JP2021011772A - Marking robot, marking robot system, and measuring robot - Google Patents

Abstract

To automate a measurement work of an uneven level of a floor surface at a marking position.SOLUTION: A marking robot 10 includes: travel means (travel actuator 17ac); printing means (printer 16) having a printing head; a detection sensor SN2 for detecting a floor surface; a measuring target (directive prism 15) whose a position is measured by three-dimensional measuring means (tracking type total station 20); moving means (printer actuator 16ac) for movably supporting the measuring target together with the printing head; and control means (PC14). The control means allows the travel means to travel to an arbitrary desired position, allows the moving means to move the measuring target in a lower direction until the floor surface is detected by the detection sensor at the desired position, then measures the uneven level of the floor surface based on the position of the measuring target measured by the three-dimensional measuring means, and allows the printing means to print uneven level information indicating the uneven level on the floor surface.SELECTED DRAWING: Figure 1

Description

The present invention relates to a marking robot, a marking robot system, and a measuring robot.

In the equipment work, marking work is performed. "Inking" means marking the floor and walls of a building with marking lines that are the basis of construction, such as the anchor position of the equipment to be installed, the anchor position of the ceiling-mounted equipment, and the gantry position of the incidental equipment. Say that. In equipment work, workers install various equipment along the marking line, so it is important to mark the marking line accurately. In the conventional marking work, the worker pulls out a thread containing ink from the inkpot, puts a thread near the position where marking should be performed (inking position), and flips the thread to ink on the floor or wall surface. It was done by adding a line. At that time, the worker determined the marking position by stretching a thread so as to connect a plurality of reference points. In such a conventional marking operation, the operator needs skill to mark at an accurate marking position, and there is a possibility that a human error due to manual work may occur.

Therefore, when marking out, the operator measures an accurate marking position using an optical measuring instrument and marks out the marking position. As a result, even if the worker is not skilled in marking out, a predetermined accuracy can be guaranteed. However, even in such marking work, the worker still manually marking, so that a predetermined man-hour may be required and human error may still occur. ..

Therefore, in recent years, an attempt has been made to use a marking robot that autonomously travels and performs marking work (see, for example, Patent Document 1). According to the marking robot described in Patent Document 1, the marking work of equipment work can be labor-saving, and the occurrence of human error due to marking can be suppressed.

Japanese Unexamined Patent Publication No. 2019-31901

The conventional marking robot described in Patent Document 1 has been desired to automate the measurement work of the unevenness level of the floor surface at the marking position, as described below.

For example, if a plurality of equipments are installed on a floor surface with irregularities or slopes, each equipment cannot be installed horizontally, so that an installation failure occurs, which causes rework (backtracking work). become. In addition, in a factory plant that manufactures products, there is a possibility that an abnormality may occur in the production process when an installation failure of equipment or equipment occurs. Therefore, the operator adjusts the height of the equipment by using anchor bolts and spacers according to the unevenness level of the floor surface so that the rework work (return work) does not occur.

In adjusting the height of such equipment, it is necessary to measure the unevenness level of the floor surface at the marking position in advance. Regarding this point, the conventional marking robot described in Patent Document 1 does not have a function of measuring the unevenness level of the floor surface. Therefore, in the conventional marking robot, when adjusting the height of the equipment, it is necessary for the operator to manually measure the unevenness level of the floor surface at the marking position. The work of measuring the unevenness level of the floor surface requires skill and labor of the operator. In such measurement work of the unevenness level of the floor surface, when an unskilled person performs the work, work mistakes are likely to occur, so that rework work (backtracking work) may occur due to the occurrence of work mistakes or the work process. There was a case of delay. Therefore, it has been desired that the conventional marking robot automates the measurement work of the unevenness level of the floor surface at the marking position.

The present invention has been made to solve the above-mentioned problems, and provides a marking robot, a marking robot system, and a measuring robot that automate the measurement work of the unevenness level of the floor surface at the marking position. Is the main purpose.

In order to achieve the above object, the present invention is a marking robot, which detects a traveling means traveling on a floor surface, a printing means having a printing head for printing on the floor surface, and the floor surface. A detection sensor, a measurement target whose position is measured by a three-dimensional measurement means, a moving means that movably supports the measurement target together with the print head, and a control means that controls the operation of the traveling means and the printing means. The control means causes the traveling means to travel to an arbitrary desired position, and moves the measurement target downward until the moving means detects the floor surface by the detecting sensor at the desired position. After moving, the unevenness level of the floor surface is measured based on the position of the measurement target measured by the three-dimensional measuring means, and the unevenness level information indicating the unevenness level is printed on the floor surface by the printing means. The configuration is such that

Other means will be described later.

According to the present invention, it is possible to automate the measurement work of the unevenness level of the floor surface at the marking position.

It is an overview diagram of the marking robot system which concerns on embodiment. It is a block diagram of the marking robot system. It is an overview diagram of a printer and a detection sensor. It is a side sectional view of the detection sensor. It is an overview diagram (1) of the modification of the detection sensor. It is an overview diagram (2) of the modification of the detection sensor. It is an overview diagram of the modification of a print head. It is an overview view of equipment installed on the floor of a building. It is explanatory drawing of the height adjustment example of the equipment using the anchor bolt corresponding to the unevenness level of the floor surface. It is explanatory drawing of the height adjustment example of the equipment using the spacer corresponding to the unevenness level of the floor surface. It is explanatory drawing of the print information printed on the floor surface by the marking robot. It is explanatory drawing (1) of the unevenness level measurement when the posture of the marking robot is in a horizontal state. It is explanatory drawing (2) of the unevenness level measurement when the posture of the marking robot is a horizontal state. It is explanatory drawing (1) of the tilt angle calculation in the case where the posture of the marking robot is tilted. It is explanatory drawing (2) of the tilt angle calculation in the case where the posture of the marking robot is tilted. It is explanatory drawing (1) of the height calculation of the printing surface when the posture of the marking robot is tilted. It is explanatory drawing (2) of the height calculation of the printing surface when the posture of the marking robot is tilted. It is a flowchart (1) which shows the operation of the marking robot. It is a flowchart (2) which shows the operation of the marking robot. It is a flowchart (3) which shows the operation of the marking robot. It is a flowchart (4) which shows the operation of the marking robot. It is a flowchart (5) which shows the operation of the marking robot. It is a flowchart (6) which shows the operation of the marking robot. It is a flowchart (7) which shows the operation of the marking robot. It is a flowchart (8) which shows the operation of the marking robot.

Hereinafter, embodiments of the present invention (hereinafter, referred to as “the present embodiment”) will be described in detail with reference to the drawings. In addition, each figure is only shown schematicly to the extent that the present invention can be fully understood. Therefore, the present invention is not limited to the illustrated examples. Further, in each figure, common components and similar components are designated by the same reference numerals, and duplicate description thereof will be omitted.

[Embodiment]
<Structure of Sumitomo Robot System>
Hereinafter, the configuration of the marking robot system S according to the present embodiment will be described with reference to FIGS. 1 and 2. The marking robot system S is a system for saving labor in marking work of equipment work. FIG. 1 is an overview view of the marking robot system S according to the present embodiment. FIG. 2 is a block diagram of the marking robot system S.

As shown in FIG. 1, the marking robot system S includes a marking robot 10, a tracking type total station 20, and an external device 30. In the following description, the "horizontal direction", "front-back direction", and "vertical direction" are assumed to be the directions seen from the marking robot 10.

