JP2019002849A - Mobile body, and method, device, and system for inducing and positioning mobile body - Google Patents

Abstract

To provide a mobile body that can be automatically positioned by a simple configuration, and a method, a device, and a system for inducing and positioning the mobile body.SOLUTION: A laser apparatus 12 emits a vertical laser as an example of a posture measuring laser and a point laser as an example of a distance measuring laser to the target position of a marking robot 14. A controller 10 changes the posture of the marking robot 14 according to the vertical laser. The controller 10 moves the marking robot 14 so that the distance between the laser apparatus 12 and the marking robot 14 is a predetermined distance and determines the position of the marking robot 14 at a target position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a moving body, a method for guiding and positioning a moving body, an apparatus, and a system.

  Conventionally, a method and a system for positioning a positioning object at a target position are known (see, for example, Patent Document 1). In the technique described in Patent Document 1, the inking device is moved toward the target position based on the position of the inking device measured using the laser range finder. Then, after the inking device is moved, the inking device is positioned at the target position based on the position of the inking device measured using the total station. In this system, inking is performed using a total station, a laser range finder, a collimator, and an inking device (see, for example, [FIG. 1] of Patent Document 1).

  Also, an object position detection method and apparatus are known (see, for example, Patent Document 2). In the technique described in Patent Document 2, two laser beams are sequentially irradiated onto a target object from a single laser light source of a laser pointer robot. Then, the position of the center of gravity of the first laser spot and the position of the center of gravity of the second laser spot are measured by the in-object coordinate system of the object. Thereby, the position of the target object in the area coordinate system is detected.

Japanese Patent No. 5516204 Japanese Patent No. 3731123

  However, the technique described in Patent Document 1 requires the use of a total station, a laser range finder, a collimator, and an inking device, which makes the system configuration complicated and a very expensive system.

  Moreover, in the said patent document 1, the position of the positioning target object is measured using the laser range finder. However, this method cannot measure the posture of the positioning object. When the posture cannot be measured, it is difficult to accurately guide the positioning target to the target position, and it is not appropriate as a method for guiding the positioning target to the target position.

  Further, in the technique described in Patent Document 2, since the laser beam is irradiated to the floor surface on which the position detection target object is located, the laser spot is spread, and the position of the position detection target object is detected with high accuracy. I can't. In order to detect the position of the position detection target object with high accuracy, a highly accurate laser device is required, which complicates the system configuration. In Patent Document 2, since the position is calculated after sequentially irradiating the two lasers, the real-time position calculation is poor. Further, since the posture of the position detection target object cannot be calculated, it is not appropriate as a method for guiding the positioning target object to the target position, as in the above-described Patent Document 1.

  In view of the above facts, the present invention has an object of automatically positioning a moving body with a simple configuration.

  In order to achieve the above object, the moving body guidance and positioning method of the present invention includes an irradiation step of irradiating a posture measuring laser and a distance measuring laser toward a target position of the moving body, and the posture of the irradiation step The posture changing step of changing the posture of the moving body according to the measurement laser, and the movement so that the distance between the laser device that irradiates the distance measuring laser and the moving body is a predetermined distance. A moving step of moving the body to position the moving body at the target position. Thereby, positioning of a moving body can be performed automatically with a simple configuration.

  The apparatus for guiding and positioning the moving body according to the present invention controls the posture of the moving body in accordance with the posture measuring laser irradiated toward the target position of the moving body, and measures the irradiation toward the target position. Based on the distance to the laser reflection position measured using the distance laser, the movable body is set such that the distance between the laser device that irradiates the distance measuring laser and the movable body is a predetermined distance. And a controller for positioning the movable body at the target position.

  The control unit according to the present invention includes a first image representing an image of the posture measuring laser irradiated on the first screen provided on the moving body, and a second screen provided on the moving body. Based on the irradiated second image representing the image of the posture measurement laser, the posture measurement laser included in the first image and the posture measurement laser included in the second image. Correspondingly, the distance between the laser device and the second screen is controlled based on the distance to the laser reflection position measured using the distance measuring laser by controlling the attitude of the moving body. The moving body can be controlled to move so as to be a predetermined distance. Thereby, the moving body can be automatically positioned in consideration of the direction of the moving body with respect to the target position and the distance between the target position and the moving body.

  The control unit of the present invention controls the moving body to stop when the distance between the laser device and the second screen is a predetermined distance, and according to the stop position of the moving body. The display mechanism of the moving body can be controlled so as to display the target position. Thereby, even if the stop position of the moving body is deviated from the target position, the display for the target position can be performed with high accuracy.

  The moving body of the present invention is installed so as to be irradiated with the attitude measurement laser and the distance measuring laser, and is installed so as to be irradiated with the attitude measurement laser. A second screen installed at different positions in the vertical direction with respect to the first screen and at a predetermined interval in the normal direction of the first screen, and a first image representing an image of the first screen A first camera that captures the second image, a second camera that captures a second image representing the image on the second screen, the first image, the second image, and the distance measurement A traveling mechanism that is controlled according to the distance to the laser reflection position measured using a laser, and a display mechanism that displays the target position according to the traveling result of the traveling mechanism. Thereby, it is possible to automatically display the target position with a simple configuration.

  The moving body guidance and positioning system according to the present invention includes a laser device that irradiates a posture measuring laser and a distance measuring laser, a moving body according to the present invention, and the posture measuring laser and the distance measuring laser. The present invention further comprises: a laser control unit that controls the laser device to irradiate a target position; and a measurement unit that acquires a distance to a laser reflection position measured using the distance measuring laser. The positioning device is constituted.

  The laser control unit of the positioning device of the present invention irradiates the distance measuring laser toward the target position based on the target position information acquired from a three-dimensional model of a building including target position information. The laser device can be controlled. Thereby, positioning of a mobile body can be performed accurately using the target position information included in the three-dimensional model of the building.

  According to the present invention, it is possible to obtain an effect that the moving body can be automatically positioned with a simple configuration.

