JP2021042626A - Robot control device and program - Google Patents

Abstract

To reduce the burden on the operator.SOLUTION: A robot control device (controller 30) includes an operation reception unit 31a that accepts the operation of the operator, a reading portion 31b that reads a marking data D20 for causing the marking robot to execute marking, a marking setting portion 31d that sets the execution of marking for any marking point included in the marking data read by the reading portion based on the operation received by the operation reception unit, and a route setting portion 31h that sets the travel route of the marking robot with respect to the marking point for which the marking execution is set.SELECTED DRAWING: Figure 3

Description

The present invention relates to a robot control device and a program.

In the equipment work, marking work is performed. "Inking" refers to the anchor position of the equipment to be installed, the anchor position of the ceiling-mounted equipment, the pedestal position of the ancillary equipment, etc. It means to mark. In equipment work, workers install various equipment along the grid and marking points, so it is important to accurately mark the grid and marking points. In the conventional marking work, the worker pulls out the thread containing the ink from the inkpot, stretches the thread near the position where the marking should be performed (inking position), and flips the thread to pass through the floor or wall surface. It was done by attaching a core. 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 saved, and the occurrence of human error due to marking can be suppressed.

Japanese Unexamined Patent Publication No. 2019-31901

However, in the conventional robot control device for causing the marking robot to perform marking, as described below, the operator of the robot control device considers a suitable traveling route of the marking robot and sets the traveling route to the robot. Must be set on the controller. Since such a conventional robot control device imposes a burden on the operator, it has been desired to reduce the burden on the operator.

The present invention has been made to solve the above-mentioned problems, and its main purpose is to provide a robot control device that reduces the burden on the operator and a program for realizing the robot control device. To do.

In order to achieve the above object, the present invention is a robot control device, the operation receiving unit that accepts the operation of the operator, the reading unit that reads the marking data for causing the marking robot to perform marking, and the above. Based on the operation received by the operation receiving unit, the marking setting unit that sets the marking execution for any marking point included in the marking data read by the reading unit, and the marking setting unit described above. It is configured to have a route setting unit for setting a traveling route of the marking robot with respect to a marking point for which marking execution is set.
Other means will be described later.

According to the present invention, since the traveling route of the marking robot can be automatically set, the burden on the operator can be reduced.

It is an overview diagram of the sumi-inking robot system which concerns on embodiment. It is a block diagram of a marking robot system. It is a block diagram of a controller (robot control device). It is a flowchart which shows the operation of a controller (robot control device). It is the schematic which shows an example of the controller menu screen. It is the schematic which shows an example of the operation test screen. It is the schematic which shows an example of the data transfer screen. It is the schematic which shows an example of the data call screen. It is the schematic which shows an example of the setting screen. It is the schematic (1) which shows an example of the instrument point setting tab. It is the schematic (2) which shows an example of the instrument point setting tab. It is the schematic which shows an example of the marking tab. It is the schematic which shows an example of the surveying instrument operation tab. It is the schematic which shows an example of the robot operation tab. It is the schematic which shows an example of the traveling range tab. It is the schematic which shows an example of the setting screen which performed the setting operation.

Hereinafter, embodiments of the present invention (hereinafter, referred to as “the present embodiment”) will be described in detail with reference to the drawings. It should be noted that each figure is merely schematically shown 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]
In the following description, "CAD (computer-aided design)" means the design and drafting of machines and structures using a computer.
Further, the "reference core" means a reference core in the CAD drawing.
Further, the "street core" means a reference core based on a pillar. At the work site, the pillars obstruct and it is not possible to draw black lines on the floor. Therefore, as a general rule at the work site, a black line (escape ink) shifted from the "street core" by a predetermined distance (generally 1000 mm, but may be 800 mm or 500 mm depending on the space) is drawn on the floor surface.
Further, the "instrument point" means a surveying instrument (in this embodiment, the tracking type total station 20) and other points that serve as reference points for measurement.

<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 for 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 a controller 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. Further, as shown in FIG. 2, the marking robot system S further includes a site management server 40, a marking data creation device 50, and a CAD device 60.

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 surveying instrument that measures the position of the directional prism 15 in a three-dimensional space by tracking the directional prism 15 attached to 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. The directional prism 15 has a configuration that can be attached to and detached from the marking robot 10. Measuring the position of the directional prism 15 in a state where the directional prism 15 is attached to the marking robot 10 means measuring the position of the marking robot 10.

The controller 30 is a robot control device that controls the operation of the marking robot 10 and the tracking type total station 20 by transmitting and receiving information between the marking robot 10 and the tracking type total station 20. In the present embodiment, the controller 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 site management server 40 is a server for managing the marking data D20 for executing marking. The marking data D20 managed by the site management server 40 is provided to the controller 30 via a communication line or a storage medium.

The marking data creation device 50 is a device for creating marking data D20. The marking data creation device 50 is composed of a personal computer (PC). When the creator of the marking data D20 obtains the work site drawing D1 in the PDF (registered trademark) data format or the work site drawing D1 drawn on paper, for example, the work site drawing D1 is displayed. It is read by the marking data creation device 50, and marking data D20 is created based on the work site drawing D1. Further, when the creator of the marking data D20 obtains the CAD drawing data D10 in the DXF (registered trademark) data format including the work site drawing D11 as a layer from, for example, the contractor of the work site, the CAD drawing data D10 Is read into the marking data creation device 50, and marking data D20 is created based on the CAD drawing data D10. Details of these will be described later. The marking data D20 created by the marking data creating device 50 is provided to the site management server 40 via a communication line or a storage medium.

