Spraying control device, spraying system, and spraying control method

Abstract

To easily obtain data for controlling a spray device in accordance with the current conditions of a construction target without much time and effort.SOLUTION: A spray control device 10 includes: a three-dimensional shape data acquisition part 11 which acquires three-dimensional shape data representing the surface shape of a building structure; a beam shape calculation part 12 which calculates beam shape data that shows the position and shape of a beam on the basis of the three-dimensional shape data; a target designation reception part 13 which receives spray target information indicating that at least one of the beam, beam part, and beam face is designated as a spray target; a spray pattern determination part 15 which determines the spray pattern for each beam face and part according to the shape of the spray target in the spray target information; a spray control data generation part 16 which generates spray control data including the spray target information associated with the spray pattern for each beam face and part of the spray target; and an output part 17 which outputs the generated spray control data.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a spraying control device, a spraying system, and a spraying control method.

Background Art

[0002] It is necessary to apply a fireproof coating to structures such as steel frame structures (S structures) and CFT structures. In order to automate the work of applying this fireproof coating, various fireproof coating spraying robots (spraying devices) have been developed. For example, Patent Document 1 discloses a spraying construction system provided with a nozzle that discharges a fireproof coating material from the tip of a multi-joint robot arm.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In conventional fireproof coating spraying robots, the dimensional data of the steel frame beam to be sprayed with the fireproof coating was obtained by manual input or by importing BIM data. And based on the obtained dimensional data, the operation data of the fireproof coating spraying robot was set. Manual input of the dimensional data required for the operation of the fireproof coating spraying robot took a great deal of time and effort. Also, even when BIM data was used, it was not easy for the operator to select and utilize appropriate BIM data, and the current situation of the construction could not be reflected.

[0005] Therefore, an object of the present invention is to easily obtain data for controlling a spraying device in accordance with the current situation of the construction target without requiring much effort.

Means for Solving the Problems

[0006] To solve the above problems, a spray control device relating to a first aspect of the present disclosure is a spray control device that generates spray control data for controlling a spray device that sprays a spray material onto a building structure including at least beams, and comprises: a 3D shape data acquisition unit that acquires 3D shape data representing the surface shape of a building structure acquired by a sensor; a beam shape calculation unit that calculates beam shape data indicating at least the position and shape of a beam based on the 3D shape data; a target designation acceptance unit that accepts spray target information indicating that at least one of the beam, beam part, and beam surface indicated by the beam shape data is designated as a spray target; a spray pattern determination unit that determines a spray pattern for each beam surface and part according to the shape of the spray target in the spray target information, wherein the spray pattern consists of spray lines arranged in the order in which spray points, which are target points on the spray target to be sprayed with the spray material, are sprayed; a spray control data generation unit that generates spray control data including spray target information associated with a spray pattern for each beam surface and part of the spray target; and an output unit that outputs the generated spray control data.

[0007] A spraying control method relating to a first aspect of the present disclosure is a spraying control method in a spraying control device that generates spraying control data for controlling a spraying device that sprays a spraying material onto a building structure including at least beams, comprising: a 3D shape data acquisition step of acquiring 3D shape data representing the surface shape of a building structure acquired by a sensor; a beam shape calculation step of calculating beam shape data indicating at least the position and shape of a beam based on the 3D shape data; a target designation acceptance step of receiving target information indicating that at least one of the beam, beam part, and beam face indicated by the beam shape data is designated as a target for spraying; a spray pattern determination step of determining a spraying pattern for each beam face and part according to the shape of the target in the spray pattern information, wherein the spray pattern consists of spray lines arranged in the order in which spray points, which are target points on the target for spraying the spraying material, are sprayed; a spray control data generation step of generating spraying control data including spraying target information associated with a spray pattern for each beam face and part of the target; and an output step of outputting the generated spray control data.

[0008] Based on the above aspects, beam shape data for the beams to which the spray material is applied is calculated based on the 3D shape data representing the surface shape of the building structure acquired by the sensor, so the current state of the spray target can be understood. Since the spray target information is accepted, specifying the beam, beam parts, and desired parts of the beam faces represented by the beam shape data as the spray target, the areas to be sprayed can be easily set. Then, a suitable spray pattern corresponding to the specified spray target shape is selected from the pre-set spray patterns corresponding to the shapes of the spray targets, and spray control data including the spray target information associated with the selected spray pattern is generated and output, so suitable data for controlling the spraying device can be easily obtained with little effort.

[0009] In the spraying control device relating to the second side, the target designation reception unit in the spraying control device relating to the first side may receive spraying target information designating at least one of the following as the target for spraying: four of the main beams that are beams located between the four corners of the rectangular planar shape, one to three of the four main beams, and at least one of the parts of the main beams.

[0010] Based on the above aspects, it is possible to easily specify a desired beam or portion of a main beam or main beam, as indicated by the beam shape data, as the target for spraying.

[0011] In the spraying control device relating to the third side, the target designation reception unit in the spraying control device relating to the first or second side may receive spraying target information for the web surface portion, including the web, the lower surface of the upper flange and the upper surface of the lower flange, or the lower surface of the lower flange of the H-shaped steel constituting the beam.

[0012] Based on the above aspects, it is possible to easily specify a desired surface among the beam faces indicated by the beam shape data as the target for spraying.