The marking robot 10 is a robot that autonomously travels and performs marking work. The marking robot 10 has a function of autonomously traveling and a function of marking with a predetermined accuracy.

The tracking type total station 20 is a three-dimensional measuring means for measuring the position of the directional prism 15 in a three-dimensional space by tracking the directional prism 15 provided on the marking robot 10 with a laser or the like. The directional prism 15 is a measurement target whose position is measured by the tracking type total station 20. It should be noted that measuring the position of the directional prism 15 also measures the position of the marking robot 10.

The external device 30 is a device that transmits and receives information between the marking robot 10 and the tracking type total station 20. In the present embodiment, the external device 30 will be described as being a mobile terminal operated by an operator, such as a portable personal computer (PC), a tablet terminal device, or a smartphone.

The marking robot 10, the tracking type total station 20, and the external device 30 can communicate with each other via a wireless LAN such as Wi-Fi (registered trademark).

In the case of performing the marking work, the worker of the equipment construction operates, for example, the external device 30 to input each marking position (the position where the marking line is marked) into the marking robot 10 to perform marking. Instruct to start. Alternatively, for example, the operator operates the touch panel display 13 provided on the marking robot 10 to input each marking position to the marking robot 10 and instructs the marking robot 10 to start marking. Then, the marking robot 10 starts the marking work.

The tracking type total station 20 tracks the directional prism 15 provided in the marking robot 10 and measures the position of the directional prism 15 in the three-dimensional space. The marking robot 10 acquires the position information of the directional prism 15 from the tracking type total station 20. As a result, the sumi-inking robot 10 acquires its own current position information. The marking robot 10 appropriately repeats its own current position information acquisition operation and moving operations such as turning operation, straight movement, and backward operation to advance to the marking position. Further, the marking robot 10 is provided in the main body by measuring the position within the XY stage range in the vicinity of the marking position to perform highly accurate positioning of the marking line in order to secure a predetermined accuracy. The marking line and desired information are printed by the printer 16. The marking robot 10 repeats these processes at each marking position.

The marking line is a line drawn with an arbitrary length such as a straight line or a cross line, and is used as position information representing an arbitrary desired position. In the present embodiment, when the marking robot 10 prints (draws) the marking line on the floor surface, the marking level information indicating the unevenness level of the floor surface is printed in the vicinity of the marking line. Further, when the marking robot 10 prints (draws) the marking line on the floor surface, the marking robot 10 prints the attribute information of the marking line in the vicinity of the marking line. For example, the marking robot 10 prints device information representing a device installed at a desired position as attribute information of the marking line. The device information is characters, figures, symbols, etc. representing the name and model number of the device to be installed.

As shown in FIG. 1, the marking robot 10 includes a frame 11, a storage case 12, a touch panel display 13, a PC (Personal Computer) 14, a directional prism 15, a prism actuator 15ac, a printer 16, a printer actuator 16ac, and a drive wheel 17. , Travel actuator 17ac, wireless LAN base unit 18, indicator lights 191 to 193, range sensor SN1, and detection sensor SN2. Further, as shown in FIG. 2, the marking robot 10 includes a motion controller MC. The motion controller MC is a controller connected to the PC 14 to drive a prism actuator 15ac, a printer actuator 16ac, a traveling actuator 17ac, and the like.

The frame 11 is a member that supports the storage case 12 and the printer actuator 16ac. The frame 11 has a rectangular shape when viewed from above. A storage case 12 is arranged on the rear portion of the frame 11.

The PC 14 is stored inside the storage case 12. The PC 14 is a control means that controls the marking robot 10 in an integrated manner. When the PC 14 travels by the traveling actuator 17ac, the directional prism 15 is rotated by the prism actuator 15ac so that the directional prism 15 faces the direction of the tracking type total station 20.

A touch panel display 13 and indicator lights 191 to 193 are arranged on the storage case 12. The touch panel display 13 is a manual input means for an operator to manually input various information and operation instructions. The touch panel display 13 can be used not only for setting the operation of the marking robot 10 but also for displaying and inputting various kinds of information. The touch panel display 13 is preferably configured so that the arrangement angle can be changed (that is, the arrangement can be tilted at an arbitrary angle) or the touch panel display 13 can be removed so as to improve operability. Good. The indicator lights 191 to 193 are notification means for notifying the state of the marking robot 10 to the outside.

A wireless LAN base unit 18 is arranged in front of the storage case 12. The wireless LAN base unit 18 is a communication means that is connected to the PC 14 and wirelessly communicates with the tracking type total station 20 and the external device 30.

A range sensor SN1 is arranged in front of the frame 11. The range sensor SN1 is a sensor that detects whether or not an obstacle exists in front of the marking robot 10.

A traveling actuator 17ac is arranged at the lower part of the frame 11. The traveling actuator 17ac is a traveling means that travels on the floor surface. In the present embodiment, it is assumed that the four traveling actuators 17ac are arranged at the four lower corners of the frame 11 and have a structure for rotationally driving the drive wheels 17 provided corresponding to the four traveling actuators 17ac. The drive wheel 17 is a rotating body that functions as a wheel. The marking robot 10 can perform a turning motion such as a super-credit turning, a forward motion, and a backward motion by independently rotating and driving the four drive wheels 17 by the four traveling actuators 17ac. For example, the marking robot 10 can perform a turning operation by rotating the left and right drive wheels 17 in opposite directions. Further, the marking robot 10 can perform a forward movement or a backward movement by rotating the left and right drive wheels 17 in the same direction. However, the number of drive wheels 17 is not limited to four, and may be four or more. Further, the marking robot 10 can be configured to rotationally drive a plurality of drive wheels 17 with one traveling actuator 17ac via a chain link mechanism or the like. Further, the marking robot 10 can be configured to have an endless track (that is, a traveling means in which a crawler is stretched on a plurality of drive wheels 17).

A rectangular opening 11op is formed in front of the storage case 12 of the frame 11 when viewed from above. The inside of the opening 11op is a space in which the printer 16 and the detection sensor SN2 can move.

A printer actuator 16ac is arranged on the frame 11. The printer actuator 16ac is a mechanism that supports the printer 16 and slides the printer 16 in the left-right direction (X-axis direction), the front-back direction (Y-axis direction), and the up-down direction (Z-axis direction). The printer actuator 16ac supports not only the printer 16 but also the directional prism 15 and the detection sensor SN2, and moves the directional prism 15 and the detection sensor SN2 together with the printer 16 in the same direction.

The printer 16 is a printing means for printing on the floor surface. In the present embodiment, the printer 16 will be described as an inkjet printing means. However, the printer 16 may be a printing means using a pen-type printing head such as a plotter.

The directional prism 15 is a location where the laser pointer of the tracking type total station 20 is irradiated. The directional prism 15 is a measurement target for measuring the position of the marking robot 10, and has a characteristic of reflecting light. The directional prism 15 optically measures the three-dimensional position by reflecting the light emitted from the tracking type total station 20. The directional prism 15 is arranged so that the center position thereof is constant with the position of the printer 16. As a result, the marking robot 10 can accurately measure the position of the printer 16. Further, the directional prism 15 is rotated in an arbitrary direction by the prism actuator 15ac. As a result, the directional prism 15 can face the tracking type total station 20 even after the marking robot 10 has moved.

