Slope greening system, slope greening method

Abstract

To provide a slope face greening system capable of rationalize a slop face greening construction and improving its quality.SOLUTION: A slope face greening system 1 is to laminate greening material 7 on a slope face 2 by spray from a tip of a hose 6 to green the slope face 2. The slope face greening system 1 comprises: a robot arm 4 on which the tip of the hose 6 is attached; a support cradle 3 having moving parts 34, 35 placed on the slope face 2 to move a position of the robot arm 4; and a control device 5. The control device 5 moves the position of the robot arm 4 by the moving parts 34, 35 along a moving route determined based on a 3D model in a post-state the greening material 7 is laminated on the slope face 2 when spraying the greening material 7 on the slope face 2.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a slope greening system for slope greening and the like.

Background Art

[0002] Slope greening work is a general term for construction methods that introduce plants onto slopes formed by cutting or filling in slope protection, maintain the stability of the growth base as necessary, and maintain and manage the established vegetation. In slope greening work, for example, a lath net is installed on the slope after cleaning, and a greening material containing soil, fertilizer, seeds, and necessary binders and additives is sprayed onto the slope from the tip of a hose and fixed to the slope.

[0003] Conventionally, in slope greening work, the spraying operation is performed while an operator holding the tip of a hose moves on an inclined surface, but the load and risk to the operator are large. Therefore, various attempts have been made to mechanize the spraying operation (movement of the hose) in order to reduce the load and risk to the operator.

[0004] For example, Patent Document 1 discloses holding the tip of a hose by an airborne holding device such as a drone and performing spraying onto a slope while moving the airborne holding device.

[0005] Also, Patent Document 2 describes supporting a trolley with a rope from the upper end of a sloping ground and performing spraying onto the sloping ground from a nozzle on the trolley to which the tip of a hose is attached while moving the trolley on the sloping ground.

[0006] Also, Patent Document 3 discloses a spraying device in which a spraying hose support device that supports a spraying hose can be moved up and down along a slope by a support base supported on the slope by temporary leg members, and the support base itself can also be moved horizontally by a slide rail.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

[0008] However, all of these conventional technologies require human operation of aerial support devices, trolleys, and spray hose support devices, leaving room for further rationalization. Furthermore, when these devices are operated by humans, just like when spraying is done manually, unevenness in spraying is likely to occur, and there is room for improvement in terms of quality.

[0009] This invention has been made in view of the above-mentioned problems, and aims to provide a slope greening system that can streamline slope greening work and is also expected to improve quality. [Means for solving the problem]

[0010] The first invention for solving the aforementioned problems is a slope greening system for layering greening material on a slope, comprising an attachment device to which the tip of a hose for transporting the greening material is attached, and installed on the slope A support frame The position of the mounting device Along the rails stretched between the shoulder and the tip of the slope The moving part And a slider that slides along the rail while holding the middle of the hose, The slope greening system comprises a support frame and a control device, wherein the control device moves the position of the mounting device by a moving part along a movement path determined based on a 3D model showing the state after the greening material has been laid on the slope when the greening material is laid on the slope.

[0011] This invention enables the automation of slope greening work by layering greening material onto the slope using 3D printing techniques. This eliminates the need for manual labor by workers on the slope, as well as the need for workers to operate the equipment. This streamlines slope greening work, leading to shorter construction periods and other improvements. Furthermore, by suppressing unevenness in the layering thickness of the greening material, the quality of the slope greening work is also improved.

[0012] It is desirable to spray the greening material onto the slope from the tip of the hose attached to the mounting device. Greening materials can be applied to slopes by, for example, spraying.

[0013] The support frame comprises, at both ends in the width direction of the layered area of ​​the greening material, column sections provided at the shoulder and the tip of the slope, beam sections spanning between the column sections at the shoulder and the tip of the slope, and a beam section spanning between the beam section at the shoulder and the beam section at the tip of the slope. The aforementioned Preferably, the movable part includes a rail and a second movable part that moves the rail along the rail and moves the rail along the beam. Alternatively, the support frame comprises column sections provided at the shoulder and tip of the slope, and a bridge spanning between the column sections. The aforementioned The frame has rails, and it is also desirable that the movable part includes a first movable part for moving the mounting device along the rails, and a third movable part for moving the frame in the width direction of the layered area of ​​the greening material. This makes it possible to move the mounting device, to which the hose tip is attached, across the entire area of ​​the greening material layering.

[0014] The slope greening system of the first invention may also preferably further include a measuring device for measuring the layer thickness of the greening material. This allows for the measurement and management of the layer thickness of the greening material, and makes it possible to add more greening material to areas where the thickness is insufficient.