The CAD device 60 is a device that creates CAD drawing data D10. The CAD device 60 is composed of a personal computer (PC). The CAD drawing data D10 created by the CAD device 60 is provided to the marking data creating device 50 via a communication line or a storage medium.

The marking robot 10, the tracking type total station 20, and the controller 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 facility construction worker operates, for example, the controller 30 to acquire the marking data D20 for performing the desired marking work from the site management server 40. Then, the worker of the equipment construction (operator of the controller 30) operates the controller 30 to set the instrument point or the marking point for performing the marking work based on the marking data D20. , The traveling range and the route of the marking robot 10 are set, and the specifications of the marking work are set. After that, the equipment construction worker (operator of the controller 30) executes the marking work with the controller 30. Then, the controller 30 instructs the marking robot 10 at each marking position (position for marking the center of the line and the marking point), 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 attached to 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-ahead operation, and backward operation to advance to the marking position. Further, in order to secure a predetermined accuracy, the marking robot 10 measures the position within the XY stage range in the vicinity of the marking position to perform highly accurate positioning of the center and marking points in the main body. The printer 16 provided in the above prints the center and marking points and desired information. The marking robot 10 repeats these processes at each marking position.

The center of the street is a reference line drawn with reference to a pillar with an arbitrary length such as a straight line or a cross line, and the marking point is position information representing an arbitrary desired position. In the present embodiment, when the marking point is printed (drawn) on the floor surface, the marking robot 10 prints the attribute information of the marking point in the vicinity of the marking point. For example, the marking robot 10 prints device information representing a device installed at a desired position as attribute information of the marking point. 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 controller 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 corners of the lower portion 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 and moves 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.

<Structure of robot control device>
Hereinafter, the configuration of the controller 30 (robot control device) according to the present embodiment will be described with reference to FIG. FIG. 3 is a block diagram of the controller 30 (robot control device).

As shown in FIG. 3, the controller 30 (robot control device) inputs the control unit 31 that controls the operation, the storage unit 32 that stores various programs and data, and the communication unit 33 that communicates with the external device. It has a touch panel display 36 that also serves as a means and a display means.

The control unit 31 includes an operation reception unit 31a, a reading unit 31b, an instrument point setting unit 31c, a marking setting unit 31d, a surveying instrument operation unit 31e, a robot operation unit 31f, a traveling range setting unit 31g, and the like. It has a route setting unit 31h, a communication control unit 31i, and a screen control unit 31j.

The operation reception unit 31a receives an operation by the operator.
The reading unit 31b reads the marking data D20 from an external device (in this embodiment, the site management server 40 (see FIG. 2)).
The instrument point setting unit 31c performs a process of matching the coordinate position of the instrument point in the design with the coordinate position of the instrument point in the actual work site.
The marking setting unit 31d sets the execution of marking for an arbitrary marking point.
The surveying instrument operation unit 31e operates the surveying instrument (tracking type total station 20).
The robot operation unit 31f operates the marking robot 10.
The traveling range setting unit 31g sets the traveling range of the marking robot 10.
The route setting unit 31h sets the traveling route of the marking robot 10 with respect to the marking points for which the marking execution is set.
The communication control unit 31i controls the operation of the communication unit 33.
The screen control unit 31j creates a display screen and displays it on the display (touch panel display 36).

The control unit 31 is realized by executing the robot control program Pr30 stored in advance in the CPU (Central Processing Unit) and the storage unit 32.

The robot control program Pr30 is stored in the storage unit 32 in advance. Further, the storage unit 32 stores, for example, the marking data D20 and the traveling route data D21 for designating the traveling route of the marking robot 10.

<Operation of robot control device>
Hereinafter, the operation of the controller 30 (robot control device) will be described with reference to FIG. FIG. 4 is a flowchart showing the operation of the controller 30 (robot control device). FIG. 4 shows an operation when the marking data D20 is created from the CAD drawing data D10 including the work site drawing D11 as a layer.

When the creator of the marking data D20 obtains the CAD drawing data D10 in the DXF data format including the work site drawing D11 as a layer from, for example, the contractor of the work site, the CAD drawing data D10 is used as the marking data creation device. It is read by 50, and the marking data D20 is created based on the CAD drawing data D10. The operator of the controller 30 reads the marking data D20 into the controller 30, creates travel path data D21 using the marking data D20, and executes the marking operation. FIG. 4 shows an example of the marking data D20 creation process and the marking operation by the marking robot 10 in that case.

As shown in FIG. 4, the creator of the marking data D20 operates the marking data creating device 50 to start creating the marking data D20.

At this time, first, the marking data creating device 50 reads the CAD drawing data D10 (drawing data for marking) based on the operation of the operator (step S405).
Next, the marking data creation device 50 designates the grid and the marking point and automatically captures them based on the operation of the operator (step S410).
Next, the marking data creation device 50 accepts confirmation / editing processing of the name and coordinate values based on the operation of the operator (step S415).
Next, the marking data creation device 50 outputs the marking data D20 in the original format Dat data format to the site management server 40 based on the operation of the operator, and stores the marking data D20 in the site management server 40 (step S420).

After the marking data D20 is stored in the site management server 40, the operator of the controller 30 operates the controller 30 at an arbitrary timing to start the marking work by the marking robot 10.