The detection sensor SN2 is a sensor that detects the floor surface. In the present embodiment, the detection sensor SN2 will be described as being composed of a contact type touch sensor. In the detection sensor SN2 composed of a touch sensor, the contact terminals are arranged so as to face the floor surface. The Z-axis actuator 16z supports the detection sensor SN2 together with the printer 16 so as to be movable in the Z-axis direction (vertical direction).

The printer actuator 16ac includes an X-axis actuator 16x, a Y-axis actuator 16y, and a Z-axis actuator 16z. The X-axis actuator 16x is a left-right moving means for sliding and moving the printer 16 in the left-right direction (X-axis direction). The Y-axis actuator 16y is a front-rear movement means for sliding and moving the printer 16 in the front-rear direction (Y-axis direction). The Z-axis actuator 16z is a vertical moving means for sliding and moving the printer 16 in the vertical direction (Z-axis direction). In the present embodiment, it is assumed that an electric linear actuator is adopted as the X-axis actuator 16x, the Y-axis actuator 16y, and the Z-axis actuator 16z, respectively.

In the present embodiment, the Y-axis actuator 16y has three long square columnar bar members y1, y2, y3. The three bar members y1, y2, y3 of the Y-axis actuator 16y are fixedly installed on the frame 11. The three bar members y1, y2, and y3 are arranged in a U-shape so as to surround the opening 11op formed in the frame 11. That is, of the three bar members y1, y2, y3, the two bar members y1, y2 are arranged so as to extend in the front-rear direction. Further, the remaining bar members y3 are arranged so as to extend in the left-right direction and are connected to the rear end portions of the bar members y1 and y2.

The X-axis actuator 16x has one long square columnar bar member x1. The bar member x1 of the X-axis actuator 16x extends in the left-right direction (that is, orthogonal to the bar members y1 and y2 of the Y-axis actuator 16y) so that the bar members y1 and y2 of the Y-axis actuator 16y extend. It is placed on top of it. The bar member x1 of the X-axis actuator 16x moves along the extending direction of the bar members y1 and y2 of the Y-axis actuator 16y. That is, the Y-axis actuator 16y movably supports the bar member x1 of the X-axis actuator 16x along the extending direction of the bar members y1 and y2. The bar member x1 of the X-axis actuator 16x and the three bar members y1, y2, y3 of the Y-axis actuator 16y form a frame that movably supports the printer 16 and the detection sensor SN2.

A support portion z of the Z-axis actuator 16z is attached to the bar member x1 of the X-axis actuator 16x. The support portion z of the Z-axis actuator 16z is a component that supports the directional prism 15, the printer 16, and the detection sensor SN2 via the bar-shaped ball screw portion zb. The support portion za of the Z-axis actuator 16z moves along the extending direction of the bar member x1 of the X-axis actuator 16x. That is, the X-axis actuator 16x movably supports the support portion za of the Z-axis actuator 16z along the extending direction of the bar member x1.

<Configuration of detection sensor>
Hereinafter, the configuration of the detection sensor SN2 will be described with reference to FIGS. 3A and 3B. FIG. 3A is an overview view of the printer 16 and the detection sensor SN2. FIG. 3B is a side sectional view of the detection sensor SN2.

As shown in FIG. 3A, in the present embodiment, the printer 16 is attached to one surface of the thin rectangular flat attachment plate 60, and the detection sensor SN2 is attached to the other surface. The printer 16 has a print head 61 for ejecting ink, an ink storage unit 62 (ink cartridge) for accommodating ink, and an operating mechanism 63 for controlling the ink ejection operation. The print head 61 is arranged on the bottom surface of the printer 16 so as to face the floor surface.

In the present embodiment, the printer 16 has a configuration in which the print head 61, the ink storage unit 62, and the operating mechanism 63 are integrated. However, the printer 16 has a configuration in which the print head 61 is separated from the ink storage unit 62 and the operating mechanism 63 by connecting the print head 61 and the ink storage unit 62 with a tube (not shown), for example. can do.

The detection sensor SN2 is arranged inside the case 76, and the pusher 71 is arranged toward the floor surface.

As shown in FIG. 3B, the detection sensor SN2 urges the pusher 71, which is a contact terminal, the shaft 74 connected to the pusher 71, the bush 72 that fills the gap around the shaft 74, and the shaft 74 downward. It includes a compression spring 73 and a detection unit 75 that detects contact between the pusher 71 and the floor surface.

In such a configuration, the detection sensor SN2 is moved up and down together with the printer 16 by the Z-axis actuator 16z of the printer actuator 16ac. When the pusher 71 is separated from the floor surface, the shaft 74 is urged downward by the compression spring 73, so that the upper end portion of the shaft 74 and the lower end portion of the detection unit 75 are separated by a desired gap. It is in a state. On the other hand, when the pusher 71 comes into contact with the floor surface, the shaft 74 moves upward due to the stress applied from the floor surface via the pusher 71, so that the upper end portion of the shaft 74 and the lower end portion of the detection unit 75 come into contact with each other. It will be in the state of The detection sensor SN2 detects the contact between the pusher 71 and the floor surface when the upper end portion of the shaft 74 and the lower end portion of the detection unit 75 are in contact with each other.

For example, the marking robot 10 can change the detection sensor SN2 shown in FIG. 3A to the detection sensor SN2a shown in FIG. FIG. 4 is an overview view of the detection sensor SN2a, which is a modified example of the detection sensor SN2. As shown in FIG. 4, the modified example detection sensor SN2a is different from the detection sensor SN2 shown in FIG. 3A in that it has a pusher 71a instead of the pusher 71. The pusher 71a is a contact terminal that comes into contact with the floor surface like the pusher 71. The pusher 71a has a diameter larger than that of the pusher 71 and is formed in a ring shape in which a portion facing the print head 61 is opened so as not to hit the floor surface.

For example, the marking robot 10 can change the detection sensor SN2 shown in FIG. 3A to the detection sensor SN2b shown in FIG. FIG. 5 is an overview view of the detection sensor SN2b, which is a modification of the detection sensor SN2. As shown in FIG. 5, the modified example detection sensor SN2b is composed of an optical sensor such as a laser displacement meter, and is configured to irradiate the laser beam 78 downward from the laser irradiation port 77 provided on the bottom surface. It has become.

For example, the marking robot 10 can change the printer 16 shown in FIG. 3A to the printer 16a shown in FIG. FIG. 6 is an overview view of the printer 16a, which is a modified example of the printer 16. As shown in FIG. 6, the modified example printer 16a has a configuration in which a pen-type print head 66 such as a plotter and a grip portion 67 for gripping the pen-type print head 66 are provided. The pen tip of the pen-type print head 66 is arranged at a position slightly above the bottom surface of the pusher 71.

<Example of equipment and height adjustment of equipment related to installation work>
FIG. 7 is an overview view of the equipment installed on the floor Fl of the building. FIG. 7 shows a state in which a plurality of control panels 81 as an example of equipment are installed on the floor surface Fl so that the heights of the ceiling surfaces 81t are aligned.

If multiple equipments are installed on a floor surface Fl with irregularities or slopes, each equipment cannot be installed horizontally, which causes installation failure and causes rework (backtracking work). Become. In addition, in a factory plant that manufactures products, there is a possibility that an abnormality may occur in the production process when an installation failure of equipment or equipment occurs.