[0013] The spray control device relating to the fourth aspect further includes a spray order receiving unit that accepts the designation of a spray start point, which is the point at which spraying begins among the targets to be sprayed, in the spray control device relating to any one of the first to third aspects, and the spray control data generation unit sets the spray order, which is the order in which the spray material is sprayed for each target until spraying is completed for all targets, with the spray start point as the starting position for spraying, and includes the set spray order in the spray control data.

[0014] Based on the above aspects, the designation of the spraying start point is accepted, and the spraying sequence is set with the designated spraying start point as the starting position for spraying, so that the spraying material can be applied to the target object in the desired procedure.

[0015] In the spray control device relating to the fifth aspect, the spray order receiving unit in the spray control device relating to the fourth aspect may receive a designation of the spray end point, which is the point where spraying is to be completed among the spray targets, and the spray control data generation unit may set the order of the spray targets from the spray start point to the spray end point as the spray order.

[0016] Based on the above aspects, in addition to the spraying start point, the spraying end point can also be specified, and the spraying order is set by the route from the specified spraying start point to the spraying end point, so that the spraying material can be applied to the target object in the desired procedure.

[0017] In the spraying control device relating to the sixth side, the spraying order receiving unit in the spraying control device relating to the fourth or fifth side may receive a specification of the order in which the spraying material is sprayed for each surface or part constituting the beam, and the spraying control data generation unit may set the spraying order according to the specification received by the spraying order receiving unit.

[0018] Based on the above aspects, the order in which the spray material is applied to each surface or part constituting the beam is specified, and the spraying order is set according to the specified order, so that the spray material can be applied to the surfaces and parts of the beam to be sprayed in the desired procedure.

[0019] In the spray control device relating to the seventh aspect, in the spray control device relating to any one of the first to sixth aspects, the spray control data generation unit may calculate spray point coordinate data consisting of a set of coordinates of each spray point included in the spray line in a coordinate system set in the space in which the spray target and the spray device exist, and include the calculated spray point coordinate data in the spray control data.

[0020] Based on the above aspects, spray point coordinate data, which consists of a set of coordinates of spray points included in the spray lines that constitute the determined spray pattern, is provided to the spraying device as spray control data. This enables the spraying device to perform spraying of the spray material with high precision.

[0021] In the spraying control device according to the eighth aspect, in the spraying control device according to any one of the first to seventh aspects, each spraying pattern has spraying lines corresponding to the respective shapes of the web of the H-shaped steel constituting the beam, the lower surface of the upper flange, the upper surface of the lower flange, the stiffener part, the sleeve part, and the lower surface part of the lower flange, and the spraying pattern determination unit may select a spraying pattern corresponding to the shape of the spraying target from a plurality of spraying patterns.

[0022] According to the above aspect, since a spraying pattern corresponding to the shape of the spraying target is selected from preset spraying patterns composed of spraying lines suitable for each surface and part constituting the beam, spraying of a suitable spraying material for each surface and part of the beam to be sprayed can be easily performed without the need for complicated input of separate data.

[0023] In the spraying control device according to the ninth aspect, in the spraying control device according to any one of the first to eighth aspects, each spraying pattern may include a spraying line pitch, which is a preset interval between spraying lines, and a spraying point pitch, which is an interval between spraying points along the spraying line.

[0024] According to the above aspect, since an appropriate spraying line pitch and spraying point pitch corresponding to the shape of the spraying target are included in the spraying pattern, spraying of the spraying material for each spraying target can be suitably performed.

[0025] In the spraying control device according to the tenth aspect, in the spraying control device according to the ninth aspect, the spraying control data generation unit may calculate a correction value of the spraying line pitch and a spraying speed, which is the time for spraying the spraying material onto the spraying line, based on the required adhesion amount of the spraying material corresponding to the preset spraying target and the shape of the spraying target, and include them in the spraying control data.

[0026] According to the above aspect, since the correction value of the spraying line pitch and the spraying speed corresponding to the required adhesion amount and the shape of the spraying target are included in the spraying control data, suitable spraying of the spraying material according to the current situation of the spraying target can be performed.

[0027] A spraying system according to one aspect of the present disclosure includes a spraying device that sprays a spraying material onto a building structure including at least a beam, a sensor capable of acquiring three-dimensional shape data representing the surface shape of the building structure, and a spraying control device according to any one of the first to tenth aspects, wherein the three-dimensional shape data acquisition unit acquires the three-dimensional shape data from the sensor, and the output unit sends spraying control data to the spraying device.

[0028] According to the above aspect, three-dimensional shape data representing the surface shape of the building structure is acquired by the sensor, and based on the acquired three-dimensional shape data, beam shape data regarding the beam that is the object of spraying the spraying material is calculated, so the current situation of the spraying object is grasped. Since spraying target information designating a desired portion among the beam, beam portions, and beam surfaces represented by the beam shape data as the spraying target is received, the location where the spraying material is to be sprayed can be easily set. From among the spraying patterns corresponding to the preset spraying target shapes, a suitable spraying pattern corresponding to the shape of the designated spraying target is selected, and spraying control data including the spraying target information associated with the selected spraying pattern is generated and output. Then, since the output spraying control data is provided to the spraying device, the spraying device is preferably controlled, and spraying of the spraying material onto the building structure can be easily performed.

Advantages of the Invention

[0029] According to one aspect of the present disclosure, it becomes possible to easily obtain data for controlling a spraying device in accordance with the current situation of the construction target without requiring much labor.