[0015] The aforementioned mounting device is, for example, a robot arm. This enables fine setting and control of the ejection direction of the greening material and the like.

[0016] A second invention is a slope greening method for laminating a greening material for slope greening on the slope, comprising: an attachment device to which the tip of a hose for transporting the greening material is attached; and an attachment device installed on the slope A support frame , the position of the attachment device Along the rails stretched between the shoulder and the tip of the slope a moving part for moving And a slider that slides along the rail while holding the middle of the hose, and a support stand having the same, and a control device. When laminating the greening material on the slope, the control device moves the position of the attachment device by the moving part along a movement path determined based on a 3D model showing the state after laminating the greening material on the slope. This is a slope greening method characterized by the above. The second invention is a slope greening method using the slope greening system of the first invention.

Effects of the Invention

[0017] According to the present invention, it is possible to provide a slope greening system and the like that rationalize slope greening work and can be expected to improve quality.

Brief Description of the Drawings

[0018] [Figure 1] A diagram showing the slope greening system 1. [Figure 2] A diagram showing the support stand 3. [Figure 3] A diagram showing the moving parts 34, 35. [Figure 4] An example of the 3D model M. [Figure 5] An example of the movement path a of the robot arm 4. [Figure 6] A diagram showing the measuring device 41. [Figure 7] A diagram showing the support stand 3a.

Embodiments for Carrying Out the Invention

[0019] Hereinafter, preferred embodiments of the present invention will be described in detail based on the drawings.

[0020] Figure 1 shows a slope greening system 1 according to an embodiment of the present invention. As shown in Figure 1, the slope greening system 1 stacks greening material 7 on a slope 2 created by cutting or filling, and includes a support frame 3, a robot arm 4, a control device 5, etc.

[0021] The support frame 3 is a structure that supports the robot arm 4 and moves its position within a plane parallel to the slope 2. Details of the support frame 3 will be described later.

[0022] The robot arm 4 is a mounting device for attaching the tip of the hose 6, and is movable over the entire area of ​​the layered greening material 7 by the support frame 3.

[0023] The control device 5 is a control device for controlling the movement of the robot arm 4 described above, and can be, for example, a control panel or a computer.

[0024] Hose 6 is used to transport the greening material 7 from the plant (not shown) and to layer it on the slope 2, and has sufficient length so as not to obstruct the movement of the robot arm 4. In this embodiment, the greening material 7 is pumped from the plant and sprayed onto the slope 2 from a nozzle at the end of hose 6.

[0025] The greening material 7 is a material for greening the slope 2, and includes, but is not limited to, soil, fertilizer, seeds, and necessary binders and additives.

[0026] As shown in Figure 1, the support frame 3 includes a column section 31, a beam section 32, a rail 33, movable sections 34 and 35, a slider 36, etc. Figure 2 is a top view of the support frame 3.

[0027] The column sections 31 are provided at the crest (upper end of the slope 2) and the toe (lower end of the slope 2). The column sections 31 are, for example, concrete columns, but are not limited to these. As shown in Figure 2, the column sections 31 are provided at both ends in the width direction of the layered area R of the greening material 7 on the slope 2. The width direction of the layered area R is perpendicular in the plane to the vertical direction of the slope 2 (the direction connecting the crest and the toe), and corresponds to the left-right direction in Figure 2.

[0028] The beam section 32 is a beam-shaped member that extends in the width direction of the stacking region R. The beam section 32 is formed of steel material such as H-shaped steel, but is not limited to this. The beam section 32 is spanned between the column sections 31 at both ends in the width direction of the stacking region R at the shoulder and the toe of the slope, and a gate-shaped frame is formed by the column sections 31 and the beam section 32 at both the shoulder and the toe of the slope. The upper surface of the column section 31 has an inclination that follows the slope of the slope 2 in order to support and fix the beam section 32.

[0029] The rail 33 is stretched between the beam section 32 at the top of the slope and the beam section 32 at the bottom of the slope, parallel to the incline of the slope 2. The rail 33 is formed from steel material such as H-shaped steel, but is not limited to this.

[0030] The moving part 34 (first moving part) is a mechanism for moving the robot arm 4 along the rail 33, and the moving part 35 (second moving part) is a mechanism for moving the rail 33 itself along the beam part 32 in the width direction of the stacking region R. As the moving parts 34 and 35, self-propelled trolleys driven by motors or the like, as illustrated in Figure 3, can be used.

[0031] The movable part 34 is attached to the lower flange of the rail 33 and moves along the rail 33. The movable part 34 is also provided with a fixing part 341 for fixing the robot arm 4. However, the movable part 34 only needs to be movable along the rail 33 and is not limited to the above.

