hose 11 from the discharge port of the pump 21 for the spray solidification material to the spray nozzle 3), and the piping resistance in the spray solidification material supply system (20) can be reduced. As a result, clogging of the rubber hose (11) can be suppressed. In addition, since the pump (21) for the spray solidification material is placed on the movable dolly (22), it is possible to avoid the construction range being limited to the pump pumping distance as much as possible. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is an explanatory diagram showing an overview of an embodiment of the present invention. [Diagram 2] 10A to 10C are explanatory diagrams showing a process of extending and contracting the attachment in the longitudinal direction in the embodiment. [Diagram 3] FIG. 11 is an explanatory diagram showing a process of swinging the attachment. [Figure 4] 11 is an explanatory diagram showing a process of moving the spray nozzle laterally along the plate-like member. FIG. [Diagram 5] 11 is an explanatory diagram showing an example of a mechanism for moving a spray nozzle laterally along a plate-like member. FIG. [Figure 6] 10A to 10C are explanatory views showing a step of rotating the plate-shaped member. [Figure 7] 10 is an explanatory diagram showing an example of a mechanism for rotating a plate-shaped member; FIG. [Figure 8] 8 is an explanatory diagram showing an example of a mechanism for rotating a plate-like member that is different from that shown in FIG. 7. [Figure 9] FIG. 11 is an explanatory diagram showing a process of rotating the nozzle. [Figure 10] FIG. 4 is an explanatory diagram showing an example of a mechanism for swinging a nozzle. [Figure 11] 11 is an explanatory diagram showing a swing movement in the mechanism of FIG. 10. FIG. [Figure 12] 12 is an explanatory diagram showing a mechanism for swinging a nozzle, which is an example different from those shown in FIGS. 10 and 11. FIG. [Figure 13] FIG. 11 is an explanatory diagram showing an example of a mechanism for rotating a nozzle tip. [Figure 14] FIG. 2 is a functional block diagram of a control device for a spraying machine. [Figure 15] 15 is a flow chart showing the spraying procedure in the spraying device shown in FIGS. 1 to 14. [Figure 16] FIG. 2 is an explanatory diagram showing the structure of a spray nozzle. [Figure 17] FIG. 2 is an explanatory diagram showing a main part of a spray material supply system in an embodiment. [Figure 18] FIG. 13 is an explanatory diagram showing a modified example of the spray material supply system in the embodiment. [Figure 19] FIG. 11 is an explanatory diagram showing a mode in which spraying is performed without using an attachment in the embodiment. [Figure 20] This is a modified example of the embodiment shown in FIG. [Figure 21] FIG. 1 is an explanatory diagram showing a problem with a conventional spraying technique. [Figure 22] FIG. 4 is an explanatory diagram showing a state at a time in a spraying mode in the embodiment. [Figure 23]23 is an explanatory diagram showing the state at the point in time following the point in time shown in FIG. 22. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. First, referring to FIG. 1, an overview of an embodiment of the present invention will be described. 1, a spraying machine 100 according to an embodiment of the present invention has a vehicle 30 (including a machine that travels on a track belt) and an attachment 1 that can be attached to / detached from a boom 31 of the vehicle 30. The attachment 1 is connected to the boom 31 by an attachment side connecting means 4. As described below, the attachment 1 has a first member 1-1 (vehicle side member) and a second member 1-2 (spray nozzle side member), and the first member 1-1 and the second member 1-2 slide against each other, allowing the attachment 1 to extend and retract in the longitudinal direction. In other words, the second member 1-2 can move (slide) relative to the first member 1-1. The attachment 1 is provided with a plate-like member 2 extending in a direction (lateral direction) perpendicular to the longitudinal direction, and a spray nozzle 3 movable along the plate-like member 2. The spray nozzle 3 is configured to move (perform a nozzle movement process) following the surface shape of a slope F (construction slope) on which the spraying work is to be performed. Note that a rubber hose (supply hose) that supplies the spray material (solidification material) to the spray nozzle 3 is indicated by the reference numeral 11.

[0020] As will be described in more detail below, the spraying machine 100 of FIG. A step of extending and contracting the attachment 1 in the longitudinal direction (axial direction) (see FIG. 2 ); A step of swinging the attachment 1 (see FIG. 3 ); A step of moving the plate-like member 2 in the longitudinal direction of the attachment 1 (see FIG. 2 ); A step of moving the spray nozzle 3 along the plate-like member 2 (see FIG. 4 ); A step of rotating (including swinging and / or rotating) the plate-like member 2 about a rotation center extending in the longitudinal direction of the attachment 1 (see FIGS. 7 and 8 ); A step of rotating (including swinging and / or rotating) the spray nozzle 3 (in the attachment mechanism that attaches the spray nozzle to the plate-like member) (see Figures 9 to 13) The above steps constitute a nozzle moving step of moving the spray nozzle 3 in accordance with the surface shape of the slope F. In Fig. 1, a vehicle 30 and a dolly 22 are connected via a connecting rod 33, and a concrete pump 21 is mounted on the dolly 22. As will be described later with reference to Fig. 17, this is to shorten the distance over which the spraying material discharged from the concrete pump 21 is pressure-transported through the rubber hose 11 to the spraying nozzle 3 (not shown), thereby reducing the risk of clogging in the rubber hose 11.

[0021] In Fig. 1, the laser light irradiated from the measuring device M to the slope F is indicated by an arrow L, and the laser light is irradiated onto the slope F or a partial area thereof (area LA in Figs. 21 to 23) on which the spraying work is to be performed. As will be described later with reference to Figs. 14 and 15, image data created by the control device MCU of the measuring device M is transmitted to the control device CU of the spraying machine 100 via a signal line SL1 (wired or wireless). Furthermore, a control signal from the control device CU of the spraying machine 100 is transmitted to the concrete pump 21 via a signal line SL10. As will be described later with reference to Fig. 14, the control device CU transmits control signals to the concrete pump 21, as well as control signals to the various members (such as the attachment 1) that adjust the position of the spraying nozzle 3, control signals to the supply device (such as a compressor) for air to be mixed into the spraying material and to the supply device for quick-setting admixture (see Fig. 14). At the same time, it transmits information on the ejection position of the spraying material jet from the spraying nozzle 3 to the control device MCU of the measurement device M. In Fig. 1, the second member 1-2 slides relative to the first member 1-1, allowing the longitudinal dimension of the attachment 1 to be expanded or contracted, and the plate-like member 2 is capable of sliding in the longitudinal direction of the second member 1-2. This sliding movement causes the spray nozzle 3 to reciprocate in the longitudinal direction of the attachment 1, passing the same spray position four times in the illustrated embodiment. Each time the spray nozzle 3 passes the same spray position, it sprays ¼ of the required amount of spray. As will be described later with reference to Figure 23, the location (spray location α) immediately before the location (spray location β) where the moving spray nozzle 3 is spraying the spray material J is measured with a laser light (L) from a measuring device (M), so the laser light (L) is not obstructed by the jet (J) of spray material or its rebound (JS). Furthermore, since the location immediately before the location where the spray nozzle 3 is spraying the spray material J is measured, and the same spray position is passed four times to spray 1 / 4 of the required amount each time, there is almost no time lag between the location that is actually being sprayed and the location that is being measured, and the spray location can be measured (confirmed) in approximately real time, making it possible to confirm the spraying condition and spray thickness of the target slope.

[0022] The control device MCU of the measurement device M has the function of measuring the slope F where the spraying work is to be performed or a partial area LA thereof (see Figures 22 and 23) by irradiating it with laser light L. It also has the function of creating image data (e.g., a 3D map) including the position information of each area (area: spraying point) of the slope where the spraying material is to be sprayed based on the measurement results. This image data provides the operator with an image that follows the movement of the spraying point from the spray nozzle 3. Based on the image data created by the measuring device M or its control device MCU, the control device CU of the spraying machine 100 performs operations such as extending and contracting the longitudinal dimension of the attachment 1, moving the plate-like member 2 to the target longitudinal location of the second member 1-2, moving the spray nozzle 3 along the plate-like member 2, rotating the plate-like member 2, rotating the spray nozzle 3, and swinging the first member 1-1. The operator of the spraying machine 100 can visually confirm the condition of the area to be sprayed with the spray material and the spray thickness using the image data, which is the measurement result of the measuring device M. This allows the work to be done not by the eyes and "intuition" of the operator of the spraying machine 100, but also by utilizing the data (image data) measured by the measuring device M, improving the accuracy of the work. Furthermore, by utilizing the image data from the measuring device M, the spraying nozzle 3 can move to follow the surface shape of the slope F with high precision, without increasing the operator's workload. Therefore, even if the slope has many unevenness (irregularities) and a complex shape, the spraying material ejected from the spraying nozzle 3 can be sprayed accurately with a uniform thickness onto the surface of the slope F, and a sprayed layer of uniform thickness can be accurately formed on the surface of the slope F.