Brief Description of the Drawings

[0030] [Figure 1] It is a block diagram showing the device configuration of the spraying system according to the present embodiment. [Figure 2] FIG. 2(a) is a diagram showing an example of an overview of the spraying device when acquiring three-dimensional shape data of the spraying target by the sensor. FIG. 2(b) is a diagram showing an example of an overview of the spraying device when spraying the spraying material. [Figure 3]This is a block diagram showing the functional configuration of the spray control device according to this embodiment. [Figure 4] This diagram shows the hardware configuration of the spray control device. [Figure 5] Figure 5(a) shows an example of beam shape data calculated based on 3D shape data acquired by a sensor. Figure 5(b) shows an example of beam shape data, which represents the height and dimensions of the web and flange surfaces of the beam. [Figure 6] Figure 6(a) schematically shows a stiffener that is part of a beam. Figure 6(b) schematically shows a sleeve that is part of a beam. [Figure 7] Figure 7(a) is a schematic diagram showing the main beam to which the sprayed material will be applied. Figure 7(b) is a diagram showing the cross-section of the main beam, illustrating each face of the beam. [Figure 8] Figure 8(a) shows an example of specifying the spraying start point and setting the spraying sequence for a sprayed surface consisting of four main beams. Figure 8(b) shows an example of specifying the spraying start point and spraying end point for the beams. [Figure 9] This diagram shows an example of the spraying sequence set for a single main beam designated as the target for spraying, and the operation of spraying the material using a spraying device. [Figure 10] This diagram shows an example of the process of spraying a spray material onto two main beams designated as targets, using a spraying device in accordance with a set spraying sequence. [Figure 11] This figure shows an example of a pre-set spray pattern. [Figure 12] This flowchart shows the processing details of the spray control method implemented in the spray control device. [Modes for carrying out the invention]

[0031] Embodiments of the present invention will be described in detail below with reference to the attached drawings. In the description of the drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant descriptions are omitted.

[0032] Figure 1 is a block diagram showing the configuration of the spraying system according to this embodiment. The spraying system 1 includes a spraying control device 10, and the spraying system 1 may include a sensor SE and a spraying device 20. The spraying device 20 is a device that sprays a spraying material onto a building structure, including at least beams. In this embodiment, the spraying device 20 sprays fire-resistant coating as a spraying material onto a frame structure such as a steel frame (S structure) or a concrete-filled tube (CFT) structure. In this embodiment, the case where the spraying device 20 is a device that sprays fire-resistant coating is described, but the spraying device 20 may also be a device that performs concrete spraying and paint spraying.

[0033] The spray control device 10 is a device that generates spray control data for controlling a spraying device 20, which can be configured as a robot. The spray control device 10 is configured to send and receive information with the sensor SE and the spraying device 20 via wired or wireless means.

[0034] Figure 2 is a schematic diagram showing the overview of the spraying device 20. Figure 2(a) shows an example of the overview of the spraying device 20 when the sensor SE acquires 3D shape data of the target to be sprayed. Figure 2(b) shows an example of the overview of the spraying device 20 when spraying the spraying material.

[0035] As shown in Figure 2(a), the spraying device 20 comprises a lower traveling section 21 and an upper movable section 22. The lower traveling section 21 is equipped with well-known mechanisms and technologies such as LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping). These mechanisms and technologies enable the spraying device 20 to scan the surrounding environment, measure the distance to objects in the surrounding area, and estimate its own position, thus enabling autonomous movement.

[0036] The upper movable section 22 is configured to be able to rise relative to the lower traveling section 21 by means of a lifting pole 23. The lifting pole 23 is configured to be able to extend and retract, for example, by water pressure. The spraying device 20 raises or lowers the upper movable section 22 by extending or retracting the lifting pole based on control based on spraying control data.

[0037] The sensor SE is provided, for example, in a part of the upper movable section 22 and is composed of, for example, a 3D laser scanner. The sensor SE can acquire the 3D coordinates of the surface shape of a building structure by irradiating the building structure, which is the target of the spraying material, with a laser in a radial pattern. Specifically, the sensor SE can detect the direction and distance of each point on the surface of the object based on the reflection from the surface of the object irradiated with the laser, and can detect the coordinates of each point in a 3D coordinate system set in the space in which the spraying device 20 exists. Therefore, the surface shape of the object is grasped as a point cloud of each point on the surface of the object.

[0038] In the example shown in Figure 2, the spraying control device 10 is provided on the spraying device 20, and the spraying device 20 as a whole constitutes the spraying system 1.

[0039] As shown in Figure 2(b), the upper movable part 22 is equipped with a spray nozzle NZ. The spraying device 20 sprays the material to the desired spraying point by controlling the position and orientation of the spray nozzle NZ based on control based on spraying control data.

[0040] Figure 3 is a block diagram showing the functional configuration of the spraying control device 10 according to this embodiment. The spraying control device 10 is composed of a computer equipped with a processor 101. Functionally, the spraying control device 10 of this embodiment includes a 3D shape data acquisition unit 11, a beam shape calculation unit 12, a target designation reception unit 13, a spraying sequence reception unit 14, a spraying pattern determination unit 15, a spraying control data generation unit 16, and an output unit 17. These functional units will be described in detail later.

[0041] Furthermore, the spray pattern determination unit 15 of the spray control device 10 is configured to access a storage means such as a spray pattern storage unit 19. The spray pattern storage unit 19 may be provided in the spray control device 10, as shown in Figure 3, or it may be configured as an external storage means that is accessible from the spray control device 10.