[0032] The movable section 35 is attached to the lower flange of the beam section 32 and moves along the beam section 32. A hanger 351 for suspending and supporting the rail 33 is provided at the bottom of the movable section 35. As shown in Figure 1, the movable section 35 is provided on both the beam section 32 at the shoulder of the slope and the beam section 32 at the end of the slope, and suspends and supports the upper and lower ends of the rail 33, respectively. However, the movable section 35 only needs to be movable along the beam section 32 and is not limited to the above.

[0033] The slider 36 holds the hose 6 in place and slides along the rail 33, preventing the hose 6 from coming into contact with the greening material 7 on the slope 2. The slider 36 slides in accordance with the movement of the movable part 34, but it can also be made into a self-propelled mechanism. Note that the slider 36 is not shown in Figure 3.

[0034] The mobile units 34 and 35 are connected to the control device 5 via wired or wireless communication, and the movement of the mobile units 34 and 35 is controlled by the control device 5. Specifically, the control device 5 sets the movement path and speed of the robot arm 4 based on a 3D model M showing the state (finished product) after the greening material 7 has been laid on the slope 2, as illustrated in Figure 4, and drives the mobile units 34 and 35 based on the said movement path and speed.

[0035] This allows the robot arm 4 to move while spraying the greening material 7 onto the slope 2 from the tip of the hose 6, thereby layering the greening material 7 onto the slope 2 to a predetermined thickness and carrying out slope greening work. In this way, the support frame 3, robot arm 4, and control device 5 function as a so-called 3D printing device.

[0036] When greening a slope 2 using the slope greening system 1, first the slope 2 is cleaned and the slope greening system 1, including the support frame 3, is installed. Then, a wire mesh (not shown) is placed on the slope 2, and while moving the position of the robot arm 4 to which the tip of the hose 6 is attached, the greening material 7 is pumped from the plant and sprayed onto the slope 2 to create layers. The placement of the wire mesh can also be done using the robot arm 4.

[0037] In Figure 5, symbol a represents an example of the movement path of the robot arm 4. By combining movement of the robot arm 4 along the rail 33 and movement along the beam portion 32 of the rail 33 itself, it is possible to move the robot arm 4 across the entire surface of the lamination area R and laminate a predetermined thickness of greening material 7 onto the lamination area R. It is also possible to conduct experiments in advance to understand the relationship between the movement speed of the robot arm 4 and the lamination thickness of the greening material 7, and use this information to set the movement speed of the robot arm 4.

[0038] As described above, in this embodiment, slope greening work can be automated by laminating the greening material 7 onto the slope 2 using a 3D printing method. Therefore, manual work by workers on the slope 2 is unnecessary, and operation of the equipment by workers is also unnecessary. This makes it possible to streamline slope greening work and leads to a reduction in construction period. In addition, the quality of the slope greening work is improved by suppressing unevenness in the lamination thickness of the greening material 7.

[0039] Furthermore, in this embodiment, the configuration of the support frame 3, including the movable parts 34, 35, etc., makes it possible to move the robot arm 4, to which the tip of the hose 6 is attached, over the entire area R of the greening material 7.

[0040] Furthermore, in this embodiment, by using a multi-joint robotic arm 4 as an attachment device for the tip of the hose 6, it becomes possible to make fine settings and controls such as the discharge direction of the greening material 7, and it is also possible to spray and layer the greening material 7 while swinging the tip of the hose 6. In addition, it is possible to control the orientation of the tip of the hose 6 so that it is always in the direction normal to the slope 2, based on 3D shape data of the slope 2.

[0041] However, the present invention is not limited to the embodiments described above. For example, in this embodiment, the greening material 7 is sprayed onto the slope 2 and layered, but as a 3D printing method for slope greening, it is also possible to apply a method in which the gel-like greening material 7 is applied to the slope 2 from the nozzle at the end of the hose 6 and layered.

[0042] As shown in Figure 6, it is also possible to attach a measuring device 41, such as a 3D scanner or camera, to the tip of the robot arm 4 to measure (measure) and manage the layering thickness of the greening material 7. The measuring device 41 can, for example, measure the distance to the slope 2 before the greening material 7 is laid and the distance to the surface of the greening material 7 after the greening material 7 is laid, and the difference between these two distances can be used as the layering thickness of the greening material 7, but this is not the only method.