[0023] Here, when measuring the sprayed thickness of the sprayed material in each area, a marker (not shown: for example, a black plastic marker) is placed on the slope F where the spraying method is to be carried out, and the height of the marker (not shown) from the slope is set as the specified sprayed thickness. Then, if the marker cannot be seen in the image data created by the measuring device M during the spraying work, it can be confirmed that the sprayed thickness is equal to or greater than the specified thickness. In the illustrated embodiment, an image of the sprayed area can be provided to the operator, so that the operator can carry out the spraying work while checking the sprayed thickness of the sprayed material by visually checking the presence or absence of a marker at the sprayed area. Alternatively, the spray thickness can be calculated by a conventional method by comparing an image taken by measuring device M immediately before spraying with an image taken immediately after spraying (eg, as described in Patent Document 2). Furthermore, it is possible to use the markers and the above-mentioned calculations by the measuring device M in combination to carry out the spraying work while checking. In the illustrated embodiment, a commercially available product can be used as the measurement device M that irradiates the laser light. In the illustrated embodiment, the control device CU of the spraying machine 100 is, for example, a control panel of the spraying machine or a device (information processing device) having an information processing function such as a PC, but may be constituted by an operator who operates the control panel. The control device of the measuring device M is also an information processing device, but may be constituted by the operator of the measuring device M.

[0024] The process of longitudinally extending and contracting the attachment 1 is shown in FIG. In FIG. 2, the attachment 1 has a first member 1-1 (vehicle side member) and a second member 1-2 (spray nozzle side member) having a shape extending in the longitudinal direction, and by sliding the second member 1-2 over the first member 1-1 (in the direction of arrow S), the attachment 1 (first member 1-1, second member 1-2) can be extended and retracted in the longitudinal direction. The attachment 1 has an attachment side connecting means 4 near the vehicle side end of the first member 1-1, and is configured so as to be freely attached to and / or detached from a boom 31 of a vehicle 30 via the attachment side connecting means 4. 2 shows the attachment 1 in its most extended state, with the lower end of the second member 1-2 located near the upper end of the first member 1-1. On the other hand, although not shown, when the attachment 1 is in its shortest contracted state, the upper end of the second member 1-2 is located near the upper end of the first member 1-1. The arrow S in FIG. 2 indicates the range of movement of the upper end of the second member 1-2. As a mechanism for sliding the second member 1-2 relative to the first member 1-1, for example, a known mechanism used in a forklift can be used.

[0025] In Fig. 2, a plate-like member 2 is attached to a second member 1-2 of an attachment 1, which is slidable (movable) in the longitudinal direction of the second member 1-2 and extends in a direction perpendicular to the longitudinal direction (lateral direction) (see Figs. 4 and 5). Fig. 2 shows the plate-like member 2 moved to the topmost position of the second member 1-2, the bottommost position, and the intermediate position between the topmost and bottommost positions. Here, there is only one plate-like member 2, and not three plate-like members 2 are provided. If the attachment 1 is in a contracted state (not shown) at its shortest length, the range in which the plate-like member 2 can move in the longitudinal direction of the attachment 1 is approximately twice the range of the three positions shown in Fig. 2. A conventionally known mechanism can be used as a mechanism for moving the plate-like member 2 in the longitudinal direction of the second member 1-2. A spray nozzle 3 is attached to the plate-like member 2, and the spray nozzle 3 is movable laterally (perpendicular to the plane of the paper in FIG. 2) along the plate-like member 2. In FIG. 2, a supply hose that supplies a solidification material (spray material) to the spray nozzle 3 is indicated by the reference numeral 11.

[0026] The process of rocking the attachment 1 is shown in FIG. In Fig. 3, a vehicle-side swinging member 8 that swings the attachment 1 (first member 1-1) is provided on a boom 31 of a vehicle 30. The vehicle-side swinging member 8 shown in Fig. 3 is set to swing the attachment 1 within a range of up to 15° (see arrow A3), however, "up to 15°" is an example, and the range of swing in the direction of arrow A3 can be set to other angle ranges. The vehicle-side swing member 8 that swings the attachment 1 can be constructed using a conventionally known mechanism.

[0027] The process of the spray nozzle 3 sliding (moving) along the plate-like member 2 is shown in FIG. In Fig. 4, the spray nozzle 3 slides (moves) in a direction (arrow A4 direction) perpendicular to the longitudinal direction of the attachment 1 along the plate-like member 2. Fig. 4 shows a state in which a single spray nozzle 3 is positioned at both ends and at the center in the longitudinal direction (arrow A4 direction) of the plate-like member 2, but only one spray nozzle is provided, not three spray nozzles 3 are provided. A supply hose 11 is connected to the spray nozzle 3 . The spray nozzle 3 is moved along the plate-like member 2 by a lateral movement member 5 (not shown in FIG. 4). The lateral movement member 5 will be described with reference to FIG.

[0028] 5, the lateral movement member 5 arranged on the plate-like member 2 has a pair of sprockets 5A, 5A, a chain 5B driven by the sprocket 5A, and a nozzle attachment member 5C fixed to the chain 5B. The nozzle attachment member 5C is fixed to the chain 5B, and is attached via a rotating roller (not shown) to a square pipe (not shown) attached to the plate-like member 2. The spray nozzle 3 is attached to the nozzle attachment member 5C. When the spray nozzle 3 moves along the plate-like member 2, one of the pair of sprockets 5A is rotated forward or backward by a drive source (e.g., a hydraulic motor, not shown), causing the chain 5B to travel left and right. The spray nozzle 3 moves left and right (arrow A5) together with the nozzle attachment member 5C fixed to the chain 5B in Fig. 5. Here, arrow A4 in Fig. 4 and arrow A5 in Fig. 5 both indicate the longitudinal direction of the plate-like member 2 (left and right direction in Figs. 4 and 5), which is the movement direction of the spray nozzle 3. When the hydraulic motor (not shown) is stopped by the operator of the spray machine 100, the spray nozzle 3 attached to the nozzle attachment member 5C stops and is fixed at a desired position. In Figure 5, the spray nozzle 3 is arranged facing perpendicular to the longitudinal direction of the plate-like member 2 (perpendicular to the plane of the paper in Figure 5), but as will be described later with reference to Figures 9 to 13, the spray nozzle 3 can be rotated (including oscillating and / or rotating).

[0029] 6 shows the rotation (arrow R1) of the plate-shaped member 2 about the rotation axis C6. The rotation axis C6 extends in the longitudinal direction of the second member 1-2 of the attachment 1. To avoid complicating the illustration, the nozzle 3 is not shown in detail in FIG. 6. The rotation axis C6 may extend in a direction parallel to the longitudinal direction of the second member 1-2 of the attachment 1. Here, even when the plate-like member 2 rotates (FIGS. 6 to 13), the nozzle 3 can move the location where the laser light L is irradiated and measured from the measuring device M at the same speed. Even in this case, there is almost no time lag between the location where the light is actually being sprayed and the location where the light is being measured, so the location where the light is being sprayed can be measured in approximately real time. The plate-like member 2 is rotated by first rotation members 6, 6-1, which will be described later with reference to FIGS.

[0030] The first pivot member 6 shown diagrammatically in FIG. 7 comprises an expandable first cylinder 6A and a second cylinder 6B, the first cylinder 6A connecting a cylinder mounting portion 6C to a pivot point 2a on the plate-shaped member 2, and the second cylinder 6B connecting the cylinder mounting portion 6C to a pivot point 2b on the plate-shaped member 2. When the first and second cylinders 6A, 6B are expanded or contracted by the same amount, the plate-shaped member 2 is in a rotation position P1 shown by a solid line, and when the first cylinder 6A is expanded and the second cylinder 6B is contracted, the plate-shaped member 2 rotates in the direction of arrow R2 to a rotation position P2 shown by a broken line. By adjusting the amount of expansion and contraction of the first cylinder 6A and the second cylinder 6B, the plate-shaped member 2 can be rotated and fixed in various positions. The rotation shown by the arrow R2 is a type of the rotation shown by the arrow R1 in FIG. 6.

