JP2019196978A - Autonomous running type inking robot - Google Patents

Abstract

To place a directional prism mounted in an autonomous running type inking robot to face a tracking type total station that is linked with the autonomous running type inking robot.SOLUTION: An autonomous running type inking robot 1 has a plurality of wheels, and includes: a running actuator 15 capable of running on the floor by controlling the forward and reverse rotation of the wheels; a directional prism 11 optically positioned to be measured by a tracking type total station; a rotation and elevation actuator 19 for rotating the directional prism 11; a printer 12 with which the rotation and elevation actuator 19 and the directional prism 11 are arranged and printable on the floor; and a PC17 for rotating the directional prism 11 so that, the directional prism 11 faces the direction of the tracking type total station by the rotation and elevation actuator 19 when running by a running actuator 15.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an autonomous running type inking robot that autonomously runs and performs inking work in facility construction.

Inking is a method of marking inscriptions such as anchor positions of equipment, gantry positions of incidental equipment, anchor positions of ceiling-suspended equipment, etc. in structures. Since many craftsmen, such as installing equipment, work along the black line, it is important to mark the black line accurately.
Traditionally, inking is performed by a carpenter pulling out a thread that contains ink from a ink pot and playing the thread to mark the floor or wall. However, accurate inking requires skill, and there has been a risk of human error associated with manual work.

  In recent years, an operator measures an inked position using an optical measuring instrument, and injects the ink at that position. As a result, even if the worker is not skilled in inking, a predetermined accuracy is secured. However, since it is not changed that the worker is inked manually, there is a possibility that a predetermined number of man-hours occur and a human error occurs.

  Therefore, an invention is disclosed in which a robot measures a blacking position and places black at that position. For example, Patent Literature 1 discloses an installation face marking device that can safely and easily mark the installation position of equipment and the like. As a result, it is possible to save labor in the ink marking work for equipment construction, and it is possible to suppress the occurrence of human error associated with ink marking.

JP 2017-015523 A

Paragraph 0040 of Patent Document 1 states that “the three-dimensional measurement means 80 has a function of automatically detecting and collimating the measurement target 30 by using a built-in motor and a function of detecting reflected light from the measurement target 30. It is a container. "
As the measurement target, for example, a prism or the like is used. Since this prism has directivity, it is necessary to face the three-dimensional measuring means. When the prism is not directly facing the three-dimensional measuring means, the three-dimensional measuring means cannot measure the position, and there is a possibility that the inking operation by the robot is stopped.

  Therefore, an object of the present invention is to make a directional prism mounted on a robot body directly face a three-dimensional measuring unit.

In order to solve the above-described problem, an autonomous running type inking robot of the present invention includes a plurality of rotating bodies, a traveling means capable of traveling on the floor surface by controlling forward / reverse rotation of the rotating bodies, and tertiary A measurement target whose position is optically measured by an original measurement means; a rotary actuator for rotating the measurement target; a printer in which the rotation actuator and the measurement target are arranged and capable of printing on the floor; and the traveling Control means for rotating the measurement target so that the measurement target faces the direction of the three-dimensional measurement means by the rotary actuator when traveling by the means.
Other means will be described in the embodiment for carrying out the invention.

  According to the present invention, the directional prism mounted on the robot body can be directly opposed to the three-dimensional measuring means.

It is a general-view figure of the inking system using the autonomous running type inking robot of this embodiment. FIG. 1 is a block diagram of a system that uses a ink-striking robot. FIG. 5 is a flowchart showing black selection processing and operation completion determination processing. It is a flowchart which shows the running process of a sanitizing robot. It is a figure which shows the detection range of the range sensor for an obstacle detection. It is a flowchart which shows the obstruction detection and avoidance process of a sabotage robot. It is a figure which shows the measurement operation | movement of a present position. It is a figure which shows the state of the ink-striking robot before a superconference turning. It is a figure which shows the state of the sabotage robot after a super-revolution. It is a figure which shows the state of the ink brushing robot before going straight. It is a figure which shows the state of the ink drawing robot after going straight. It is a flowchart which shows the facing process of a directional prism, and a movement amount correction process. It is a figure which shows operation | movement when a directional prism and a tracking type | mold total station stop facing directly. It is a graph which shows operation | movement when a directivity prism and a tracking type | mold total station stop facing directly.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.
FIG. 1 is a schematic diagram of a summing system S that uses an autonomously traveling summing robot 1 according to the present embodiment.
As shown in FIG. 1, the inking system S includes an inking robot 1, a tracking type total station 2, and a communication device 3. The inking system S saves labor for inking work for equipment construction.