At this time, first, the controller 30 reads the marking data D20 (marking drawing data) from the site management server 40 based on the operation of the operator (step S505).
Next, the controller 30 performs measurement and coordinate conversion processing of known points and reference cores based on the operation of the operator (step S510).
Next, the controller 30 specifies the traveling range of the marking robot 10 based on the operation of the operator (step S515).
Next, the controller 30 automatically creates data representing the traveling route and the route of the marking robot 10 based on the operation of the operator (step S520).
Next, when the marking completion is completed, the controller 30 automatically performs the marking completion / registration process (step S525).

Since such a controller 30 (robot control device) can automatically create data representing the traveling route and the route of the marking robot 10, the burden on the operator can be reduced.

When executing the marking operation, the controller 30 (robot control device) displays, for example, the display screen shown in FIGS. 5 to 15 on the touch panel display 36, and accepts an operation by the operator.

FIG. 5 is a schematic view showing an example of the controller menu screen I30a. The controller menu screen I30a is a screen displayed on the touch panel display 36 as the initial screen of the controller 30. In the example shown in FIG. 5, the controller menu screen I30a has a surveying instrument button B11, a marking robot button B12, an operation test button B13, a data transfer button B14, a setting button B15, and a version control button B16. It is configured.

The surveying instrument button B11 is a button for operating the surveying instrument (tracking type total station 20).
The marking robot button B12 is a button for operating the marking robot 10.
The operation test button B13 is a button for calling the operation test screen I30b (see FIG. 6) for performing the operation test.
The data transfer button B14 is a button for calling the data transfer screen I30c (see FIG. 7) for transferring the marking data D20.
The setting button B15 is a button for calling the setting screen I30e (see FIG. 9) related to the marking operation.
The version control button B16 is a button for calling a screen (not shown) showing version data.

FIG. 6 is a schematic view showing an example of the operation test screen I30b. The operation test screen I30b is displayed on the touch panel display 36 when the operation test button B13 is pressed on the controller menu screen I30a (see FIG. 5). In the example shown in FIG. 6, the operation test screen I30b has a start button Bb11, an end button Bb12, a command candidate field Cb11, a command input field Cb12, a project data field Cb13, a data operation field Cb14, and a speed / distance. It has a designated field Cb15, a surveying instrument operation field Cb16, a motion controller operation field Cb17, a printer field Cb18, and a combined operation field Cb19.

The start button Bb11 is a button instructing the start of the operation test.
The end button Bb12 is a button for instructing the end of the operation test.
The command candidate column Cb11 is a column for displaying command candidates.
The command input field Cb12 is a field for inputting a command.
The project data column Cb13 is a column for designating the project data.
The data manipulation column Cb14 is a column for manipulating data.
The speed / distance designation column Cb15 is a column for designating the speed / distance.
The surveying instrument operation column Cb16 is a column for operating the surveying instrument.
The motion controller operation column Cb17 is a column for operating the motion controller of the marking robot 10.
The printer column Cb18 is a column for operating the printer 16 of the marking robot 10.
The compound operation column Cb19 is a column for performing a compound operation.

FIG. 7 is a schematic view showing an example of the data transfer screen I30c. The data transfer screen I30c is displayed on the touch panel display 36 when the data transfer button B14 is pressed on the controller menu screen I30a (see FIG. 5). In the example shown in FIG. 7, the data transfer screen I30c has a configuration having a marking data list Lc11. The marking data that can be transferred is registered in the marking data list Lc11. In the example shown in FIG. 7, "news release demo 3.dat" is designated as the marking data to be transferred.

FIG. 8 is a schematic view showing an example of the data recall screen I30d. The data recall screen I30d is displayed on the touch panel display 36 when the marking robot button B12 is pressed on the controller menu screen I30a (see FIG. 5). In the example shown in FIG. 8, the data call screen I30d has a call button Bd11, a “back” button Bd12, a “next” button Bd13, and a marking data display field Cd11.

The call button Bd11 is a button for calling the marking data D20 of the project to perform marking work from the site management server 40 (see FIG. 2).
The "back" button Bd12 is a button for returning to the controller menu screen I30a (see FIG. 5).
The "Next" button Bd13 is a button for proceeding to the setting screen I30e (see FIG. 9).
The marking data display field Cd11 is a field for displaying the marking data D20 of the selected project.

FIG. 9 is a schematic view showing an example of the setting screen I30e. The setting screen I30e is a touch panel when the setting button B15 is pressed on the controller menu screen I30a (see FIG. 5) or the "Next" button Bd13 is pressed on the data recall screen I30d (see FIG. 8). It is displayed on the display 36. In the example shown in FIG. 9, the setting screen I30e has a reload button B30a, a registration button B30b, a marking data display field C30a, a history display field C30b, and a list display field C30c.

The reload button B30a is a button for reloading the project marking data D20 from the site management server 40 (see FIG. 2).
The registration button B30b is a button for registering various data (for example, travel route data D21 (see FIG. 3) and the like) set on the setting screen I30e in the storage unit 32 (see FIG. 3).

In the marking data display field C30a, the work site drawing D11 of the marking data D20 created by the marking data creating device 50 is displayed. In the history display field C30b, the history of the data read by the controller 30 is displayed. In the list display field C30c, list data that can be switched and displayed by the instrument point setting tab T11, the marking tab T12, the surveying instrument operation tab T13, the robot operation tab T14, and the traveling range tab T15 is displayed.