[0031] 8 showing a modified example 6-1 of the first rotating member, the first rotating member 6-1 attached to the second member 1-2 (not shown in FIG. 8) rotatably supports the plate-shaped member 2 by a plate-shaped member support part 6-1A and an attachment part 2c. The plate-shaped member support part 6-1A is provided near the tip of the main body part of the first rotating member 6-1, and the attachment part 2c is provided on the attachment bracket 2A on the plate-shaped member 2 side. The first rotation member 6-1 is provided with a retractable cylinder 6-1B. The cylinder 6-1B connects a cylinder attachment portion 6-1C of the main body of the first rotation member 6-1 to a cylinder attachment portion 2d. The cylinder attachment portion 2d is provided on the mounting bracket 2A on the plate-shaped member 2 side.

[0032] As shown in Fig. 8, the cylinder mounting portion 2d of the plate-shaped member 2 is offset from the mounting portion 2c (plate-shaped member support portion 6-1A of the main body) provided on the mounting bracket 2A in the cylinder extension / retraction direction of the cylinder mounting portion 6-1C. Therefore, when the cylinder 6-1B is extended or retracted, the plate-shaped member 2 can be rotated in the direction of arrow R3. The rotation indicated by the arrow R2 is a type of the rotation indicated by the arrow R1 in Fig. 6. For example, when the cylinder 6-1B is compressed as shown by the solid line, the plate-shaped member 2 is in a rotation position P3 as shown by the solid line in Fig. 8. On the other hand, when the cylinder 6-1B is expanded as shown by the dotted line, the plate-shaped member 2 is in a rotation position P4 as shown by the dashed line in Fig. 8. By adjusting the amount of expansion and contraction of the cylinder 6-1B, the plate-shaped member 2 can be fixed at various rotation positions.

[0033] FIG. 9 shows the rotation (or swing) of the spray nozzle 3. In Fig. 9, the spray nozzle 3 is movably attached to a plate-like member 2 (not shown) by an attachment mechanism 9, and rotates as shown by arrow R4 (including swinging and / or rotating). In Fig. 9, reference numeral 11 denotes a supply hose that supplies the solidifying material to the spray nozzle 3. The spray nozzle 3 is rotated by a second rotating member 7 (not shown in FIG. 9), and the second rotating member 7 will be described with reference to FIGS. 10 to 13.

[0034] The second rotating member 7 shown in FIG. 10, the second rotating member 7 has a disk portion 7C that rotates on a rotating shaft 7B provided on a main body portion 7A, and one end 7DA of a rod 7D is rotatably supported on the disk portion 7C. The other end 7DB of the rod 7D is connected to a connection member 3D via a connecting member 7E near the base of the spray nozzle 3. The connection member 3D connects the spray nozzle 3 and a supply hose 11. Although not clearly shown, the other end 7DB of the rod 7D is pivotally supported relative to the connecting member 7E so that it can move up and down, for example, in Fig. 11, but cannot move left and right. When the other end 7DB is pivotally supported in this manner, when the disk portion 7C of the second rotating member 7 is rotated (arrow R5 in Fig. 11), the rotation of the disk portion 7C is transmitted to the spray nozzle 3 via the rod 7D, the connecting member 7E, and the connecting member 3D, and the spray nozzle 3 swings, for example, as shown by arrow R6 in Fig. 10. The swing angle is, for example, 45° on one side. Furthermore, by adjusting the position of one end 7DA of rod 7D on the disk portion 7C (positional relationship with respect to rotation center 7C1) and by supporting the other end 7DB of rod 7D so as to be freely rotatable relative to connecting member 7E, the tip of the spray nozzle 3 can be rotated as shown by arrow R7 in Figure 10.

[0035] The mechanism for rotating the spray nozzle 3 is not limited to the mechanism shown in Figures 10 and 11, and may be, for example, a mechanism as shown in Figure 12. Figure 12 shows a modified example 7-1 of the second rotating member 7 shown in Figures 10 and 11. In Figure 12, the second pivot member 7-1 comprises a first cylinder 7-1A and a second cylinder 7-1B which are freely expandable and contractible, the first cylinder 7-1A connects the first cylinder mounting portion 7-1C to the mounting portion 3a on the bracket 3A on the spray nozzle 3 side, and the second cylinder 7-1B connects the second cylinder mounting portion 7-1D to the mounting portion 3b on the bracket 3A on the spray nozzle 3 side.

[0036] Depending on the amount of expansion and contraction of the first and second cylinders 7-1A, 7-1B, the spray nozzle 3 rotates (swings) about the center of rotation 3B (arrow R8) and is held at a predetermined swing angle. When the amounts of expansion and contraction of the first and second cylinders 7-1A, 7-1B are made equal, the spray nozzle 3 is held at the position shown by the solid line in Figure 12 (position P5). When the first cylinder 7-1A is contracted and the second cylinder 7-1B is extended, the spray nozzle 3 moves to the left (in FIG. 12) with respect to the swing center 3A and is located at the swing position shown by the dashed line (position indicated by the central axis P6). On the other hand, when the first cylinder 7-1A is extended and the second cylinder 7-1B is contracted, the spray nozzle 3 moves to the right (in FIG. 12) with respect to the swing center 3A and is located at the swing position shown by the dashed line (position indicated by the central axis P7). By adjusting the amount of extension and contraction of the first cylinder 7-1A and the second cylinder 7-1B, the spray nozzle 3 can be placed at various swing positions. In FIG. 12, the swing angle of the spray nozzle 3 is, for example, 30° to the left and right.

[0037] Rotation of the spray nozzle 3 includes, in addition to the swinging motion shown in Figures 10 to 12, rotation such that the tip of the spray nozzle 3 traces a small circle. Figure 13 shows a rotation member 7-2 according to a second modified example of the second rotation member that rotates the tip of the spray nozzle 3 so that it traces a small circle. 13, the second rotating member 7-2 has a first disk portion 7-2C rotatably supported by a rotation shaft 7-2B provided on a main body portion 7-2A, and a second disk portion 7-2D rotatably supported by a shaft portion 7-2DA on the first disk portion 7-2C. A rotation center 7-2CA of the first disk portion 7-2C is offset from the center (center point of the circle) of the first disk portion 7-2C. An end 7-2DB (upper end in FIG. 13) of the second disk portion 7-2D is connected to a connection member 7-2E, and a support member 3E of the spray nozzle 3 is fixed to the connection member 7-2E.

[0038] In Figure 13, when the first disk portion 7-2C rotates around the rotation axis 7-2CA (arrow R9), the second disk portion 7-2D rotates eccentrically, and this eccentric rotation is transmitted to the spray nozzle 3 via the connecting member 7-2E and the support member 3E, and the tip of the spray nozzle 3 rotates in a manner that traces a small circle as shown by arrow R12. By adjusting the offset amount of the rotation center 7-2CA of the first disk portion 7-2C and the pivot support position 7-2DA of the second disk portion 7-2D, the rotation radius of the rotation R12 of the tip of the spray nozzle 3, etc. can be adjusted. In order to simplify the illustration and facilitate explanation, the actual device is shown upside down in Fig. 13. The same is true for Fig. 10.

[0039] The control unit CU of the spraying machine 100 will be described with reference to Fig. 14, which is a functional block diagram. As described above, the control unit CU has the function of executing, based on image data created by the measuring device M (or its control unit MCU), the extension and contraction of the longitudinal dimension of the attachment 1, the movement of the second member 1-2 of the plate-like member 2 to a target location in the longitudinal direction of the plate-like member 2, the movement of the spray nozzle 3 in the longitudinal direction of the plate-like member 2, the rotation of the plate-like member 2, the rotation of the spray nozzle 3, and the swinging of the first member 1-1, i.e., the function of transmitting control signals to members such as the attachment 1, and to supply means for the spraying material, etc. In FIG. 14, the control device CU of the spraying machine 100 has a spray area identification block B1, a nozzle position adjustment block B2, a spray amount check block B3, a spray amount determination block B4, an air increase / decrease determination block B5, and a control signal generation block B6. The nozzle position adjustment block B2 has an attachment longitudinal position adjustment block B21, an attachment swing angle adjustment block B22, a plate-shaped member position adjustment block B23, a nozzle lateral position adjustment block B24, a plate-shaped member rotation adjustment block B25, a nozzle rotation adjustment block B26, and a vehicle movement block B27.

[0040] The spraying area specification block B1 has a function of acquiring image data (e.g., a 3D map) of each area (spraying location: area) of the slope to which the spraying material is to be sprayed from the measurement device M via the signal line SL1. The image data includes position information of the spraying location (area). The sprayed area identification block B1 has a function of identifying the sprayed area based on the acquired image data. When identifying the sprayed area, a conventionally known technique can be adopted (for example, Patent Document 2). Information on the spray location identified by the spray area identification block B1 is sent to the nozzle position adjustment block B2 via a signal line SL2.