Therefore, in order to prevent rework work (backtracking work), the operator can use the anchor bolt 91 (see FIG. 8) and the spacer 96 (see FIG. 9) corresponding to the unevenness level (including the gradient level) of the floor surface Fl. ) Is used to adjust the height of the equipment. FIG. 8 is an explanatory view of an example of height adjustment of equipment using the anchor bolt 91 corresponding to the unevenness level of the floor surface Fl. FIG. 9 is an explanatory view of an example of height adjustment of equipment using the spacer 96 corresponding to the unevenness level of the floor surface Fl.

In the example shown in FIG. 8, a plurality of anchor bolts 91 are embedded in the floor surface Fl. A receiving nut 92a and a fastening nut 92b are attached to each anchor bolt 91, and a base portion 81b of equipment (post 81p) is arranged between the receiving nut 92a and the fastening nut 92b. A plurality of through holes for passing each anchor bolt 91 are formed in the base portion 81b. The fastening nut 92b is attached to the anchor bolt 91 from above the base portion 81b. In such a configuration, the worker attaches the receiving nut 92a (high) according to the unevenness level of the floor surface Fl so that the base portion 81b of the equipment is horizontal during the installation work of the equipment (post 81p). Adjust the position). Then, the operator arranges the base portion 81b of the equipment on the receiving nut 92a, attaches the fastening nut 92b to the anchor bolt 91 from above the base portion 81b, and tightens the fastening nut 92b. As a result, the operator fixes the base portion 81b of the equipment with the receiving nut 92a and the fastening nut 92b.

In the example shown in FIG. 9, the anchor bolt 91 is embedded in the floor surface Fl. A spacer 96 is arranged on the floor surface Fl around the anchor bolt 91. Although only one through hole is shown in the example shown in FIG. 9, a plurality of through holes for passing each anchor bolt 91 are formed in the base portion 81b of the equipment. The base portion 81b of the equipment is arranged on the spacer 96 by passing the anchor bolt 91 through the through hole. In such a configuration, the operator puts a spacer 96 having a desired thickness on the floor surface Fl according to the unevenness level of the floor surface Fl so that the base portion 81b of the equipment equipment becomes horizontal during the installation work of the equipment. Place in. Then, the operator arranges the base portion 81b of the equipment on the spacer 96, attaches a fastening nut (not shown) to the anchor bolt 91, and tightens the fastening nut. As a result, the operator fixes the base portion 81b of the equipment with the spacer 96 and the fastening nut.

In this way, the operator adjusts the height of the equipment by using the anchor bolt 91 (see FIG. 8) and the spacer 96 (see FIG. 9) according to the unevenness level of the floor surface Fl during the installation work of the equipment. I do. As a result, the worker can suppress the occurrence of improper installation of the equipment and equipment and install each equipment horizontally. As a result, the operator aligns the heights of the ceiling surfaces 81t of each control panel 81 on a uniform surface, and further, the adjacent control panels 81 are connected to each other so that no gap is formed between the adjacent control panels 81. It can be in close contact.

In adjusting the height of such equipment, it is necessary to measure the unevenness level of the floor surface Fl at the marking position in advance. Regarding this point, the conventional marking robot described in Patent Document 1 does not have a function of measuring the unevenness level of the floor surface Fl. Therefore, in the conventional marking robot, when adjusting the height of the equipment, it is necessary for the operator to manually measure the unevenness level (including the gradient level) of the floor surface Fl at the marking position. The work of measuring the unevenness level of the floor surface Fl requires the skill of the operator and labor. In such measurement work of the unevenness level of the floor surface Fl, when an unskilled person performs the work, work mistakes are likely to occur, so that rework work (backtracking work) may occur due to the occurrence of work mistakes. Process delays may occur. Therefore, it has been desired that the conventional marking robot automates the measurement work of the unevenness level of the floor surface at the marking position.

Therefore, in the present embodiment, the marking robot 10 automatically performs the measurement work of the unevenness level (including the gradient level) of the floor surface Fl at the marking position. Then, the marking robot 10 automatically prints the unevenness level information (see FIG. 10) indicating the measured unevenness level (including the gradient level) of the floor surface Fl on the floor surface Fl. FIG. 10 is an explanatory diagram of print information printed on the floor surface Fl by the marking robot 10.

FIG. 10 shows, as an example of the print information printed on the floor surface Fl, position information D1 indicating a desired position (inking position), device information D2 representing a device installed at a desired position (inking position), and desired The unevenness level information D3 indicating the unevenness level of the position (inking position) is shown.

In the example shown in FIG. 10, a cross-shaped marking line of an arbitrary length is printed (drawn) on the floor surface Fl as the position information D1. The cross-shaped marking line is printed (drawn) so as to be parallel to the two reference cores St drawn as linear street cores on the floor surface Fl. Here, it is assumed that the two reference cores St are set along the X-axis direction (left-right direction) and the Y-axis direction (front-back direction). However, the position information D1 is not limited to the cross-shaped marking line, and can be represented by a figure such as a circle or a polygon, a character, a symbol, or the like.

In the example shown in FIG. 10, as the device information D2, the characters "board 1" indicating the attributes of the equipment to be installed are printed on the floor surface Fl. Here, "panel 1" is assumed to indicate that the equipment to be installed is the first control panel. The device information D2 may represent the name, model number, application, etc. of the equipment to be installed. The device information D2 can be represented by a figure, a character, a symbol, or the like.

In the example shown in FIG. 10, as the unevenness level information D3, the numbers "0 mm", "1 mm", and "2 mm" indicating the height adjustment amount of the equipment and the unit are printed on the floor surface Fl. The unevenness level information D3 is a value of the unevenness level of the floor surface Fl measured at each desired position (inking position). Here, it is assumed that the position where "0 mm" is printed indicates that the height adjustment of the equipment is unnecessary. The position where "1 mm" is printed indicates that the height is 1 mm lower than the position where "0 mm" is printed, so that the height is adjusted by raising the equipment by 1 mm. It shall be. Similarly, the position where "2 mm" is printed indicates that the height is adjusted to raise the equipment by 2 mm.

<Measurement of unevenness level when the posture of the marking robot is horizontal>
The marking robot system S measures the unevenness level of the floor surface Fl by performing the operations shown in FIGS. 11A and 11B when the posture of the marking robot 10 is in a horizontal state. 11A and 11B are explanatory views of unevenness level measurement when the posture of the marking robot 10 is in a horizontal state, respectively.

In the example shown in FIGS. 11A and 11B, the marking robot 10 is stopped on the place where the recess Fla is formed on the floor surface Fl. The periphery of the recess Fla is a horizontal and flat place with a height Z0 of zero level. The recess Fla is a printing surface on which the printing information shown in FIG. 10 is printed. Both the drive wheel 17a on the right side and the drive wheel 17b on the left side of the marking robot 10 are located at a height Z0 of zero level. Then, the posture of the sumi-inking robot 10 is in a horizontal state.

As shown in FIGS. 11A and 11B, the directional prism 15 and the detection sensor SN2 are housed in a case Ca attached to the lower end of the ball screw portion zb of the Z-axis actuator 16z. A directional prism 15 is attached to the upper end of the ball screw portion zb. The ball screw portion zb is movably supported in the Z-axis direction (vertical direction) by the support portion z of the Z-axis actuator 16z. The support portion za is attached to the bar member x1 of the X-axis actuator 16x. The X-axis actuator 16x movably supports the support portion za of the Z-axis actuator 16z in the X-axis direction (left-right direction), which is the extending direction of the bar member x1.