The inking robot 1 has a function of traveling autonomously and a function of inking with a predetermined accuracy. The tracking type total station 2 is a three-dimensional measuring means that tracks the directional prism 11 provided in the ink-printing robot 1 with a laser or the like and measures its position.
The communication device 3 is a mobile terminal operated by an operator. The ink marking robot 1, the tracking type total station 2, and the communication device 3 can communicate with each other wirelessly.

When the communication device 3 inputs each inking position to the inking robot 1 and instructs to start inking, the inking robot 1 starts inking. The ink marking robot 1 acquires the self position by measuring the position of the directional prism 11 by the tracking type total station 2. The inking robot 1 proceeds to the inking position by repeating the acquisition of the self position, the turning operation, the rectilinear operation, and the backward operation. Furthermore, in order to ensure a predetermined accuracy, the inking robot 1 performs high-precision positioning of the ink by measuring the position within the XY stage range in the vicinity of the inking position, and the inking line and information are detected by the ink jet printer in the main body. Print. The ink marking robot 1 repeats these processes for each ink position.
According to this embodiment, since the inking robot 1 that travels autonomously performs inking mechanically, it is possible to save labor in the inking operation in facility construction.

FIG. 2 is an overview diagram of the inking robot 1, and FIG. 3 is a block diagram of a system using the inking robot 1. In the following, each part of the sanitizing robot 1 will be described with reference to FIGS. 2 and 3.
As shown in FIGS. 2 and 3, the ink marking robot 1 includes a frame 10, a directional prism 11, a printer 12, an actuator 13, a travel actuator 15, a rotation / lifting actuator 19, and indicator lights 181 to 183. Further, as shown in FIG. 3, the ink marking robot 1 includes a wireless LAN master device 16, a PC (Personal Computer) 17, a range sensor 14, and a motion controller 171.

  The PC 17 is a control means that controls the overall marking robot 1. When traveling by the traveling actuator 15, the PC 17 rotates the directional prism 11 so that the directional prism 11 is directed toward the tracking type total station 2 by the rotation / lifting actuator 19.

  The motion controller 171 is a controller that is connected to the PC 17 and drives the actuator 13, the traveling actuator 15, the rotation / lifting actuator 19, and the like. The wireless LAN base unit 16 is a communication unit that is connected to the PC 17 and wirelessly communicates with the tracking total station 2 and the communication device 3. The range sensor 14 is a sensor that detects whether or not an obstacle is present in front of the sanitizing robot 1. The indicator lights 181 to 183 are notifying means for notifying the state of the inking robot 1 to the outside.

The frame 10 supports the actuator 13. The actuator 13 includes a Y-axis actuator 131 and an X-axis actuator 132. The frame 10 of the present embodiment is formed in a frame shape along each longitudinal direction of the Y-axis actuator 131 and the X-axis actuator 132 that are orthogonal to each other, in other words, in a rectangular shape in plan view. The frame 10 is a two-dimensional area in which a printer 12 described later can move.
The travel actuator 15 is a travel means having four wheels and capable of traveling on the floor surface by controlling forward and reverse rotation of these wheels. The traveling actuator 15 is a four-wheel drive traveling means of a chain link mechanism, and can perform super-revolution, straight-ahead movement, and backward movement.

  The X-axis actuator 132 is a first actuator and is attached to the left and right sides of the frame 10 that face each other. The X-axis actuator 132 of the present embodiment employs an electric linear actuator. The X-axis actuator 132 moves the Y-axis actuator 131, the rotation / lifting actuator 19, the directional prism 11, and the printer 12 forward and backward in the ink-jet robot 1.

  The Y-axis actuator 131 is a second actuator and is attached to the X-axis actuator 132. The Y-axis actuator 131 employs an electric linear actuator similarly to the X-axis actuator 132. The Y-axis actuator 131 moves the rotation / lifting actuator 19 forward and backward in the left-right direction of the ink-jet robot 1. That is, the Y-axis actuator 131 moves the rotation / lifting actuator 19, the directional prism 11, and the printer 12 in a direction orthogonal to the driving direction of the X-axis actuator 132.

The rotation / lifting actuator 19 has a function of rotating the directional prism 11 and a function of lifting the printer 12.
The directional prism 11 is a place where the laser pointer of the tracking type total station 2 is irradiated. The directional prism 11 is a measurement target whose position is optically measured by the tracking type total station 2. The directional prism 11 is arranged so that the center position thereof is constant with the position of the printer 12. As a result, the ink marking robot 1 can accurately measure the position of the printer 12. Further, the directional prism 11 is rotated in an arbitrary direction by a rotation / lifting actuator 19. As a result, the directional prism 11 can face the tracking total station 2 even after the inking robot 1 has moved.