It is a block diagram which shows schematic structure of the guidance and positioning system of the moving body which concerns on 1st Embodiment. It is a figure which shows the functional structural example of the control system of the guidance and positioning system of a moving body. It is a figure which shows an example of a structure of a three-dimensional laser measuring device, and an example of a structure of a rotary laser irradiation device. It is a figure which shows an example of a structure of a summing-out robot. It is a figure which shows an example of the wheel with which a travel mechanism is provided. It is a figure which shows an example of a structure of a horizontal position adjustment mechanism. It is explanatory drawing for demonstrating a horizontal position adjustment mechanism and a display mechanism. It is a figure which shows an example of the coordinate system in the construction site set by this embodiment. It is a figure which shows an example of a movement coordinate system. It is explanatory drawing for demonstrating the coordinate set by this embodiment. It is explanatory drawing for demonstrating the coordinate set by this embodiment. It is explanatory drawing for demonstrating the coarse motion phase of this embodiment. It is explanatory drawing for demonstrating the laser line in a movement coordinate system. It is a figure for demonstrating the relationship between the structure of an inking robot, and the laser projected on each screen. It is explanatory drawing for demonstrating a laser coordinate system and each wheel. It is a figure which shows an example of the positional relationship of the laser line of a point laser, and a perpendicular | vertical laser, and deviation | shift amount. It is a sequence diagram which shows the process of the first half part in a coarse motion phase. It is a flowchart which shows the coarse motion control process in a coarse motion phase. It is a sequence diagram which shows the process of the second half part in a coarse motion phase. It is a flowchart which shows the fine movement control process in a fine movement phase. It is a figure which shows an example of a structure of the rotary laser irradiation device in 2nd Embodiment. It is a figure which shows an example of a structure of the guidance and positioning system of the moving body which concerns on 2nd Embodiment. It is a figure which shows an example of the 1st image in the 1st screen of 2nd Embodiment, and the 2nd image in a 2nd screen. It is a figure which shows an example of the 2nd image in the 2nd screen of 2nd Embodiment. It is a figure which shows the modification of the guidance and positioning system of a moving body. It is a figure which shows the modification of the guidance and positioning system of a moving body.

  Hereinafter, embodiments of the present invention will be described in detail.

<Configuration of Moving Body Guidance and Positioning System According to First Embodiment>

  The moving body guidance and positioning system according to the first embodiment is a system for moving a marking robot to a specified target point and marking a target coordinate corresponding to the target point. FIG. 1 is a diagram illustrating an example of a configuration of a moving body guidance and positioning system 100 according to an embodiment of the present invention. As shown in FIG. 1, the moving body guidance and positioning system 100 includes a control device 10, a laser device 12, and an inking robot 14. The ink marking robot 14 is an example of a moving body.

  In the moving body guidance and positioning system 100, the control device 10 controls the laser device 12. The laser device 12 emits a laser in accordance with the control of the control device 10. The ink marking robot 14 moves to the target point in accordance with the laser emitted from the laser device 12. Then, when reaching the vicinity of the target point, the marking robot 14 performs marking on the target coordinates corresponding to the target point. FIG. 2 is a diagram illustrating an example of a functional configuration of the control system of the moving body guidance and positioning system 100. Hereinafter, a specific description will be given with reference to FIGS. 1 and 2.

(Control equipment)

  The control device 10 controls the laser device 12 and the inking robot 14. The control device 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores programs for realizing each processing routine, a RAM (Random Access Memory) that temporarily stores data, and a storage unit. A memory, a network interface, and the like are included. Functionally, the control device 10 includes a communication unit 10A and a control unit 10B as shown in FIG.

  The control device 10 transmits / receives information to / from the robot control device 14E of the ink marking robot 14 via the communication unit 10A.

  The control unit 10 </ b> B of the control device 10 generates a control signal for controlling the laser device 12. Specifically, the control unit 10B outputs a control signal related to rotation in the irradiation direction of the point laser to the three-dimensional laser measuring instrument 12A. In addition, the control unit 10B transmits a control signal related to distance measurement using a point laser to the three-dimensional laser measuring device 12A. Then, the control unit 10B receives the distance measurement data measured by the three-dimensional laser measurement device 12A. Further, the control unit 10B of the control device 10 transmits a control signal related to a rotation instruction in the irradiation direction of the vertical laser to the rotary laser irradiator 12B.

(Laser equipment)

  The laser device 12 irradiates a laser toward a target point of the marking robot 14. Note that the laser device 12 emits a laser in accordance with the control of the control device 10. As shown in FIGS. 1 and 2, the laser device 12 includes a three-dimensional laser measuring device 12A and a rotary laser irradiator 12B. Note that the rotation axis of the three-dimensional laser measuring instrument 12A and the rotation axis of the rotary laser irradiator 12B coincide. The three-dimensional laser measuring instrument 12A outputs a point laser as a distance measuring laser. The rotary laser irradiator 12B outputs a vertical laser as a posture measurement laser. In the first embodiment, the case where the distance measuring laser is a point laser and the posture measuring laser is a vertical laser will be described as an example.

  FIG. 3A shows an example of the configuration of the three-dimensional laser measuring instrument 12A. The three-dimensional laser measuring instrument 12A irradiates the point laser from the laser irradiation unit 12C according to the control signal output from the control device 10. The point laser is irradiated with respect to the direction designated by the control signal and is irradiated substantially parallel to the floor surface. In addition, the three-dimensional laser measuring instrument 12A measures the horizontal distance to the object irradiated with the point laser.

  FIG. 3B shows an example of the configuration of the rotary laser irradiator 12B. The rotary laser irradiator 12B irradiates a vertical laser from the laser irradiation unit 12D in accordance with a control signal output from the control device 10. The vertical laser is irradiated with respect to the direction specified by the control signal, and is irradiated substantially perpendicularly to the floor surface. The rotary laser irradiator 12B includes a turntable 12E that rotates around the Z axis (azimuth direction), and a motor 12F that rotates the turntable in response to a control signal related to a rotation instruction from the control device 10.

(Inking robot)

  The inking robot 14 moves in accordance with the laser emitted from the laser device 12 and performs inking on the target coordinates of the target point.

  The inking robot 14 can be configured, for example, as shown in FIG. As shown in FIGS. 2 and 4, the ink marking robot 14 includes the first screen 14A, the second screen 14B, the first camera 14C, the second camera 14D, and the robot control device 14E. And a traveling mechanism 14F, a horizontal position adjusting mechanism 14G, and a display mechanism 14H. Further, the skeleton of the inking robot 14 includes a frame and the like. The robot control device 14E is an example of a moving body guidance and positioning device.

  The first screen 14A is installed so as to be irradiated with a vertical laser. The irradiation light of the vertical laser irradiated from the rotary laser irradiator 12B is projected onto the first screen 14A.

  The second screen 14B is installed so as to be irradiated with a vertical laser and a point laser. Further, as shown in FIG. 4, the second screen 14B is located at a position that is different in the vertical direction with respect to the first screen 14A and that is spaced by a predetermined interval in the normal direction of the first screen 14A. Installed. On the second screen 14B, the irradiation light of the vertical laser irradiated from the rotary laser irradiator 12B and the irradiation light of the point laser irradiated from the three-dimensional laser measuring device 12A are projected.

  The first camera 14 </ b> C images the first screen 14 </ b> A and obtains a first image representing an image of a vertical laser irradiated on the first screen. The second camera 14D captures the second screen 14B and obtains a second image representing at least one of a vertical laser and a point laser irradiated on the second screen. The first image and the second image are used for controlling the ink picking robot 14.

  The robot control device 14E controls the inking robot 14. The robot control device 14E includes a CPU, a ROM that stores a program for realizing each processing routine, a RAM that temporarily stores data, a memory as a storage unit, a network interface, and the like. As shown in FIG. 2, the robot control device 14E includes a robot control unit 140 and a robot communication unit 142. The robot control device 14E communicates with the control device 10 via the robot communication unit 142, and transmits and receives information.