[0042] Figure 4 is a hardware configuration diagram of the spraying control device 10. Physically, as shown in Figure 4, the spraying control device 10 is configured as a computer system including a processor 101, a main memory 102 consisting of RAM and ROM, an auxiliary storage device 103 consisting of a hard disk or the like, and a communication control device 104. The spraying control device 10 may further include input devices such as a keyboard, touch panel, or mouse (input device 105) and an output device such as a display (output device 106).

[0043] The processor 101 is a computing unit that executes the operating system and application programs. Examples of processors include CPUs (Central Processing Units) and GPUs (Graphics Processing Units), but the type of processor 101 is not limited to these. For example, the processor 101 may be a combination of a sensor and a dedicated circuit. The dedicated circuit may be a programmable circuit such as an FPGA (Field-Programmable Gate Array), or it may be another type of circuit.

[0044] The main memory 102 is a device that stores programs for implementing the spray control device 10, calculation results output from the processor 101, and the like. The main memory 102 is composed of, for example, at least one of ROM (Read Only Memory) and RAM (Random Access Memory).

[0045] The auxiliary storage device 103 is generally a device capable of storing a larger amount of data than the main memory device 102. The auxiliary storage device 103 is composed of a non-volatile storage medium such as a hard disk or flash memory. The auxiliary storage device 103 stores the program P1 (spraying control program) for making the computer function as a spraying control device 10, and various data. Furthermore, if the spraying pattern storage unit 19 is included in the spraying control device 10, the spraying pattern storage unit 19 may be composed of the main memory device 102, the auxiliary storage device 103, or other storage elements.

[0046] The communication control device 104 is a device that performs data communication with other computers and devices via a communication network. The communication control device 104 is composed of, for example, a network card or a wireless communication module.

[0047] Each functional unit shown in Figure 3 is realized by loading program P1 onto hardware such as the processor 101 and main memory 102 shown in Figure 4, and having the processor 101 execute program P1. Program P1 includes code for realizing each functional element of the spray control device 10. The processor 101 operates the communication control device 104 and the like according to program P1, and also performs data reading and writing in the main memory 102 and auxiliary storage device 103. The data and database necessary for processing are stored in the main memory 102 and auxiliary storage device 103. In this embodiment, each functional unit 11 to 17 is configured in the spray control device 10, but they may be distributed and configured across multiple computers.

[0048] Program P1 may be provided by being permanently recorded on a tangible recording medium such as a CD-ROM, DVD-ROM, or semiconductor memory. Alternatively, Program P1 may be provided via a communication network as a data signal superimposed on a carrier wave.

[0049] Referring again to Figure 3, the functional parts of the spraying control device 10 will be explained. The 3D shape data acquisition unit 11 acquires 3D shape data representing the surface shape of the building structure acquired by the sensor SE. As mentioned above, the sensor SE is configured as a 3D laser scanner, for example, so the 3D shape data acquisition unit 11 acquires the 3D coordinates of the point cloud that constitutes the surface shape of the building structure that is the target of the spraying material.

[0050] The beam shape calculation unit 12 calculates beam shape data, which indicates at least the position and shape of the beam, as the target for spraying the spray material, based on the three-dimensional shape data. Figure 5 is a diagram showing an example of beam shape data, and Figure 5(a) is a diagram showing an example of beam shape data calculated based on the three-dimensional shape data acquired by the sensor SE.

[0051] The beam shape calculation unit 12 extracts the shapes of beam b and columns p supporting both ends of beam b, which are the targets for spraying the spray material, based on the 3D shape data. Beam b shown in Figure 5 is called a main beam because both ends are supported by columns p. A beam that is supported at both ends by other beams is called a secondary beam. Although Figure 5 illustrates the case where beam b is a main beam, the beam shape calculation process described below can also be applied when beam b is a secondary beam. Furthermore, the beam shape calculation process can also be applied when beam b is a tertiary beam. A tertiary beam is a beam in which at least one end is supported by a secondary beam. Extraction of the shape of a desired object from 3D shape data may be performed, for example, by a well-known object detection technique using group fitting, or by inputting the 3D shape data into a machine learning model that has been pre-trained on the shapes of beams and columns, etc., and obtaining its output.

[0052] Furthermore, the beam shape calculation unit 12 obtains the center coordinates pl1, pl2 of column p and the dimensions (d11, d12), (d21, d22) of each side of the cross-sectional shape of column p based on the 3D shape data. In addition, the beam shape calculation unit 12 obtains the width W, height H, thickness B, flange thickness t2, center coordinate ce, and direction vector dv of beam b based on the 3D shape data. Furthermore, the beam shape calculation unit 12 may also obtain the coordinates of the four corner endpoints of beam b based on the 3D shape data, for example, the coordinates of the upper left endpoint (x1', y1', z1') and the lower right endpoint (x2', y2', z2').

[0053] Figure 5(b) is an example of beam shape data, showing an example of beam shape data where the height and dimensions of the web and flange surfaces of beam b are represented. Based on the 3D shape data, the beam shape calculation unit 12 obtains the upper end height Hc and lower end height Hbb of beam b, and further obtains the upper web end height Hlbu and lower web end height Hlbl from the flange thickness t2. Furthermore, the beam shape calculation unit 12 obtains the height Hw from the upper end to the lower end of the web by subtracting the flange thickness t2 of the flanges provided at the upper and lower parts from the height H of beam b.