[0041] The nozzle position adjustment block B2 has a function of adjusting the nozzle position to an optimum position for spraying the sprayed area based on the information of the sprayed area specified by the spray area specification block B1. Specifically, in order to adjust to the optimum nozzle position, the block B2 has a function of determining the operation and position of each target member (members shown in Figs. 1 to 13) such as the attachment 1, and transmitting a control signal to the target member. The movement and position of each target member are determined for each target member (and movement) by each constituent block (attachment longitudinal position adjustment block B21 to vehicle movement block B27) of the nozzle position adjustment block B2.

[0042] In Fig. 14, the attachment longitudinal position adjustment block B21 has the function of adjusting the longitudinal position of the attachment 1 by sliding the second member 1-2 of the attachment 1 onto the first member 1-1 (in the direction of arrow S in Fig. 2) and expanding and contracting the attachment 1 (first member 1-1, second member 1-2) in the longitudinal direction. By adjusting the longitudinal position of the attachment 1 (second member 1-2), the attachment longitudinal position of the spray nozzle 3 is adjusted via the plate-like member 2 attached to the second member 1-2. The range in which the attachment longitudinal position of the spray nozzle 3 is adjusted is the range indicated by the arrow S in Fig. 2. As shown in FIG. 3, the attachment swing angle adjustment block B22 has a function of operating the vehicle-side swing member 8 provided on the vehicle 30 to swing the first member 1-1 (and the second member 1-2 connected to the first member 1-2) (arrow A3 in FIG. 3) and adjust the swing angle. The angle range for swinging the first member 1-1 is, for example, a maximum of 15° as shown in FIG. 3. However, the swing angle range can be set to other angles other than "maximum 15°". By adjusting the swing angle of the first member 1-1, it is possible to adjust the swing position of the spray nozzle 3 via the plate-like member 2 attached to the second member 1-2, i.e., the degree to which the attachment 1 is inclined relative to the boom 31 of the vehicle 30.

[0043] As described above with reference to FIG. 4, the plate-shaped member 2 is attached to the second member 1-2 of the attachment 1, and is slidable (movable) in the longitudinal direction and extends in a direction perpendicular to the longitudinal direction (horizontal direction) (see FIG. 4). The plate-shaped member position adjustment block B23 has a function of moving the plate-shaped member 2 in the longitudinal direction of the second member 1-2 (the direction of the arrow S in FIG. 2) and adjusting it to a target position of the plate-shaped member 2 in the longitudinal direction of the attachment 1. This adjusts the longitudinal position of the attachment 1 of the spray nozzle 3 attached to the plate-shaped member 2. The range for adjusting the position of the plate-shaped member 2 in the longitudinal direction of the attachment 1 is the longitudinal range of the second member 1-2, which is the range from near the upper end to near the lower end of the second member 1-2. As described above, the spray nozzle 3 is attached to the plate-like member 2, and the spray nozzle 3 can be moved along the longitudinal direction of the plate-like member 2 (in the direction of arrow A4 in Fig. 4) by operating the lateral movement member 5. The nozzle lateral position adjustment block B24 has the function of moving the spray nozzle 3 along the longitudinal direction of the plate-like member 2 and adjusting the position of the spray nozzle 3 in the longitudinal direction of the plate-like member 2, as shown in Figs.

[0044] In Figure 14, the plate-shaped member rotation adjustment block B25 has the function of operating the first rotation member 6 or the first rotation member 6-1 to rotate (including swinging and / or rotating) the plate-shaped member 2 about a rotation center extending in the longitudinal direction of the attachment 1, as shown in Figures 6 to 8 (arrows R1 to R3), and adjusting the position of the plate-shaped member 2 in the rotation direction. By adjusting the rotational position of the plate-like member 2, the rotational position of the spray nozzle 3 attached to the plate-like member 2 (with respect to the center of rotation extending in the longitudinal direction of the attachment 1) can be adjusted. The rotating nozzle rotation adjustment block B26 has the function of actuating the second rotation member 7, 7-1 or 7-2 to rotate (including swinging and / or rotating) the spray nozzle 3 (in the mounting mechanism 9 that mounts the spray nozzle 3 to the plate-shaped member 2) and adjust the position of the spray nozzle 3 in the rotation direction. As described above, the spray nozzle 3 is movably attached to the plate-like member 2 by the attachment mechanism 9 (see FIG. 9), and is rotated (including the case of swinging and / or rotating) by operating the second pivot member 7, the second pivot member 7-1, or the second pivot member 7-2, thereby adjusting the pivot direction position of the spray nozzle 3. The pivot directions are as shown in FIG. 10 to FIG. 13, and are, for example, the swing indicated by the arrow R6 in FIG. 10 (the swing angle is, for example, 45° on one side), the rotation indicated by the arrow R7 in FIG. 10, the swing indicated by the arrow R8 in FIG. 12 (the swing angle is, for example, 15° on one side), and the rotation indicated by the arrow R12 in FIG. 13.

[0045] The vehicle movement block B27 has a function of moving the spraying machine 100 by the vehicle 30. When performing this function, the spraying machine 100 (and the vehicle 30) may be driven by an operator, or the vehicle 30 may be configured to perform automatic driving. A control signal for adjusting the nozzle position to the determined nozzle position (the optimal nozzle position for spraying the spray area identified in the spray area identification block B1) is transmitted to each target component such as the attachment 1 (each component shown in Figures 1 to 13) via signal line SL3 by each functional block (attachment longitudinal position adjustment block B21 to vehicle movement block B27) that constitutes the nozzle position adjustment block B2. The nozzle position adjustment block B2 has the function of transmitting a "nozzle position adjustment completion signal" to the control signal generation block B6 via signal line SL4 when adjustment of the optimal nozzle position for spraying the spray area is completed.

[0046] In Figure 14, the spray amount check block B3 has the function of acquiring image data (e.g., a 3D map, including position information of the area) of each area (area) of the slope to which the spray material is to be sprayed from the measuring device M via the signal line SL5. The spray amount check block B3 has a function of checking the spraying status of the sprayed area based on the acquired image data, and checking whether or not further spraying is required on the sprayed area. When checking whether further spraying is necessary, as described above with reference to Fig. 1, if the marker (black plastic marker) installed according to the predetermined (target) spray thickness on the slope F where the spraying method is to be applied cannot be seen, it is determined that the spray thickness is the predetermined one and further spraying is unnecessary. Alternatively, when checking whether further spraying is necessary, it can be determined by other conventionally known methods based on the image data obtained by the measuring device M. The check result by the spray amount check block B3 (the determination result as to whether or not further spraying is necessary) is sent to the spray amount decision block B4 via a signal line SL6.

[0047] The spray amount determination block B4 has the function of obtaining the check result from the spray amount check block B3 as to whether or not further spraying is necessary in the spray area, and also obtaining image data of the area (area) of the slope to which the spray material should be sprayed, and determining the spray amount. The amount of spraying can be determined by a conventional method of calculation by comparing an image taken immediately before spraying with an image taken immediately after spraying (see, for example, Patent Document 2). Furthermore, the amount of spraying can be determined by using the visibility of the landmark and the above calculation in combination. As a result of the determination of the amount of spraying, the amount of spraying is maintained, increased or decreased, or the amount of spraying is set to zero (i.e., spraying is stopped). Information on the spray amount determined by the spray amount determination block B4 (including the stop of spraying) is sent to the control signal generation block B6 via a signal line SL7.

[0048] As will be described later with reference to Figure 16, the spraying material (solidifying material, concrete, etc.) pumped by the supply hose 11 (Figure 16, Figure 1, etc.) and sprayed from the spraying nozzle 3 has a high slump value, and will not adhere to the slope in its current state. For this reason, air and a quick-setting agent are mixed into the spraying material and sprayed just before it is sprayed from the spraying nozzle 3 in the spraying material supply system 20. By mixing in the quick-setting agent, the material sprayed from the spraying nozzle 3 will solidify on the slope even if the slump value of the spraying material is high. The air increase / decrease decision block B5 acquires image data (including position information of the sprayed area) of the sprayed area from the measuring device M (its control device MCU) via signal line SL8, and checks the spraying status of the sprayed area based on the image data.Then, it has a function of determining whether or not air and a quick-setting agent need to be mixed into the sprayed material, and if so, whether to increase or decrease the amount of air and a quick-setting agent to be mixed in, and the amount to be mixed in. Whether or not air and quick-setting agents need to be mixed into the sprayed material, and if so, how much to increase or decrease and how much to mix in are determined by checking the adhesion status of the sprayed material at the sprayed location using the video data (e.g., a 3D map). The result of the decision by the air increase / decrease decision block B5 (whether to mix in air and quick-setting admixture, and if air and quick-setting admixture need to be mixed in, whether to increase or decrease the amount to be mixed in, and the amount to be mixed in) is transmitted to the control signal generation block B6 via a signal line SL9.