  The printer 12 is lowered by the rotary / lifting actuator 19 to approach the floor surface, and draws a black line of an arbitrary length such as a straight line or a cross line from the printer head directed to the floor surface. Further, the printer 12 can print characters, graphics, and symbols such as the name of the equipment to be installed in the vicinity of the black line on the floor, such as the attribute information of the black line.

  The ink stroking robot 1 includes a four-wheel drive travel actuator 15 of a chain link mechanism, and is capable of super-spinning, going straight, and moving backward. The travel actuator 15 is a travel unit that drives the four wheels that support the frame 10 to travel the ink-jet robot 1. The sabotage robot 1 can turn the left and right wheels in the opposite direction to perform super-trust turning, and can rotate the left and right wheels in the same direction to move forward or backward.

The problems to be solved by this embodiment are listed below.
The first problem is that the directional prism 11 does not face the tracking type total station 2.
The directional prism 11 needs to face the tracking type total station 2. Therefore, the ink-striking robot 1 rotates the directional prism 11 to face the tracking type total station 2 based on the position after the movement for each of the turning operation and the straight traveling / retreating operation.

  However, a predetermined error occurs due to slippage with the floor surface or the like in the turning operation and the rectilinear / retreat operation of the inking robot 1. When errors are accumulated for each of the turning operation and the straight / reverse operation, the directional prism 11 gradually stops to face the tracking type total station 2. As a result, the tracking type total station 2 cannot track the ink marking robot 1 equipped with the directional prism 11. Therefore, there are cases where the inking robot 1 cannot measure its own position and cannot travel to the destination.

The second problem is a problem that the inking robot 1 cannot reach the destination.
This sanitizing robot 1 calculates a turning angle and a straight traveling distance toward a destination, and rotates wheels by a predetermined amount. However, it is conceivable that the inking robot 1 does not turn by the calculated turning angle and does not go straight by the calculated straight distance due to the uneven state of the floor surface and the slip. Therefore, the sabotage robot 1 may not be able to reach the destination.

FIG. 4 is a flowchart showing the black selection process and the operation completion determination process.
When the inking robot 1 starts autonomous traveling, the process proceeds to step S10.
In step S10, the inking robot 1 determines whether there is an incomplete or incomplete ink. If there is no unsatisfactory or incomplete black ink, the ink marking robot 1 ends the process of FIG.

  If there is an incomplete or incomplete black ink (Yes), the ink marking robot 1 proceeds to step S11 and measures the current position. The inking robot 1 selects an unfinished ink with the shortest distance from the current position (step S12), and moves toward the selected ink (step S13). The movement process to the selected black ink selected in step S13 will be described in detail with reference to FIG.

  In step S14, the ink marking robot 1 determines whether or not the selected ink position has been reached. If the selected ink position cannot be reached (No), the ink marking robot 1 makes the selected ink “impossible” (step S15) and returns to the process of step S10. If the inking robot 1 reaches the selected inking position (Yes), it performs inking (step S16), sets the selected inking as “completed” (step S17), and returns to the processing of step S10. As a result, labor-saving work for equipment construction can be saved.

FIG. 5 is a flowchart showing the movement process of the sanitizing robot 1.
The movement process in FIG. 5 corresponds to the process in step S13 shown in FIG. The ink brushing robot 1 selects the next ink and proceeds to the process of step S40, and repeats the process of moving toward the selected ink.
In step S40, the ink marking robot 1 moves toward the selected ink. Further, the inking robot 1 determines whether or not the selected inking position has been reached (S41). If the ink brushing robot 1 has reached the selected black ink position (Yes), the running process of FIG. 13 is terminated. If it has not reached the selected black ink position (No), the process proceeds to step S42.

  In step S42, the ink marking robot 1 executes a turning process toward the selected black position. This turning process will be described in detail with reference to FIG. Then, the ink marking robot 1 determines whether or not it interferes with any obstacle by the range sensor 14 (step S43). If the sabotage robot 1 interferes with the obstacle (Yes), the process proceeds to an avoidance process in step S47. If not interfered with the obstacle (No), the process proceeds to a determination process in step S44.

  In step S44, the inking robot 1 determines whether or not the orientation of the robot body is different from the direction of the ink. If the direction is different (Yes), the sabotage robot 1 returns to the turning process in step S42, and if the directions match (No), the process proceeds to a straight-ahead process in step S45.