  The robot control unit 140 performs image processing on the first image captured by the first camera 14C and the second image captured by the second camera 14D. Further, the robot control unit 140 controls the traveling mechanism 14F, the horizontal position adjusting mechanism 14G, and the display mechanism 14H according to the control signal transmitted from the control device 10.

  The traveling mechanism 14F causes the inking robot 14 to travel according to the control of the robot control device 14E. The traveling mechanism 14F is a second screen that is measured by using an image processing result for the first image captured by the first camera 14C and the second image captured by the second camera 14D and a point laser. It is controlled according to the distance up to 14B. In the present embodiment, the position of the second screen 14B is the laser reflection position.

  The traveling mechanism 14F can be a mechanism that can freely move in all directions, for example. In the present embodiment, a case where the traveling mechanism 14F is a three-wheel omnidirectional moving mechanism including three omni wheels (registered trademark) and a driving motor (not shown) for driving each omni wheel will be described as an example. To do. As shown in FIG. 5, the omni wheel can slide freely in a direction perpendicular to the driving direction of the wheel. For this reason, by controlling the rotational speed of each of the three wheels, the ink picking robot 14 can be moved in all directions.

  The horizontal position adjustment mechanism 14G adjusts the horizontal position of the display mechanism 14H according to the traveling result of the traveling mechanism 14F based on the control of the robot control device 14E. Specifically, the horizontal position adjusting mechanism 14G adjusts the horizontal position of the display mechanism 14H according to the control of the robot control device 14E when the marking robot 14 reaches the vicinity of the target point. Then, in accordance with the position adjustment of the horizontal position adjustment mechanism 14G, the display mechanism 14H performs inking.

The horizontal position adjusting mechanism 14G can be configured as shown in FIG. 6A, for example. As shown in FIG. 6A, the horizontal position adjusting mechanism 14G is e.g., X-axis stage for moving the two orthogonal directions display mechanism 14H each other (X _m-direction and the Y _m direction in FIG. 6B) and the Y-axis stage It has. X-axis stage, extending in the X direction, the X-axis rail R _X for movably supporting a display mechanism 14H in the X-axis direction, and the X-axis motor M _X for moving the display mechanism 14H in the X-axis rail R _X It has. The Y-axis stage, extends in the Y-axis direction, a Y-axis rail R _Y for movably supporting a display mechanism 14H in the Y-axis direction, Y-axis motor is moved along the Y-axis stage in the Y-axis rail R _Y M _Y is provided.

As shown in FIG. 6A, it is set to the rail R _X in the X-axis stage of the horizontal position adjusting mechanism 14G coincides with X _m-axis of the moving coordinate system that will be described later, and rails R _Y of the Y-axis stage will be described later It is installed so as to coincide with the _Ym axis of the moving coordinate system.

  The display mechanism 14H performs inking as a display for the target position according to the traveling result of the traveling mechanism 14F based on the control of the robot control device 14E. Specifically, the stamp is printed on the floor as a display for the target position in accordance with the adjustment of the horizontal position of the display mechanism 14H by the horizontal position adjustment mechanism 14G.

  As shown in FIG. 6B, the display mechanism 14H includes a stamp portion St filled with ink engraved with markings, and an elevating mechanism 14I that moves the stamp portion St up and down in the Z-axis direction.

Elevating mechanism 14I includes a Z-axis rail _{R Z} for movably supporting the stamp unit St vertically (Figure 6B in _{Z m-direction),} Z-axis motor is moved along the stamped part St in the Z-axis rail _{R Z} M _Z. As the stamp portion St is lowered to the floor surface by the elevating mechanism 14I, the marking mark is stamped on the floor surface.

  Next, the coordinate system in the present embodiment will be described.

(Coordinate system)

  In FIG. 7, an example of the coordinate system in the construction site set by this embodiment is shown. In the present embodiment, as shown in FIG. 7, an example in which a good ink is already drawn will be described. As shown in FIG. 7, the good ink represents ink drawn at a predetermined distance (for example, 1 m) from the core passing through the pillar of the building. Assume that the coordinates of the intersection of the ink marks are known from the drawing information of the building.

As shown in FIG. 7, for example, X _w axis is one Shinsumi, a specific one Shinsumi orthogonal to the X _w axis and Y _w axis. Then, an intersection between the _{X w} axis and _{Y w} axis as an origin _{O w,} to set absolute coordinate system _{O w -X} w _Y w. In the absolute coordinate system shown in FIG. 7, A way corresponds to the _Xw axis, and 1 way corresponds to the _Yw axis.

Also, as shown in FIG. 8, a moving coordinate system O _m -X _m Y _m is set in which the center of gravity of the ink picking robot 14 is determined as the origin O _m . Then, the angle formed between the X _m-axis of the X _w axis and the moving coordinate system of the absolute coordinate system and phi. Incidentally, the distance between the center of gravity of the marking robot 14 and the origin O _m between each wheel and L _H.

  Next, the positions of the three-dimensional laser measuring device 12A and the rotary laser irradiator 12B and the position of the target point T in the absolute coordinate system will be described.

As shown in FIG. 9, a laser device 12 including a three-dimensional laser measuring device 12A and a rotary laser irradiator 12B is installed at an arbitrary point L (x ₁ , y ₁ ). Hereinafter, the arbitrary point L (x ₁ , y ₁ ) is referred to as an instrument point L. In this case, the rotation axis in the azimuth direction of the three-dimensional laser measuring device 12A and the rotation axis in the azimuth direction of the rotary table of the rotary laser irradiator 12B are arranged to coincide with each other.

First, the positional relationship between the instrument point L and the target point T will be described. As shown in FIG. 9, for two points whose coordinates are known (for example, the intersections of parent ink) A and B, by measuring ∠ALB and horizontal distances r _a and r _b , According to the equations (1) and (2), the coordinates (x ₁ , y ₁ ) of the instrument point L can be calculated.

Next, consider the case where the marking robot 14 is guided to the target point T (x _t , y _t ) for marking. In this case, as shown in FIG. 10, the horizontal distance r _t from the instrument point L to the target point T is represented by the following formula (3). An azimuth angle ∠ALB with respect to the known point A from the instrument point L to the target point T is expressed by the following equation (4).

A horizontal distance r _t from the instrument point L to the target point T, based on the azimuth ∠ALB for known point A from the instrument point L to the target point T, marking robot 14 is induced.

  Next, the operation of the ink picking robot 14 in this embodiment will be described.

(Operation of ink drawing robot)

  In this embodiment, the movement phase to the target point T of the ink picking robot 14 is divided into the following two.

(1) Coarse movement phase: Phase that moves to the vicinity of the target point T (for example, approximately within 10 cm from the target point) (2) Fine movement phase: Uses the horizontal position adjustment mechanism 14G and the display mechanism 14H provided in the ink pick-up robot 14 Phase for marking the target position

  Hereinafter, each phase will be described in detail.