In the marking robot system S, when the posture of the marking robot 10 is in a horizontal state and when measuring the unevenness level of the floor surface Fl, the marking robot 10 is shown from the state shown in FIG. 11A. It changes to the state shown in 11B. At that time, the tracking type total station 20 measures the position of the directional prism 15 in the three-dimensional space, and outputs the position information of the directional prism 15 to the marking robot 10. The PC 14 of the marking robot 10 measures the unevenness level of the floor surface Fl by measuring the amount of movement of the directional prism 15 in the vertical direction based on the position information of the directional prism 15.

FIG. 11A shows the state of the marking robot 10 when the directional prism 15 is raised to the highest position. In the state shown in FIG. 11A, the tracking type total station 20 measures the position of the directional prism 15 in the three-dimensional space and outputs the position information of the directional prism 15 to the marking robot 10.

The height P of the directional prism 15 at the maximum elevation shown in FIG. 11A represents the distance from the height position of the directional prism 15 to the height position of the pusher 71 (contact terminal). The height P of the directional prism 15 at the maximum elevation is the installation height of the measurement target peculiar to each marking robot 10, and is a fixed value. The height P of the directional prism 15 at the maximum elevation can be calculated in advance based on, for example, the design drawing of the marking robot 10.

FIG. 11B shows the state of the marking robot 10 when the directional prism 15 and the detection sensor SN2 are lowered to bring the pusher 71 (contact terminal) of the detection sensor SN2 into contact (grounding) with the recess Fla of the floor surface Fl. Shown. The marking robot 10 stops the descending operation when the pusher 71 (contact terminal) of the detection sensor SN2 touches the ground during the descending operation of the directional prism 15 and the detection sensor SN2 (hereinafter, the same applies).

In the state shown in FIG. 11B, the tracking type total station 20 measures the position of the directional prism 15 in the three-dimensional space and outputs the position information of the directional prism 15 to the marking robot 10. The Z-direction component of the position of the directional prism 15 measured at this time represents the height P1 of the directional prism 15 when descending. The descending height P1 of the directional prism 15 is an actually measured value representing the distance from the height position of the directional prism 15 to the height position of the zero level height Z0.

In such a configuration, the PC 14 of the marking robot 10 can calculate the height Z of the printed surface by the following formula (1).
Z = P-P1 ... (1)

Here, "Z" represents the height of the printed surface, "P" represents the height of the directional prism 15 at the maximum rise, and "P1" represents the height of the directional prism 15 at the time of descent (detection sensor). The height of the SN2 when it is grounded).

The marking robot 10 creates unevenness level information indicating the unevenness level of the floor surface Fl based on the height Z of the printing surface, and prints the unevenness level information on the floor surface Fl.

<Measurement of unevenness level when the posture of the marking robot is tilted>
The marking robot system S measures the unevenness level (gradient level) of the floor surface Fl by performing the operations shown in FIGS. 12A to 13B when the posture of the marking robot 10 is in an inclined state. .. 12A and 12B are explanatory views for calculating the tilt angle when the posture of the marking robot 10 is tilted, respectively. 13A and 13B are explanatory views for calculating the height of the printed surface when the marking robot 10 is in an inclined state, respectively.

Note that FIGS. 12A to 13B show, as an example, a state in which the posture of the marking robot 10 is tilted in the X-axis direction (left-right direction). Then, in the following description, a method of measuring the unevenness level in the X-axis direction (left-right direction) will be described. However, the posture of the marking robot 10 is often tilted not only in the X-axis direction (left-right direction) but also in the Y-axis direction (front-back direction). Therefore, the unevenness level is measured in the Y-axis direction (front-back direction) in the same manner as in the X-axis direction (left-right direction).

In the examples shown in FIGS. 12A and 13A, the marking robot 10 is stopped on a place where a gradient is formed on the floor surface Fl. The floor surface Fl has a configuration in which a low ground Fl1 is formed on the low side and a high ground Fl3 is formed on the high side with the slope surface Fl2 in between. The low ground Fl1 is a horizontal, flat, zero-level height Z0 location. The slope surface Fl2 is a place inclined so that the height increases from the low ground Fl1 to the high ground Fl3. The high ground Fl3 is a horizontal and flat place. The gradient surface Fl2 is a printing surface on which the printing information shown in FIG. 10 is printed. The drive wheel 17b on the left side of the marking robot 10 is located on the low ground Fl1, and the drive wheel 17a on the right side of the marking robot 10 is located on the high ground Fl3. Then, the posture of the marking robot 10 is in an inclined state.

In the marking robot system S, when the posture of the marking robot 10 is in an inclined state and when measuring the unevenness level of the floor surface Fl, the marking robot 10 shows the operation and the figure shown in FIG. 12A. The operation shown in 13A is performed. At that time, the tracking type total station 20 measures the position of the directional prism 15 in the three-dimensional space, and outputs the position information of the directional prism 15 to the marking robot 10. The PC 14 of the marking robot 10 measures the unevenness level of the floor surface Fl by measuring the amount of movement of the directional prism 15 in the vertical direction based on the position information of the directional prism 15.

FIG. 12A shows the state of the marking robot 10 when the directional prism 15 is raised to the highest position. In the state shown in FIG. 12A, the PC 14 of the marking robot 10 calculates the tilt angle θ of the marking robot 10 as follows. That is, in the state shown in FIG. 12A, the marking robot 10 causes the X-axis actuator 16x to move the support portion z of the Z-axis actuator 16z in the X-axis direction (left-right direction) which is the extending direction of the bar member x1. In the example shown in FIG. 12A, the X-axis actuator 16x moves the support portion z of the Z-axis actuator 16z from the first measurement point at height Z1 to the second measurement point at height Z2 by the amount of movement L in the X-axis direction (left-right direction). ). The tracking type total station 20 measures the position of the directional prism 15 in the three-dimensional space at the first measurement point and the second measurement point, and outputs the position information of the directional prism 15 to the marking robot 10. The Z-direction component of the position of the directional prism 15 measured at this time represents the height Z1 of the first measurement point and the height Z2 of the second measurement point.

The PC 14 of the marking robot 10 can calculate the amount of vertical fluctuation ΔZ of the directional prism 15 by the following equation (2).
ΔZ = Z1-Z2 ... (2)

Here, "ΔZ" represents the amount of vertical fluctuation of the directional prism 15, "Z1" represents the height of the first measurement point, and "Z2" represents the height of the second measurement point.

The tilt angle θ of the marking robot 10 has a relationship shown in FIG. 12B with respect to the movement amount L of the directional prism 15 and the vertical fluctuation amount ΔZ of the directional prism 15. Therefore, the PC 14 of the marking robot 10 can calculate the tilt angle θ of the marking robot 10 by the following equation (3).
θ = sin ^-1 (ΔZ / L)… (3)

Here, "θ" represents the tilt angle of the marking robot 10, "L" represents the amount of movement of the directional prism 15, and "ΔZ" represents the amount of vertical fluctuation of the directional prism 15.

FIG. 13A shows the state of the marking robot 10 when the directional prism 15 and the detection sensor SN2 are lowered to bring the pusher 71 (contact terminal) of the detection sensor SN2 into contact with the gradient surface Fl2 of the floor surface Fl. There is.