  In step S45, the ink marking robot 1 executes a straight-ahead process toward the black position. This straight-ahead process will be described in detail with reference to FIG. Then, the ink marking robot 1 determines whether or not it interferes with any obstacle by the range sensor 14 (step S46). If the sabotage robot 1 interferes with the obstacle (Yes), the process proceeds to the avoidance process of step S47. If not interfered with the obstacle (No), the process returns to the arrival determination of step S41.

  In step S47, the sanitizing robot 1 executes an obstacle avoidance process. This avoidance process will be described in detail with reference to FIG. Then, the ink marking robot 1 determines whether or not the obstacle has been avoided by the range sensor 14 (step S48). If the obstacle 1 can avoid the obstacle (Yes), it returns to the arrival determination in step S41, and if it cannot avoid the obstacle (No), it will end abnormally as immovable.

FIG. 6 is a diagram illustrating a detection range of the range sensor 14 for obstacle detection.
FIG. 6 shows a detection range 44 by the range sensor 14, a straight advanceable area 43, and turnable areas 41 and 42. The detection range 44 is a range from the front end of the inking robot 1 to a distance L ₄ . The straight advanceable region 43 has a width W, is separated by a distance L ₅ in front of the inking robot 1, and partially overlaps the detection range 44. The turnable area 41 is a rectangular area on the left side of the inking robot 1 and is separated from the center of the inking robot 1 by W / 2. The swivelable area 42 is a rectangular area on the right side of the inking robot 1 and is separated from the center of the inking robot 1 by W / 2.
The ink stroking robot 1 determines the presence or absence of an obstacle in the straight advanceable region 43 by the range sensor 14. Further, the ink marking robot 1 simultaneously determines whether it can turn left or right.

FIG. 7 is a flowchart showing the obstacle detection and avoidance processing of the sanitizing robot 1.
Initially, the ink marking robot 1 stops running for a few seconds after stopping running (S60). The inking robot 1 determines whether or not a predetermined time has elapsed since the start of the action (S61). If the predetermined time has elapsed from the start of the action (Yes), the ink-striking robot 1 ends abnormally as impossible to avoid, and if the predetermined time has not elapsed (No), the process proceeds to step S62. Here, the action start means the start of the avoidance action at the position.

  In step S62, the sanitizing robot 1 determines whether the obstacle has moved. This is because when an operator or the like is detected as an obstacle, it moves after a predetermined time and does not become an obstacle. This determination is made based on the detection result of the range sensor 14. If the sabotage robot 1 determines that the obstacle has moved (Yes), the process of FIG. 7 is terminated. If it is determined that the obstacle has not moved (No), the process proceeds to step S63. .

  In step S63, the ink marking robot 1 searches the turning direction by the range sensor 14. Further, the ink marking robot 1 determines whether or not the robot body can turn (S64). If the sabotage robot 1 determines that turning is impossible (No), the robot main body is moved backward (step S65), and the process proceeds to step S63 again.

  If it is determined that the sabotage robot 1 can turn left or right (Yes), it is turned at a random angle of 180 ° or less (S66). Further, the inking robot 1 advances straight by a random distance 1.0 to 1.5 times the length of the machine body (S67), and ends the process of FIG.

FIG. 8 is a diagram illustrating a current position measurement operation.
The ink marking robot 1 operates the X-axis actuator 132 to move the directional prism 11 in one direction, and acquires a self-position and direction by measuring a plurality of points. The directional prism 11 indicated by the solid line in FIG. 8 indicates the first measurement point, and the directional prism 11 indicated by the alternate long and short dash line in FIG. 8 indicates the second measurement point. The self-position of the ink marking robot 1 is the first measurement point. The direction of the inking robot 1 is the direction from the first measurement point to the second measurement point.

  The ink marking robot 1 stores these measurement results in the storage unit of the PC 17, compares them with the next measurement results, and feeds back the movement amount to a parameter for converting the travel actuator 15 into a control amount. This feedback will be described in detail with reference to FIG.

FIG. 9 is a diagram illustrating a state of the ink-striking robot 1 before turning around.
The inking robot 1 is directed in a direction F ₀ substantially orthogonal to the tracking type total station 2. At this time, the directional prism 11 faces in the direction P ₀ and faces the tracking type total station 2. At this time, FIG. 10 shows a case where the sabotage robot 1 has made a super turn so as to face the direction F ₁ .

FIG. 10 is a diagram illustrating a state of the ink-jet robot 1 after turning around the superstition.
A direction F ₂ indicates the direction of the inking robot 1 after the inking robot 1 has made a super turn. Here, the target turning angle θ ₀ is turning only θ ₁ .