(Coarse phase)
In the coarse movement phase, the ink marking robot 14 moves according to the following STEP1 to STEP4. With reference to FIG. 11, STEP1-STEP4 is demonstrated concretely.

[STEP1]

  In STEP1, the control unit 10B of the control device 10 controls the rotary laser irradiator 12B so that the vertical laser is irradiated. The rotary laser irradiator 12 </ b> B irradiates a vertical laser in accordance with a control signal from the control device 10.

Hereinafter, a line obtained by projecting a vertical laser onto the XY plane is referred to as a laser line. Laser lines in the moving coordinate system O _m -X _m Y _m are as shown in FIG.

  As shown in FIG. 11A, the inking robot 14 is placed on the laser line to be in an initial state. When the vertical laser is irradiated from the rotary laser irradiator 12B to the inking robot 14, a laser line of the vertical laser is projected onto the first screen 14A and the second screen 14B of the inking robot 14. .

  A method for guiding the inking robot 14 based on the laser lines projected on the first screen 14A and the second screen 14B of the inking robot 14 will be described below.

As shown in FIG. 13A, the second screen 14B is arranged on the moving coordinate system X _m -Z _m plane of the inking robot 14. The first screen 14A is parallel to the moving coordinate system X _m -Z _m plane and is disposed at a distance y _s from the second screen 14B. Further, the installation position of each screen, the three-dimensional laser measuring instrument 12A, so that the point laser is projected onto the second screen 14B and the vertical laser is projected onto the first screen 14A and the second screen 14B. The height of the rotary laser irradiator 12B is adjusted in advance.

As shown in FIG. 13A, the first screen 14A and the second screen 14B are arranged at a distance y _s so that the posture of the inking robot 14 with respect to the laser line can be specified. . Specifically, the posture of the inking robot 14 is specified based on the difference between the first image representing the first screen 14A and the second image representing the second screen 14B.

  More specifically, when the laser line is not perpendicular to the first screen 14A and the second screen 14B, the position of the laser line projected onto the first screen 14A and the laser projected onto the second screen 14B. The position of the line is different.

For example, when the first screen 14A, the second screen 14B, and the laser line are in a positional relationship as shown in FIG. 12, the position of the laser line projected on the first screen 14A and the second screen 14B. The position of the laser line projected onto is as shown in FIG. As shown in FIG. 13 (B), the distance from the center of the first screen to the projection position of the laser line and x _1, the distance from the center of the second screen to the projection position of the laser line and x ₂ Then, a different value from the distance _{x 1} and the distance _{x 2.}

  In the present embodiment, the posture of the inking robot 14 is controlled using the projection position of the laser line projected on each screen.

  Specifically, as shown in FIG. 13B, when the laser line of the vertical laser is projected onto the first screen 14A and the second screen 14B, the first camera of the ink picking-up robot 14 is used. 14C captures the first screen 14A and obtains a first image. In addition, the second camera 14D of the inking robot 14 captures the second screen 14B and obtains a second image.

  For this reason, the robot control unit 140 of the robot control device 14E performs image processing on the first image and the second image. Specifically, the robot control unit 140 performs vertical laser on the first image and the second image by performing image processing such as edge extraction and high-luminance pixel extraction processing on the first image and the second image. The projection position of the laser line is detected.

Then, the robot controller 140, the image processing result of the first image and the second image, the laser line from the center of the first screen 14A and the center distance x ₁ to the projection position of the laser line from the second screen 14B of calculating the distance x ₂ to the projection position of. By previously calibrating the first camera 14C and the second camera 14D in advance, it is possible to predetermine the length corresponding to one pixel of the image, calculating the distances x ₁ and the distance x ₂ Can do.

Further, the robot control unit 140 calculates an angle θ formed between the Y _m axis of the moving coordinate system O _m -X _m Y _m and the laser line based on the distance x ₁ and the distance x ₂ . The robot control unit 140, based on the distance _{x 1} and the distance _{x 2,} and calculates the distance d between the center of gravity _{O m} and laser line.

  Specifically, the robot control unit 140 calculates the angle θ and the distance d formed according to the following relational expressions (5) and (6).

x ₁ = y _s / sin θ (5)
x ₂ = d / cos θ (6)

[STEP2]

  In STEP 2, as shown in FIG. 11B, the control unit 10 </ b> B of the control device 10 controls the three-dimensional laser measurement device 12 </ b> A so that the point laser is irradiated toward the target point T. The three-dimensional laser measuring device 12 </ b> A irradiates the point laser in the direction of the target point T in accordance with a control signal from the control device 10.

[STEP3]

  In STEP 3, as shown in FIG. 11C, the control unit 10 </ b> B of the control device 10 sets the rotary laser irradiator 12 </ b> B so that the vertical laser is scanned toward the target point T of the marking robot 14. Control. Then, the rotary laser irradiator 12B irradiates the vertical laser so as to scan the vertical laser toward the target point T according to the control signal of the control unit 10B. This will be specifically described below.

  As shown in FIG. 11C, the control device 10 transmits a control signal that instructs the rotary laser irradiator 12B to rotate in the direction of the target point T at a constant speed. The rotary laser irradiator 12B rotates in the direction of the target point T at a constant speed, as shown in FIG. 11C, according to the control signal transmitted from the control device 10. Then, as shown in FIG. 11C, the marking robot 14 travels so as to track the vertical laser emitted from the rotary laser irradiator 12B in accordance with the rotation of the rotary laser irradiator 12B. . The tracking of the vertical laser of the inking robot 14 will be specifically described below.

In the present embodiment, as shown in FIG. 14, indexes H1, H2, and H3 are assigned to the wheels included in the traveling mechanism 14F. In the present embodiment, the laser coordinate system _{LX laser} Y with the instrument point L (x ₁ , y ₁ ) as the origin, the laser line as the Y _laser axis, and the direction perpendicular to the Y _laser axis as the X _laser axis is used. Set the _laser .

Also, the center of gravity coordinates of the _marking robot in the laser coordinate system is (x _laser , y _laser ), the posture is θ _laser , the instruction speed in the X _laser direction for the _marking robot is x ^· _laser , and the indication of the Y _laser direction in the laser coordinate system The speed is y ^· _laser . Further, the designated rotation speed in the laser coordinate system is θ ^· _laser . Here, θ _laser corresponds to the inclination angle of the Y _m axis of the moving coordinate system with respect to the laser line (Y _laser axis), and is the same as θ that can be calculated by equations (5) and (6).

In the present embodiment, the PID control system is configured using the distance d between the laser line and the center of gravity coordinates of the marking robot and the tilt angle θ _laser of the Y _m axis of the moving coordinate system with respect to the laser line (Y _laser axis) as a deviation signal. Then, the values represented by the equations (7), (8), and (9) are used as control inputs for the inking robot.

(7)

(8)

(9)

The parameters K _{P, d} , K _{I, d} , K _{D, d} , K _{P, θ} , K _{I, θ} , K _{D, θ} relating to PID control are set in advance.