[0054] Figure 6 shows examples of members attached to a beam, where Figure 6(a) schematically shows a stiffener formed on part of a beam, and Figure 6(b) schematically shows a sleeve formed on part of a beam.

[0055] As shown in Figure 6(a), the stiffener st is a plate provided perpendicularly to the web surface, the lower surface of the upper flange, and the upper surface of the lower flange in order to prevent buckling of the web. The beam shape calculation unit 12 obtains the shape of the stiffener st configured on beam b based on the 3D shape data. The beam shape calculation unit 12 may also obtain the center coordinates of the stiffener st and the sizes of each part representing the shape of the stiffener based on the 3D shape data.

[0056] As shown in Figure 6(b), the sleeve sl is an opening provided in the beam b for passing pipes, cables, etc. The beam shape calculation unit 12 obtains the shape of the sleeve sl constructed in the beam b based on the 3D shape data. The beam shape calculation unit 12 may also obtain the center coordinates and radius of the sleeve sl based on the 3D shape data.

[0057] Referring again to Figure 3, the target designation reception unit 13 receives spray target information indicating that at least one of beam b, a portion of beam b, and a surface of beam b, as shown by the beam shape data, is designated as the spray target.

[0058] Specifically, the target designation reception unit 13 may receive spraying target information designating four of the main beams, which are beams located between the four corners of a rectangular plan, one to three of the four main beams, or at least one of the parts of the main beams as the spraying target. The target designation reception unit 13 may receive spraying target information based on designation input via, for example, the input device 105, or it may receive spraying target information by receiving information indicating the spraying target. The target designation reception unit 13 may also receive spraying target information that includes secondary beams as spraying targets. Furthermore, the target designation reception unit 13 may also receive spraying target information that includes secondary beams as spraying targets.

[0059] Figure 7 shows a beam to be sprayed, and Figure 7(a) is a schematic top view showing a beam to be sprayed with the spray material. As shown in Figure 7(a), an example of a building structure to be sprayed with the spray material consists of four columns p1 to p4 and beams b1 to b4, which are main beams supported at both ends by columns p. The spray surfaces t1 to t4 of each of the beams b1 to b4, including stiffeners st and sleeves sl, can be the target of spraying with the spray material. The spray surface is the surface to which the spray material is sprayed.

[0060] The target designation reception unit 13 may accept spray target information designating all of the spray surfaces t1 to t4 as spray targets. Alternatively, the target designation reception unit 13 may accept spray target information designating 1 to 3 beam spray surfaces from t1 to t4 as spray targets. Furthermore, the target designation reception unit 13 may accept spray target information designating a portion or more of any of the spray surfaces t1 to t4 as spray targets. Note that designating a portion of a spray surface as a spray target may be achieved by specifying the spray start and end points, as described later. In this way, by accepting spray target information, it is possible to easily designate a desired beam or portion of a main beam or beam shown by the beam shape data as a spray target.

[0061] Figure 7(b) is a diagram illustrating the cross-section of a beam and explaining each surface of the beam. As shown in Figure 7(b), beam b, which is made of H-shaped steel, has a web wb, an upper flange lower surface fuu, a lower flange upper surface flt, and a lower flange lower surface flu as surfaces that can be sprayed with spray material. In this embodiment, the web wb, upper flange lower surface fuu, and lower flange upper surface flt are collectively referred to as the web surface WB. The flange ends may also be treated as part of the adjacent surfaces.

[0062] The target designation reception unit 13 may accept spray target information for the web surface WB or the lower flange surface flu of a beam b made of H-shaped steel, which is the target of spraying. By accepting spray target information in this way, a desired surface among the faces of the beam indicated by the beam shape data can be easily designated as the target of spraying.

[0063] The spraying order receiving unit 14 receives the designation of the spraying start point, which is the point where spraying will begin among the targets to be sprayed. Once the designation of the spraying start point is received, the spraying control data generation unit 16 sets the spraying order, which is the order in which the spraying material will be sprayed for each target until spraying is completed for all targets, with the spraying start point as the starting position for spraying the spraying material.

[0064] Figure 8(a) shows an example of specifying the spraying start point and setting the spraying order for a spraying target consisting of four main beams. In the example shown in Figure 8(a), the spraying order receiving unit 14 receives a specification that the right end of beam b1, one of the four beams b1 to b4 designated as the spraying target, be the spraying start point sp. In this case, the right end of beam b1 is set as the starting position for spraying, and the spraying order so11 to so14 is set in which the spraying material is sprayed in the order of beam b1, beam b2, beam b3, and beam b4.

[0065] Furthermore, the spraying order reception unit 14 may also accept the designation of a spraying end point, which is the point where spraying is to be completed among the spraying targets. Once the designation of the spraying start point and spraying end point is accepted, the spraying control data generation unit 16 sets the order of the spraying targets from the spraying start point to the spraying end point as the spraying order.

[0066] Figure 8(b) shows an example of specifying the spraying start and end points for a beam and setting the spraying order. In the example shown in Figure 8(b), the spraying order receiving unit 14 receives a specification that two points on beam b be designated as the spraying start point sp and the spraying end point ep, respectively. In this case, the spraying control data generation unit 16 sets a spraying order so2 in which the spraying material is sprayed in the order from the spraying start point sp to the spraying end point ep. In this way, by specifying the spraying start point sp and the spraying end point ep, the portion of beam b can be effectively designated as the target for spraying.

