Blasting system, information processing device, control method, information processing method, and program

Abstract

This blasting system is equipped with: a blasting device including a nozzle that is able to swing about a swing axis P1 within a predetermined swing angle range and discharges a blasting material onto a target surface F on a structure; a linear actuator 40 that is connected to the blasting device and causes the nozzle to swing about the swing axis by performing linear motion; and a control unit for controlling the linear actuator 40. The control unit controls the linear actuator 40 so that the nozzle discharges the blasting material along N (N being a natural number 1 or higher) target points respectively set for N specified time points; and the N target points are set at mutually different positions on an impact path U that is on the target surface F and that corresponds to the swing angle range.

Description

Injection system, information processing device, control method, information processing method and program

[0001] This invention relates to a technique for spraying a propellant onto a target surface.

[0002] A blasting system for treating target surfaces has been proposed for some time. For example, these blasting systems are used in nuclear power plants to remove radioactive materials from walls that have been contaminated with them.

[0003] Patent Document 1 discloses a vacuum spraying system that is capable of self-propelling along a wall surface, comprising a closure casing for covering a target surface, a spraying hose for spraying an abrasive material onto the target surface from inside the closure casing, and a suction hose for sucking up the sprayed abrasive material and removed dust from inside the closure casing.

[0004] Here, a technique has also been proposed in which the nozzle attached to the end of the spray hose is oscillated (whispered) to spray abrasive material over a wider area of ​​the target surface. The position in which the nozzle sprays the abrasive material on the target surface is controlled by a motor that performs rotational motion. Specifically, for example, the rotational motion of the motor is converted into linear motion via a shaft connected to the motor, causing the nozzle to oscillate. When the motor rotates once, the nozzle oscillates from side to side within a predetermined range of oscillation angle. When the nozzle oscillates within this range of oscillation angle, the abrasive material is sprayed on the target surface along a linear impact path. In other words, the position in which the abrasive material sprayed from the nozzle strikes the target surface (the position in which the nozzle's spray direction intersects the target surface) moves along the impact path.

[0005] Japanese Patent Publication No. 2016-003976

[0006] Here, when the rotational motion of a motor rotating at a constant angular velocity is converted into linear motion by a shaft to cause the nozzle to oscillate, the amount of shaft movement is not always constant with respect to the motor's rotation angle. Specifically, at both ends of the range of the nozzle's oscillation angle, the time the nozzle spends spraying abrasive material becomes longer. As a result, the ends of the impact path are deeply abrasive, while the central part is not abrasive at all.

[0007] Therefore, it is thought that if the time spent spraying the abrasive material at both ends of the impact path is shortened (i.e., the position at which the abrasive material strikes the target surface is moved more quickly), or if it is possible to spray additional abrasive material only at both ends of the impact path, it may be possible to grind the impact path flat. However, it is difficult to control the oscillation of the nozzle with high precision using a motor, making it difficult to change the time spent spraying the abrasive material within the impact path or to spray the abrasive material only in a part of the impact path. Taking these circumstances into consideration, the present invention aims to enable high-precision control of the oscillation of the nozzle that sprays the abrasive material.

[0008] [1] An injection system comprising: an injection device including a nozzle that is oscillating about a pivot axis within a predetermined range of oscillation angles and injects a propellant onto a target surface of a structure; a linear actuator connected to the injection device and performing linear motion to oscillate the nozzle about the pivot axis; and a control unit that controls the linear actuator, wherein the control unit controls the linear actuator so that the nozzle injects the propellant along N target points set for each of N (N is a natural number of 1 or more) specified time points, and the N target points are set at different positions on the target surface on a striking path corresponding to the range of oscillation angles.

[0009] [2] The injection system of [1] in which the operating length of the linear actuator is specified for each of the N target points, and the control unit controls the linear actuator so that it becomes the specified operating length at each specified time.

[0010] [3] The positions of the N target points are calculated according to the rate of increase or decrease, and the rate of increase or decrease represents the depth to which the target surface is abraded when the propellant is sprayed on the first and N target points, with the depth to which the target surface is abraded when the propellant is sprayed on the first and N target points as a reference. [1] or [2] Spraying system.

[0011] [4] The injection system of [3] wherein the positions of the N target points are calculated in accordance with the rate of increase or decrease such that the distance between two adjacent target points changes continuously from the intermediate target point toward the first and the Nth target points.

[0012] [5] The positions of the N target points are calculated according to the user's instructions regarding the placement of the N target points in the injection system [1] to [4].

[0013] [6] The control unit controls the linear actuators [1] to [5] such that the nozzles inject the propellant along one or more target points corresponding to a section designated in the strike path.

[0014] [7] An information processing device comprising a specification unit that specifies the operating length of the linear actuator for each of the N target points in the injection system of [1].

[0015] [8] A method for controlling an injection system comprising an injection device including a nozzle that is oscillating about a pivot axis within a predetermined range of oscillation angles and injects an injector onto a target surface of a structure, and a linear actuator connected to the injection device that causes the nozzle to oscillate about the pivot axis by performing linear motion, the control method being implemented by a computer, wherein the linear actuator is controlled so that the nozzle injects the injector along N target points set for each of N (N is a natural number of 1 or more) specified time points, and the N target points are set at different positions on the impact path corresponding to the range of oscillation angles on the target surface.

[0016] A computer-based information processing method for determining the operating length of the linear actuator for each of the N target points in the injection system of [9] [1].

[0017]

[10] A program for controlling an injection system comprising an injection device including a nozzle that is oscillating about a pivot axis within a predetermined range of oscillation angles and injects an injector onto a target surface of a structure, and a linear actuator connected to the injection device that causes the nozzle to oscillate about the pivot axis by performing linear motion, wherein a computer functions as a control unit for controlling the linear actuator, and the control unit controls the linear actuator so that the nozzle injects the injector along N target points set for each of N (N is a natural number of 1 or more) specified time points, the N target points being set at different positions on the impact path corresponding to the range of oscillation angles on the target surface.

[0018] A program that causes a computer to function as a identifying unit that determines the operating length of the linear actuator for each of the N target points in the injection system of [1].

[0019] According to the present invention, a nozzle is controlled by a linear actuator so that the propellant is ejected along N target points set for each of N specified time points. In other words, the oscillation of the nozzle that ejects the propellant can be controlled with high precision.

[0020] This is a side view of a blasting apparatus according to the first embodiment. This is a front view of a blasting apparatus according to the first embodiment. This is a front view of a blasting apparatus according to the first embodiment. This is a block diagram illustrating the configuration of a processing apparatus according to the first embodiment. This is a schematic diagram schematically showing the relationship between the oscillation range of the nozzle by a linear actuator according to the first embodiment and the target surface. This is a diagram showing the XY plane coordinates when using a linear actuator according to the first embodiment. This is a diagram showing the XY plane coordinates when using a linear actuator according to the first embodiment. This is a flowchart relating to an example of processing for controlling a linear actuator by a control device according to the first embodiment. This is a schematic diagram showing N target points according to the second embodiment (when you want to cut deeply on the end side of the impact path relative to the center). This is a schematic diagram showing N target points according to the second embodiment (when you want to cut shallowly on the end side of the impact path relative to the center). This is a schematic diagram showing N target points according to a modified example (when cutting an arbitrary section in the impact path). This is a front view of a hypothetical blasting apparatus according to a modified example. This is a schematic diagram schematically showing the relationship between the oscillation range of the nozzle by a rotary actuator according to a modified example and the target surface. This figure shows the XY plane coordinates when using a modified rotary actuator.

