| 摘要 |
PURPOSE:To perform concrete spraying construction work generating no splash- back or spray spot, by detecting distances and angles from three arbitrary points on a plane at a right angle to the main revolving axial core of a robot and the angle of the main revolving axial core in the axial core direction of a pit. CONSTITUTION:From the positions of three selected points A, B, C in a plane at right angle to the main revolving axial core of a robot, the distances from the points A-C to the main revolving axial core and angles from the definite plane passing the main revolving axial core of the points A-C around said axial core are detected. In addition, the oblique angle of the main revolving axial core to the horizontal line in the axial core direction of a pit is detected. Subsequently, by using positional data of three points A, B, C and oblique angle data, a spray nozzle is moved in a circular arc state along the arbitrary plane at a right angle to the pit axial core. By this method, spraying is accurately performed even under such a state that the accurate centering of a robot position is difficult. |