[0067] Figure 9 shows an example of the spraying sequence set for a single main beam designated as the target for spraying, and the operation of spraying the spraying material by the spraying device 20. Figure 9 shows a detailed example of the spraying sequence when the right end of beam b11, which is supported at both ends by columns p11 and p12, is designated as the spraying start point sp. Beam b11 has sleeves sl11, sl12 and stiffener st11. In this case, the spraying sequence so3 is set so that the web surface of the right end of beam b11 is the starting position for spraying, and the spraying proceeds from the right end through the part composed of sleeve sl11, stiffener st11 and sleeve sl12 to the left end, and then from the lower surface of the lower flange of the left end to the lower surface of the lower flange of the right end.

[0068] Furthermore, the spraying order receiving unit 14 may accept a specification of the order in which the spraying material should be applied to each surface or part that constitutes beam b. If a specification of the spraying order for each surface or part of beam b is accepted, the spraying control data generation unit 16 sets the spraying order according to that specification.

[0069] Figure 10 shows an example of setting the spraying order for two main beams designated as targets for spraying, and the operation of spraying the spraying material by a spraying device according to the set spraying order. In Figure 10, an example is shown where the right end of beam b21 is designated as the spraying start point sp, and the spraying order is designated as the web surface of beam b21, the web surface of beam b22, the lower surface of the lower flange of beam b22, and the lower surface of the lower flange of beam b21.

[0070] In this case, the spraying sequence so4 is set in the spraying control data generation unit 16 so that the spraying starts at the web surface at the right end of beam b21, proceeds to the web surface at the left end of beam b21, then continues from the web surface at the right end of beam b22 to the web surface at the left end of beam b22, from the lower surface of the lower flange at the left end of beam b22 to the lower surface of the lower flange at the right end of beam b22, and then from the lower surface of the lower flange at the left end of beam b21 to the lower surface of the lower flange at the right end of beam b21.

[0071] Furthermore, as another example of setting the spraying order, for example, if the four beams b1 to b4 shown in Figure 8(a) are designated as targets for spraying, the spraying order may be set in the following order: web surface of beam b1, web surface of beam b2, web surface of beam b3, web surface of beam b4, lower flange bottom of beam b4, lower flange bottom of beam b3, lower flange bottom of beam b2, and lower flange bottom of beam b1. In addition, it may be possible to specify that any surface among the web surface and lower flange bottom of a beam b designated as a target for spraying be excluded from the spraying target and spraying order.

[0072] In this way, the order in which the spray material is applied to each surface or part constituting beam b is specified, and the spraying order is set according to the specified order, so that the spray material can be applied to the surface and part of the beam to be sprayed according to the desired procedure.

[0073] The spraying order receiving unit 14 may, for example, accept the designation of the spraying start point, spraying end point, and spraying order based on the designated input via the input device 105, or it may receive information indicating the spraying start point, spraying end point, and spraying order.

[0074] Referring again to Figure 3, the spray pattern determination unit 15 determines the spray pattern for each surface and section of the beam according to the shape of the spray target in the spray target information. The spray pattern is composed of spray lines arranged in the order in which the spray points, which are the target points on the spray target to which the spray material is sprayed, are applied.

[0075] In this embodiment, the spray pattern determination unit 15 refers to a spray pattern pre-stored in the spray pattern storage unit 19. Figure 11 shows an example of a spray pattern stored in the spray pattern storage unit 19. As illustrated in Figure 11, the spray pattern storage unit 19 stores four types of spray patterns pt1 to pt4, each corresponding to the shape of the beam to be sprayed.

[0076] The spray pattern pt1 is a spray pattern for the web surface, and includes spray patterns for the web of the beam, the lower surface of the upper flange, and the upper surface of the lower flange. As described above, each spray pattern has a spray line ln, which is an arrangement of spray points. The spray pattern pt2 is a spray pattern for the stiffener section. The stiffener section is a part of the beam that includes the stiffener and the web surface on which the stiffener is formed. The spray pattern pt2 includes a spray line ln for spraying onto the side surface of the stiffener.

[0077] The spray pattern pt3 is the spray pattern for the sleeve portion. The sleeve portion is the beam portion, including the sleeve and the web surface portion on which the sleeve is formed. The spray pattern pt3 has a spray line ln set to avoid the opening of the sleeve in the web. The spray pattern pt4 is the spray pattern for the lower surface of the lower flange, and includes a spray pattern composed of spray lines ln for the case where spraying is performed on the entire lower surface of the lower flange and for the case where spraying is performed on half of the lower surface of the lower flange.

[0078] Each spraying pattern pt1 to pt4 includes information on the spraying line pitch, which is the interval between spraying lines ln, and the spraying point pitch, which is the interval between spraying points along the spraying lines. By including appropriate spraying line pitches and spraying point pitches in the spraying pattern according to the shape of the object to be sprayed, the spraying of the spraying material can be suitably carried out for each object to be sprayed.

[0079] The spray pattern determination unit 15 refers to the beam shape data of the target to be sprayed, as shown in the spray target information, and selects a spray pattern from spray patterns pt1 to pt4 that corresponds to the shape of each surface and part of the beam to be sprayed, and associates the selected spray patterns for each surface and part of the beam.

[0080] Referring again to Figure 3, the spraying control data generation unit 16 generates spraying control data that includes spraying target information, in which a spraying pattern is associated with each surface and part of the beam to be sprayed. Specifically, the spraying control data generation unit 16 generates spraying control data consisting of spraying target information, in which a spraying pattern is associated with each surface and part of the beam to be sprayed, based on the spraying pattern determination unit 15.