The robot control apparatus 14E is based on the distance _{x 1} and the distance _{x 2,} the formula (5) and in accordance with the relational expression (6), the angle formed at time t theta (t) and the distance d at time t (t) Are calculated sequentially. Then, the robot control device 14E follows the above formulas (7), (8), and (9) based on the angle θ (t) formed at time t, the distance d (t) at time t, and the parameters related to PID control. calculated instruction speed ^x _{· laser,} indicated rate ^y _{· laser,} and the instruction rotational speed theta ^· _laser for marking robot 14.

The robot control apparatus 14E was calculated instruction speed ^x _{· laser,} calculated instruction speed ^y _{· laser,} and based on the instruction rotational speed theta ^· _laser, the forward velocity v1, v2, v3 of the wheel H1, H2, H3 To do. Specifically, the robot control device 14E determines whether each of the wheels H1, H2, and H3 is in accordance with the following formula (10) based on the instruction speed x ^· _laser , the instruction speed y ^· _laser , and the instruction rotation speed θ ^· _laser . The forward speeds v1, v2, and v3 are calculated. Θ _laser in the following formula (10) is an angle formed between the laser line and the Y _m axis in the moving coordinate system, and corresponds to the angle θ calculated by the above formula (5) and the above formula (6). To do.

(10)

  The robot control device 14E controls the wheels H1, H2, and H3 of the traveling mechanism 14F of the inking robot 14 to be driven at the forward speeds v1, v2, and v3.

  As a result, feedback control is performed so that the angle θ (t) formed at time t and the distance d (t) at time t become zero, and the inking robot 14 can stably track the vertical laser.

  Next, as shown in FIG. 11D, the control unit 10B of the control device 10 rotates the rotary laser so as to stop the rotational movement when the irradiation direction of the vertical laser coincides with the direction of the target point T. The irradiator 12B is controlled.

  When the rotary motion of the rotary laser irradiator 12B is stopped, the tracking operation of the vertical laser of the ink picking robot 14 is also ended. As a result, the ink marking robot 14 is temporarily stopped.

[STEP4]

  In STEP4, as shown in FIG. 11E, the inking robot 14 travels on the laser line toward the target point T. In STEP 4, the point laser and the vertical laser are irradiated toward the target point T of the inking robot 14, and the posture of the inking robot 14 is changed according to the vertical laser. Then, the inking robot 14 is moved so that the distance between the three-dimensional laser measuring device 12A that irradiates the point laser and the inking robot 14 becomes a predetermined distance, and the inking robot 14 is positioned at the target point. To do. This will be specifically described below.

  First, the robot controller 14E determines whether the three-dimensional laser measuring device 12A and the second screen 14B are based on the distance to the laser reflection position measured using the point laser emitted from the three-dimensional laser measuring device 12A. The inking robot 14 is controlled to move so that the distance between them becomes a predetermined distance.

Specifically, first, the control unit 10B of the control device 10 transmits a control signal related to a distance measurement instruction to the three-dimensional laser measuring instrument 12A at predetermined time intervals. The three-dimensional laser measuring instrument 12A receives a control signal related to a distance measurement instruction, and measures the horizontal distance _rscreen2 to the second screen irradiated with the point laser. Then, the three-dimensional laser measuring device 12A outputs the horizontal distance r _screen2 to the control device 10. The control unit 10B of the control device 10 acquires the horizontal distance _rscreen2 output from the three-dimensional laser measurement device 12A, and transmits the horizontal distance _rscreen2 to the robot control device 14E of the inking robot 14.

Then, when the horizontal distance r _screen2 transmitted from the control device 10 is larger than the horizontal distance LT (= r _t ) from the instrument point L to the target point T, the robot control device 14E causes the ink picking robot 14 to The traveling mechanism 14F is controlled so as to approach L. On the other hand, when the horizontal distance r _screen2 is smaller than the horizontal distance LT, the robot control device 14E controls the traveling mechanism 14F so that the inking robot 14 moves away from the instrument point L.

  In addition, the robot control device 14E, based on the first image captured by the first camera 14C and the second image captured by the second camera 14D, includes the vertical laser included in the first image. The posture of the inking robot 14 is controlled so that the laser line matches the laser line of the vertical laser included in the second image. Thereby, the posture of the ink picking robot 14 is changed according to the vertical laser.

Specifically, the robot controller 14E determines the forward speeds v1, v2, and v3 of the wheels so that the angle θ (t) formed by the time t and the distance d (t) at the time t become zero. Take control. Parameters for PID control K _{P, d} , K _{I, d} , K _{D, d} , K _{P, θ} , K _{I, θ} , K _{D, θ} are set in advance, even if they are different from STEP3 good.

The instruction speed x ^· _laser , instruction speed y ^· _laser , and instruction rotation speed θ ^· _laser for the ink marking robot 14 in STEP 4 are expressed by the following equations (11), (12), and (13). Therefore, the robot control device 14E uses the following formulas (11) and (12) based on the angle θ (t) formed at time t, the distance d (t) at time t, the parameters related to PID control, and the horizontal distance _rscreen2. ) And Expression (13), the instruction speed x ^· _laser , the instruction speed y ^· _laser , and the instruction rotation speed θ ^· _laser for the inking robot 14 are calculated. The robot control device 14E then moves the forward speeds v1, H2, H3 of the wheels H1, H2, H3 according to the above equation (10) based on the command speed x ^· _laser , the command speed y ^· _laser , and the command rotation speed θ ^· _laser . v2 and v3 are calculated. Then, the robot control device 14E controls the wheels H1, H2, H3 of the traveling mechanism 14F of the inking robot 14 to be driven at the forward speeds v1, v2, v3. Here, v _const is a constant value set in advance and represents the moving speed of the inking robot 14.

(11)

(12)

(13)

  Next, when the distance between the three-dimensional laser measuring instrument 12A and the second screen 14B is a predetermined distance, the robot control device 14E performs control so that the inking robot 14 is stopped. Then, the control unit 10B controls the display mechanism 14H of the inking robot 14 so as to display the target position according to the stop position of the inking robot 14.

Specifically, the robot control apparatus 14E, if the difference between the measurement results and the LT of the horizontal distance _{r Screen2} output from the three-dimensional laser measuring device 12A is less than a predetermined value ε _{(abs (r screen2} -LT) <Ε), the wheels of the traveling mechanism 14F are stopped.

After the inking robot 14 stops traveling, the robot control device 14E uses the above formula (5) based on the first image captured by the first camera 14C and the second image captured by the second camera 14D. ) And the equation (6), the angle θ formed is calculated. Then, the robot control apparatus 14E, like vertical laser and _{Y m} axis are parallel (theta = 0 deg), to rotate the marking robot 14.

(Fine movement phase)

  Next, the fine movement phase will be described. In the fine movement phase, marking is performed on the target coordinates by the horizontal position adjusting mechanism 14G and the display mechanism 14H.

