Marking device, control method and program for marking device

Abstract

To continuously and automatically mark the entire field or a prescribed range.SOLUTION: A marking device 1 comprises: a marking device body 2 which has a target T, a travel mechanism 31 that automatically travels on a travel surface and a printer that prints marking information on the travel surface; and a control unit which controls the printer and the travel mechanism 31. The control unit controls the travel mechanism 31 so as to automatically travel along a set travel path. The control unit compares position coordinates of the marking device body 2 obtained from three-dimensional position coordinates of the target T during travel that is input at a prescribed interval with the travel path to correct travel so as to eliminate a deviation from the travel path. The control unit controls the printer so as to print the set marking information to a position corresponding to the position coordinates of the marking device body 2. The travel path data setting the travel path and the marking information data defining the marking information are created on the basis of CAD (Computer Aided Design) data 9.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for automating marking work, and more particularly to a marking device that prints marking information on a design drawing onto a running surface, a control method for the marking device, and a program. [Background technology]

[0002] At construction sites, marking out is carried out for all work, including foundation work, framework work, interior and exterior work, fixture and fitting work, and equipment work. "Marking out" refers to the process of drawing a full-scale blueprint on-site, marking information related to the marked out positions, such as the centerlines of walls and pillars, the size of pillars, the position of the next wall, the installation position of equipment, and the equipment to be installed, on the floor and walls.

[0003] In recent years, a marking device has been proposed that is equipped with a traveling mechanism and a printer and automates marking work (see, for example, Patent Document 1). The marking device in Patent Document 1 travels to the marking position and uses an XY actuator within the device frame to freely move the printer near the marking position, making it possible to print any marking line and its related information within a two-dimensional area within the device frame at the marking position. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-31901 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the marking device in Patent Document 1 has the problem of being cumbersome because it requires manual movement to each marking position, then measuring the position and attitude of the marking device to calculate position coordinates and then printing. For this reason, there has been a demand for a system that allows continuous automatic marking of the entire site or a single section.

[0006] The present invention has been made in consideration of the above circumstances, and aims to provide a marking device and a control method for a marking device that can automatically mark the entire site or a specified range continuously. [Means for solving the problem]

[0007] In order to achieve the above object, one embodiment of the present invention provides a marking device comprising a marking device main body having a target, a traveling mechanism that automatically travels on a traveling surface, and a printer that prints marking information on the traveling surface; and a control unit that controls the printer and the traveling mechanism, wherein the control unit controls the traveling mechanism to automatically travel along a set traveling route, the control unit compares the traveling route with the position coordinates of the marking device main body obtained from the three-dimensional position coordinates of the target while traveling that are input at predetermined intervals, and corrects the traveling to eliminate deviation from the traveling route, and the control unit controls the printer to print the marking information that has been set at a position corresponding to the position coordinates of the marking device main body, and the traveling route data that sets the traveling route and the marking information data that defines the marking information are created based on CAD (Computer Aided Design) design data. A marking system according to another aspect of the present invention includes the marking device according to the above aspect, a surveying instrument that transmits distance measuring light to the target, receives reflected light, measures the distance and angle to the target, calculates the three-dimensional position coordinates of the target, and outputs the three-dimensional position coordinates to the marking device; The present invention is characterized by comprising:

[0008] Another aspect of the present invention provides a control method for a marking device comprising a marking device main body including a target, a traveling mechanism for traveling on a traveling surface, and a printer for printing marking information including ink and information related to the ink on the traveling surface, and a control unit for controlling the printer and the traveling mechanism, wherein the control unit controls the traveling mechanism to travel according to a set traveling path, the control unit compares the traveling path with the position coordinates of the marking device main body obtained from the three-dimensional position coordinates of the target while traveling, and corrects the traveling so as to eliminate any deviation from the traveling path, and the control unit controls the printer to print the marking information set at a position corresponding to the position coordinates of the marking device main body, and the traveling path data that sets the traveling path and the marking information data that defines the marking information are created based on CAD design data.