In the state shown in FIG. 13A, the tracking type total station 20 measures the position of the directional prism 15 in the three-dimensional space and outputs the position information of the directional prism 15 to the marking robot 10. The Z-direction component of the position of the directional prism 15 measured at this time represents the height Z3 of the directional prism 15 when descending. The height Z3 of the directional prism 15 when descending is an actually measured value representing the distance from the height position of the directional prism 15 to the height position of the low ground Fl1. The height of the low ground Fl1 is zero level height Z0.

In such a configuration, the PC 14 of the marking robot 10 can calculate the height Z of the printed surface by the following equation (4).
Z = Z3-h ... (4)

Here, "Z" represents the height of the printed surface, "Z3" represents the distance from the height position of the directional prism 15 to the height position of the low ground Fl1, and "h" represents the height position of the directional prism 15. It represents the distance from the height position to the height position of the gradient surface Fl2 in contact with the pusher 71 (contact terminal) of the detection sensor SN2.

The tilt angle θ of the marking robot 10 has a relationship shown in FIG. 13B with respect to the height P of the directional prism 15 at the time of maximum climb and the distance h described above. Therefore, the PC 14 of the marking robot 10 can calculate the tilt angle θ of the marking robot 10 by the following equation (5).
cosθ = P / h… (5)

Here, "θ" represents the tilt angle of the marking robot 10, "P" represents the height of the directional prism 15 at the maximum elevation, and "h" represents the detection sensor from the height position of the directional prism 15. It represents the distance to the height position of the gradient surface Fl2 in contact with the pusher 71 (contact terminal) of the SN2.

The PC14 of the marking robot 10 can calculate the height Z of the printed surface by the following formula (6) from the relationship between the above formula (4) and the above formula (5).
Z = Z3-h = Z3- (P / cosθ)… (6)

Here, "Z" represents the height of the printed surface, "Z3" represents the distance from the height position of the directional prism 15 to the height position of the low ground Fl1, and "h" represents the height position of the directional prism 15. It represents the distance from the height position to the height position of the gradient surface Fl2 in contact with the pusher 71 (contact terminal) of the detection sensor SN2. Further, "θ" represents the tilt angle of the marking robot 10, "P" represents the height of the directional prism 15 at the maximum rise, and "h" represents the height position of the directional prism 15 from the height position of the detection sensor SN2. It represents the distance to the height position of the gradient surface Fl2 in contact with the pusher 71 (contact terminal) of the above.

The marking robot 10 creates unevenness level information indicating the unevenness level of the floor surface Fl based on the height Z of the printing surface, and prints the unevenness level information on the floor surface Fl.

<Operation of the marking robot>
Hereinafter, the operation of the marking robot 10 will be described with reference to FIGS. 14 to 21. 14 to 21 are flowcharts showing the operation of the marking robot 10, respectively. Each process shown in FIGS. 14 to 21 is mainly executed by the PC 14 and the motion controller MC.

(First operation example)
FIG. 14 shows an example of the first operation of the marking robot 10. In the first operation example, the marking robot 10 sequentially travels at arbitrary desired positions at a plurality of locations, measures the unevenness level of the floor surface Fl at each desired position, and outputs the unevenness level information to the floor surface with the printer 16. Print on Fl.

In the present embodiment, the operation of "measuring the unevenness level of the floor surface Fl" is the directivity when the tracking type total station 20 stops descending after the detection sensor SN2 is lowered until the pusher 71 (contact terminal) touches the ground. This is achieved by acquiring the position information of the sex prism 15 (hereinafter, the same applies).

Specifically, as shown in FIG. 14, the marking robot 10 travels to a desired position (step S110).

The tracking type total station 20 measures the position of the directional prism 15 in the three-dimensional space, and outputs the position information of the directional prism 15 to the marking robot 10. The PC 14 of the marking robot 10 measures the unevenness level of the floor surface Fl by measuring the amount of movement of the directional prism 15 in the vertical direction based on the position information of the directional prism 15 (step S120). The information is stored (step S130).

Next, the marking robot 10 prints various information on the floor surface Fl with the printer 16 (step S140).

Next, the marking robot 10 determines whether or not there is a remaining portion to be measured (step S150). If it is determined in step S150 that there is a remainder (in the case of "Yes"), the process returns to step S110. When it is determined in step S150 that there is no remaining (in the case of "No"), the processing of a series of routines is terminated.

(Second operation example)
FIG. 15 shows an example of the second operation of the marking robot 10. In the second operation example, the marking robot 10 measures the unevenness level of the floor surface Fl at each desired position while sequentially traveling at a plurality of desired positions. After that, the marking robot 10 prints the unevenness level information on the floor surface Fl with the printer 16 at each desired position while sequentially traveling at a plurality of desired positions.

Specifically, as shown in FIG. 15, the marking robot 10 travels to a desired position (step S110).

The tracking type total station 20 measures the position of the directional prism 15 in the three-dimensional space, and outputs the position information of the directional prism 15 to the marking robot 10. The PC 14 of the marking robot 10 measures the unevenness level of the floor surface Fl by measuring the amount of movement of the directional prism 15 in the vertical direction based on the position information of the directional prism 15 (step S120). The information is stored (step S130).

Next, the marking robot 10 determines whether or not there is a remaining portion to be measured (step S132). If it is determined in step S132 that there is a remainder (in the case of "Yes"), the process returns to step S110. When it is determined in step S132 that there is no remaining (in the case of "No"), the vehicle travels to a desired position (step S134).

Next, the marking robot 10 prints various information on the floor surface Fl with the printer 16 (step S140).

Next, the marking robot 10 determines whether or not there is a remaining portion to be measured (step S152). If it is determined in step S152 that there is a remainder (in the case of "Yes"), the process returns to step S134. When it is determined in step S152 that there is no remaining (in the case of "No"), the processing of a series of routines is terminated.

(Third operation example and fourth operation example)
The marking robot 10 may have an image reading means (not shown) for reading an image of the floor surface Fl. In this case, for example, the operator pre-marks the position information such as the marking line on the floor surface Fl, and the marking robot 10 detects the unevenness level of the portion where the position information is marked. be able to. In this case, the marking robot 10 can execute, for example, the third operation example shown in FIG. 16 instead of the first operation example shown in FIG. Further, for example, the marking robot 10 can execute the fourth operation example shown in FIG. 17 instead of the second operation example shown in FIG.

The third operation example shown in FIG. 16 is different from the first operation example shown in FIG. 14 in that the processing of steps S105a and S105b is performed instead of step S110. That is, in the third operation example, in steps S105a and S105b, the marking robot 10 reads the position information such as the marking line pre-marked on the floor surface Fl by the image reading means (not shown) while traveling. ..

Compared with the second operation example shown in FIG. 15, the fourth operation example shown in FIG. 17 is in that the processing of steps S105a and S105b and the processing of steps S135a and S135b are performed instead of steps S110 and S134. It's different. That is, in the fourth operation example, in steps S105a and S105b, the marking robot 10 reads the position information such as the marking line pre-marked on the floor surface Fl by the image reading means (not shown) while traveling. .. Similarly, in steps S135a and S135b, the marking robot 10 reads position information such as a marking line pre-marked on the floor surface Fl by an image reading means (not shown) while traveling.

(Measurement operation of unevenness level when the posture of the marking robot is horizontal)
FIG. 18 shows a measurement operation of the unevenness level when the posture of the marking robot 10 is in a horizontal state as shown in FIGS. 11A and 11B in the process of step S120 shown in FIGS. 14 to 17. ing.