[0081] Furthermore, the spraying control data generation unit 16 may include in the spraying control data the spraying start point sp, spraying end point ep, and spraying order set by the spraying order receiving unit 14 for the spraying target indicated in the spraying target information. As described above, the spraying order is the order in which the spraying material is sprayed, which is arbitrarily set for each part and surface of the beam b that is the spraying target.

[0082] Furthermore, the spraying control data generation unit 16 calculates spray point coordinate data consisting of a set of coordinates of each spray point included in the spraying line ln in a coordinate system set in the space where the spraying target and spraying device exist. Specifically, the spraying control data generation unit 16 can obtain the shape and coordinates of the beam of the spraying target based on the beam shape data of the spraying target, and generates spray point coordinate data by calculating the coordinates corresponding to each spray point of the spraying pattern associated with each surface and part of the spraying target by the spraying pattern determination unit 15.

[0083] The spray control data generation unit 16 includes the calculated spray point coordinate data in the spray control data. The spraying device 20 can spray the spraying material to desired spray points based on the coordinates of each spray point in the spray point coordinate data included in the spray control data. That is, the spraying device 20 can control its own position using technologies such as SLAM, and can spray the spraying material to spray points as relative positions to its own position by controlling the position and orientation of the nozzle, etc. The spraying device 20 then controls its own position, nozzle position and orientation based on the coordinates of the spray points obtained by referencing the spray point coordinate data, thereby realizing the spraying of the spraying material to spray points in coordinate space. In addition, the spray control data may also include data for controlling the spraying device 20's own position, nozzle position and orientation.

[0084] Furthermore, the spray control data generation unit 16 may calculate a correction value for the spray line pitch and a spraying speed, which is the time it takes to spray the material onto the spray line, based on the required amount of spraying material to adhere to the target and the shape of the target, and include these in the spray control data. Specifically, the spray control data generation unit 16 may calculate an addition or subtraction value or coefficient, for which a correspondence has been set in advance according to the required amount of spraying and the shape of the target, as the correction value for the spray line pitch. Alternatively, the spray control data generation unit 16 may calculate the spraying speed using a calculation formula for which a correspondence has been set in advance according to the required amount of spraying and the shape of the target.

[0085] By including correction values ​​for the spray line pitch and spraying speed, which correspond to the required adhesion amount and the shape of the target to be sprayed, in the spraying control data, it is possible to spray a suitable spray material according to the current conditions of the target to be sprayed. Furthermore, the calculation of the correction value for the spray line pitch and spraying speed may include the average amount of spray material supplied to the spraying device, or the fluctuation value of the amount of spray material supplied.

[0086] The output unit 17 outputs the spray control data generated by the spray control data generation unit 16. Specifically, the output unit 17 outputs the spray control data to the spraying device 20. The output unit 17 may also store the spray control data in a predetermined storage means.

[0087] Next, the operation of the spray control device 10 of this embodiment will be described with reference to Figure 12. Figure 12 is a flowchart showing the processing details of the spray control method implemented in the spray control device 10.

[0088] In step S1, the 3D shape data acquisition unit 11 acquires 3D shape data representing the surface shape of the building structure acquired by the sensor SE.

[0089] In step S2, the beam shape calculation unit 12 calculates beam shape data that indicates at least the position and shape of the beam as the target for spraying the spray material, based on the three-dimensional shape data.

[0090] In step S3, the target designation reception unit 13 receives spray target information indicating that at least one of beam b, a portion of beam b, and a surface of beam b, as shown by the beam shape data, is designated as the target for spraying.

[0091] In step S4, the spraying pattern determination unit 15 determines the spraying pattern for each surface and part of the beam according to the shape of the target to be sprayed in the spraying target information. In addition, the spraying order receiving unit 14 may accept the specification of the spraying start point sp, the spraying end point ep, and the spraying order for each surface or part constituting the beam b, in any order other than that of the processing in step S4.

[0092] In step S5, the spraying control data generation unit 16 generates spraying control data that includes spraying target information, in which a spraying pattern is associated with each surface and part of the beam to be sprayed. The spraying control data generation unit 16 may also include information on the spraying start point sp, the spraying end point ep, and the spraying order in the spraying control data.

[0093] In step S6, the output unit 17 outputs the spray control data generated by the spray control data generation unit 16 in step S5.

[0094] According to the spraying system 1, spraying control device 10, spraying control method, and program P1 of this embodiment described above, beam shape data relating to the beam to which the spraying material is applied is calculated based on three-dimensional shape data representing the surface shape of the building structure acquired by the sensor, so the current state of the spraying target can be grasped. Since spraying target information is received that specifies the beam, beam portion, and desired portion of the beam surface represented by the beam shape data as the spraying target, the area to be sprayed with the spraying material can be easily set. Then, a suitable spraying pattern corresponding to the specified spraying target shape is selected from among the spraying patterns corresponding to the pre-set spraying patterns, and spraying control data including the spraying target information associated with the selected spraying pattern is generated and output, so suitable data for controlling the spraying device can be easily obtained with little effort.