[0009] Furthermore, a program according to yet another aspect of the present invention is a method for controlling the marking device according to the above aspect. A control unit for the marking device Have the computer run it. [Effects of the Invention]

[0010] According to the marking device and the method for controlling the marking device having the above configuration, it is possible to automatically mark the entire site or a predetermined range continuously. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram showing an outline of a marking system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a block diagram of the marking system. [Figure 3] FIG. 2A is a perspective view of a marking device constituting the marking system according to the embodiment, and FIG. 2B is a bottom view of the same. [Figure 4] 10 is a flowchart of the process of the marking device in the marking method using the marking system. [Figure 5]4 is a flowchart of the process of the marking device in the marking method. [Figure 6] 10 is a flowchart of the process of the surveying instrument in the marking method. [Figure 7] 10A and 10B are diagrams showing examples of ink printed using the same ink printing method. [Figure 8] FIG. 10 is a partial external view of a marking device according to a modified example of the embodiment. [Figure 9] FIG. 10 is a block diagram showing the configuration of a marking device main body according to the modified example. [Figure 10] FIG. 10 is a configuration block diagram of a marking device according to another modified example. [Figure 11] 10A and 10B are diagrams illustrating the configuration and function of the marking device according to the modified example. [Figure 12] FIG. 2 is a diagram illustrating CAD design data, marking information data, and travel route data. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. In addition, the same components common to the embodiments and modifications will be designated by the same reference numerals, and duplicated descriptions will be omitted as appropriate.

[0013] Embodiment 1. Marking System S FIG. 1 is a schematic diagram of the appearance of a marking system S (hereinafter simply referred to as "system") according to an embodiment of the present invention. The system S includes a marking device 1 and a surveying instrument 6. FIG. 2 is a configuration block diagram of the marking device 1 and the surveying instrument 6 that constitute the system S.

[0014] The system S is a system that automatically drives a marking device main body (hereinafter simply referred to as "device main body") 2 equipped with a target T along a travel route while checking the three-dimensional position coordinates of the target T (hereinafter referred to as "target position coordinates") with a surveying instrument 6, and is capable of printing desired marking information on the travel surface. For this purpose, travel route data 53a and marking information data 53b created from CAD design data 9, as shown in Figure 2, are required.

[0015] First, the travel route data 53a and the marking information data 53b will be described. In this specification, "CAD design data 9" refers to design drawing data of a work site, building, structure, etc., created by a computer such as a personal computer. The CAD design data 9 may be in a general-purpose CAD data format such as DXF (registered trademark) format. Alternatively, the CAD design data 9 may be created by converting drawings in PDF (registered trademark) format or the like into DXF format. The CAD design data 9 is created in an absolute coordinate system such as a map coordinate system.

[0016] The marking information data 53b includes coordinates of marking positions included in the CAD design data 9 and information such as points, lines, figures, characters, and symbols to be printed at those marking positions (hereinafter referred to as "marking information"). This data defines the marking information to be printed on the running surface. Marking information includes, for example, information related to reference lines and marking positions, such as the "center line," which is a line indicating the center line of a column or wall, the "relief line," which is a line a certain distance away from the center line, and the "column center," which is a cross pattern indicating the position of a column. Information related to marking positions typically includes letters, numbers, patterns, symbols, and the like that are marked out during marking work. It may also include the model number of the equipment or fixtures used at that position, the ID of the device used at that position, the name of the worker, and so on. In this specification, the marking information printed on the running surface is referred to as "ink." The marking information data 53b is generated from the CAD design data 9 using a marking information data generation device 92, which is a computer equipped with at least a CPU and memory. During the generation process, designers and workers can add any necessary marking information.

[0017] The travel route data 53a is data that sets the travel route of the marking device so that it passes through all marking positions throughout the entire work site or within a predetermined range. The predetermined range is, for example, a range where there are no barriers or steps that would prevent the device body 2 from traveling on a continuous plane, allowing automatic travel. For example, if the generated marking information data 53b for the CAD design data 9 shown in FIG. 12(A) is as shown in FIG. 12(B), the travel route data 53a may be composed of a combination of routes drawn in a single stroke, as indicated by circled numbers 1 to 3 in FIG. 12(C). The travel route data 53a may be created, for example, by an operator specifying a route drawn in a single stroke with a mouse pointer or the like. Alternatively, the travel route data 53a may be generated by automatically calculating and combining routes drawn in a single stroke. The travel route data 53a is generated in the same coordinate system from the CAD design data 9 using a travel route data generation device 91, which is a computer having at least a CPU and memory.

[0018] 2. Marking device 1 The marking device 1 is composed of a device main body 2 and a controller 4. The device main body 2 and the controller 4 are connected via short-range wireless communication SWC (Short-range Wireless Communication) such as infrared communication, Bluetooth (registered trademark), or Wi-Fi, enabling mutual input and output of information.

[0019] 2-1. Device body 2 The device main body 2 has a thick, disk-shaped housing 2a, and is configured as a moving body that automatically travels along a travel path using a rotating body that constitutes a travel mechanism 31.

[0020] A pole 2b serving as a target support member is erected on the top surface of the housing 2a, and a target T is attached to the upper end of the pole 2b. The target T is a so-called omnidirectional prism formed by combining multiple triangular pyramidal prisms in a radial pattern, and retroreflects light incident from all around its circumference (360°) in the direction opposite to the incident direction.