In the example shown in FIG. 9, the marking data display field C30a has a small window on which a reduced image is displayed and a large window on which an enlarged image is displayed. The reduced image shows the entire work site drawing D11. The enlarged image partially enlarges and shows an arbitrary portion designated by the operator in the work site drawing D11.

Further, in the example shown in FIG. 9, the list display field C30c is in a state in which the instrument point setting tab T11 is opened. The instrument point setting tab T11 has a configuration having an instrument point setting list LT11. A plurality of instrument points that define the X-axis direction and the Y-axis direction are registered in the instrument point setting list LT11. The number of instrument points set on the instrument point setting tab T11 is 2 points or more in the X-axis direction and 2 points or more in the Y-axis direction, for a total of 4 points or more. In the example shown in FIG. 9, since two points are set as known points, two points are set in the instrument point setting list LT11.

The operator of the controller 30 operates a mouse (not shown) to specify an arbitrary street core (reference core) in the work site drawing D11 of the marking data D20 displayed in the marking data display field C30a. By doing so, it can be highlighted (highlighted). In the example shown in FIG. 9, two grids in the X-axis direction, numbered "1" and "2", are highlighted.

10A and 10B are schematic views showing an example of the instrument point setting tab T11, respectively. 10A and 10B show a state in which the instrument point setting tab T11 is opened. The instrument point setting tab T11 has a search button BT11a, a known point reference core measurement button BT11b, a left turn button BT11c, a right turn button BT11d, a turn stop button BT11e, a data addition button BT11f, and a data deletion button BT11g. The configuration includes a measurement value deletion button BT11h, an "instrument point setting" button BT11i, an "instrument point setting 2 (reverse)" button BT11j, and the above-mentioned instrument point setting list LT11.

The search button BT11a is a button for causing the surveying instrument (tracking type total station 20) to perform a search operation. The "search operation" is an operation in which the surveying instrument (tracking type total station 20) detects the directional prism 15 with a laser or the like and measures the position of the directional prism 15 in the three-dimensional space.
The known point reference core measurement button BT11b is a button for causing a surveying instrument (tracking type total station 20) to measure a known point and a reference core.
The left turn button BT11c is a button for turning the surveying instrument (tracking type total station 20) to the left.
The right turn button BT11d is a button for turning the surveying instrument (tracking type total station 20) to the right.
The turning stop button BT11e is a button for stopping the turning of the surveying instrument (tracking type total station 20).
The data addition button BT11f is a button for instructing the controller 30 to add data.
The data deletion button BT11g is a button for instructing the controller 30 to delete data.
The measured value deletion button BT11h is a button for instructing the controller 30 to delete the measured value.
The "instrument point setting" button BT11i and the "instrument point setting 2 (reverse)" button BT11j are buttons for instructing the controller 30 to set the instrument point, respectively. The controller 30 is measured by a surveying instrument (tracking type total station 20), and two instrument point candidates are acquired. The operator of the controller 30 operates the "instrument point setting" button BT11i or the "instrument point setting 2 (reverse)" button BT11j to select a genuine instrument point from the two instrument point candidates.

The controller 30 is a directional prism from a surveying instrument (tracking type total station 20) when an operator installs a directional prism 15 (see FIG. 1) at an arbitrary measurement position and presses a known point reference core measurement button BT11b. Acquire 15 three-dimensional coordinate data. As a result, the controller 30 measures the known points and the positions of the reference cores at the work site. Then, the controller 30 determines the coordinate position of the instrument point set in the instrument point setting list LT11 (that is, the coordinate position of the instrument point of the work site drawing D11 included in the marking data D20) and the instrument point of the work site. Performs processing to match the coordinate position. After that, the operator attaches the directional prism 15 (see FIG. 1) to the marking robot 10.

FIG. 10A shows an example in which an instrument point is set in the instrument point setting list LT11. On the other hand, FIG. 10B shows an example in which the axis is set in the instrument point setting list LT11. In the example shown in FIG. 10A, since there are two known points, the operator of the controller 30 operates the controller 30 to set the two instrument points in the instrument point setting list LT11. On the other hand, in the example shown in FIG. 10B, since there are two reference cores, the operator of the controller 30 sets a plurality of (six in the illustrated example) arbitrary axes in the instrument point setting list LT11.

FIG. 11 is a schematic view showing an example of the marking tab T12. FIG. 11 shows a state in which the marking tab T12 is opened. The marking tab T12 includes a guidance button BT12a, a traveling route creation button BT12b, a traveling order interrupt button BT12c, a traveling order exchange button BT12d, an additional button BT12e, a recording button BT12f, and a designated dot marking button BT12g. , The delete button BT12h, the all-dot marking button BT12i, the work stop button BT12j, and the marking point setting list LT12 are configured.