[0049] As described above, the control signal generation block B6 receives a "nozzle position adjustment completion signal" from the nozzle position adjustment block B2 when adjustment of the optimal nozzle position for performing spraying on the spray area is completed. Furthermore, the control signal generating block B6 receives information on the spray amount determined from the spray amount determining block B4 (including information on stopping spraying). Furthermore, the control signal generating block B6 receives the decision result (whether to mix air and quick-setting admixture, and if air and quick-setting admixture need to be mixed, the amount to be mixed) from the air increase / decrease decision block B5.

[0050] 14, the control signal generating block B6 has a function of transmitting a control signal to the concrete pump 21 of the spraying material supply system 20 via the signal line SL10 after receiving a "nozzle position adjustment completion signal" from the nozzle position adjusting block B2. The concrete pump 21 that receives the control signal supplies a predetermined amount (amount determined in the spraying amount determining block B4) of spraying material (solidifying material) to the spraying nozzle 3 via the solidifying material piping 11 (rubber hose). Furthermore, the control signal generating block B6 has a function of transmitting a control signal to the concrete pump 21 after receiving a "nozzle position adjustment completion signal" from the nozzle position adjusting block B2, transmitting a control signal for the air supply device 24 to the air supply device 24 via a signal line SL11, and transmitting a control signal for operating the quick-setting agent supply device 25 to the quick-setting agent supply device 25 via a signal line SL12. The air supply device 24 is constituted by, for example, a compressor.

[0051] Based on the control signal from the control signal generating block B6, the air supplying device 24 supplies a predetermined amount of air (determined in the air increase / decrease decision block B5) through the air piping 13 (rubber hose, see FIG. 16), and the quick-setting agent supplying device 25 supplies a predetermined amount of quick-setting agent (determined in the air increase / decrease decision block B5) through the quick-setting agent piping 14 (rubber hose, see FIG. 16). As described below with reference to Figure 16, the air supplied from the air supply device 24 and the quick-setting agent supplied from the quick-setting agent supply device 25 are mixed into the spray material via the quick-setting agent ring 12 just before (immediately downstream of) the spray nozzle 3 in the spray material supply system 20.

[0052] Here, the nozzle position adjustment block B2 transmits position information of the spray nozzle 3 to the control device MCU of the measurement device M via the signal line SL14. However, to avoid cluttering the illustration, in FIG. 14, only the signal line SL1 is shown in FIG. 1, and the symbol "SL14" is not shown in FIG. 1. From the position information of the spray nozzle 3, the measurement device M determines the ejection position of the spray material jet. Based on the information on the ejection position of the spray material jet, the measurement device M determines the area LA (FIGS. 22 and 23) to which the measurement device M should irradiate the laser light L.

[0053] 21 to 23, an embodiment in which the sprayed area is measured (or observed) while the spraying material is being sprayed in the area LA irradiated with the laser light L from the measuring device M will be described. In Fig. 21, the area irradiated with the laser light is indicated by the symbol LA. In this area LA, the spraying material is sprayed from the spray nozzle 3 to a predetermined location α (jet J), but the spraying status of the predetermined location α cannot be observed or measured. This is because the laser light irradiating the predetermined location α (a part of the laser light irradiating the area LA) is blocked by the jet J of the spraying material and the rebound JS of the spraying material that collides with the location α. Here, when the spray nozzle 3 is in the position shown in Figure 22 (when the spray material is being sprayed to the spray point α), measurement is not possible for the reasons explained with reference to Figure 21. However, as shown in Figure 23, if the spray nozzle 3 moves from the position of the spray point α shown by the dotted line to the position shown by the solid line (position where the spray material is sprayed to the spray point β), as indicated by arrow A1, there is no jet J of spray material at the spray point α, and there is no rebound, so the area LA irradiated with the laser light can be measured or observed by the measuring machine M.

[0054] In the embodiment described in Figures 22 and 23, if the required amount of spray material is sprayed to the spray area α at once (conventional embodiment), the spray nozzle 3 remains at the spray area α and sprays the spray material to the same area until the spray thickness reaches, for example, about 10 mm. Therefore, in Figure 22, it takes a long time to complete spraying at the spray area α, and during that time, the spray work at the spray area α is performed without any video, so it is difficult to say that the spray work is performed while checking the video in real time. Furthermore, when the required spray thickness dimension is large, it takes a long time to spray the spray material without checking the video of the spray area, which results in large errors. In contrast, in the illustrated embodiment, the moving spray nozzle 3 sprays the spray material to the same location (e.g., spray location α) four times, for example, so that the spray time per spray to the spray location α is shorter than in the conventional embodiment, for example, shortened to 1 / 4. Therefore, the time during which the laser light L is blocked by the jet J of the spray material or its rebound JS is also shortened to about 1 / 4. Then, when the spray location moves to β as shown by the arrow A1, the state of the spray location α is immediately measured (observed) by the measuring device M. In other words, the time lag between the spraying operation and the confirmation of the image is about 1 / 4 of the conventional time, and the spraying situation can be measured (observed) in roughly "real time". In FIG. 23, the spray points α and β are shown in an intermittent positional relationship, but this is for ease of understanding, and in an actual machine, the spray points α and β are continuous without interruption.

[0055] Although not shown in FIG. 23, in the illustrated embodiment, the spray nozzle 3 reciprocates along the same path so as to pass the same spraying location four times. That is, in FIG. 23, it moves in the direction of the arrow A1, and then moves in the opposite direction of the arrow A1. Therefore, spraying is performed four times for the same spraying locations α and β. Since the required amount of spraying for each spraying location is equal, in the illustrated embodiment, the required amount of spraying material is sprayed four times, each of which is 1 / 4, to the same spraying location. Therefore, the amount of spraying in one time is small, and the spraying thickness dimension in one spraying is also small (for example, 2.5 mm = 10 mm / 4), so the error in the spraying thickness is also small. And by spraying in four times, even if there is a risk that the required spraying thickness will not be achieved due to unevenness or other reasons, it is possible to adjust any of the four sprays. As shown in Figure 23, the measuring device M measures a point α immediately before a point β where the moving spray nozzle 3 is spraying the spray material, so that measurement (observation) of the spray point α being measured is not hindered by the jet J of spray material or its rebound JS.

[0056] Therefore, according to the illustrated embodiment, the spraying work can be performed while observing (measuring) the condition of the sprayed area in approximately real time. Therefore, by visually checking the markers for measuring the sprayed thickness provided at the sprayed area, it is possible to check whether the sprayed material is reaching the layer and adjust the sprayed thickness. It was considered impossible to perform the spraying work while checking in this way with the conventional technology. In order to irradiate laser light L from the measuring device M onto the area LA where the spray material is sprayed from the spray nozzle 3, it is sufficient to give the control device MCU of the measuring device M the function of determining the injection position of the spray material jet based on the position information of the spray nozzle 3 transmitted from the nozzle position adjustment block B2 of the spray machine 100, and the function of irradiating laser light L to the determined irradiation position of the spray material jet.

[0057] Next, mainly with reference to FIG. 15, a spraying procedure using the spraying machine 100 described with reference to FIGS. 1 to 13 and 14 will be described. 15, in step S1, the control device CU of the spraying machine 100 receives (inputs to the control device CU) from the measuring device M (control device MCU) "image data (e.g., 3D map) including position information of the spraying location (region or area)" created by the control device MCU of the measuring device M. The image data is received by the spraying area specification block B1. Then, the process proceeds to step S2. In step S2, the control device CU identifies the spraying location (area to which the spraying material should be sprayed) based on the received image data of the spraying area, and then proceeds to step S3.

[0058] In step S3, it is determined whether or not to move the vehicle 30 (FIGS. 1 and 2) of the spraying machine 100 under its own power during the spraying operation. The vehicle 30 is equipped with the attachment 1, plate-like member 2, nozzle 3, and other components that constitute the spraying machine 100, and the operator makes this determination taking into consideration the spraying area identified in step S1 and the current positional relationship of the spraying machine 100. In other words, in step S3, it is determined whether the location to be sprayed can be sprayed by adjusting the position of the spraying nozzle 3, or whether the vehicle 30 must be moved to spray the location to be sprayed. If the result of the judgment in step S3 is that the spraying machine 100 is to be self-propelled (step S3 is "Yes"), the process proceeds to step S4; if the spraying machine 100 is not to be self-propelled (step S3 is "No"), the process proceeds to step S5. In step S4 (when the spraying machine 100 is moved under its own power), the spraying machine 100 is moved under its own power to a position suitable for performing the spraying work, and then the process returns to step S3.