[0021] As shown in FIG. 2, the device main body 2 includes a target T, a main body control unit 20, a traveling mechanism 31, a printer 32, a travel distance sensor 33, a traveling direction sensor , an inclination sensor 35, and a main body storage unit .

[0022] A running mechanism 31 is provided at the bottom of the housing 2a. The running mechanism 31 includes a rotating body 31a and a running motor 31b. In this embodiment, as shown in FIG. 3(B), the rotating body 31a includes one front wheel 31a1 and a pair of rear wheels 31a2 provided on the left and right opposite each other. The front wheel 31a1 is a ball caster that can move in 360° directions using bearings. Alternatively, it may be a general swivel caster. The rear wheels 31a2 are wheels (rollers) that can rotate independently around a rotation axis that is provided perpendicular to the traveling direction when traveling straight.

[0023] Each rear wheel 31a2 is equipped with an independent travel motor 31b controlled by the travel control unit 23. By combining the forward and reverse rotation of each of the rear wheels 31a2, the device main body 2 can travel in any direction. When both wheels are rotated forward, the device moves forward, and when they are rotated reversely, the device moves backward. Also, when one wheel is rotated forward and the other is rotated reversely, the device turns. The configuration of the travel mechanism 31 is not limited to this, and it may be equipped with two pairs of wheels, each connected by a shaft at the front and rear, and equipped with a steering mechanism on one of the front and rear shafts to enable travel in any direction, or may be an endless track such as a crawler.

[0024] The housing 2a is adjusted so that the top surface is horizontal when the device main body 2 is placed on a horizontal surface. The pole 2b is installed vertically on the top surface of the housing 2a. The target T is attached so that it is directly above the front wheel 31a1. The coordinates of the contact point R of the front wheel directly below the target T are treated as the position coordinates of the device main body 2, which are calculated based on the target position coordinates.

[0025] A reference direction line 2d indicating the reference direction of the device body 2 is provided on the top surface of the housing 2a. The reference direction line 2d is a line indicating the reference direction of the device body 2.

[0026] The printer 32 is a so-called inkjet printer. The printer 32 includes at least a printer head 32a, an operating mechanism (not shown), and an ink tank. The printer 32 is installed inside the housing 2a, and as shown in FIG. 3(B), the ink discharge portion of the printer head 32a, which has a wide printing width w that covers most of the left-right direction (X direction) of the housing 2a, is exposed from an opening 2c provided on the bottom surface of the housing 2a. The printer head 32a is designed to be close to the traveling surface at a distance appropriate for printing. A known configuration can be applied to the printer head 32a.

[0027] The positional relationship between the target T and each position of the printer head 32a of the printer 32 is known. As the device main body 2 moves forward, the printer 32 is controlled so that the printer head 32a ejects ink at a specified position, thereby making it possible to print specified marking information at a desired position specified by the marking information data 53b within a two-dimensional area defined by the printing width of the printer head 32a and the travel path, as shown in Figures 7(A) to 7(C).

[0028] The travel distance sensor 33 is a rotary encoder provided on the rotor 31a of the traveling mechanism 31, and detects the travel distance of the device main body 2 from the number of rotations of the rotor 31a. Accuracy can be improved by attaching rotary encoders to both rear wheels 31a2 and calculating the average travel distance. Alternatively, the device may measure its own position using a GNSS device that can detect its own position based on navigation signals from navigation satellites, and the difference in position between before and after a predetermined time has elapsed can be detected as the travel distance.

[0029] The traveling direction sensor 34 is a three-axis acceleration sensor or a three-axis gyro sensor, and detects the traveling direction of the device main body 2. The traveling direction sensor 34 is set so that its reference direction coincides with the reference direction line 2d attached to the housing 2a.

[0030] The tilt sensor 35 is an electronic tilt sensor, and is provided in the housing 2a or near the target T with respect to two axes, the X-axis direction (left and right direction of the device body) and the Y-axis direction (front and back direction of the device body). The tilt sensor 35 outputs the detection result to the controller 4 at a timing synchronized with the timing of measurement of the target T by the surveying instrument 6.

[0031] The main body control unit 20 is a so-called microprocessor that includes at least a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory). The main body control unit 20 includes a coordinate system conversion unit 21, a path setting unit 22, a travel control unit 23, a travel correction unit 24, and a print control unit 25.