The direction P ₂ is a direction that is directed immediately after the directional prism 11 is turned around. The inking robot 1 can theoretically face the tracking type total station 2 by rotating the directional prism 11 at the same angle and in the opposite direction to the turning angle θ ₀ when turning. However, the inking robot 1 turns by an angle different from the designated turning angle due to unevenness or slippage of the floor surface. Therefore black beating robot 1 again measures the orientation after the turning operation by calculating a correction angle theta _2, by rotating the correction angle theta ₂ only directional prism 11, the orientation of the directional prism 11 direction P ₃ In other words, the ink-making robot 1 corrects the deviation caused by the super-spinning turning so that the directional prism 11 and the tracking type total station 2 face each other.

  In other words, the PC 17 of the ink marking robot 1 instructs the travel actuator 15 to turn the robot body at a predetermined angle to turn the robot body. After that, the PC 17 calculates the angle difference between the relative direction of the tracking type total station 2 before the super-certain turn and the relative direction of the tracking type total station 2 after the super-point turning, and directs the counter to cancel this angle difference. The sex prism 11 is rotated. The PC 17 further measures the orientation of the robot body by the tracking type total station 2 and corrects the directional prism 11 so as to face the tracking type total station 2.

  Further, the PC 17 multiplies the instructed angle by the turning parameter to control the forward / reverse rotation amount (number of pulses) of the wheels included in the traveling actuator 15 to cause the robot body to make a super turn. After that, the PC 17 calculates the actual turning angle by measuring the orientation of the robot body by the tracking type total station 2 and corrects the turning parameter based on the forward / reverse rotation amount (number of pulses) of the wheel and the actual turning angle.

FIG. 11 is a diagram showing the ink marking robot 1a before going straight and the ink marking robot 1b after going straight in theory.
The sanitizing robot 1a indicated by the solid line is in a position before the straight advance and at the coordinate A. The tracking type total station 2 is located at the instrument point D. The directional prism 11 mounted on the ink-striking robot 1a faces the tracking total station 2 and faces the direction that forms an angle α with respect to the reference vector. At this time, the inking robot 1 calculates the angle α using the coordinates A and the instrument point D.

Black beating robot 1b indicated by a dashed line, located at the coordinate B of black beating robot 1a is straight by the target movement distance L _0. It is assumed that the inking robot 1 does not change its direction before and after moving when traveling straight. The inking robot 1 calculates the target coordinate B from the coordinate A before the movement and the target movement amount L ₀ . Thereafter, the ink marking robot 1 calculates an angle (−β) using the coordinates B and the instrument point D.

The directivity prism 11 mounted on the ink drawing robot 1b faces the tracking total station 2 by facing in a direction that forms an angle (−β) with respect to the reference vector. The difference between the angle after movement and the angle before movement becomes the rotation angle (−α−β) of the directional prism 11.
In other words, when the inking robot 1a moves straight by the target movement amount L ₀ and rotates the directional prism 11 by an angle (−α−β), theoretically, the directional prism 11 and the tracking total station 2 are Face up.

FIG. 12 is a diagram illustrating a state of the ink-striking robot 1c after the actual straight traveling.
Black beating robot 1c is actually located on the coordinate C in straight movement amount L _1. At this time, the direction of the instrument point D where the tracking type total station 2 is located is an angle (−γ). Here, when the ink marking robot 1c rotates the directional prism 11 by the rotation angle (−α−β), the directional prism 11 and the tracking type total station 2 face the direction shifted by the angle (γ−β).

  Therefore, the ink marking robot 1 measures its own position and acquires the coordinates C. Thereafter, the ink marking robot 1 calculates an angle (−γ) using the coordinates C and the instrument point D, and rotates the directional prism 11 by a difference between the angle (−β) and the angle (−γ). As a result, the inking robot 1 can face the directional prism 11 and the tracking type total station 2 directly.

  That is, the PC 17 of the inking robot 1 instructs the travel actuator 15 to travel a predetermined distance to cause the robot body to travel. After that, the PC 17 calculates an angular difference between the relative direction of the tracking type total station 2 before traveling and the relative direction of the tracking type total station 2 after traveling a predetermined distance, and the directional prism 11 so as to cancel this angular difference. Rotate. The PC 17 further measures the orientation of the robot body by the tracking type total station 2 and corrects the directional prism 11 so as to face the tracking type total station 2.

  Further, the PC 17 multiplies the instructed distance by the travel parameter, controls the forward / reverse rotation amount (number of pulses) of the wheel, and causes the robot body to travel. After that, the PC 17 measures the position of the directional prism 11 by the tracking type total station 2 to calculate the actual travel distance, and corrects the travel parameter based on the forward / reverse rotation amount of the wheel and the actual travel distance.