The guidance button BT12a is a button for instructing the operator of the controller 30 to guide the directional prism 15 (see FIG. 1) to be arranged at the target marking position. When the guidance button BT12a is pressed, the controller 30 guides the operator to arrange the directional prism 15 at the designated marking position. For example, the controller 30 asks the operator to verify the position accuracy of each marking point when an arbitrary marking point is specified and the guidance button BT12a is pressed after the marking is completed. The directional prism 15 is guided to be arranged at each designated marking point. At this time, for example, for each marking point for which printing is completed, the operator can use the marking point setting list LT12 to display an arbitrary marking point (for example, the first printed marking point or the location farthest from the instrument point). Specify the marking point printed in (, the marking point printed at the end, etc.) and press the guidance button BT12a. Then, the controller 30 displays the distance and the direction from the current position for each designated marking point, thereby arranging the directional prism 15 at each designated marking point for the operator. Induce to let. Then, the controller 30 determines whether or not the measured value of each marking point measured by the guidance is within a predetermined tolerance from the coordinate position in the design. When it is determined that the measured value of each marking point is within a predetermined tolerance from the coordinate position in the design, the controller 30 determines that the position accuracy of each marking point is acceptable (good). ..
The travel route creation button BT12b is a button for instructing the controller 30 to create a travel route. For example, the controller 30 automatically creates the travel path of the marking robot 10 when the operator specifies an arbitrary point on the marking point setting list LT12 and presses the traveling route creation button BT12b.
The traveling order interrupt button BT12c is a button for instructing the controller 30 to interrupt the traveling order. The controller 30 is designated, for example, by the operator designating an arbitrary point on the marking point setting list LT12 for the traveling path of the marking robot 10 already created and pressing the traveling order interrupt button BT12c. A new travel route is created by accepting interruptions in the travel order of the points.
The traveling order exchange button BT12d is a button for instructing the controller 30 to exchange the traveling order. The controller 30 is designated by, for example, specifying any two points in the marking point setting list LT12 for the traveling path of the marking robot 10 already created by the operator and pressing the traveling order exchange button BT12d. A new travel route is created by accepting the exchange of the travel order of the two points.
The addition button BT12e is a button for instructing the controller 30 to additionally register a designated point (designated marking point) in the marking point setting list LT12.
The record button BT12f is a button for instructing the controller 30 to record the setting data.
The designated point marking button BT12g is a button for instructing the controller 30 to execute the marking operation of the designated point (designated marking point) registered in the marking point setting list LT12.
The delete button BT12h is a button for instructing the controller 30 to delete an arbitrary point from the designated points (designated marking points) registered in the marking point setting list LT12.
The all-point marking button BT12i is a button for instructing the controller 30 to mark all the points registered in the marking point setting list LT12.
The work stop button BT12j is a button for instructing the controller 30 to stop the marking work.
The marking point setting list LT12 is a list in which marking points for performing marking work are registered.

FIG. 12 is a schematic view showing an example of the surveying instrument operation tab T13. FIG. 12 shows a state in which the surveying instrument operation tab T13 is opened. The surveying instrument operation tab T13 includes a connection confirmation button BT13a, a connection disconnection button BT13b, a search button BT13c, a left turn button BT13d, a right turn button BT13e, a turn stop button BT13f, and "measurement (surveyor coordinates)". It is configured to have a "measurement (CAD coordinate)" button BT13h and a "measurement (CAD coordinate)" button BT13g.

The connection confirmation button BT13a is a button for confirming the connection of communication to the surveying instrument (tracking type total station 20).
The connection release button BT13b is a button for disconnecting the communication to the surveying instrument (tracking type total station 20).
The search button BT13c is a button for causing the surveying instrument (tracking type total station 20) to perform a search operation.
The left turn button BT13d is a button for turning the surveying instrument (tracking type total station 20) to the left.
The right turn button BT13e is a button for turning the surveying instrument (tracking type total station 20) to the right.
The turning stop button BT13f is a button for stopping the turning of the surveying instrument (tracking type total station 20).
"Measurement (surveyor coordinates)" button BT13g is a button for causing a surveying instrument (tracking type total station 20) to measure the coordinates of the surveying instrument.
The "measurement (CAD coordinates)" button BT13h is a button for causing a surveying instrument (tracking type total station 20) to measure CAD coordinates.

FIG. 13 is a schematic view showing an example of the robot operation tab T14. FIG. 13 shows a state in which the robot operation tab T14 is opened. The robot operation tab T14 has a reconnection button BT14a, a stop button BT14b, an alert release button BT14c, an up movement button BT14d, a down movement button BT14e, an origin return button BT14f, a posture return button BT14g, and a left movement button. It is configured to have a BT14h and a right movement button BT14i.

The reconnection button BT14a is a button for causing the marking robot 10 to reconnect the communication with the controller 30.
The stop button BT14b is a button for stopping the movement of the marking robot 10.
The alert release button BT14c is a button for causing the marking robot 10 to release the alert.
The upward movement button BT14d is a button for moving the marking robot 10 upward.
The downward movement button BT14e is a button for moving the marking robot 10 downward.
The origin return button BT14f is a button for returning the marking robot 10 to the origin.
The posture return button BT14g is a button for returning from a posture tilted to the marking robot 10 to a parallel posture.
The left movement button BT14h is a button for moving the marking robot 10 to the left.
The right movement button BT14i is a button for moving the marking robot 10 to the right.

FIG. 14 is a schematic view showing an example of the traveling range tab T15. FIG. 14 shows a state in which the traveling range tab T15 is opened. The travel range tab T15 has a configuration including a coordinate addition button BT15a, a coordinate deletion button BT15b, a range designation button BT15c, and a travel range setting list LT15.

The coordinate addition button BT15a is a button for instructing the controller 30 to add coordinates that define the traveling range.
The coordinate deletion button BT15b is a button for instructing the controller 30 to delete the coordinates that define the traveling range.
The range designation button BT15c is a button for instructing the controller 30 to accept the designation of the traveling range of the marking robot 10 by the mouse.
The traveling range setting list LT15 is a list in which the traveling range of the marking robot 10 is set.