As shown in FIG. 18, in the process of step S120 shown in FIGS. 14 to 17, first, the marking robot 10 moves the print head 61 to the print position (step S205).

Next, the marking robot 10 lowers the print head 61 until the pusher 71 (contact terminal) of the detection sensor SN2 touches the ground (step S210).

The marking robot 10 detects the operation of the detection sensor SN2 when the pusher 71 (contact terminal) of the detection sensor SN2 touches the ground (step S215). When the marking robot 10 detects the operation of the detection sensor SN2, the marking robot 10 stops the lowering operation of the print head 61.

Next, the marking robot 10 acquires the position information of the directional prism 15 when the descent is stopped from the tracking type total station 20, and when the directional prism 15 is descending based on the position information of the directional prism 15 when the descent is stopped. Height P1 is measured (step S220).

Next, as shown in FIG. 11B, the marking robot 10 calculates the height Z of the printed surface based on the lowered height P1 of the directional prism 15 (step S225). Then, the marking robot 10 creates unevenness level information representing the unevenness level of the floor surface Fl based on the height Z of the printed surface. As a result, the unevenness level measurement operation is completed.

(Measurement operation of unevenness level when the posture of the marking robot is tilted)
FIG. 19 shows a measurement operation of the unevenness level when the posture of the marking robot 10 is in an inclined state as shown in FIGS. 12A to 13B in the process of step S120 shown in FIGS. 14 to 17. ing.

Here, as shown in FIGS. 12A to 13B, the unevenness level measurement operation will be described on the assumption that the posture of the marking robot 10 is tilted in the X-axis direction (left-right direction). However, the posture of the marking robot 10 is often tilted not only in the X-axis direction (left-right direction) but also in the Y-axis direction (front-back direction). Therefore, the unevenness level measurement operation shall be performed in the Y-axis direction (front-back direction) in the same manner as in the X-axis direction (left-right direction).

As shown in FIG. 19, in the process of step S120 shown in FIGS. 14 to 17, first, as shown in FIG. 12A, the marking robot 10 moves the print head 61 left and right by an arbitrary movement amount L. The height Z1 of the first measurement point and the height Z2 of the second measurement point are measured (step S305). At this time, the marking robot 10 acquires the position information of the directional prism 15 at the first measurement point and the second measurement point from the tracking type total station 20, and performs the measurement based on the position information of the directional prism 15.

Next, the marking robot 10 calculates the vertical fluctuation amount ΔZ with respect to the movement amount L as shown in FIG. 12A (step S310), and further calculates the tilt angle θ as shown in FIG. 12B (step). S315).

Next, the marking robot 10 moves the print head 61 to the print position (step S320), and lowers the print head 61 until the pusher 71 (contact terminal) of the detection sensor SN2 touches the ground, as shown in FIG. 13A. (Step S320).

The marking robot 10 stops the lowering operation of the print head 61 when the pusher 71 (contact terminal) of the detection sensor SN2 touches the ground (step S325).

Next, the marking robot 10 acquires the position information of the directional prism 15 when the descent is stopped from the tracking type total station 20, and as shown in FIG. 13A, is based on the position information of the directional prism 15 when the descent is stopped. The height Z3 of the directional prism 15 when descending is measured (step S330).

Next, the marking robot 10 calculates the distance h from the height position of the directional prism 15 to the height position of the gradient surface Fl2 in contact with the pusher 71 (contact terminal) of the detection sensor SN2 (step S335). ).

Next, as shown in FIG. 13A, the marking robot 10 calculates the height Z of the printed surface based on the lowered height Z3 of the directional prism 15 and the distance h (step S340). Then, the marking robot 10 creates unevenness level information representing the unevenness level of the floor surface Fl based on the height Z of the printed surface. As a result, the unevenness level measurement operation is completed.

(Printing operation)
FIG. 20 shows the details of the process of step S140 shown in FIGS. 14 to 17.
As shown in FIG. 20, the marking robot 10 raises the printing head 61 to the height of the printing gap (step S405). The print gap is a predetermined gap so as not to collide with the print surface even if the print head 61 moves during printing.

Next, as shown in FIG. 10, the marking robot 10 prints position information D1, device information D2, unevenness level information D3, and the like such as marking lines on the floor surface Fl (step S410).

Next, the marking robot 10 raises the print head 61 to the height of the uppermost position (step S415). As a result, the printing operation is completed.

(Measurement robot mode)
The marking robot 10 can execute the measurement robot mode for measuring the unevenness level of the floor surface Fl without printing on the floor surface Fl. FIG. 21 shows an operation when the measurement robot mode is executed.

Specifically, as shown in FIG. 21, the marking robot 10 travels to a desired position (step S110).

The tracking type total station 20 measures the position of the directional prism 15 in the three-dimensional space, and outputs the position information of the directional prism 15 to the marking robot 10. The PC 14 of the marking robot 10 measures the unevenness level of the floor surface Fl by measuring the amount of movement of the directional prism 15 in the vertical direction based on the position information of the directional prism 15 (step S120), and measures the unevenness level. The information is stored (step S130).

Next, the marking robot 10 outputs the current position information of the robot and the unevenness level information of the floor surface Fl to the external device 30 (step S160).

Next, the marking robot 10 determines whether or not there is a remaining portion to be measured (step S170). If it is determined in step S170 that there is a remainder (in the case of "Yes"), the process returns to step S110. When it is determined in step S170 that there is no remaining (in the case of "No"), the external device 30 creates floor surface information indicating the unevenness level at each position of the floor surface Fl (step S180). As a result, the processing of a series of routines is completed.

In the flow shown in FIG. 21, the external device 30 acquires the current position information of the robot from the marking robot 10 and also acquires the unevenness level information indicating the unevenness level of the floor surface Fl at an arbitrary desired position, and obtains the unevenness level information indicating the unevenness level of the floor surface Fl. Floor surface information representing the unevenness level at each position of Fl is created. The external device 30 may acquire the current position information of the robot from the tracking type total station 20 (three-dimensional measuring means).

According to the present embodiment, since the marking robot 10 that travels autonomously mechanically marks the marking, the marking work in the equipment construction can be saved. At that time, the marking robot 10 measures the unevenness level of the floor surface and prints the unevenness level information indicating the unevenness level of the floor surface on the floor surface. Such a marking robot 10 can automate the measurement work of the unevenness level of the floor surface at the marking position.

As described above, according to the marking robot 10 according to the present embodiment, it is possible to automate the measurement work of the unevenness level of the floor surface at the marking position.

The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to replace a part of the configuration of the embodiment with another configuration, and it is also possible to add another configuration to the configuration of the embodiment. In addition, it is possible to add / delete / replace other configurations for a part of each configuration.

For example, the marking robot 10 shown in FIG. 1 can be configured as a measuring robot by deleting the printer 16. This measuring robot is used, for example, exclusively for executing the processing of the flow shown in FIG.

This measurement robot has a traveling means (traveling actuator 17ac) that travels on the floor surface, a detection sensor SN2 that detects the floor surface, and a measurement target (tracking type total station 20) whose position is measured by a three-dimensional measuring means (tracking type total station 20). The configuration includes a directional prism 15) and a control means (PC14) for controlling the operation of the traveling means. Then, the control means causes the traveling means to travel to an arbitrary desired position, moves the measurement target downward until the moving means detects the floor surface by the detection sensor at the desired position, and then uses the three-dimensional measuring means. The configuration is such that the unevenness level of the floor surface is measured based on the measured position of the measurement target.