[0059] In step S5 of FIG. 15 (when the spraying machine 100 is not self-propelled), the position of the spraying nozzle 3 is adjusted to an optimum position for spraying the spraying location identified in step S2. When adjusting the position of the spray nozzle 3, as described above with reference to Fig. 14, the functional blocks in the nozzle position adjustment block B2 (attachment longitudinal position adjustment block B21 to vehicle movement block B27) determine the operation and position of the members (members shown in Figs. 1 to 13) that are to be controlled, such as the attachment 1. Then, each functional block in the nozzle position adjustment block B2 transmits a control signal to each of the members (members shown in Figs. 1 to 13) that are to be controlled, such as the attachment 1. By executing step S5, the position of the spray nozzle 3 is adjusted to an optimum position for spraying the identified spray area, and the process then proceeds to step S6.

[0060] In step S6, since the position of the spray nozzle 3 has been adjusted to the optimum position (for spraying at the specified spray location) in step S5, spraying is performed on the specified spray area. When spraying, the spray material is sprayed onto the same spray location, for example, four times. Then, the process proceeds to step S7. During spraying in step S6, as described above with reference to Figure 14, when the control signal generating block B6 receives a "nozzle position adjustment completion signal" from the nozzle position adjustment block B2, it transmits control signals to each of the concrete pump 21, the air supply device 24, and the quick-setting agent supply device 25. Having received the control signal, the concrete pump 21, air supply device 24 and quick-setting agent supply device 25 respectively supply the predetermined amounts of spraying material (solidifying agent), air and quick-setting agent (determined in the spraying amount decision block B4 and the air increase / decrease decision block B5) to the solidifying material pipe 11, air pipe 13 and quick-setting agent pipe 14, and the supplied air and quick-setting agent are mixed into the spraying material just before it is sprayed by the spraying nozzle 3. The mixing of the air and quick-setting agent into the spraying material will be described in detail with reference to FIG.

[0061] In step S7 of Fig. 15, the spraying thickness in the spraying area is judged. Here, the judgment is the spraying thickness in the spraying area where four sprayings have been performed. Based on the judgment result, the concrete pump 21 that supplies the spraying material is controlled. The spray thickness in the sprayed area is determined by a spray amount check block B3 and a spray amount determination block B4 based on image data of the sprayed area (for example, a 3D map: data including position information). Based on the determination result of the spraying thickness in the spraying area, the spraying amount determination block B4 determines the spraying amount (including increasing / decreasing the spraying amount and stopping spraying), and the control signal generation block B6 transmits a control signal to the concrete pump 21. Based on the control signal, the concrete pump 21 supplies the determined solidification material to the spraying machine 100. Then, the process proceeds to step S8.

[0062] In step S8, the amounts of air and quick-setting agent mixed into the spray material are controlled (including increasing or decreasing the amounts mixed in, and cases where mixing is unnecessary). When controlling the amount of air and quick-setting agent, as described above with reference to FIG. 14, the air increase / decrease decision block B5 determines the amount of air and quick-setting agent to be mixed into the spray material based on the image data of the spraying area (including decisions to increase / decrease or maintain the mixed amount, and decisions to stop mixing), and the control signal generation block B6 sends control signals to the air supply device 24 and the quick-setting agent supply device 25. The air supply device 24 and the quick-setting agent supply device 25 supply the determined amounts of air and quick-setting agent based on the control signal, and the supplied air and quick-setting agent are mixed into the spray material just before it is sprayed by the spray nozzle 3. Then, the process proceeds to step S9.

[0063] In step S9, it is determined whether or not to end the spraying operation. This determination is made by the control device CU taking into consideration the degree to which the spraying target has been achieved, the scheduled work time, and other indices. In this case, the degree to which the spraying target has been achieved, the scheduled work time, and other indices are input in advance to the control device CU of the spraying machine 100, and the determination can be made automatically by the control device CU. However, it is also possible for the operator of the spraying machine 100 to make the determination. In step S9, if the spraying work is to be ended (step S9 is "Yes"), the spraying work ends ("End"), and if the spraying work is not to be ended (step S9 is "No": spraying work continues), the process returns to step S1. 15, step S5 is shown to be executed prior to steps S6, S7, and S8, but it is possible to execute step S5 after steps S6, S7, and S8. It is also possible to execute any of steps S5, S6, S7, and S8 simultaneously.

[0064] Next, the spray material supply system 20 in the illustrated embodiment will be described with reference mainly to Figs. In the illustrated embodiment, the solidifying material (concrete, etc.) pumped by a supply hose 11 from a concrete pump 21 (see Figures 17 and 18) and sprayed from the spray nozzle 3 has a large slump value to prevent clogging of the spraying material supply system due to hardening, and does not adhere to the slope in its current state. For this reason, a quick-setting agent ring 12 is provided in the spray material supply system 20 at a position immediately prior to spray from the spray nozzle 3, and air, quick-setting agent, and solidification agent are mixed and sprayed by the quick-setting agent ring 12. By mixing in the quick-setting agent, the material sprayed from the spray nozzle 3 solidifies on the slope even if the slump value of the solidification agent is high.

[0065] In Figure 16, the spraying material supply system 20 includes a solidification material piping 11 (rubber hose) that supplies solidification material from a concrete pump 21 to the spraying nozzle 3, a quick-setting agent ring 12 arranged to connect (merge) with the solidification material piping 11 at a position adjacent to the upstream side of the spraying nozzle 3, an air piping 13 (e.g., a rubber hose) that supplies air from an air supply device 24 to the upstream side of the quick-setting agent ring 12, and a quick-setting agent piping 14 (e.g., a rubber hose) that supplies quick-setting agent from a quick-setting agent supply device 25 to the upstream side of the quick-setting agent ring 12. The quick-setting agent ring 12 includes a junction 12A that joins with the solidifying material pipe 11, a connection portion 12B with an air pipe 13, and a junction 12C with a quick-setting agent pipe . The solidification material pumped from the concrete pump 21 through the solidification material piping 11 is mixed with air and a quick-setting agent at the confluence 12A of the quick-setting agent ring 12, and the solidification material (spraying material) mixed with air and quick-setting agent is sprayed from the spraying nozzle 3 onto the construction slope.

[0066] In the illustrated embodiment, the attachment 1 (first member 1-1, second member 1-2) contracts as shown in Fig. 2. To absorb the difference in longitudinal dimension when the attachment is extended and when it is contracted, a highly flexible rubber hose 11 (solidification material piping) is used, and the rubber hose 11 is slackened when the attachment is contracted. However, if the overall length of the rubber hose 11, which has a large piping resistance, is increased to accommodate when the attachment is extended, the possibility of blockage within the rubber hose 11 increases. Therefore, in the illustrated embodiment, as shown in Fig. 17, a concrete pump 21 (pump for spray solidification material) for pumping the spray material produced in a mixer truck 23 to a spray nozzle 3 (not shown) through a rubber hose 11 is mounted on a cart 22. By moving the cart 22 to the vicinity of the construction site of the spraying method and moving the cart 22 to a position close to the spray nozzle 3, the distance from the concrete pump 21 to the spray nozzle 3 (total length of the rubber hose 11) can be shortened, thereby reducing the risk of clogging in the rubber hose 11. In this case, for example, as shown in Fig. 1, the vehicle 30 and the cart 22 can be connected via a connecting rod 33. In the illustrated embodiment of the spraying material supply system 20, it is possible not to place the concrete pump 21 on the cart 22, as shown in Fig. 18. In that case, it is preferable that the solidification material plant (including the concrete mixer truck 23 and the concrete pump 21) is provided near the construction site where the spraying method is used.

[0067] In the embodiment described with reference to Figures 1 to 18, if the location to which the spray material is to be sprayed (e.g., slope F) is located lower than the highest point of the boom 31 mounted on the vehicle 30, when the attachment 1 is attached, the spray nozzle 3 will be located higher than the location to be sprayed, making spraying difficult. When the location to which the spray material is to be sprayed is lower than the highest point of the boom 31, as shown in Figure 19, instead of attaching an attachment 1 to the boom 31 mounted on the vehicle 30, a spray nozzle 3 is attached to the end of the boom 31 opposite the vehicle 30 (the end on the highest point side) via a boom side connecting member 32 to which the spray nozzle 3 can be attached / detached, and the spray material is sprayed from the spray nozzle 3 while moving the boom 31. When the location to which the spray material is to be sprayed is located higher than the highest point reached by the boom 31, the attachment 1 is attached to the boom 31 and the spraying work is carried out as described with reference to Figures 1 to 18.