FIG. 15 is a schematic view showing an example of the setting screen I30e in which the setting operation is performed. FIG. 15 shows a state in which the marking tab T12 is opened. The operator of the controller 30 operates the controller 30 and presses the designated point marking button BT12g to specify the marking point for executing marking, and further presses the traveling route creation button BT12b to create the traveling route. Instruct 30. In response to this, the controller 30 automatically creates the route data LT12a representing the traveling route of the marking robot 10 and registers it in the marking point setting list LT12. As a method for creating the route data LT12a, for example, there is a method described in items (2) to (4) of <Main features of the robot control device> described later.

After that, the controller 30 reflects (sets) the traveling route specified by the route data LT12a in the work site drawing D11 of the marking data D20. In the example shown in FIG. 15, the route numbered from "1" to "8" is shown in the square frame.

<Main features of robot control device>
(1) As shown in FIG. 3, the robot control device (controller 30) according to the present embodiment includes an operation reception unit 31a, a reading unit 31b, a marking setting unit 31d, and a route setting unit 31h. doing. The operation reception unit 31a receives the operation of the operator. The reading unit 31b reads the marking data D20 for causing the marking robot 10 to perform marking. The marking setting unit 31d sets the execution of marking for any marking point included in the marking data D20 read by the reading unit 31b based on the operation received by the operation receiving unit 31a. To do. The route setting unit 31h sets the traveling route of the marking robot 10 with respect to the marking points for which the marking execution is set.

The robot control device (controller 30) according to the present embodiment can automatically set the traveling route of the marking robot 10. Therefore, the operator of the robot control device (controller 30) according to the present embodiment considers a suitable travel route of the marking robot 10 and sets the travel route in the robot control device (controller 30) as in the conventional case. It does not have to be. Therefore, the robot control device (controller 30) according to the present embodiment can reduce the burden on the operator of the robot control device (controller 30).

(2) The operation reception unit 31a of the robot control device (controller 30) according to the present embodiment can receive a start point with respect to the marking point for which the marking execution is set. The route setting unit 31h determines the traveling route so that the marking robot 10 first goes to the starting point and then travels in the closest order to the marking points for which the remaining marking executions are set. May be good.

In such a robot control device (controller 30) according to the present embodiment, as the optimum traveling route, the marking robot 10 first goes to the starting point, and then the remaining marking is executed in the order of closeness. The driving route can be decided so as to drive at the marking point.

(3) The operation reception unit 31a of the robot control device (controller 30) according to the present embodiment can receive a start point with respect to the marking point for which the marking execution is set. The route setting unit 31h determines the traveling route so that the marking robot 10 first goes to the starting point and then travels at the marking point where the remaining marking execution is set with the shortest movement distance. You may do it.

In such a robot control device (controller 30) according to the present embodiment, as the optimum traveling route, the marking robot 10 first goes to the starting point, and then the remaining marking is executed with the shortest moving distance. The travel route can be determined so as to travel at the set marking point.

(4) The operation reception unit 31a of the robot control device (controller 30) according to the present embodiment can receive a start point with respect to the marking point for which the marking execution is set. The route setting unit 31h is such that the marking robot 10 first goes to the starting point and then travels on the marking point for which the remaining marking execution is set by a route based on a predetermined optimization algorithm. , You may decide the traveling route.

In such a robot control device (controller 30) according to the present embodiment, as the optimum traveling route, the marking robot 10 first goes to the starting point, and then the remaining marking is performed on the route based on the optimization algorithm. The travel route can be determined so as to travel at the marking point where the execution is set.

(5) As shown in FIG. 3, the robot control device (controller 30) according to the present embodiment has a traveling range setting unit 31g for setting the traveling range of the marking robot 10.

The robot control device (controller 30) according to the present embodiment can limit the range of marking by setting the traveling range of the marking robot 10.

(6) As shown in FIG. 3, the robot control device (controller 30) according to the present embodiment is the coordinate position of the instrument point of the work site drawing D11 included in the marking data D20 read by the reading unit 31b. It has an instrument point setting unit 31c for matching the coordinate position of the instrument point with the instrument point at the work site.

The robot control device (controller 30) according to the present embodiment is actually the coordinate position of the instrument point (that is, the coordinate position of the instrument point in the design) of the work site drawing D11 included in the marking data D20. The coordinate position of the instrument point at the work site can be easily matched.

(7) As shown in FIG. 3, the robot control device (controller 30) according to the present embodiment includes a surveying instrument operation unit 31e that operates a surveying instrument (tracking type total station 20) that measures the position of the marking robot 10. Have.

The robot control device (controller 30) according to the present embodiment can freely operate the surveying instrument (tracking type total station 20) according to the operation of the operator.

(8) As shown in FIG. 3, the robot control device (controller 30) according to the present embodiment has a robot operation unit 31f for operating the marking robot 10.

The robot control device (controller 30) according to the present embodiment can freely operate the marking robot 10 according to the operation of the operator.

(9) As shown in FIG. 3, the robot control device (controller 30) according to the present embodiment is a work site drawing D11 showing an instrument point, a center, a marking point, and a traveling route of the marking robot 10. It has a screen control unit 31j that creates a display screen including the above and displays it on the display (touch panel display 36). As shown in FIG. 9, the display screen has a first list (instrument point setting list LT11) in which instrument points can be added and deleted, and a core and marking points on which marking work is performed. A second list (inking point setting list LT12) listed in a state where it can be added and deleted, and a third list (running range setting list LT13) listed in a state where a traveling route can be added and deleted, It is configured so that it can be displayed by switching.

In such a robot control device (controller 30) according to the present embodiment, the operator can freely set the instrument point, the center, the marking point, and the traveling route of the marking robot 10.

(10) The operation receiving unit 31a of the robot control device (controller 30) according to the present embodiment can receive the operation of emphasizing the center of the street by the operator. As shown in FIGS. 9 and 15, the screen control unit 31j displays a display screen including the work site drawing D11 in which the street core designated by the operator is emphasized in response to the emphasis operation received by the operation reception unit 31a. It can be created and displayed on a display (touch panel display 36).

Such a robot control device (controller 30) according to the present embodiment can be displayed on the display 56 by emphasizing the street core designated by the operator. Therefore, the robot control device (controller 30) according to the present embodiment can improve the visibility of the core specified by the operator.

(11) The operation reception unit 31a of the robot control device (controller 30) according to the present embodiment can receive a partial enlargement / reduction operation of the display screen by the operator. As shown in FIGS. 9 and 15, the screen control unit 31j creates a partially enlarged or reduced display screen according to the enlargement / reduction operation received by the operation reception unit 31a, and displays (touch panel display 36). ) Can be displayed.

The robot control device (controller 30) according to the present embodiment can partially enlarge or reduce the display screen and display it on the display 56 according to the enlargement / reduction operation. Therefore, the robot control device (controller 30) according to the present embodiment can improve the visibility of an arbitrary area in the display screen.

As described above, according to the controller 30 (robot control device) according to the present embodiment, the traveling route of the marking robot 10 can be automatically set, so that the burden on the operator can be reduced.

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, in the above-described embodiment, the robot is described as a marking robot 10 that performs marking work. The robot control device (controller 30) has an operation receiving unit 31a, a reading unit 31b, and a marking setting unit 31d. In such a configuration, the operation reception unit 31a receives the operation of the operator. The reading unit 31b reads the marking data D20 for causing the marking robot 10 to perform marking. The marking setting unit 31d sets the execution of marking for any marking point included in the marking data D20 read by the reading unit 31b based on the operation received by the operation receiving unit 31a. To do. However, the present invention is not limited to the marking robot 10, and can be applied to various robots having a traveling function (for example, a patrol robot that patrols the inside of a building, a transfer robot that conveys an article, and the like). The present invention can also be applied to a robot that performs confirmation measurement in the height direction, such as a place where the land is not flat or a place where there is a water gradient.

In these cases, the robot control device (controller 30) is included in the drawing data read by the reading unit 31b based on the operation received by the operation receiving unit 31a instead of the marking setting unit 31d. It is preferable to have a configuration having a travel setting unit (not shown) for setting the execution of travel to an arbitrary point. That is, in this case, the robot control device (controller 30) may have an operation receiving unit 31a, a reading unit 31b, and the above-mentioned traveling setting unit (not shown).

Further, in this case, the program is a program for causing the computer to function as a robot control device for controlling the robot, and is for causing the computer to execute the operation of the operation reception unit that accepts the operation of the operator and the robot. A travel setting that sets the execution of travel to an arbitrary point included in the drawing data read by the reading unit based on the operation received by the operation receiving unit and the reading unit that reads the drawing data. It may be configured to function as a route setting unit for setting the travel route of the robot with respect to the unit and the point where the execution of the travel is set.

The robot control device (controller 30) and the program in this case can obtain the following effects. That is, in general, teaching of robot running is highly difficult because the design changes for each work site, and even at the same work site, the location of articles that obstruct the running of the robot changes. However, the robot control device (controller 30) and the program in this case can set the execution of running to an arbitrary point included in the drawing data read by the reading unit 31b. Therefore, the robot control device (controller 30) and the program in this case run the robot even if the design changes for each work site, or even if the location of obstacles changes even at the same work site. Teaching can be done easily.

10 Sumitomo 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 (surveyor)
30 controller (robot control device)
31 Control unit 31a Operation reception unit 31b Reading unit 31c Instrument point setting unit 31d Marking setting unit 31e Surveyor operation unit 31f Robot operation unit 31g Travel range setting unit 31h Route setting unit 31i Communication control unit 31j Screen control unit 32 Storage unit 33 Communication unit 36 Touch panel display (display)
40 Site management server 50 Marking data creation device 60 CAD device B11 Surveyor button B12 Marking robot button B13 Operation test button B14 Data transfer button B15 Setting button B16 Version management button B30a Reload button B30b Registration button Bb11 Start button Bb12 End button Bd11 Call button Bd12 "Back" button Bd13 "Next" button BT11a Search button BT11b Known point reference core measurement button BT11c Left turn button BT11d Right turn button BT11e Turn stop button BT11f Data addition button BT11g Data deletion button BT11h BT11i "Instrument point setting" button BT11j "Instrument point setting 2 (reverse)" button BT12a Guidance button BT12b Travel route creation button BT12c Travel order interrupt button BT12d Travel order exchange button BT12e Addition button BT12f Record button BT12g Designated dot marking button BT12g Delete button BT12i All-point marking button BT12j Work stop button BT13a Connection confirmation button BT13b Connection disconnection button BT13c Search button BT13d Left turn button BT13e Right turn button BT13f Turn stop button BT13g "Measurement (measurement instrument coordinates)" button BT13h "CAD coordinates)" button BT14a Reconnect button BT14b Stop button BT14c Alert release button BT14d Up move button BT14e Down move button BT14f Origin return button BT14g Posture return button BT14h Left move button BT14i Right move button BT15a Coordinate addition button BT15a Designation button C30a Marking data display field C30b History display field C30c List display field Cb11 Command candidate field Cb12 Command input field Cb13 Project data field Cb14 Data operation field Cb15 Speed / distance specification field Cb16 Surveyor operation field Cb17 Motion controller operation field Cb18 Printer Column Cb19 Combined operation column Cd11 Marking data display field D1, D11 Work site drawing D10 CAD drawing data (drawing data for marking)
D20 Marking data D21 Travel route data I30a Controller menu screen I30b Operation test screen I30c Data transfer screen I30d Data recall screen I30e Setting screen Lc11 Marking data list LT11 Instrument point setting list (1st list)
LT12 marking point setting list (second list)
LT12a Route data LT15 Travel range setting list (3rd list)
MC Motion Controller Pr30 Robot Control Program S Marking Robot System SN1 Survey Area Sensor SN2 Detection Sensor T11 Instrument Point Setting Tab T12 Marking Tab T13 Surveying Instrument Operation Tab T14 Robot Operation Tab T15 Travel Range Tab

Claims (13)

The operation reception unit that accepts the operation of the operator and
A reading unit that reads the marking data for the marking robot to perform marking,
Based on the operation received by the operation receiving unit, the marking setting unit that sets the marking execution for any marking point included in the marking data read by the reading unit, and the marking setting unit.
A robot control device comprising: a route setting unit for setting a traveling route of the marking robot with respect to a marking point on which execution of marking is set. In the robot control device according to claim 1,
The operation reception unit can receive a start point with respect to the marking point for which the execution of marking is set.
The route setting unit determines a traveling route so that the marking robot first goes to the starting point and then travels in the nearest order to the remaining marking points where the marking execution is set. A robot control device characterized by. In the robot control device according to claim 1,
The operation reception unit can receive a start point with respect to the marking point for which the execution of marking is set.
The route setting unit sets the traveling route so that the marking robot first goes to the starting point and then travels at the remaining marking point set to execute the marking with the shortest moving distance. A robot control device characterized by deciding. In the robot control device according to claim 1,
The operation reception unit can receive a start point with respect to the marking point for which the execution of marking is set.
The route setting unit is such that the marking robot first goes to the starting point and then travels on the remaining marking points for which execution of the marking is set on a route based on a predetermined algorithm. , A robot control device characterized by determining a traveling route. In the robot control device according to any one of claims 1 to 4.
A robot control device having a traveling range setting unit for setting a traveling range of the marking robot. The robot control device according to any one of claims 1 to 5.
It is characterized by having an instrument point setting unit for matching the coordinate position of the instrument point of the work site drawing included in the marking data read by the reading unit with the coordinate position of the instrument point of the work site. Robot control device. The robot control device according to any one of claims 1 to 6.
A robot control device comprising a surveying instrument operation unit for operating a surveying instrument for measuring the position of the marking robot. The robot control device according to any one of claims 1 to 7.
A robot control device comprising a robot operation unit for operating the marking robot. The robot control device according to any one of claims 1 to 8.
It has a screen control unit that creates a display screen including a work site drawing showing the instrument point, the center of the line, the marking point, and the traveling route of the marking robot and displays it on the display.
The display screen is listed in a first list in which the instrument points can be added and deleted, and in a state in which the street core and the marking points on which the marking work is performed can be added and deleted. A robot control device having a configuration capable of switching between a second list and a third list in which the traveling routes can be added and deleted. In the robot control device according to claim 9.
The operation reception unit can receive a partial enlargement / reduction operation of the display screen by the operator.
The screen control unit is a robot control device characterized in that a partially enlarged or reduced display screen is created and displayed on a display in response to an enlargement / reduction operation received by the operation reception unit. A program that causes a computer to function as a robot control device that controls a marking robot.
The computer
The operation reception unit that accepts the operation of the operator and
A reading unit that reads the marking data for the marking robot to perform marking,
Based on the operation received by the operation receiving unit, the marking setting unit that sets the marking execution for any marking point included in the marking data read by the reading unit, and the marking setting unit.
A program characterized in that it functions as a route setting unit for setting a traveling route of the marking robot with respect to a marking point for which execution of marking is set. The operation reception unit that accepts the operation of the operator and
A reading unit that reads drawing data for the robot to execute running,
Based on the operation received by the operation reception unit, a travel setting unit that sets the execution of travel to an arbitrary point included in the drawing data read by the reading unit, and a travel setting unit.
A robot control device comprising: a route setting unit for setting a travel route of the robot with respect to a point at which execution of the travel is set. A program that causes a computer to function as a robot control device that controls a robot.
The computer
The operation reception unit that accepts the operation of the operator and
A reading unit that reads drawing data for the robot to execute running,
Based on the operation received by the operation reception unit, a travel setting unit that sets the execution of travel to an arbitrary point included in the drawing data read by the reading unit, and a travel setting unit.
A program characterized by functioning as a route setting unit for setting a travel route of the robot with respect to a point at which the execution of the travel is set.

Images