FIG. 13 is a flowchart showing the facing process and the movement amount correcting process of the directional prism 11.
In step S <b> 20, the ink marking robot 1 measures the current position and orientation of the robot body using the tracking type total station 2. The operation at this time is shown in FIG.

  In step S21, the ink marking robot 1 determines whether the measurement by the tracking type total station 2 has been successful. If the measurement by the tracking type total station 2 is not successful (No), the ink marking robot 1 swings the directional prism 11 with a sine wave and a predetermined cycle within a predetermined angle range by the rotary / lifting actuator 19 (S22). . The inking robot 1 instructs the tracking type total station 2 to oscillate with a sinusoidal shape within a predetermined angle range and with a period different from that of the directional prism 11 (S23).

  In step S24, if the time-out robot 1 has not timed out (No), the process returns to step S20 and repeats the measurement process, and if timed out (Yes), the abnormal end is terminated. Thus, the operation of each part when the measurement by the tracking type total station 2 fails will be described with reference to FIGS.

  There are cases where the tracking type total station 2 and the directional prism 11 do not face each other even when they are rotated at different speeds, or they cannot be measured because they are blocked by an obstacle or the like. In preparation for such a case, when measurement cannot be performed for a predetermined time, a timeout occurs and the process ends abnormally.

  In step S21, if the measurement by the tracking type total station 2 is successful (Yes), the ink marking robot 1 proceeds to the process of step S25.

  In step S25, the sabotage robot 1 converts a desired turning angle or straight travel amount into a pulse using a parameter, drives the travel actuator 15, and instructs the robot body to move. The desired turning angle or straight traveling amount is the target movement amount of the sanitizing robot 1.

  Thereafter, the ink marking robot 1 turns the directional prism 11 by the rotation / lifting actuator 19 (S27), and determines whether or not the operation of each unit is stopped (S28). If the operation of each part is not stopped (No), the ink-printing robot 1 repeats this determination process. If the operation of each part is stopped (Yes), the process proceeds to step S29.

  In step S <b> 29, the ink marking robot 1 measures the current position and orientation of the robot body using the tracking type total station 2.

  In step S30, the ink marking robot 1 determines whether the measurement by the tracking type total station 2 is successful. If the measurement by the tracking type total station 2 is not successful (No), the ink marking robot 1 swings the directional prism 11 with a sine wave and a predetermined cycle within a predetermined angle range by the rotary / lifting actuator 19 (S31). The inking robot 1 instructs the tracking type total station 2 to swing in a sinusoidal shape within a predetermined angle range and at a different period from the directional prism 11 (S32).

  In step S33, if the blackout robot 1 has not timed out (No), the process returns to the process of step S29 to repeat the measurement process, and if timed out (Yes), abnormal termination is performed. The processes in steps S30 to S33 are the same as the processes in steps S21 to S24 described above.

In step S30, if the measurement by the tracking type total station 2 is successful (Yes), the ink marking robot 1 proceeds to the process of step S34.
In step S34, the ink marking robot 1 compares the value previously measured in step S20 with the value measured in step S29, and calculates the actual movement amount of the robot body. The sabotage robot 1 compares the target movement amount instructed in step S25 with the actual movement amount, and corrects the parameter for calculating the pulse (S35).

In step S <b> 36, the ink marking robot 1 corrects the directional prism 11 so as to face the tracking total station 2 based on the actual movement amount of the robot body and the rotation amount of the directional prism 11. When this correction process ends, the process of FIG. 13 ends.
FIGS. 9 and 10 show examples of the correction operation of the directional prism 11 when the ink-striking robot 1 turns around. An example of the correction operation of the directional prism 11 when the inking robot 1 goes straight is shown in FIGS.

FIG. 14 is a diagram illustrating an operation when the directional prism 11 and the tracking type total station 2 are not facing each other.
The directional prism 11 is mounted on the ink-striking robot 1 and moves. When the directivity prism 11 and the tracking type total station 2 are not directly facing each other, it is unlikely that they are directly facing again by only one rotation. Therefore, in this embodiment, the tracking type total station 2 and the directional prism 11 are swung at different periods within a range of ± 45 ° until the tracking type total station 2 can measure the directional prism 11 again. Thereby, the directional prism 11 and the tracking type total station 2 can be directly opposed.