[0068] In the embodiment shown in Figure 19, the nozzle 3 is fixed to the boom side connecting member 32, but as shown in Figure 20, a plate-like member 2 can be attached to the boom side connecting member 32 and the nozzle 3 can be configured to be movable in the longitudinal direction of the plate-like member 2 (left-right direction in Figure 20: direction of arrow A4). In order to make the nozzle 3 movable in the longitudinal direction of the plate-like member 2, for example, a configuration for carrying out the process described with reference to FIG. 4 may be used. In the embodiment shown in Figure 20 (a modified example of the embodiment shown in Figure 19), when the location to which the spray material is to be sprayed is lower than the highest point of the boom 31, the spray material can be sprayed not only onto the area near the boom side connecting member 32, but also onto areas spaced apart from the boom side connecting member 32 in the longitudinal direction of the plate-like member 2 (left-right direction in Figure 20: direction of arrow A4).

[0069] It should be noted that the illustrated embodiment is merely an example and is not intended to limit the technical scope of the present invention. [Explanation of symbols]

[0070] 1. Attachment 1-1: First member (vehicle side member) 1-2: Second member (spray nozzle side member) 2. Plate-shaped member 3. Spray nozzle 4. Attachment side connection means 5. Lateral movement member 6...First rotating member 7....Second rotating member 8. Vehicle side rocking member 11 Rubber hose (piping for solidification material) 20. Spraying material supply system 21. Concrete pump (pump for sprayed solidification material) 22... Cart 30. Vehicle 31. Boom 32 Boom side connecting member 100···Spraying machine F Slope CU···Control device for spraying machine M...Measuring device MCU: Measurement device control unit

Claims

1. The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30), The attachment (1) is The device has a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be expandable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), a plate-like member (2) movable in the longitudinal direction of the second member (1-2) and extending in a direction perpendicular to the longitudinal direction; the horizontal movement member (5) for moving a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or reverse; the first rotating member (6) rotating the plate-like member (2) about a rotation center extending in the longitudinal direction of the second member (1-2), the first rotating member (6) having a telescopic first cylinder (6A) and a telescopic second cylinder (6B), the first cylinder (6A) connecting a cylinder mounting portion (6C) and a first rotatable pivot point (2a) in the plate-like member (2), and the second cylinder (6B) connecting the cylinder mounting portion (6C) and a second rotatable pivot point (2b) in the plate-like member (2); The second rotating member (7) includes a main body portion (7A), a rotating shaft (7B) provided on the main body portion (7A), a disk portion (7C) rotated by the rotating shaft (7B), and a rod (7D) having one end portion (7DA) rotatably supported on the disk portion (7C), and the other end portion (7DB) of the rod (7D) opposite the disk portion (7C) is connected via a connecting member (7E) to a connecting member (3D) that connects the spray nozzle (3) and the supply hose (11), and is assembled so that the rotation of the disk portion (7C) is transmitted to the spray nozzle (3) via the rod (7D), the connecting member (7E), and the connecting member (3D). The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks the first member (1-1), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed, and the measuring device (M) has the following functions: when the moving spray nozzle (3) sprays the spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spraying nozzle (3) has a function of moving along the same path so as to pass the same spraying position multiple times, and a function of reducing the amount of rebound (JS) of the spraying material jet (J) by spraying the spraying material onto the same spraying position in divided portions depending on the number of times the nozzle passes through the same spraying position.

2. The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30), The attachment (1) is The device has a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be expandable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), a plate-like member (2) movable in the longitudinal direction of the second member (1-2) and extending in a direction perpendicular to the longitudinal direction; the horizontal movement member (5) for moving a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or reverse; The plate-shaped member (2) includes a first rotating member (6) that rotates the plate-shaped member (2) about a rotation center extending in the longitudinal direction of the second member (1-2), the first rotating member (6) has a first rotating member (6-1) that is attached to the second member (1-2) and rotatably supports the plate-shaped member (2) by a plate-shaped member support portion (6-1A) and an attachment portion (2c), the plate-shaped member support portion (6-1A) is provided near a tip of the first rotating member (6-1), and the attachment portion (2c) is a plate-shaped member a cylinder (6-1B) that can freely expand and contract is provided on the first rotation member (6-1), and the cylinder (6-1B) connects a cylinder mounting portion (6-1C) of the first rotation member (6-1) to a cylinder mounting portion (2d) provided on the mounting bracket (2A) of the plate-like member (2), and the plate-like member (2) is fixed at a predetermined rotation position by adjusting the amount of expansion and contraction of the cylinder (6-1B); The second rotating member (7) includes a main body portion (7A), a rotating shaft (7B) provided on the main body portion (7A), a disk portion (7C) rotated by the rotating shaft (7B), and a rod (7D) having one end portion (7DA) rotatably supported on the disk portion (7C), and the other end portion (7DB) of the rod (7D) opposite the disk portion (7C) is connected via a connecting member (7E) to a connecting member (3D) that connects the spray nozzle (3) and the supply hose (11), and is assembled so that the rotation of the disk portion (7C) is transmitted to the spray nozzle (3) via the rod (7D), the connecting member (7E), and the connecting member (3D). The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks the first member (1-1), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed, and the measuring device (M) has the following functions: when the moving spray nozzle (3) sprays the spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spraying nozzle (3) has a function of moving along the same path so as to pass the same spraying position multiple times, and a function of reducing the amount of rebound (JS) of the spraying material jet (J) by spraying the spraying material onto the same spraying position in divided portions depending on the number of times the nozzle passes through the same spraying position.

3. The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30), The attachment (1) is The device has a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be expandable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), a plate-like member (2) movable in the longitudinal direction of the second member (1-2) and extending in a direction perpendicular to the longitudinal direction; the horizontal movement member (5) for moving a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or reverse; the first rotating member (6) rotating the plate-like member (2) about a rotation center extending in the longitudinal direction of the second member (1-2), the first rotating member (6) having a telescopic first cylinder (6A) and a telescopic second cylinder (6B), the first cylinder (6A) connecting a cylinder mounting portion (6C) and a first rotatable pivot point (2a) of the plate-like member (2), and the second cylinder (6B) connecting the cylinder mounting portion (6C) and a second rotatable pivot point (2b) of the plate-like member (2); The spray nozzle (3) includes a second rotating member (7-1) that rotates the spray nozzle (3), the second rotating member (7-1) having an expandable first cylinder (7-1A) and a second cylinder (7-1B), the first cylinder (7-1A) connecting a first cylinder mounting portion (7-1C) and a mounting portion (3a) on a bracket (3A) of the spray nozzle (3), the second cylinder (7-1B) connecting a second cylinder mounting portion (7-1D) and a mounting portion (3b) on the bracket (3A), and the spray nozzle (3) rotates about a rotation center (3B) by the expansion and contraction of the first and second cylinders (7-1A, 7-1B), The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks the first member (1-1), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed, and the measuring device (M) has the following functions: when the moving spray nozzle (3) sprays the spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spraying nozzle (3) has a function of moving along the same path so as to pass the same spraying position multiple times, and a function of reducing the amount of rebound (JS) of the spraying material jet (J) by spraying the spraying material onto the same spraying position in divided portions depending on the number of times the nozzle passes through the same spraying position.

4. The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30), The attachment (1) is The device has a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be expandable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), a plate-like member (2) movable in the longitudinal direction of the second member (1-2) and extending in a direction perpendicular to the longitudinal direction; the horizontal movement member (5) for moving a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or reverse; The plate-shaped member (2) includes a first rotating member (6) that rotates the plate-shaped member (2) about a rotation center extending in the longitudinal direction of the second member (1-2), the first rotating member (6) has a first rotating member (6-1) that is attached to the second member (1-2) and rotatably supports the plate-shaped member (2) by a plate-shaped member support portion (6-1A) and an attachment portion (2c), the plate-shaped member support portion (6-1A) is provided near a tip of the first rotating member (6-1), and the attachment portion (2c) is a plate-shaped member a cylinder (6-1B) that can freely expand and contract is provided on the first rotation member (6-1), and the cylinder (6-1B) connects a cylinder mounting portion (6-1C) of the first rotation member (6-1) to a cylinder mounting portion (2d) provided on the mounting bracket (2A) of the plate-like member (2), and the plate-like member (2) is fixed at a predetermined rotation position by adjusting the amount of expansion and contraction of the cylinder (6-1B); The spray nozzle (3) includes a second rotating member (7-1) that rotates the spray nozzle (3), the second rotating member (7-1) having an expandable first cylinder (7-1A) and a second cylinder (7-1B), the first cylinder (7-1A) connecting a first cylinder mounting portion (7-1C) and a mounting portion (3a) on a bracket (3A) of the spray nozzle (3), the second cylinder (7-1B) connecting a second cylinder mounting portion (7-1D) and a mounting portion (3b) on the bracket (3A), and the spray nozzle (3) rotates about a rotation center (3B) by the expansion and contraction of the first and second cylinders (7-1A, 7-1B), The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks the first member (1-1), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed, and the measuring device (M) has the following functions: when the moving spray nozzle (3) sprays the spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spraying nozzle (3) has a function of moving along the same path so as to pass the same spraying position multiple times, and a function of reducing the amount of rebound (JS) of the spraying material jet (J) by spraying the spraying material onto the same spraying position in divided portions depending on the number of times the nozzle passes through the same spraying position.