[0032] The coordinate system conversion unit 21 converts the travel position and direction of the reference direction line of the device main body 2 calculated by the device main body 2 into the same absolute coordinate system as the CAD design data 9 in accordance with a coordinate system conversion command from the controller 4. The coordinate system conversion unit 21 converts the current position coordinates of the device main body 2 into coordinates calculated from the input target position coordinates and the value of the inclination sensor 35, and makes it possible to convert the value of the travel direction sensor into a direction in the absolute coordinate system from the direction angle obtained from the measurement of the target T. As a result, the travel position and direction obtained by the device main body 2 are converted into values ​​in the absolute coordinate system and handled.

[0033] The route setting unit 22 sets the travel route data 53a received from the controller 4 as the travel route of the device main body 2.

[0034] The travel control unit 23 calculates the travel position of the device main body 2 based on the detection results of the travel distance sensor 33 and the travel direction sensor 34, and controls the travel of the travel mechanism 31 so that the device main body 2 travels along a set travel route so as to eliminate any deviation between the travel position and the travel route. The travel control unit 23 also controls the travel of the travel mechanism 31 so that the device travels at a constant speed as a general rule.

[0035] The travel correction unit 24 controls the driving of the travel motor 31b of the travel mechanism 31 based on a travel correction command based on the target position coordinates received from the controller 4.

[0036] Based on the printing control command input from the controller 4, the printing control unit 25 prints marking information set at a position corresponding to the position of the device main body 2 based on the target position coordinates included in the marking information data 53b on the running surface.

[0037] 2-2. Controller 4 The controller 4 basically comprises a computer terminal such as a personal computer, a PDA (Personal Digital Assistant), a tablet terminal, or a smartphone. The illustrated example is a laptop computer. The controller 4 includes at least a control and calculation unit 40, a display unit 51, an operation unit 52, a storage unit 53, and a communication unit 54. The controller 4 functions as a remote controller that remotely controls the device main body 2.

[0038] The display unit 51 is, for example, a liquid crystal display. The operation unit 52 is, for example, a keyboard, a mouse, etc., and enables various inputs, selections, decisions, etc. The display units 51 and 52 may be integrated as a touch panel display.

[0039] The storage unit 53 includes a memory serving as a main storage device and a non-volatile storage serving as an auxiliary storage device. The former is, for example, a RAM, and the latter is, for example, an HDD or SSD drive. Part of the storage unit 53 may also be configured as an external storage device such as a USB flash memory. The storage unit 53 includes at least travel route data 53a and marking information data 53b. The storage unit 53 also stores a program for causing the control calculation unit 40 to execute the functions of the controller 4.

[0040] The communication unit 54 enables wireless transmission and reception of information between the device main body 2 and the surveying instrument 6. As a communication means, Wi-Fi, Bluetooth (registered trademark), infrared communication, mobile phone communication network, etc. Communication with the surveying instrument 6 may also be wired.

[0041] The control and calculation unit 40 is a control and calculation unit that includes at least a CPU and reads into memory and executes programs stored in the storage unit 53. The control and calculation unit 40 includes, as functional units, a coordinate system conversion command unit 41, a route setting command unit 42, a marking data reading unit 43, a travel correction command unit 44, and a print command unit 45.

[0042] The coordinate system conversion command unit 41 sets the direction angle of the reference direction line 2d calculated by measuring the target T using a surveying instrument 6 installed at a known point and with a known direction angle as the reference direction in the running direction sensor 34 of the device main body 2, and thereafter commands the device main body 2 to convert the coordinates and direction of the running position of the device main body 2 calculated by the device main body 2 into values ​​in the absolute coordinate system.

[0043] The route setting command unit 42 commands the device main body 2 to set the travel route data 53a read from the storage unit 53 as a travel route.

[0044] The marking data reading unit 43 reads out the marking information data 53b from the storage unit 53.

[0045] The travel correction command unit 44 calculates the position coordinates of the device main body 2 from the target position coordinates input from the surveying instrument 6, calculates the deviation of the position coordinates of the device main body 2 from the travel path, and commands the device main body 2 to correct the travel control so as to eliminate the deviation.

[0046] When the device main body 2 reaches a marking position on the travel route, the print command unit 45 commands the device main body 2 to print marking information to be printed at the marking position.

[0047] The functions of these functional units may be implemented in hardware, such as a circuit or a programmable logic device, or in software, such as a program. If implemented in software, the program may be stored and distributed on a computer-readable storage medium, such as a CD (Compact Disc), a DVD (Digital Versatile Disc), or a Blu-ray (registered trademark) disc.

[0048] In addition to the above functions, the controller 4 is also equipped with a function for remotely controlling the device main body 2 to move forward, backward, turn right, turn left, stop, move to a specified position, and output the detection values ​​of the installed detection device to the controller 4, based on instructions from the operator.

[0049] In this way, in the present system S, the main body control unit 20 and the control calculation unit 40 cooperate to function as a control unit of the marking device 1.