When the directional prism 11 faces the direction P ₃ and the tracking type total station 2 faces the direction S ₀ and stops facing, the measurement by the tracking type total station 2 fails. At this time, the ink marking robot 1 swings the directional prism 11 by a rotation / lifting actuator 19 within a range of ± 45 ° around the direction P ₃ in a sine wave shape with a predetermined period. Further, the inking robot 1 instructs the tracking-type total station 2 to oscillate with a sinusoidal shape within a range of ± 45 ° around the direction S ₀ and with a period different from that of the directional prism 11.

  FIG. 15 is a graph showing an operation when the directional prism 11 and the tracking type total station 2 are not facing each other. The upper graph shows the angle of the directional prism 11 and the facing range to the tracking type total station 2. In the directional prism 11 of the present embodiment, a range of ± 22.5 ° is a directly-facing range to the tracking type total station 2.

The lower graph shows the angle of the tracking type total station 2 and the positive diagonal to the directional prism 11.
Before the time t ₁ and in the period T ₀ , the directional prism 11 is in the normal range, but the tracking type total station 2 is not in the normal diagonal. From time t _{1 to} t ₂ , the tracking total station 2 crosses the normal diagonal twice, but in either case, the directional prism 11 is out of the normal range, so that they do not face each other.

At time t ₂ ~t ₄ and period T _1, the directional prism 11 is directly facing range. At this time, since the tracking type total station 2 becomes a diagonal diagonal at the time t ₃ , both are substantially facing each other.
From time t _{4 to} t ₅ , the tracking total station 2 crosses the normal diagonal twice, but in either case, the directional prism 11 is out of the normal range, so that they do not face each other.
At time t ₅ ~t ₇ and period T _2, directional prism 11 is directly facing range. At this time, since the tracking type total station 2 becomes a diagonal diagonal at the time t ₆ , both are substantially facing each other. As described above, even when the directional prism 11 and the tracking type total station 2 are not aligned with each other, they can be substantially aligned by performing a predetermined operation.

(Effect of this embodiment)
The ink marking robot 1 can always face the directional prism 11 to the tracking type total station 2 even after the turning operation and the straight / reverse operation. Therefore, even if a predetermined error occurs due to the unevenness of the floor surface or slippage, the error does not accumulate. Therefore, the ink marking robot 1 can always measure its own position and can travel to the destination by autonomous traveling.

  In the super turning, the sabotage robot 1 multiplies the target turning angle by a turning parameter to convert it into a pulse number, and drives the traveling actuator 15 by this pulse number to turn. At this time, the travel actuator 15 drives the left and right wheels in opposite directions. Further, the sabotage robot 1 calculates an actual turning angle based on the position and angle actually measured after the movement, and calculates a new turning parameter based on the relationship between the number of pulses and the actual turning angle. As a result, the target turning angle and the actual turning angle can be matched in the next turning process.

  This straightening robot 1 travels straightly by multiplying the target straight travel distance by the straight travel parameter to convert it into a pulse number, and drives the travel actuator 15 by this pulse number. At this time, the travel actuator 15 drives the left and right wheels in the same direction. In addition, the sabotage robot 1 further calculates an actual rectilinear distance based on the position and angle actually measured after movement, and calculates a new rectilinear parameter based on the relationship between the number of pulses and the actual rectilinear distance. Thereby, in the next straight-ahead process, the target straight-ahead distance and the actual straight-ahead distance can be matched.

(Modification)
The present invention is not limited to the embodiments described above, and includes various modifications. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to the one having all the configurations described. A part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Moreover, it is also possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  A part or all of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware such as an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by a processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files for realizing each function may be stored in a recording device such as a memory, a hard disk, or an SSD (Solid State Drive), or a recording medium such as a flash memory card or a DVD (Digital Versatile Disk). it can.

In each embodiment, the control lines and information lines indicate what is considered necessary for the explanation, and not all control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.
Examples of modifications of the present invention include the following (a) to (e).

(A) The running operation of the ink-striking robot 1 is not limited to straight travel, reverse travel, and super-revolution. For example, the right and left wheels may be stopped and the pivoting of driving only the other wheels may be performed, or the left and right wheels may be driven in the same direction and at a predetermined ratio.
(B) The operation in which the inking robot 1 detects its own position and orientation is not limited to the operation shown in FIG. For example, the Y-axis actuator 131 may be operated to move the directional prism 11 to the left and right to measure two measurement points, and the orientation of the inking robot 1 may be calculated.
(C) The process in which the inking robot 1 directly faces the directional prism 11 to the tracking type total station 2 is not limited to the correction process in step S36 in FIG. For example, without rotating the directional prism 11 in step S27, the processing in steps S31 and S32 may be repeated so that the directional prism 11 and the tracking total station 2 face each other.
(D) The rotation range of the directional prism 11 and the rotation range of the tracking type total station 2 in steps S22 and S23 in FIG. 13 are not limited to ± 45 °, and may be any angle range.
(E) The relationship between the period of oscillating the directional prism 11 and the period of oscillating the tracking type total station 2 is not limited to that shown in FIG. The cycle of the directional prism 11 may be shorter than the cycle of the tracking type total station 2. The ratio of the period of the directional prism 11 to the period of the tracking type total station 2 is preferably not less than 2. This is because when the ratio of the periods of the two is, for example, 1: 2 or 2: 1, or 3: 2 or 2: 3, there is a possibility that the measurement may not be performed for a long time and measurement may be impossible.