[0021] <First Embodiment> Figure 1 is a side view of a blasting device 100A according to an example of the first embodiment. The blasting device 100A is a device that performs blasting by spraying abrasive material onto a target surface (hereinafter referred to as the "target surface") F of a structure. The blasting device 100A is an example of a "spraying system," and the abrasive material is an example of a "spraying material." The structure is, for example, various structures that are fixed to the land (including the seabed), such as buildings, bridges, dams, and tunnels. The target surface F is, for example, a wall surface or floor surface of these structures.

[0022] The blasting device 100A according to the first embodiment comprises, for example, a closed casing 10 for covering the target surface F, a spraying device 20 for spraying abrasive material onto the target surface F from within the closed casing 10, and four wheels 30. The four wheels 30 allow the device to self-propel across the target surface F. In the following description, we assume mutually perpendicular X, Y, and Z axes. The Z axis is an axis parallel to the direction of travel of the blasting device 100A.

[0023] The spraying device 20 comprises a nozzle 21 for spraying abrasive material onto the target surface F, and a spraying hose 23 for supplying abrasive material to the nozzle 21. The closing casing 10 is an element for covering the target surface F around the nozzle 21 to prevent the abrasive material sprayed from the nozzle 21 from scattering.

[0024] The blasting apparatus 100A of the first embodiment includes various other elements (for example, a suction hose for sucking up the abrasive material and removed dust after spraying from inside the closed casing 10, a sealing member for further covering the target surface F around the closed casing 10, and a motor for driving the wheels 30), but these are omitted from the illustration and description for convenience.

[0025] Figures 2 and 3 are front views of the blasting device 100A (viewed from the negative side of the Z-axis). As illustrated in Figures 2 and 3, the nozzle 21 can swing about the pivot axis P1 within a predetermined range of oscillation angles (hereinafter referred to as the "oscillation range"). Specifically, the central axis P2 of the nozzle 21 swings about the pivot axis P1. The pivot axis P1 of the nozzle 21 is an axis parallel to the Z-axis. In the first embodiment, for convenience, the symmetric plane F is assumed to be a plane parallel to the XY plane. The nozzle 21 is connected to the injection hose 23. The injection hose 23 may consist of multiple hoses connected to each other. Figure 2 illustrates a configuration in which the nozzle 21 and the injection hose 23 are indirectly connected via another member (for example, a pipe 25), but the nozzle 21 and the injection hose 23 may be directly connected.

[0026] The blasting device 100A of the first embodiment further comprises a linear actuator 40 that performs linear motion and a processing device 60 for controlling the linear actuator 40.

[0027] In the first embodiment, a linear actuator 40 is used to oscillate the nozzle 21 around the pivot axis P1. The linear actuator 40 is, for example, an electric cylinder. The linear actuator 40 of the first embodiment includes, for example, a rod 41, a frame portion 42, and a drive portion 43.

[0028] The rod 41 is an axial member that can extend and retract within a design stroke range (typically from 0 to a predetermined length) by a drive unit 43. The frame 42 is a cylindrical member that holds the rod 41 in an extendable and retractable state. The drive unit 43 is, for example, a servo motor or a stepping motor, which converts rotational motion into linear motion and transmits it to the rod 41 via, for example, a ball screw (not shown). The specific configuration of the linear actuator 40 is not particularly limited, but it is preferable to use a linear actuator 40 that can change the movement speed (extension / retraction speed) of the rod 41 within a design stroke range (between the longest and shortest lengths of the rod 41).

[0029] The tip of the rod 41 (the end opposite to the frame portion 42) is connected to the injection device 20. In the first embodiment, for example, the rod 41 is connected to the outer circumferential surface of the pipe 25. However, the position to which the tip of the nozzle 21 is connected in the injection device 20 is not particularly limited, as long as it is possible to swing the nozzle 21 about the pivot axis P1. For example, in addition to the surface of the pipe 25, the rod 41 may be connected to the surface of the injection hose 23, or to the surface of a connector (e.g., a joint 26) for connecting the injection hose 23 and the pipe 25. Alternatively, the rod 41 may be connected to the outer circumferential surface of the nozzle 21.

[0030] In the following description, the position where the rod 41 is connected to the injection device 20 is denoted as the rod connection point Pa. Similar to the nozzle 21, the rod connection point Pa swings about the swing axis P1. That is, the position where the rod connection point Pa is located changes in conjunction with the linear motion of the linear actuator 40. Specifically, the rod connection point Pa moves along a section corresponding to the swing range of the nozzle 21 on the circumference of a circle centered on the swing axis P1 (a circle with the length of the line segment P1-Pa as the radius). As illustrated in FIG. 2, the rod 41 and the injection device 20 are connected such that the rod connection point Pa is on the central axis P2 of the nozzle 21 when viewed from the negative side in the Z direction. It can also be said that the rod connection point Pa and the swing axis P1 are located on the central axis P2 when viewed from the negative side in the Z direction.

[0031] The linear actuator 40 performs a reciprocating motion between the state where the rod 41 is the longest within the swing range of the nozzle 21 and the state where the rod 41 is the shortest within the swing range of the nozzle 21. That is, the movement from the state where the rod 41 is the shortest to the state where the rod 41 is the longest and the movement from the state where the rod 41 is the longest to the state where the rod 41 is the shortest are alternately repeated. When the rod 41 extends from the state of FIG. 2, the state of FIG. 3 is reached. In the present embodiment, the injection hose 23 and the pipe 25 swing about the swing axis P1 in conjunction with the nozzle 21.

[0032] The frame portion 42 is fixed to a support plate 50 provided on the blasting device 100A. The frame portion 42 is supported so as to be swingable about the swing axis Pb in accordance with the expansion and contraction of the rod 41. For example, the frame portion 42 is fixed to the support plate 50 via a hinge or a pillow block. In FIG. 2, the case where the swing axis Pb is parallel to the Z axis is illustrated. However, the fixing position and the fixing method of the frame portion 42 are not limited to the above examples.

[0033] FIG. 4 is a block diagram illustrating the configuration of the processing device 60. The processing device 60 is realized by an information device such as a smartphone, a tablet terminal, or a personal computer, for example. Note that the processing device 60 is realized not only as a single device but also as a plurality of devices separately configured from each other. The processing device 60 is connected to the linear actuator 40 by wire or wirelessly. The processing device 60 of the first embodiment includes, for example, a control device 61 and a storage device 62. The processing device 60 may additionally have a display device and an operating device.

[0034] The control device 61 is constituted by one or more types of processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an SPU (Sound Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), or an ASIC (Application Specific Integrated Circuit), for example. The control device 61 of the first embodiment functions as an element (control unit 611, calculation unit 613, and specification unit 615) for controlling the linear actuator 40.

[0035] The storage device 62 is one or a plurality of memories that store the programs executed by the control device 61 and various data used by the control device 61. For example, known recording media such as semiconductor recording media and magnetic recording media, or a combination of multiple types of recording media are used as the storage device 62. Note that, for example, a portable recording medium detachable from the processing device 60 or a recording medium (e.g., cloud storage) accessible by the control device 61 via a communication network may be used as the storage device 62.

[0036] The control unit 611 controls the linear actuator 40 so that the nozzle 21 injects the polishing material onto the target surface F. FIG. 5 is a schematic diagram schematically showing the relationship between the swing range (first angle θj to second angle θk) of the nozzle 21 and the target surface F.

[0037] Figure 5 illustrates the direction (hereinafter referred to as the "injection direction") W in which the abrasive material is ejected from the nozzle 21. The injection direction W is the direction along the central axis P2 at the opening (injection port) of the nozzle 21. In other words, the injection direction W oscillates within the oscillation range around the oscillation axis P1. In the following explanation, the oscillation angle of the nozzle 21 is the angle of the injection direction W (central axis P2).

[0038] Figure 5 also illustrates the impact path U when the nozzle 21 swings within its swing range. The line segment on the target surface F corresponding to the swing range of the nozzle 21 is the impact path U. The impact path U is a path parallel to the X-axis. The length of the impact path U can be set arbitrarily by the user. In other words, the swing range of the nozzle 21 is determined according to the length of the impact path U set by the user. Note that the maximum value that can be set as the length of the impact path U will vary depending on the position of the linear actuator 40 and the swing axis Pb used.

[0039] The point where the spray direction W intersects with the target surface F (hereinafter referred to as the "impact point") moves along the impact path U on the target surface F. The impact point can also be described as the point on the target surface F where the abrasive material is actually being sprayed. In the example shown in Figure 5, the operating length of the linear actuator 40 (length st, described later) is shortest when the nozzle 21 is at a first angle θj, and longest when the nozzle 21 is at a second angle θk. As the oscillation angle of the nozzle 21 changes from the first angle θj to the second angle θk while spraying the abrasive material, the impact point moves along the impact path U from one end to the other. On the other hand, as the oscillation angle of the nozzle 21 changes from the second angle θk to the first angle θj while spraying the abrasive material, the impact point moves along the impact path U from the other end to the one end.

[0040] For convenience, the following explanation will illustrate the linear motion of the linear actuator 40 in the direction from the shortest operating length to the longest operating length. In reality, the linear actuator 40 reciprocates along the striking path U through linear motion in the direction from the shortest to the longest operating length (hereinafter referred to as the "first direction") and linear motion in the direction from the longest operating length to the shortest operating length (hereinafter referred to as the "second direction").

[0041] In the following explanation, we will use the XY plane as the coordinate plane, define the reference point V0 as the position where the injection direction W is perpendicular to the symmetric plane F, and assume the coordinates of the reference point V0 are (0,0). We will then define the oscillation angle of the nozzle 21 as 0° when the impact point is at the reference point V0. The oscillation angle of the nozzle 21 can also be expressed as the angle that the central axis P2 of the nozzle 21 makes with the line segment passing through the reference point V0 and the oscillation axis P1. The first angle θj and the second angle θk have the same absolute value, separated by 0°. For example, when the first angle θj is 30°, the second angle θk is -30°. Therefore, when the injection direction W is at the first angle θj, the coordinates of the impact point are (x1,0), and when the injection direction W is at the second angle θk, the coordinates of the impact point are (-x1,0). That is, the coordinates of one end of the impact path U are (-x1,0), and the coordinates of the other end are (x1,0). Note that the units of coordinates on the XY plane coordinate system are, for example, mm.

[0042] In the first embodiment, the control unit 611 controls the linear actuator 40 so that the nozzle 21 sprays abrasive material along N (N is a natural number of 1 or more) target points set at different positions on the striking path U. Figure 5 also illustrates the N target points on the striking path U. The N target points are set at each of the N specified time points t (t1 to tN). Specifically, the control unit 611 controls the nozzle 21 to strike the corresponding target point at each of the N specified time points t (t1 to tN).

[0043] The period T between a specified time t at one of two mutually adjacent target points on the striking path U (hereinafter referred to as the "unit period") is typically constant over N target points. The unit period T remains constant regardless of the distance between the two target points. In other words, it can be said that the N specified time points t (t1 to tN) are arranged at constant intervals on the time axis. The nozzle 21 oscillates within the oscillation range corresponding to the interval between two mutually adjacent target points for a predetermined unit period T. The unit period T (for example, 1 / 1000 to 1 / 10 seconds) is the control period of the linear actuator 40 and can be set arbitrarily by the user.

[0044] In the first embodiment, as illustrated in Figure 5, N target points are arranged at equal intervals, and for convenience, the case where N is 17 is shown as an example. However, in reality, it is expected that, for example, 100 to 1000 target points will be set.

[0045] The target points are arranged with the same number of points (eight in Figure 5) on both the positive and negative sides of the x-axis, relative to the reference point V0 (0,0). The reference point V0 (0,0) is the point midway between the first target point (-x1,0) located at one end of the striking path U and the Nth target point (x1,0) located at the other end. x1 - (-x1) is the length of the striking path U. That is, once the length of the striking path U is determined, the coordinate values ​​of the first target point (-x1,0) and the Nth target point (x1,0) are also determined.

[0046] Alternatively, instead of specifying the length of the striking path U, the user may specify the coordinates of the first target point (-x1,0) and the Nth target point (x1,0). In Figure 5, the N target points are discrete, but the actual striking point moves continuously along the striking path U. That is, the striking point moves in a way that passes through the N target points. This can also be rephrased as the striking point moving between (-x1,0) and (x1,0).

[0047] In the first embodiment, when the angle of the injection direction W is 0° and the point of impact is at the reference point V0(0,0), the position of the rod connection point Pa is set, for example, to a position that passes through the central axis G of the rod 41 and has an X coordinate of 0. In other words, the rod 41 and the injection device 20 are connected such that when the nozzle 21 is at the reference point V0(0,0), the rod connection point Pa is at a position that passes through the central axis G of the rod 41 and has an X coordinate of 0.

[0048] In the first embodiment, the nozzle 21, under the control of the control unit 611, oscillates within a predetermined unit period T in a section corresponding to the space between two mutually adjacent target points within the oscillation range. The unit period T is the time obtained by dividing the time required for the linear motion of the linear actuator 40 in the first direction (or second direction) by (N-1). For example, if the reciprocating motion in the first and second directions takes 1 second (the linear motion in the first / second direction takes 0.5 seconds), the unit period T is 0.5 / (N-1) seconds.

[0049] Specifically, the control unit 611 controls the operating length of the linear actuator 40 at each designated time t, thereby causing the nozzle 21 to strike the abrasive material along N target points. The linear actuator 40 is controlled so that it reaches a predetermined operating length at each designated time t. By controlling the operating length of the linear actuator 40, the oscillation angle of the nozzle 21 changes. Hereinafter, two adjacent target points will also be simply referred to as "two points".

[0050] The greater the distance between the two points, the greater the amount of movement of the linear actuator 40 (rod 41) in a unit period T, and the larger the oscillation range of the nozzle 21 in a unit period T. In other words, the greater the distance between the two points, the faster the actual point of impact needs to move within a unit period T (the faster the extension and retraction speed of the rod 41 within a unit period T needs to be).

[0051] On the other hand, the smaller the distance between two points, the smaller the amount of movement of the linear actuator 40 (rod 41) in a unit period T, and the smaller the swing range of the nozzle 21 in a unit period T. In other words, the smaller the distance between two points, the slower the actual point of impact moves within a unit period T (the slower the extension and retraction speed of the rod 41 within a unit period T). In the first embodiment, it can also be said that the amount of movement of the point of impact between two adjacent points in a unit period T is controlled by controlling the operating length of the linear actuator 40 at specified time points.

[0052] The smaller the distance between two points, the slower the speed at which the striking point moves, resulting in deeper abrasive material being used to remove material between the two points. Conversely, the larger the distance between two points, the faster the speed at which the striking point moves, resulting in shallower abrasive material being used to remove material between the two points. In Figure 5, the distance between two points is the same across N target points, so a uniform depth of abrasive material is removed along the striking path U.

[0053] The calculation unit 613 calculates N target points on the strike path U for each of the N specified time points t. In the first embodiment, each of the N target points is calculated in accordance with instructions from the user regarding the placement of the N target points (hereinafter referred to as "placement instructions"). Specifically, upon receiving placement instructions from the user (in the first embodiment, instructions to place N target points at equal intervals), the calculation unit 613 calculates the N target points on the strike path U according to the placement instructions. It should be noted that the placement instructions in the first embodiment can also be rephrased as instructions to place all N target points at once. In the first embodiment, the calculation unit 613 places (N-2) target points between the first target point and the Nth target point at regular intervals. As mentioned above, the coordinate values ​​of the first target point (-x1,0) and the Nth target point (x1,0) are known.

[0054] Next, the identification unit 615 identifies the operating length of the linear actuator 40 at a specified time t corresponding to the target point calculated by the calculation unit 613. Specifically, for each of the N target points, the identification unit 615 determines the oscillation angle θγ of the nozzle 21 (i.e., the oscillation angle of the nozzle 21 that allows it to strike the target point) and identifies the operating length of the linear actuator 40 from this oscillation angle θγ. In other words, for each of the N target points, a predetermined operating length (length st) of the linear actuator 40 is identified.

[0055] Figure 6 shows the XY plane coordinates when using the linear actuator 40 according to the first embodiment. The operating length (st) of the linear actuator at each specified time point t will be explained using Figure 6.

[0056] Figure 6 shows the reference point V0 (0,0) and the impact point Vγ (x γ ,y γ ), the pivot axis P1 (x Ｐ1 , y Ｐ1 The rod connection point Pa and the oscillation angle θγ of the nozzle 21 are shown in the figure. Note that in the first embodiment, y γ and x Ｐ1 This is 0. The oscillation angle θγ of the nozzle 21 is the angle between the line passing through the oscillation axis P1 and parallel to the Y-axis (i.e., the line passing through the reference point V0 and the oscillation axis P1) and the injection direction W. In other words, the oscillation angle θγ is the angle between the line passing through the oscillation axis P1 and parallel to the Y-axis and the central axis P2 of the opening of the nozzle 21.

[0057] First, the position of the rod connection point Pa is determined for each target point. The rod connection point Pa can be determined according to the oscillation angle θγ of the nozzle 21. The oscillation angle θγ can be determined using various formulas and equations (e.g., trigonometric functions) since the positions of the reference point V0, the impact point Vγ, and the oscillation axis P1 are known. Furthermore, since the radius of the circle to which the rod connection point Pa moves (length of line segment Pa-P1) is known from the design, the rod connection point Pa can be determined from various equations (e.g., equation of a line or equation of a circle) using the oscillation angle θγ and the radius of the circle, for example, as the intersection point of the injection direction W (line segment Vγ-Pa) and the circle.

[0058] FIG. 7 is a view focusing on the linear actuator 40. s is the length from a straight line passing through the swing axis Pb of the linear actuator 40 and orthogonal to the central axis G of the rod 41 to the rod connection point Pa when the rod 41 is at the minimum value (typically 0) within the designed stroke range. q is the length (shortest distance) from the swing axis Pb to the central axis G. s and q are known from actual measurement or design drawings.

[0059] st can be calculated, for example, as the distance between the rod connection point Pa at an arbitrary point in time and the rod connection point Pa when the rod 41 is at the minimum value within the designed stroke range. That is, st can also be paraphrased as the length of the rod 41 at an arbitrary point in time based on the minimum value within the designed stroke range. In the first embodiment, st is the operating length (expansion and contraction length) of the linear actuator 40 at the specified time t. st is a value that changes according to the linear motion of the linear actuator 40.

[0060] r is the sum of the length st and the length s. For example, the rod connection point Pa (x ｐa , y ｐa ), the swing axis Pb (x ｐｂ , y ｐｂ ) and the length q can be specified by the Pythagorean theorem. And the length st (= r - s) can be specified from the length r and the length s. However, the method of calculating the length st is not limited to the above examples and can be arbitrary as long as it can be calculated according to various known values and the swing angle θγ of the nozzle (and thus the rod connection point Pa).

[0061] The control unit 611 controls the linear actuator 40 using the specified length st for each target point (each specified time t). Specifically, the control unit 611 calculates the movement amount of the linear actuator 40 at each specified time t (the length st at the specified time t - the length st when the swing angle θγ of the nozzle 21 is at the first angle θj) based on the length st when the swing angle θγ of the nozzle 21 is at the first angle θj, and controls the linear actuator 40 according to the movement amount.

[0062] For example, the amount of movement of the linear actuator 40 at each specified time t is calculated by setting the amount of movement of the linear actuator 40 over the entire oscillation range (first angle θj to second angle θk) to 100, and setting the length st when the oscillation angle of the nozzle 21 is at the first angle θj (when the rod 41 is at its shortest length in the striking path U) to 0. In other words, the amount of movement may be a normalized value. The amount of movement of the linear actuator 40 over the entire oscillation range (first angle θj to second angle θk) can be determined by (length st at the first angle θj - length st at the second angle θk). For example, the amount of movement of the linear actuator 40 at each specified time t can be calculated by 100 / (length st at the first angle θj - length st at the second angle θk) × (length st at the specified time t - length st at the first angle θj). Furthermore, since the striking path U can be set arbitrarily, st is not necessarily 0 mm (i.e., the minimum value in the stroke range of the linear actuator 40) when the oscillation angle is at the first angle θj.

[0063] The control unit 611 then controls the linear actuator 40 to move by a specified amount for each of the N specified time points t, thereby striking the N target points. The amount of movement specified by the control unit 611 is transmitted to the linear actuator 40. In practice, for example, the amount of movement can be controlled by controlling the angular velocity of the drive unit 43 in a unit period T.

[0064] However, controlling the linear actuator 40 by the amount of movement is not essential. For example, the linear actuator 40 may be controlled by directly specifying the operating length (length st) of the linear actuator 40 at a specified time t. In other words, as long as it is possible to set the nozzle 21 to the desired oscillation angle θγ at each specified time t, the specific method for controlling the linear actuator 40 is not particularly limited and can be appropriately changed depending on the linear actuator 40 used.

[0065] Figure 8 is a flowchart of an example of the process (hereinafter referred to as "control process") for controlling the linear actuator 40 by the control device 61. As illustrated in Figure 8, when the control process is started, the calculation unit 613 calculates N target points (SA1). In the first embodiment, the calculation unit 613 calculates N target points in response to placement instructions (instructions regarding the placement of N target points) from the user. In the first embodiment, the N target points are calculated so that they are arranged at equal intervals. Step SA1 can also be described as the process of calculating a target point for each of the N specified time points. Before the control process is started, the control device 61 receives instructions from the user regarding the length of the striking path U.

[0066] Next, the identification unit 615 identifies the length st (operating length) of the linear actuator 40 for N target points (SA2). Step SA2 is the process of identifying the length st when the strike point of the nozzle 21 is located at each target point. Then, the control unit 611 controls the linear actuator 40 so that the length st identified at each specified time t is determined (SA3). As steps SA1-SA3 are executed, the spray direction W of the nozzle 21 is controlled so that the target point corresponding to each of the N specified time points t is struck. In other words, the strike point moves along the N target points. An example of the specific processing of steps SA1-SA3 is as described above. The N target points and the length st (operating length) of the linear actuator 40 identified for each target point are displayed on a display device (not shown) so that the user can confirm them.

[0067] In this case, for example, in a configuration in which the nozzle is controlled by a rotary actuator (hereinafter referred to as the "comparative example"), it was difficult to uniquely determine the oscillation angle of the nozzle (and thus the point of impact) relative to the rotation angle, because the angular velocity could not be changed within one rotation and the rotation angle of the rotary actuator could only be controlled relatively. In other words, it was not possible to control the oscillation of the nozzle with high precision.

[0068] In contrast, according to the configuration of the first embodiment, in which the nozzle 21 is oscillated using a linear actuator 40, it is possible to change the moving speed of the rod 41 within the linear motion of the linear actuator 40, and the relationship between the length st of the linear actuator 40 (rod connection point Pa) and the oscillation angle θγ of the nozzle (and thus the impact point) can be uniquely determined. Therefore, the oscillation of the nozzle can be controlled with high precision. As a result, it becomes possible to control the nozzle so that it sprays abrasive material along each of the N arbitrarily set target points for N specified time points t.

[0069] Furthermore, by arbitrarily setting each of the N target points, the speed at which the striking point moves between each pair of points can be controlled. In the first embodiment, the case where the distance between all pairs of points on the striking path U is equal (i.e., the speed at which the striking point moves along the entire length of the striking path U is constant) was illustrated, so the depth to which the target surface F is removed along the striking path U can be kept constant (i.e., flat).

[0070] In the configuration of the first embodiment, each of the N target points is calculated according to placement instructions from the user. Compared to a configuration in which the user individually specifies the positions (coordinates) of the N target points, the user can set the N target points more easily. However, a configuration in which the user individually specifies the positions of the N target points is also adopted. In this configuration, the identification unit 615 identifies the working length (length st) for each of the N target points individually specified by the user.

[0071] <Second Embodiment> A second embodiment of the present invention will now be described. In the following examples, for elements whose function is the same as in the first embodiment, the reference numerals used in the description of the first embodiment will be reused, and detailed descriptions of each will be omitted as appropriate.

[0072] In the first embodiment, an example was given in which the distance between all pairs of points on the impact path U is equal (i.e., the speed at which the impact point moves between the two points is the same), and the depth to which the target surface F is removed on the impact path U is constant. However, it is also conceivable that the depth to which the target surface F is removed may differ at different positions on the impact path U. Therefore, in the second embodiment, an example is given in which the depth to which the target surface F is removed differs at different positions on the impact path U.

[0073] In the second embodiment, the calculation unit 613 calculates the positions of N target points according to the increase / decrease rate. The increase / decrease rate is a value used to adjust the distance between two points and is an index that represents the degree to which the distance between two points increases or decreases from the center to the end of the hitting path U. Specifically, the calculation unit 613 calculates N target points such that the distance between two points changes (increases / decreases) from the center to the end of the hitting path U. In the second embodiment, the target points are calculated such that the distance between two points changes continuously from the center to the end of the hitting path U.

[0074] Figure 9 is a schematic diagram showing N target points when the distance between two points on the end side of the striking path U is to be increased relative to the center. Figure 10 is a schematic diagram showing N (=17) target points when the distance between two points on the end side of the striking path U is to be decreased relative to the center.

[0075] Figures 9 and 10 illustrate the interval D1 between reference point V0 and the target point immediately preceding reference point V0, and the interval D8 between the first target point and the second target point. The intervals between two points are positioned as intervals D1, D2, ..., D7, D8 from the center. Interval D1 is the reference interval at the center of the striking path U, and interval D8 is the interval at the end of the striking path U. Reference point V0 is the target point in the middle of the N target points, and is the ninth target point in Figures 9 and 10.

[0076] The percentage change is an indicator that shows, for example, how much the interval D8 is changed relative to the interval D1. For example, if you want to make the interval D8 smaller relative to the interval D1, the percentage change is set to a value smaller than the reference value (e.g., 1), if you want to make the interval D8 larger relative to the interval D1, it is set to a value larger than the reference value, and if the intervals D1 and D8 are the same (i.e., in the first embodiment where all intervals between two points are the same), the reference value is used.

[0077] The calculation unit 613 calculates the position (coordinates) from the first target point to the reference point V0 by gradually changing the intervals D2 to D8 according to the rate of increase or decrease, so that the final value at interval D8 reflects the rate of increase or decrease. In the examples in Figures 9 and 10, there are nine target points from the first target point to the reference point V0, so for example, D2 = D1 × rate of increase or decrease^(1 / (9-2)), D3 = D1 × rate of increase or decrease^(2 / (9-2)), ..., D7 = D1 × rate of increase or decrease^(6 / (9-2)), D8 = D1 × rate of increase or decrease. The first target point and the reference point V0 (i.e., the distance from the first target point to the reference point V0) are determined by setting the strike path.

[0078] Similarly, the calculation unit 613 calculates the interval between two points from the reference point V0 to the Nth target point according to the rate of increase or decrease. Note that the target points from the target point immediately following the reference point V0 to the Nth target point (the 10th to the 17th target points) are the inverted values ​​(values ​​with the sign changed) of the values ​​from the 1st target point to the target point immediately preceding the reference point V0 (the 9th target point) with the reference point V0 as the center. As described above, N target points are set so that the interval between two target points changes continuously from the reference point V0 toward the 1st and Nth target points.

[0079] However, the rate of increase or decrease is not limited to an indicator that shows how much interval D8 changes relative to interval D1. For example, the rate of increase or decrease may be an indicator that shows how much the interval between two points increases or decreases relative to the adjacent interval located closer to the center. For example, interval D2 would be the value obtained by multiplying interval D1 by the rate of increase or decrease, and interval D3 would be the value obtained by multiplying interval D2 by the rate of increase or decrease.

[0080] As can be understood from the above explanation, the specific details of the increase / decrease rate and the method of calculating the target points are not particularly limited, as long as it is possible to calculate N target points such that the degree of increase or decrease in the distance between two points increases from the center to the edges. In the second embodiment, it can also be said that by specifying the increase / decrease rate, the arrangement of the N target points is specified all at once.

[0081] In the second embodiment, the target points from the first target point to the point immediately preceding the reference point V0, and the target points from the point immediately following the reference point V0 to the Nth target point, are inverted values ​​around the reference point V0. That is, a common rate of increase or decrease is used on both sides of the reference point V0. However, different rates of increase or decrease may be used on both sides of the reference point V0.

[0082] As described above in the first embodiment, the greater the distance between the two points, the faster the speed at which the striking point moves, and the shallower the area between the two points is removed by the abrasive material. Conversely, the smaller the distance between the two points, the slower the speed at which the striking point moves, and the deeper the area between the two points is removed by the abrasive material. Therefore, if you want to remove the end side of the striking path U shallowly relative to the center, you should make the distance between the two points continuously increase from the center to the end, as illustrated in Figure 9. Conversely, if you want to remove the end side of the striking path U deeply relative to the center, you should make the distance between the two points continuously decrease from the center to the end, as illustrated in Figure 10.

[0083] In the blasting device 100A, the increase / decrease rate can also be described as an indicator of how much the edges are removed relative to the center on the impact path U. Specifically, the increase / decrease rate represents the depth to which the target surface F is removed when abrasive material is sprayed at the first and Nth target points, with the depth to which the target surface F is removed when abrasive material is sprayed at the intermediate target point (i.e., reference point V0) on the impact path U as the reference.

[0084] In the second embodiment, since N target points are calculated according to the rate of increase or decrease, there is an advantage that the speed at which the striking point moves can be controlled at intervals of two points based on a rate of increase or decrease arbitrarily set by the user. In particular, the configuration of the second embodiment is suitable for use when, for example, it is desired to continuously change the speed at which the striking point moves from the center to the edge of the striking path, since the N target points are set so that the distance between two points changes continuously from the reference point V0 toward the first and Nth target points. Note that different rates of increase or decrease may be set for each target point or for multiple target points.

[0085] <Modifications> The forms exemplified above can be modified in various ways. Specific examples of modifications that can be applied to the aforementioned forms are given below. Two or more forms arbitrarily selected from the following examples can be combined as appropriate, to the extent that they do not contradict each other.

[0086] (1) In each of the above-described embodiments, the configuration of the blast apparatus other than the configuration in which the oscillation angle of the nozzle 21 is controlled by controlling the linear actuator 40 is not limited to the above examples.

[0087] (2) In the above-described embodiments, a configuration in which the control unit 611, the calculation unit 613, and the identification unit 615 are mounted on a common control device 61 was illustrated. However, the control unit 611, the calculation unit 613, and the identification unit 615 may each be implemented in separate control devices of independent information processing devices (e.g., personal computers, tablets, smartphones). For example, a configuration in which the calculation unit 613 and the identification unit 615 are implemented in a control device of an information processing device, and the control unit 611 is implemented in a control device 61 mounted on the blast device 100A is also adopted. The operating lengths of the linear actuators at N specified time points, identified by the control device (calculation unit 613, identification unit 615) of the information processing device, are stored in the storage device 62 of the processing device 60 of the blast device 100A.

[0088] (3) In each of the above embodiments, the linear actuator 40 was controlled according to the length st of the linear actuator 40. However, the method of controlling the linear actuator 40 is not particularly limited, as long as it is possible to move the striking points along N striking points.

[0089] (4) The position to which the linear actuator 40 is connected (position of the pivot axis Pb) is not limited to the example shown in Figure 2.

[0090] (5) In each of the above-described embodiments, the blasting device 100 can be used for both wet and dry applications. In the case of wet applications, a blasting device 100 is exemplified as a blasting device 100 that can spray a liquid such as water as a propellant at high pressure. Furthermore, the spraying system of the present invention is not exemplified as a blasting device. For example, a painting device that sprays paint (an example of a "propellant") onto a target surface F of a structure using a nozzle 21, or a cleaning device that sprays a liquid such as a cleaning agent (an example of a "propellant") onto a target surface F of a structure using a nozzle 21, are exemplified as spraying systems. As can be understood from the above description, various devices capable of spraying a propellant onto a target surface F of a structure using a nozzle 21 are exemplified as spraying systems. The propellant can be appropriately changed depending on the type of spraying system.

[0091] (6) In each of the above-described embodiments, when the calculation unit 613 calculates N target points, it may use shape data (e.g., CAD data) representing the shape of the target surface F to calculate the N target points. For example, positions to be cut deeply and positions to be cut shallowly are set according to the shape data, and N target points are calculated. When it is desired to cut the target surface F flat, if the shape data indicates that the target surface F is uneven, N target points are set such that the target points corresponding to the convex parts are cut deeper than the target points corresponding to the other parts. As described above, parts to be cut deeply and parts to be cut shallowly are set on the target surface F according to the shape data, and N target points are calculated according to these settings. Note that the setting of parts to be cut deeply and parts to be cut shallowly on the target surface F may be set manually by the user, or the calculation unit 613 may determine and set them from the shape data. As can be understood from the above explanation, the method by which the calculation unit 613 calculates N target points is not particularly limited.

[0092] (7) Multiple different arrangement patterns of N target points (for example, the arrangement patterns in Figures 5, 9 and 10) may be prepared in advance, and the control unit 611 may control the nozzle 21 so that the abrasive material is sprayed along the N target points indicated by the arrangement pattern instructed by the user.

[0093] (8) In each of the above-described embodiments, the propellant can be struck in any section of the striking path U (hereinafter referred to as the "designated section"). As illustrated in Figure 11, for example, when a designated section in the striking path U is set by instruction from the user, the control unit 611 controls the nozzle 21 to spray the propellant in this designated section.

[0094] The method for setting the designated section is not particularly limited, but for example, when the user specifies the start and end points (i.e., the length of the designated section), the control unit 611 sets the designated section. The user specifies the designated section using the operator (not shown) of the processing unit 60 and the display device (not shown) that displays various setting screens. For example, if the total length of the striking path U is 43 mm, the starting point is specified as 10 mm from one end of the striking path U, and the ending point is specified as 10 mm from the other end of the striking path U (i.e., the length of the designated section is 23 mm). Alternatively, the user may indirectly specify the designated section by specifying the length st of the linear actuator 40 corresponding to the start point of the designated section and the length st of the linear actuator 40 corresponding to the end point of the designated section. The start and end points of the designated section do not need to coincide with any of the N target points. Also, the designated sections do not need to be symmetrical with respect to the reference point V0.

[0095] The control unit 611 controls the linear actuator 40 so that the nozzle sprays the propellant along one or more target points corresponding to a designated section in the striking path U. Specifically, the length st of the linear actuator 40 is controlled so that the nozzle 21 sprays the propellant along one or more target points corresponding to the designated section from the start point to the end point of the designated section. In practice, the nozzle 21 sprays the propellant in a back-and-forth motion along the designated section.

[0096] With the above configuration, the propellant can be injected into any designated section of the impact path U set by the user. Therefore, for example, if the user wants to inject the propellant into only a portion of the impact path U after injecting the propellant along its entire length, this portion can be set as the designated section.

[0097] (9) In each of the above-described embodiments, the linear actuator 40 may be further controlled using motion capture. For example, the movement (change in length) of the rod 41 of the linear actuator 40 may be measured in advance as three-dimensional data, so that the linear actuator 40 can be controlled at more than N specified time points t.

[0098] (10) In each of the above-described embodiments, the rod 41 may be connected to the pipe 25 via another member (for example, a cam member). In the above configuration, the connection point with the other member is the rod connection point Pa.

[0099] (11) The length st of the linear actuator 40 may be determined as follows. Figure 12 is a diagram of the configuration of the blasting device 100B, which assumes that the nozzle 21 is controlled by a virtual rotary actuator 70 that performs rotational motion instead of the linear actuator 40. Note that this rotary actuator 70 is a virtual motor that can control the oscillation angle θγ of the nozzle 21 with high precision (its angular velocity can be freely changed during rotation).

[0100] The rotary actuator 70 rotates the nozzle 21 within its swing range. The blasting device 100B has the same configuration as the blasting device 100A in Figures 1 and 2, except that the rotary actuator 70 is installed instead of the linear actuator 40. Therefore, the blasting device 100B in Figure 12 also has the same configuration in that the nozzle 21 swings around the swing axis P1.

[0101] In the modified example, when determining the oscillation angle θγ of the nozzle 21, it is assumed that the striking point of this virtual blast device 100B is moved along N target points.

[0102] As illustrated in Figure 12, the rotary actuator 70 rotates around the rotation axis Pd. In a modified example, a rotary actuator 70 that rotates 360° is assumed.

[0103] The rotary actuator 70 and the injection device 20 are connected via a shaft 80. The point where the rotary actuator 70 and the injection device 20 are connected is denoted as the shaft connection point Pc, and the point where the rotary actuator 70 and the shaft 80 are connected is denoted as the motor connection point Pe (an example of a "second connection point"). The motor connection point Pe moves in a circular motion around the rotation axis Pd due to the rotational motion of the rotary actuator 70.

[0104] The relative position of the shaft connection point Pc with respect to the pivot axis P1 is the same as that of the rod connection point Pa. Therefore, the trajectory (circle) of the shaft connection point Pc and the trajectory (circle) of the rod connection point Pa are the same when the nozzle 21 oscillates within its oscillation range. The position of the shaft connection point Pc changes in conjunction with the rotational motion of the rotary actuator 70. The rotary actuator 70 and the shaft 80 may be directly connected or indirectly connected via other elements, as long as the shaft connection point Pc is rotatable around the rotation axis Pd in ​​accordance with the rotational motion.

[0105] Figure 13 is a schematic diagram illustrating the relationship between the oscillation range of the nozzle 21 by the rotary actuator 70 and the target surface F. One rotation of the rotary actuator 70 (rotation from 0° to 360°) corresponds to the linear motion (reciprocating linear motion) of the linear actuator 40 in the first and second directions. That is, when the rotary actuator 70 rotates once, the impact point reciprocates along the impact path U. Figure 13 also shows the position of the impact point on the impact path U at the rotation angle of the rotary actuator (indicated in [ ]).

[0106] A half-rotation (from 0° to 180°) of the rotary actuator 70 corresponds to the linear motion of the linear actuator 40 in the first direction. That is, a half-rotation of the rotary actuator 70 causes the strike point to move from one end of the strike path U to the other end (i.e., between the first target point (-x1,0) and the Nth target point (x1,0)).

[0107] On the other hand, a half-rotation of the rotary actuator 70 (from 180° to 360°) corresponds to the linear motion of the linear actuator 40 in the second direction. That is, as the rotary actuator 70 rotates half a turn, the point of impact moves from one end of the impact path U to the other (i.e., between the Nth target point (x1,0) and the first target point (-x1,0)).

[0108] When the rotation angle of the rotary actuator 70 is 0° and 360°, the oscillation angle θγ of the nozzle 21 becomes the first angle θj, and it is in a position to spray the first target point (-x1,0). When the rotation angle of the rotary actuator 70 is 180°, the oscillation angle θγ of the nozzle 21 becomes the second angle θk, and it becomes possible to spray the Nth target point (x1,0). Furthermore, when the rotation angle of the rotary actuator 70 is 90° and 270°, it becomes possible to spray the reference point V0 (0,0).

[0109] The number of target points in one rotation of the rotary actuator 70 is (2N-1). 180° is the Nth target point, and the range from 180° to 360° is obtained by inverting the values ​​of the (N-1)th target point to the 1st target point, with 180° as the center. That is, each target point in the range from 0° to less than 180° and each target point in the range from 180° to 360° are obtained by inverting the values ​​with the 180° target point as the center. For example, the position of the (N-1)th target point is the same as the position of the (N+1)th target point. Therefore, in the following explanation, we will focus on the target points from the 1st to the Nth.

[0110] In the modified example, the calculation unit 613 calculates N target points within the range from the position of the impact point (i.e., the first target point) when the rotation angle is 0° (-x1, 0) to the position of the impact point (the Nth target point) when the rotation angle is 180° (x1, 0). A target point is calculated for each of the N specified time points t. Specifically, each target point is calculated such that the value of the X coordinate increases continuously from the first target point to the Nth target point as the rotation angle of the rotary actuator 70 increases from 0° to 180°, and the target point becomes the reference point V0 when the rotation angle is 90°. In the modified example, as described above, the target points are calculated such that the distance between two adjacent points remains constant across the N target points. Therefore, for example, a target point is calculated by -x1 + (x1 × rotation angle of the rotary actuator 70 / 90).

[0111] The rotary actuator 70 will travel back and forth along the striking path U in one rotation (0° to 360°). The rotation angle of the rotary actuator at the i-th target point (i = 1 to 2N-1) in one rotation is expressed as (i-1) × 360 / 2(N-1).

[0112] In a modified example, the length st of the linear actuator 40 in the blast device 100A is calculated using the oscillation angle θγ of the nozzle 21 (angle of the nozzle 21's spray direction W) when the blast device 100B strikes N target points.

[0113] Figure 14 shows the XY plane coordinates when using the rotary actuator 70. Figure 14 illustrates the reference point V0, the oscillation axis P1 of the nozzle 21 at the striking point Vγ, the rotation axis Pd of the rotary actuator 70, the motor connection point Pe, the shaft connection point Pc, and the oscillation angle θγ of the nozzle 21.

[0114] θ1 is the angle between a line passing through the oscillation axis P1 and parallel to the X-axis (a line parallel to the strike path U) and the line segment connecting the oscillation axis P1 and the motor connection point Pe (line segment Pe-P1). θ2 is the angle between the line segment connecting the oscillation axis P1 and the motor connection point Pe (line segment Pe-P1) and the injection direction W of the nozzle 21.

[0115] The modified specification unit 615 first determines the oscillation angle θγ of the nozzle 21 capable of spraying to each of the N target points when using the rotary actuator 70. The oscillation angle θγ is the same whether the linear actuator 40 is used to strike along the N target points or the rotary actuator 70 is used to strike along the N target points. Therefore, the specification unit 615 determines the length st of the linear actuator 40 using the oscillation angle θγ determined for the rotary actuator 70.

[0116] Position of the pivot axis P1 (x Ｐ１ ,y Ｐ１ ), position of rotation axis Pd (x Ｐｄ ,y Ｐｄ The length of the motor connection point Pe (x) and the shaft 80 (the line segment connecting the motor connection point Pe and the shaft connection point Pc) are known and fixed values. On the other hand, the length of the motor connection point Pe (x) Ｐe ,y Ｐe ), shaft connection point Pc(x Ｐc ,y Ｐc The oscillation angle θγ of the nozzle 21 is a value that changes according to the rotation angle of the rotary actuator 70.

[0117] [Target Points] First, each of the N target points when using the rotary actuator 70 can be determined according to the oscillation angle θγ. Specifically, the oscillation angle θγ can be determined, for example, using trigonometric functions. As will be described in detail later, each of the N target points calculated for the rotary actuator 70 is made to match each of the N target points calculated for the linear actuator 40.

[0118] [Angles θ1, θ2, θ3] Angle θ3 can be calculated as 180 - θ1 - θ2.

[0119] The angle θ1 can be determined, for example, from the length h of the line segment Pe-P1. The length h of the line segment Pe-P1 is equal to the length n(y Ｐe -y Ｐ1 ) and length m(x Ｐe The angle θ1 can be found using lengths n and h, for example, by the Pythagorean theorem.

[0120] The angle θ2 can be determined as one interior angle (the angle between line segments Pe-P1 and Pc-P1) of the triangle δ whose vertices are the motor connection point Pe, the shaft connection point Pc, and the oscillation axis P1. Using the lengths of the three sides of this triangle δ (line segments Pe-Pc, Pe-P1, and Pc-P1), it can be determined using any formula (for example, heroin's formula or the law of cosines). The length h of line segment Pe-P1 is as described above. Note that the position of the motor connection point Pe, the position of the rotation axis Pd, the radius of the circle to which the motor connection point Pe moves, and the line segment Pe-Pc (i.e., the length of the shaft 80) are known values ​​set based on the blast device 100B that can be assumed when attempting to implement it. The length of line segment Pc-P1 is known from the actual blast device 100A. When using the heroin formula, first find the half-perimeter of triangle δ, then find the area of ​​triangle δ and the height when the line segment Pe-P1 is used as the base, and use this height to find the angle θ2.

[0121] As described above, angles θ1 and θ2 are calculated using the length h of the line segment Pe-P1. Consequently, angle θ3 (i.e., oscillation angle θγ) can also vary depending on the length h of the line segment Pe-P1. And, as mentioned above, the length h of the line segment Pe-P1 is calculated using the motor connection point Pe(x Ｐe , y Ｐe The value of ) is used. In the modified example, each of the N target points specified for the rotary actuator 70 is set to coincide with each of the N target points calculated for the linear actuator 40, so that the motor connection point Pe(x) at each target point is set. Ｐe , y Ｐe ) is adjusted. That is, the motor connection point Pe(x) is adjusted so that the difference between the target point obtained for the rotary actuator 70 and the target point obtained for the linear actuator 40, where the specified time t is the same (i.e., they are in the same order on the strike path U), is 0. Ｐe , y Ｐe Adjust the position of the motor connection point Pe(x). In other words, adjust the position of the motor connection point Pe(x). Ｐe , y Ｐe The target point identified for the rotary actuator 70 using the angle θ3 (oscillation angle θγ) obtained by ) coincides with the target point calculated for the linear actuator 40.

[0122] Next, the identification unit 615 uses the oscillation angle θγ identified for the rotary actuator 70 to determine the length st of the linear actuator at each specified time point t. The method for determining the length st of the linear actuator 40 from the oscillation angle θγ is the same as in the embodiments described above.

[0123] Furthermore, when the calculation unit 613 calculates N target points by applying the increase / decrease rate, for example, it calculates the target points by adding the increase / decrease rate to the value calculated as the target point above (-x1 + (x1 × rotation angle of the rotary actuator 70 / 90)). For example, the target points are calculated by multiplying -x1 + (x1 × rotation angle of the rotary actuator 70 / 90) by ((1 - increase / decrease rate) / 90 × rotation angle of the rotary actuator 70 at the specified time t + increase / decrease rate).

[0124] As described above, the linear actuator 40 performs reciprocating linear motion (motion corresponding to one rotation of the rotary actuator 70). By reversing the length st (and thus the amount of movement) for the other target points with respect to the Nth target point, the striking path U can be made to reciprocate.

[0125] (12) The functions of the processing device 60 (information processing device) according to each of the above embodiments are realized through cooperation between a computer (for example, a control device 61) and a program. A program according to a preferred embodiment of the present invention is provided in a form stored on a computer-readable recording medium and installed on the computer. The recording medium is, for example, a non-transitory recording medium, such as an optical recording medium (optical disc) like a CD-ROM, but includes any known form of recording medium such as a semiconductor recording medium or a magnetic recording medium. Note that a non-transitory recording medium includes any recording medium except for transient propagation signals (transitory, propagating signals), and does not exclude volatile recording media. The program may also be provided to the computer in the form of distribution via a communication network.

[0126] 10: Closed casing 20: Injection device 21: Nozzle 23: Injection hose 25: Pipe 26: Fitting 30: Wheel 40: Linear actuator 41: Rod 42: Frame section 43: Drive unit 50: Support plate 60: Processing device 61: Control device 62: Memory device 70: Rotary actuator 80: Shaft 100: Blast device 611: Control unit 613: Calculation unit 615: Specific unit F: Target surface U: Impact path

Claims

1. An injection system comprising: an injection device including a nozzle that is capable of oscillating about a pivot axis within a predetermined range of oscillation angles and injects a propellant onto a target surface of a structure; a linear actuator connected to the injection device and performing linear motion to oscillate the nozzle about the pivot axis; and a control unit that controls the linear actuator, wherein the control unit controls the linear actuator so that the nozzle injects the propellant along N target points set for each of N (N is a natural number of 1 or more) specified time points, and the N target points are set at different positions on the target surface on a striking path corresponding to the range of oscillation angles.

2. The injection system according to claim 1, wherein the operating length of the linear actuator is specified for each of the N target points, and the control unit controls the linear actuator so that it becomes the specified operating length at each specified time point.

3. The spraying system of claim 1, wherein the positions of the N target points are calculated according to an increase / decrease rate, and the increase / decrease rate represents the depth to which the target surface is abraded when the spraying material is sprayed at the first and Nth target points, with the depth to which the target surface is abraded when the spraying material is sprayed at a target point located midway between the first and Nth target points in the impact path as the reference.

4. The injection system of claim 3, wherein the positions of the N target points are calculated such that the distance between two mutually adjacent target points changes continuously from the intermediate target point toward the first and Nth target points, according to the rate of increase or decrease.

5. The injection system of claim 1, wherein the positions of the N target points are calculated in accordance with instructions from the user regarding the arrangement of the N target points.

6. The injection system according to claim 1, wherein the control unit controls the linear actuator so that the nozzle injects the propellant along one or more target points corresponding to a section designated in the impact path.

7. An information processing device comprising a specification unit for specifying the operating length of the linear actuator for each of the N target points in the injection system of claim 1.

8. A method for controlling an injection system comprising: an injection device including a nozzle that is oscillating about a pivot axis within a predetermined range of oscillation angles and injects an injection material onto a target surface on a structure; and a linear actuator connected to the injection device and causing the nozzle to oscillate about the pivot axis by performing linear motion, the method comprising controlling the linear actuator so that the nozzle injects the injection material along N target points set for each of N (N is a natural number of 1 or more) specified time points, wherein the N target points are set at different positions on the impact path corresponding to the range of oscillation angles on the target surface, and the control method is realized by a computer.

9. A computer-based information processing method for determining the operating length of the linear actuator for each of the N target points in the injection system of claim 1.

10. A program for controlling an injection system comprising: an injection device including a nozzle that is oscillating about a pivot axis within a predetermined range of oscillation angles and injects an injection material onto a target surface of a structure; and a linear actuator connected to the injection device and performing linear motion to oscillate the nozzle about the pivot axis, wherein a computer functions as a control unit for controlling the linear actuator, the control unit controls the linear actuator so that the nozzle injects the injection material along N target points set for each of N (N is a natural number of 1 or more) specified time points, and the N target points are set at different positions on the target surface on a striking path corresponding to the range of oscillation angles.

11. A program that causes a computer to function as a identifying unit that determines the operating length of the linear actuator for each of the N target points in the injection system of claim 1.

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