The measurement robot can store the unevenness level information in the storage means and operate the touch panel display 13 to display the unevenness level information on the touch panel display 13 or output the unevenness level information to the external device 30.

The control means of the measurement robot moves the measurement target downward until the moving means detects the floor surface at each desired position while the traveling means sequentially travels at arbitrary desired positions at a plurality of locations. Then, the unevenness level of the floor surface may be measured based on the position of the measurement target measured by the three-dimensional measuring means, and the unevenness level information indicating the unevenness level may be stored in the storage means.

Further, the control means of the measurement robot moves the measurement target downward until the moving means detects the floor surface at each desired position while sequentially causing the traveling means to travel at arbitrary desired positions at a plurality of locations. After moving, the unevenness level of the floor surface may be measured based on the position of the measurement target measured by the three-dimensional measuring means, and the unevenness level information indicating the unevenness level may be output to the external device.

10 Marking robot 11 Frame 11 op Opening 12 Storage case 13 Touch panel display (manual input means)
14 PC (control means)
15 Directional prism (measurement target)
15ac prism actuator (rotary actuator)
16 Printer (printing means)
16ac printer actuator (means of transportation)
16x X-axis actuator (left-right movement means)
16y Y-axis actuator (forward / backward movement means)
16z Z-axis actuator (vertical moving means)
17 Drive wheels (rotating body)
17ac traveling actuator (traveling means)
18 Wireless LAN base unit 191, 192, 193 Indicator light 20 Tracking type total station (three-dimensional measuring means)
30 External device 60 Mounting plate 61 Printing head 62 Ink storage unit 63 Acting mechanism 66 Pen type printing head 67 Grip unit 71 Pusher (contact terminal)
71a pusher (contact terminal)
72 Bush 73 Compression spring 74 Shaft 75 Detection unit 76 Case 77 Laser irradiation port 78 Laser light 81 Control panel (equipment)
81t Ceiling surface 81b Base 81p Strut 91 Anchor bolt 92a Receiving nut 92b Fastening nut 96 Spacer Ca case D1 Position information (marked line information)
D2 device information (model number information, usage information, anchor bolt information, etc.)
D3 Concavo-convex level information Fl Floor surface Fla Recession Fl1 Low ground Fl2 Gradient surface Fl3 High ground h Distance L Movement amount MC Motion controller P Height (Installation height of measurement target)
P1, Z, Z0, Z1, Z2, Z3 Height S Marking robot system SN1 Range sensor SN2 Detection sensor St Reference core x1, y1, y2, y3 Bar member za Support part zb Ball screw part ΔZ Vertical fluctuation amount θ Tilt angle

Claims (16)

The means of traveling on the floor and
A printing means having a printing head for printing on the floor surface and
A detection sensor that detects the floor surface and
A measurement target whose position is measured by a three-dimensional measuring means,
A moving means that movably supports the measurement target together with the print head,
A control means for controlling the operation of the traveling means and the printing means is provided.
The control means causes the traveling means to travel to an arbitrary desired position, and at the desired position, moves the measurement target downward until the moving means detects the floor surface by the detection sensor. The feature is that the unevenness level of the floor surface is measured based on the position of the measurement target measured by the three-dimensional measuring means, and the printing means is made to print the unevenness level information indicating the unevenness level on the floor surface. Sumitomo robot. In the marking robot according to claim 1,
The detection sensor is composed of a touch sensor whose contact terminals are arranged toward the floor surface.
The marking robot is characterized by having a vertical moving means that movably supports the print head, the detection sensor, and the measurement target in the vertical direction. In the marking robot according to claim 2.
The marking robot is characterized in that the contact terminal has a ring shape formed so as to surround the periphery of the print head in a top view. In the marking robot according to claim 1,
The detection sensor is a marking robot characterized in that it is composed of an optical sensor that irradiates light downward. In the marking robot according to any one of claims 1 to 4.
The control means measures the unevenness level of the floor surface at each desired position while sequentially traveling a plurality of arbitrary desired positions on the traveling means, and outputs the unevenness level information to the printing means on the floor surface. A sumi-inking robot characterized by printing on. In the marking robot according to any one of claims 1 to 4.
The control means sequentially travels the traveling means at a plurality of arbitrary desired positions, measures the unevenness level of the floor surface at each desired position, and then again causes the traveling means to travel at the plurality of arbitrary desired positions. A marking robot characterized in that the printing means prints the unevenness level information on the floor surface at each desired position while sequentially traveling at desired positions. In the marking robot according to any one of claims 1 to 6.
When the printing means prints the unevenness level information on the floor surface, the control means also prints position information representing a desired position and device information representing a device installed at the desired position. Out robot. In the marking robot according to any one of claims 1 to 7.
A marking robot characterized by having a manual input means for manually inputting various information and operation instructions. In the marking robot according to any one of claims 1 to 8.
A marking robot characterized in that the measurement target is moved in an arbitrary direction and the tilt angle of the marking robot is calculated based on the amount of vertical fluctuation of the measurement target with respect to the moving amount of the measurement target. In the marking robot according to claim 9,
A marking robot characterized in that the height of a printing surface on the floor surface is calculated based on the installation height of the measurement target and the tilt angle of the marking robot. In the marking robot according to any one of claims 1 to 10.
The marking robot is characterized in that the control means can execute a measurement robot mode for measuring the unevenness level of the floor surface without printing on the floor surface. The marking robot according to any one of claims 1 to 11.
A three-dimensional measuring means that tracks the measurement target mounted on the marking robot and measures the current position of the measurement target.
A marking robot system including an external device for transmitting and receiving information to and from the marking robot. In the marking robot system according to claim 12,
The control means of the marking robot acquires the current position information representing the current position of the measurement target as the current position of the marking robot from the three-dimensional measuring means.
The external device acquires the current position information from the marking robot or the three-dimensional measuring means, and also acquires the unevenness level information representing the unevenness level of the floor surface at an arbitrary desired position from the marking robot. A marking robot system characterized by creating floor surface information indicating the level of unevenness at each position of the floor surface. The means of traveling on the floor and
A detection sensor that detects the floor surface and
A measurement target whose position is measured by a three-dimensional measuring means,
A moving means that movably supports the measurement target and
A control means for controlling the operation of the traveling means is provided.
The control means causes the traveling means to travel to an arbitrary desired position, and at the desired position, moves the measurement target downward until the moving means detects the floor surface by the detection sensor. A measurement robot characterized in that the unevenness level of the floor surface is measured based on the position of the measurement target measured by the three-dimensional measurement means. In the measuring robot according to claim 14,
The control means sequentially travels the traveling means at a plurality of arbitrary desired positions, and at each desired position, moves the measurement target downward until the moving means detects the floor surface by the detection sensor. After moving, the unevenness level of the floor surface is measured based on the position of the measurement target measured by the three-dimensional measuring means, and the unevenness level information representing the unevenness level is stored in the storage means. Measurement robot to do. In the measuring robot according to claim 14 or 15.
The control means sequentially travels the traveling means at a plurality of arbitrary desired positions, and at each desired position, moves the measurement target downward until the moving means detects the floor surface by the detection sensor. After moving, the unevenness level of the floor surface is measured based on the position of the measurement target measured by the three-dimensional measuring means, and the unevenness level information indicating the unevenness level is output to an external device. Measurement robot to do.

Images