[0095] The present invention has been described in detail above based on its embodiments. However, the present invention is not limited to the above embodiments. The present invention can be modified in various ways without departing from its spirit. [Explanation of symbols]

[0096] 1...Spraying system, 10...Spraying control device, 11...Dimensional shape data acquisition unit, 12...Beam shape calculation unit, 13...Target designation reception unit, 14...Spraying order reception unit, 15...Spraying pattern determination unit, 16...Spraying control data generation unit, 17...Output unit, 19...Spraying pattern storage unit, 20...Spraying device, P1...Spraying control program, SE...Sensor.

Claims

1. A spray control device that generates spray control data for controlling a spraying device that sprays a spraying material onto a building structure including at least beams, A 3D shape data acquisition unit acquires 3D shape data representing the surface shape of the building structure obtained by a sensor, A beam shape calculation unit calculates beam shape data that shows at least the position and shape of the beam based on the three-dimensional shape data, A target designation receiving unit that receives target information indicating that at least one of the beam, a portion of the beam, and a surface of the beam, as shown by the beam shape data, is designated as a target for spraying, A spraying order receiving unit that receives designation of the spraying start point, which is the point at which spraying begins among the aforementioned spraying targets, A spray pattern determination unit that determines a spray pattern for each surface and part of the beam according to the shape of the spray target in the spray target information, wherein the spray pattern is composed of spray lines arranged in the order in which spray points, which are target points on the spray target to be sprayed with the spray material, are sprayed, A spray control data generation unit generates spray control data including spray target information, in which the spray pattern is associated with each surface and portion of the beam to be sprayed. It comprises an output unit that outputs the generated spraying control data, The spray control data generation unit sets the spraying order, which is the order in which the spraying material is sprayed for each target until spraying is completed on all targets, using the spraying start point as the starting position for spraying, and includes the set spraying order in the spray control data. Spraying control device.

2. The aforementioned target designation reception unit receives the spraying target information which designates four of the main beams, which are beams located between the four corners of a rectangular planar shape, one to three of the four main beams, and at least one of the parts of the main beams as targets for spraying. The spray control device according to claim 1.

3. The aforementioned target designation reception unit receives information on the target of spraying, which includes the web, the lower surface of the upper flange and the upper surface of the lower flange, or the lower surface of the lower flange of the H-shaped steel constituting the beam. The spraying control device according to claim 1 or 2.

4. The spraying order receiving unit receives the designation of the spraying end point, which is the point where spraying is to be completed among the spraying targets. The spraying control data generation unit sets the order of the targets to be sprayed from the spraying start point to the spraying end point as the spraying order. The spray control device according to claim 1.

5. The spraying order receiving unit receives a designation of the order in which the spraying material will be sprayed on each surface or part that constitutes the beam. The spraying control data generation unit sets the spraying order according to the spraying order specified by the spraying order receiving unit. The spray control device according to claim 1.

6. The spraying control data generation unit calculates spray point coordinate data consisting of a set of coordinates of each spray point included in the spraying line in a coordinate system set in the space where the spraying target and the spraying device exist, and includes the calculated spray point coordinate data in the spraying control data. The spray control device according to claim 1.

7. Each spray pattern has spray lines corresponding to the shapes of the web, the web surface portion including the web, the lower surface of the upper flange and the upper surface of the lower flange, the stiffener portion, the sleeve portion, and the lower surface of the lower flange of the H-shaped steel constituting the beam. The spray pattern determination unit selects a spray pattern from a plurality of spray patterns that corresponds to the shape of the object to be sprayed. The spray control device according to claim 1.

8. Each spraying pattern includes a predetermined spraying line pitch, which is the interval between the spraying lines, and a spraying point pitch, which is the interval between the spraying points along the spraying lines. The spray control device according to claim 1.

9. The spray control data generation unit calculates a correction value for the spray line pitch and a spraying speed (the time it takes to spray the material onto the spray line) based on the required amount of spray material to be applied to the target, which is set in advance, and the shape of the target, and includes these values ​​in the spray control data. The spray control device according to claim 8.

10. A spraying device for spraying a spray material onto building structures, including at least beams, A sensor capable of acquiring three-dimensional shape data representing the surface shape of the aforementioned building structure, Includes the spray control device described in claim 1, The three-dimensional shape data acquisition unit acquires the three-dimensional shape data from the sensor, The output unit sends the spraying control data to the spraying device. Spraying system.

11. A spray control method in a spray control device that generates spray control data for controlling a spray device that sprays a spray material onto a building structure including at least beams, A three-dimensional shape data acquisition step is to acquire three-dimensional shape data representing the surface shape of the building structure obtained by a sensor, A beam shape calculation step, which calculates beam shape data indicating at least the position and shape of the beam based on the three-dimensional shape data, A target designation acceptance step that receives target information indicating that at least one of the beam, a portion of the beam, and a surface of the beam, as shown by the beam shape data, is designated as a target for spraying, A spraying order acceptance step that accepts the designation of the spraying start point, which is the point where spraying will begin among the aforementioned spraying targets, A spray pattern determination step in which a spray pattern is determined for each surface and part of the beam according to the shape of the spray target in the spray target information, wherein the spray pattern is composed of spray lines arranged in the order in which spray points, which are target points on the spray target to be sprayed with the spray material, are sprayed, A spray control data generation step generates spray control data that includes spray target information, in which the spray pattern is associated with each surface and portion of the beam to be sprayed. The output step includes outputting the generated spray control data, In the spraying control data generation step, the spraying start point is set as the starting position for spraying, and the spraying order is set as the order in which the spraying material is sprayed for each spraying target until spraying is completed for all spraying targets, and the set spraying order is included in the spraying control data. Spray control method.

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