[0050] 3. Survey instrument 6 The surveying instrument 6 is a motor-driven total station with an automatic tracking function. From the outside, the surveying instrument 6 has a base 6a mounted on a leveller, a base 6b that rotates horizontally on the base 6a, a telescope 6c that rotates vertically in the center of the base 6b, and a display unit 77 and an operation unit 78 mounted on the front of the base 6b.

[0051] The surveying instrument 6 includes a control and calculation unit 60, a distance measurement unit 71, a horizontal angle detector 72, a vertical angle detector 73, a horizontal rotation drive unit 74, a vertical rotation drive unit 75, an automatic tracking unit 76, a display unit 77, an operation unit 78, a memory unit 79, and a communication unit 81.

[0052] The distance measurement unit 71 measures the distance to the target T by emitting distance measurement light such as an infrared laser toward the target T and receiving reflected light.

[0053] A horizontal angle detector 72 detects the horizontal rotation angle of the support unit 6b, and a vertical angle detector 73 detects the vertical rotation angle of the telescope 6c. This allows the angle of the optical axis of the distance measurement light, i.e., the angle of the target T, to be measured. A horizontal rotation drive unit 74 and a vertical rotation drive unit 75 are motors controlled by the control and calculation unit 60 to drive the horizontal rotation shaft and the vertical rotation shaft, respectively.

[0054] The automatic tracking unit 76 emits tracking light, such as an infrared laser, having a wavelength different from that of the ranging light, and receives the reflected light with an image sensor such as a CCD sensor or CMOS sensor to obtain a landscape image including the tracking light and a landscape image excluding the tracking light. The control and calculation unit 60 detects the position of the target T from the difference between the two images, and automatically tracks the target T so that the telescope 6c is always facing the direction of the target T.

[0055] The display unit 77 and operation unit 78 are the user interface of the surveying instrument, and allow commands and settings for surveying work to be given, and work status and measurement results to be confirmed.

[0056] The storage unit 79 is configured by, for example, a memory card, a HDD, etc. The storage unit 79 stores various programs for realizing various functions, including a distance measurement program for the surveying instrument 6. The storage unit 79 also stores various information acquired by the control and calculation unit 40.

[0057] The communication unit 81 enables wireless communication using the same method with the controller 4. The target position coordinates calculated under the control of the control and calculation unit 60 are transmitted to the controller 4 at predetermined intervals.

[0058] The control and calculation unit 40 is a microcontroller in which a CPU, ROM, RAM, etc. are implemented in an integrated circuit, and controls the rotation drive units 74 and 75, the distance measurement unit 71, and the automatic tracking unit 76. The control and calculation unit 40 also calculates the target position coordinates from the results of measuring the distance and angle of the target T. The control and calculation unit 40 automatically tracks the target T, measures the distance and angle of the target T at predetermined intervals in response to commands from the controller 4, and transmits the target position coordinates to the controller 4.

[0059] The surveying instrument 6 is not limited to a total station, and various surveying instruments capable of acquiring three-dimensional position coordinates of a target, such as a scanner device having an automatic tracking function and a target scanning function, can be applied.

[0060] 4. Marking method Next, a marking method using the system S (that is, a control method for the marking device 1) will be described. 4 is a flowchart illustrating the process related to the travel control of the marking device 1. Steps S01 to S03 are performed as initial settings on site.

[0061] First, in step S01, an operator inputs measurement values ​​for converting the internal coordinate system of the device main body 2 into the absolute coordinate system of the CAD design data 9 using the operation unit 52 of the controller 4. To do this, the surveying instrument 6 is installed at a known point (a point with known coordinates in the absolute coordinate system), and other known points are measured to make the coordinates and direction angle of the surveying instrument 6 known. The device main body 2 is installed at an arbitrary point on the construction site. At this time, the reference direction line 2d of the marking device attached to the housing of the device main body 2 is aligned with the collimation axis of the surveying instrument 6.

[0062] The installation point of the device main body 2 is preferably near the starting point of the travel route. Here, a surveying instrument 6 with a known direction angle from a known point (i.e., converted into an absolute coordinate system) is used to measure distance and angle and calculate target position coordinates. In addition, the direction angle of the reference direction line 2d is calculated from the known point and the target position coordinates. The operator inputs the obtained three-dimensional position coordinates of the known point and the direction angle of the reference direction line 2d from the operation unit of the controller 4.

[0063] Next, in step S02, the coordinate system conversion command unit 41 accepts and sets the calculated position coordinates of the known point and the direction angle of the reference direction line 2d, and commands the device main body 2 to make the internal coordinate system of the device main body 2 convertible into an absolute coordinate system.