First, the control unit 10B of the control device 10 outputs a control signal related to a distance measurement instruction to the three-dimensional laser measuring instrument 12A. The three-dimensional laser measuring instrument 12 _{</ b> A} measures the horizontal distance r _screen2 according to the control signal related to the distance measurement instruction output from the control device 10, and outputs it to the control device 10. The control unit 10B of the control device 10 acquires the horizontal distance _rscreen2 output from the three-dimensional laser measurement device 12A, and transmits the horizontal distance _rscreen2 to the robot control device 14E of the inking robot 14.

The robot control unit 140 of the robot control device 14E acquires the horizontal distance r _screen2 transmitted from the control device 10. Further, the robot control unit 140 calculates the distance x2 on the _second screen 14B based on the second image taken by the second camera 14D.

Then, as shown in the following formula (14), the robot control unit 140 uses the calculated distance x ₂ as the X _m direction between the origin O _m of the moving coordinate system and the target point T (x _t , y _t ). and the deviation amount Δx _t. Further, the control unit 10B sets the origin of the moving coordinate system O _m and the target point T (x _t , y _t ) according to the following equation (15) based on the horizontal distance LT and the received horizontal distance r _screen2 . It calculates the Y _m direction shift amount [Delta] y _t. The positional relationship between the laser lines of the point laser and the vertical laser and the deviation amounts Δx _t and Δy _t is as shown in FIGS.

Δx _t = x ₂ (14)
Δy _t = LT-r _screen2 (15)

As shown in FIG. 6A above, the rail R _X of the X axis stage of the horizontal position adjusting mechanism 14G coincides with the X _m axis of the moving coordinate system, and the rail R _Y of the Y axis stage corresponds to the Y _m axis of the moving coordinate system. Match. For this reason, as shown in FIGS. 15A and 15B, the amount of deviation Δx _t between the origin O _m of the moving coordinate system and the target point T (x _t , y _t ) in the X _m direction and the Y _m direction, Δy _t can be calculated according to the above equations (14) and (15). The deviation amounts Δx _t and Δy _t are used in a horizontal position adjusting mechanism 14G described later.

The robot control unit 140, the calculated deviation amount [Delta] x _t, based on [Delta] y _t, and generates a control signal for driving the X axis motor M _X and Y-axis motor M _Y horizontal position adjusting mechanism 14G. Specifically, the robot controller 140, respectively [Delta] x _t the center from the origin _{O m} of the display mechanism 14H, so is moved by [Delta] y _t, the control for driving the X axis motor _{M X} and Y-axis motor _{M Y} Generate a signal. Then, the robot controller 140, based on the control signal for driving the X axis motor _{M X} and Y-axis motor _{M Y,} respectively [Delta] x _t the center from the origin _{O m} of the display mechanism 14H, so as to move only [Delta] y _t the drives the X axis motor _{M X} and Y-axis motor _{M Y.} Thereby, the center of the stamp part St can be moved directly above the target point.

Next, the robot controller 140, after moving the stamp unit St, to perform stamping by pressing the stamp portion St on the floor by controlling the Z-axis motor M _Z, controls the lifting mechanism 14I. This completes the marking of inking.

<Operation of moving body guidance and positioning system>

  Next, with reference to FIGS. 16-19, the effect | action of the guidance and positioning system 100 of a moving body is demonstrated. When the moving body guidance and positioning system 100 is activated, the sequence shown in FIG. 16 is executed.

  First, in step S100, the control device 10 outputs a control signal that instructs the three-dimensional laser measuring instrument 12A to irradiate the point laser in the direction of the target point T.

  In step S102, the three-dimensional laser measuring instrument 12A irradiates the point laser in the direction of the target point T according to the control signal output in step S100.

  In step S104, the control device 10 outputs a control signal instructing the rotary laser irradiator 12B to irradiate the vertical laser and rotate in the direction of the target point T at a constant speed.

  In step S106, the rotary laser irradiator 12B irradiates the vertical laser in accordance with the control signal output in step S104 and rotates in the direction of the target point T at a constant speed.

  Next, when the vertical laser emitted from the rotary laser irradiator 12B starts to be projected onto the first screen and the second screen of the inking robot 14, the first camera 14C of the inking robot 14 The first screen 14A is imaged to obtain a first image. Further, the second camera 14D captures the second screen 14B and obtains a second image. Then, the coarse motion control process shown in FIG. 17 is executed.

  In step S200, the robot control unit 140 of the robot control device 14E acquires the first image captured by the first camera 14C and the second image captured by the second camera 14D.

In step S202, the robot controller 140 acquired in step S200, based on the first image and the second image, the distance _{x 2} at the distance _{x 1} and the second screen 14B of the first screen 14A Is calculated.

In step S204, the robot controller 140, calculated in step S202, the distance on the basis of _{x 1} and the distance _{x 2,} the formula (5) and the formula according to (6), the moving coordinate system _O m -X _m calculates the angle θ formed by the between the Y _m axis and the laser line of Y _m, and a distance d between the center of gravity O _m and laser line.

In step S206, the robot controller 140 instructs the inking robot 14 in accordance with the equations (7), (8), and (9) based on the angle θ and the distance d calculated in step S204. x ^· _laser, calculated instruction speed ^y _{· laser,} and the instruction rotational speed theta ^· _laser. Then, the robot control unit 140 performs the travel mechanism of the inking robot 14 according to the above equation (10) based on the instruction speed x ^· _laser , the instruction speed y ^· _laser , and the instruction rotation speed θ ^· _laser for the inking robot 14. The forward speeds v1, v2, and v3 of each wheel H1, H2, and H3 of 14F are calculated.

  In step S208, the robot control unit 140 controls the wheels H1, H2, and H3 of the traveling mechanism 14F of the inking robot 14 to be driven at the forward speeds v1, v2, and v3 calculated in step S206.

  The process of FIG. 17 is repeatedly executed at a certain repetition period until the irradiation direction of the vertical laser coincides with the direction of the target point T.

  Then, when the irradiation direction of the vertical laser coincides with the direction of the target point T, the control unit 10B of the control device 10 controls the rotary laser irradiator 12B so as to stop the rotational movement. When the rotary motion of the rotary laser irradiator 12B is stopped, the tracking operation of the vertical laser of the ink picking robot 14 is also ended. As a result, the ink marking robot 14 is temporarily stopped. Then, the sequence shown in FIG. 18 is executed.

  In step S300, the control unit 10B of the control device 10 outputs a control signal related to a distance measurement instruction to the three-dimensional laser measuring instrument 12A.

In step S302, the three-dimensional laser measuring instrument 12A of the laser device 12 determines the horizontal distance r _screen2 to the second screen irradiated with the point laser based on the control signal related to the distance measurement instruction output in step S300. Measure.

In step S _<b> 304, the three-dimensional laser measuring instrument 12 _{</ b> A} outputs the horizontal distance r _screen2 measured in step S _<b> 302 to the control device 10.

In step S306, the control unit 10B of the control device 10 obtains the horizontal distance r _screen2 output from the three-dimensional laser measuring instrument 12A in step S304.