S Inking system 1 Inking robot (Autonomous running type inking robot)
10 Frame 11 Directional prism (Measurement target)
12 Printer 13 Actuator 131 Y-axis Actuator 132 X-axis Actuator 14 Range Sensor 15 Traveling Actuator 16 Wireless LAN Master Unit 17 PC (Control Unit)
171 Motion controller 181 Indicator lamp 182 Indicator lamp 183 Indicator lamp 19 Rotation / lifting actuator (Rotation actuator)
2 Tracking type total station (three-dimensional measuring means)
3 Communication equipment 41 to 42 Turnable area 43 Straight advanceable area 44 Detection range

Claims (9)

A traveling means having a plurality of rotating bodies and capable of traveling on the floor surface by controlling forward and reverse rotation of the rotating bodies;
A measurement target whose position is optically measured by a three-dimensional measurement means;
A rotary actuator for rotating the measurement target;
A printer in which the rotary actuator and the measurement target are arranged and capable of printing on the floor;
Control means for rotating the measurement target by the rotary actuator so that the measurement target faces the direction of the three-dimensional measurement means when traveling by the traveling means;
An autonomous running type inking robot characterized by having The control means directs the traveling means to travel a predetermined distance and causes itself to travel, and then the relative direction of the three-dimensional measuring means before traveling and the relative direction of the three-dimensional measuring means after traveling the predetermined distance. Calculating an angular difference with a direction, and rotating the measurement target so as to cancel the angular difference by the rotary actuator;
The autonomous running type inking robot according to claim 1. The control means directs the traveling means to travel the predetermined distance and causes itself to travel, and then the relative direction of the three-dimensional measuring means before traveling and the three-dimensional measuring means after traveling the predetermined distance. When calculating the angle difference with the relative direction and rotating the measurement target so as to cancel the angle difference by the rotary actuator, the three-dimensional measuring means measures its own direction, and the measurement target is measured by the three-dimensional measurement. Correct so that it is directly opposite the means,
The autonomous running type inking robot according to claim 2. The control means multiplies the instructed distance by a travel parameter, controls the amount of forward / reverse rotation of the rotating body included in the travel means, travels itself, and then performs the measurement by the three-dimensional measurement means. Measuring the position of the target to calculate the actual travel distance, and correcting the travel parameter by the forward and reverse rotation amount of the rotating body and the travel distance;
The autonomous running type inking robot according to claim 2. The control means instructs the traveling means to perform a super-revolution at a predetermined angle and turns itself, and then rotates the measurement target so as to cancel the turn at the predetermined angle by the rotary actuator.
The autonomous running type inking robot according to claim 1. The control means instructs the travel means to turn around the predetermined angle and turns the measurement target so as to cancel the turning of the predetermined angle by the rotary actuator, Measure the direction of itself by the original measurement means, and correct the measurement target so that it faces the three-dimensional measurement means.
The autonomous running type inking robot according to claim 5. The control means multiplies the turning angle by the instructed angle, controls the forward / reverse rotation amount of the rotating body included in the traveling means, turns itself and then turns the three-dimensional measuring means. Measuring the direction of itself by calculating the actual turning angle, and correcting the turning parameter by the forward and reverse rotation amount of the rotating body and the turning angle,
The autonomous running type inking robot according to claim 5. If the three-dimensional measurement unit cannot measure the position of the measurement target, the control unit swings the three-dimensional measurement unit at a predetermined range and a predetermined cycle, and the measurement target is moved to the three-dimensional measurement unit. Shake at different periods to make the measurement target and the three-dimensional measurement means face each other.
The autonomous running type inking robot according to claim 1. A first actuator installed in the frame;
A second actuator that is driven in a predetermined direction by the first actuator and that drives the printer, the rotary actuator, and the measurement target in a direction orthogonal to the driving direction of the first actuator;
The autonomous running type inking robot according to claim 1, further comprising: