JP-7856554-B2 - Spraying control device, spraying system, and spraying control method

JP7856554B2JP 7856554 B2JP7856554 B2JP 7856554B2JP-7856554-B2

Inventors

和田賢一
吉田知洋
水谷亮
横山太郎
高木良介
金崎俊造
木崎康弘
持田陽平
古谷一気

Assignees

鹿島建設株式会社
カジマメカトロエンジニアリング株式会社

Dates

Publication Date: 20260511
Application Date: 20221207

Claims (11)

A spray control device that generates spray control data for controlling a spraying device that sprays a spraying material onto a building structure including at least beams, A 3D shape data acquisition unit acquires 3D shape data representing the surface shape of the building structure obtained by a sensor, A beam shape calculation unit calculates beam shape data that shows at least the position and shape of the beam based on the three-dimensional shape data, A target designation receiving unit that receives target information indicating that at least one of the beam, a portion of the beam, and a surface of the beam, as shown by the beam shape data, is designated as a target for spraying, A spraying order receiving unit that receives designation of the spraying start point, which is the point at which spraying begins among the aforementioned targets for spraying, A spray pattern determination unit that determines a spray pattern for each surface and part of the beam according to the shape of the spray target in the spray target information, wherein the spray pattern is composed of spray lines arranged in the order in which spray points, which are target points on the spray target to be sprayed with the spray material, are sprayed, A spray control data generation unit generates spray control data including spray target information, in which the spray pattern is associated with each surface and portion of the beam to be sprayed. It comprises an output unit that outputs the generated spraying control data, The spray control data generation unit sets the spraying order, which is the order in which the spraying material is sprayed for each target until spraying is completed on all targets, using the spraying start point as the starting position for spraying, and includes the set spraying order in the spray control data. Spraying control device.
The aforementioned target designation reception unit receives the spraying target information which designates four of the main beams, which are beams located between the four corners of a rectangular planar shape, one to three of the four main beams, and at least one of the parts of the main beams as targets for spraying. The spray control device according to claim 1.
The aforementioned target designation reception unit receives information on the target of spraying, which includes the web, the lower surface of the upper flange and the upper surface of the lower flange, or the lower surface of the lower flange of the H-shaped steel constituting the beam. The spraying control device according to claim 1 or 2.
The spraying order receiving unit receives the designation of the spraying end point, which is the point where spraying is to be completed among the spraying targets. The spraying control data generation unit sets the order of the targets to be sprayed from the spraying start point to the spraying end point as the spraying order. The spray control device according to claim 1 .
The spraying order receiving unit receives a designation of the order in which the spraying material will be sprayed on each surface or part that constitutes the beam. The spraying control data generation unit sets the spraying order according to the spraying order specified by the spraying order receiving unit. The spray control device according to claim 1 .
The spraying control data generation unit calculates spray point coordinate data consisting of a set of coordinates of each spray point included in the spraying line in a coordinate system set in the space where the spraying target and the spraying device exist, and includes the calculated spray point coordinate data in the spraying control data. The spray control device according to claim 1.
Each spray pattern has spray lines corresponding to the shapes of the web, the web surface portion including the web, the lower surface of the upper flange and the upper surface of the lower flange, the stiffener portion, the sleeve portion, and the lower surface of the lower flange of the H-shaped steel constituting the beam. The spray pattern determination unit selects a spray pattern from a plurality of spray patterns that corresponds to the shape of the object to be sprayed. The spray control device according to claim 1.
Each spraying pattern includes a predetermined spraying line pitch, which is the interval between the spraying lines, and a spraying point pitch, which is the interval between the spraying points along the spraying lines. The spray control device according to claim 1.
The spray control data generation unit calculates a correction value for the spray line pitch and a spraying speed (the time it takes to spray the material onto the spray line) based on the required amount of spray material to be applied to the target, which is set in advance, and the shape of the target, and includes these values in the spray control data. The spray control device according to claim 8 .
A spraying device for spraying a spray material onto building structures, including at least beams, A sensor capable of acquiring three-dimensional shape data representing the surface shape of the aforementioned building structure, Includes the spray control device described in claim 1, The three-dimensional shape data acquisition unit acquires the three-dimensional shape data from the sensor, The output unit sends the spraying control data to the spraying device. Spraying system.
A spray control method in a spray control device that generates spray control data for controlling a spray device that sprays a spray material onto a building structure including at least beams, A three-dimensional shape data acquisition step is to acquire three-dimensional shape data representing the surface shape of the building structure obtained by a sensor, A beam shape calculation step, which calculates beam shape data indicating at least the position and shape of the beam based on the three-dimensional shape data, A target designation acceptance step that receives target information indicating that at least one of the beam, a portion of the beam, and a surface of the beam, as shown by the beam shape data, is designated as a target for spraying, A spraying order acceptance step that accepts the designation of the spraying start point, which is the point where spraying will begin among the aforementioned spraying targets, A spray pattern determination step in which a spray pattern is determined for each surface and part of the beam according to the shape of the spray target in the spray target information, wherein the spray pattern is composed of spray lines arranged in the order in which spray points, which are target points on the spray target to be sprayed with the spray material, are sprayed, A spray control data generation step generates spray control data that includes spray target information, in which the spray pattern is associated with each surface and portion of the beam to be sprayed. The output step includes outputting the generated spray control data, In the spraying control data generation step, the spraying start point is set as the starting position for spraying, and the spraying order is set as the order in which the spraying material is sprayed for each spraying target until spraying is completed for all spraying targets, and the set spraying order is included in the spraying control data. Spray control method.

Description

This invention relates to a spraying control device, a spraying system, and a spraying control method. Steel frame structures (S-structures) and CFT structures require fire-resistant coatings. To reduce the manpower required for this fire-resistant coating process, various fire-resistant coating spraying robots (spraying devices) have been developed. For example, Patent Document 1 discloses a spraying system in which a nozzle for discharging fire-resistant coating material is provided at the tip of a multi-jointed robot arm. Patent No. 7054376 This is a block diagram showing the device configuration of the spraying system according to this embodiment.Figure 2(a) shows an example of the overview of the spraying apparatus when acquiring 3D shape data of the target to be sprayed using a sensor. Figure 2(b) shows an example of the overview of the spraying apparatus when spraying the spraying material.This is a block diagram showing the functional configuration of the spray control device according to this embodiment.This diagram shows the hardware configuration of the spray control device.Figure 5(a) shows an example of beam shape data calculated based on three-dimensional shape data acquired by a sensor. Figure 5(b) shows an example of beam shape data, in which the height and dimensions of the web and flange surfaces of the beam are shown.Figure 6(a) schematically shows a stiffener that is part of a beam. Figure 6(b) schematically shows a sleeve that is part of a beam.Figure 7(a) is a schematic diagram showing the main beam to which the sprayed material will be applied. Figure 7(b) is a diagram showing the cross-section of the main beam, illustrating each face of the beam.Figure 8(a) shows an example of specifying the spraying start point and setting the spraying order for a target consisting of four main beams. Figure 8(b) shows an example of specifying the spraying start point and spraying end point for the beams.This diagram shows an example of the spraying sequence set for a single main beam designated as the target for spraying, and the operation of spraying the material using a spraying device.This diagram shows an example of the process of spraying a spray material onto two main beams designated as targets, using a spraying device in accordance with a set spraying sequence.This figure shows an example of a pre-set spray pattern.This flowchart shows the processing details of the spray control method implemented in the spray control device. The embodiments of the present invention will be described in detail below with reference to the attached drawings. In the description of the drawings, identical or equivalent elements are denoted by the same reference numerals, and redundant descriptions are omitted. Figure 1 is a block diagram showing the configuration of the spraying system according to this embodiment. The spraying system 1 includes a spraying control device 10, and may also include a sensor SE and a spraying device 20. The spraying device 20 is a device that sprays a spraying material onto a building structure, including at least beams. In this embodiment, the spraying device 20 sprays fire-resistant coating as a spraying material onto steel frame (S-structure) and CFT (Cemented Fiber Construction) structures. While this embodiment describes the case where the spraying device 20 sprays fire-resistant coating, the spraying device 20 may also be a device that performs concrete spraying and paint spraying. The spraying control device 10 is a device that generates spraying control data for controlling the spraying device 20, which can be configured as a robot. The spraying control device 10 is configured to transmit and receive information with the sensor SE and the spraying device 20 via wired or wireless connection. Figure 2 is a schematic diagram showing the overview of the spraying device 20. Figure 2(a) shows an example of the overview of the spraying device 20 when acquiring 3D shape data of the spraying target by the sensor SE. Figure 2(b) shows an example of the overview of the spraying device 20 when spraying the spraying material. As shown in Figure 2(a), the spraying device 20 comprises a lower traveling section 21 and an upper movable section 22. The lower traveling section 21 incorporates well-known mechanisms and technologies such as LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping). These mechanisms and technologies enable the spraying device 20 to perform tasks such as scanning the surrounding environment, measuring distances to nearby objects, and estimating its own position, thus allowing for autonomous movement. The upper movable section 22 is configured to be able to rise relative to the lower traveling section 21 by means of a lifting pole 23. The lifting pole 23 is configured to be extendable and retractable, for example, by water pressure. The spraying device 20 raises or lowers the upper movable section 22 by extending or retracting the liftin