In step S308, the control unit 10B of the control device 10 transmits the horizontal distance _rscreen2 acquired in step S306 to the robot control device 14E.

In step S310, the robot control unit 140 of the robot control device 14E acquires the horizontal distance r _screen2 transmitted in step S308.

In step S312, the robot control unit 140 executes the coarse motion control process of FIG. In the coarse motion control process in step S312, the robot controller 140 controls the movement of the ink _picking robot 14 in accordance with the horizontal distance _rscreen2 acquired in step S310.

Specifically, in step S206 in the coarse motion control process of FIG. 17, the robot control unit 140 is based on the angle θ and the distance d calculated in step S204 and the horizontal distance r _screen2 acquired in step S310. Te, the equation (11), (12), according to (13), an instruction speed ^x _{· laser,} indicated rate ^y _{· laser,} and the instruction rotational speed theta ^· _laser is calculated. Then, the forward speeds v1, v2, and v3 of the wheels H1, H2, and H3 of the traveling mechanism 14F of the inking robot 14 are calculated according to the above equation (10).

The processing shown in FIG. 17 is repeated at a certain repetition period until the difference between the measurement result of the horizontal distance r _screen2 and LT becomes less than a certain value ε. The robot control unit 140 of the robot control device 14 </ _b> E travels the inking robot 14 when the difference between the measurement result of the horizontal distance r _screen2 output from the three-dimensional laser measuring device 12 </ _b> A and LT is less than a certain value ε. Each wheel of the mechanism 14F is stopped.

After the ink drawing robot 14 stops traveling, the robot control unit 140 of the robot control device 14E calculates the angle θ formed according to the above equations (5) and (6) based on the first image and the second image. To do. Then, the robot controller 140, so that the vertical laser and _{Y m} axis are parallel (theta = 0 deg), to rotate the marking robot 14. When the rotation of the inking robot 14 is completed, the fine movement control process shown in FIG. 19 is executed.

  In step S400, the robot control unit 140 of the robot control device 14E acquires the second image captured by the second camera 14D.

In step S402, the robot control unit 140 acquires the horizontal distance _rscreen2 output from the three-dimensional laser measurement device 12A.

In step S404, the robot control unit 140 calculates the distance x2 on the _second screen 14B based on the second image acquired in step S400.

In step S406, the robot controller 140, the distance _{x 2} calculated in step S404, the origin _{O m} and the target point _{T (x} t, _y t) of the moving coordinate system and the deviation amount [Delta] x _t of _{X m} direction and To do. Further, the robot control unit 140, based on the horizontal distance LT and the horizontal distance r _{screen 2} acquired in step S402, according to the above equation (15), the origin O _m of the moving coordinate system and the target point T (x _t , y calculates the _{Y m} direction shift amount [Delta] y _t with _t).

In step S408, the robot controller 140, the deviation amount [Delta] x _t calculated in step S406, based on [Delta] y _t, for driving the X axis motor _{M X} and Y-axis motor _{M Y} horizontal position adjusting mechanism 14G Generate a control signal. Then, the robot controller 140, based on the generated control signals, respectively [Delta] x _t the center from the origin _{O m} of the display mechanism 14H, so is moved by [Delta] y _t, the X-axis motor _{M X} and Y-axis motor _{M Y} Drive. As a result, the center of the stamp part St is moved immediately above the target point T.

In step S410, the robot controller 140 to perform the seal by pressing the stamp portion St on the floor by controlling the Z-axis motor _{M Z,} it controls the lifting mechanism 14I. This completes the marking of inking.

  As described above, in the first embodiment, the posture of the inking robot is controlled according to the vertical laser irradiated toward the target position of the inking robot. Further, based on the distance to the second screen measured using the point laser irradiated toward the target position, the ink is printed so that the distance between the laser device and the ink marking robot becomes a predetermined distance. Control the moving robot to move. Then, the ink marking robot is positioned at the target position. As a result, the marking robot can be automatically positioned with a simple configuration. Then, the ink marking robot can automatically perform ink marking.

  In addition, by controlling the inking robot using two types of lasers, positioning the inking robot in consideration of the orientation of the inking robot with respect to the target position and the distance between the target position and the inking robot. Can be done automatically.

  Further, by adjusting the inking position using the horizontal position adjusting mechanism, even when the stop position of the inking robot is deviated from the target position, display with respect to the target position can be performed with high accuracy.

  In addition, by using two types of lasers, the marking robot can be automatically positioned without an expensive system configuration such as a total station.

[Second Embodiment]
Next, a moving body guidance and positioning system according to a second embodiment will be described. In addition, since the structure of the guidance and positioning system of the moving body which concerns on 2nd Embodiment becomes a structure similar to 1st Embodiment, it attaches | subjects the same code | symbol and abbreviate | omits description.

  The second embodiment is different from the first embodiment in that the rotary laser irradiator 12B irradiates two lasers.

<Configuration of Moving Body Guidance and Positioning System According to Second Embodiment>

  FIG. 20 shows an example of the configuration of the rotary laser irradiator 12B in the second embodiment. The rotary laser irradiator 12B in the second embodiment irradiates two lasers from the laser irradiation unit 12D in accordance with a control signal output from the control device 10. The two lasers are substantially parallel to the floor surface, have the same irradiation direction, and have different heights from the floor surface. Similarly to the first embodiment, the rotary laser irradiator 12B has a turntable 12E that rotates around the Z axis (azimuth direction) and a turntable according to a control signal related to a rotation instruction from the control device 10. A rotating motor 12F.

  FIG. 21 is a diagram illustrating an example of a configuration of a moving body guidance and positioning system 200 according to the second embodiment. In the second embodiment, the distance measuring laser is a point laser, and the posture measuring laser is two lasers irradiated from the rotary laser irradiator 12B.

  When the two lasers irradiated from the rotary laser irradiator 12B are irradiated in the same direction and scanned in the same way toward the target point T, the posture of the ink picking robot 14 is changed as in the case of the vertical laser. Can be identified. Therefore, in the second embodiment, two lasers are used as attitude measurement lasers instead of the vertical lasers.

  The point laser is projected onto the second screen 14B, and the two lasers emitted from the rotary laser irradiator 12B are projected onto the first screen 14A and the second screen 14B, respectively. As described above, the screen positions of the marking robot 14 and the heights of the three-dimensional laser measuring device 12A and the rotary laser irradiator 12B are adjusted in advance. Therefore, the two lasers emitted from the rotary laser irradiator 12B are projected onto the first screen 14A and the second screen 14B, for example, as shown in FIG.

Specifically, in STEP 3 of the coarse motion phase, the control unit 10B of the control device 10 sets the rotary laser irradiator 12B so that the two lasers are scanned toward the target point T of the marking robot 14. Control. Then, the rotary laser irradiator 12B irradiates the two lasers so as to scan the two lasers toward the target point T according to the control signal of the control unit 10B. The second image on the second screen 14B of the second embodiment is as shown in FIG. Note that x _point in FIG. 23 represents the distance between the center of the second screen 14B and the point laser irradiation point.