[0043] By measuring the layer thickness of the greening material 7 in this way, the robot arm 4 can be moved to areas where the thickness of the greening material 7 is insufficient, for example, and the greening material 7 can be re-layered. The movement of the robot arm 4 can be performed by an operator, but it can also be performed automatically by the control device 5 based on the feedback results of the layer thickness.

[0044] Furthermore, the mounting location of the measuring device 41 is not limited to the tip of the robot arm 4; any location that can measure the layer thickness of the greening material 7 is acceptable. For example, the movable part 34 can be extended in the longitudinal direction of the rail 33, and the measuring device 41 can be attached to that extended portion.

[0045] Furthermore, the configuration of the support frame 3 is not limited to the above. For example, as shown in the support frame 3a of Figure 7, a gate-shaped frame may be formed by column sections 31 provided at the shoulder and the tip of the slope, and rails 33 stretched between the column sections 31, and the frame may move in the width direction of the layered area R (see Figure 2) of the greening material 7 along rails 37 provided at the shoulder and the tip of the slope.

[0046] The rail 37 is provided to extend in the width direction of the stacking region R (corresponding to the plane normal direction in Figure 7), and a moving part 38 (third moving part), such as a wheel, which is driven by a motor or the like and moves along the rail 37, is provided at the lower end of each column 31. With this configuration, the robot arm 4 can be moved over the entire area of ​​the stacking region R by combining the movement of the robot arm 4 along the rail 33 by the moving part 34 and the movement of the frame by the moving part 38.

[0047] In addition, to prevent the effects of rain, snow, etc. during the greening work on the slope 2, it is possible to install a roof to cover the support frames 3, 3a, etc., and to avoid the effects of wind, it is also possible to surround the entire area R of the layered greening material 7 with a tent or similar covering. Furthermore, it is possible to determine the moisture content in the greening material 7 through prior experiments, etc., so that the degree of compaction of the greening material 7 on the slope 2 reaches a predetermined value.

[0048] Preferred embodiments of the present invention have been described above with reference to the attached drawings, but the present invention is not limited to these examples. It will be obvious to those skilled in the art that various modifications or alterations can be conceived within the scope of the technical idea disclosed herein, and these will naturally also fall within the technical scope of the present invention. [Explanation of symbols]

[0049] 1: Slope greening system 2: Slope 3, 3a: Support frame 4: Robot arm 5: Control device 6: Hose 7: Greening materials 31: Pillar part 32:Beam part 33, 37: Rails 34, 35, 38: Mobile section 41: Measuring device

Claims

1. A slope greening system for layering greening material on a slope, An attachment device to which the tip of a hose for transporting the aforementioned greening material is attached, A support frame to be installed on the slope, comprising: a movable part that moves the position of the mounting device along a rail stretched between the shoulder and the tip of the slope; and a slider that slides along the rail while holding the middle of the hose; Control device and It has, The control device is characterized in that, when stacking the greening material on the slope, it moves the position of the mounting device by the moving part along a movement path determined based on a 3D model showing the state after the greening material has been stacked on the slope.

2. The slope greening system according to claim 1, characterized in that the greening material is sprayed onto the slope from the tip of the hose attached to the mounting device.

3. The aforementioned support frame is At both ends in the width direction of the layered region of the greening material, column portions are provided at the slope shoulder and the slope tip, At the shoulder and the tip of the slope, a beam is spanned between the column sections, The rail is stretched between the beam section at the shoulder of the slope and the beam section at the end of the slope, It has, The aforementioned movable part is A first moving part that moves the mounting device along the rail, A second moving part that moves the rail along the beam section, The slope greening system according to claim 1, characterized by including the following:

4. The aforementioned support frame is The column section is provided at the shoulder and tip of the slope, The rail is stretched between the aforementioned column sections, It is a frame having, The aforementioned movable part is A first moving part that moves the mounting device along the rail, A third moving part moves the frame in the width direction of the layered area of ​​the greening material, The slope greening system according to claim 1, characterized by including the following:

5. The slope greening system according to claim 1, further comprising a measuring device for measuring the layer thickness of the greening material.

6. The slope greening system according to claim 1, characterized in that the mounting device is a robotic arm.

7. A method for greening a slope, comprising layering a greening material on the slope for greening the slope, An attachment device to which the tip of a hose for transporting the aforementioned greening material is attached, A support frame to be installed on the slope, comprising: a movable part that moves the position of the mounting device along a rail stretched between the shoulder and the tip of the slope; and a slider that slides along the rail while holding the middle of the hose; Control device and Using a slope greening system that has the following features, A method for greening a slope, characterized in that when the control device lays the greening material on the slope, the moving part moves the position of the mounting device along a movement path determined based on a 3D model showing the state after the greening material has been laid on the slope.

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