5. The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30), The attachment (1) is The device has a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be expandable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), a plate-like member (2) movable in the longitudinal direction of the second member (1-2) and extending in a direction perpendicular to the longitudinal direction; the horizontal movement member (5) for moving a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or reverse; the first rotating member (6) rotating the plate-like member (2) about a rotation center extending in the longitudinal direction of the second member (1-2), the first rotating member (6) having a telescopic first cylinder (6A) and a telescopic second cylinder (6B), the first cylinder (6A) connecting a cylinder mounting portion (6C) and a first rotatable pivot point (2a) in the plate-like member (2), and the second cylinder (6B) connecting the cylinder mounting portion (6C) and a second rotatable pivot point (2b) in the plate-like member (2); The second rotating member (7-2) rotates the spray nozzle (3), and the second rotating member (7-2) has a first disk portion (7-2C) rotatably supported on a rotation shaft (7-2B) provided on a main body portion (7-2A), a second disk portion (7-2D) rotatably supported on the first disk portion (7-2C) by a shaft portion (7-2DA), and a rotation center (7-2CA) of the first disk portion (7-2C) is offset with respect to the center (center point of the circle) of the first disk portion (7-2C). an end (7-2DB) of the second disk portion (7-2D) is connected to a connecting member (7-2E), and a support member (3E) of the spray nozzle (3) is fixed to the connecting member (7-2E), so that when the first disk portion (7-2C) rotates around the rotation center (7-2CA), the second disk portion (7-2D) rotates eccentrically, and the tip of the spray nozzle (3) to which the eccentric rotation is transmitted via the connecting member (7-2E) and the support member (3E) rotates in a circular trajectory; The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks the first member (1-1), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed, and the measuring device (M) has the following functions: when the moving spray nozzle (3) sprays the spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spraying nozzle (3) has a function of moving along the same path so as to pass the same spraying position multiple times, and a function of reducing the amount of rebound (JS) of the spraying material jet (J) by spraying the spraying material onto the same spraying position in divided portions depending on the number of times the nozzle passes through the same spraying position.

6. The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30), The attachment (1) is The device has a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be expandable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), a plate-like member (2) movable in the longitudinal direction of the second member (1-2) and extending in a direction perpendicular to the longitudinal direction; the horizontal movement member (5) for moving a spray nozzle (3) to which a supply hose (11) is connected along the plate-like member (2), the horizontal movement member (5) having a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spray nozzle (3) is attached, and a drive source for rotating either of the pair of sprockets (5A, 5A) forward or reverse; The plate-shaped member (2) includes a first rotating member (6) that rotates the plate-shaped member (2) about a rotation center extending in the longitudinal direction of the second member (1-2), the first rotating member (6) has a first rotating member (6-1) that is attached to the second member (1-2) and rotatably supports the plate-shaped member (2) by a plate-shaped member support portion (6-1A) and an attachment portion (2c), the plate-shaped member support portion (6-1A) is provided near a tip of the first rotating member (6-1), and the attachment portion (2c) is a plate-shaped member a cylinder (6-1B) that can freely expand and contract is provided on the first rotation member (6-1), and the cylinder (6-1B) connects a cylinder mounting portion (6-1C) of the first rotation member (6-1) to a cylinder mounting portion (2d) provided on the mounting bracket (2A) of the plate-like member (2), and the plate-like member (2) is fixed at a predetermined rotation position by adjusting the amount of expansion and contraction of the cylinder (6-1B); The second rotating member (7-2) rotates the spray nozzle (3), and the second rotating member (7-2) has a first disk portion (7-2C) rotatably supported on a rotation shaft (7-2B) provided on a main body portion (7-2A), and a second disk portion (7-2D) rotatably supported on the first disk portion (7-2C) by a shaft portion (7-2DA), and a rotation center (7-2CA) of the first disk portion (7-2C) is offset with respect to the center of the first disk portion (7-2C), and The end (7-2DB) of the second disk portion (7-2D) is connected to a connecting member (7-2E), and a support member (3E) of the spray nozzle (3) is fixed to the connecting member (7-2E). Thus, when the first disk portion (7-2C) rotates around the rotation center (7-2CA), the second disk portion (7-2D) rotates eccentrically, and the tip of the spray nozzle (3) to which the eccentric rotation is transmitted via the connecting member (7-2E) and the support member (3E) rotates in a circular trajectory. The vehicle (30) is provided with a vehicle-side rocking member (8) that rocks the first member (1-1), The measuring device (M) is used in combination with the spray nozzle (3) and irradiates a laser light (L) onto an area where spraying work is to be performed, and the measuring device (M) has the following functions: when the moving spray nozzle (3) sprays the spray material onto a certain location (α) at ​​a certain time, it measures the location (β) where the spray material was sprayed immediately before that; it prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L); and it reduces the time lag between the time when the spray material is sprayed and the time when it is measured by the measuring device (M) and the image is confirmed. The spraying nozzle (3) has a function of moving along the same path so as to pass the same spraying position multiple times, and a function of reducing the amount of rebound (JS) of the spraying material jet (J) by spraying the spraying material onto the same spraying position in divided portions depending on the number of times the nozzle passes through the same spraying position.

7. A spraying machine according to any one of claims 1 to 6, wherein when the location to which the spraying material is to be sprayed is at a position lower than the highest reach point of a boom (31) attached to a vehicle (30), the attachment (1) is not attached to the boom (31) and the spray nozzle (3) can be directly attached to the end of the boom (31) opposite the vehicle (30), so that the end of the boom (31) opposite the vehicle (30) has a boom side connecting member (32) to which the spray nozzle (3) can be attached / detached.

8. In a slope spraying method using the spraying machine according to any one of claims 1 to 6, The method includes a step of attaching an attachment (1) to a vehicle (30), The attachment (1) includes a plate-shaped member (2) that is movable in its longitudinal direction and extends in a direction perpendicular to the longitudinal direction, and a spray nozzle (3) that is movable along the plate-shaped member (2); A nozzle moving step of moving the spray nozzle (3) in accordance with the surface shape of the slope (F), In the nozzle moving step, A step of extending and contracting the attachment (1) in a longitudinal direction; A step of swinging the attachment (1); moving the plate-like member (2) in the longitudinal direction of the attachment (1); a step of moving the spray nozzle (3) along the plate-like member (2); A step of rotating the plate-shaped member (2) about a rotation center extending in the longitudinal direction of the attachment (1); Rotating the spray nozzle (3), The spray nozzle (3) is used in combination with a measuring device (M) that irradiates a laser beam (L) onto an area to be sprayed; The measuring device (M) measures the location (β) where the spray material was sprayed immediately before the moving spray nozzle (3) sprays the spray material at a certain location (α) at ​​a certain time, and prevents the jet (J) of the spray material (J) and its rebound (JS) from being present at the location (β) being measured by the measuring device (M), thereby preventing the rebound (JS) of the jet (J) from blocking the laser light (L), and reducing the time lag between the time the spray material is sprayed and the time it is measured by the measuring device (M) and confirmed as an image. The spray nozzle (3) moves along the same path so as to pass the same spray position multiple times, and sprays the spray material onto the same spray location in divided portions according to the number of times it passes through the same spray location, thereby reducing the amount of rebound (JS) of the spray material jet (J).

9. When the location where the spray material is to be sprayed is lower than the highest point of the boom (31) provided on the vehicle (30), the attachment (1) is not attached, but the spray nozzle (3) is attached to the tip of the boom (31) provided on the vehicle (30) on the side opposite the vehicle (30), and the spray material is sprayed from the spray nozzle (3) while moving the boom (31); A slope spraying method as claimed in claim 8, wherein when the location to which the spraying material is to be sprayed is located higher than the highest point of the boom (31) mounted on the vehicle (30), the attachment (1) is attached to the tip of the boom (31) mounted on the vehicle (30) on the side opposite the vehicle (30).

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