  Then, the control unit 10B of the control device 10 controls the rotary laser irradiator 12B so as to stop the rotational motion when the irradiation directions of the two lasers coincide with the direction of the target point T.

  After the irradiation directions of the two lasers coincide with the direction of the target point T, the marking robot 14 moves in STEP 4 of the coarse movement phase. Then, inking is performed in the fine movement phase.

  In addition, about the other structure and effect | action of the moving body guidance and positioning system which concern on 2nd Embodiment, since it is the same as that of 1st Embodiment, description is abbreviate | omitted.

  As described above, the posture of the inking robot is controlled in accordance with the two lasers emitted toward the target position of the inking robot. Further, based on the distance to the second screen measured using the point laser irradiated toward the target position, the ink is printed so that the distance between the laser device and the ink marking robot becomes a predetermined distance. Control the moving robot to move. Then, the ink marking robot is positioned at the target position. As a result, the marking robot can be automatically positioned with a simple configuration.

  In addition, by using two point lasers instead of the vertical lasers, it becomes difficult to disperse the laser energy in the vertical direction, so that the point laser projection position can be easily detected by image processing.

  The present invention is not limited to the above-described embodiment, and various modifications and applications can be made without departing from the gist of the present invention.

  For example, in the first embodiment, the configuration of the moving body guidance and positioning system has been described as an example as shown in FIG. 1, but the configuration is not limited thereto. For example, it is good also as a structure as shown by FIG.24 and FIG.25.

  For example, the three-dimensional laser measuring device 12A and the rotary laser irradiator 12B in the first embodiment can be rotated in synchronization. Further, as in the modification shown in FIG. 24, the three-dimensional laser measuring device 12A may have the function of the rotary laser irradiator 12B.

  In the second embodiment, the configuration of the moving body guidance and positioning system has been described by way of an example as shown in FIG. 21, but is not limited to this, for example, as shown in FIG. 25. As in the modification, the three-dimensional laser measuring instrument 12A may have the function of the rotary laser irradiator 12B.

  In the first embodiment, the case where the distance measuring laser is a point laser and the posture measuring laser is a vertical laser will be described as an example. In the second embodiment, the distance measuring laser is a point laser. Although the case where the laser is a laser and the posture measuring laser is two lasers has been described as an example, the present invention is not limited to this. Any laser may be used as long as it can be used as a distance measuring laser and a posture measuring laser.

  In the above embodiment, the case where the robot control device and the control device execute the processes of FIGS. 16 to 19 is described as an example, but the present invention is not limited to this. For example, the robot control device may execute all processes, or the control device may execute all processes. Further, each process may be exchanged between the robot control device and the control device. For example, the robot control device is measured by using a laser control unit that controls the laser device to irradiate a posture measurement laser and a distance measuring laser toward a target position of the marking robot and a distance measuring laser. You may provide the measurement part which acquires the distance to a laser reflective position.

  Further, the guidance and positioning system for the moving body may acquire information related to inking by communicating information with an external server. For example, when a three-dimensional model of a building including target position information representing the target point T is stored in an external server, the control unit 10B of the control device 10 acquires target position information from the three-dimensional model of the building And based on the acquired target position information, you may control the laser apparatus 12 so that a point laser may be irradiated toward a target point. Thereby, it is possible to accurately position the inking robot using the target position information included in the three-dimensional model of the building.

  In the above description, the program is stored (installed) in a storage unit (not shown) in advance. However, the program is recorded on any recording medium such as a CD-ROM, a DVD-ROM, and a micro SD card. It is also possible to provide it in the form in which it is provided.

DESCRIPTION OF SYMBOLS 10 Control apparatus 10A Communication part 10B Control part 12 Laser apparatus 12A Three-dimensional laser measuring device 12B Rotary laser irradiator 12C Laser irradiation part 12D Laser irradiation part 12E Turntable 12F Motor 14 Inking robot 14A 1st screen 14B 2nd screen Screen 14C First camera 14D Second camera 14E Robot control device 14F Traveling mechanism 14G Horizontal position adjustment mechanism 14H Display mechanism 14I Lifting mechanism 100, 200 Moving body guidance and positioning system 140 Robot control unit 142 Robot communication unit

Claims (7)

An irradiation step of irradiating a posture measuring laser and a distance measuring laser toward a target position of the moving body;
A posture changing step of changing the posture of the moving body in accordance with the posture measuring laser in the irradiation step;
A moving step of moving the moving body to position the moving body at the target position so that a distance between the laser device that irradiates the distance measuring laser and the moving body is a predetermined distance;
A method for guiding and positioning a moving body. In accordance with the posture measurement laser irradiated toward the target position of the moving body, the posture of the moving body is controlled,
Based on the distance to the laser reflection position measured using the ranging laser irradiated toward the target position, the distance between the laser device that irradiates the ranging laser and the moving body is predetermined. A moving body guidance and positioning device comprising: a control unit that controls the moving body to move so that the distance becomes a distance, and positions the moving body at the target position. The control unit is configured to irradiate a first image representing an image of the posture measuring laser irradiated to the first screen provided on the moving body and a second screen provided to the moving body. Based on the second image representing the image of the posture measurement laser, the posture measurement laser included in the first image corresponds to the posture measurement laser included in the second image. And controlling the posture of the moving body,
Based on the distance to the laser reflection position measured using the distance measuring laser, the moving body is moved so that the distance between the laser device and the second screen is a predetermined distance. To control,
The apparatus for guiding and positioning a moving body according to claim 2. The control unit performs control so that the moving body is stopped when the distance between the laser device and the second screen is a predetermined distance, and the target position is set according to a stop position of the moving body. Controlling the display mechanism of the moving body so as to display
The apparatus for guiding and positioning a moving body according to claim 3. A first screen installed so as to be irradiated with a posture measuring laser and a distance measuring laser;
Installed to irradiate the attitude measuring laser, and installed at a position that is different in the vertical direction with respect to the first screen and spaced by a predetermined interval in the normal direction of the first screen. A second screen,
A first camera that captures a first image representing an image of the first screen;
A second camera that captures a second image representing an image of the second screen;
A traveling mechanism controlled according to a distance to the laser reflection position measured using the first image, the second image, and the distance measuring laser, and a target according to a traveling result of the traveling mechanism A display mechanism for displaying the position;
A moving object comprising: Laser equipment for irradiating a posture measuring laser and a distance measuring laser,
A laser control unit that controls the laser device so as to irradiate the moving body according to claim 5 and the posture measuring laser and the distance measuring laser toward a target position of the moving body;
A moving part including the positioning device according to any one of claims 2 to 4, further comprising: a measuring unit that acquires a distance to a laser reflection position measured using the distance measuring laser. Guidance and positioning system.   The laser control unit of the positioning device irradiates the distance measuring laser toward the target position based on the target position information acquired from a three-dimensional model of a building including target position information. The positioning system according to claim 6, wherein the positioning system is controlled.