[0064] Next, in step S03, the route setting command unit 42 reads out the travel route data 53a from the storage unit 53, outputs it to the device main body 2, and commands it to set it as a travel route. In response to this, in step S12, the route setting unit 22 of the device main body 2 sets the travel route of the travel route data 53a as the travel route.

[0065] Next, in step S04, when the operator inputs an instruction to move to the starting point, the device main body 2 moves to the starting point under the control of the travel control unit 23 in step S13 and stops so that the front end is in the direction of travel.

[0066] Next, in step S05, when the operator inputs a command to start traveling, in step S14, the device main body 2 starts traveling along the travel route. At this time, the controller 4 simultaneously commands the surveying instrument 6 to transmit the position coordinates of the target being tracked at predetermined intervals. At the same time, it also commands the tilt sensor 35 of the device main body 2 to output the tilt sensor value at predetermined intervals synchronized with the measurement of the surveying instrument.

[0067] When traveling starts in step S14, the traveling control unit 23 controls the traveling mechanism 31 to travel along the set traveling route while acquiring values ​​from the travel distance sensor 33 and the traveling direction sensor 34 in step S15.

[0068] Meanwhile, in the controller 4, when the target position coordinates and the value of the tilt sensor 35 are input in step S06 (if Yes), in step S07 the travel correction command unit 44 calculates the position coordinates (position coordinates based on the target position coordinates) of the device main body 2. Then, in step S08, the travel correction command unit 44 calculates the deviation between the position coordinates of the device main body 2 and the travel route, and transmits a travel correction command to the device main body 2 to feedback control the travel mechanism 31 so as to eliminate this deviation.

[0069] Then, when the device main body 2 receives the travel correction command in step S16, it corrects the travel in accordance with the travel correction command.

[0070] Then, in step S17, the device main body 2 repeats steps S15 to S17 until the current route (for example, route 1 in the example of FIG. 12(C)) is completed.

[0071] When the current route is completed, it is determined whether the starting point of the next route is at the work site, and steps S13 to S18 are repeated until all routes are completed.

[0072] Similarly, in the controller 4, in step S09, the apparatus main body 2 repeats steps S06 to S09 until the current route (for example, route 1 in the example of FIG. 12(C)) ends.

[0073] When the current route is completed, it is determined whether the starting point of the next route (for example, route 2 in the example of FIG. 12(C)) is at the work site, and steps S04 to S10 are repeated until all routes are completed.

[0074] 5 is a flowchart explaining the process related to the print control of the marking device 1. This process is mainly executed by the marking data reading unit 43, the print command unit 45, and the print control unit 25 in parallel with the travel control process, and some of the processes include common steps.

[0075] First, when the process starts, the marking data reading unit 43 of the controller 4 reads out the marking information data 53b from the storage unit 53 in step S21.

[0076] In the traveling process, when traveling starts, the surveying instrument 6 measures the distance and angle of the target T at predetermined intervals and transmits the target position coordinates to the controller 4. The device main body 2 outputs the detection value of the tilt sensor 35 to the controller 4 at a timing synchronized with the measurement of the distance and angle of the target T.

[0077] In the travel control processing, the start of travel is instructed in step S05, the target position coordinates are input in step S06, and the device main body position coordinates are calculated by the travel correction command unit 44 in step S07.In step S22, the print command unit 45, which has detected the calculation of the device main body position coordinates, instructs the device main body 2 to print marking information corresponding to the device main body position coordinates in the marking information data 53b.

[0078] Then, in the device main body 2, the print control unit 25 controls the printer 32 in accordance with the print command input in step S31 to print marking information in a two-dimensional area along the running direction defined by the printer head 32a on the running surface and the running of the device main body 2. Figures 7(A) to 7(C) show examples of marking information (mark M) printed on the running surface. Figure 7(A) is an example of straight lines such as center lines and relief lines, Figure 7(B) is an example in which cross lines are printed as column center lines in addition to straight lines, and Figure 7(C) is an example in which symbols and text for related information are printed in addition to straight lines.

[0079] Then, steps S06 to S23 and steps S14 to S32 are repeated until an instruction to end travel is given, and marking information is printed on the travel surface.

[0080] 5. Surveying instrument 6 movement Made by 6 is a flowchart of the operation of the surveying instrument 6. In the surveying instrument 6, in step S41, the automatic tracking unit 76 receives a tracking start command from the controller 4 and starts automatic tracking.

[0081] Next, in step S42, the surveying instrument ,Ta Then, in step S43, the target position coordinates are calculated. Next, in step S44, the target position coordinates are transmitted to the controller 4.

[0082] Next, in step S45, steps S41 to S45 are repeated until an end command is input from the controller 4.

[0083] In this way, in the marking system of this embodiment, the marking device main body is configured to travel along a travel route set based on the CAD design data 9, and the marking information data 53b generated from the same CAD design data 9 is configured to be able to print marking information corresponding to the position of the device main body 2 while it is traveling, so that marking can be performed automatically throughout the entire site or within a specified range where the device main body can travel automatically, without the need for additional instructions from the worker.

[0084] In particular, the marking system S according to this embodiment is equipped with a printer 32 having a wide printing width, and the movement of the device body and the ink ejection from the printer 32 work together to enable printing in a two-dimensional area along the direction of movement, making it possible to print in an accurate position without having to consider the time it takes for the printer head to move in the X-axis direction.

[0085] 6. Variations 1 Fig. 8 is a partially enlarged view of the device main body 2A of the marking system SA (not shown) according to one variation of this embodiment, and Fig. 9 is a structural block diagram of the device main body 2A. The device main body 2A has roughly the same configuration as the device main body 2, but differs in that it has a marker light 37 above the target T provided at the top end of the pole 2b.

[0086] The marker light 37 has a cylindrical shape and is attached concentrically to the pole 2b, and has light-emitting parts in four directions (front, back, left, and right). The light-emitting part is composed of a light source 37a such as an LED that emits visible light, a reflector (not shown) that reflects the light from the light source in the direction of irradiation, and a light-transmitting cover 37b.

[0087] The main body control unit 20A includes a marker light control unit 26 in addition to the functional units of the main body control unit 20.

[0088] The marker light control unit 26 controls the light emission of the light source so that the device main body 2A indicates the traveling direction. That is, the marker light control unit controls the light emission so that the front light-emitting unit lights up or flashes when moving forward, the left light-emitting unit when turning left, the right light-emitting unit when turning right, and the rear light-emitting unit when moving backward.

[0089] According to the above configuration, even in a dark work environment such as at night, it is easy for the worker to confirm the position of the device main body 2A. Furthermore, for example, when one route ends and the device main body 2A moves to the start point of the next route, surrounding workers cannot predict which direction the device main body 2A will head, but the provision of the marker lights 37 makes it possible to notify surrounding workers, thereby preventing surrounding workers from becoming an obstacle to the travel.

[0090] 7. Variations 2 Figure 10 is a configuration block diagram of a marking device 1B of a marking system SB according to another modified example of this embodiment. Figure 11(A) is a side schematic diagram of a device main body 2B of the marking device 1B. The device main body 2B has the same basic configuration as the device main body 2A, but further includes an obstacle sensor 38 and a travel surface imaging unit 39.

[0091] The obstacle sensor 38 is a camera equipped with an imaging element such as a CMOS (Complementary MOS) or a CCD (Charge-Coupled Device), and captures images of an area R1 in front of the device main body 2 at predetermined intervals.

[0092] The main body control unit 20B further includes an obstacle determination unit 27. The obstacle determination unit 27 divides the image captured by the obstacle sensor 38 into several areas, detects the focal position for each area, obtains the distance between the camera and each area on the screen, and detects obstacles by recognizing a solid object in three dimensions from the two-dimensional distance measurement data on the screen. When the obstacle determination unit 27 detects an obstacle, it controls the traveling control unit 23 to stop traveling. At the same time, it may also control the marker lights 37, for example, by sequentially flashing the front, rear, left, and right light-emitting elements in the rotational direction to warn of the presence of an obstacle.

[0093] At the same time, the display unit 51 of the controller 4B may display a message indicating that the device main body has stopped due to an obstacle, thereby informing the operator operating the controller 4B of the stop due to an obstacle. This enables the operator to notice an abnormality in the device main body 2B and take appropriate measures, such as removing the obstacle and continuing printing, or postponing printing at that location and moving to the start point of the next route to continue printing.

[0094] The running surface imaging unit 39 is a camera equipped with an imaging element such as a CMOS or CCD, and is provided at the rear of the device main body 2B to capture an image P (Figure 11(C)) of the area R2 of the running surface behind the device main body 2B and output it to the controller 4B.

[0095] The control and calculation unit 40B of the controller 4B includes a print result analysis unit 46 in addition to the configuration of the control and calculation unit 40.

[0096] The print result analysis unit 46 integrates the images P of the travel surface input from the travel surface imaging unit 39, reconstructs it as an image of the entire travel area of ​​the marking work, and generates a print result image (Fig. 11(D)). The print result image can be displayed on the display unit 51. In addition, a comparison image (Fig. 11(E)) of the marking information data 53b and the print result image can be generated, and the different parts can be displayed so that they can be recognized as parts that were not printed correctly.

[0097] As described above, by providing the obstacle sensor 38, the movement of the device main body 2B can be stopped before it collides with an obstacle, thereby making it possible to prevent the device main body 2 from colliding with an obstacle and breaking down.

[0098] Furthermore, in accordance with the detection results of the obstacle sensor 38, the system is configured to use a marker light or the display unit 51 of the controller 4B to notify the operator that the machine has stopped due to an obstacle, so that the operator who is notified can take measures such as immediately removing the obstacle or postponing the relevant point and resuming printing from a different starting point.

[0099] Furthermore, by integrating the images acquired by the travel surface imaging unit 39 to generate print result image data, the print result of the entire marking area can be checked on the display unit 51 of the controller 4 without having to walk around the site, thereby reducing the burden on the worker.

[0100] As an example, when marking out the routes indicated by circled numbers 1, 2, and 3 as shown in FIG. 11(B), an obstacle is found at the position marked with an X on route 1, and printing is then resumed from route 2. In this case, image P is acquired as shown in FIG. 11(C). The print result analysis unit 46 integrates images P to display the print results for the entire travel area on the display unit 51 as image data such as the print result image shown in FIG. 11(D). Furthermore, as shown in FIG. 11(E), comparison data may be created by comparing the print results with marking information data 53b, and the portions that were not printed according to the marking information data 53b may be highlighted, for example by blinking.

[0101] The above describes preferred embodiments of the present invention, but the above embodiments are merely examples of the present invention, and these can be combined based on the knowledge of those skilled in the art, and such forms are also included in the scope of the present invention. [Explanation of symbols]

[0102] 1,1B: Marking device 2,2A,2B: Device body 9: CAD design data 31: Traveling mechanism 32: Printer 33: Travel distance sensor 34: Travel direction sensor 37: Sign light 53a: Driving route data 53b: Marking information data T: Target

Claims

1. a marking device body having a target, a traveling mechanism that automatically travels on a traveling surface, and a printer that prints marking information on the traveling surface; a control unit that controls the printer and the travel mechanism; the control unit controls the traveling mechanism so that the vehicle automatically travels along a set traveling route; the control unit compares the position coordinates of the marking device body, which are obtained from the three-dimensional position coordinates of the target during travel that are input at predetermined intervals, with the travel path, and corrects the travel so that there is no deviation from the travel path; the control unit controls the printer to print the marking information set at a position corresponding to the position coordinates of the marking device main body; the travel route data for setting the travel route and the marking information data for defining the marking information are created based on CAD (Computer Aided Design) design data; The marking device main body includes an imaging unit that images the traveling surface at a predetermined interval behind the traveling direction, The marking device is characterized in that the control unit integrates images of the running surface to generate a printed image of the entire running area.

2. The marking device described in claim 1, characterized in that the printer has a wide printing width extending in a direction perpendicular to the traveling direction of the marking device body, and in cooperation with the driving of the traveling mechanism, prints the marking information in a two-dimensional area along the traveling direction while traveling.

3. 3. The marking device according to claim 1, wherein the marking device main body further comprises a marker lamp that emits light indicating a traveling direction of the marking device main body.

4. The marking device main body is equipped with an obstacle sensor that detects obstacles in the traveling direction, 4. The marking device according to claim 1, wherein the control unit stops driving the traveling mechanism when the obstacle sensor detects an obstacle.

5. A marking device according to any one of claims 1 to 4, a surveying instrument that transmits distance measuring light to the target, receives reflected light, measures the distance and angle to the target, calculates the three-dimensional position coordinates of the target, and outputs the three-dimensional position coordinates to the marking device; A marking system comprising:

6. A method for controlling a marking device comprising: a marking device body including a target, a traveling mechanism for traveling on a traveling surface, and a printer for printing marking information including ink and information related to the ink on the traveling surface; and a control unit for controlling the printer and the traveling mechanism, the control unit controls the traveling mechanism so that the vehicle travels along a set traveling route; the control unit compares the position coordinates of the marking device body, which are obtained from the three-dimensional position coordinates of the target during travel, with the travel path, and corrects the travel so that there is no deviation from the travel path; the control unit controls the printer to print the marking information set at a position corresponding to the position coordinates of the marking device body; the travel route data for setting the travel route and the marking information data for defining the marking information are created based on CAD design data; The marking device main body includes an imaging unit that images the traveling surface at a predetermined interval behind the traveling direction, The method, wherein the control unit integrates the images of the running surface to generate a print result image of the entire running area.

7. A program for causing a computer serving as a control unit of the marking device to execute the method for controlling the marking device according to claim 6.

Images